From 4445fa31f51d078a0f1bff9011173dcf5c0242dc Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Sun, 7 Jul 2024 14:35:02 -0300 Subject: [PATCH 001/180] fix "telsa" typo on labeler.yaml (#32924) --- .github/labeler.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/labeler.yaml b/.github/labeler.yaml index 47d0d480a..0c5d1a687 100644 --- a/.github/labeler.yaml +++ b/.github/labeler.yaml @@ -44,7 +44,7 @@ subaru: tesla: - changed-files: - - any-glob-to-all-files: 'selfdrive/car/telsa/*' + - any-glob-to-all-files: 'selfdrive/car/tesla/*' toyota: - changed-files: From 241fb902af49ca43bf343c60f7f96b85128a9db9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 7 Jul 2024 19:13:48 -0700 Subject: [PATCH 002/180] publish new docs (#32922) * push new docs * drop the new, just docs * cleanup --- .github/workflows/docs.yaml | 41 +- docs/.gitignore | 1 + docs/README.md | 23 +- docs/{new => }/docs/car-porting/brand-port.md | 0 docs/{new => }/docs/car-porting/model-port.md | 0 .../docs/car-porting/what-is-a-car-port.md | 0 .../docs/getting-started/what-is-openpilot.md | 0 .../docs/how-to/turning-the-speed-blue.md | 0 docs/{new => }/mkdocs.yml | 0 docs/new/README.md | 12 - pyproject.toml | 2 + uv.lock | 361 +++++++++++++----- 12 files changed, 308 insertions(+), 132 deletions(-) create mode 100644 docs/.gitignore rename docs/{new => }/docs/car-porting/brand-port.md (100%) rename docs/{new => }/docs/car-porting/model-port.md (100%) rename docs/{new => }/docs/car-porting/what-is-a-car-port.md (100%) rename docs/{new => }/docs/getting-started/what-is-openpilot.md (100%) rename docs/{new => }/docs/how-to/turning-the-speed-blue.md (100%) rename docs/{new => }/mkdocs.yml (100%) delete mode 100644 docs/new/README.md diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index 908f06e03..012ee9dfd 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -15,56 +15,51 @@ concurrency: group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }} cancel-in-progress: true -env: - BASE_IMAGE: openpilot-base - - BUILD: selfdrive/test/docker_build.sh base - - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c - jobs: docs: name: build docs runs-on: ubuntu-latest - timeout-minutes: 45 - if: false # TODO: replace this with the new docs + timeout-minutes: 1 steps: - uses: actions/checkout@v4 with: submodules: true - - uses: ./.github/workflows/setup-with-retry - - name: Build openpilot - run: | - ${{ env.RUN }} "scons -j$(nproc)" + + # Build - name: Build docs run: | - ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html" + # TODO: can we install just the "docs" dependency group without the normal deps? + pip install mkdocs mkdocs-terminal + cd docs + mkdocs build + # Push to docs.comma.ai - uses: actions/checkout@v4 - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' + #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' with: path: openpilot-docs ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }} repository: commaai/openpilot-docs - name: Push - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' + #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | set -x source release/identity.sh cd openpilot-docs - git checkout --orphan tmp git rm -rf . - cp -r ../build/docs/html/ docs/ - cp -r ../docs/README.md . - touch docs/.nojekyll - echo -n docs.comma.ai > docs/CNAME - git add -f . + # copy over docs + cp -r ../docs/site/ site/ + # GitHub pages config + touch site/.nojekyll + echo -n docs.comma.ai > site/CNAME + + git add -f . git commit -m "build docs" # docs live in different repo to not bloat openpilot's full clone size - git push -f origin tmp:gh-pages + git push -f origin tmp:gh-pages2 diff --git a/docs/.gitignore b/docs/.gitignore new file mode 100644 index 000000000..46ff2463e --- /dev/null +++ b/docs/.gitignore @@ -0,0 +1 @@ +/site/ diff --git a/docs/README.md b/docs/README.md index 838b00e7a..a16c77253 100644 --- a/docs/README.md +++ b/docs/README.md @@ -1,3 +1,22 @@ -# openpilot-docs +# openpilot docs -These docs are autogenerated from [this folder](https://github.com/commaai/openpilot/tree/master/docs) in the main openpilot repository. \ No newline at end of file +This is the source for [docs.comma.ai](https://docs.comma.ai). +The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml). + +## development +``` +# install the docs dependencies +pip install .[docs] + +cd docs/ + +# for a development server +mkdocs serve + +# build the site +mkdocs build +``` + +References: +* https://www.mkdocs.org/getting-started/ +* https://github.com/ntno/mkdocs-terminal diff --git a/docs/new/docs/car-porting/brand-port.md b/docs/docs/car-porting/brand-port.md similarity index 100% rename from docs/new/docs/car-porting/brand-port.md rename to docs/docs/car-porting/brand-port.md diff --git a/docs/new/docs/car-porting/model-port.md b/docs/docs/car-porting/model-port.md similarity index 100% rename from docs/new/docs/car-porting/model-port.md rename to docs/docs/car-porting/model-port.md diff --git a/docs/new/docs/car-porting/what-is-a-car-port.md b/docs/docs/car-porting/what-is-a-car-port.md similarity index 100% rename from docs/new/docs/car-porting/what-is-a-car-port.md rename to docs/docs/car-porting/what-is-a-car-port.md diff --git a/docs/new/docs/getting-started/what-is-openpilot.md b/docs/docs/getting-started/what-is-openpilot.md similarity index 100% rename from docs/new/docs/getting-started/what-is-openpilot.md rename to docs/docs/getting-started/what-is-openpilot.md diff --git a/docs/new/docs/how-to/turning-the-speed-blue.md b/docs/docs/how-to/turning-the-speed-blue.md similarity index 100% rename from docs/new/docs/how-to/turning-the-speed-blue.md rename to docs/docs/how-to/turning-the-speed-blue.md diff --git a/docs/new/mkdocs.yml b/docs/mkdocs.yml similarity index 100% rename from docs/new/mkdocs.yml rename to docs/mkdocs.yml diff --git a/docs/new/README.md b/docs/new/README.md deleted file mode 100644 index 13980d1e1..000000000 --- a/docs/new/README.md +++ /dev/null @@ -1,12 +0,0 @@ -This is the source for a new https://docs.comma.ai. 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Mon, 8 Jul 2024 10:58:08 -0700 Subject: [PATCH 004/180] [bot] Fingerprints: add missing FW versions from CAN fingerprinting cars (#32932) Export fingerprints --- selfdrive/car/hyundai/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 8dbdbee0e..c7e1418cb 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -595,6 +595,7 @@ FW_VERSIONS = { b'\xf1\x00OS IEB \x02 210 \x02\x14 58520-K4000', b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000', b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000', + b'\xf1\x00OS IEB \x03 211 \x04\x02 58520-K4000', b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000', b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000', ], From 012eb07466ba7242a611dd57699fbbd1dd5f1d07 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 8 Jul 2024 12:10:53 -0700 Subject: [PATCH 005/180] [bot] 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ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }} repository: commaai/openpilot-docs - name: Push - #if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' + if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | set -x From 12d729a0a0c3c1d9bbf988c09ea3a5b68433e83f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 9 Jul 2024 04:50:31 +0800 Subject: [PATCH 007/180] 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 --- cereal/messaging/__init__.py | 4 ++-- selfdrive/controls/controlsd.py | 3 +-- selfdrive/controls/plannerd.py | 3 +-- selfdrive/controls/radard.py | 3 +-- selfdrive/locationd/paramsd.py | 6 ++---- selfdrive/locationd/torqued.py | 3 +-- selfdrive/modeld/modeld.py | 4 ++-- 7 files changed, 10 insertions(+), 16 deletions(-) diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index 4ba55cf7b..8dfa42056 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -17,8 +17,8 @@ from cereal.services import SERVICE_LIST NO_TRAVERSAL_LIMIT = 2**64-1 -def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader: - with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg: +def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader: + with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg: return msg diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 416a9aa8c..583cbaea1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -64,8 +64,7 @@ class Controls: if CI is None: cloudlog.info("controlsd is waiting for CarParams") - with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg: - self.CP = msg + self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams) cloudlog.info("controlsd got CarParams") # Uses car interface helper functions, altering state won't be considered by card for actuation diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index 681518be1..a9577cbef 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -12,8 +12,7 @@ def plannerd_thread(): cloudlog.info("plannerd is waiting for CarParams") params = Params() - with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: - CP = msg + CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) cloudlog.info("plannerd got CarParams: %s", CP.carName) longitudinal_planner = LongitudinalPlanner(CP) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index ac3ec97dc..c3fb60c61 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -288,8 +288,7 @@ def main(): # wait for stats about the car to come in from controls cloudlog.info("radard is waiting for CarParams") - with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg: - CP = msg + CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams) cloudlog.info("radard got CarParams") # import the radar from the fingerprint diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index d124eb5f0..650ee0601 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -5,8 +5,7 @@ import json import numpy as np import cereal.messaging as messaging -from cereal import car -from cereal import log +from cereal import car, log from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.numpy_fast import clip @@ -129,8 +128,7 @@ def main(): params_reader = Params() # wait for stats about the car to come in from controls cloudlog.info("paramsd is waiting for CarParams") - with car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) as msg: - CP = msg + CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams) cloudlog.info("paramsd got CarParams") min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 06f904473..569496b58 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -223,8 +223,7 @@ def main(demo=False): sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman') params = Params() - with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP: - estimator = TorqueEstimator(CP) + estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)) while True: sm.update() diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index d5812d6f5..d2cc9d8fd 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -172,8 +172,8 @@ def main(demo=False): if demo: CP = get_demo_car_params() else: - with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: - CP = msg + CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams) + cloudlog.info("modeld got CarParams: %s", CP.carName) # TODO this needs more thought, use .2s extra for now to estimate other delays From fa2f7a4dd43df834393b95f32c5282a85e39278e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 8 Jul 2024 14:16:44 -0700 Subject: [PATCH 008/180] [bot] Fingerprints: add missing FW versions from new users (#32936) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 1 + selfdrive/car/honda/fingerprints.py | 1 + 2 files changed, 2 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 1bc6a3243..8f6359c06 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -245,6 +245,7 @@ FW_VERSIONS = { b'68416680AE ', b'68416680AF ', b'68416680AG ', + b'68444228AC ', b'68444228AD ', b'68444228AE ', b'68444228AF ', diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 0904d5e12..191fd8e44 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -529,6 +529,7 @@ FW_VERSIONS = { b'28102-5MX-A900\x00\x00', b'28102-5MX-A910\x00\x00', b'28102-5MX-C001\x00\x00', + b'28102-5MX-C610\x00\x00', b'28102-5MX-C910\x00\x00', b'28102-5MX-D001\x00\x00', b'28102-5MX-D710\x00\x00', From 31ff8eda9cedb54aa32df8ebf5dc729addf82ef2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 8 Jul 2024 14:45:01 -0700 Subject: [PATCH 009/180] Chrysler Pacifica Hybrid: combine 2017 and 2018 (#32937) * Chrysler Pacifica: combine 2017 and 2018 hybrids torque params are not accurate for either (might be ~1.5 for both checking a few dongles) * remove duplicate fingerprints * combine docs lines fix --- docs/CARS.md | 5 ++- selfdrive/car/chrysler/fingerprints.py | 42 ++++++++------------------ selfdrive/car/chrysler/interface.py | 4 +-- selfdrive/car/chrysler/values.py | 16 ++++------ selfdrive/car/fingerprints.py | 3 +- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/torque_data/params.toml | 1 - 7 files changed, 26 insertions(+), 47 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 769fe6e27..8fafc483f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 288 Supported Cars +# 287 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -25,8 +25,7 @@ A supported vehicle is one that just works when you install a comma device. All |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,12](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 USB-C coupler
- 1 VW J533 connector
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 8f6359c06..5528bfd5d 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -4,35 +4,6 @@ from openpilot.selfdrive.car.chrysler.values import CAR Ecu = car.CarParams.Ecu FW_VERSIONS = { - CAR.CHRYSLER_PACIFICA_2017_HYBRID: { - (Ecu.combinationMeter, 0x742, None): [ - b'68239262AH', - b'68239262AI', - b'68239262AJ', - b'68239263AH', - b'68239263AJ', - ], - (Ecu.srs, 0x744, None): [ - b'68238840AH', - ], - (Ecu.fwdRadar, 0x753, None): [ - b'68226356AI', - ], - (Ecu.eps, 0x75a, None): [ - b'68288309AC', - b'68288309AD', - ], - (Ecu.engine, 0x7e0, None): [ - b'68277480AV ', - b'68277480AX ', - b'68277480AZ ', - ], - (Ecu.hybrid, 0x7e2, None): [ - b'05190175BF', - b'05190175BH', - b'05190226AK', - ], - }, CAR.CHRYSLER_PACIFICA_2018: { (Ecu.combinationMeter, 0x742, None): [ b'68227902AF', @@ -181,26 +152,39 @@ FW_VERSIONS = { }, CAR.CHRYSLER_PACIFICA_2018_HYBRID: { (Ecu.combinationMeter, 0x742, None): [ + b'68239262AH', + b'68239262AI', + b'68239262AJ', + b'68239263AH', + b'68239263AJ', b'68358439AE', b'68358439AG', ], (Ecu.srs, 0x744, None): [ + b'68238840AH', b'68358990AC', b'68405939AA', ], (Ecu.fwdRadar, 0x753, None): [ b'04672758AA', + b'68226356AI', ], (Ecu.eps, 0x75a, None): [ + b'68288309AC', b'68288309AD', b'68525339AA', ], (Ecu.engine, 0x7e0, None): [ + b'68277480AV ', + b'68277480AX ', + b'68277480AZ ', b'68366580AI ', b'68366580AK ', b'68366580AM ', ], (Ecu.hybrid, 0x7e2, None): [ + b'05190175BF', + b'05190175BH', b'05190226AI', b'05190226AK', b'05190226AM', diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 217a1a756..eb1f6703c 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -35,8 +35,8 @@ class CarInterface(CarInterfaceBase): ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value # Chrysler - if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \ - CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO): + if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID, + CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO): ret.lateralTuning.init('pid') ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]] diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 3315a0a98..c44c647fd 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -32,34 +32,30 @@ class ChryslerCarSpecs(CarSpecs): class CAR(Platforms): # Chrysler - CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig( - [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")], - ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2), - ) CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig( - [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")], - CHRYSLER_PACIFICA_2017_HYBRID.specs, + [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")], + ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2), ) CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig( [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")], - CHRYSLER_PACIFICA_2017_HYBRID.specs, + CHRYSLER_PACIFICA_2018_HYBRID.specs, ) CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig( [ChryslerCarDocs("Chrysler Pacifica 2017-18")], - CHRYSLER_PACIFICA_2017_HYBRID.specs, + CHRYSLER_PACIFICA_2018_HYBRID.specs, ) CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig( [ ChryslerCarDocs("Chrysler Pacifica 2019-20"), ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"), ], - CHRYSLER_PACIFICA_2017_HYBRID.specs, + CHRYSLER_PACIFICA_2018_HYBRID.specs, ) # Dodge DODGE_DURANGO = ChryslerPlatformConfig( [ChryslerCarDocs("Dodge Durango 2020-21")], - CHRYSLER_PACIFICA_2017_HYBRID.specs, + CHRYSLER_PACIFICA_2018_HYBRID.specs, ) # Jeep diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py index 1128a31c2..dc93c3824 100644 --- a/selfdrive/car/fingerprints.py +++ b/selfdrive/car/fingerprints.py @@ -130,7 +130,8 @@ MIGRATION = { # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/ "COMMA BODY": BODY.COMMA_BODY, - "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID, + "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID, + "CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID, "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID, "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID, "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018, diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index b1156f0e8..0fc800a47 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -39,7 +39,7 @@ routes = [ CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE), CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019), - CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID), + CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID), # 2017 CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018), CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID), CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID), diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml index 34cfd0e06..4bb8d45c5 100644 --- a/selfdrive/car/torque_data/params.toml +++ b/selfdrive/car/torque_data/params.toml @@ -7,7 +7,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158] "CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022] "CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085] -"CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237] "CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818] "CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520] "GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221] From 36815cc6d536ab8926f6335574ea587947c4e222 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 9 Jul 2024 05:50:31 +0800 Subject: [PATCH 010/180] cabana: bug fixes and improvements (#32934) bug fixes and improvements --- tools/cabana/chart/chart.cc | 14 ++--- tools/cabana/chart/chart.h | 1 + tools/cabana/chart/chartswidget.cc | 26 +++++---- tools/cabana/chart/sparkline.cc | 9 +-- tools/cabana/chart/tiplabel.h | 2 + tools/cabana/dbc/dbcmanager.cc | 7 ++- tools/cabana/historylog.cc | 4 +- tools/cabana/streams/abstractstream.cc | 48 ++++++++-------- tools/cabana/streams/abstractstream.h | 30 +++++----- tools/cabana/streams/livestream.cc | 6 +- tools/cabana/streams/livestream.h | 7 ++- tools/cabana/streams/pandastream.h | 6 ++ tools/cabana/streams/replaystream.cc | 13 +---- tools/cabana/streams/replaystream.h | 9 ++- tools/cabana/tools/findsignal.cc | 6 +- tools/cabana/utils/export.cc | 6 +- tools/cabana/videowidget.cc | 77 +++++++++++++++++--------- tools/cabana/videowidget.h | 27 +++++++-- tools/replay/consoleui.cc | 10 ++-- tools/replay/replay.cc | 24 ++++++-- tools/replay/replay.h | 8 ++- 21 files changed, 199 insertions(+), 141 deletions(-) diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 28d4e068e..128c33bae 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -289,10 +289,9 @@ void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vectorrouteStartTime() * 1e9; for (const CanEvent *e : events) { if (sig->getValue(e->dat, e->size, &value)) { - const double ts = (e->mono_time - std::min(e->mono_time, begin_mono_time)) / 1e9; + const double ts = can->toSeconds(e->mono_time); vals.emplace_back(ts, value); if (!step_vals.empty()) step_vals.emplace_back(ts, step_vals.back().y()); @@ -312,7 +311,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap * auto it = events->find(s.msg_id); if (it == events->end() || it->second.empty()) continue; - if (s.vals.empty() || (it->second.back()->mono_time / 1e9 - can->routeStartTime()) > s.vals.back().x()) { + if (s.vals.empty() || can->toSeconds(it->second.back()->mono_time) > s.vals.back().x()) { appendCanEvents(s.sig, it->second, s.vals, s.step_vals); } else { std::vector vals, step_vals; @@ -500,8 +499,8 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { rubber->hide(); auto rect = rubber->geometry().normalized(); // Prevent zooming/seeking past the end of the route - double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), 0., can->totalSeconds()); - double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), 0., can->totalSeconds()); + double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), can->minSeconds(), can->maxSeconds()); + double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), can->minSeconds(), can->maxSeconds()); if (rubber->width() <= 0) { // no rubber dragged, seek to mouse position can->seekTo(min); @@ -531,7 +530,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { // Scrubbing if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { if (plot_area.contains(ev->pos())) { - can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds())); + can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), can->minSeconds(), can->maxSeconds())); } } @@ -540,8 +539,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { clearTrackPoints(); if (!is_zooming && plot_area.contains(ev->pos()) && isActiveWindow()) { - const double sec = chart()->mapToValue(ev->pos()).x(); - charts_widget->showValueTip(sec); + charts_widget->showValueTip(secondsAtPoint(ev->pos())); } else if (tip_label->isVisible()) { charts_widget->showValueTip(-1); } diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index 1bfec6355..f9472bd4f 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -39,6 +39,7 @@ public: void showTip(double sec); void hideTip(); void startAnimation(); + double secondsAtPoint(const QPointF &pt) const { return chart()->mapToValue(pt).x(); } struct SigItem { MessageId msg_id; diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index 9822eaa30..27846f9c9 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -93,7 +93,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { current_theme = settings.theme; column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT); max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60); - display_range = {0, max_chart_range}; + display_range = std::make_pair(can->minSeconds(), can->minSeconds() + max_chart_range); range_slider->setValue(max_chart_range); updateToolBar(); @@ -192,10 +192,10 @@ void ChartsWidget::updateState() { if (!time_range.has_value()) { double pos = (cur_sec - display_range.first) / std::max(1.0, max_chart_range); if (pos < 0 || pos > 0.8) { - display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1); + display_range.first = std::max(can->minSeconds(), cur_sec - max_chart_range * 0.1); } - double max_sec = std::min(display_range.first + max_chart_range, can->totalSeconds()); - display_range.first = std::max(0.0, max_sec - max_chart_range); + double max_sec = std::min(display_range.first + max_chart_range, can->maxSeconds()); + display_range.first = std::max(can->minSeconds(), max_sec - max_chart_range); display_range.second = display_range.first + max_chart_range; } @@ -435,14 +435,20 @@ void ChartsWidget::alignCharts() { bool ChartsWidget::eventFilter(QObject *o, QEvent *e) { if (value_tip_visible_ && e->type() == QEvent::MouseMove) { - auto pos = static_cast(e)->globalPos(); - bool outside_plot_area =std::none_of(charts.begin(), charts.end(), [&pos](auto c) { - return c->chart()->plotArea().contains(c->mapFromGlobal(pos)); - }); + bool on_tip = qobject_cast(o) != nullptr; + auto global_pos = static_cast(e)->globalPos(); - if (outside_plot_area) { - showValueTip(-1); + for (const auto &c : charts) { + auto local_pos = c->mapFromGlobal(global_pos); + if (c->chart()->plotArea().contains(local_pos)) { + if (on_tip) { + showValueTip(c->secondsAtPoint(local_pos)); + } + return false; + } } + + showValueTip(-1); } return false; } diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index 34bc76b7c..1cadda2bd 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -8,10 +8,11 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) { const auto &msgs = can->events(msg_id); - uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9; - uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0; - auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent()); - auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent()); + + auto range_start = can->toMonoTime(last_msg_ts - range); + auto range_end = can->toMonoTime(last_msg_ts); + auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent()); + auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent()); if (first == last || size.isEmpty()) { pixmap = QPixmap(); diff --git a/tools/cabana/chart/tiplabel.h b/tools/cabana/chart/tiplabel.h index ac6e09e97..cc96aa986 100644 --- a/tools/cabana/chart/tiplabel.h +++ b/tools/cabana/chart/tiplabel.h @@ -3,6 +3,8 @@ #include class TipLabel : public QLabel { + Q_OBJECT + public: TipLabel(QWidget *parent = nullptr); void showText(const QPoint &pt, const QString &sec, QWidget *w, const QRect &rect); diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc index 250ec225b..8e98d9532 100644 --- a/tools/cabana/dbc/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -1,5 +1,6 @@ #include "tools/cabana/dbc/dbcmanager.h" +#include #include #include @@ -124,16 +125,16 @@ cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) { QStringList DBCManager::signalNames() { // Used for autocompletion - QStringList ret; + QSet names; for (auto &f : allDBCFiles()) { for (auto &[_, m] : f->getMessages()) { for (auto sig : m.getSignals()) { - ret << sig->name; + names.insert(sig->name); } } } + QStringList ret = names.values(); ret.sort(); - ret.removeDuplicates(); return ret; } diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 55ba0a491..7e73da55f 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -13,7 +13,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { const auto &m = messages[index.row()]; const int col = index.column(); if (role == Qt::DisplayRole) { - if (col == 0) return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 3); + if (col == 0) return QString::number(can->toSeconds(m.mono_time), 'f', 3); if (!isHexMode()) return sigs[col - 1]->formatValue(m.sig_values[col - 1], false); } else if (role == Qt::TextAlignmentRole) { return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter); @@ -80,7 +80,7 @@ void HistoryLogModel::updateState(bool clear) { messages.clear(); endRemoveRows(); } - uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1; + uint64_t current_time = can->toMonoTime(can->lastMessage(msg_id).ts) + 1; fetchData(messages.begin(), current_time, messages.empty() ? 0 : messages.front().mono_time); } diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 2584106ce..ee6a1143c 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,6 +1,5 @@ #include "tools/cabana/streams/abstractstream.h" -#include #include #include @@ -20,9 +19,9 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { assert(parent != nullptr); event_buffer_ = std::make_unique(EVENT_NEXT_BUFFER_SIZE); - QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &AbstractStream::stop); QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection); QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); + QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; }); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks); QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks); QObject::connect(this, &AbstractStream::streamStarted, [this]() { @@ -64,14 +63,12 @@ void AbstractStream::suppressDefinedSignals(bool suppress) { size_t AbstractStream::suppressHighlighted() { std::lock_guard lk(mutex_); size_t cnt = 0; - const double cur_ts = currentSec(); for (auto &[_, m] : messages_) { for (auto &last_change : m.last_changes) { - const double dt = cur_ts - last_change.ts; + const double dt = current_sec_ - last_change.ts; if (dt < 2.0) { last_change.suppressed = true; } - // clear bit change counts last_change.bit_change_counts.fill(0); cnt += last_change.suppressed; } @@ -90,20 +87,16 @@ void AbstractStream::updateLastMessages() { auto prev_src_size = sources.size(); auto prev_msg_size = last_msgs.size(); std::set msgs; + { std::lock_guard lk(mutex_); - double max_sec = 0; for (const auto &id : new_msgs_) { const auto &can_data = messages_[id]; - max_sec = std::max(max_sec, can_data.ts); + current_sec_ = std::max(current_sec_, can_data.ts); last_msgs[id] = can_data; sources.insert(id.source); } - - if (!new_msgs_.empty()) { - msgs = std::move(new_msgs_); - current_sec_ = max_sec; - } + msgs = std::move(new_msgs_); } if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) { @@ -138,7 +131,7 @@ const std::vector &AbstractStream::events(const MessageId &id) return it != events_.end() ? it->second : empty_events; } -const CanData &AbstractStream::lastMessage(const MessageId &id) { +const CanData &AbstractStream::lastMessage(const MessageId &id) const { static CanData empty_data = {}; auto it = last_msgs.find(id); return it != last_msgs.end() ? it->second : empty_data; @@ -148,15 +141,13 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) { // updateLastMsgsTo is always called in UI thread. void AbstractStream::updateLastMsgsTo(double sec) { current_sec_ = sec; - uint64_t last_ts = (sec + routeStartTime()) * 1e9; + uint64_t last_ts = toMonoTime(sec); std::unordered_map msgs; msgs.reserve(events_.size()); for (const auto &[id, ev] : events_) { auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent()); if (it != ev.begin()) { - auto prev = std::prev(it); - double ts = (*prev)->mono_time / 1e9 - routeStartTime(); auto &m = msgs[id]; double freq = 0; // Keep suppressed bits. @@ -167,7 +158,9 @@ void AbstractStream::updateLastMsgsTo(double sec) { std::back_inserter(m.last_changes), [](const auto &change) { return CanData::ByteLastChange{.suppressed = change.suppressed}; }); } - m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {}, freq); + + auto prev = std::prev(it); + m.compute(id, (*prev)->dat, (*prev)->size, toSeconds((*prev)->mono_time), getSpeed(), {}, freq); m.count = std::distance(ev.begin(), prev) + 1; } } @@ -213,7 +206,6 @@ void AbstractStream::mergeEvents(const std::vector &events) { all_events_.insert(pos, events.cbegin(), events.cend()); emit eventsMerged(msg_events); } - lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time; } namespace { @@ -236,14 +228,18 @@ inline QColor blend(const QColor &a, const QColor &b) { // Calculate the frequency from the past one minute data double calc_freq(const MessageId &msg_id, double current_sec) { const auto &events = can->events(msg_id); - uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9; - uint64_t first_mono_time = std::max(0, cur_mono_time - 59 * 1e9); - auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, CompareCanEvent()); - auto second = std::lower_bound(first, events.end(), cur_mono_time, CompareCanEvent()); - if (first != events.end() && second != events.end()) { - double duration = ((*second)->mono_time - (*first)->mono_time) / 1e9; - uint32_t count = std::distance(first, second); - return count / std::max(1.0, duration); + if (events.empty()) return 0.0; + + auto current_mono_time = can->toMonoTime(current_sec); + auto start_mono_time = can->toMonoTime(current_sec - 59); + + auto first = std::lower_bound(events.begin(), events.end(), start_mono_time, CompareCanEvent()); + auto last = std::upper_bound(first, events.end(), current_mono_time, CompareCanEvent()); + + int count = std::distance(first, last); + if (count > 1) { + double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9; + return count / duration; } return 0; } diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 822dd03d8..9e3f92dc5 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -28,10 +29,10 @@ struct CanData { std::vector colors; struct ByteLastChange { - double ts; - int delta; - int same_delta_counter; - bool suppressed; + double ts = 0; + int delta = 0; + int same_delta_counter = 0; + bool suppressed = false; std::array bit_change_counts; }; std::vector last_changes; @@ -51,12 +52,6 @@ struct CompareCanEvent { constexpr bool operator()(uint64_t ts, const CanEvent *const e) const { return ts < e->mono_time; } }; -struct BusConfig { - int can_speed_kbps = 500; - int data_speed_kbps = 2000; - bool can_fd = false; -}; - typedef std::unordered_map> MessageEventsMap; class AbstractStream : public QObject { @@ -66,15 +61,14 @@ public: AbstractStream(QObject *parent); virtual ~AbstractStream() {} virtual void start() = 0; - virtual void stop() {} virtual bool liveStreaming() const { return true; } virtual void seekTo(double ts) {} virtual QString routeName() const = 0; virtual QString carFingerprint() const { return ""; } virtual QDateTime beginDateTime() const { return {}; } - virtual double routeStartTime() const { return 0; } - inline double currentSec() const { return current_sec_; } - virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); } + virtual uint64_t beginMonoTime() const { return 0; } + virtual double minSeconds() const { return 0; } + virtual double maxSeconds() const { return 0; } virtual void setSpeed(float speed) {} virtual double getSpeed() { return 1; } virtual bool isPaused() const { return false; } @@ -82,10 +76,14 @@ public: void setTimeRange(const std::optional> &range); const std::optional> &timeRange() const { return time_range_; } + inline double currentSec() const { return current_sec_; } + inline uint64_t toMonoTime(double sec) const { return beginMonoTime() + std::max(sec, 0.0) * 1e9; } + inline double toSeconds(uint64_t mono_time) const { return std::max(0.0, (mono_time - beginMonoTime()) / 1e9); } + inline const std::unordered_map &lastMessages() const { return last_msgs; } inline const MessageEventsMap &eventsMap() const { return events_; } inline const std::vector &allEvents() const { return all_events_; } - const CanData &lastMessage(const MessageId &id); + const CanData &lastMessage(const MessageId &id) const; const std::vector &events(const MessageId &id) const; size_t suppressHighlighted(); @@ -111,12 +109,10 @@ protected: void mergeEvents(const std::vector &events); const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c); void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size); - uint64_t lastEventMonoTime() const { return lastest_event_ts; } std::vector all_events_; double current_sec_ = 0; std::optional> time_range_; - uint64_t lastest_event_ts = 0; private: void updateLastMessages(); diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index d9d96e23b..6bcb1c1d5 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -92,6 +92,8 @@ void LiveStream::timerEvent(QTimerEvent *event) { // merge events received from live stream thread. std::lock_guard lk(lock); mergeEvents(received_events_); + uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0; + lastest_event_ts = std::max(lastest_event_ts, last_received_ts); received_events_.clear(); } if (!all_events_.empty()) { @@ -136,8 +138,8 @@ void LiveStream::updateEvents() { void LiveStream::seekTo(double sec) { sec = std::max(0.0, sec); first_update_ts = nanos_since_boot(); - current_event_ts = first_event_ts = std::min(sec * 1e9 + begin_event_ts, lastEventMonoTime()); - post_last_event = (first_event_ts == lastEventMonoTime()); + current_event_ts = first_event_ts = std::min(sec * 1e9 + begin_event_ts, lastest_event_ts); + post_last_event = (first_event_ts == lastest_event_ts); emit seekedTo((current_event_ts - begin_event_ts) / 1e9); } diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 9ca7e8d74..24b928509 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -14,9 +15,10 @@ public: LiveStream(QObject *parent); virtual ~LiveStream(); void start() override; - void stop() override; + void stop(); inline QDateTime beginDateTime() const { return begin_date_time; } - inline double routeStartTime() const override { return begin_event_ts / 1e9; } + inline uint64_t beginMonoTime() const override { return begin_event_ts; } + double maxSeconds() const override { return std::max(1.0, (lastest_event_ts - begin_event_ts) / 1e9); } void setSpeed(float speed) override { speed_ = speed; } double getSpeed() override { return speed_; } bool isPaused() const override { return paused_; } @@ -41,6 +43,7 @@ private: QDateTime begin_date_time; uint64_t begin_event_ts = 0; + uint64_t lastest_event_ts = 0; uint64_t current_event_ts = 0; uint64_t first_event_ts = 0; uint64_t first_update_ts = 0; diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index 3e7624768..ad792ec29 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -12,6 +12,12 @@ const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U}; const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U}; +struct BusConfig { + int can_speed_kbps = 500; + int data_speed_kbps = 2000; + bool can_fd = false; +}; + struct PandaStreamConfig { QString serial = ""; std::vector bus_config; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 302a25696..09ba3db41 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -88,16 +88,10 @@ void ReplayStream::start() { replay->start(); } -void ReplayStream::stop() { - if (replay) { - replay->stop(); - } -} - bool ReplayStream::eventFilter(const Event *event) { static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { - double current_sec = event->mono_time / 1e9 - routeStartTime(); + double current_sec = toSeconds(event->mono_time); capnp::FlatArrayMessageReader reader(event->data); auto e = reader.getRoot(); for (const auto &c : e.getCan()) { @@ -115,11 +109,6 @@ bool ReplayStream::eventFilter(const Event *event) { return true; } -void ReplayStream::seekTo(double ts) { - current_sec_ = ts; - replay->seekTo(std::max(double(0), ts), false); -} - void ReplayStream::pause(bool pause) { replay->pause(pause); emit(pause ? paused() : resume()); diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index ced78680d..217d1ac1d 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -16,17 +16,16 @@ class ReplayStream : public AbstractStream { public: ReplayStream(QObject *parent); void start() override; - void stop() override; bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); bool eventFilter(const Event *event); - void seekTo(double ts) override; + void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); } bool liveStreaming() const override { return false; } inline QString routeName() const override { return replay->route()->name(); } inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); } - double totalSeconds() const override { return replay->totalSeconds(); } + double minSeconds() const override { return replay->minSeconds(); } + double maxSeconds() const { return replay->maxSeconds(); } inline QDateTime beginDateTime() const { return replay->routeDateTime(); } - inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; } - inline const Route *route() const { return replay->route(); } + inline uint64_t beginMonoTime() const override { return replay->routeStartNanos(); } inline void setSpeed(float speed) override { replay->setSpeed(speed); } inline float getSpeed() const { return replay->getSpeed(); } inline Replay *getReplay() const { return replay.get(); } diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc index 387a91278..8e1749ba8 100644 --- a/tools/cabana/tools/findsignal.cc +++ b/tools/cabana/tools/findsignal.cc @@ -46,7 +46,7 @@ void FindSignalModel::search(std::function cmp) { auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); }); if (it != last) { auto values = s.values; - values += QString("(%1, %2)").arg((*it)->mono_time / 1e9 - can->routeStartTime(), 0, 'f', 2).arg(get_raw_value((*it)->dat, (*it)->size, s.sig)); + values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig)); std::lock_guard lk(lock); filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values}); } @@ -217,10 +217,10 @@ void FindSignalDlg::setInitialSignals() { double first_time_val = first_time_edit->text().toDouble(); double last_time_val = last_time_edit->text().toDouble(); auto [first_sec, last_sec] = std::minmax(first_time_val, last_time_val); - uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9; + uint64_t first_time = can->toMonoTime(first_sec); model->last_time = std::numeric_limits::max(); if (last_sec > 0) { - model->last_time = (can->routeStartTime() + last_sec) * 1e9; + model->last_time = can->toMonoTime(last_sec); } model->initial_signals.clear(); diff --git a/tools/cabana/utils/export.cc b/tools/cabana/utils/export.cc index 10f69ad54..79ca97ba8 100644 --- a/tools/cabana/utils/export.cc +++ b/tools/cabana/utils/export.cc @@ -10,11 +10,10 @@ namespace utils { void exportToCSV(const QString &file_name, std::optional msg_id) { QFile file(file_name); if (file.open(QIODevice::ReadWrite | QIODevice::Truncate)) { - const uint64_t start_time = can->routeStartTime(); QTextStream stream(&file); stream << "time,addr,bus,data\n"; for (auto e : msg_id ? can->events(*msg_id) : can->allEvents()) { - stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << "," + stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << "," << "0x" << QString::number(e->address, 16) << "," << e->src << "," << "0x" << QByteArray::fromRawData((const char *)e->dat, e->size).toHex().toUpper() << "\n"; } @@ -30,9 +29,8 @@ void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) { stream << "," << s->name; stream << "\n"; - const uint64_t start_time = can->routeStartTime(); for (auto e : can->events(msg_id)) { - stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << "," + stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << "," << "0x" << QString::number(e->address, 16) << "," << e->src; for (auto s : msg->sigs) { double value = 0; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index d2f78babc..8d2f8674b 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -27,6 +27,13 @@ static const QColor timeline_colors[] = { [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), }; +static Replay *getReplay() { + auto stream = qobject_cast(can); + if (!stream) return nullptr; + + return stream->getReplay(); +} + VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { setFrameStyle(QFrame::StyledPanel | QFrame::Plain); auto main_layout = new QVBoxLayout(this); @@ -76,7 +83,7 @@ QHBoxLayout *VideoWidget::createPlaybackController() { // set speed to 1.0 speed_btn->menu()->actions()[7]->setChecked(true); can->pause(false); - can->seekTo(can->totalSeconds() + 1); + can->seekTo(can->maxSeconds() + 1); }); } @@ -141,7 +148,7 @@ QWidget *VideoWidget::createCameraWidget() { QStackedLayout *stacked = new QStackedLayout(); stacked->setStackingMode(QStackedLayout::StackAll); - stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false)); + stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD, false)); cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); stacked->addWidget(alert_label = new InfoLabel(this)); @@ -149,9 +156,11 @@ QWidget *VideoWidget::createCameraWidget() { l->addWidget(slider = new Slider(w)); slider->setSingleStep(0); + slider->setTimeRange(can->minSeconds(), can->maxSeconds()); - setMaximumTime(can->totalSeconds()); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); }); + QObject::connect(can, &AbstractStream::paused, cam_widget, [c = cam_widget]() { c->showPausedOverlay(); }); + QObject::connect(can, &AbstractStream::resume, cam_widget, [c = cam_widget]() { c->update(); }); QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); }); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated); @@ -161,7 +170,7 @@ QWidget *VideoWidget::createCameraWidget() { auto replay = static_cast(can)->getReplay(); QObject::connect(replay, &Replay::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection); - QObject::connect(replay, &Replay::totalSecondsUpdated, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection); + QObject::connect(replay, &Replay::minMaxTimeChanged, this, &VideoWidget::timeRangeChanged, Qt::QueuedConnection); return w; } @@ -185,7 +194,7 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set streams } void VideoWidget::loopPlaybackClicked() { - auto replay = qobject_cast(can)->getReplay(); + auto replay = getReplay(); if (!replay) return; if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) { @@ -197,18 +206,15 @@ void VideoWidget::loopPlaybackClicked() { } } -void VideoWidget::setMaximumTime(double sec) { - maximum_time = sec; - slider->setTimeRange(0, sec); -} - -void VideoWidget::timeRangeChanged(const std::optional> &time_range) { +void VideoWidget::timeRangeChanged() { + const auto time_range = can->timeRange(); if (can->liveStreaming()) { skip_to_end_btn->setEnabled(!time_range.has_value()); return; } time_range ? slider->setTimeRange(time_range->first, time_range->second) - : slider->setTimeRange(0, maximum_time); + : slider->setTimeRange(can->minSeconds(), can->maxSeconds()); + updateState(); } QString VideoWidget::formatTime(double sec, bool include_milliseconds) { @@ -219,8 +225,9 @@ QString VideoWidget::formatTime(double sec, bool include_milliseconds) { void VideoWidget::updateState() { if (slider) { - if (!slider->isSliderDown()) + if (!slider->isSliderDown()) { slider->setCurrentSecond(can->currentSec()); + } alert_label->showAlert(slider->alertInfo(can->currentSec())); time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true), formatTime(slider->maximum() / slider->factor))); @@ -242,15 +249,14 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { } AlertInfo Slider::alertInfo(double seconds) { - uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9; + uint64_t mono_time = can->toMonoTime(seconds); auto alert_it = alerts.lower_bound(mono_time); bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8); return has_alert ? alert_it->second : AlertInfo{}; } QPixmap Slider::thumbnail(double seconds) { - uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9; - auto it = thumbnails.lowerBound(mono_time); + auto it = thumbnails.lowerBound(can->toMonoTime(seconds)); return it != thumbnails.end() ? it.value() : QPixmap(); } @@ -298,16 +304,18 @@ void Slider::paintEvent(QPaintEvent *ev) { p.fillRect(r, color); }; - const auto replay = qobject_cast(can)->getReplay(); - for (auto [begin, end, type] : replay->getTimeline()) { - fillRange(begin, end, timeline_colors[(int)type]); - } + auto replay = getReplay(); + if (replay) { + for (auto [begin, end, type] : replay->getTimeline()) { + fillRange(begin, end, timeline_colors[(int)type]); + } - QColor empty_color = palette().color(QPalette::Window); - empty_color.setAlpha(160); - for (const auto &[n, seg] : replay->segments()) { - if (!(seg && seg->isLoaded())) - fillRange(n * 60.0, (n + 1) * 60.0, empty_color); + QColor empty_color = palette().color(QPalette::Window); + empty_color.setAlpha(160); + for (const auto &[n, seg] : replay->segments()) { + if (!(seg && seg->isLoaded())) + fillRange(n * 60.0, (n + 1) * 60.0, empty_color); + } } QStyleOptionSlider opt; @@ -411,3 +419,22 @@ void InfoLabel::paintEvent(QPaintEvent *event) { p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text); } } + +StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent) + : CameraWidget(stream_name, stream_type, zoom, parent) { + fade_animation = new QPropertyAnimation(this, "overlayOpacity"); + fade_animation->setDuration(500); + fade_animation->setStartValue(0.2f); + fade_animation->setEndValue(0.7f); +} + +void StreamCameraView::paintGL() { + CameraWidget::paintGL(); + + if (can->isPaused()) { + QPainter p(this); + p.setPen(QColor(200, 200, 200, static_cast(255 * overlay_opacity))); + p.setFont(QFont(font().family(), 16, QFont::Bold)); + p.drawText(rect(), Qt::AlignCenter, tr("PAUSED")); + } +} diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index ac34c6600..1e793e9d1 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -4,10 +4,12 @@ #include #include #include +#include #include #include #include +#include #include #include @@ -57,16 +59,34 @@ private: InfoLabel *thumbnail_label; }; +class StreamCameraView : public CameraWidget { + Q_OBJECT + Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity) + +public: + StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr); + void paintGL() override; + void showPausedOverlay() { fade_animation->start(); } + float overlayOpacity() const { return overlay_opacity; } + void setOverlayOpacity(float opacity) { + overlay_opacity = opacity; + update(); + } + +private: + float overlay_opacity; + QPropertyAnimation *fade_animation; +}; + class VideoWidget : public QFrame { Q_OBJECT public: VideoWidget(QWidget *parnet = nullptr); - void setMaximumTime(double sec); protected: QString formatTime(double sec, bool include_milliseconds = false); - void timeRangeChanged(const std::optional> &time_range); + void timeRangeChanged(); void updateState(); void updatePlayBtnState(); QWidget *createCameraWidget(); @@ -74,8 +94,7 @@ protected: void loopPlaybackClicked(); void vipcAvailableStreamsUpdated(std::set streams); - CameraWidget *cam_widget; - double maximum_time = 0; + StreamCameraView *cam_widget; QToolButton *time_btn = nullptr; ToolButton *seek_backward_btn = nullptr; ToolButton *play_btn = nullptr; diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index eaff78c69..21ca0ad74 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -171,7 +171,7 @@ void ConsoleUI::updateStatus() { if (status != Status::Paused) { auto events = replay->events(); - uint64_t current_mono_time = replay->routeStartTime() + replay->currentSeconds() * 1e9; + uint64_t current_mono_time = replay->routeStartNanos() + replay->currentSeconds() * 1e9; bool playing = !events->empty() && events->back().mono_time > current_mono_time; status = playing ? Status::Playing : Status::Waiting; } @@ -262,10 +262,10 @@ void ConsoleUI::updateTimeline() { mvwhline(win, 2, 0, ' ', width); wattroff(win, COLOR_PAIR(Color::Disengaged)); - const int total_sec = replay->totalSeconds(); + const int total_sec = replay->maxSeconds() - replay->minSeconds(); for (auto [begin, end, type] : replay->getTimeline()) { - int start_pos = (begin / total_sec) * width; - int end_pos = (end / total_sec) * width; + int start_pos = ((begin - replay->minSeconds()) / total_sec) * width; + int end_pos = ((end - replay->minSeconds()) / total_sec) * width; if (type == TimelineType::Engaged) { mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL); @@ -280,7 +280,7 @@ void ConsoleUI::updateTimeline() { } } - int cur_pos = ((double)replay->currentSeconds() / total_sec) * width; + int cur_pos = ((replay->currentSeconds() - replay->minSeconds()) / total_sec) * width; wattron(win, COLOR_PAIR(Color::BrightWhite)); mvwaddch(win, 0, cur_pos, ACS_VLINE); mvwaddch(win, 3, cur_pos, ACS_VLINE); diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 15daecf01..4fea879f8 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -85,6 +85,7 @@ bool Replay::load() { return false; } rInfo("load route %s with %zu valid segments", qPrintable(route_->name()), segments_.size()); + max_seconds_ = (segments_.rbegin()->first + 1) * 60; return true; } @@ -108,7 +109,11 @@ void Replay::seekTo(double seconds, bool relative) { target_time = std::max(double(0.0), target_time); int target_segment = (int)target_time / 60; if (segments_.count(target_segment) == 0) { - rWarning("Can't seek to %d s segment %d is invalid", (int)target_time, target_segment); + rWarning("Can't seek to %.2f s segment %d is invalid", target_time, target_segment); + return true; + } + if (target_time > max_seconds_) { + rWarning("Can't seek to %.2f s, time is invalid", target_time); return true; } @@ -193,15 +198,22 @@ void Replay::buildTimeline() { } } + if (it->first == route_segments.rbegin()->first) { + if (engaged) { + timeline.push_back({toSeconds(engaged_begin), toSeconds(log->events.back().mono_time), TimelineType::Engaged}); + } + if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) { + timeline.push_back({toSeconds(alert_begin), toSeconds(log->events.back().mono_time), timeline_types[(int)alert_status]}); + } + + max_seconds_ = std::ceil(toSeconds(log->events.back().mono_time)); + emit minMaxTimeChanged(route_segments.cbegin()->first * 60.0, max_seconds_); + } { std::lock_guard lk(timeline_lock); timeline_.insert(timeline_.end(), timeline.begin(), timeline.end()); std::sort(timeline_.begin(), timeline_.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); }); } - - if (it->first == route_segments.rbegin()->first) { - emit totalSecondsUpdated(toSeconds(log->events.back().mono_time)); - } emit qLogLoaded(log); } } @@ -463,7 +475,7 @@ void Replay::streamThread() { int last_segment = segments_.rbegin()->first; if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) { rInfo("reaches the end of route, restart from beginning"); - QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, 0, false), Qt::QueuedConnection); + QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, minSeconds(), false), Qt::QueuedConnection); } } } diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 7e1815ede..ac829ffb7 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -76,9 +76,10 @@ public: inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; } inline QDateTime routeDateTime() const { return route_date_time_; } inline QDateTime currentDateTime() const { return route_date_time_.addSecs(currentSeconds()); } - inline uint64_t routeStartTime() const { return route_start_ts_; } + inline uint64_t routeStartNanos() const { return route_start_ts_; } inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; } - inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; } + inline double minSeconds() const { return !segments_.empty() ? segments_.begin()->first * 60 : 0; } + inline double maxSeconds() const { return max_seconds_; } inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } inline const std::vector *events() const { return &events_; } @@ -95,7 +96,7 @@ signals: void seeking(double sec); void seekedTo(double sec); void qLogLoaded(std::shared_ptr qlog); - void totalSecondsUpdated(double sec); + void minMaxTimeChanged(double min_sec, double max_sec); protected slots: void segmentLoadFinished(bool success); @@ -133,6 +134,7 @@ protected: QDateTime route_date_time_; uint64_t route_start_ts_ = 0; std::atomic cur_mono_time_ = 0; + std::atomic max_seconds_ = 0; std::vector events_; std::set merged_segments_; From 67038d5b59d82b1eb094746ab99fa7d8e7d10e71 Mon Sep 17 00:00:00 2001 From: dany7915 Date: Tue, 9 Jul 2024 06:54:11 +0900 Subject: [PATCH 011/180] Fingerprint: Kia K5 HEV 2020 (#32875) fingerprint added --- selfdrive/car/hyundai/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index c7e1418cb..4ad7e0e0a 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -585,6 +585,7 @@ FW_VERSIONS = { b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.01 99210-L2000 191022', b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.02 99210-L2000 200309', b'\xf1\x00DL3HMFC AT KOR LHD 1.00 1.04 99210-L2000 210527', ], From 4014109666e66ca8ed0b096159d424b4b55caca4 Mon Sep 17 00:00:00 2001 From: JaReal07 <153245974+JaReal07@users.noreply.github.com> Date: Mon, 8 Jul 2024 18:58:22 -0300 Subject: [PATCH 012/180] Update fingerprints.py Corolla 2024 (South America) (#32864) Add Corolla Sedan 2024 (South America), new 'engine' and 'eps' fwversion --- selfdrive/car/toyota/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 5e746d131..67203da7d 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -441,6 +441,7 @@ FW_VERSIONS = { b'\x01896630ZU8000\x00\x00\x00\x00', b'\x01896630ZU9000\x00\x00\x00\x00', b'\x01896630ZX4000\x00\x00\x00\x00', + b'\x01896630ZX7100\x00\x00\x00\x00', b'\x018966312L8000\x00\x00\x00\x00', b'\x018966312M0000\x00\x00\x00\x00', b'\x018966312M9000\x00\x00\x00\x00', @@ -516,6 +517,7 @@ FW_VERSIONS = { b'\x018965B1254000\x00\x00\x00\x00', b'\x018965B1255000\x00\x00\x00\x00', b'\x018965B1256000\x00\x00\x00\x00', + b'\x018965B1270000\x00\x00\x00\x00', b'8965B12361\x00\x00\x00\x00\x00\x00', b'8965B12451\x00\x00\x00\x00\x00\x00', b'8965B16011\x00\x00\x00\x00\x00\x00', From 15d3397ec6d32bb4e3319ff615526b175b267949 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Mon, 8 Jul 2024 19:42:26 -0400 Subject: [PATCH 013/180] CI: Compile openpilot on macOS (#32909) * working * cache * bring back --- .github/workflows/selfdrive_tests.yaml | 13 +++++++++++-- tools/mac_setup.sh | 1 + 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 3359f2a15..419c47208 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -106,8 +106,17 @@ jobs: SKIP_PROMPT: 1 # package install has DeprecationWarnings PYTHONWARNINGS: default - - name: Test openpilot environment - run: . .venv/bin/activate && scons -h + - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV + - name: Getting scons cache + uses: 'actions/cache@v4' + with: + path: /tmp/scons_cache + key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} + restore-keys: | + scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }} + scons-${{ runner.arch }}-macos + - name: Building openpilot + run: . .venv/bin/activate && scons -j$(nproc) static_analysis: name: static analysis diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 6b2d66852..9823427e6 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -63,6 +63,7 @@ brew "qt@5" brew "zeromq" cask "gcc-arm-embedded" brew "portaudio" +brew "gcc@13" EOS echo "[ ] finished brew install t=$SECONDS" From f6189568eab0244ed792ef299fb781cc4c92fb9b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 8 Jul 2024 16:55:16 -0700 Subject: [PATCH 014/180] mvp of new docs.comma.ai (#32926) * ssh docs * strict * need an index * push to prod --- .github/workflows/docs.yaml | 2 +- docs/docs/car-porting/what-is-a-car-port.md | 25 +++++++++---- docs/docs/contributing/architecture.md | 1 + docs/docs/contributing/roadmap.md | 5 +++ .../docs/getting-started/what-is-openpilot.md | 2 +- .../docs/how-to/connect-to-comma.md | 36 ++++++++++--------- docs/docs/how-to/first-pr.md | 0 docs/docs/index.md | 1 + docs/mkdocs.yml | 16 ++++++++- {tools/ssh => system/hardware/tici}/id_rsa | 0 10 files changed, 63 insertions(+), 25 deletions(-) create mode 100644 docs/docs/contributing/architecture.md create mode 100644 docs/docs/contributing/roadmap.md rename tools/ssh/README.md => docs/docs/how-to/connect-to-comma.md (63%) create mode 100644 docs/docs/how-to/first-pr.md create mode 120000 docs/docs/index.md rename {tools/ssh => system/hardware/tici}/id_rsa (100%) diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index cb55d2f83..b14ae6584 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -62,4 +62,4 @@ jobs: git commit -m "build docs" # docs live in different repo to not bloat openpilot's full clone size - git push -f origin tmp:gh-pages2 + git push -f origin tmp:gh-pages diff --git a/docs/docs/car-porting/what-is-a-car-port.md b/docs/docs/car-porting/what-is-a-car-port.md index d089d9513..b918bb50e 100644 --- a/docs/docs/car-porting/what-is-a-car-port.md +++ b/docs/docs/car-porting/what-is-a-car-port.md @@ -1,9 +1,22 @@ # What is a car port? -All car ports live in `openpilot/selfdrive/car/`. +A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`. -* interface.py: Interface for the car, defines the CarInterface class -* carstate.py: Reads CAN from car and builds openpilot CarState message -* carcontroller.py: Builds CAN messages to send to car -* values.py: Limits for actuation, general constants for cars, and supported car documentation -* radar_interface.py: Interface for parsing radar points from the car +The complexity of a car port varies depending on many factors including: +* existing openpilot support for similar cars +* architecture and APIs available in the car + + +# Structure of a car port +* `interface.py`: Interface for the car, defines the CarInterface class +* `carstate.py`: Reads CAN from car and builds openpilot CarState message +* `carcontroller.py`: Builds CAN messages to send to car +* `values.py`: Limits for actuation, general constants for cars, and supported car documentation +* `radar_interface.py`: Interface for parsing radar points from the car + + +# Overiew + +[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube: + +https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM diff --git a/docs/docs/contributing/architecture.md b/docs/docs/contributing/architecture.md new file mode 100644 index 000000000..c79bec1ac --- /dev/null +++ b/docs/docs/contributing/architecture.md @@ -0,0 +1 @@ +# Architecture diff --git a/docs/docs/contributing/roadmap.md b/docs/docs/contributing/roadmap.md new file mode 100644 index 000000000..64ccdb3b7 --- /dev/null +++ b/docs/docs/contributing/roadmap.md @@ -0,0 +1,5 @@ +# Roadmap + +Coming soon... + +For now, check out our GitHub [milestones](https://github.com/commaai/openpilot/milestones) and [bounties](https://comma.ai/bounties). diff --git a/docs/docs/getting-started/what-is-openpilot.md b/docs/docs/getting-started/what-is-openpilot.md index de45ae035..b3c56c841 100644 --- a/docs/docs/getting-started/what-is-openpilot.md +++ b/docs/docs/getting-started/what-is-openpilot.md @@ -1,6 +1,6 @@ # What is openpilot? -[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md). +[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md). ## How do I use it? diff --git a/tools/ssh/README.md b/docs/docs/how-to/connect-to-comma.md similarity index 63% rename from tools/ssh/README.md rename to docs/docs/how-to/connect-to-comma.md index 588ea7157..53460ac99 100644 --- a/tools/ssh/README.md +++ b/docs/docs/how-to/connect-to-comma.md @@ -1,39 +1,42 @@ -# SSH +# connect to a comma 3/3X -## Quick Start +A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console). + +## Serial Console + +On both the comma three and 3X, the serial console is accessible from the main OBD-C port. +Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power. + +On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/serial/connect.sh` can be used to connect. + +On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script. + +## SSH In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys. * Enable SSH in your device's settings * Enter your GitHub username in the device's settings * Connect to your device - * Username: `comma` - * Port: `22` or `8022` + * Username: `comma` + * Port: `22` Here's an example command for connecting to your device using its tethered connection:
`ssh comma@192.168.43.1` For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding). -## Notes +### Notes The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username. The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed. -See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information. +#### ssh.comma.ai proxy -# Connecting to ssh.comma.ai -SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect). +With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere. -## Setup - -With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`. - -## Recommended .ssh/config - -With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
-For example: `ssh comma-ffffffffffffffff` +With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`. ``` Host comma-* @@ -41,6 +44,7 @@ Host comma-* User comma IdentityFile ~/.ssh/my_github_key ProxyCommand ssh %h@ssh.comma.ai -W %h:%p + Host ssh.comma.ai Hostname ssh.comma.ai Port 22 diff --git a/docs/docs/how-to/first-pr.md b/docs/docs/how-to/first-pr.md new file mode 100644 index 000000000..e69de29bb diff --git a/docs/docs/index.md b/docs/docs/index.md new file mode 120000 index 000000000..74ea27aee --- /dev/null +++ b/docs/docs/index.md @@ -0,0 +1 @@ +getting-started/what-is-openpilot.md \ No newline at end of file diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml index b0f571954..45a1503b0 100644 --- a/docs/mkdocs.yml +++ b/docs/mkdocs.yml @@ -1,6 +1,9 @@ site_name: openpilot docs docs_dir: docs repo_url: https://github.com/commaai/openpilot/ +site_url: https://docs.comma.ai + +strict: true theme: name: terminal @@ -11,8 +14,19 @@ nav: - Getting Started: - What is openpilot?: getting-started/what-is-openpilot.md - How-to: - - Turn the speed blue: how-to/turning-the-speed-blue.md + #- Make my first pull request: how-to/first-pr.md + - Connect to a comma 3/3X: how-to/connect-to-comma.md - Car Porting: - What is a car port?: car-porting/what-is-a-car-port.md - Porting a car brand: car-porting/brand-port.md - Porting a car model: car-porting/model-port.md + - Contributing: + - Roadmap: contributing/roadmap.md + #- Architecture: contributing/architecture.md + - Contributing: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md + - Links: + - Blog: https://blog.comma.ai + - Bounties: https://comma.ai/bounties + - GitHub: https://github.com/commaai + - Discord: https://discord.comma.ai + - X: https://x.com/comma_ai diff --git a/tools/ssh/id_rsa b/system/hardware/tici/id_rsa similarity index 100% rename from tools/ssh/id_rsa rename to system/hardware/tici/id_rsa From 8c6c6e435f0ef18456ad553cbf5c1555bfc210c7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 8 Jul 2024 17:05:42 -0700 Subject: [PATCH 015/180] site -> docs --- .github/workflows/docs.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index b14ae6584..f5cc0d500 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -52,11 +52,11 @@ jobs: git rm -rf . # copy over docs - cp -r ../docs/site/ site/ + cp -r ../docs/site/ docs/ # GitHub pages config - touch site/.nojekyll - echo -n docs.comma.ai > site/CNAME + touch docs/.nojekyll + echo -n docs.comma.ai > docs/CNAME git add -f . git commit -m "build docs" From 6745c66352ffacabbf1201f766ab7ff308724d18 Mon Sep 17 00:00:00 2001 From: signed-long <38993953+signed-long@users.noreply.github.com> Date: Mon, 8 Jul 2024 21:07:34 -0600 Subject: [PATCH 016/180] Update ci weekly report summary (#32911) * update ci weekly report summary * don't add skipped jobs to report * uncomment job condition * use jinja template * add run number to failure links * add run number to failure links * Log for run # * use list --------- Co-authored-by: Maxime Desroches --- .github/workflows/ci_weekly_report.yaml | 104 ++++++++++-------------- 1 file changed, 41 insertions(+), 63 deletions(-) diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml index c5c98b46b..22b874587 100644 --- a/.github/workflows/ci_weekly_report.yaml +++ b/.github/workflows/ci_weekly_report.yaml @@ -10,38 +10,30 @@ concurrency: group: ${{ github.workflow }}-${{ github.ref }} cancel-in-progress: true +env: + CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }} + jobs: setup: if: github.repository == 'commaai/openpilot' runs-on: ubuntu-latest outputs: - ci_runs: ${{ steps.ci_runs_setup.outputs.value }} + ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }} steps: - id: ci_runs_setup + name: CI_RUNS=${{ env.CI_RUNS }} run: | - CI_RUNS=${{ inputs.ci_runs || '50' }} - mylist="value=[" + matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))") + echo "matrix=$matrix" >> $GITHUB_OUTPUT - for i in $(seq 1 $CI_RUNS); - do - if [ $i != $CI_RUNS ]; then - mylist+="\"$i\", " - else - mylist+="\"$i\"]" - fi - done - - echo "$mylist" >> $GITHUB_OUTPUT - echo "Number of CI runs for report: $CI_RUNS" ci_matrix_run: needs: [ setup ] strategy: fail-fast: false - matrix: - value: ${{fromJSON(needs.setup.outputs.ci_runs)}} + matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}} uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master with: - run_number: ${{ matrix.value }} + run_number: ${{ matrix.run_number }} report: needs: [ci_matrix_run] @@ -62,62 +54,48 @@ jobs: }) var report = {} jobs.slice(1, jobs.length-1).forEach(job => { - const jobName = job.name.split('/')[2].trim(); + if (job.conclusion === "skipped") return; + const jobName = job.name.split(" / ")[2]; + const runRegex = /\((.*?)\)/; + const run = job.name.match(runRegex)[1]; report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] }; switch (job.conclusion) { case "success": - report[jobName].successes.push(job.html_url); break; + report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break; case "failure": - report[jobName].failures.push(job.html_url); break; + report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break; case "cancelled": - report[jobName].cancelled.push(job.html_url); break; + report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break; } }); - return JSON.stringify(report); + return JSON.stringify({"jobs": report}); - name: Add job results to summary env: JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }} run: | - echo $JOB_RESULTS > job_results.json - generate_html_table() { - echo "" - echo "" - echo " " - echo " " - echo " " - echo " " - echo " " - echo " " - echo "" - jq -r ' - "", - keys[] as $job | - "", - " ", - " ", - " ", - " ", - "" - ' job_results.json - echo "" - echo "
JobSucceeded ✅Failed ❌Cancelled (timed out) ⏰
\($job)", - "
", - " (\(.[$job].successes | length))", - " \(.[$job].successes[])
", - "
", - " 		", - "
", - " (\(.[$job].failures | length))", - " \(.[$job].failures[])
", - "
", - " 		", - "
", - " (\(.[$job].cancelled | length))", - " \(.[$job].cancelled[])
", - "
", - "
" - } - echo "# CI Job Summary" >> $GITHUB_STEP_SUMMARY - generate_html_table >> $GITHUB_STEP_SUMMARY + cat <> template.html + + + + + + + + + + + {% for key in jobs.keys() %} + + + + + + {% endfor %} +
Job✅ Passing❌ Failure Details
{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}{{ key }}{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%{% if jobs[key]["failures"]|length > 0 %}
{% for failure in jobs[key]["failures"] %}Log for run #{{ failure['run_number'] }}
{% endfor %}
{% else %}{% endif %}
+ EOF + pip install jinja2-cli + echo $JOB_RESULTS | jinja2 template.html > report.html + echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY + cat report.html >> $GITHUB_STEP_SUMMARY From 481e5b28bd886703e69b05b9b342a7ef9804f9d6 Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Tue, 9 Jul 2024 08:08:38 +0300 Subject: [PATCH 017/180] Rewrite git history (#31562) * bfg * filter repo is the new shit * down to 27M * move big files to lfs; remove external and phonelibs * wip - rebase devel; don't delete external and phonelibs anymore * wip - rebase devel hacks * wip - rebase devel updates * wip - rebase updates; lfs updates * cleaned unused scripts * wip - lfs fixes * bfg with rebase with correct dates * bfg script with cherry-pick method * latest git-filter-repo analysis * latest git-filter-repo 'before' analysis * new lfs import * latest git-filter-repo analysis * lfs update; renamed rebase repos * renamed scripts * different tmp folders for rewrite scripts; lfs update * gitattributes after lfs import * tag-commit-map file with old tags pointing to old commits * new tags * final touches * squash setup commits; cherry-pick validation; reverted to commaai remote * removed rebase version * 0.9.7 tag in tag-commit-map * removed unused openpilot-release-archive * fixed archive of old history because of 2 GB limit * archive of old history push master first * fix tags being deleted * cleaning and more logs * rewrite other branches with master history * Former-commit-id * updates to previous commits * cleanup --------- Co-authored-by: Adeeb Shihadeh Co-authored-by: Maxime Desroches --- scripts/git_rewrite/rewrite-git-history.sh | 357 +++++++++++++++++++++ scripts/git_rewrite/tag-commit-map.txt | 82 +++++ 2 files changed, 439 insertions(+) create mode 100755 scripts/git_rewrite/rewrite-git-history.sh create mode 100644 scripts/git_rewrite/tag-commit-map.txt diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh new file mode 100755 index 000000000..4130b55db --- /dev/null +++ b/scripts/git_rewrite/rewrite-git-history.sh @@ -0,0 +1,357 @@ +#!/bin/bash +set -e + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd $DIR + +SRC=/tmp/openpilot/ +SRC_CLONE=/tmp/openpilot-clone/ +OUT=/tmp/openpilot-tiny/ + +LOG_FILE=$DIR/git-rewrite-log-$(date +"%Y-%m-%dT%H:%M:%S%z").txt +exec > >(tee -a "$LOG_FILE") 2>&1 + +# INSTALL git-filter-repo +if [ ! -f /tmp/git-filter-repo ]; then + echo "Installing git-filter-repo..." + curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo + chmod +x /tmp/git-filter-repo +fi + +# MIRROR openpilot +if [ ! -d $SRC ]; then + echo "Mirroring openpilot..." + git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects) + + cd $SRC + + echo "Starting size $(du -sh .)" + + git remote update + + # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis + echo "Analyzing with git-filter-repo..." + /tmp/git-filter-repo --force --analyze + + echo "Pushing to openpilot-archive..." + # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit + ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git + git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo) + git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects) + git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects) + # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests + # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 +fi + +# REWRITE master and tags +if [ ! -d $SRC_CLONE ]; then + echo "Cloning $SRC..." + GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE + + cd $SRC_CLONE + + echo "Checking out old history..." + + git checkout tags/v0.7.1 + # checkout as main, since we need master ref later + git checkout -b main + + echo "Creating setup commits..." + + # rm these so we don't get conflicts later + git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null + git commit -m "removed conflicting files" + + # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files + # we don't care about fetching/pushing lfs right now + git lfs install --skip-smudge --local + + # squash initial setup commits + git cherry-pick -n -X theirs 6c33a5c..59b3d06 + git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" + + # get commits we want to cherry-pick + # will start with the next commit after #59b3d06 tools is local now + COMMITS=$(git rev-list --reverse 59b3d06..master) + + # we need this for logging + TOTAL_COMMITS=$(echo $COMMITS | wc -w) + CURRENT_COMMIT_NUMBER=0 + + # empty this file + > commit-map.txt + + echo "Rewriting master commits..." + + for COMMIT in $COMMITS; do + CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1)) + echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r + + # set environment variables to preserve author/committer and dates + export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT) + export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT) + export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT) + export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT) + export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT) + export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT) + + # cherry-pick the commit + if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then + # check if the failure is because of an empty commit + if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then + echo "Empty commit detected. Skipping commit $COMMIT" + git cherry-pick --skip + # log it was empty to the mapping file + echo "$COMMIT EMPTY" >> commit-map.txt + else + # handle other errors or conflicts + echo "Cherry-pick failed. Handling error..." + echo "$GIT_OUTPUT" + exit 1 + fi + else + # capture the new commit hash + NEW_COMMIT=$(git rev-parse HEAD) + + # save the old and new commit hashes to the mapping file + echo "$COMMIT $NEW_COMMIT" >> commit-map.txt + + # append the old commit ID to the commit message + git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null + fi + done + + echo "Rewriting tags..." + + # remove all old tags + git tag -l | xargs git tag -d + + # read each line from the tag-commit-map.txt + while IFS=' ' read -r TAG OLD_COMMIT; do + # search for the new commit in commit-map.txt corresponding to the old commit + NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}') + + # check if this is a rebased commit + if [ -z "$NEW_COMMIT" ]; then + # if not, then just use old commit hash + NEW_COMMIT=$OLD_COMMIT + fi + + printf "Rewriting tag %s from commit %s\n" "$TAG" "$NEW_COMMIT" + git tag -f "$TAG" "$NEW_COMMIT" + done < "$DIR/tag-commit-map.txt" + + # uninstall lfs since we don't want to touch (push to) lfs right now + # git push will also push lfs, if we don't uninstall (--local so just for this repo) + git lfs uninstall --local + + # force push new master + git push --force origin main:master + + # force push new tags + git push --force --tags +fi + +# REWRITE branches based on master +if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then + cd $SRC_CLONE + + # empty file + > branch-diff.txt + + echo "Rewriting branches based on master..." + + # will store raw diffs here, if exist + mkdir -p differences + + # get a list of all branches except master + BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/origin\///' | grep -v '^master$') + + for BRANCH in $BRANCHES; do + # check if the branch is based on master history + MERGE_BASE=$(git merge-base master origin/$BRANCH) || true + if [ -n "$MERGE_BASE" ]; then + echo "Rewriting branch: $BRANCH" + + # create a new branch based on the new master + NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}') + if [ -z "$NEW_MERGE_BASE" ]; then + echo "Error: could not find new merge base for branch $BRANCH" >> branch-diff.txt + continue + fi + git checkout -b ${BRANCH}_new $NEW_MERGE_BASE + + # get the range of commits unique to this branch + COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH}) + + HAS_ERROR=0 + + # simple delimiter + echo "BRANCH ${BRANCH}" >> commit-map.txt + + for COMMIT in $COMMITS; do + # set environment variables to preserve author/committer and dates + export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT) + export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT) + export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT) + export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT) + export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT) + export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT) + + # cherry-pick the commit + if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then + # check if the failure is because of an empty commit + if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then + echo "Empty commit detected. Skipping commit $COMMIT" + git cherry-pick --skip + # log it was empty to the mapping file + echo "$COMMIT EMPTY" >> commit-map.txt + else + # handle other errors or conflicts + echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> branch-diff.txt + echo "$GIT_OUTPUT" > "differences/branch-${BRANCH}" + git cherry-pick --abort + git push --delete origin ${BRANCH} + HAS_ERROR=1 + break + fi + else + # capture the new commit hash + NEW_COMMIT=$(git rev-parse HEAD) + + # save the old and new commit hashes to the mapping file + echo "$COMMIT $NEW_COMMIT" >> commit-map.txt + + # append the old commit ID to the commit message + git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null + fi + done + + # force push the new branch + if [ $HAS_ERROR -eq 0 ]; then + # git lfs goes haywire here, so we need to install and uninstall + # git lfs install --skip-smudge --local + git lfs uninstall --local > /dev/null + git push -f origin ${BRANCH}_new:${BRANCH} + fi + + # clean up local branch + git checkout master > /dev/null + git branch -D ${BRANCH}_new > /dev/null + else + # echo "Skipping branch $BRANCH as it's not based on master history" >> branch-diff.txt + echo "Deleting branch $BRANCH as it's not based on master history" >> branch-diff.txt + git push --delete origin ${BRANCH} + fi + done +fi + +# VALIDATE cherry-pick +if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then + cd $SRC_CLONE + + TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt) + CURRENT_COMMIT_NUMBER=0 + COUNT_SAME=0 + COUNT_DIFF=0 + VALIDATE_IGNORE_FILES=( + ".github/ISSUE_TEMPLATE/bug_report.md" + ".github/pull_request_template.md" + ) + + # empty file + > commit-diff.txt + + echo "Validating commits..." + + # will store raw diffs here, if exist + mkdir -p differences + + # read each line from commit-map.txt + while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do + if [ "$NEW_COMMIT" == "EMPTY" ]; then + continue + fi + if [ "$OLD_COMMIT" == "BRANCH" ]; then + echo "Branch ${NEW_COMMIT} below:" >> commit-diff.txt + continue + fi + CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1)) + # retrieve short hashes and dates for the old and new commits + OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT) + NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT) + OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT) + NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT) + + echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r + + # generate lists of files and their hashes for the old and new commits, excluding ignored files + OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")") + NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")") + + # Compare the diffs + if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then + # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent." + COUNT_SAME=$((COUNT_SAME + 1)) + else + echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> commit-diff.txt + COUNT_DIFF=$((COUNT_DIFF + 1)) + set +e + diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "differences/$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT" + set -e + fi + done < "commit-map.txt" + + echo "Summary:" >> commit-diff.txt + echo "Equivalent commits: $COUNT_SAME" >> commit-diff.txt + echo "Different commits: $COUNT_DIFF" >> commit-diff.txt +fi + +if [ ! -d $OUT ]; then + cp -r $SRC $OUT + + cd $OUT + + # remove all non-master branches + # TODO: need to see if we "redo" the other branches (except master, master-ci, devel, devel-staging, release3, release3-staging, dashcam3, dashcam3-staging, testing-closet*, hotfix-*) + # git branch | grep -v "^ master$" | grep -v "\*" | xargs git branch -D + + # echo "cleaning up refs" + # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs) + # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {} + + echo "importing new lfs files" + # import "almost" everything to lfs + git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" + + echo "reflog and gc" + # this is needed after lfs import + git reflog expire --expire=now --all + git gc --prune=now --aggressive + + # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis + echo "Analyzing with git-filter-repo..." + /tmp/git-filter-repo --force --analyze + + echo "New size is $(du -sh .)" +fi + +cd $OUT + +# fetch all lfs files from https://github.com/commaai/openpilot.git +# some lfs files are missing on gitlab, but they can be found on github +git config lfs.url https://github.com/commaai/openpilot.git/info/lfs +git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git +git lfs fetch --all || true + +# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git +git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs +git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git +git lfs fetch --all || true + +# final push - will also push lfs +# TODO: switch to git@github.com:commaai/openpilot.git when ready +# if using mirror, it will also delete non-master branches (master-ci, nightly, devel, release3, release3-staging, dashcam3, release2) +# git push --mirror git@github.com:commaai/openpilot-tiny.git +# using this instead - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/ +git push git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/* diff --git a/scripts/git_rewrite/tag-commit-map.txt b/scripts/git_rewrite/tag-commit-map.txt new file mode 100644 index 000000000..66b1fb00c --- /dev/null +++ b/scripts/git_rewrite/tag-commit-map.txt @@ -0,0 +1,82 @@ +v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce +v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2 +v0.2.1 17d9becd3c673091b22f09aa02559a9ed9230f50 +v0.2.2 a64b9aa9b8cb5863c917b6926516291a63c02fe5 +v0.2.3 adaa4ed350acda4067fc0b455ad15b54cdf4c768 +v0.2.4 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8f22f52235c48eada586795ac57edb22688e4d08 +v0.5.2 0129a8a4ff8da5314e8e4d4d3336e89667ff6d54 +v0.5.3 285c52eb693265a0a530543e9ca0aeb593a2a55e +v0.5.4 a422246dc30bce11e970514f13f7c110f4470cc3 +v0.5.5 8f3539a27b28851153454eb737da9624cccaed2d +v0.5.6 860a48765d1016ba226fb2c64aea35a45fe40e4a +v0.5.7 9ce3045f139ee29bf0eea5ec59dfe7df9c3d2c51 +v0.5.8 2cee2e05ba0f3824fdbb8b957958800fa99071a1 +v0.5.9 ad145da3bcded0fe75306df02061d07a633963c3 +v0.5.10 ff4c1557d8358f158f4358788ff18ef93d2470ef +v0.5.11 d1866845df423c6855e2b365ff230cf7d89a420b +v0.5.12 f6e8ef27546e9a406724841e75f8df71cc4c2c97 +v0.5.13 dd34ccfe288ebda8e2568cf550994ae890379f45 +v0.6 60a20537c5f3fcc7f11946d81aebc8f90c08c117 +v0.6.1 cf5c4aeacb1703d0ffd35bdb5297d3494fee9a22 +v0.6.2 095ef5f9f60fca1b269aabcc3cfd322b17b9e674 +v0.6.3 d5f9caa82d80cdcc7f1b7748f2cf3ccbf94f82a3 +v0.6.4 58f376002e0c654fbc2de127765fa297cf694a33 +v0.6.5 70d17cd69b80e7627dcad8fd5b6438f2309ac307 +v0.6.6 d4eb5a6eafdd4803d09e6f3963918216cca5a81f +v0.7 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a949a49d5efaaf2d881143d23e9fb5ff9e28e88c +v0.8.9 a034926264cd1025c69d6ceb3fe444965f960b75 +v0.8.10 59accdd814398b884167c0f41dbf46dcccf0c29c +v0.8.11 d630ec9092f039cb5e51c5dd6d92fc47b91407e4 +v0.8.12 57871c99031cf597ffa0d819057ac1401e129f32 +v0.8.13 e43e6e876513450d235124fcb711f1724ed9814c +v0.8.14 71901c94dbbaa2f9f156a80c14cc7ea65219fc7c +v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354 +v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e +v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30 +v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1 +v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9 +v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2 +v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c +v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac +v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5 +v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee From 35df0a4fda99e42f49a734890de2dea5a641c639 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 8 Jul 2024 22:53:59 -0700 Subject: [PATCH 018/180] torqued: rename lat_active (#32942) * Update torqued.py * lint * not necessary --- selfdrive/locationd/torqued.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 569496b58..c254896e2 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -159,7 +159,7 @@ class TorqueEstimator(ParameterEstimator): def handle_log(self, t, which, msg): if which == "carControl": self.raw_points["carControl_t"].append(t + self.lag) - self.raw_points["active"].append(msg.latActive) + self.raw_points["lat_active"].append(msg.latActive) elif which == "carOutput": self.raw_points["carOutput_t"].append(t + self.lag) self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer) @@ -171,12 +171,12 @@ class TorqueEstimator(ParameterEstimator): if len(self.raw_points['steer_torque']) == self.hist_len: yaw_rate = msg.angularVelocityCalibrated.value[2] roll = msg.orientationNED.value[0] - active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['active']).astype(bool) + lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool) steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool) vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego']) steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']) lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY) - if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD): + if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD): self.filtered_points.add_point(float(steer), float(lateral_acc)) def get_msg(self, valid=True, with_points=False): From 133f25eecbd7be2343624c8ed3c426663bd027e5 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 9 Jul 2024 15:01:16 -0700 Subject: [PATCH 019/180] switch cereal to pytest (#32950) pytest --- cereal/messaging/tests/test_messaging.py | 52 ++++++++----------- cereal/messaging/tests/test_pub_sub_master.py | 44 +++++++--------- cereal/messaging/tests/test_services.py | 13 ++--- pyproject.toml | 2 +- 4 files changed, 45 insertions(+), 66 deletions(-) mode change 100755 => 100644 cereal/messaging/tests/test_messaging.py mode change 100755 => 100644 cereal/messaging/tests/test_pub_sub_master.py mode change 100755 => 100644 cereal/messaging/tests/test_services.py diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py old mode 100755 new mode 100644 index 429c2d3c5..58fa7f7b2 --- a/cereal/messaging/tests/test_messaging.py +++ b/cereal/messaging/tests/test_messaging.py @@ -1,4 +1,3 @@ -#!/usr/bin/env python3 import os import capnp import multiprocessing @@ -6,8 +5,8 @@ import numbers import random import threading import time -import unittest from parameterized import parameterized +import pytest from cereal import log, car import cereal.messaging as messaging @@ -28,12 +27,6 @@ def zmq_sleep(t=1): if "ZMQ" in os.environ: time.sleep(t) -def zmq_expected_failure(func): - if "ZMQ" in os.environ: - return unittest.expectedFailure(func) - else: - return func - # TODO: this should take any capnp struct and returrn a msg with random populated data def random_carstate(): @@ -58,12 +51,12 @@ def delayed_send(delay, sock, dat): threading.Timer(delay, send_func).start() -class TestMessaging(unittest.TestCase): +class TestMessaging: def setUp(self): # TODO: ZMQ tests are too slow; all sleeps will need to be # replaced with logic to block on the necessary condition if "ZMQ" in os.environ: - raise unittest.SkipTest + pytest.skip() # ZMQ pub socket takes too long to die # sleep to prevent multiple publishers error between tests @@ -75,9 +68,9 @@ class TestMessaging(unittest.TestCase): msg = messaging.new_message(evt) except capnp.lib.capnp.KjException: msg = messaging.new_message(evt, random.randrange(200)) - self.assertLess(time.monotonic() - msg.logMonoTime, 0.1) - self.assertFalse(msg.valid) - self.assertEqual(evt, msg.which()) + assert (time.monotonic() - msg.logMonoTime) < 0.1 + assert not msg.valid + assert evt == msg.which() @parameterized.expand(events) def test_pub_sock(self, evt): @@ -99,8 +92,8 @@ class TestMessaging(unittest.TestCase): # no wait and no msgs in queue msgs = func(sub_sock) - self.assertIsInstance(msgs, list) - self.assertEqual(len(msgs), 0) + assert isinstance(msgs, list) + assert len(msgs) == 0 # no wait but msgs are queued up num_msgs = random.randrange(3, 10) @@ -108,9 +101,9 @@ class TestMessaging(unittest.TestCase): pub_sock.send(messaging.new_message(sock).to_bytes()) time.sleep(0.1) msgs = func(sub_sock) - self.assertIsInstance(msgs, list) - self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs)) - self.assertEqual(len(msgs), num_msgs) + assert isinstance(msgs, list) + assert all(isinstance(msg, expected_type) for msg in msgs) + assert len(msgs) == num_msgs def test_recv_sock(self): sock = "carState" @@ -120,14 +113,14 @@ class TestMessaging(unittest.TestCase): # no wait and no msg in queue, socket should timeout recvd = messaging.recv_sock(sub_sock) - self.assertTrue(recvd is None) + assert recvd is None # no wait and one msg in queue msg = random_carstate() pub_sock.send(msg.to_bytes()) time.sleep(0.01) recvd = messaging.recv_sock(sub_sock) - self.assertIsInstance(recvd, capnp._DynamicStructReader) + assert isinstance(recvd, capnp._DynamicStructReader) # https://github.com/python/mypy/issues/13038 assert_carstate(msg.carState, recvd.carState) @@ -139,16 +132,16 @@ class TestMessaging(unittest.TestCase): # no msg in queue, socket should timeout recvd = messaging.recv_one(sub_sock) - self.assertTrue(recvd is None) + assert recvd is None # one msg in queue msg = random_carstate() pub_sock.send(msg.to_bytes()) recvd = messaging.recv_one(sub_sock) - self.assertIsInstance(recvd, capnp._DynamicStructReader) + assert isinstance(recvd, capnp._DynamicStructReader) assert_carstate(msg.carState, recvd.carState) - @zmq_expected_failure + @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected') def test_recv_one_or_none(self): sock = "carState" pub_sock = messaging.pub_sock(sock) @@ -157,13 +150,13 @@ class TestMessaging(unittest.TestCase): # no msg in queue, socket shouldn't block recvd = messaging.recv_one_or_none(sub_sock) - self.assertTrue(recvd is None) + assert recvd is None # one msg in queue msg = random_carstate() pub_sock.send(msg.to_bytes()) recvd = messaging.recv_one_or_none(sub_sock) - self.assertIsInstance(recvd, capnp._DynamicStructReader) + assert isinstance(recvd, capnp._DynamicStructReader) assert_carstate(msg.carState, recvd.carState) def test_recv_one_retry(self): @@ -179,7 +172,7 @@ class TestMessaging(unittest.TestCase): p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,)) p.start() time.sleep(sock_timeout*15) - self.assertTrue(p.is_alive()) + assert p.is_alive() p.terminate() # wait 15 socket timeouts before sending @@ -187,9 +180,6 @@ class TestMessaging(unittest.TestCase): delayed_send(sock_timeout*15, pub_sock, msg.to_bytes()) start_time = time.monotonic() recvd = messaging.recv_one_retry(sub_sock) - self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15) - self.assertIsInstance(recvd, capnp._DynamicStructReader) + assert (time.monotonic() - start_time) >= sock_timeout*15 + assert isinstance(recvd, capnp._DynamicStructReader) assert_carstate(msg.carState, recvd.carState) - -if __name__ == "__main__": - unittest.main() diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py old mode 100755 new mode 100644 index 81a1cf2d5..ba5b397aa --- a/cereal/messaging/tests/test_pub_sub_master.py +++ b/cereal/messaging/tests/test_pub_sub_master.py @@ -1,8 +1,6 @@ -#!/usr/bin/env python3 import random import time from typing import Sized, cast -import unittest import cereal.messaging as messaging from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \ @@ -10,9 +8,9 @@ from cereal.messaging.tests.test_messaging import events, random_sock, random_so zmq_sleep -class TestSubMaster(unittest.TestCase): +class TestSubMaster: - def setUp(self): + def setup_method(self): # ZMQ pub socket takes too long to die # sleep to prevent multiple publishers error between tests zmq_sleep(3) @@ -21,21 +19,21 @@ class TestSubMaster(unittest.TestCase): sm = messaging.SubMaster(events) for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive, sm.sock, sm.data, sm.logMonoTime, sm.valid]: - self.assertEqual(len(cast(Sized, p)), len(events)) + assert len(cast(Sized, p)) == len(events) def test_init_state(self): socks = random_socks() sm = messaging.SubMaster(socks) - self.assertEqual(sm.frame, -1) - self.assertFalse(any(sm.updated.values())) - self.assertFalse(any(sm.alive.values())) - self.assertTrue(all(t == 0. for t in sm.recv_time.values())) - self.assertTrue(all(f == 0 for f in sm.recv_frame.values())) - self.assertTrue(all(t == 0 for t in sm.logMonoTime.values())) + assert sm.frame == -1 + assert not any(sm.updated.values()) + assert not any(sm.alive.values()) + assert all(t == 0. for t in sm.recv_time.values()) + assert all(f == 0 for f in sm.recv_frame.values()) + assert all(t == 0 for t in sm.logMonoTime.values()) for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive, sm.sock, sm.data, sm.logMonoTime, sm.valid]: - self.assertEqual(len(cast(Sized, p)), len(socks)) + assert len(cast(Sized, p)) == len(socks) def test_getitem(self): sock = "carState" @@ -59,8 +57,8 @@ class TestSubMaster(unittest.TestCase): msg = messaging.new_message(sock) pub_sock.send(msg.to_bytes()) sm.update(1000) - self.assertEqual(sm.frame, i) - self.assertTrue(all(sm.updated.values())) + assert sm.frame == i + assert all(sm.updated.values()) def test_update_timeout(self): sock = random_sock() @@ -70,9 +68,9 @@ class TestSubMaster(unittest.TestCase): start_time = time.monotonic() sm.update(timeout) t = time.monotonic() - start_time - self.assertGreaterEqual(t, timeout/1000.) - self.assertLess(t, 5) - self.assertFalse(any(sm.updated.values())) + assert t >= timeout/1000. + assert t < 5 + assert not any(sm.updated.values()) def test_avg_frequency_checks(self): for poll in (True, False): @@ -118,12 +116,12 @@ class TestSubMaster(unittest.TestCase): pub_sock.send(msg.to_bytes()) time.sleep(0.01) sm.update(1000) - self.assertEqual(sm[sock].vEgo, n) + assert sm[sock].vEgo == n -class TestPubMaster(unittest.TestCase): +class TestPubMaster: - def setUp(self): + def setup_method(self): # ZMQ pub socket takes too long to die # sleep to prevent multiple publishers error between tests zmq_sleep(3) @@ -156,8 +154,4 @@ class TestPubMaster(unittest.TestCase): if capnp: msg.clear_write_flag() msg = msg.to_bytes() - self.assertEqual(msg, recvd, i) - - -if __name__ == "__main__": - unittest.main() + assert msg == recvd, i diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py old mode 100755 new mode 100644 index ec96c90bc..01e859a5a --- a/cereal/messaging/tests/test_services.py +++ b/cereal/messaging/tests/test_services.py @@ -1,26 +1,21 @@ -#!/usr/bin/env python3 import os import tempfile from typing import Dict -import unittest from parameterized import parameterized import cereal.services as services from cereal.services import SERVICE_LIST -class TestServices(unittest.TestCase): +class TestServices: @parameterized.expand(SERVICE_LIST.keys()) def test_services(self, s): service = SERVICE_LIST[s] - self.assertTrue(service.frequency <= 104) - self.assertTrue(service.decimation != 0) + assert service.frequency <= 104 + assert service.decimation != 0 def test_generated_header(self): with tempfile.NamedTemporaryFile(suffix=".h") as f: ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}") - self.assertEqual(ret, 0, "generated services header is not valid C") - -if __name__ == "__main__": - unittest.main() + assert ret == 0, "generated services header is not valid C" diff --git a/pyproject.toml b/pyproject.toml index 1023de918..0f5d9aa1c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -136,7 +136,7 @@ packages = [ "." ] [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" +addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" cpp_files = "test_*" cpp_harness = "selfdrive/test/cpp_harness.py" python_files = "test_*.py" From 0c58e35b6c2294ef9ad149081a95739524fe74ae Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 9 Jul 2024 21:16:36 -0700 Subject: [PATCH 020/180] format torqued.py --- selfdrive/locationd/torqued.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index c254896e2..4ec4b928a 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -36,8 +36,8 @@ ALLOWED_CARS = ['toyota', 'hyundai'] def slope2rot(slope): - sin = np.sqrt(slope**2 / (slope**2 + 1)) - cos = np.sqrt(1 / (slope**2 + 1)) + sin = np.sqrt(slope ** 2 / (slope ** 2 + 1)) + cos = np.sqrt(1 / (slope ** 2 + 1)) return np.array([[cos, -sin], [sin, cos]]) @@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets): class TorqueEstimator(ParameterEstimator): def __init__(self, CP, decimated=False): self.hist_len = int(HISTORY / DT_MDL) - self.lag = CP.steerActuatorDelay + .2 # from controlsd + self.lag = CP.steerActuatorDelay + .2 # from controlsd if decimated: self.min_bucket_points = MIN_BUCKET_POINTS / 10 self.min_points_total = MIN_POINTS_TOTAL_QLOG @@ -242,8 +242,10 @@ def main(demo=False): msg = estimator.get_msg(valid=sm.all_checks(), with_points=True) params.put_nonblocking("LiveTorqueParameters", msg.to_bytes()) + if __name__ == "__main__": import argparse + parser = argparse.ArgumentParser(description='Process the --demo argument.') parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') args = parser.parse_args() From 5efdaf202624956f03a9c5f521bf692dae213c48 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 9 Jul 2024 22:21:50 -0700 Subject: [PATCH 021/180] torqued: option to keep track of all points (#32957) * how about this * here * rename * revert * revert this too * can do this * ugh inside TorqueBuckets it implicitly limits steer torque to 50%!!!!!!!! * fix * move up --- selfdrive/locationd/torqued.py | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 4ec4b928a..cb10fa93a 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -50,9 +50,10 @@ class TorqueBuckets(PointBuckets): class TorqueEstimator(ParameterEstimator): - def __init__(self, CP, decimated=False): + def __init__(self, CP, decimated=False, track_all_points=False): self.hist_len = int(HISTORY / DT_MDL) self.lag = CP.steerActuatorDelay + .2 # from controlsd + self.track_all_points = track_all_points # for offline analysis, without max lateral accel or max steer torque filters if decimated: self.min_bucket_points = MIN_BUCKET_POINTS / 10 self.min_points_total = MIN_POINTS_TOTAL_QLOG @@ -135,6 +136,7 @@ class TorqueEstimator(ParameterEstimator): min_points_total=self.min_points_total, points_per_bucket=POINTS_PER_BUCKET, rowsize=3) + self.all_torque_points = [] def estimate_params(self): points = self.filtered_points.get_points(self.fit_points) @@ -174,10 +176,14 @@ class TorqueEstimator(ParameterEstimator): lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool) steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool) vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego']) - steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']) - lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY) - if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD): - self.filtered_points.add_point(float(steer), float(lateral_acc)) + steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item() + lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item() + if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD): + if abs(lateral_acc) <= LAT_ACC_THRESHOLD: + self.filtered_points.add_point(steer, lateral_acc) + + if self.track_all_points: + self.all_torque_points.append([steer, lateral_acc]) def get_msg(self, valid=True, with_points=False): msg = messaging.new_message('liveTorqueParameters') From fbc53a24a3b1977814b50c4021ba9c445c8f7f74 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 9 Jul 2024 22:26:58 -0700 Subject: [PATCH 022/180] torqued: clean up (#32958) * formatting * function signatures didn't match * function signatures didn't match * filtered and raw mean something totally different when it comes to params filtered and raw mean something totally different when it comes to params * cmt * probably better for organization * add todo * STASH * revert some stuff * clean up * oof --- selfdrive/locationd/helpers.py | 2 +- selfdrive/locationd/torqued.py | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index 786bdbbfe..8f7211aeb 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -38,7 +38,7 @@ class PointBuckets: def is_calculable(self) -> bool: return all(len(v) > 0 for v in self.buckets.values()) - def add_point(self, x: float, y: float, bucket_val: float) -> None: + def add_point(self, x: float, y: float) -> None: raise NotImplementedError def get_points(self, num_points: int = None) -> Any: diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index cb10fa93a..ba649b318 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -120,7 +120,8 @@ class TorqueEstimator(ParameterEstimator): for param in initial_params: self.filtered_params[param] = FirstOrderFilter(initial_params[param], self.decay, DT_MDL) - def get_restore_key(self, CP, version): + @staticmethod + def get_restore_key(CP, version): a, b = None, None if CP.lateralTuning.which() == 'torque': a = CP.lateralTuning.torque.friction @@ -167,8 +168,11 @@ class TorqueEstimator(ParameterEstimator): self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer) elif which == "carState": self.raw_points["carState_t"].append(t + self.lag) + # TODO: check if high aEgo affects resulting lateral accel self.raw_points["vego"].append(msg.vEgo) self.raw_points["steer_override"].append(msg.steeringPressed) + + # calculate lateral accel from past steering torque elif which == "liveLocationKalman": if len(self.raw_points['steer_torque']) == self.hist_len: yaw_rate = msg.angularVelocityCalibrated.value[2] From c17c34187b6e9c14b3c00135386625bbb601ed22 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 11 Jul 2024 06:10:24 +0800 Subject: [PATCH 023/180] cabana: simplify stream management and remove problematic autosave feature (#32945) simplify code and remove problematic code --- tools/cabana/cabana.cc | 29 +--- tools/cabana/chart/chart.cc | 9 +- tools/cabana/chart/chartswidget.h | 1 - tools/cabana/chart/signalselector.cc | 3 +- tools/cabana/chart/sparkline.cc | 9 +- tools/cabana/chart/sparkline.h | 1 + tools/cabana/dbc/dbcfile.cc | 23 +-- tools/cabana/dbc/dbcfile.h | 6 +- tools/cabana/mainwin.cc | 207 +++++++++--------------- tools/cabana/mainwin.h | 17 +- tools/cabana/signalview.cc | 2 +- tools/cabana/signalview.h | 1 + tools/cabana/streams/abstractstream.cc | 11 -- tools/cabana/streams/abstractstream.h | 21 +-- tools/cabana/streams/devicestream.cc | 11 +- tools/cabana/streams/devicestream.h | 6 +- tools/cabana/streams/livestream.cc | 1 - tools/cabana/streams/pandastream.cc | 13 +- tools/cabana/streams/pandastream.h | 6 +- tools/cabana/streams/replaystream.cc | 17 +- tools/cabana/streams/replaystream.h | 8 +- tools/cabana/streams/socketcanstream.cc | 13 +- tools/cabana/streams/socketcanstream.h | 6 +- tools/cabana/streamselector.cc | 16 +- tools/cabana/streamselector.h | 6 +- 25 files changed, 134 insertions(+), 309 deletions(-) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 4a3b4126d..a798d13a8 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -38,26 +38,19 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"dbc", "dbc file to open", "dbc"}); cmd_parser.process(app); - QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : ""; - AbstractStream *stream = nullptr; + if (cmd_parser.isSet("stream")) { stream = new DeviceStream(&app, cmd_parser.value("zmq")); } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) { - PandaStreamConfig config = {}; - if (cmd_parser.isSet("panda-serial")) { - config.serial = cmd_parser.value("panda-serial"); - } try { - stream = new PandaStream(&app, config); + stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")}); } catch (std::exception &e) { qWarning() << e.what(); return 0; } } else if (cmd_parser.isSet("socketcan")) { - SocketCanStreamConfig config = {}; - config.device = cmd_parser.value("socketcan"); - stream = new SocketCanStream(&app, config); + stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")}); } else { uint32_t replay_flags = REPLAY_FLAG_NONE; if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM; @@ -73,24 +66,14 @@ int main(int argc, char *argv[]) { route = DEMO_ROUTE; } if (!route.isEmpty()) { - auto replay_stream = new ReplayStream(&app); + auto replay_stream = std::make_unique(&app); if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { return 0; } - stream = replay_stream; + stream = replay_stream.release(); } } - MainWindow w; - if (stream) { - stream->start(); - if (!dbc_file.isEmpty()) { - w.loadFile(dbc_file); - } - } else { - w.openStream(); - } - w.show(); - + MainWindow w(stream, cmd_parser.value("dbc")); return app.exec(); } diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 128c33bae..6c13252e8 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -155,11 +155,10 @@ void ChartView::removeIf(std::function predicate) { } void ChartView::signalUpdated(const cabana::Signal *sig) { - if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) { - for (const auto &s : sigs) { - if (s.sig == sig && s.series->color() != sig->color) { - setSeriesColor(s.series, sig->color); - } + auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; }); + if (it != sigs.end()) { + if (it->series->color() != sig->color) { + setSeriesColor(it->series, sig->color); } updateTitle(); updateSeries(sig); diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h index 0b948b342..a92519179 100644 --- a/tools/cabana/chart/chartswidget.h +++ b/tools/cabana/chart/chartswidget.h @@ -110,7 +110,6 @@ private: QTimer *align_timer; int current_theme = 0; bool value_tip_visible_ = false; - friend class ZoomCommand; friend class ChartView; friend class ChartsContainer; }; diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc index 0ddb212a8..63f3a7d57 100644 --- a/tools/cabana/chart/signalselector.cc +++ b/tools/cabana/chart/signalselector.cc @@ -83,7 +83,8 @@ void SignalSelector::updateAvailableList(int index) { MessageId msg_id = msgs_combo->itemData(index).value(); auto selected_items = seletedItems(); for (auto s : dbc()->msg(msg_id)->getSignals()) { - bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; }); + bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), + [sig = s, &msg_id](auto it) { return it->msg_id == msg_id && it->sig == sig; }); if (!is_selected) { addItemToList(available_list, msg_id, s); } diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index 1cadda2bd..094fe9618 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -4,8 +4,6 @@ #include #include -#include "tools/cabana/streams/abstractstream.h" - void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) { const auto &msgs = can->events(msg_id); @@ -14,11 +12,6 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent()); auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent()); - if (first == last || size.isEmpty()) { - pixmap = QPixmap(); - return; - } - points.clear(); double value = 0; for (auto it = first; it != last; ++it) { @@ -27,7 +20,7 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl } } - if (points.empty()) { + if (points.empty() || size.isEmpty()) { pixmap = QPixmap(); return; } diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h index 3bdd8a3ee..806f0a61e 100644 --- a/tools/cabana/chart/sparkline.h +++ b/tools/cabana/chart/sparkline.h @@ -5,6 +5,7 @@ #include #include "tools/cabana/dbc/dbc.h" +#include "tools/cabana/streams/abstractstream.h" class Sparkline { public: diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index 4a1c52819..cca9d0c0f 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -9,10 +9,6 @@ DBCFile::DBCFile(const QString &dbc_file_name) { if (file.open(QIODevice::ReadOnly)) { name_ = QFileInfo(dbc_file_name).baseName(); filename = dbc_file_name; - // Remove auto save file extension - if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) { - filename.chop(AUTO_SAVE_EXTENSION.length()); - } parse(file.readAll()); } else { throw std::runtime_error("Failed to open file."); @@ -20,17 +16,12 @@ DBCFile::DBCFile(const QString &dbc_file_name) { } DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") { - // Open from clipboard parse(content); } bool DBCFile::save() { assert(!filename.isEmpty()); - if (writeContents(filename)) { - cleanupAutoSaveFile(); - return true; - } - return false; + return writeContents(filename); } bool DBCFile::saveAs(const QString &new_filename) { @@ -38,16 +29,6 @@ bool DBCFile::saveAs(const QString &new_filename) { return save(); } -bool DBCFile::autoSave() { - return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION); -} - -void DBCFile::cleanupAutoSaveFile() { - if (!filename.isEmpty()) { - QFile::remove(filename + AUTO_SAVE_EXTENSION); - } -} - bool DBCFile::writeContents(const QString &fn) { QFile file(fn); if (file.open(QIODevice::WriteOnly)) { @@ -75,7 +56,7 @@ cabana::Msg *DBCFile::msg(const QString &name) { return it != msgs.end() ? &(it->second) : nullptr; } -cabana::Signal *DBCFile::signal(uint32_t address, const QString name) { +cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) { auto m = msg(address); return m ? (cabana::Signal *)m->sig(name) : nullptr; } diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h index 20de04a86..bd267898f 100644 --- a/tools/cabana/dbc/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -5,8 +5,6 @@ #include "tools/cabana/dbc/dbc.h" -const QString AUTO_SAVE_EXTENSION = ".tmp"; - class DBCFile { public: DBCFile(const QString &dbc_file_name); @@ -15,9 +13,7 @@ public: bool save(); bool saveAs(const QString &new_filename); - bool autoSave(); bool writeContents(const QString &fn); - void cleanupAutoSaveFile(); QString generateDBC(); void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment); @@ -27,7 +23,7 @@ public: cabana::Msg *msg(uint32_t address); cabana::Msg *msg(const QString &name); inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); } - cabana::Signal *signal(uint32_t address, const QString name); + cabana::Signal *signal(uint32_t address, const QString &name); inline QString name() const { return name_.isEmpty() ? "untitled" : name_; } inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); } diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index bf1db63ee..34432707d 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -12,6 +12,7 @@ #include #include #include +#include #include #include #include @@ -23,9 +24,8 @@ #include "tools/cabana/streamselector.h" #include "tools/cabana/tools/findsignal.h" #include "tools/cabana/utils/export.h" -#include "tools/replay/replay.h" -MainWindow::MainWindow() : QMainWindow() { +MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainWindow() { loadFingerprints(); createDockWindows(); setCentralWidget(center_widget = new CenterWidget(this)); @@ -65,10 +65,10 @@ MainWindow::MainWindow() : QMainWindow() { QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged); - QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged); QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus); - QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream); - QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted); + + QTimer::singleShot(0, this, [=]() { stream ? openStream(stream, dbc_file) : selectAndOpenStream(); }); + show(); } void MainWindow::loadFingerprints() { @@ -76,16 +76,12 @@ void MainWindow::loadFingerprints() { if (json_file.open(QIODevice::ReadOnly)) { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); } - // get opendbc names - for (auto fn : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) { - opendbc_names << QFileInfo(fn).baseName(); - } } void MainWindow::createActions() { // File menu QMenu *file_menu = menuBar()->addMenu(tr("&File")); - file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream); + file_menu->addAction(tr("Open Stream..."), this, &MainWindow::selectAndOpenStream); close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream); export_to_csv_act = file_menu->addAction(tr("Export to CSV..."), this, &MainWindow::exportToCSV); close_stream_act->setEnabled(false); @@ -96,20 +92,15 @@ void MainWindow::createActions() { file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open); manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files")); + QObject::connect(manage_dbcs_menu, &QMenu::aboutToShow, this, &MainWindow::updateLoadSaveMenus); open_recent_menu = file_menu->addMenu(tr("Open &Recent")); - for (int i = 0; i < MAX_RECENT_FILES; ++i) { - recent_files_acts[i] = new QAction(this); - recent_files_acts[i]->setVisible(false); - QObject::connect(recent_files_acts[i], &QAction::triggered, this, &MainWindow::openRecentFile); - open_recent_menu->addAction(recent_files_acts[i]); - } - updateRecentFileActions(); + QObject::connect(open_recent_menu, &QMenu::aboutToShow, this, &MainWindow::updateRecentFileMenu); file_menu->addSeparator(); QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc")); // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }"); - for (const auto &dbc_name : opendbc_names) { + for (const auto &dbc_name : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) { load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); }); } @@ -180,6 +171,7 @@ void MainWindow::createDockWidgets() { messages_widget = new MessagesWidget(this); messages_dock->setWidget(messages_widget); QObject::connect(messages_widget, &MessagesWidget::titleChanged, messages_dock, &QDockWidget::setWindowTitle); + QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage); // right panel charts_widget = new ChartsWidget(this); @@ -209,67 +201,52 @@ void MainWindow::createStatusBar() { progress_bar->setVisible(false); statusBar()->addWidget(new QLabel(tr("For Help, Press F1"))); statusBar()->addPermanentWidget(progress_bar); - statusBar()->addPermanentWidget(status_label = new QLabel(this)); updateStatus(); } void MainWindow::createShortcuts() { auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut); - QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); }); + QObject::connect(shortcut, &QShortcut::activated, this, []() { + if (can) can->pause(!can->isPaused()); + }); // TODO: add more shortcuts here. } -void MainWindow::undoStackIndexChanged(int index) { - int count = UndoStack::instance()->count(); - if (count >= 0) { - QString command_text; - if (index == count) { - command_text = (count == prev_undostack_count ? "Redo " : "") + UndoStack::instance()->text(index - 1); - } else if (index < prev_undostack_index) { - command_text = tr("Undo %1").arg(UndoStack::instance()->text(index)); - } else if (index > prev_undostack_index) { - command_text = tr("Redo %1").arg(UndoStack::instance()->text(index - 1)); - } - statusBar()->showMessage(command_text, 2000); - } - prev_undostack_index = index; - prev_undostack_count = count; - autoSave(); - updateLoadSaveMenus(); -} - void MainWindow::undoStackCleanChanged(bool clean) { - if (clean) { - prev_undostack_index = 0; - prev_undostack_count = 0; - } setWindowModified(!clean); } void MainWindow::DBCFileChanged() { UndoStack::instance()->clear(); - updateLoadSaveMenus(); + + // Update file menu + int cnt = dbc()->nonEmptyDBCCount(); + save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC...")); + save_dbc->setEnabled(cnt > 0); + save_dbc_as->setEnabled(cnt == 1); + // TODO: Support clipboard for multiple files + copy_dbc_to_clipboard->setEnabled(cnt == 1); + manage_dbcs_menu->setEnabled(dynamic_cast(can) == nullptr); + + QStringList title; + for (auto f : dbc()->allDBCFiles()) { + title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name())); + } + setWindowFilePath(title.join(" | ")); } -void MainWindow::openStream() { - AbstractStream *stream = nullptr; - StreamSelector dlg(&stream, this); +void MainWindow::selectAndOpenStream() { + StreamSelector dlg(this); if (dlg.exec()) { - if (!dlg.dbcFile().isEmpty()) { - loadFile(dlg.dbcFile()); - } - stream->start(); - statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000); + openStream(dlg.stream(), dlg.dbcFile()); } else if (!can) { - stream = new DummyStream(this); - stream->start(); + openStream(new DummyStream(this)); } } void MainWindow::closeStream() { - AbstractStream *stream = new DummyStream(this); - stream->start(); + openStream(new DummyStream(this)); if (dbc()->nonEmptyDBCCount() > 0) { emit dbc()->DBCFileChanged(); } @@ -301,18 +278,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) { if (!fn.isEmpty()) { closeFile(s); - QString dbc_fn = fn; - // Prompt user to load auto saved file if it exists. - if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) { - auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?")); - if (ret == QMessageBox::Yes) { - dbc_fn += AUTO_SAVE_EXTENSION; - UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost - } - } - QString error; - if (dbc()->open(s, dbc_fn, &error)) { + if (dbc()->open(s, fn, &error)) { updateRecentFiles(fn); statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000); } else { @@ -323,15 +290,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) { } } -void MainWindow::openRecentFile() { - if (auto action = qobject_cast(sender())) { - loadFile(action->data().toString()); - } -} - void MainWindow::loadDBCFromOpendbc(const QString &name) { - QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name); - loadFile(opendbc_file_path); + loadFile(QString("%1/%2").arg(OPENDBC_FILE_PATH, name)); } void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { @@ -349,13 +309,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { } } -void MainWindow::changingStream() { +void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) { center_widget->clear(); delete messages_widget; delete video_splitter; -} -void MainWindow::streamStarted() { + delete can; + can = stream; + can->setParent(this); // take ownership + can->start(); + + loadFile(dbc_file); + statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000); + bool has_stream = dynamic_cast(can) == nullptr; close_stream_act->setEnabled(has_stream); export_to_csv_act->setEnabled(has_stream); @@ -372,9 +338,20 @@ void MainWindow::streamStarted() { newFile(); } - QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage); QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged); - QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus); + + if (has_stream) { + auto wait_dlg = new QProgressDialog( + can->liveStreaming() ? tr("Waiting for the live stream to start...") : tr("Loading segment data..."), + tr("&Abort"), 0, 100, this); + wait_dlg->setWindowModality(Qt::WindowModal); + wait_dlg->setFixedSize(400, wait_dlg->sizeHint().height()); + QObject::connect(wait_dlg, &QProgressDialog::canceled, this, &MainWindow::close); + QObject::connect(can, &AbstractStream::eventsMerged, wait_dlg, &QProgressDialog::deleteLater); + QObject::connect(this, &MainWindow::updateProgressBar, wait_dlg, [=](uint64_t cur, uint64_t total, bool success) { + wait_dlg->setValue((int)((cur / (double)total) * 100)); + }); + } } void MainWindow::eventsMerged() { @@ -383,12 +360,8 @@ void MainWindow::eventsMerged() { .arg(can->routeName()) .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint)); // Don't overwrite already loaded DBC - if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) { - auto dbc_name = fingerprint_to_dbc[car_fingerprint]; - if (dbc_name != QJsonValue::Undefined) { - // Prevent dialog that load autosaved file from blocking replay->start(). - QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); }); - } + if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) { + QTimer::singleShot(0, this, [this]() { loadDBCFromOpendbc(fingerprint_to_dbc[car_fingerprint].toString() + ".dbc"); }); } } } @@ -409,22 +382,6 @@ void MainWindow::saveAs() { } } -void MainWindow::autoSave() { - if (!UndoStack::instance()->isClean()) { - for (auto dbc_file : dbc()->allDBCFiles()) { - if (!dbc_file->filename.isEmpty()) { - dbc_file->autoSave(); - } - } - } -} - -void MainWindow::cleanupAutoSaveFile() { - for (auto dbc_file : dbc()->allDBCFiles()) { - dbc_file->cleanupAutoSaveFile(); - } -} - void MainWindow::closeFile(SourceSet s) { remindSaveChanges(); if (s == SOURCE_ALL) { @@ -448,7 +405,6 @@ void MainWindow::saveFile(DBCFile *dbc_file) { assert(dbc_file != nullptr); if (!dbc_file->filename.isEmpty()) { dbc_file->save(); - updateLoadSaveMenus(); UndoStack::instance()->setClean(); statusBar()->showMessage(tr("File saved"), 2000); } else if (!dbc_file->isEmpty()) { @@ -464,7 +420,6 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) { UndoStack::instance()->setClean(); statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000); updateRecentFiles(fn); - updateLoadSaveMenus(); } } @@ -483,16 +438,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) { } void MainWindow::updateLoadSaveMenus() { - int cnt = dbc()->nonEmptyDBCCount(); - save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC...")); - save_dbc->setEnabled(cnt > 0); - save_dbc_as->setEnabled(cnt == 1); - - // TODO: Support clipboard for multiple files - copy_dbc_to_clipboard->setEnabled(cnt == 1); - manage_dbcs_menu->clear(); - manage_dbcs_menu->setEnabled(dynamic_cast(can) == nullptr); for (int source : can->sources) { if (source >= 64) continue; // Sent and blocked buses are handled implicitly @@ -505,8 +451,8 @@ void MainWindow::updateLoadSaveMenus() { bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); }); // Show sub-menu for each dbc for this source. - QString file_name = "No DBCs loaded"; - if (auto dbc_file = dbc()->findDBCFile(source)) { + auto dbc_file = dbc()->findDBCFile(source); + if (dbc_file) { bus_menu->addSeparator(); bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false); bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); }); @@ -514,19 +460,11 @@ void MainWindow::updateLoadSaveMenus() { bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); }); bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); }); bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); }); - - file_name = dbc_file->name(); } + bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded")); manage_dbcs_menu->addMenu(bus_menu); - bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name)); } - - QStringList title; - for (auto f : dbc()->allDBCFiles()) { - title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name())); - } - setWindowFilePath(title.join(" | ")); } void MainWindow::updateRecentFiles(const QString &fn) { @@ -536,21 +474,21 @@ void MainWindow::updateRecentFiles(const QString &fn) { settings.recent_files.removeLast(); } settings.last_dir = QFileInfo(fn).absolutePath(); - updateRecentFileActions(); } -void MainWindow::updateRecentFileActions() { +void MainWindow::updateRecentFileMenu() { + open_recent_menu->clear(); + int num_recent_files = std::min(settings.recent_files.size(), MAX_RECENT_FILES); + if (!num_recent_files) { + open_recent_menu->addAction(tr("No Recent Files"))->setEnabled(false); + return; + } + for (int i = 0; i < num_recent_files; ++i) { QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName()); - recent_files_acts[i]->setText(text); - recent_files_acts[i]->setData(settings.recent_files[i]); - recent_files_acts[i]->setVisible(true); + open_recent_menu->addAction(text, this, [this, i=i](){ loadFile(settings.recent_files[i]); }); } - for (int i = num_recent_files; i < MAX_RECENT_FILES; ++i) { - recent_files_acts[i]->setVisible(false); - } - open_recent_menu->setEnabled(num_recent_files > 0); } void MainWindow::remindSaveChanges() { @@ -606,7 +544,6 @@ void MainWindow::toggleChartsDocking() { } void MainWindow::closeEvent(QCloseEvent *event) { - cleanupAutoSaveFile(); remindSaveChanges(); installDownloadProgressHandler(nullptr); @@ -618,7 +555,7 @@ void MainWindow::closeEvent(QCloseEvent *event) { // save states settings.geometry = saveGeometry(); settings.window_state = saveState(); - if (!can->liveStreaming()) { + if (can && !can->liveStreaming()) { settings.video_splitter_state = video_splitter->saveState(); } settings.message_header_state = messages_widget->saveHeaderState(); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 77add4d78..9bc94c090 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -20,22 +20,20 @@ class MainWindow : public QMainWindow { Q_OBJECT public: - MainWindow(); + MainWindow(AbstractStream *stream, const QString &dbc_file); void toggleChartsDocking(); void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); } void loadFile(const QString &fn, SourceSet s = SOURCE_ALL); ChartsWidget *charts_widget = nullptr; public slots: - void openStream(); + void selectAndOpenStream(); + void openStream(AbstractStream *stream, const QString &dbc_file = {}); void closeStream(); void exportToCSV(); - void changingStream(); - void streamStarted(); void newFile(SourceSet s = SOURCE_ALL); void openFile(SourceSet s = SOURCE_ALL); - void openRecentFile(); void loadDBCFromOpendbc(const QString &name); void save(); void saveAs(); @@ -55,10 +53,8 @@ protected: void saveFileToClipboard(DBCFile *dbc_file); void loadFingerprints(); void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true); - void autoSave(); - void cleanupAutoSaveFile(); void updateRecentFiles(const QString &fn); - void updateRecentFileActions(); + void updateRecentFileMenu(); void createActions(); void createDockWindows(); void createStatusBar(); @@ -70,7 +66,6 @@ protected: void findSimilarBits(); void findSignal(); void undoStackCleanChanged(bool clean); - void undoStackIndexChanged(int index); void onlineHelp(); void toggleFullScreen(); void updateStatus(); @@ -88,10 +83,8 @@ protected: QProgressBar *progress_bar; QLabel *status_label; QJsonDocument fingerprint_to_dbc; - QStringList opendbc_names; QSplitter *video_splitter = nullptr; enum { MAX_RECENT_FILES = 15 }; - QAction *recent_files_acts[MAX_RECENT_FILES] = {}; QMenu *open_recent_menu = nullptr; QMenu *manage_dbcs_menu = nullptr; QMenu *tools_menu = nullptr; @@ -101,8 +94,6 @@ protected: QAction *save_dbc_as = nullptr; QAction *copy_dbc_to_clipboard = nullptr; QString car_fingerprint; - int prev_undostack_index = 0; - int prev_undostack_count = 0; QByteArray default_state; }; diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 8288c801b..130b76d50 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -494,6 +494,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), } void SignalView::setMessage(const MessageId &id) { + max_value_width = 0; filter_edit->clear(); model->setMessage(id); } @@ -617,7 +618,6 @@ void SignalView::updateState(const std::set *msgs) { const auto &last_msg = can->lastMessage(model->msg_id); if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return; - int max_value_width = 0; for (auto item : model->root->children) { double value = 0; if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) { diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 6320b9b62..4e746ea10 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -135,6 +135,7 @@ private: QTreeView::leaveEvent(event); } }; + int max_value_width = 0; int value_column_width = 0; TreeView *tree; QLabel *sparkline_label; diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index ee6a1143c..9bf80deb9 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -10,11 +10,6 @@ static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024; // 6MB AbstractStream *can = nullptr; -StreamNotifier *StreamNotifier::instance() { - static StreamNotifier notifier; - return ¬ifier; -} - AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { assert(parent != nullptr); event_buffer_ = std::make_unique(EVENT_NEXT_BUFFER_SIZE); @@ -24,12 +19,6 @@ AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; }); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks); QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks); - QObject::connect(this, &AbstractStream::streamStarted, [this]() { - emit StreamNotifier::instance()->changingStream(); - delete can; - can = this; - emit StreamNotifier::instance()->streamStarted(); - }); } void AbstractStream::updateMasks() { diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 9e3f92dc5..7ae119bcf 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -96,7 +96,6 @@ signals: void seeking(double sec); void seekedTo(double sec); void timeRangeChanged(const std::optional> &range); - void streamStarted(); void eventsMerged(const MessageEventsMap &events_map); void msgsReceived(const std::set *new_msgs, bool has_new_ids); void sourcesUpdated(const SourceSet &s); @@ -133,15 +132,11 @@ private: class AbstractOpenStreamWidget : public QWidget { Q_OBJECT public: - AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {} - virtual bool open() = 0; - virtual QString title() = 0; + AbstractOpenStreamWidget(QWidget *parent = nullptr) : QWidget(parent) {} + virtual AbstractStream *open() = 0; signals: void enableOpenButton(bool); - -protected: - AbstractStream **stream = nullptr; }; class DummyStream : public AbstractStream { @@ -149,17 +144,7 @@ class DummyStream : public AbstractStream { public: DummyStream(QObject *parent) : AbstractStream(parent) {} QString routeName() const override { return tr("No Stream"); } - void start() override { emit streamStarted(); } -}; - -class StreamNotifier : public QObject { - Q_OBJECT -public: - StreamNotifier(QObject *parent = nullptr) : QObject(parent) {} - static StreamNotifier* instance(); -signals: - void streamStarted(); - void changingStream(); + void start() override {} }; // A global pointer referring to the unique AbstractStream object diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc index 80507391a..6de63dfbb 100644 --- a/tools/cabana/streams/devicestream.cc +++ b/tools/cabana/streams/devicestream.cc @@ -33,13 +33,9 @@ void DeviceStream::streamThread() { } } -AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) { - return new OpenDeviceWidget(stream); -} - // OpenDeviceWidget -OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { +OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { QRadioButton *msgq = new QRadioButton(tr("MSGQ")); QRadioButton *zmq = new QRadioButton(tr("ZMQ")); ip_address = new QLineEdit(this); @@ -62,9 +58,8 @@ OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStream zmq->setChecked(true); } -bool OpenDeviceWidget::open() { +AbstractStream *OpenDeviceWidget::open() { QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text(); bool msgq = group->checkedId() == 0; - *stream = new DeviceStream(qApp, msgq ? "" : ip); - return true; + return new DeviceStream(qApp, msgq ? "" : ip); } diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h index a65f07345..3bdf22499 100644 --- a/tools/cabana/streams/devicestream.h +++ b/tools/cabana/streams/devicestream.h @@ -6,7 +6,6 @@ class DeviceStream : public LiveStream { Q_OBJECT public: DeviceStream(QObject *parent, QString address = {}); - static AbstractOpenStreamWidget *widget(AbstractStream **stream); inline QString routeName() const override { return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address); } @@ -20,9 +19,8 @@ class OpenDeviceWidget : public AbstractOpenStreamWidget { Q_OBJECT public: - OpenDeviceWidget(AbstractStream **stream); - bool open() override; - QString title() override { return tr("&Device"); } + OpenDeviceWidget(QWidget *parent = nullptr); + AbstractStream *open() override; private: QLineEdit *ip_address; diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 6bcb1c1d5..ac9a6fa10 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -53,7 +53,6 @@ void LiveStream::startUpdateTimer() { } void LiveStream::start() { - emit streamStarted(); stream_thread->start(); startUpdateTimer(); begin_date_time = QDateTime::currentDateTime(); diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc index 030783a89..cdf6da6d8 100644 --- a/tools/cabana/streams/pandastream.cc +++ b/tools/cabana/streams/pandastream.cc @@ -77,13 +77,9 @@ void PandaStream::streamThread() { } } -AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) { - return new OpenPandaWidget(stream); -} - // OpenPandaWidget -OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { +OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { form_layout = new QFormLayout(this); if (can && dynamic_cast(can) != nullptr) { form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName()))); @@ -182,12 +178,11 @@ void OpenPandaWidget::buildConfigForm() { } } -bool OpenPandaWidget::open() { +AbstractStream *OpenPandaWidget::open() { try { - *stream = new PandaStream(qApp, config); - return true; + return new PandaStream(qApp, config); } catch (std::exception &e) { QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what())); - return false; + return nullptr; } } diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h index ad792ec29..826b1aa98 100644 --- a/tools/cabana/streams/pandastream.h +++ b/tools/cabana/streams/pandastream.h @@ -28,7 +28,6 @@ class PandaStream : public LiveStream { public: PandaStream(QObject *parent, PandaStreamConfig config_ = {}); ~PandaStream() { stop(); } - static AbstractOpenStreamWidget *widget(AbstractStream **stream); inline QString routeName() const override { return QString("Panda: %1").arg(config.serial); } @@ -45,9 +44,8 @@ class OpenPandaWidget : public AbstractOpenStreamWidget { Q_OBJECT public: - OpenPandaWidget(AbstractStream **stream); - bool open() override; - QString title() override { return tr("&Panda"); } + OpenPandaWidget(QWidget *parent = nullptr); + AbstractStream *open() override; private: void refreshSerials(); diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 09ba3db41..1616f2aec 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -83,11 +83,6 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint return success; } -void ReplayStream::start() { - emit streamStarted(); - replay->start(); -} - bool ReplayStream::eventFilter(const Event *event) { static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { @@ -115,13 +110,9 @@ void ReplayStream::pause(bool pause) { } -AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) { - return new OpenReplayWidget(stream); -} - // OpenReplayWidget -OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { +OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { QGridLayout *grid_layout = new QGridLayout(this); grid_layout->addWidget(new QLabel(tr("Route")), 0, 0); grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1); @@ -154,7 +145,7 @@ OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStream }); } -bool OpenReplayWidget::open() { +AbstractStream *OpenReplayWidget::open() { QString route = route_edit->text(); QString data_dir; if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) { @@ -173,8 +164,8 @@ bool OpenReplayWidget::open() { if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC; if (replay_stream->loadRoute(route, data_dir, flags)) { - *stream = replay_stream.release(); + return replay_stream.release(); } } - return *stream != nullptr; + return nullptr; } diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 217d1ac1d..25d6ef4a7 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -15,7 +15,7 @@ class ReplayStream : public AbstractStream { public: ReplayStream(QObject *parent); - void start() override; + void start() override { replay->start(); } bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); bool eventFilter(const Event *event); void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); } @@ -31,7 +31,6 @@ public: inline Replay *getReplay() const { return replay.get(); } inline bool isPaused() const override { return replay->isPaused(); } void pause(bool pause) override; - static AbstractOpenStreamWidget *widget(AbstractStream **stream); private: void mergeSegments(); @@ -44,9 +43,8 @@ class OpenReplayWidget : public AbstractOpenStreamWidget { Q_OBJECT public: - OpenReplayWidget(AbstractStream **stream); - bool open() override; - QString title() override { return tr("&Replay"); } + OpenReplayWidget(QWidget *parent = nullptr); + AbstractStream *open() override; private: QLineEdit *route_edit; diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc index 0f13b9901..1346a496b 100644 --- a/tools/cabana/streams/socketcanstream.cc +++ b/tools/cabana/streams/socketcanstream.cc @@ -66,11 +66,7 @@ void SocketCanStream::streamThread() { } } -AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) { - return new OpenSocketCanWidget(stream); -} - -OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { +OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->addStretch(1); @@ -104,12 +100,11 @@ void OpenSocketCanWidget::refreshDevices() { } -bool OpenSocketCanWidget::open() { +AbstractStream *OpenSocketCanWidget::open() { try { - *stream = new SocketCanStream(qApp, config); + return new SocketCanStream(qApp, config); } catch (std::exception &e) { QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what())); - return false; + return nullptr; } - return true; } diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h index 952f1aaa5..8083b687e 100644 --- a/tools/cabana/streams/socketcanstream.h +++ b/tools/cabana/streams/socketcanstream.h @@ -18,7 +18,6 @@ class SocketCanStream : public LiveStream { public: SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {}); ~SocketCanStream() { stop(); } - static AbstractOpenStreamWidget *widget(AbstractStream **stream); static bool available(); inline QString routeName() const override { @@ -37,9 +36,8 @@ class OpenSocketCanWidget : public AbstractOpenStreamWidget { Q_OBJECT public: - OpenSocketCanWidget(AbstractStream **stream); - bool open() override; - QString title() override { return tr("&SocketCAN"); } + OpenSocketCanWidget(QWidget *parent = nullptr); + AbstractStream *open() override; private: void refreshDevices(); diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc index 209b577c9..efd00d398 100644 --- a/tools/cabana/streamselector.cc +++ b/tools/cabana/streamselector.cc @@ -10,7 +10,7 @@ #include "tools/cabana/streams/replaystream.h" #include "tools/cabana/streams/socketcanstream.h" -StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) { +StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Open stream")); QVBoxLayout *layout = new QVBoxLayout(this); tab = new QTabWidget(this); @@ -33,17 +33,17 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); layout->addWidget(btn_box); - addStreamWidget(ReplayStream::widget(stream)); - addStreamWidget(PandaStream::widget(stream)); + addStreamWidget(new OpenReplayWidget, tr("&Replay")); + addStreamWidget(new OpenPandaWidget, tr("&Panda")); if (SocketCanStream::available()) { - addStreamWidget(SocketCanStream::widget(stream)); + addStreamWidget(new OpenSocketCanWidget, tr("&SocketCAN")); } - addStreamWidget(DeviceStream::widget(stream)); + addStreamWidget(new OpenDeviceWidget, tr("&Device")); QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() { setEnabled(false); - if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) { + if (stream_ = ((AbstractOpenStreamWidget *)tab->currentWidget())->open(); stream_) { accept(); } setEnabled(true); @@ -57,8 +57,8 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial }); } -void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) { - tab->addTab(w, w->title()); +void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w, const QString &title) { + tab->addTab(w, title); auto open_btn = btn_box->button(QDialogButtonBox::Open); QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled); } diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h index a702fc76a..0919195e4 100644 --- a/tools/cabana/streamselector.h +++ b/tools/cabana/streamselector.h @@ -11,11 +11,13 @@ class StreamSelector : public QDialog { Q_OBJECT public: - StreamSelector(AbstractStream **stream, QWidget *parent = nullptr); - void addStreamWidget(AbstractOpenStreamWidget *w); + StreamSelector(QWidget *parent = nullptr); + void addStreamWidget(AbstractOpenStreamWidget *w, const QString &title); QString dbcFile() const { return dbc_file->text(); } + AbstractStream *stream() const { return stream_; } private: + AbstractStream *stream_ = nullptr; QLineEdit *dbc_file; QTabWidget *tab; QDialogButtonBox *btn_box; From e36ff90996ca55ae80530f9e6e436da58d0b7c89 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 10 Jul 2024 18:10:42 -0400 Subject: [PATCH 024/180] Improved PlotJuggler layout for lateral accel torque controller (#32949) * improved PlotJuggler layout for lat accel controller * help estimate steerActuatorDelay * update Actuator Performance, add Vehicle Dynamics * disable Y limits on actuator performance because sunny * apply delay estimation feedback from harald * gc extra custom series that PJ copied in * label wordsmithing --- .../plotjuggler/layouts/torque-controller.xml | 241 ++++++++++++++---- 1 file changed, 197 insertions(+), 44 deletions(-) diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml index d6e4684d6..b4edfdcc1 100644 --- a/tools/plotjuggler/layouts/torque-controller.xml +++ b/tools/plotjuggler/layouts/torque-controller.xml @@ -1,45 +1,193 @@ - - + + - - - - + + + + - - + + - - - + + + - - + + - - - + + + - - - + + + - - + + - - - + + + - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -57,24 +205,10 @@ - + - return value * 3.6 - /carState/vEgo - - - - return value * 2.23694 - /carState/vEgo - - - - return (value * v1 ^ 2) - (v2 * 9.81) - /controlsState/desiredCurvature - - /carState/vEgo - /liveParameters/roll - + return (0) + /carState/canValid @@ -85,6 +219,25 @@ /liveParameters/roll + + + return (value * v1 ^ 2) - (v2 * 9.81) + /controlsState/desiredCurvature + + /carState/vEgo + /liveParameters/roll + + + + + return value * 2.23694 + /carState/vEgo + + + + return value * 3.6 + /carState/vEgo + From b247c3caaa5b5d503a9c1aa3336a7a206765167c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 10 Jul 2024 17:25:39 -0700 Subject: [PATCH 025/180] torqued: check steer override to current time (#32963) * lat active/steer override: check up to now * lint * Update ref_commit --- selfdrive/locationd/torqued.py | 7 +++++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index ba649b318..e0784eb8e 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -177,8 +177,11 @@ class TorqueEstimator(ParameterEstimator): if len(self.raw_points['steer_torque']) == self.hist_len: yaw_rate = msg.angularVelocityCalibrated.value[2] roll = msg.orientationNED.value[0] - lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool) - steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool) + # check lat active up to now (without lag compensation) + lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL), + self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool) + steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL), + self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool) vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego']) steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item() lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1635012f3..13b427b89 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f6ff3601bd0496e78d8bc3b019d58bb7739f096b \ No newline at end of file +0adff03d45c99dcfb330c48b2aa9d2093ce674a2 From 11db7b683b4ea0427c0060b48bd17ac5b61b11ff Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 11 Jul 2024 02:49:42 -0700 Subject: [PATCH 026/180] hardwared: don't ignore quick ignition cycles (#32938) * check on either edge * clean up * clean up * good thing I tested this first :P --- system/hardware/hardwared.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index e3a4c8171..ff34d9582 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -230,8 +230,8 @@ def hardware_thread(end_event, hw_queue) -> None: onroad_conditions["ignition"] = False cloudlog.error("panda timed out onroad") - # Run at 2Hz, plus rising edge of ignition - ign_edge = started_ts is None and onroad_conditions["ignition"] + # Run at 2Hz, plus either edge of ignition + ign_edge = (started_ts is not None) != onroad_conditions["ignition"] if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge: continue From 71dd1e2ff6768c649d3d885d30280d9ca46841a4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 11 Jul 2024 14:06:51 -0700 Subject: [PATCH 027/180] long planner: formatting --- .../controls/lib/longitudinal_planner.py | 31 +++++++++---------- 1 file changed, 15 insertions(+), 16 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c59955d55..6a2a1570d 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -45,22 +45,21 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): def get_accel_from_plan(CP, speeds, accels): - if len(speeds) == CONTROL_N: - v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds) - a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels) + if len(speeds) == CONTROL_N: + v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds) + a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels) - v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds) - a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now + v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds) + a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now - v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds) - else: - v_target = 0.0 - v_target_now = 0.0 - v_target_1sec = 0.0 - a_target = 0.0 - should_stop = (v_target < CP.vEgoStopping and - v_target_1sec < CP.vEgoStopping) - return a_target, should_stop + v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds) + else: + v_target = 0.0 + v_target_1sec = 0.0 + a_target = 0.0 + should_stop = (v_target < CP.vEgoStopping and + v_target_1sec < CP.vEgoStopping) + return a_target, should_stop class LongitudinalPlanner: @@ -82,8 +81,8 @@ class LongitudinalPlanner: @staticmethod def parse_model(model_msg, model_error): if (len(model_msg.position.x) == ModelConstants.IDX_N and - len(model_msg.velocity.x) == ModelConstants.IDX_N and - len(model_msg.acceleration.x) == ModelConstants.IDX_N): + len(model_msg.velocity.x) == ModelConstants.IDX_N and + len(model_msg.acceleration.x) == ModelConstants.IDX_N): x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x) From e3e54fb28bad2e4848d9f3a510be8a45d9bd6ffa Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 13 Jul 2024 01:38:07 +0800 Subject: [PATCH 028/180] cabana: fix wrong file path handling for recent files menu (#32969) fix lambda --- tools/cabana/mainwin.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 34432707d..ee8f42ea7 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -487,7 +487,7 @@ void MainWindow::updateRecentFileMenu() { for (int i = 0; i < num_recent_files; ++i) { QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName()); - open_recent_menu->addAction(text, this, [this, i=i](){ loadFile(settings.recent_files[i]); }); + open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(file); }); } } From 2156870df991bf6231121460810b0edcde74137b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 13 Jul 2024 07:20:49 +0800 Subject: [PATCH 029/180] pandad: remove return statement in constructor (#32975) remove return --- selfdrive/pandad/panda.cc | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc index a404ad388..fcb4ac67a 100644 --- a/selfdrive/pandad/panda.cc +++ b/selfdrive/pandad/panda.cc @@ -26,8 +26,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { hw_type = get_hw_type(); can_reset_communications(); - - return; } bool Panda::connected() { From 122a7f2f0f6b0db435118e7f3e997c1528c8d8aa Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Sat, 13 Jul 2024 02:32:04 +0300 Subject: [PATCH 030/180] start for `curl openpilot.comma.ai | bash` (#32967) * initial setup.sh for curl|bash * --single-branch for faster pull and some final instructions * fix git lfs pull --- tools/setup.sh | 32 ++++++++++++++++++++++++++++++++ 1 file changed, 32 insertions(+) create mode 100755 tools/setup.sh diff --git a/tools/setup.sh b/tools/setup.sh new file mode 100755 index 000000000..22d10be80 --- /dev/null +++ b/tools/setup.sh @@ -0,0 +1,32 @@ +#!/usr/bin/env bash + +set -e + +if [ ! -f launch_openpilot.sh ]; then + if [ ! -d openpilot ]; then + git clone --single-branch --recurse-submodules https://github.com/commaai/openpilot.git + fi + cd openpilot +fi + +if [[ "$OSTYPE" == "darwin"* ]]; then + tools/mac_setup.sh +else + tools/ubuntu_setup.sh +fi + +git lfs pull + +source .venv/bin/activate + +echo "Building openpilot" +scons -u -j$(nproc) + +echo +echo "---- OPENPILOT BUILDING DONE ----" +echo "To push changes to your fork, run the following commands:" +echo "git remote remove origin" +echo "git remote add origin git@github.com:/openpilot.git" +echo "git fetch" +echo "git commit -m \"first commit\"" +echo "git push" From f1416f337cbf40c11de88903e13177f9f54dc544 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 13 Jul 2024 07:42:10 +0800 Subject: [PATCH 031/180] replay: update README (#32966) update README --- tools/replay/README.md | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/tools/replay/README.md b/tools/replay/README.md index 91e89176a..bf7280ae8 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -34,10 +34,21 @@ Options: -h, --help Displays this help. -a, --allow whitelist of services to send -b, --block blacklist of services to send + -c, --cache cache segments in memory. default is 5 -s, --start start from + -x playback . between 0.2 - 3 --demo use a demo route instead of providing your own + --data_dir local directory with routes + --prefix set OPENPILOT_PREFIX --dcam load driver camera --ecam load wide road camera + --no-loop stop at the end of the route + --no-cache turn off local cache + --qcam load qcamera + --no-hw-decoder disable HW video decoding + --no-vipc do not output video + --all do output all messages including uiDebug, userFlag. + this may causes issues when used along with UI Arguments: route the drive to replay. find your drives at From 32a5cfd84c804b671c54688120265b436610d7a9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 13 Jul 2024 07:42:45 +0800 Subject: [PATCH 032/180] cabana: update README (#32965) improve README --- tools/cabana/README.md | 70 +++++++++++++++++++++++++++++++++++++++++- 1 file changed, 69 insertions(+), 1 deletion(-) diff --git a/tools/cabana/README.md b/tools/cabana/README.md index 53723ef8a..dbbdd8020 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -29,4 +29,72 @@ Arguments: connect.comma.ai ``` -See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana) +## Examples + +### Running Cabana in Demo Mode +To run Cabana using a built-in demo route, use the following command: + +```shell +cabana --demo +``` + +### Loading a Specific Route + +To load a specific route for replay, provide the route as an argument: + +```shell +cabana "a2a0ccea32023010|2023-07-27--13-01-19" +``` + +Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier. + + +### Running Cabana with multiple cameras +To run Cabana with multiple cameras, use the following command: + +```shell +cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam +``` + +### Streaming CAN Messages from a comma Device + +[SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command: + +```shell +cd /data/openpilot/cereal/messaging/ +./bridge & +``` + +Then Run Cabana with the device's IP address: + +```shell +cabana --stream +``` + +Replace <ipaddress> with your comma device's IP address. + +While streaming from the device, Cabana will log the CAN messages to a local directory. By default, this directory is ~/cabana_live_stream/. You can change the log directory in Cabana by navigating to menu -> tools -> settings. + +After disconnecting from the device, you can replay the logged CAN messages from the stream selector dialog -> browse local route. + +### Streaming CAN Messages from Panda + +To read CAN messages from a connected Panda, use the following command: + +```shell +cabana --panda +``` + +### Using the Stream Selector Dialog + +If you run Cabana without any arguments, a stream selector dialog will pop up, allowing you to choose the stream. + +```shell +cabana +``` + +## Additional Information + +For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana) + +If you encounter any issues or have feature requests, please contribute bug reports or discussions at: [new cabana feedback](https://github.com/commaai/openpilot/discussions/26091) \ No newline at end of file From 0f34e6e3b6e3627416129c34e4b9ff463d87c2ac Mon Sep 17 00:00:00 2001 From: eFini Date: Sat, 13 Jul 2024 07:44:22 +0800 Subject: [PATCH 033/180] PC: added missing hexdump package for selfdrive/debug/dump.py (#32959) added missing hexdump package --- pyproject.toml | 1 + uv.lock | 7 +++++++ 2 files changed, 8 insertions(+) diff --git a/pyproject.toml b/pyproject.toml index 0f5d9aa1c..82f9c563b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -115,6 +115,7 @@ dev = [ "tabulate", "types-requests", "types-tabulate", + "hexdump", # this is only pinned since 5.15.11 is broken "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux diff --git a/uv.lock b/uv.lock index 2797eee62..57f8d9d7e 100644 --- a/uv.lock +++ b/uv.lock @@ -766,6 +766,12 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/a8/4d/3cbfd81ed84db450dbe73a89afcd8bc405273918415649ac6683356afe92/gymnasium-0.29.1-py3-none-any.whl", hash = "sha256:61c3384b5575985bb7f85e43213bcb40f36fcdff388cae6bc229304c71f2843e", size = 953939 }, ] +[[distribution]] +name = "hexdump" +version = "3.3" +source = { registry = "https://pypi.org/simple" } +sdist = { url = "https://files.pythonhosted.org/packages/55/b3/279b1d57fa3681725d0db8820405cdcb4e62a9239c205e4ceac4391c78e4/hexdump-3.3.zip", hash = "sha256:d781a43b0c16ace3f9366aade73e8ad3a7bd5137d58f0b45ab2d3f54876f20db", size = 12658 } + [[distribution]] name = "humanfriendly" version = "10.0" @@ -1537,6 +1543,7 @@ dev = [ { name = "control" }, { name = "dictdiffer" }, { name = "flaky" }, + { name = "hexdump" }, { name = "inputs" }, { name = "lru-dict" }, { name = "matplotlib" }, From 50f55684a2a6b04bb744e7af1b8efbd26ac114be Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Sat, 13 Jul 2024 02:44:52 +0300 Subject: [PATCH 034/180] Rewrite git history update (#32955) Rewrite git history final touches --- scripts/git_rewrite/rewrite-git-history.sh | 119 +++++++++++++-------- 1 file changed, 76 insertions(+), 43 deletions(-) diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh index 4130b55db..5a97e6bba 100755 --- a/scripts/git_rewrite/rewrite-git-history.sh +++ b/scripts/git_rewrite/rewrite-git-history.sh @@ -1,15 +1,40 @@ -#!/bin/bash -set -e - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd $DIR +#!/bin/bash -e SRC=/tmp/openpilot/ SRC_CLONE=/tmp/openpilot-clone/ OUT=/tmp/openpilot-tiny/ -LOG_FILE=$DIR/git-rewrite-log-$(date +"%Y-%m-%dT%H:%M:%S%z").txt -exec > >(tee -a "$LOG_FILE") 2>&1 +REWRITE_IGNORE_BRANCHES=( + dashcam3 + devel + master-ci + nightly + release2 + release3 + release3-staging +) + +VALIDATE_IGNORE_FILES=( + ".github/ISSUE_TEMPLATE/bug_report.md" + ".github/pull_request_template.md" +) + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd $DIR + +LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z") +mkdir -p $LOGS_DIR + +GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt +BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt +COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt + +START_TIME=$(date +%s) +exec > >(while IFS= read -r line; do + CURRENT_TIME=$(date +%s) + ELAPSED_TIME=$((CURRENT_TIME - START_TIME)) + echo "[${ELAPSED_TIME}s] $line" +done | tee -a "$GIT_REWRITE_LOG") 2>&1 # INSTALL git-filter-repo if [ ! -f /tmp/git-filter-repo ]; then @@ -40,7 +65,7 @@ if [ ! -d $SRC ]; then git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects) git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects) # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests - # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 + # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/ fi # REWRITE master and tags @@ -52,7 +77,7 @@ if [ ! -d $SRC_CLONE ]; then echo "Checking out old history..." - git checkout tags/v0.7.1 + git checkout tags/v0.7.1 > /dev/null 2>&1 # checkout as main, since we need master ref later git checkout -b main @@ -60,22 +85,26 @@ if [ ! -d $SRC_CLONE ]; then # rm these so we don't get conflicts later git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null - git commit -m "removed conflicting files" + git commit -m "removed conflicting files" > /dev/null # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files # we don't care about fetching/pushing lfs right now git lfs install --skip-smudge --local # squash initial setup commits - git cherry-pick -n -X theirs 6c33a5c..59b3d06 - git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" + git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null + git commit -m "switching to master" > /dev/null + + # squash the two commits + git reset --soft HEAD~2 + git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null # get commits we want to cherry-pick # will start with the next commit after #59b3d06 tools is local now COMMITS=$(git rev-list --reverse 59b3d06..master) # we need this for logging - TOTAL_COMMITS=$(echo $COMMITS | wc -w) + TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs) CURRENT_COMMIT_NUMBER=0 # empty this file @@ -85,7 +114,8 @@ if [ ! -d $SRC_CLONE ]; then for COMMIT in $COMMITS; do CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1)) - echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r + # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r + echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT" # set environment variables to preserve author/committer and dates export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT) @@ -119,6 +149,12 @@ if [ ! -d $SRC_CLONE ]; then # append the old commit ID to the commit message git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null fi + + # prune every 3000 commits to avoid gc errors + if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then + echo "Pruning repo..." + git gc + fi done echo "Rewriting tags..." @@ -137,7 +173,7 @@ if [ ! -d $SRC_CLONE ]; then NEW_COMMIT=$OLD_COMMIT fi - printf "Rewriting tag %s from commit %s\n" "$TAG" "$NEW_COMMIT" + echo "Rewriting tag $TAG from commit $NEW_COMMIT" git tag -f "$TAG" "$NEW_COMMIT" done < "$DIR/tag-commit-map.txt" @@ -153,19 +189,20 @@ if [ ! -d $SRC_CLONE ]; then fi # REWRITE branches based on master -if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then +if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then cd $SRC_CLONE + > rewrite-branches-done # empty file - > branch-diff.txt + > $BRANCH_DIFF_LOG echo "Rewriting branches based on master..." # will store raw diffs here, if exist mkdir -p differences - # get a list of all branches except master - BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/origin\///' | grep -v '^master$') + # get a list of all branches except master and REWRITE_IGNORE_BRANCHES + BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n')) for BRANCH in $BRANCHES; do # check if the branch is based on master history @@ -176,7 +213,7 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then # create a new branch based on the new master NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}') if [ -z "$NEW_MERGE_BASE" ]; then - echo "Error: could not find new merge base for branch $BRANCH" >> branch-diff.txt + echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG continue fi git checkout -b ${BRANCH}_new $NEW_MERGE_BASE @@ -208,8 +245,8 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then echo "$COMMIT EMPTY" >> commit-map.txt else # handle other errors or conflicts - echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> branch-diff.txt - echo "$GIT_OUTPUT" > "differences/branch-${BRANCH}" + echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG + echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}" git cherry-pick --abort git push --delete origin ${BRANCH} HAS_ERROR=1 @@ -239,28 +276,24 @@ if [ ! -f "$SRC_CLONE/branch-diff.txt" ]; then git checkout master > /dev/null git branch -D ${BRANCH}_new > /dev/null else - # echo "Skipping branch $BRANCH as it's not based on master history" >> branch-diff.txt - echo "Deleting branch $BRANCH as it's not based on master history" >> branch-diff.txt - git push --delete origin ${BRANCH} + echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG + git push --delete origin ${BRANCH} fi done fi # VALIDATE cherry-pick -if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then +if [ ! -f "$SRC_CLONE/validation-done" ]; then cd $SRC_CLONE + > validation-done TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt) CURRENT_COMMIT_NUMBER=0 COUNT_SAME=0 COUNT_DIFF=0 - VALIDATE_IGNORE_FILES=( - ".github/ISSUE_TEMPLATE/bug_report.md" - ".github/pull_request_template.md" - ) # empty file - > commit-diff.txt + > $COMMIT_DIFF_LOG echo "Validating commits..." @@ -273,7 +306,7 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then continue fi if [ "$OLD_COMMIT" == "BRANCH" ]; then - echo "Branch ${NEW_COMMIT} below:" >> commit-diff.txt + echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG continue fi CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1)) @@ -283,7 +316,8 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT) NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT) - echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r + # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r + echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)" # generate lists of files and their hashes for the old and new commits, excluding ignored files OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")") @@ -294,17 +328,17 @@ if [ ! -f "$SRC_CLONE/commit-diff.txt" ]; then # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent." COUNT_SAME=$((COUNT_SAME + 1)) else - echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> commit-diff.txt + echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG COUNT_DIFF=$((COUNT_DIFF + 1)) set +e - diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "differences/$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT" + diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT" set -e fi done < "commit-map.txt" - echo "Summary:" >> commit-diff.txt - echo "Equivalent commits: $COUNT_SAME" >> commit-diff.txt - echo "Different commits: $COUNT_DIFF" >> commit-diff.txt + echo "Summary:" >> $COMMIT_DIFF_LOG + echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG + echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG fi if [ ! -d $OUT ]; then @@ -313,7 +347,6 @@ if [ ! -d $OUT ]; then cd $OUT # remove all non-master branches - # TODO: need to see if we "redo" the other branches (except master, master-ci, devel, devel-staging, release3, release3-staging, dashcam3, dashcam3-staging, testing-closet*, hotfix-*) # git branch | grep -v "^ master$" | grep -v "\*" | xargs git branch -D # echo "cleaning up refs" @@ -322,7 +355,8 @@ if [ ! -d $OUT ]; then echo "importing new lfs files" # import "almost" everything to lfs - git lfs migrate import --everything --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" + BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ') + git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES echo "reflog and gc" # this is needed after lfs import @@ -351,7 +385,6 @@ git lfs fetch --all || true # final push - will also push lfs # TODO: switch to git@github.com:commaai/openpilot.git when ready -# if using mirror, it will also delete non-master branches (master-ci, nightly, devel, release3, release3-staging, dashcam3, release2) # git push --mirror git@github.com:commaai/openpilot-tiny.git -# using this instead - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/ -git push git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/* +# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/ +git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/* From 953e5667b1dce769611e742622e3612b0b09d9f4 Mon Sep 17 00:00:00 2001 From: James <91348155+FrogAi@users.noreply.github.com> Date: Fri, 12 Jul 2024 17:07:57 -0700 Subject: [PATCH 035/180] Re-use "is_metric" declaration (#32948) --- selfdrive/ui/qt/onroad/annotated_camera.cc | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index b08420a71..60f2380dc 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -31,11 +31,13 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { const auto cs = sm["controlsState"].getControlsState(); const auto car_state = sm["carState"].getCarState(); + is_metric = s.scene.is_metric; + // Handle older routes where vCruiseCluster is not set float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster(); setSpeed = cs_alive ? v_cruise : SET_SPEED_NA; is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA; - if (is_cruise_set && !s.scene.is_metric) { + if (is_cruise_set && !is_metric) { setSpeed *= KM_TO_MILE; } @@ -43,10 +45,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0; float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo(); speed = cs_alive ? std::max(0.0, v_ego) : 0.0; - speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; + speed *= is_metric ? MS_TO_KPH : MS_TO_MPH; - is_metric = s.scene.is_metric; - speedUnit = s.scene.is_metric ? tr("km/h") : tr("mph"); + speedUnit = is_metric ? tr("km/h") : tr("mph"); hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); status = s.status; From 75b07c042f09f39275452df84c5dfd46e2f4e7f0 Mon Sep 17 00:00:00 2001 From: savojovic <74861870+savojovic@users.noreply.github.com> Date: Sat, 13 Jul 2024 22:36:21 +0200 Subject: [PATCH 036/180] Replace ui.py with a Rerun visualizer (#32850) * Replace ui.py with rerun * Visualizing radarpoints * Visualizing all points * Code clean-up * Merging matrices into one * Removing pygame depndency * Replacing ui.py with rp_visualization.py * Minor fix, changing color names * Update README.md --- tools/replay/README.md | 6 +- tools/replay/lib/rp_helpers.py | 108 ++++++++++++++ tools/replay/lib/ui_helpers.py | 231 ------------------------------ tools/replay/rp_visualization.py | 59 ++++++++ tools/replay/ui.py | 238 ------------------------------- 5 files changed, 171 insertions(+), 471 deletions(-) create mode 100644 tools/replay/lib/rp_helpers.py delete mode 100644 tools/replay/lib/ui_helpers.py create mode 100755 tools/replay/rp_visualization.py delete mode 100755 tools/replay/ui.py diff --git a/tools/replay/README.md b/tools/replay/README.md index bf7280ae8..122af7152 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -19,8 +19,10 @@ tools/replay/replay --demo # watch the replay with the normal openpilot UI cd selfdrive/ui && ./ui -# or try out a debug visualizer: -python replay/ui.py +# or try out radar point visualization in Rerun: +python replay/rp_visualization.py + +# NOTE: To visualize radar points, make sure tools/replay/replay is running. ``` ## usage diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py new file mode 100644 index 000000000..95eef9d23 --- /dev/null +++ b/tools/replay/lib/rp_helpers.py @@ -0,0 +1,108 @@ +import numpy as np +from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA + +# Color palette used for rerun AnnotationContext +rerunColorPalette = [(96, "red", (255, 0, 0)), + (100, "pink", (255, 36, 0)), + (124, "yellow", (255, 255, 0)), + (230, "vibrantpink", (255, 36, 170)), + (240, "orange", (255, 146, 0)), + (255, "white", (255, 255, 255)), + (110, "carColor", (255,0,127))] + + +class UIParams: + lidar_x, lidar_y, lidar_zoom = 384, 960, 6 + lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 + car_hwidth = 1.7272 / 2 * lidar_zoom + car_front = 2.6924 * lidar_zoom + car_back = 1.8796 * lidar_zoom + car_color = rerunColorPalette[6][0] +UP = UIParams + + +def to_topdown_pt(y, x): + px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y + if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y: + return int(px), int(py) + return -1, -1 + + +def draw_path(path, lid_overlay, lid_color=None): + x, y = np.asarray(path.x), np.asarray(path.y) + # draw lidar path point on lidar + if lid_color is not None and lid_overlay is not None: + for i in range(len(x)): + px, py = to_topdown_pt(x[i], y[i]) + if px != -1: + lid_overlay[px, py] = lid_color + + +def plot_model(m, lid_overlay): + if lid_overlay is None: + return + for lead in m.leadsV3: + if lead.prob < 0.5: + continue + x, y = lead.x[0], lead.y[0] + x_std = lead.xStd[0] + x -= RADAR_TO_CAMERA + _, py_top = to_topdown_pt(x + x_std, y) + px, py_bottom = to_topdown_pt(x - x_std, y) + lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0] + + for path in m.laneLines: + draw_path(path, lid_overlay, rerunColorPalette[2][0]) + for edge in m.roadEdges: + draw_path(edge, lid_overlay, rerunColorPalette[0][0]) + draw_path(m.position, lid_overlay, rerunColorPalette[0][0]) + + +def plot_lead(rs, lid_overlay): + for lead in [rs.leadOne, rs.leadTwo]: + if not lead.status: + continue + x = lead.dRel + px_left, py = to_topdown_pt(x, -10) + px_right, _ = to_topdown_pt(x, 10) + lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0] + + +def maybe_update_radar_points(lt, lid_overlay): + ar_pts = [] + if lt is not None: + ar_pts = {} + for track in lt: + ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary] + for ids, pt in ar_pts.items(): + # negative here since radar is left positive + px, py = to_topdown_pt(pt[0], -pt[1]) + if px != -1: + if pt[-1]: + color = rerunColorPalette[4][0] + elif pt[-2]: + color = rerunColorPalette[3][0] + else: + color = rerunColorPalette[5][0] + if int(ids) == 1: + lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0] + else: + lid_overlay[px - 2:px + 2, py - 2:py + 2] = color + + +def get_blank_lid_overlay(UP): + lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') + # Draw the car. + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( + round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - + UP.car_front))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( + round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int( + round(UP.lidar_car_y - UP.car_front)):int(round( + UP.lidar_car_y + UP.car_back))] = UP.car_color + lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int( + round(UP.lidar_car_y - UP.car_front)):int(round( + UP.lidar_car_y + UP.car_back))] = UP.car_color + return lid_overlay diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py deleted file mode 100644 index 11b5182a6..000000000 --- a/tools/replay/lib/ui_helpers.py +++ /dev/null @@ -1,231 +0,0 @@ -import itertools -from typing import Any - -import matplotlib.pyplot as plt -import numpy as np -import pygame - -from matplotlib.backends.backend_agg import FigureCanvasAgg - -from openpilot.common.transformations.camera import get_view_frame_from_calib_frame -from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA - - -RED = (255, 0, 0) -GREEN = (0, 255, 0) -BLUE = (0, 0, 255) -YELLOW = (255, 255, 0) -BLACK = (0, 0, 0) -WHITE = (255, 255, 255) - -class UIParams: - lidar_x, lidar_y, lidar_zoom = 384, 960, 6 - lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1 - car_hwidth = 1.7272 / 2 * lidar_zoom - car_front = 2.6924 * lidar_zoom - car_back = 1.8796 * lidar_zoom - car_color = 110 -UP = UIParams - -METER_WIDTH = 20 - -class Calibration: - def __init__(self, num_px, rpy, intrinsic, calib_scale): - self.intrinsic = intrinsic - self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3] - self.zoom = calib_scale - - def car_space_to_ff(self, x, y, z): - car_space_projective = np.column_stack((x, y, z)).T - - ep = self.extrinsics_matrix.dot(car_space_projective) - kep = self.intrinsic.dot(ep) - return (kep[:-1, :] / kep[-1, :]).T - - def car_space_to_bb(self, x, y, z): - pts = self.car_space_to_ff(x, y, z) - return pts / self.zoom - - -_COLOR_CACHE : dict[tuple[int, int, int], Any] = {} -def find_color(lidar_surface, color): - if color in _COLOR_CACHE: - return _COLOR_CACHE[color] - tcolor = 0 - ret = 255 - for x in lidar_surface.get_palette(): - if x[0:3] == color: - ret = tcolor - break - tcolor += 1 - _COLOR_CACHE[color] = ret - return ret - - -def to_topdown_pt(y, x): - px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y - if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y: - return int(px), int(py) - return -1, -1 - - -def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0): - x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off - pts = calibration.car_space_to_bb(x, y, z) - pts = np.round(pts).astype(int) - - # draw lidar path point on lidar - # find color in 8 bit - if lid_color is not None and top_down is not None: - tcolor = find_color(top_down[0], lid_color) - for i in range(len(x)): - px, py = to_topdown_pt(x[i], y[i]) - if px != -1: - top_down[1][px, py] = tcolor - - height, width = img.shape[:2] - for x, y in pts: - if 1 < x < width - 1 and 1 < y < height - 1: - for a, b in itertools.permutations([-1, 0, -1], 2): - img[y + a, x + b] = color - - -def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles): - color_palette = { "r": (1, 0, 0), - "g": (0, 1, 0), - "b": (0, 0, 1), - "k": (0, 0, 0), - "y": (1, 1, 0), - "p": (0, 1, 1), - "m": (1, 0, 1)} - - dpi = 90 - fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi) - canvas = FigureCanvasAgg(fig) - - fig.set_facecolor((0.2, 0.2, 0.2)) - - axs = [] - for pn in range(len(plot_ylims)): - ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1) - ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1]) - ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1]) - ax.patch.set_facecolor((0.4, 0.4, 0.4)) - axs.append(ax) - - plots, idxs, plot_select = [], [], [] - for i, pl_list in enumerate(plot_names): - for j, item in enumerate(pl_list): - plot, = axs[i].plot(arr[:, name_to_arr_idx[item]], - label=item, - color=color_palette[plot_colors[i][j]], - linestyle=plot_styles[i][j]) - plots.append(plot) - idxs.append(name_to_arr_idx[item]) - plot_select.append(i) - axs[i].set_title(", ".join(f"{nm} ({cl})" - for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10) - axs[i].tick_params(axis="x", colors="white") - axs[i].tick_params(axis="y", colors="white") - axs[i].title.set_color("white") - - if i < len(plot_ylims) - 1: - axs[i].set_xticks([]) - - canvas.draw() - - def draw_plots(arr): - for ax in axs: - ax.draw_artist(ax.patch) - for i in range(len(plots)): - plots[i].set_ydata(arr[:, idxs[i]]) - axs[plot_select[i]].draw_artist(plots[i]) - - raw_data = canvas.buffer_rgba() - plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert() - return plot_surface - - return draw_plots - - -def pygame_modules_have_loaded(): - return pygame.display.get_init() and pygame.font.get_init() - - -def plot_model(m, img, calibration, top_down): - if calibration is None or top_down is None: - return - - for lead in m.leadsV3: - if lead.prob < 0.5: - continue - - x, y = lead.x[0], lead.y[0] - x_std = lead.xStd[0] - x -= RADAR_TO_CAMERA - - _, py_top = to_topdown_pt(x + x_std, y) - px, py_bottom = to_topdown_pt(x - x_std, y) - top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW) - - for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True): - color = (0, int(255 * prob), 0) - draw_path(path, color, img, calibration, top_down, YELLOW) - - for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True): - prob = max(1 - std, 0) - color = (int(255 * prob), 0, 0) - draw_path(edge, color, img, calibration, top_down, RED) - - color = (255, 0, 0) - draw_path(m.position, color, img, calibration, top_down, RED, 1.22) - - -def plot_lead(rs, top_down): - for lead in [rs.leadOne, rs.leadTwo]: - if not lead.status: - continue - - x = lead.dRel - px_left, py = to_topdown_pt(x, -10) - px_right, _ = to_topdown_pt(x, 10) - top_down[1][px_left:px_right, py] = find_color(top_down[0], RED) - - -def maybe_update_radar_points(lt, lid_overlay): - ar_pts = [] - if lt is not None: - ar_pts = {} - for track in lt: - ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary] - for ids, pt in ar_pts.items(): - # negative here since radar is left positive - px, py = to_topdown_pt(pt[0], -pt[1]) - if px != -1: - if pt[-1]: - color = 240 - elif pt[-2]: - color = 230 - else: - color = 255 - if int(ids) == 1: - lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100 - else: - lid_overlay[px - 2:px + 2, py - 2:py + 2] = color - -def get_blank_lid_overlay(UP): - lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8') - # Draw the car. - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y - - UP.car_front))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int( - round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y + - UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color - lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int( - round(UP.lidar_car_y - UP.car_front)):int(round( - UP.lidar_car_y + UP.car_back))] = UP.car_color - return lid_overlay diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py new file mode 100755 index 000000000..853a83c15 --- /dev/null +++ b/tools/replay/rp_visualization.py @@ -0,0 +1,59 @@ +#!/usr/bin/env python3 +import argparse +import os +import sys +import numpy as np +import rerun as rr +import cereal.messaging as messaging +from openpilot.common.basedir import BASEDIR +from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette, + get_blank_lid_overlay, + maybe_update_radar_points, plot_lead, + plot_model) +from msgq.visionipc import VisionIpcClient, VisionStreamType + +os.environ['BASEDIR'] = BASEDIR + +UP.lidar_zoom = 6 + +def visualize(addr): + sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr) + vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) + while True: + if not vipc_client.is_connected(): + vipc_client.connect(True) + new_data = vipc_client.recv() + if new_data is None or not new_data.data.any(): + continue + + sm.update(0) + lid_overlay = get_blank_lid_overlay(UP) + if sm.recv_frame['modelV2']: + plot_model(sm['modelV2'], lid_overlay) + if sm.recv_frame['radarState']: + plot_lead(sm['radarState'], lid_overlay) + liveTracksTime = sm.logMonoTime['liveTracks'] + maybe_update_radar_points(sm['liveTracks'], lid_overlay) + rr.set_time_nanos("TIMELINE", liveTracksTime) + rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1))) + + +def get_arg_parser(): + parser = argparse.ArgumentParser( + description="Show replay data in a UI.", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("ip_address", nargs="?", default="127.0.0.1", + help="The ip address on which to receive zmq messages.") + parser.add_argument("--frame-address", default=None, + help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") + return parser + + +if __name__ == "__main__": + args = get_arg_parser().parse_args(sys.argv[1:]) + if args.ip_address != "127.0.0.1": + os.environ["ZMQ"] = "1" + messaging.context = messaging.Context() + rr.init("RadarPoints", spawn= True) + rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True) + visualize(args.ip_address) diff --git a/tools/replay/ui.py b/tools/replay/ui.py deleted file mode 100755 index b1fe70ef3..000000000 --- a/tools/replay/ui.py +++ /dev/null @@ -1,238 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import os -import sys - -import cv2 -import numpy as np -import pygame - -import cereal.messaging as messaging -from openpilot.common.numpy_fast import clip -from openpilot.common.basedir import BASEDIR -from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.tools.replay.lib.ui_helpers import (UP, - BLACK, GREEN, - YELLOW, Calibration, - get_blank_lid_overlay, init_plots, - maybe_update_radar_points, plot_lead, - plot_model, - pygame_modules_have_loaded) -from msgq.visionipc import VisionIpcClient, VisionStreamType - -os.environ['BASEDIR'] = BASEDIR - -ANGLE_SCALE = 5.0 - -def ui_thread(addr): - cv2.setNumThreads(1) - pygame.init() - pygame.font.init() - assert pygame_modules_have_loaded() - - disp_info = pygame.display.Info() - max_height = disp_info.current_h - - hor_mode = os.getenv("HORIZONTAL") is not None - hor_mode = True if max_height < 960+300 else hor_mode - - if hor_mode: - size = (640+384+640, 960) - write_x = 5 - write_y = 680 - else: - size = (640+384, 960+300) - write_x = 645 - write_y = 970 - - pygame.display.set_caption("openpilot debug UI") - screen = pygame.display.set_mode(size, pygame.DOUBLEBUF) - - alert1_font = pygame.font.SysFont("arial", 30) - alert2_font = pygame.font.SysFont("arial", 20) - info_font = pygame.font.SysFont("arial", 15) - - camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert() - top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8) - - sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState', - 'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr) - - img = np.zeros((480, 640, 3), dtype='uint8') - imgff = None - num_px = 0 - calibration = None - - lid_overlay_blank = get_blank_lid_overlay(UP) - - # plots - name_to_arr_idx = { "gas": 0, - "computer_gas": 1, - "user_brake": 2, - "computer_brake": 3, - "v_ego": 4, - "v_pid": 5, - "angle_steers_des": 6, - "angle_steers": 7, - "angle_steers_k": 8, - "steer_torque": 9, - "v_override": 10, - "v_cruise": 11, - "a_ego": 12, - "a_target": 13} - - plot_arr = np.zeros((100, len(name_to_arr_idx.values()))) - - plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])] - plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)] - plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"], - ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"], - ["v_ego", "v_override", "v_pid", "v_cruise"], - ["a_ego", "a_target"]] - plot_colors = [["b", "b", "g", "r", "y"], - ["b", "g", "y", "r"], - ["b", "g", "r", "y"], - ["b", "r"]] - plot_styles = [["-", "-", "-", "-", "-"], - ["-", "-", "-", "-"], - ["-", "-", "-", "-"], - ["-", "-"]] - - draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles) - - vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True) - while True: - for event in pygame.event.get(): - if event.type == pygame.QUIT: - pygame.quit() - sys.exit() - - screen.fill((64, 64, 64)) - lid_overlay = lid_overlay_blank.copy() - top_down = top_down_surface, lid_overlay - - # ***** frame ***** - if not vipc_client.is_connected(): - vipc_client.connect(True) - - yuv_img_raw = vipc_client.recv() - if yuv_img_raw is None or not yuv_img_raw.data.any(): - continue - - sm.update(0) - - camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))] - - imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride)) - num_px = vipc_client.width * vipc_client.height - rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12) - - qcam = "QCAM" in os.environ - bb_scale = (528 if qcam else camera.fcam.width) / 640. - calib_scale = camera.fcam.width / 640. - zoom_matrix = np.asarray([ - [bb_scale, 0., 0.], - [0., bb_scale, 0.], - [0., 0., 1.]]) - cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP) - - intrinsic_matrix = camera.fcam.intrinsics - - w = sm['controlsState'].lateralControlState.which() - if w == 'lqrStateDEPRECATED': - angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg - elif w == 'indiState': - angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg - else: - angle_steers_k = np.inf - - plot_arr[:-1] = plot_arr[1:] - plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg - plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg - plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k - plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas - # TODO gas is deprecated - plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0) - plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake - plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE - # TODO brake is deprecated - plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0) - plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo - plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed - plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo - - if len(sm['longitudinalPlan'].accels): - plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0] - - if sm.recv_frame['modelV2']: - plot_model(sm['modelV2'], img, calibration, top_down) - - if sm.recv_frame['radarState']: - plot_lead(sm['radarState'], top_down) - - # draw all radar points - maybe_update_radar_points(sm['liveTracks'], top_down[1]) - - if sm.updated['liveCalibration'] and num_px: - rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib) - calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale) - - # *** blits *** - pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1)) - screen.blit(camera_surface, (0, 0)) - - # display alerts - alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True, (255, 0, 0)) - alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True, (255, 0, 0)) - screen.blit(alert_line1, (180, 150)) - screen.blit(alert_line2, (180, 190)) - - if hor_mode: - screen.blit(draw_plots(plot_arr), (640+384, 0)) - else: - screen.blit(draw_plots(plot_arr), (0, 600)) - - pygame.surfarray.blit_array(*top_down) - screen.blit(top_down[0], (640, 0)) - - SPACING = 25 - - lines = [ - info_font.render("ENABLED", True, GREEN if sm['controlsState'].enabled else BLACK), - info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW), - info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW), - info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW), - None, - info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW), - info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW), - info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW), - info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW) - ] - - for i, line in enumerate(lines): - if line is not None: - screen.blit(line, (write_x, write_y + i * SPACING)) - - # this takes time...vsync or something - pygame.display.flip() - -def get_arg_parser(): - parser = argparse.ArgumentParser( - description="Show replay data in a UI.", - formatter_class=argparse.ArgumentDefaultsHelpFormatter) - - parser.add_argument("ip_address", nargs="?", default="127.0.0.1", - help="The ip address on which to receive zmq messages.") - - parser.add_argument("--frame-address", default=None, - help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.") - return parser - -if __name__ == "__main__": - args = get_arg_parser().parse_args(sys.argv[1:]) - - if args.ip_address != "127.0.0.1": - os.environ["ZMQ"] = "1" - messaging.context = messaging.Context() - - ui_thread(args.ip_address) From e7388c3743242938d07694864f8db011c00554df Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 13 Jul 2024 13:41:38 -0700 Subject: [PATCH 037/180] remove pygame (#32981) --- pyproject.toml | 1 - uv.lock | 481 ++++++++++++++++++++++++------------------------- 2 files changed, 240 insertions(+), 242 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 82f9c563b..13800fc1c 100644 --- a/pyproject.toml 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b/body index 0e74db67a..c433da944 160000 --- a/body +++ b/body @@ -1 +1 @@ -Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72 +Subproject commit c433da944f0e4d974cd66601effa66a06355debe diff --git a/panda b/panda index 376408bb4..481d2bec5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 376408bb4f6706b682eb6d607bedd14958665084 +Subproject commit 481d2bec595b64bb44ad70455b69fd3dd148ed4b diff --git a/rednose_repo b/rednose_repo index 72b3479ba..023a6195d 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 72b3479bababc658f24cc7aa0dc8bb550f0474fc +Subproject commit 023a6195dbfc2fa37dedc7383ed271fe639287c0 From cbee4421da690fa7b260f62c4a2c72ccacc6c902 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 14 Jul 2024 15:56:44 -0700 Subject: [PATCH 039/180] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 481d2bec5..b4e3d5cdd 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 481d2bec595b64bb44ad70455b69fd3dd148ed4b +Subproject commit b4e3d5cdd2dec2a58807b0d710a5d3561a59529d From c759fe900276a6e622b51302fb9897e590edf3fd Mon Sep 17 00:00:00 2001 From: signed-long <38993953+signed-long@users.noreply.github.com> Date: Mon, 15 Jul 2024 09:01:51 -0600 Subject: [PATCH 040/180] CI: fix ui report directory (#32991) fix report artifact name --- .github/workflows/selfdrive_tests.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 419c47208..8968b493c 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -335,8 +335,8 @@ jobs: - name: Upload Test Report uses: actions/upload-artifact@v4 with: - name: report-${{ inputs.run_number }} - path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number }} + name: report-${{ inputs.run_number || '1' }} + path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number || '1' }} - name: Get changes to selfdrive/ui if: ${{ github.event_name == 'pull_request' }} id: changed-files @@ -359,7 +359,7 @@ jobs: git checkout -b openpilot/pr-${{ github.event.pull_request.number }} git config user.name "GitHub Actions Bot" git config user.email "<>" - sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report/screenshots/* . + sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report_1/screenshots/* . git add . git commit -m "screenshots for PR #${{ github.event.pull_request.number }}" git push origin openpilot/pr-${{ github.event.pull_request.number }} --force From dd2787b7a1f2ebb6f71eb3a667848db6caa9963c Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 15 Jul 2024 10:29:57 -0700 Subject: [PATCH 041/180] [bot] Update Python packages and pre-commit hooks (#32990) * Update Python packages and pre-commit hooks * fix ruff --------- Co-authored-by: Vehicle Researcher Co-authored-by: Maxime Desroches --- .pre-commit-config.yaml | 4 +- .../sim/bridge/metadrive/metadrive_process.py | 2 +- uv.lock | 209 ++++++++++-------- 3 files changed, 117 insertions(+), 98 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index fd27ad485..6aa2a065a 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -33,7 +33,7 @@ repos: - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.5.1 + rev: v0.5.2 hooks: - id: ruff exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' @@ -93,6 +93,6 @@ repos: pass_filenames: false files: '^selfdrive/ui/translations/' - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.28.6 + rev: 0.29.0 hooks: - id: check-github-workflows diff --git 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Date: Tue, 16 Jul 2024 02:12:24 +0800 Subject: [PATCH 042/180] selfdrive/car: ban imports from external modules (#32973) * lint import * Update selfdrive/car/__init__.py --------- Co-authored-by: Shane Smiskol --- .importlinter | 36 +++++++++++++++++++ .pre-commit-config.yaml | 7 ++++ pyproject.toml | 1 + selfdrive/car/__init__.py | 1 + selfdrive/car/body/carcontroller.py | 2 +- selfdrive/car/body/interface.py | 3 +- selfdrive/car/card.py | 3 +- selfdrive/car/chrysler/carcontroller.py | 3 +- selfdrive/car/gm/carcontroller.py | 3 +- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/hyundai/carcontroller.py | 3 +- selfdrive/car/interfaces.py | 3 +- selfdrive/car/tests/test_car_interfaces.py | 3 +- selfdrive/car/tests/test_lateral_limits.py | 2 +- selfdrive/car/tests/test_models.py | 5 ++- selfdrive/car/toyota/carstate.py | 2 +- selfdrive/car/volkswagen/carcontroller.py | 3 +- selfdrive/controls/controlsd.py | 3 +- selfdrive/controls/lib/drive_helpers.py | 2 +- selfdrive/controls/lib/events.py | 2 +- selfdrive/controls/lib/latcontrol.py | 2 +- selfdrive/controls/lib/longcontrol.py | 2 +- selfdrive/controls/radard.py | 3 +- .../controls/tests/test_state_machine.py | 2 +- selfdrive/debug/cycle_alerts.py | 2 +- .../test/process_replay/process_replay.py | 2 +- tools/replay/can_replay.py | 3 +- 27 files changed, 73 insertions(+), 32 deletions(-) create mode 100644 .importlinter diff --git a/.importlinter b/.importlinter new file mode 100644 index 000000000..3cb9e6b47 --- /dev/null +++ b/.importlinter @@ -0,0 +1,36 @@ +[importlinter] +root_packages = + openpilot + +[importlinter:contract:1] +name = Forbid imports from openpilot.selfdrive.car to openpilot.system +type = forbidden +source_modules = + openpilot.selfdrive.car +forbidden_modules = + openpilot.system + openpilot.body + openpilot.docs + openpilot.msgq + openpilot.panda + openpilot.rednose + openpilot.release + openpilot.teleoprtc + openpilot.tinygrad +ignore_imports = + openpilot.selfdrive.car.card -> openpilot.common.realtime + openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events + openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events + openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader + openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card + openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route + openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw + openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers + openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog + openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog + openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog + openpilot.selfdrive.car.vin -> openpilot.common.swaglog + openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog + openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog + openpilot.selfdrive.car.car_helpers -> openpilot.system.version +unmatched_ignore_imports_alerting = warn diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 6aa2a065a..ab9ce08c7 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -96,3 +96,10 @@ repos: rev: 0.29.0 hooks: - id: check-github-workflows +- repo: local + hooks: + - id: import-linter + name: import linter + entry: lint-imports + language: system + pass_filenames: false diff --git a/pyproject.toml b/pyproject.toml index 13800fc1c..e9c999400 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -73,6 +73,7 @@ docs = [ testing = [ "coverage", "hypothesis ==6.47.*", + "import-linter", "mypy", "pre-commit", "pytest", diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 4a1df550d..6f3bde7f0 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -11,6 +11,7 @@ from openpilot.common.numpy_fast import clip, interp from openpilot.common.utils import Freezable from openpilot.selfdrive.car.docs_definitions import CarDocs +DT_CTRL = 0.01 # car state and control loop timestep (s) # kg of standard extra cargo to count for drive, gas, etc... STD_CARGO_KG = 136. diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 259126c41..c45dc7f0d 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -1,7 +1,7 @@ import numpy as np -from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.body import bodycan from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index f797a7ecf..50564d3ed 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -1,7 +1,6 @@ import math from cereal import car -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car import DT_CTRL, get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index d9ee020ba..37f51b9ab 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -9,9 +9,10 @@ from cereal import car from panda import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.selfdrive.pandad import can_list_to_can_capnp +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.controls.lib.events import Events diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 85f53f68e..c9e7e2c9e 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,6 +1,5 @@ from opendbc.can.packer import CANPacker -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import apply_meas_steer_torque_limits +from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits from openpilot.selfdrive.car.chrysler import chryslercan from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index b204d3b80..013e72ad0 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,9 +1,8 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import interp -from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits from openpilot.selfdrive.car.gm import gmcan from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index fe023ea17..66bd50048 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -2,8 +2,8 @@ from collections import namedtuple from cereal import car from openpilot.common.numpy_fast import clip, interp -from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.honda import hondacan from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 4038ddcca..3d7768a83 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -1,9 +1,8 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip -from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance +from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 54070284e..9f1b65015 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -13,8 +13,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV from openpilot.common.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG +from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG from openpilot.selfdrive.car.values import PLATFORMS from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction from openpilot.selfdrive.controls.lib.events import Events diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index bb97ac8a9..4ca19f019 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -6,8 +6,7 @@ import importlib from parameterized import parameterized from cereal import car, messaging -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index e61d197f4..24eac01fc 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -5,7 +5,7 @@ from parameterized import parameterized_class import pytest import sys -from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.interfaces import get_torque_params diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index b5d75e665..02e99f0b8 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -12,14 +12,13 @@ from parameterized import parameterized_class from cereal import messaging, log, car from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import gen_empty_fingerprint -from openpilot.selfdrive.car.card import Car +from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.car.values import Platform +from openpilot.selfdrive.car.card import Car from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index a596881c3..e02293da4 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -4,9 +4,9 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import mean from openpilot.common.filter_simple import FirstOrderFilter -from openpilot.common.realtime import DT_CTRL from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.interfaces import CarStateBase from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \ TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index a4e0c8946..8e8652d3b 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -2,8 +2,7 @@ from cereal import car from opendbc.can.packer import CANPacker from openpilot.common.numpy_fast import clip from openpilot.common.conversions import Conversions as CV -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 583cbaea1..df84fc718 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -15,9 +15,10 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.git import get_short_branch from openpilot.common.numpy_fast import clip from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.common.swaglog import cloudlog +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index cfc6374a1..a87e385b6 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -3,7 +3,7 @@ import math from cereal import car, log from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip, interp -from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import DT_CTRL # WARNING: this value was determined based on the model's training distribution, # model predictions above this speed can be unpredictable diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 25833da74..6c1c1d8c8 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -9,7 +9,7 @@ from cereal import log, car import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV from openpilot.common.git import get_short_branch -from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER AlertSize = log.ControlsState.AlertSize diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index fddb331cc..69d64d66a 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -1,7 +1,7 @@ from abc import abstractmethod, ABC from openpilot.common.numpy_fast import clip -from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import DT_CTRL MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index e4841c705..0aa2a2517 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -1,6 +1,6 @@ from cereal import car from openpilot.common.numpy_fast import clip -from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N from openpilot.selfdrive.controls.lib.pid import PIDController from openpilot.selfdrive.modeld.constants import ModelConstants diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index c3fb60c61..6a4db0b4e 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -8,10 +8,11 @@ import capnp from cereal import messaging, log, car from openpilot.common.numpy_fast import interp from openpilot.common.params import Params -from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process +from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process from openpilot.common.swaglog import cloudlog from openpilot.common.simple_kalman import KF1D +from openpilot.selfdrive.car import DT_CTRL # Default lead acceleration decay set to 50% at 1s diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index b6ec512dc..ebb742f4b 100644 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -1,5 +1,5 @@ from cereal import car, log -from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 93b0430c1..980c491c9 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -4,7 +4,7 @@ import random from cereal import car, log import cereal.messaging as messaging -from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.honda.interface import CarInterface from openpilot.selfdrive.controls.lib.events import ET, Events from openpilot.selfdrive.controls.lib.alertmanager import AlertManager diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index c7f57fd9b..3ba129d03 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -20,8 +20,8 @@ from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoi from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout -from openpilot.common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.car_helpers import get_car, interfaces from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 3ab33a1df..9eea6b905 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -7,7 +7,8 @@ import threading os.environ['FILEREADER_CACHE'] = '1' -from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL +from openpilot.common.realtime import config_realtime_process, Ratekeeper +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.pandad import can_capnp_to_can_list from openpilot.tools.lib.logreader import LogReader from panda import PandaJungle From 35a4a773f1ff6c7b171b7acdb2fd4a65279edebd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 15 Jul 2024 11:14:04 -0700 Subject: [PATCH 043/180] Revert "selfdrive/car: ban imports from external modules" (#32993) Revert "selfdrive/car: ban imports from external modules (#32973)" This reverts commit 83d4623590f87dcb7df2b458a8814d5ad6ea711b. --- .importlinter | 36 ------------------- .pre-commit-config.yaml | 7 ---- pyproject.toml | 1 - selfdrive/car/__init__.py | 1 - selfdrive/car/body/carcontroller.py | 2 +- selfdrive/car/body/interface.py | 3 +- selfdrive/car/card.py | 3 +- selfdrive/car/chrysler/carcontroller.py | 3 +- selfdrive/car/gm/carcontroller.py | 3 +- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/hyundai/carcontroller.py | 3 +- selfdrive/car/interfaces.py | 3 +- selfdrive/car/tests/test_car_interfaces.py | 3 +- selfdrive/car/tests/test_lateral_limits.py | 2 +- selfdrive/car/tests/test_models.py | 5 +-- selfdrive/car/toyota/carstate.py | 2 +- selfdrive/car/volkswagen/carcontroller.py | 3 +- selfdrive/controls/controlsd.py | 3 +- selfdrive/controls/lib/drive_helpers.py | 2 +- selfdrive/controls/lib/events.py | 2 +- selfdrive/controls/lib/latcontrol.py | 2 +- selfdrive/controls/lib/longcontrol.py | 2 +- selfdrive/controls/radard.py | 3 +- .../controls/tests/test_state_machine.py | 2 +- selfdrive/debug/cycle_alerts.py | 2 +- .../test/process_replay/process_replay.py | 2 +- tools/replay/can_replay.py | 3 +- 27 files changed, 32 insertions(+), 73 deletions(-) delete mode 100644 .importlinter diff --git a/.importlinter b/.importlinter deleted file mode 100644 index 3cb9e6b47..000000000 --- a/.importlinter +++ /dev/null @@ -1,36 +0,0 @@ -[importlinter] -root_packages = - openpilot - -[importlinter:contract:1] -name = Forbid imports from openpilot.selfdrive.car to openpilot.system -type = forbidden -source_modules = - openpilot.selfdrive.car -forbidden_modules = - openpilot.system - openpilot.body - openpilot.docs - openpilot.msgq - openpilot.panda - openpilot.rednose - openpilot.release - openpilot.teleoprtc - openpilot.tinygrad -ignore_imports = - openpilot.selfdrive.car.card -> openpilot.common.realtime - openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events - openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events - openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader - openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card - openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route - openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw - openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers - openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog - openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog - openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog - openpilot.selfdrive.car.vin -> openpilot.common.swaglog - openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog - openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog - openpilot.selfdrive.car.car_helpers -> openpilot.system.version -unmatched_ignore_imports_alerting = warn diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index ab9ce08c7..6aa2a065a 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -96,10 +96,3 @@ repos: rev: 0.29.0 hooks: - id: check-github-workflows -- repo: local - hooks: - - id: import-linter - name: import linter - entry: lint-imports - language: system - pass_filenames: false diff --git a/pyproject.toml b/pyproject.toml index e9c999400..13800fc1c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -73,7 +73,6 @@ docs = [ testing = [ "coverage", "hypothesis ==6.47.*", - "import-linter", "mypy", "pre-commit", "pytest", diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 6f3bde7f0..4a1df550d 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -11,7 +11,6 @@ from openpilot.common.numpy_fast import clip, interp from openpilot.common.utils import Freezable from openpilot.selfdrive.car.docs_definitions import CarDocs -DT_CTRL = 0.01 # car state and control loop timestep (s) # kg of standard extra cargo to count for drive, gas, etc... STD_CARGO_KG = 136. diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index c45dc7f0d..259126c41 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -1,7 +1,7 @@ import numpy as np +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.body import bodycan from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 50564d3ed..f797a7ecf 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -1,6 +1,7 @@ import math from cereal import car -from openpilot.selfdrive.car import DT_CTRL, get_safety_config +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 37f51b9ab..d9ee020ba 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -9,10 +9,9 @@ from cereal import car from panda import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL from openpilot.selfdrive.pandad import can_list_to_can_capnp -from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.controls.lib.events import Events diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index c9e7e2c9e..85f53f68e 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,5 +1,6 @@ from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_meas_steer_torque_limits from openpilot.selfdrive.car.chrysler import chryslercan from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 013e72ad0..b204d3b80 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,8 +1,9 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import interp +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits +from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.gm import gmcan from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 66bd50048..fe023ea17 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -2,8 +2,8 @@ from collections import namedtuple from cereal import car from openpilot.common.numpy_fast import clip, interp +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.honda import hondacan from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 3d7768a83..4038ddcca 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -1,8 +1,9 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip +from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance +from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 9f1b65015..54070284e 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -13,7 +13,8 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV from openpilot.common.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip -from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG from openpilot.selfdrive.car.values import PLATFORMS from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction from openpilot.selfdrive.controls.lib.events import Events diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 4ca19f019..bb97ac8a9 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -6,7 +6,8 @@ import importlib from parameterized import parameterized from cereal import car, messaging -from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 24eac01fc..e61d197f4 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -5,7 +5,7 @@ from parameterized import parameterized_class import pytest import sys -from openpilot.selfdrive.car import DT_CTRL +from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.interfaces import get_torque_params diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 02e99f0b8..b5d75e665 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -12,13 +12,14 @@ from parameterized import parameterized_class from cereal import messaging, log, car from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params -from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car.card import Car from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.car.values import Platform -from openpilot.selfdrive.car.card import Car from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index e02293da4..a596881c3 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -4,9 +4,9 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import mean from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.realtime import DT_CTRL from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.interfaces import CarStateBase from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \ TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 8e8652d3b..a4e0c8946 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -2,7 +2,8 @@ from cereal import car from opendbc.can.packer import CANPacker from openpilot.common.numpy_fast import clip from openpilot.common.conversions import Conversions as CV -from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits +from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index df84fc718..583cbaea1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -15,10 +15,9 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.git import get_short_branch from openpilot.common.numpy_fast import clip from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index a87e385b6..cfc6374a1 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -3,7 +3,7 @@ import math from cereal import car, log from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip, interp -from openpilot.selfdrive.car import DT_CTRL +from openpilot.common.realtime import DT_CTRL # WARNING: this value was determined based on the model's training distribution, # model predictions above this speed can be unpredictable diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 6c1c1d8c8..25833da74 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -9,7 +9,7 @@ from cereal import log, car import cereal.messaging as messaging from openpilot.common.conversions import Conversions as CV from openpilot.common.git import get_short_branch -from openpilot.selfdrive.car import DT_CTRL +from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER AlertSize = log.ControlsState.AlertSize diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 69d64d66a..fddb331cc 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -1,7 +1,7 @@ from abc import abstractmethod, ABC from openpilot.common.numpy_fast import clip -from openpilot.selfdrive.car import DT_CTRL +from openpilot.common.realtime import DT_CTRL MIN_LATERAL_CONTROL_SPEED = 0.3 # m/s diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 0aa2a2517..e4841c705 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -1,6 +1,6 @@ from cereal import car from openpilot.common.numpy_fast import clip -from openpilot.selfdrive.car import DT_CTRL +from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N from openpilot.selfdrive.controls.lib.pid import PIDController from openpilot.selfdrive.modeld.constants import ModelConstants diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 6a4db0b4e..c3fb60c61 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -8,11 +8,10 @@ import capnp from cereal import messaging, log, car from openpilot.common.numpy_fast import interp from openpilot.common.params import Params -from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process +from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process from openpilot.common.swaglog import cloudlog from openpilot.common.simple_kalman import KF1D -from openpilot.selfdrive.car import DT_CTRL # Default lead acceleration decay set to 50% at 1s diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index ebb742f4b..b6ec512dc 100644 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -1,5 +1,5 @@ from cereal import car, log -from openpilot.selfdrive.car import DT_CTRL +from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py index 980c491c9..93b0430c1 100755 --- a/selfdrive/debug/cycle_alerts.py +++ b/selfdrive/debug/cycle_alerts.py @@ -4,7 +4,7 @@ import random from cereal import car, log import cereal.messaging as messaging -from openpilot.selfdrive.car import DT_CTRL +from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.honda.interface import CarInterface from openpilot.selfdrive.controls.lib.events import ET, Events from openpilot.selfdrive.controls.lib.alertmanager import AlertManager diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 3ba129d03..c7f57fd9b 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -20,8 +20,8 @@ from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoi from openpilot.common.params import Params from openpilot.common.prefix import OpenpilotPrefix from openpilot.common.timeout import Timeout +from openpilot.common.realtime import DT_CTRL from panda.python import ALTERNATIVE_EXPERIENCE -from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.car_helpers import get_car, interfaces from openpilot.system.manager.process_config import managed_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 9eea6b905..3ab33a1df 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -7,8 +7,7 @@ import threading os.environ['FILEREADER_CACHE'] = '1' -from openpilot.common.realtime import config_realtime_process, Ratekeeper -from openpilot.selfdrive.car import DT_CTRL +from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from openpilot.selfdrive.pandad import can_capnp_to_can_list from openpilot.tools.lib.logreader import LogReader from panda import PandaJungle From d684d8f0f6900d80a2a1618099b0b8e19e6492a2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 15 Jul 2024 11:59:25 -0700 Subject: [PATCH 044/180] Reapply "selfdrive/car: ban imports from external modules" (#32993) (#32994) * Reapply "selfdrive/car: ban imports from external modules" (#32993) This reverts commit 35a4a773f1ff6c7b171b7acdb2fd4a65279edebd. * controls will just use controls * also these * ignore --- .importlinter | 44 ++++++++++++++++++++++ .pre-commit-config.yaml | 7 ++++ pyproject.toml | 1 + selfdrive/car/__init__.py | 1 + selfdrive/car/body/carcontroller.py | 2 +- selfdrive/car/body/interface.py | 3 +- selfdrive/car/card.py | 3 +- selfdrive/car/chrysler/carcontroller.py | 3 +- selfdrive/car/gm/carcontroller.py | 3 +- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/hyundai/carcontroller.py | 3 +- selfdrive/car/interfaces.py | 3 +- selfdrive/car/tests/test_car_interfaces.py | 3 +- selfdrive/car/tests/test_lateral_limits.py | 2 +- selfdrive/car/tests/test_models.py | 5 +-- selfdrive/car/toyota/carstate.py | 2 +- selfdrive/car/volkswagen/carcontroller.py | 3 +- 17 files changed, 68 insertions(+), 22 deletions(-) create mode 100644 .importlinter diff --git a/.importlinter b/.importlinter new file mode 100644 index 000000000..594d75ee4 --- /dev/null +++ b/.importlinter @@ -0,0 +1,44 @@ +[importlinter] +root_packages = + openpilot + +[importlinter:contract:1] +name = Forbid imports from openpilot.selfdrive.car to openpilot.system +type = forbidden +source_modules = + openpilot.selfdrive.car +forbidden_modules = + openpilot.system + openpilot.body + openpilot.docs + openpilot.msgq + openpilot.panda + openpilot.rednose + openpilot.release + openpilot.teleoprtc + openpilot.tinygrad +ignore_imports = + openpilot.selfdrive.car.card -> openpilot.common.realtime + openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events + openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events + openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader + openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card + openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route + openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw + openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers + openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog + openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog + openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog + openpilot.selfdrive.car.vin -> openpilot.common.swaglog + openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog + openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog + openpilot.selfdrive.car.car_helpers -> openpilot.system.version + openpilot.selfdrive.car.ford.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers + openpilot.selfdrive.car.gm.interface -> openpilot.selfdrive.controls.lib.drive_helpers + openpilot.selfdrive.car.honda.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers + openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers + openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle + openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol + openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque + openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid +unmatched_ignore_imports_alerting = warn diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 6aa2a065a..ab9ce08c7 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -96,3 +96,10 @@ repos: rev: 0.29.0 hooks: - id: check-github-workflows +- repo: local + hooks: + - id: import-linter + name: import linter + entry: lint-imports + language: system + pass_filenames: false diff --git a/pyproject.toml b/pyproject.toml index 13800fc1c..e9c999400 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -73,6 +73,7 @@ docs = [ testing = [ "coverage", "hypothesis ==6.47.*", + "import-linter", "mypy", "pre-commit", "pytest", diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 4a1df550d..6f3bde7f0 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -11,6 +11,7 @@ from openpilot.common.numpy_fast import clip, interp from openpilot.common.utils import Freezable from openpilot.selfdrive.car.docs_definitions import CarDocs +DT_CTRL = 0.01 # car state and control loop timestep (s) # kg of standard extra cargo to count for drive, gas, etc... STD_CARGO_KG = 136. diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 259126c41..c45dc7f0d 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -1,7 +1,7 @@ import numpy as np -from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.body import bodycan from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index f797a7ecf..50564d3ed 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -1,7 +1,6 @@ import math from cereal import car -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car import DT_CTRL, get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index d9ee020ba..37f51b9ab 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -9,9 +9,10 @@ from cereal import car from panda import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params -from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.selfdrive.pandad import can_list_to_can_capnp +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.car_helpers import get_car, get_one_can from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.controls.lib.events import Events diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 85f53f68e..c9e7e2c9e 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,6 +1,5 @@ from opendbc.can.packer import CANPacker -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import apply_meas_steer_torque_limits +from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits from openpilot.selfdrive.car.chrysler import chryslercan from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index b204d3b80..013e72ad0 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -1,9 +1,8 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import interp -from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits from openpilot.selfdrive.car.gm import gmcan from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index fe023ea17..66bd50048 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -2,8 +2,8 @@ from collections import namedtuple from cereal import car from openpilot.common.numpy_fast import clip, interp -from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.honda import hondacan from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams from openpilot.selfdrive.car.interfaces import CarControllerBase diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 4038ddcca..3d7768a83 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -1,9 +1,8 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip -from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance +from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 54070284e..9f1b65015 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -13,8 +13,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV from openpilot.common.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG +from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG from openpilot.selfdrive.car.values import PLATFORMS from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction from openpilot.selfdrive.controls.lib.events import Events diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index bb97ac8a9..4ca19f019 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -6,8 +6,7 @@ import importlib from parameterized import parameterized from cereal import car, messaging -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import gen_empty_fingerprint +from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index e61d197f4..24eac01fc 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -5,7 +5,7 @@ from parameterized import parameterized_class import pytest import sys -from openpilot.common.realtime import DT_CTRL +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.interfaces import get_torque_params diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index b5d75e665..02e99f0b8 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -12,14 +12,13 @@ from parameterized import parameterized_class from cereal import messaging, log, car from openpilot.common.basedir import BASEDIR from openpilot.common.params import Params -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import gen_empty_fingerprint -from openpilot.selfdrive.car.card import Car +from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.car.values import Platform +from openpilot.selfdrive.car.card import Car from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index a596881c3..e02293da4 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -4,9 +4,9 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import mean from openpilot.common.filter_simple import FirstOrderFilter -from openpilot.common.realtime import DT_CTRL from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser +from openpilot.selfdrive.car import DT_CTRL from openpilot.selfdrive.car.interfaces import CarStateBase from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \ TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index a4e0c8946..8e8652d3b 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -2,8 +2,7 @@ from cereal import car from opendbc.can.packer import CANPacker from openpilot.common.numpy_fast import clip from openpilot.common.conversions import Conversions as CV -from openpilot.common.realtime import DT_CTRL -from openpilot.selfdrive.car import apply_driver_steer_torque_limits +from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags From c0739cd9ee41ccd372bd8cd816c44dfce4e3a8a2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 16 Jul 2024 03:05:20 +0800 Subject: [PATCH 045/180] selfdrive/car/ecu_addrs: prefix internal functions with underscore (#32980) underscore prefix --- selfdrive/car/ecu_addrs.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 756cd7f96..0fd4bbd0b 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -10,7 +10,7 @@ from openpilot.selfdrive.pandad import can_list_to_can_capnp from openpilot.common.swaglog import cloudlog -def make_tester_present_msg(addr, bus, subaddr=None): +def _make_tester_present_msg(addr, bus, subaddr=None): dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0] if subaddr is not None: dat.insert(0, subaddr) @@ -19,7 +19,7 @@ def make_tester_present_msg(addr, bus, subaddr=None): return make_can_msg(addr, bytes(dat), bus) -def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool: +def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool: # ISO-TP messages are always padded to 8 bytes # tester present response is always a single frame dat_offset = 1 if subaddr is not None else 0 @@ -33,7 +33,7 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd return False -def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]: +def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]: addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)] queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list} responses = queries @@ -44,7 +44,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]: ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),) try: - msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] + msgs = [_make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] messaging.drain_sock_raw(logcan) sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan')) @@ -58,7 +58,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que continue subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0] - if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr): + if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr): if debug: print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}") if (msg.address, subaddr, msg.src) in ecu_responses: @@ -94,7 +94,7 @@ if __name__ == "__main__": set_obd_multiplexing(params, not args.no_obd) print("Getting ECU addresses ...") - ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug) + ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug) print() print("Found ECUs on rx addresses:") From 00af33c6ed3ada846ccfec9de489452c900afffd Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 15 Jul 2024 12:05:33 -0700 Subject: [PATCH 046/180] [bot] Bump submodules (#32989) bump submodules Co-authored-by: Vehicle Researcher --- msgq_repo | 2 +- opendbc | 2 +- teleoprtc_repo | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/msgq_repo b/msgq_repo index 74074d650..d7b99c429 160000 --- a/msgq_repo +++ b/msgq_repo @@ -1 +1 @@ -Subproject commit 74074d650f5d516a33962c1681a2a15b1d603537 +Subproject commit d7b99c4296f7a5c098e756bad73af8ef38370261 diff --git a/opendbc b/opendbc index de39b143a..5ba787024 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit de39b143a31cd29b4df4c0cbba71316c1bc8e71b +Subproject commit 5ba787024f53a00d76c7b253d1f3fee87763c679 diff --git a/teleoprtc_repo b/teleoprtc_repo index fdcff87aa..389815b8c 160000 --- a/teleoprtc_repo +++ b/teleoprtc_repo @@ -1 +1 @@ -Subproject commit fdcff87aaf2b1ca099be4fc820044334cec02cc5 +Subproject commit 389815b8ca5302ce7c1504b7841d4eb61a8cd51b From aa8484093e886cd8ae90e4eb42118306794fc439 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 15 Jul 2024 14:40:24 -0700 Subject: [PATCH 047/180] [bot] Fingerprints: add missing FW versions from new users (#32996) Export fingerprints --- selfdrive/car/hyundai/fingerprints.py | 1 + selfdrive/car/toyota/fingerprints.py | 1 + 2 files changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 4ad7e0e0a..4c659f053 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -171,6 +171,7 @@ FW_VERSIONS = { (Ecu.eps, 0x7d4, None): [ b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0200 4DNAC102', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 67203da7d..a4d0ad170 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -167,6 +167,7 @@ FW_VERSIONS = { (Ecu.abs, 0x7b0, None): [ b'F152606210\x00\x00\x00\x00\x00\x00', b'F152606230\x00\x00\x00\x00\x00\x00', + b'F152606260\x00\x00\x00\x00\x00\x00', b'F152606270\x00\x00\x00\x00\x00\x00', b'F152606290\x00\x00\x00\x00\x00\x00', b'F152606410\x00\x00\x00\x00\x00\x00', From 4b794773b0486a15732ce5551771584af7c41e43 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Tue, 16 Jul 2024 18:24:01 -0700 Subject: [PATCH 048/180] use rounded constant instead of hard-coded value for incrementing set speed (#32992) * use rounded constant instead of hard-coded value for incrementing set speed * better comment --- selfdrive/controls/lib/drive_helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index cfc6374a1..bd7405137 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -13,7 +13,7 @@ V_CRUISE_MAX = 145 V_CRUISE_UNSET = 255 V_CRUISE_INITIAL = 40 V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105 -IMPERIAL_INCREMENT = 1.6 # should be CV.MPH_TO_KPH, but this causes rounding errors +IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1) # round here to avoid rounding errors incrementing set speed MIN_SPEED = 1.0 CONTROL_N = 17 From 996bced674e6943976f1d6dba37075e113bf9288 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 17 Jul 2024 16:17:23 -0700 Subject: [PATCH 049/180] livePose log (#32868) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * add livepose * Formatting * Add to sevices * Update locationd to publish livePose * Remove fields and increase decimation * Fix field indices * Remove the line * Add livePose to pubmaster * Fix llk decimation * Update ref commit * XYZ measurements instead of lists * Update locationd * Update ref commit * Lower the qlog size in test_onroad * Update lower and upper boundary --------- Co-authored-by: Kacper Rączy --- cereal/log.capnp | 33 +++++++ cereal/services.py | 3 +- selfdrive/locationd/locationd.cc | 90 +++++++++++++++---- selfdrive/locationd/locationd.h | 7 +- .../test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/test_onroad.py | 2 +- 7 files changed, 117 insertions(+), 22 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index 3a53db9cc..d94d9632f 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -1252,6 +1252,38 @@ struct LiveLocationKalman { } } + +struct LivePose { + # More info on reference frames: + # https://github.com/commaai/openpilot/tree/master/common/transformations + orientationNED @0 :XYZMeasurement; + velocityDevice @1 :XYZMeasurement; + accelerationDevice @2 :XYZMeasurement; + angularVelocityDevice @3 :XYZMeasurement; + + inputsOK @4 :Bool = false; + posenetOK @5 :Bool = false; + sensorsOK @6 :Bool = false; + + filterState @7 :FilterState; + + struct XYZMeasurement { + x @0 :Float32; + y @1 :Float32; + z @2 :Float32; + xStd @3 :Float32; + yStd @4 :Float32; + zStd @5 :Float32; + valid @6 :Bool; + } + + struct FilterState { + value @0 : List(Float64); + std @1 : List(Float64); + valid @2 : Bool; + } +} + struct ProcLog { cpuTimes @0 :List(CPUTimes); mem @1 :Mem; @@ -2293,6 +2325,7 @@ struct Event { carParams @69: Car.CarParams; driverMonitoringState @71: DriverMonitoringState; liveLocationKalman @72 :LiveLocationKalman; + livePose @129 :LivePose; modelV2 @75 :ModelDataV2; drivingModelData @128 :DrivingModelData; driverStateV2 @92 :DriverStateV2; diff --git a/cereal/services.py b/cereal/services.py index f1e1935c5..f2d01b922 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -47,7 +47,8 @@ _services: dict[str, tuple] = { "gnssMeasurements": (True, 10., 10), "clocks": (True, 0.1, 1), "ubloxRaw": (True, 20.), - "liveLocationKalman": (True, 20., 5), + "livePose": (True, 20., 4), + "liveLocationKalman": (True, 20.), "liveParameters": (True, 20., 5), "cameraOdometry": (True, 20., 5), "thumbnail": (True, 0.2, 1), diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 2ac392a77..5607871f5 100644 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -41,14 +41,25 @@ const int GPS_ORIENTATION_ERROR_RESET_CNT = 3; const bool DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0"; -static VectorXd floatlist2vector(const capnp::List::Reader& floatlist) { - VectorXd res(floatlist.size()); +template +static Vector floatlist2vector(const ListType& floatlist) { + Vector res(floatlist.size()); for (int i = 0; i < floatlist.size(); i++) { res[i] = floatlist[i]; } return res; } +template +static VectorXd float64list2vector(const ListType& floatlist) { + return floatlist2vector(floatlist); +} + +template +static VectorXf float32list2vector(const ListType& floatlist) { + return floatlist2vector(floatlist); +} + static Vector4d quat2vector(const Quaterniond& quat) { return Vector4d(quat.w(), quat.x(), quat.y(), quat.z()); } @@ -63,6 +74,11 @@ static void init_measurement(cereal::LiveLocationKalman::Measurement::Builder me meas.setValid(valid); } +static void init_xyz_measurement(cereal::LivePose::XYZMeasurement::Builder meas, const VectorXf& val, const VectorXf& std, bool valid) { + meas.setX(val[0]); meas.setY(val[1]); meas.setZ(val[2]); + meas.setXStd(std[0]); meas.setYStd(std[1]); meas.setZStd(std[2]); + meas.setValid(valid); +} static MatrixXdr rotate_cov(const MatrixXdr& rot_matrix, const MatrixXdr& cov_in) { // To rotate a covariance matrix, the cov matrix needs to multiplied left and right by the transform matrix @@ -91,6 +107,30 @@ Localizer::Localizer(LocalizerGnssSource gnss_source) { this->configure_gnss_source(gnss_source); } +void Localizer::build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation) { + // Just copy the values from liveLocation to livePose for now + VectorXf orientation_ned = float32list2vector(liveLocation.getOrientationNED().getValue()), orientation_ned_std = float32list2vector(liveLocation.getOrientationNED().getStd()); + init_xyz_measurement(livePose.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode); + VectorXf velocity_device = float32list2vector(liveLocation.getVelocityDevice().getValue()), velocity_device_std = float32list2vector(liveLocation.getVelocityDevice().getStd()); + init_xyz_measurement(livePose.initVelocityDevice(), velocity_device, velocity_device_std, true); + VectorXf acceleration_device = float32list2vector(liveLocation.getAccelerationDevice().getValue()), acceleration_device_std = float32list2vector(liveLocation.getAccelerationDevice().getStd()); + init_xyz_measurement(livePose.initAccelerationDevice(), acceleration_device, acceleration_device_std, true); + VectorXf ang_velocity_device = float32list2vector(liveLocation.getAngularVelocityDevice().getValue()), ang_velocity_device_std = float32list2vector(liveLocation.getAngularVelocityDevice().getStd()); + init_xyz_measurement(livePose.initAngularVelocityDevice(), ang_velocity_device, ang_velocity_device_std, true); + + if (DEBUG) { + VectorXd filter_state = float64list2vector(liveLocation.getFilterState().getValue()), filter_state_std = float64list2vector(liveLocation.getFilterState().getStd()); + cereal::LivePose::FilterState::Builder filter_state_builder = livePose.initFilterState(); + filter_state_builder.setValue(kj::arrayPtr(filter_state.data(), filter_state.size())); + filter_state_builder.setStd(kj::arrayPtr(filter_state_std.data(), filter_state_std.size())); + filter_state_builder.setValid(true); + } + + livePose.setInputsOK(liveLocation.getInputsOK()); + livePose.setPosenetOK(liveLocation.getPosenetOK()); + livePose.setSensorsOK(liveLocation.getSensorsOK()); +} + void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { VectorXd predicted_state = this->kf->get_x(); MatrixXdr predicted_cov = this->kf->get_P(); @@ -279,7 +319,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData // TODO: reduce false positives and re-enable this check // check if device fell, estimate 10 for g // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving - // this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0; + // this->device_fell |= (float64list2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0; auto meas = Vector3d(-v[2], -v[1], -v[0]); if (meas.norm() < ACCEL_SANITY_CHECK) { @@ -311,7 +351,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY); bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0)); bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)); - bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); + bool gps_vel_insane = (float64list2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) { //this->gps_valid = false; @@ -450,8 +490,8 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re } void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) { - VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot()); - VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans()); + VectorXd rot_device = this->device_from_calib * float64list2vector(log.getRot()); + VectorXd trans_device = this->device_from_calib * float64list2vector(log.getTrans()); if (!this->is_timestamp_valid(current_time)) { this->observation_timings_invalid = true; @@ -463,8 +503,8 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry return; } - VectorXd rot_calib_std = floatlist2vector(log.getRotStd()); - VectorXd trans_calib_std = floatlist2vector(log.getTransStd()); + VectorXd rot_calib_std = float64list2vector(log.getRotStd()); + VectorXd trans_calib_std = float64list2vector(log.getTransStd()); if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) { this->observation_values_invalid["cameraOdometry"] += 1.0; @@ -499,7 +539,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra } if (log.getRpyCalib().size() > 0) { - auto live_calib = floatlist2vector(log.getRpyCalib()); + auto live_calib = float64list2vector(log.getRpyCalib()); if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) { this->observation_values_invalid["liveCalibration"] += 1.0; return; @@ -611,8 +651,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) { this->update_reset_tracker(); } -kj::ArrayPtr Localizer::get_message_bytes(MessageBuilder& msg_builder, bool inputsOK, - bool sensorsOK, bool gpsOK, bool msgValid) { +void Localizer::build_location_message( + MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid) { cereal::Event::Builder evt = msg_builder.initEvent(); evt.setValid(msgValid); cereal::LiveLocationKalman::Builder liveLoc = evt.initLiveLocationKalman(); @@ -620,7 +660,19 @@ kj::ArrayPtr Localizer::get_message_bytes(MessageBuilder& msg_build liveLoc.setSensorsOK(sensorsOK); liveLoc.setGpsOK(gpsOK); liveLoc.setInputsOK(inputsOK); - return msg_builder.toBytes(); +} + +void Localizer::build_pose_message( + MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid) { + cereal::Event::Builder evt = msg_builder.initEvent(); + evt.setValid(msgValid); + cereal::LivePose::Builder livePose = evt.initLivePose(); + + cereal::LiveLocationKalman::Reader location_msg = location_msg_builder.getRoot().getLiveLocationKalman().asReader(); + this->build_live_pose(livePose, location_msg); + + livePose.setSensorsOK(sensorsOK); + livePose.setInputsOK(inputsOK); } bool Localizer::is_gps_ok() { @@ -692,7 +744,7 @@ int Localizer::locationd_thread() { "carState", "accelerometer", "gyroscope"}; SubMaster sm(service_list, {}, nullptr, {gps_location_socket}); - PubMaster pm({"liveLocationKalman"}); + PubMaster pm({"liveLocationKalman", "livePose"}); uint64_t cnt = 0; bool filterInitialized = false; @@ -726,9 +778,15 @@ int Localizer::locationd_thread() { this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time); } - MessageBuilder msg_builder; - kj::ArrayPtr bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized); - pm.send("liveLocationKalman", bytes.begin(), bytes.size()); + MessageBuilder location_msg_builder, pose_msg_builder; + this->build_location_message(location_msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized); + this->build_pose_message(pose_msg_builder, location_msg_builder, inputsOK, sensorsOK, filterInitialized); + + kj::ArrayPtr location_bytes = location_msg_builder.toBytes(); + pm.send("liveLocationKalman", location_bytes.begin(), location_bytes.size()); + + kj::ArrayPtr pose_bytes = pose_msg_builder.toBytes(); + pm.send("livePose", pose_bytes.begin(), pose_bytes.size()); if (cnt % 1200 == 0 && gpsOK) { // once a minute VectorXd posGeo = this->get_position_geodetic(); diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index 47c8bf562..615f31c9d 100644 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -45,9 +45,12 @@ public: bool are_inputs_ok(); void observation_timings_invalid_reset(); - kj::ArrayPtr get_message_bytes(MessageBuilder& msg_builder, - bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid); + void build_location_message( + MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid); + void build_pose_message( + MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid); void build_live_location(cereal::LiveLocationKalman::Builder& fix); + void build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation); Eigen::VectorXd get_position_geodetic(); Eigen::VectorXd get_state(); diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index c7f57fd9b..eae6abfaa 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -532,7 +532,7 @@ CONFIGS = [ "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal", "liveCalibration", "carState", "gpsLocation" ], - subs=["liveLocationKalman"], + subs=["liveLocationKalman", "livePose"], ignore=["logMonoTime"], config_callback=locationd_config_pubsub_callback, tolerance=NUMPY_TOLERANCE, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 13b427b89..02e4b997a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0adff03d45c99dcfb330c48b2aa9d2093ce674a2 +3942de8e75caa7a99828e65c3396abd94d6b3da7 diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 78486a176..bbb99d13b 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -206,7 +206,7 @@ class TestOnroad: if f.name == "qcamera.ts": assert 2.15 < sz < 2.35 elif f.name == "qlog": - assert 0.6 < sz < 1.0 + assert 0.4 < sz < 0.6 elif f.name == "rlog": assert 5 < sz < 50 elif f.name.endswith('.hevc'): From 7f9cdf8e43e50c9ec4c90cf96bfa4317094cc8f2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 17 Jul 2024 19:31:29 -0700 Subject: [PATCH 050/180] increase cameraOdometry decimation (#33010) reduce cameraOdometry decimation --- cereal/services.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal/services.py b/cereal/services.py index f2d01b922..6ff821e7f 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -50,7 +50,7 @@ _services: dict[str, tuple] = { "livePose": (True, 20., 4), "liveLocationKalman": (True, 20.), "liveParameters": (True, 20., 5), - "cameraOdometry": (True, 20., 5), + "cameraOdometry": (True, 20., 10), "thumbnail": (True, 0.2, 1), "onroadEvents": (True, 1., 1), "carParams": (True, 0.02, 1), From 3c48a6154b95f0ae2ab84fd916e02b704c74b258 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Jul 2024 20:42:12 -0700 Subject: [PATCH 051/180] increase longitudinalPlan decimation (#33009) change longitudinalPlan decimation --- cereal/services.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal/services.py b/cereal/services.py index 6ff821e7f..7d73374df 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -38,7 +38,7 @@ _services: dict[str, tuple] = { "carState": (True, 100., 10), "carControl": (True, 100., 10), "carOutput": (True, 100., 10), - "longitudinalPlan": (True, 20., 5), + "longitudinalPlan": (True, 20., 10), "procLog": (True, 0.5, 15), "gpsLocationExternal": (True, 10., 10), "gpsLocation": (True, 1., 1), From f31ad97e924af579ec60961bc7cc3c170525fcef Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 17 Jul 2024 21:57:36 -0700 Subject: [PATCH 052/180] qlog_size: decimate rlog option (#33011) * decimate option * clean up * check exists --- selfdrive/debug/internal/qlog_size.py | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py index 2d17a1ee2..7dc61ed9d 100755 --- a/selfdrive/debug/internal/qlog_size.py +++ b/selfdrive/debug/internal/qlog_size.py @@ -5,6 +5,7 @@ from collections import defaultdict import matplotlib.pyplot as plt +from cereal.services import SERVICE_LIST from openpilot.tools.lib.logreader import LogReader from tqdm import tqdm @@ -48,9 +49,29 @@ def make_pie(msgs, typ): if __name__ == "__main__": parser = argparse.ArgumentParser(description='View log size breakdown by message type') parser.add_argument('route', help='route to use') + parser.add_argument('--as-qlog', action='store_true', help='decimate rlog using latest decimation factors') args = parser.parse_args() msgs = list(LogReader(args.route)) + if args.as_qlog: + new_msgs = [] + msg_cnts: dict[str, int] = defaultdict(int) + for msg in msgs: + msg_which = msg.which() + if msg.which() in ("initData", "sentinel"): + new_msgs.append(msg) + continue + + if msg_which not in SERVICE_LIST: + continue + + decimation = SERVICE_LIST[msg_which].decimation + if decimation is not None and msg_cnts[msg_which] % decimation == 0: + new_msgs.append(msg) + msg_cnts[msg_which] += 1 + + msgs = new_msgs + make_pie(msgs, 'qlog') plt.show() From 560e37cd83c51149328aedc83b7d34c40941bf46 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jul 2024 18:48:54 -0700 Subject: [PATCH 053/180] tici: set STM_BOOT0 in reset (#33015) * tici: reset panda boot0 * ooops --- system/hardware/tici/hardware.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index a5dee88b5..eb524dbaf 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -563,8 +563,10 @@ class Tici(HardwareBase): def reset_internal_panda(self): gpio_init(GPIO.STM_RST_N, True) + gpio_init(GPIO.STM_BOOT0, True) gpio_set(GPIO.STM_RST_N, 1) + gpio_set(GPIO.STM_BOOT0, 0) time.sleep(1) gpio_set(GPIO.STM_RST_N, 0) From fd5549bba1dc33e16a8e3e09b02393d8f0dd4aa6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 18 Jul 2024 19:26:22 -0700 Subject: [PATCH 054/180] nightly build takes longer than this --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 654aed49c..d2dffeecc 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -82,7 +82,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps) lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') { docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') { - timeout(time: 20, unit: 'MINUTES') { + timeout(time: 35, unit: 'MINUTES') { retry (3) { device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh")) } From c96dbd5a0b681c76b94191d1b928e29eb2b72119 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Thu, 18 Jul 2024 20:19:39 -0700 Subject: [PATCH 055/180] Fix msgq context overrides (#33014) * Fix msgq context overrides * Remove unneccesary changes * add reset_context helper * Remove redundant import --- cereal/messaging/__init__.py | 7 ++++++- selfdrive/debug/internal/measure_torque_time_to_max.py | 2 +- system/manager/process.py | 2 +- tools/camerastream/compressed_vipc.py | 7 ++++--- tools/lib/live_logreader.py | 2 +- tools/replay/rp_visualization.py | 2 +- tools/tuning/measure_steering_accuracy.py | 2 +- 7 files changed, 15 insertions(+), 9 deletions(-) diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py index 8dfa42056..9646047de 100644 --- a/cereal/messaging/__init__.py +++ b/cereal/messaging/__init__.py @@ -2,7 +2,8 @@ from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \ set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event from msgq.ipc_pyx import MultiplePublishersError, IpcError -from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context +from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw +import msgq import os import capnp @@ -17,6 +18,10 @@ from cereal.services import SERVICE_LIST NO_TRAVERSAL_LIMIT = 2**64-1 +def reset_context(): + msgq.context = Context() + + def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader: with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg: return msg diff --git a/selfdrive/debug/internal/measure_torque_time_to_max.py b/selfdrive/debug/internal/measure_torque_time_to_max.py index ef3152b50..7052dccf7 100755 --- a/selfdrive/debug/internal/measure_torque_time_to_max.py +++ b/selfdrive/debug/internal/measure_torque_time_to_max.py @@ -18,7 +18,7 @@ if __name__ == "__main__": if args.addr != "127.0.0.1": os.environ["ZMQ"] = "1" - messaging.context = messaging.Context() + messaging.reset_context() poller = messaging.Poller() messaging.sub_sock('can', poller, addr=args.addr) diff --git a/system/manager/process.py b/system/manager/process.py index 9214e417c..c78d263dc 100644 --- a/system/manager/process.py +++ b/system/manager/process.py @@ -30,7 +30,7 @@ def launcher(proc: str, name: str) -> None: setthreadname(proc) # create new context since we forked - messaging.context = messaging.Context() + messaging.reset_context() # add daemon name tag to logs cloudlog.bind(daemon=name) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index 6c27e861f..f531a289f 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -8,6 +8,7 @@ import multiprocessing import time import signal + import cereal.messaging as messaging from msgq.visionipc import VisionIpcServer, VisionStreamType @@ -42,7 +43,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False): codec = av.CodecContext.create("hevc", "r") os.environ["ZMQ"] = "1" - messaging.context = messaging.Context() + messaging.reset_context() sock = messaging.sub_sock(sock_name, None, addr=addr, conflate=False) cnt = 0 last_idx = -1 @@ -109,12 +110,12 @@ class CompressedVipc: def __init__(self, addr, vision_streams, nvidia=False, debug=False): print("getting frame sizes") os.environ["ZMQ"] = "1" - messaging.context = messaging.Context() + messaging.reset_context() sm = messaging.SubMaster([ENCODE_SOCKETS[s] for s in vision_streams], addr=addr) while min(sm.recv_frame.values()) == 0: sm.update(100) os.environ.pop("ZMQ") - messaging.context = messaging.Context() + messaging.reset_context() self.vipc_server = VisionIpcServer("camerad") for vst in vision_streams: diff --git a/tools/lib/live_logreader.py b/tools/lib/live_logreader.py index 6a7ecee6f..edc4ac161 100644 --- a/tools/lib/live_logreader.py +++ b/tools/lib/live_logreader.py @@ -10,7 +10,7 @@ ALL_SERVICES = list(SERVICE_LIST.keys()) def raw_live_logreader(services: list[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> RawLogIterable: if addr != "127.0.0.1": os.environ["ZMQ"] = "1" - messaging.context = messaging.Context() + messaging.reset_context() poller = messaging.Poller() diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py index 853a83c15..01058967b 100755 --- a/tools/replay/rp_visualization.py +++ b/tools/replay/rp_visualization.py @@ -53,7 +53,7 @@ if __name__ == "__main__": args = get_arg_parser().parse_args(sys.argv[1:]) if args.ip_address != "127.0.0.1": os.environ["ZMQ"] = "1" - messaging.context = messaging.Context() + messaging.reset_context() rr.init("RadarPoints", spawn= True) rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True) visualize(args.ip_address) diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index 6abf1338d..0b8916343 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -147,7 +147,7 @@ if __name__ == "__main__": else: if args.addr != "127.0.0.1": os.environ["ZMQ"] = "1" - messaging.context = messaging.Context() + messaging.reset_context() carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True) sm = messaging.SubMaster(['carState', 'carControl', 'carOutput', 'controlsState', 'modelV2'], addr=args.addr) From 917ea5699f3af241e60311455af5f20c0c55a8c4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 20 Jul 2024 01:14:04 +0800 Subject: [PATCH 056/180] cereal: deprecate FrameData.frameType (#33019) deprecate FrameData.frameType --- cereal/log.capnp | 5 ++--- system/camerad/cameras/camera_qcom2.cc | 1 - 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index d94d9632f..d849f4840 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -137,8 +137,6 @@ struct FrameData { requestId @28 :UInt32; encodeId @1 :UInt32; - frameType @7 :FrameType; - # Timestamps timestampEof @2 :UInt64; timestampSof @8 :UInt64; @@ -158,7 +156,7 @@ struct FrameData { temperaturesC @24 :List(Float32); - enum FrameType { + enum FrameTypeDEPRECATED { unknown @0; neo @1; chffrAndroid @2; @@ -175,6 +173,7 @@ struct FrameData { frameLengthDEPRECATED @3 :Int32; globalGainDEPRECATED @5 :Int32; + frameTypeDEPRECATED @7 :FrameTypeDEPRECATED; androidCaptureResultDEPRECATED @9 :AndroidCaptureResult; lensPosDEPRECATED @11 :Int32; lensSagDEPRECATED @12 :Float32; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 096e288cc..47ea5ded4 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -932,7 +932,6 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) MessageBuilder msg; auto framed = msg.initEvent().initDriverCameraState(); - framed.setFrameType(cereal::FrameData::FrameType::FRONT); fill_frame_data(framed, c->buf.cur_frame_data, c); c->ci->processRegisters(c, framed); From 07fcc4825f7e669068024c12987120a7662b220f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 19 Jul 2024 10:19:38 -0700 Subject: [PATCH 057/180] make pyproject.toml pep508 compliant (#33021) pep508 --- pyproject.toml | 8 ++--- uv.lock | 93 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0907b30d7b87957ae14cad7954358c1d78d9a528 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 19 Jul 2024 15:39:44 -0700 Subject: [PATCH 058/180] ui: fix flipped experimental path acceleration (#33026) * fix * clean up * better comment * Update selfdrive/ui/qt/onroad/annotated_camera.cc --- selfdrive/ui/qt/onroad/annotated_camera.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc index 60f2380dc..484075b3e 100644 --- a/selfdrive/ui/qt/onroad/annotated_camera.cc +++ b/selfdrive/ui/qt/onroad/annotated_camera.cc @@ -177,10 +177,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { for (int i = 0; i < max_len; ++i) { // Some points are out of frame - if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue; + int track_idx = (scene.track_vertices.length() / 2) - i; // flip idx to start from top + if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue; // Flip so 0 is bottom of frame - float lin_grad_point = (height() - scene.track_vertices[i].y()) / height(); + float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height(); // speed up: 120, slow down: 0 float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0); From 1aa467cb003e7915a6dbc1ee7786f8c199cf6223 Mon Sep 17 00:00:00 2001 From: jamperezmondragon <70548653+jamperezmondragon@users.noreply.github.com> Date: Sat, 20 Jul 2024 16:54:51 -0600 Subject: [PATCH 059/180] Spanish Translation Update (#32995) * Update main_es.ts * Update main_es.ts * Update Spanish Translation [(#32995)](https://github.com/commaai/openpilot/pull/32995) --- selfdrive/ui/translations/main_es.ts | 152 +++++++++++++-------------- 1 file changed, 76 insertions(+), 76 deletions(-) diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 941b30e2d..c8093e302 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -64,7 +64,7 @@ Prevent large data uploads when on a metered connection - Evitar grandes descargas de datos cuando tiene una conexión limitada + Evitar grandes descargas de datos cuando tenga una conexión limitada Hidden Network @@ -72,7 +72,7 @@ CONNECT - CONNECTAR + CONECTAR Enter SSID @@ -117,7 +117,7 @@ DeclinePage You must accept the Terms and Conditions in order to use openpilot. - Debe aceptar los terminos y condiciones para poder utilizar openpilot. + Debe aceptar los términos y condiciones para poder utilizar openpilot. Back @@ -164,11 +164,11 @@ Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - Previsualizar la cámara del conductor para garantizar que la monitorización del sistema tenga buena visibilidad (El vehículo tiene que estar apagado) + Previsualizar la cámara del conductor para garantizar que la monitorización del sistema tenga buena visibilidad (el vehículo tiene que estar apagado) Reset Calibration - Reiniciar Calibración + Formatear Calibración RESET @@ -176,11 +176,11 @@ Are you sure you want to reset calibration? - ¿Seguro qué quiere reiniciar la calibración? + ¿Seguro que quiere formatear la calibración? Reset - Reiniciar + Formatear Review Training Guide @@ -196,7 +196,7 @@ Are you sure you want to review the training guide? - ¿Seguro qué quiere revisar la guía de entrenamiento? + ¿Seguro que quiere revisar la guía de entrenamiento? Review @@ -232,11 +232,11 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot requiere que el dispositivo sea montado entre 4° izquierda o derecha y entre 5° arriba o 9° abajo. openpilot está constantemente en calibración, reiniciar es rara vez necesario. + openpilot requiere que el dispositivo sea montado entre 4° grados a la izquierda o derecha y entre 5° grados hacia arriba o 9° grados hacia abajo. openpilot está constantemente en calibración, formatear rara vez es necesario. Your device is pointed %1° %2 and %3° %4. - Su dispositivo está apuntando %1° %2 e %3° %4. + Su dispositivo está apuntando %1° %2 y %3° %4. down @@ -286,7 +286,7 @@ CHILL MODE ON - MODO TRANQUILO + MODO CHILL @@ -298,7 +298,7 @@ Need at least %n character(s)! - ¡Necesita mínimo %n caractere! + ¡Necesita mínimo %n caracter! ¡Necesita mínimo %n caracteres! @@ -314,7 +314,7 @@ MultiOptionDialog Select - Seleccione + Seleccionar Cancel @@ -337,22 +337,22 @@ Wrong password - Contraseña equivocada + Contraseña incorrecta OffroadAlert Device temperature too high. System cooling down before starting. Current internal component temperature: %1 - Temperatura de dispositivo muy alta. Systema enfriando antes de iniciar. Temperatura actual del componente interno: %1 + La temperatura del dispositivo es muy alta. El sistema se está enfriando antes de iniciar. Temperatura actual del componente interno: %1 Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1 - Inmediatamente conectar al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciara en %1 + Conéctese inmediatamente al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciará en %1 Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates. - Conectar al internet para buscar actualizaciones. openpilot no iniciara automáticamente hasta conectarse al internet para buscar actualizaciones. + Conectese al internet para buscar actualizaciones. openpilot no iniciará automáticamente hasta conectarse al internet para buscar actualizaciones. Unable to download updates @@ -362,7 +362,7 @@ Taking camera snapshots. System won't start until finished. - Tomando instantáneas de la cámara. El sistema no se iniciará hasta que finalice. + Tomando capturas de las cámaras. El sistema no se iniciará hasta que finalice. An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. @@ -370,7 +370,7 @@ Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - El dispositivo no pudo registrarse. No se conectará ni cargará en los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support. + El dispositivo no pudo registrarse. No se conectará ni subirá datos a los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support. NVMe drive not mounted. @@ -378,15 +378,15 @@ Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe. - Se detectó una unidad NVMe no compatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a que NVMe no es compatible. + Se detectó una unidad NVMe incompatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a esto. openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai. - openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Envíe una solicitud de extracción para agregar las versiones de firmware al vehículo adecuado. ¿Necesitas ayuda? Únase a discord.comma.ai. + openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai. openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai. - openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que comma power esté completamente insertada en el puerto OBD-II del vehículo. ¿Necesitas ayuda? Únase a discord.comma.ai. + openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que el comma power esté completamente insertado en el puerto OBD-II del vehículo. ¿Necesita ayuda? Únase discord.comma.ai. openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. @@ -439,15 +439,15 @@ Go to https://connect.comma.ai on your phone - Ve a https://connect.comma.ai en su telefono + Vaya a https://connect.comma.ai en su teléfono Click "add new device" and scan the QR code on the right - Clic en "agregar nuevo dispositivo" y escanee el código QR a la derecha + Seleccione "agregar nuevo dispositivo" y escanee el código QR a la derecha Bookmark connect.comma.ai to your home screen to use it like an app - Marcar connect.comma.ai como su pantalla de inicio para usarlo como una aplicación + Añada connect.comma.ai a su pantalla de inicio para usarlo como una aplicación @@ -469,7 +469,7 @@ Become a comma prime member at connect.comma.ai - Hazte miembro prime de comma en connect.comma.ai + Hazte miembro de comma prime en connect.comma.ai PRIME FEATURES: @@ -485,11 +485,11 @@ 1 year of drive storage - 1 año de almacenamiento en disco + 1 año de almacenamiento Remote snapshots - Istantánea remota + Capturas remotas @@ -547,25 +547,25 @@ Reset Reset failed. Reboot to try again. - Reset fallido. Reinicie de nuevo. + Formateo fallido. Reinicie para reintentar. Resetting device... This may take up to a minute. - Reiniciando dispositivo... -Esto puede tardar hasta un minuto. + formateando dispositivo... +Esto puede tardar un minuto. Are you sure you want to reset your device? - ¿Seguro que quiere reiniciar su dispositivo? + ¿Seguro que quiere formatear su dispositivo? System Reset - Reiniciar Sistema + Formatear Sistema System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - Reinicio del sistema activado. Presione confirmar para borrar todo el contenido y la configuración. Presione cancelar para reanudar el inicio. + Formateo del sistema activado. Presione confirmar para borrar todo el contenido y la configuración. Presione cancelar para reanudar el inicio. Cancel @@ -581,7 +581,7 @@ Esto puede tardar hasta un minuto. Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - No es posible montar una partición de datos. Partición corrompida. Confirme para borrar y reiniciar su dispositivo. + No es posible montar una partición de datos. La partición podría estar corrompida. Confirme para borrar y formatear su dispositivo. @@ -615,19 +615,19 @@ Esto puede tardar hasta un minuto. Ensure the entered URL is valid, and the device’s internet connection is good. - Asegurese de que la URL insertada es válida, y que el dispositivo tiene buena conexión. + Asegúrese de que la URL insertada es válida y que el dispositivo tiene buena conexión. No custom software found at this URL. - No hay software personalizado en esta URL. + No encontramos software personalizado en esta URL. WARNING: Low Voltage - ALERTA: Volage bajo + ALERTA: Voltaje bajo Power your device in a car with a harness or proceed at your own risk. - Encender su dispositivo en el auto con el arnés o proceda bajo su propio riesgo. + Encienda su dispositivo en un auto con el arnés o proceda bajo su propio riesgo. Power off @@ -643,11 +643,11 @@ Esto puede tardar hasta un minuto. Before we get on the road, let’s finish installation and cover some details. - Antes de comenzar, terminemos la instalación y cubramos algunos detalles. + Antes de ponernos en marcha, terminemos la instalación y cubramos algunos detalles. Connect to Wi-Fi - Conectar a la Wi-Fi + Conectarse al Wi-Fi Back @@ -663,7 +663,7 @@ Esto puede tardar hasta un minuto. Choose Software to Install - Elija el software para instalar + Elija el software a instalar openpilot @@ -699,7 +699,7 @@ Esto puede tardar hasta un minuto. Select a language - Seleccione el idioma + Seleccione un idioma @@ -710,7 +710,7 @@ Esto puede tardar hasta un minuto. Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime. + Empareje su dispositivo con comma connect (connect.comma.ai) y reclame su oferta de comma prime. Pair device @@ -725,11 +725,11 @@ Esto puede tardar hasta un minuto. OFFLINE - SIN LINEA + OFFLINE ONLINE - EN LINEA + EN LÍNEA ERROR @@ -745,7 +745,7 @@ Esto puede tardar hasta un minuto. GOOD - BUENO + BUENA OK @@ -769,7 +769,7 @@ Esto puede tardar hasta un minuto. SEARCH - BUSQUEDA + BÚSQUEDA -- @@ -804,7 +804,7 @@ Esto puede tardar hasta un minuto. SoftwarePanel Updates are only downloaded while the car is off. - Apague el auto para descargar actualizaciones. + Actualizaciones solo se descargan con el auto apagado. Current Version @@ -856,7 +856,7 @@ Esto puede tardar hasta un minuto. failed to check for update - no se pudo buscar actualización + no se pudo buscar actualizaciones DOWNLOAD @@ -883,7 +883,7 @@ Esto puede tardar hasta un minuto. Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. - Aviso: Esto otorga acceso SSH a todas las claves públicas en su Github. Nunca inserte un nombre de usuario de Github que no sea suyo. Un empleado de comma nunca le pedirá que añada su nombre de Github. + Aviso: Esto otorga acceso SSH a todas las claves públicas en su Github. Nunca ingrese un nombre de usuario de Github que no sea suyo. Un empleado de comma NUNCA le pedirá que añada un usuario de Github que no sea el suyo. ADD @@ -891,7 +891,7 @@ Esto puede tardar hasta un minuto. Enter your GitHub username - Ingresa tu usuario de GitHub + Ingrese su usuario de GitHub LOADING @@ -903,7 +903,7 @@ Esto puede tardar hasta un minuto. Username '%1' has no keys on GitHub - Nombre de usuario "%1” no tiene claves en GitHub + El usuario "%1” no tiene claves en GitHub Request timed out @@ -911,7 +911,7 @@ Esto puede tardar hasta un minuto. Username '%1' doesn't exist on GitHub - Nombre de usuario '%1' no existe en Github + El usuario '%1' no existe en Github @@ -925,7 +925,7 @@ Esto puede tardar hasta un minuto. TermsPage Terms & Conditions - Terminos & Condiciones + Términos & Condiciones Decline @@ -948,19 +948,19 @@ Esto puede tardar hasta un minuto. Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - Utilice el sistema openpilot para control de crucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado. + Utilice el sistema openpilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado. openpilot Longitudinal Control (Alpha) - Control longitudinal de openpilot (Alfa) + Control longitudinal de openpilot (fase experimental) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - Aviso: el control longitudinal de openpilot está en fase alfa para este automóvil y desactivará el Frenado Automático de Emergencia (AEB). + AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB). On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - En este vehículo, openpilot se configura de manera predeterminada con el Control de Crucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal alfa de openpilot. + En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental). Experimental Mode @@ -972,23 +972,23 @@ Esto puede tardar hasta un minuto. When enabled, pressing the accelerator pedal will disengage openpilot. - Cuando esté activado, presionar el acelerador deshabilitará el openpilot. + Cuando esté activado, presionar el acelerador deshabilitará openpilot. Enable Lane Departure Warnings - Activar Aviso de Salida de Carril + Activar Avisos de Salida de Carril Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). - Recibir alertas para volver dentro del carril cuando su vehículo se sale fuera del carril sin que esté activado la señal de giro mientras esté conduciendo por encima de 50 km/h (31 mph). + Recibir alertas para volver al carril cuando su vehículo se salga fuera del carril sin que esté activada la señal de giro y esté conduciendo por encima de 50 km/h (31 mph). Always-On Driver Monitoring - Monitoreo del Conductor Siempre Activo + Monitoreo Permanente del Conductor Enable driver monitoring even when openpilot is not engaged. - Habilite el monitoreo del conductor incluso cuando Openpilot no esté activado. + Habilitar el monitoreo del conductor incluso cuando Openpilot no esté activado. Record and Upload Driver Camera @@ -996,7 +996,7 @@ Esto puede tardar hasta un minuto. Upload data from the driver facing camera and help improve the driver monitoring algorithm. - Subir datos de la cámara del conductor para ayudar a mejorar el algoritmo de monitorización del conductor. + Subir datos de la cámara del conductor para ayudar a mejorar el algoritmo de monitoreo del conductor. Use Metric System @@ -1024,19 +1024,19 @@ Esto puede tardar hasta un minuto. Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button. - Se recomienda estándar. En el modo agresivo, openpilot seguirá a los autos líderes más cerca y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los coches líderes. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante. + Se recomienda el modo estándar. En el modo agresivo, openpilot seguirá más cerca a los autos delante suyo y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los autos delante suyo. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: - openpilot por defecto conduce en <b>modo chill</b>. El modo Experimental activa <b>recursos de nível-alfa</b> que no están listos para el modo chill. Los recursos del modo expeimental están listados abajo: + openpilot por defecto conduce en <b>modo chill</b>. El modo Experimental activa <b>funcionalidades en fase experimental</b>, que no están listas para el modo chill. Las funcionalidades del modo expeimental están listados abajo: End-to-End Longitudinal Control - 🌮 Control Longitudinal de Punta a Punta 🌮 + Control Longitudinal de Punta a Punta Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. - Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot va a conducir como lo haría una persona, incluiyendo parar en los semaforos en rojo y las señales de stop. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida actuará como limitador. Este recurso es de una calidad alfa; errores pueden ocurrir. + Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot conducirá como piensa que lo haría una persona, incluiyendo parar en los semáforos en rojo y las señales de alto. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida solo actuará como el límite superior. Este recurso aún está en fase experimental; deberían esperarse errores. New Driving Visualization @@ -1044,11 +1044,11 @@ Esto puede tardar hasta un minuto. The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - La visualización de la conducción cambiará a la cámara que enfoca la carretera a velocidades bajas para mostrar mejor los giros. El logo del modo experimental se mostrará en la esquina superior derecha. + La visualización de la conducción cambiará a la cámara que enfoca la carretera a velocidades bajas para mostrar mejor los giros. El logo del modo experimental también se mostrará en la esquina superior derecha. Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control. - El modo Experimental no está disponible actualmente para este auto, ya que el ACC del auto está siendo usado para el control longitudinal. + El modo Experimental no está disponible actualmente para este auto, ya que el ACC default del auto está siendo usado para el control longitudinal. openpilot longitudinal control may come in a future update. @@ -1056,11 +1056,11 @@ Esto puede tardar hasta un minuto. An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas sin liberación. + Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas no liberadas. Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode. - Activar el control longitudinal experimental para permitir el modo Experimental. + Activar el control longitudinal (fase experimental) para permitir el modo Experimental. @@ -1071,7 +1071,7 @@ Esto puede tardar hasta un minuto. An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. - Es necesario la actualización del sistema operativo. Conecte su dispositivo a Wi-Fi para una actualización rápida. El tamaño de descarga es de aproximadamente 1GB. + Es necesario la actualización del sistema operativo. Conecte su dispositivo al Wi-Fi para una actualización rápida. El tamaño de descarga es de aproximadamente 1GB. Connect to Wi-Fi @@ -1106,7 +1106,7 @@ Esto puede tardar hasta un minuto. Connect to Wi-Fi to upload driving data and help improve openpilot - Conectar a Wi-Fi para subir los datos de conducir para mejorar openpilot + Conectarse al Wi-Fi para subir los datos de conducción y mejorar openpilot Open Settings @@ -1137,7 +1137,7 @@ Esto puede tardar hasta un minuto. Forget Wi-Fi Network "%1"? - Olvidar Red Wi-Fi "%1"? + ¿Olvidar la Red de Wi-Fi "%1"? Forget From dc886e195f9815c77b721a8a438bbdffe9067e38 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 22 Jul 2024 10:19:34 +0800 Subject: [PATCH 060/180] camerad: add CameraConfig struct for initializing CameraState in constructor (#33034) * Add CameraConfig struct for initializing CameraState in constructor * Update system/camerad/cameras/camera_qcom2.h --------- Co-authored-by: Adeeb Shihadeh --- system/camerad/cameras/camera_common.h | 3 -- system/camerad/cameras/camera_qcom2.cc | 43 +++++++++++++++--------- system/camerad/cameras/camera_qcom2.h | 46 +++++++++++++++++++++----- 3 files changed, 65 insertions(+), 27 deletions(-) diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 555362ab8..f97940b66 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -18,9 +18,6 @@ enum CameraType { }; // for debugging -const bool env_disable_road = getenv("DISABLE_ROAD") != NULL; -const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL; -const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL; const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 47ea5ded4..2eba1e361 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -26,6 +26,14 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py extern ExitHandler do_exit; +CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config) + : multi_cam_state(multi_camera_state), + camera_num(config.camera_num), + stream_type(config.stream_type), + focal_len(config.focal_len), + enabled(config.enabled) { +} + int CameraState::clear_req_queue() { struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; req_mgr_flush_request.session_hdl = session_handle; @@ -434,39 +442,36 @@ void CameraState::sensor_set_parameters() { cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time; } -void CameraState::camera_map_bufs(MultiCameraState *s) { +void CameraState::camera_map_bufs() { for (int i = 0; i < FRAME_BUF_COUNT; i++) { // configure ISP to put the image in place struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; - mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu; + mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu; mem_mgr_map_cmd.num_hdl = 1; mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; - int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); + int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; } enqueue_req_multi(1, FRAME_BUF_COUNT, 0); } -void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) { +void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) { if (!enabled) return; LOGD("camera init %d", camera_num); request_id_last = 0; skipped = true; - buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type); - camera_map_bufs(s); + buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type); + camera_map_bufs(); fl_pix = focal_len / ci->pixel_size_mm; set_exposure_rect(); } -void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) { - multi_cam_state = multi_cam_state_; - camera_num = camera_num_; - enabled = enabled_; +void CameraState::camera_open() { if (!enabled) return; sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num); @@ -644,9 +649,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num } void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM); - s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM); - s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM); + s->driver_cam.camera_init(v, device_id, ctx); + s->road_cam.camera_init(v, device_id, ctx); + s->wide_road_cam.camera_init(v, device_id, ctx); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } @@ -690,11 +695,11 @@ void cameras_open(MultiCameraState *s) { ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); LOGD("req mgr subscribe: %d", ret); - s->driver_cam.camera_open(s, 2, !env_disable_driver); + s->driver_cam.camera_open(); LOGD("driver camera opened"); - s->road_cam.camera_open(s, 1, !env_disable_road); + s->road_cam.camera_open(); LOGD("road camera opened"); - s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road); + s->wide_road_cam.camera_open(); LOGD("wide road camera opened"); } @@ -956,6 +961,12 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip)); } +MultiCameraState::MultiCameraState() + : driver_cam(this, DRIVER_CAMERA_CONFIG), + road_cam(this, ROAD_CAMERA_CONFIG), + wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) { +} + void cameras_run(MultiCameraState *s) { LOG("-- Starting threads"); std::vector threads; diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 0b15c9c3f..bdebeef9f 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -11,15 +11,41 @@ #define FRAME_BUF_COUNT 4 -#define ROAD_FL_MM 8.0f -#define WIDE_FL_MM 1.71f -#define DRIVER_FL_MM 1.71f +struct CameraConfig { + int camera_num; + VisionStreamType stream_type; + float focal_len; // millimeters + bool enabled; +}; + +const CameraConfig WIDE_ROAD_CAMERA_CONFIG = { + .camera_num = 0, + .stream_type = VISION_STREAM_WIDE_ROAD, + .focal_len = 1.71, + .enabled = !getenv("DISABLE_WIDE_ROAD"), +}; + +const CameraConfig ROAD_CAMERA_CONFIG = { + .camera_num = 1, + .stream_type = VISION_STREAM_ROAD, + .focal_len = 8.0, + .enabled = !getenv("DISABLE_ROAD"), +}; + +const CameraConfig DRIVER_CAMERA_CONFIG = { + .camera_num = 2, + .stream_type = VISION_STREAM_DRIVER, + .focal_len = 1.71, + .enabled = !getenv("DISABLE_DRIVER"), +}; class CameraState { public: MultiCameraState *multi_cam_state; std::unique_ptr ci; bool enabled; + VisionStreamType stream_type; + float focal_len; std::mutex exp_lock; @@ -44,17 +70,18 @@ public: int camera_num; float fl_pix; + CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config); void handle_camera_event(void *evdat); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); void set_camera_exposure(float grey_frac); void sensors_start(); - void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled); + void camera_open(); void set_exposure_rect(); void sensor_set_parameters(); - void camera_map_bufs(MultiCameraState *s); - void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len); + void camera_map_bufs(); + void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void camera_close(); int32_t session_handle; @@ -90,7 +117,10 @@ private: Params params; }; -typedef struct MultiCameraState { +class MultiCameraState { +public: + MultiCameraState(); + unique_fd video0_fd; unique_fd cam_sync_fd; unique_fd isp_fd; @@ -102,4 +132,4 @@ typedef struct MultiCameraState { CameraState driver_cam; PubMaster *pm; -} MultiCameraState; +}; From cefe00c964d41f5ac15f13bc83b3e389d8965a5e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 21 Jul 2024 20:36:45 -0700 Subject: [PATCH 061/180] Revert "camerad: add CameraConfig struct for initializing CameraState in constructor (#33034)" This reverts commit dc886e195f9815c77b721a8a438bbdffe9067e38. --- system/camerad/cameras/camera_common.h | 3 ++ system/camerad/cameras/camera_qcom2.cc | 43 +++++++++--------------- system/camerad/cameras/camera_qcom2.h | 46 +++++--------------------- 3 files changed, 27 insertions(+), 65 deletions(-) diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index f97940b66..555362ab8 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -18,6 +18,9 @@ enum CameraType { }; // for debugging +const bool env_disable_road = getenv("DISABLE_ROAD") != NULL; +const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL; +const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL; const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 2eba1e361..47ea5ded4 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -26,14 +26,6 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py extern ExitHandler do_exit; -CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config) - : multi_cam_state(multi_camera_state), - camera_num(config.camera_num), - stream_type(config.stream_type), - focal_len(config.focal_len), - enabled(config.enabled) { -} - int CameraState::clear_req_queue() { struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; req_mgr_flush_request.session_hdl = session_handle; @@ -442,36 +434,39 @@ void CameraState::sensor_set_parameters() { cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time; } -void CameraState::camera_map_bufs() { +void CameraState::camera_map_bufs(MultiCameraState *s) { for (int i = 0; i < FRAME_BUF_COUNT; i++) { // configure ISP to put the image in place struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; - mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu; + mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu; mem_mgr_map_cmd.num_hdl = 1; mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; - int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); + int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; } enqueue_req_multi(1, FRAME_BUF_COUNT, 0); } -void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) { +void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) { if (!enabled) return; LOGD("camera init %d", camera_num); request_id_last = 0; skipped = true; - buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type); - camera_map_bufs(); + buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type); + camera_map_bufs(s); fl_pix = focal_len / ci->pixel_size_mm; set_exposure_rect(); } -void CameraState::camera_open() { +void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) { + multi_cam_state = multi_cam_state_; + camera_num = camera_num_; + enabled = enabled_; if (!enabled) return; sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num); @@ -649,9 +644,9 @@ void CameraState::camera_open() { } void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(v, device_id, ctx); - s->road_cam.camera_init(v, device_id, ctx); - s->wide_road_cam.camera_init(v, device_id, ctx); + s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM); + s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM); + s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } @@ -695,11 +690,11 @@ void cameras_open(MultiCameraState *s) { ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); LOGD("req mgr subscribe: %d", ret); - s->driver_cam.camera_open(); + s->driver_cam.camera_open(s, 2, !env_disable_driver); LOGD("driver camera opened"); - s->road_cam.camera_open(); + s->road_cam.camera_open(s, 1, !env_disable_road); LOGD("road camera opened"); - s->wide_road_cam.camera_open(); + s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road); LOGD("wide road camera opened"); } @@ -961,12 +956,6 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip)); } -MultiCameraState::MultiCameraState() - : driver_cam(this, DRIVER_CAMERA_CONFIG), - road_cam(this, ROAD_CAMERA_CONFIG), - wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) { -} - void cameras_run(MultiCameraState *s) { LOG("-- Starting threads"); std::vector threads; diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index bdebeef9f..0b15c9c3f 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -11,41 +11,15 @@ #define FRAME_BUF_COUNT 4 -struct CameraConfig { - int camera_num; - VisionStreamType stream_type; - float focal_len; // millimeters - bool enabled; -}; - -const CameraConfig WIDE_ROAD_CAMERA_CONFIG = { - .camera_num = 0, - .stream_type = VISION_STREAM_WIDE_ROAD, - .focal_len = 1.71, - .enabled = !getenv("DISABLE_WIDE_ROAD"), -}; - -const CameraConfig ROAD_CAMERA_CONFIG = { - .camera_num = 1, - .stream_type = VISION_STREAM_ROAD, - .focal_len = 8.0, - .enabled = !getenv("DISABLE_ROAD"), -}; - -const CameraConfig DRIVER_CAMERA_CONFIG = { - .camera_num = 2, - .stream_type = VISION_STREAM_DRIVER, - .focal_len = 1.71, - .enabled = !getenv("DISABLE_DRIVER"), -}; +#define ROAD_FL_MM 8.0f +#define WIDE_FL_MM 1.71f +#define DRIVER_FL_MM 1.71f class CameraState { public: MultiCameraState *multi_cam_state; std::unique_ptr ci; bool enabled; - VisionStreamType stream_type; - float focal_len; std::mutex exp_lock; @@ -70,18 +44,17 @@ public: int camera_num; float fl_pix; - CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config); void handle_camera_event(void *evdat); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); void set_camera_exposure(float grey_frac); void sensors_start(); - void camera_open(); + void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled); void set_exposure_rect(); void sensor_set_parameters(); - void camera_map_bufs(); - void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); + void camera_map_bufs(MultiCameraState *s); + void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len); void camera_close(); int32_t session_handle; @@ -117,10 +90,7 @@ private: Params params; }; -class MultiCameraState { -public: - MultiCameraState(); - +typedef struct MultiCameraState { unique_fd video0_fd; unique_fd cam_sync_fd; unique_fd isp_fd; @@ -132,4 +102,4 @@ public: CameraState driver_cam; PubMaster *pm; -}; +} MultiCameraState; From 27faa8f82b67989dc099b39483d2c8dbd3b05676 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 22 Jul 2024 10:10:39 -0700 Subject: [PATCH 062/180] [bot] Update Python packages and pre-commit hooks (#33037) Update Python packages and pre-commit hooks Co-authored-by: Vehicle Researcher --- .pre-commit-config.yaml | 2 +- uv.lock | 245 ++++++++++++++++++++-------------------- 2 files changed, 121 insertions(+), 126 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index ab9ce08c7..10939f428 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -33,7 +33,7 @@ repos: - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US - repo: https://github.com/astral-sh/ruff-pre-commit 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third_party/libyuv/larch64/lib/libyuv.a | 4 ++-- uv.lock | 14 ++++++++++++- 5 files changed, 41 insertions(+), 8 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 8968b493c..42c1dbb5e 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -74,8 +74,11 @@ jobs: build: strategy: matrix: - arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404 - runs-on: ubuntu-latest + arch: ${{ fromJson( + ((github.repository == 'commaai/openpilot') && + ((github.event_name != 'pull_request') || + (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }} + runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }} steps: - uses: actions/checkout@v4 with: @@ -84,7 +87,7 @@ jobs: if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - : # (TODO: Re-add this once we test other archs) echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" + echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" $DOCKER_LOGIN - uses: ./.github/workflows/setup-with-retry with: @@ -118,6 +121,23 @@ jobs: - name: Building openpilot run: . .venv/bin/activate && scons -j$(nproc) + docker_push_multiarch: + name: docker push multiarch tag + runs-on: ubuntu-latest + if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' + needs: [build] + steps: + - uses: actions/checkout@v4 + with: + submodules: false + - name: Setup docker + run: | + $DOCKER_LOGIN + - name: Merge x64 and arm64 tags + run: | + export PUSH_IMAGE=true + scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64 + static_analysis: name: static analysis runs-on: ${{ ((github.repository == 'commaai/openpilot') && diff --git a/pyproject.toml b/pyproject.toml index 126e122ab..1226c8345 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -52,7 +52,8 @@ dependencies = [ "websocket_client", # acados deps - "casadi", + "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312 + "casadi; platform_machine != 'aarch64' or python_version != '3.12'", "future-fstrings", # these should be removed diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 9046ecc22..c6b4860bf 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -109,7 +109,7 @@ if GetOption('extras') and arch != "Darwin": obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d) f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs) # keep installers small - assert f[0].get_size() < 350*1e3 + assert f[0].get_size() < 370*1e3 # build watch3 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'): diff --git a/third_party/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a index fd18814ef..1c9125023 100644 --- a/third_party/libyuv/larch64/lib/libyuv.a +++ b/third_party/libyuv/larch64/lib/libyuv.a @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:85e765be665eab8ce8b64d6a884148e0ff3905fadcef6c0daa75e4efd84bb5cb -size 499734 +oid sha256:320bef5a75a62dd2731a496040921d5000f1ed237ae70fd7aeb6c010a1534363 +size 462482 diff --git a/uv.lock b/uv.lock index 7808954e7..8a0dc29b2 100644 --- a/uv.lock +++ b/uv.lock @@ -227,6 +227,17 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/88/08/c55e2172f033a44b831ee771bb32fa89c369311c0598a52c03755f29a75e/casadi-3.6.5-cp312-none-win_amd64.whl", hash = "sha256:fe2b64d777e36cc3f101220dd1e219a0e11c3e4ee2b5e708b30fea9a27107e41", size = 43057681 }, ] +[[distribution]] +name = "casadi" +version = "3.6.6" +source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" } +dependencies = [ + { name = "numpy" }, +] +wheels = [ + { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:06a15e0099657b960620a2491e565c7f126030018da80c39f6bd33439160c669" }, +] + [[distribution]] name = "certifi" version = "2024.7.4" @@ -1519,7 +1530,8 @@ source = { editable = "." } dependencies = [ { name = "aiohttp" }, { name = "aiortc" }, - { name = "casadi" }, + { name = "casadi", version = "3.6.5", source = { registry = "https://pypi.org/simple" }, marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "casadi", version = "3.6.6", source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" }, marker = "python_version == '3.12' and platform_machine == 'aarch64'" }, { name = "cffi" }, { name = "crcmod" }, { name = "cython" }, From 1da71f5c3c3234e9c6c7486437adfb3bf41181f5 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 22 Jul 2024 11:51:39 -0700 Subject: [PATCH 064/180] [bot] Bump submodules (#33036) bump submodules Co-authored-by: Vehicle Researcher --- opendbc | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index 5ba787024..cff2af8ff 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 5ba787024f53a00d76c7b253d1f3fee87763c679 +Subproject commit cff2af8ff8690466109f56be62129ebfb85cd5dc diff --git a/panda b/panda index b4e3d5cdd..f6375848c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b4e3d5cdd2dec2a58807b0d710a5d3561a59529d +Subproject commit f6375848ca393a9483921665b6a2d131d7ec9b20 From 5e0aff92ae24952bfb13271c7875e89487da5b31 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Mon, 22 Jul 2024 15:05:03 -0400 Subject: [PATCH 065/180] tools/Rerun: Add video logging features (#32810) * working * multiprocessing * fix that * print services * all services + fix * less verbose * start readme * segment range * cleanup * update readme + fix bug in 'all' * cleanup + update readme * update readme * cleanup * cleanup * rm frame_iter * cleanup * staticmethod * proc kill * split files * fix range with hevc vids * update reamde + add prompt * readme * readme * readme --- tools/rerun/README.md | 57 ++++++++++ tools/rerun/camera_reader.py | 92 ++++++++++++++++ tools/rerun/run.py | 206 +++++++++++++++++++++++++---------- 3 files changed, 295 insertions(+), 60 deletions(-) create mode 100644 tools/rerun/README.md create mode 100644 tools/rerun/camera_reader.py diff --git a/tools/rerun/README.md b/tools/rerun/README.md new file mode 100644 index 000000000..0fd50e156 --- /dev/null +++ b/tools/rerun/README.md @@ -0,0 +1,57 @@ +# Rerun +Rerun is a tool to quickly visualize time series data. It supports all openpilot logs , both the `logMessages` and video logs. + +[Instructions](https://rerun.io/docs/reference/viewer/overview) for navigation within the Rerun Viewer. + +## Usage +``` +usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [--print_services] [--services [SERVICES ...]] [route_or_segment_name] + +A helper to run rerun on openpilot routes + +options: + -h, --help show this help message and exit + --demo Use the demo route instead of providing one (default: False) + --qcam Log decimated driving camera (default: False) + --fcam Log driving camera (default: False) + --ecam Log wide camera (default: False) + --dcam Log driver monitoring camera (default: False) + --print_services List out openpilot services (default: False) + --services [SERVICES ...] Specify openpilot services that will be logged. No service will be logged if not specified. + To log all services include 'all' as one of your services (default: []) + --route [ROUTE] The route or segment name to plot (default: None) +``` + +Examples using route name to observe accelerometer and qcamera: + +`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"` + +Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)): + +`./run.py --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19/2:4"` + +## Cautions: +- You can specify `--services all` to visualize all `logMessage`, but it will draw a lot of memory usage and take a long time to log all messages. Rerun isn't ready for logging big number of data. + +- Logging hevc videos (`--fcam`, `--ecam`, and `--dcam`) are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage + +This example draws 13GB of memory: + +`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"` + + +## Openpilot services +To list all openpilot services: + +`./run.py --print_services` + +Examples including openpilot services: + +`./run.py --services accelerometer cameraodometry --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"` + +Examples including all services: + +`./run.py --services all --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"` + +## Demo +`./run.py --services accelerometer carcontrol caroutput --qcam --demo` diff --git a/tools/rerun/camera_reader.py b/tools/rerun/camera_reader.py new file mode 100644 index 000000000..325fad18b --- /dev/null +++ b/tools/rerun/camera_reader.py @@ -0,0 +1,92 @@ +import tqdm +import subprocess +import multiprocessing +from enum import StrEnum +from functools import partial +from collections import namedtuple + +from openpilot.tools.lib.framereader import ffprobe + +CameraConfig = namedtuple("CameraConfig", ["qcam", "fcam", "ecam", "dcam"]) + +class CameraType(StrEnum): + qcam = "qcamera" + fcam = "fcamera" + ecam = "ecamera" + dcam = "dcamera" + + +def probe_packet_info(camera_path): + args = ["ffprobe", "-v", "quiet", "-show_packets", "-probesize", "10M", camera_path] + dat = subprocess.check_output(args) + dat = dat.decode().split() + return dat + + +class _FrameReader: + def __init__(self, camera_path, segment, h, w, start_time): + self.camera_path = camera_path + self.segment = segment + self.h = h + self.w = w + self.start_time = start_time + + self.ts = self._get_ts() + + def _read_stream_nv12(self): + frame_sz = self.w * self.h * 3 // 2 + proc = subprocess.Popen( + ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"], + stdout=subprocess.PIPE, + stderr=subprocess.DEVNULL + ) + try: + while True: + dat = proc.stdout.read(frame_sz) + if len(dat) == 0: + break + yield dat + finally: + proc.kill() + + def _get_ts(self): + dat = probe_packet_info(self.camera_path) + try: + ret = [float(d.split('=')[1]) for d in dat if d.startswith("pts_time=")] + except ValueError: + # pts_times aren't available. Infer timestamps from duration_times + ret = [d for d in dat if d.startswith("duration_time")] + ret = [float(d.split('=')[1])*(i+1)+(self.segment*60)+self.start_time for i, d in enumerate(ret)] + return ret + + def __iter__(self): + for i, frame in enumerate(self._read_stream_nv12()): + yield self.ts[i], frame + + +class CameraReader: + def __init__(self, camera_paths, start_time, seg_idxs): + self.seg_idxs = seg_idxs + self.camera_paths = camera_paths + self.start_time = start_time + + probe = ffprobe(camera_paths[0])["streams"][0] + self.h = probe["height"] + self.w = probe["width"] + + self.__frs = {} + + def _get_fr(self, i): + if i not in self.__frs: + self.__frs[i] = _FrameReader(self.camera_paths[i], segment=i, h=self.h, w=self.w, start_time=self.start_time) + return self.__frs[i] + + def _run_on_segment(self, func, i): + return func(self._get_fr(i)) + + def run_across_segments(self, num_processes, func): + with multiprocessing.Pool(num_processes) as pool: + num_segs = len(self.seg_idxs) + for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs): + continue + diff --git a/tools/rerun/run.py b/tools/rerun/run.py index 9975478a7..421785a2d 100755 --- a/tools/rerun/run.py +++ b/tools/rerun/run.py @@ -6,84 +6,170 @@ import rerun as rr import rerun.blueprint as rrb from functools import partial -from openpilot.tools.lib.logreader import LogReader from cereal.services import SERVICE_LIST +from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType +from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.route import Route, SegmentRange NUM_CPUS = multiprocessing.cpu_count() DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" +RR_TIMELINE_NAME = "Timeline" +RR_WIN = "rerun_test" -def log_msg(msg, parent_key=''): - stack = [(msg, parent_key)] - while stack: - current_msg, current_parent_key = stack.pop() - if isinstance(current_msg, list): - for index, item in enumerate(current_msg): - new_key = f"{current_parent_key}/{index}" - if isinstance(item, (int, float)): - rr.log(str(new_key), rr.Scalar(item)) - elif isinstance(item, dict): - stack.append((item, new_key)) - elif isinstance(current_msg, dict): - for key, value in current_msg.items(): - new_key = f"{current_parent_key}/{key}" - if isinstance(value, (int, float)): - rr.log(str(new_key), rr.Scalar(value)) - elif isinstance(value, dict): - stack.append((value, new_key)) - elif isinstance(value, list): - for index, item in enumerate(value): - if isinstance(item, (int, float)): - rr.log(f"{new_key}/{index}", rr.Scalar(item)) - else: - pass # Not a plottable value -def createBlueprint(): - blueprint = None - timeSeriesViews = [] - for topic in sorted(SERVICE_LIST.keys()): - timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False)) - rr.log(topic, rr.SeriesLine(name=topic), timeless=True) - blueprint = rrb.Blueprint(rrb.Grid(rrb.Vertical(*timeSeriesViews,rrb.SelectionPanel(expanded=False),rrb.TimePanel(expanded=False)), - rrb.Spatial2DView(name="thumbnail", origin="/thumbnail"))) - return blueprint +class Rerunner: + def __init__(self, route, segment_range, camera_config, enabled_services): + self.enabled_services = [s.lower() for s in enabled_services] + self.log_all = "all" in self.enabled_services + self.lr = LogReader(route_or_segment_name) -def log_thumbnail(thumbnailMsg): - bytesImgData = thumbnailMsg.get('thumbnail') - rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData)) + # hevc files don't have start_time. We get it from qcamera.ts + start_time = 0 + dat = probe_packet_info(r.qcamera_paths()[0]) + for d in dat: + if d.startswith("pts_time="): + start_time = float(d.split('=')[1]) + break -@rr.shutdown_at_exit -def process(blueprint, lr): - rr.init("rerun_test") - rr.connect(default_blueprint=blueprint) + qcam, fcam, ecam, dcam = camera_config + self.camera_readers = {} + if qcam: + self.camera_readers[CameraType.qcam] = CameraReader(route.qcamera_paths(), start_time, segment_range.seg_idxs) + if fcam: + self.camera_readers[CameraType.fcam] = CameraReader(route.camera_paths(), start_time, segment_range.seg_idxs) + if ecam: + self.camera_readers[CameraType.ecam] = CameraReader(route.ecamera_paths(), start_time, segment_range.seg_idxs) + if dcam: + self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs) + + def _start_rerun(self): + self.blueprint = self._create_blueprint() + rr.init(RR_WIN, spawn=True) + + def _create_blueprint(self): + blueprint = None + service_views = [] + + log_msg_visible = len(self.enabled_services) <= 3 and not self.log_all + for topic in sorted(SERVICE_LIST.keys()): + if not self.log_all and topic.lower() not in self.enabled_services: + continue + View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView + service_views.append(View(name=topic, origin=f"/{topic}/", visible=log_msg_visible)) + rr.log(topic, rr.SeriesLine(name=topic), timeless=True) + + blueprint = rrb.Blueprint( + rrb.Horizontal( + rrb.Vertical(*service_views), + rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()]), + ), + rrb.SelectionPanel(expanded=False), + rrb.TimePanel(expanded=False) + ) + return blueprint + + @staticmethod + def _log_msg(msg, parent_key=''): + stack = [(msg, parent_key)] + while stack: + current_msg, current_parent_key = stack.pop() + if isinstance(current_msg, list): + for index, item in enumerate(current_msg): + new_key = f"{current_parent_key}/{index}" + if isinstance(item, (int, float)): + rr.log(new_key, rr.Scalar(item)) + elif isinstance(item, dict): + stack.append((item, new_key)) + elif isinstance(current_msg, dict): + for key, value in current_msg.items(): + new_key = f"{current_parent_key}/{key}" + if isinstance(value, (int, float)): + rr.log(new_key, rr.Scalar(value)) + elif isinstance(value, dict): + stack.append((value, new_key)) + elif isinstance(value, list): + for index, item in enumerate(value): + if isinstance(item, (int, float)): + rr.log(f"{new_key}/{index}", rr.Scalar(item)) + else: + pass # Not a plottable value + + @staticmethod + @rr.shutdown_at_exit + def _process_log_msgs(blueprint, enabled_services, log_all, lr): + rr.init(RR_WIN) + rr.connect(default_blueprint=blueprint) + + for msg in lr: + rr.set_time_nanos(RR_TIMELINE_NAME, msg.logMonoTime) + msg_type = msg.which() + + if not log_all and msg_type.lower() not in enabled_services: + continue + + if msg_type != "thumbnail": + Rerunner._log_msg(msg.to_dict()[msg.which()], msg.which()) + else: + rr.log("/thumbnail", rr.ImageEncoded(contents=msg.to_dict()[msg.which()].get("thumbnail"))) + + return [] + + @staticmethod + @rr.shutdown_at_exit + def _process_cam_readers(blueprint, cam_type, h, w, fr): + rr.init(RR_WIN) + rr.connect(default_blueprint=blueprint) + + size_hint = (h, w) + for ts, frame in fr: + rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9)) + rr.log(cam_type, rr.ImageEncoded(contents=frame,format=rr.ImageFormat.NV12(size_hint))) + + def load_data(self): + self._start_rerun() + if len(self.enabled_services) > 0: + self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, self.blueprint, self.enabled_services, self.log_all)) + for cam_type, cr in self.camera_readers.items(): + cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, self.blueprint, cam_type, cr.h, cr.w)) - ret = [] - for msg in lr: - ret.append(msg) - rr.set_time_nanos("TIMELINE", msg.logMonoTime) - if msg.which() != "thumbnail": - log_msg(msg.to_dict()[msg.which()], msg.which()) - else: - log_thumbnail(msg.to_dict()[msg.which()]) - return ret if __name__ == '__main__': parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") - parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot") + parser.add_argument("--qcam", action="store_true", help="Log decimated driving camera") + parser.add_argument("--fcam", action="store_true", help="Log driving camera") + parser.add_argument("--ecam", action="store_true", help="Log wide camera") + parser.add_argument("--dcam", action="store_true", help="Log driver monitoring camera") + parser.add_argument("--print_services", action="store_true", help="List out openpilot services") + parser.add_argument("--services", default=[], nargs='*', help="Specify openpilot services that will be logged.\ + No service will be logged if not specified.\ + To log all services include 'all' as one of your services") + parser.add_argument("--route", nargs='?', help="The route or segment name to plot") + args = parser.parse_args() - if len(sys.argv) == 1: + if not args.demo and not args.route: parser.print_help() sys.exit() - args = parser.parse_args() + if args.print_services: + print("\n".join(SERVICE_LIST.keys())) + sys.exit() - blueprint = createBlueprint() - rr.init("rerun_test") - rr.spawn(connect=False) # child processes stream data to Viewer + camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam) + + route_or_segment_name = DEMO_ROUTE if args.demo else args.route.strip() + sr = SegmentRange(route_or_segment_name) + r = Route(sr.route_name) + + if len(sr.seg_idxs) > 10: + print("You're requesting more than 10 segments of the route, " + \ + "please be aware that might take a lot of memory") + response = input("Do you wish to continue? (Y/n): ") + if response.strip() != "Y": + sys.exit() + + rerunner = Rerunner(r, sr, camera_config, args.services) + rerunner.load_data() - route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - print("Getting route log paths") - lr = LogReader(route_or_segment_name) - lr.run_across_segments(NUM_CPUS, partial(process, blueprint)) From 8d77cea3a509ac80c18ecdd705a9f01754d1cb2c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 22 Jul 2024 13:05:57 -0700 Subject: [PATCH 066/180] [bot] Fingerprints: add missing FW versions from new users (#33038) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 3 +++ selfdrive/car/hyundai/fingerprints.py | 1 + 2 files changed, 4 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 5528bfd5d..74a536814 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -26,6 +26,7 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x753, None): [ b'04672758AA', + b'04672758AB', b'68226356AF', b'68226356AH', b'68226356AI', @@ -47,6 +48,7 @@ FW_VERSIONS = { b'68352654AE ', b'68366851AH ', b'68366853AE ', + b'68366853AG ', b'68372861AF ', ], (Ecu.transmission, 0x7e1, None): [ @@ -60,6 +62,7 @@ FW_VERSIONS = { b'68277374AD', b'68277374AN', b'68367471AC', + b'68367471AD', b'68380571AB', ], }, diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 4c659f053..a9ab8bb79 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -408,6 +408,7 @@ FW_VERSIONS = { b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', + b'\xf1\x00ON ESC \x0b 103$\x04\x08 58910-S9360', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', From a654e5bd05811a896005ebb41bc2f15dcf443b5d Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 22 Jul 2024 12:09:00 -0800 Subject: [PATCH 067/180] espActive: `IMMEDIATE_DISABLE` -> `SOFT_DISABLE` (#33003) * espActive: `IMMEDIATE_DISABLE` -> `SOFT_DISABLE` * only stock long * just soft disable for now --------- Co-authored-by: Shane Smiskol --- selfdrive/controls/lib/events.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 25833da74..588e638c9 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -832,7 +832,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = { }, EventName.espActive: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Electronic Stability Control Active"), + ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Active"), ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"), }, From bd00a9d800c1cf308feb2bf85f7fde11d6f0ff7b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 22 Jul 2024 13:36:53 -0700 Subject: [PATCH 068/180] [bot] Fingerprints: add missing FW versions from new users (#33039) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 9 +++++++++ selfdrive/car/hyundai/fingerprints.py | 3 +++ selfdrive/car/toyota/fingerprints.py | 2 ++ 3 files changed, 14 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 74a536814..5198c661d 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -390,6 +390,7 @@ FW_VERSIONS = { b'68294051AI', b'68294052AG', b'68294052AH', + b'68294059AI', b'68294063AG', b'68294063AH', b'68294063AI', @@ -400,6 +401,7 @@ FW_VERSIONS = { b'68434858AC', b'68434859AC', b'68434860AC', + b'68453471AD', b'68453483AC', b'68453483AD', b'68453487AD', @@ -424,11 +426,13 @@ FW_VERSIONS = { b'68527346AE', b'68527361AD', b'68527375AD', + b'68527381AD', b'68527381AE', b'68527382AE', b'68527383AD', b'68527383AE', b'68527387AE', + b'68527397AD', b'68527403AC', b'68527403AD', b'68546047AF', @@ -519,6 +523,7 @@ FW_VERSIONS = { b'05036066AE ', b'05036193AA ', b'05149368AA ', + b'05149374AA ', b'05149591AD ', b'05149591AE ', b'05149592AE ', @@ -549,6 +554,7 @@ FW_VERSIONS = { b'68455145AC ', b'68455145AE ', b'68455146AC ', + b'68460927AA ', b'68467915AC ', b'68467916AC ', b'68467936AC ', @@ -567,6 +573,7 @@ FW_VERSIONS = { b'68539650AF', b'68539651AD', b'68586101AA ', + b'68586102AA ', b'68586105AB ', b'68629919AC ', b'68629922AC ', @@ -605,6 +612,8 @@ FW_VERSIONS = { b'68520867AE', b'68520867AF', b'68520870AC', + b'68520871AC', + b'68528325AE', b'68540431AB', b'68540433AB', b'68551676AA', diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index a9ab8bb79..30e4b9ed7 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -292,6 +292,7 @@ FW_VERSIONS = { b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', + b'\xf1\x00TM MDPS C 1.00 1.02 56310GA000\x00 4TSHA100', b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', b'\xf1\x00TM MDPS R 1.00 1.06 57700-CL000 4TSHP106', ], @@ -482,11 +483,13 @@ FW_VERSIONS = { }, CAR.GENESIS_G80: { (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00DH__ SCC F-CU- 1.00 1.01 96400-B1110 ', b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ', b'\xf1\x00DH__ SCC F-CUP 1.00 1.02 96400-B1120 ', b'\xf1\x00DH__ SCC FHCUP 1.00 1.01 96400-B1110 ', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DH LKAS AT EUR LHD 1.01 1.01 95895-B1500 161014', b'\xf1\x00DH LKAS AT KOR LHD 1.01 1.01 95895-B1500 161014', b'\xf1\x00DH LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810', b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014', diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index a4d0ad170..37c69b54f 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1152,6 +1152,7 @@ FW_VERSIONS = { }, CAR.TOYOTA_RAV4_TSS2_2023: { (Ecu.abs, 0x7b0, None): [ + b'\x01F15260R440\x00\x00\x00\x00\x00\x00', b'\x01F15260R450\x00\x00\x00\x00\x00\x00', b'\x01F15260R50000\x00\x00\x00\x00', b'\x01F15260R51000\x00\x00\x00\x00', @@ -1173,6 +1174,7 @@ FW_VERSIONS = { b'\x01896634AE1001\x00\x00\x00\x00', b'\x01896634AF0000\x00\x00\x00\x00', b'\x01896634AJ2000\x00\x00\x00\x00', + b'\x01896634AJ3000\x00\x00\x00\x00', b'\x01896634AL5000\x00\x00\x00\x00', b'\x01896634AL6000\x00\x00\x00\x00', b'\x01896634AL8000\x00\x00\x00\x00', From fb3336614484553456bee6c2116b729177ecbc46 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 24 Jul 2024 00:27:10 +0800 Subject: [PATCH 069/180] Fix FutureWarning "Cython directive 'language_level' not set" (#33046) fix FutureWarning --- selfdrive/modeld/models/commonmodel_pyx.pyx | 2 +- selfdrive/modeld/runners/runmodel_pyx.pyx | 2 +- selfdrive/modeld/runners/snpemodel_pyx.pyx | 2 +- selfdrive/modeld/runners/thneedmodel_pyx.pyx | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx index e292bb0d2..ecbe644e0 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pyx +++ b/selfdrive/modeld/models/commonmodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 import numpy as np cimport numpy as cnp diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx index e1b201a6a..12b8ec10f 100644 --- a/selfdrive/modeld/runners/runmodel_pyx.pyx +++ b/selfdrive/modeld/runners/runmodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 from libcpp.string cimport string diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx index c3b2b7e9b..f83b7c8cf 100644 --- a/selfdrive/modeld/runners/snpemodel_pyx.pyx +++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 import os from libcpp cimport bool diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx index 53487afa1..6f8fdd255 100644 --- a/selfdrive/modeld/runners/thneedmodel_pyx.pyx +++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx @@ -1,5 +1,5 @@ # distutils: language = c++ -# cython: c_string_encoding=ascii +# cython: c_string_encoding=ascii, language_level=3 from libcpp cimport bool from libcpp.string cimport string From 93eb7ee0cc5af0d7c86248cbcafad86dd374976f Mon Sep 17 00:00:00 2001 From: Joseph Wagner <68037585+wjoseph0@users.noreply.github.com> Date: Tue, 23 Jul 2024 12:35:19 -0500 Subject: [PATCH 070/180] README.md: 275+ cars (#33048) 275+ cars --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index db74ee6a1..5afaf6e7d 100644 --- a/README.md +++ b/README.md @@ -19,7 +19,7 @@ To start using openpilot in a car To use openpilot in a car, you need four things: 1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x). 2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version. -3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). +3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md). 4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car. We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play. From d828ac43444dad2d25dafcd4ba7543230b1f156f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 23 Jul 2024 11:11:31 -0700 Subject: [PATCH 071/180] CI: setup triggering jenkins for forks (#33049) --- .github/workflows/jenkins-pr-trigger.yaml | 50 +++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 .github/workflows/jenkins-pr-trigger.yaml diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml new file mode 100644 index 000000000..42ef4a739 --- /dev/null +++ b/.github/workflows/jenkins-pr-trigger.yaml @@ -0,0 +1,50 @@ +name: jenkins scan + +on: + issue_comment: + types: [created] + +jobs: + # TODO: gc old branches in a separate job in this workflow + scan-comments: + runs-on: ubuntu-latest + if: github.event.issue.pull_request != null + steps: + - name: Check if comment contains trigger phrase and is from someone with write access + id: check_comment + uses: actions/github-script@v6 + with: + script: | + const triggerPhrase = "trigger-jenkins"; + const comment = context.payload.comment.body; + const commenter = context.payload.comment.user.login; + + const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({ + owner: context.repo.owner, + repo: context.repo.repo, + username: commenter + }); + + const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin'; + + return (hasWriteAccess && comment.includes(triggerPhrase)); + result-encoding: boolean + + - name: Set PR number + id: set_pr_number + if: steps.check_comment.outputs.result == 'true' + run: echo "PR_NUMBER=$(echo ${{ github.event.issue.number }})" >> $GITHUB_ENV + + - name: Checkout repository + if: steps.check_comment.outputs.result == 'true' + uses: actions/checkout@v4 + with: + ref: ${{ github.event.issue.pull_request.head.ref }} + + - name: Push to tmp-jenkins branch + if: steps.check_comment.outputs.result == 'true' + run: | + git config --global user.name "github-actions[bot]" + git config --global user.email "github-actions[bot]@users.noreply.github.com" + git checkout -b tmp-jenkins-${{ env.PR_NUMBER }} + git push -f origin tmp-jenkins-${{ env.PR_NUMBER }} From e7ec1b8ff16feeb3d02200c95692aa4bcb402337 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 23 Jul 2024 11:14:00 -0700 Subject: [PATCH 072/180] json encoding --- .github/workflows/jenkins-pr-trigger.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml index 42ef4a739..10c601777 100644 --- a/.github/workflows/jenkins-pr-trigger.yaml +++ b/.github/workflows/jenkins-pr-trigger.yaml @@ -28,7 +28,7 @@ jobs: const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin'; return (hasWriteAccess && comment.includes(triggerPhrase)); - result-encoding: boolean + result-encoding: json - name: Set PR number id: set_pr_number From ef5d6a0466dd2ebf0b5595150b68b3c59722f397 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 23 Jul 2024 11:27:56 -0700 Subject: [PATCH 073/180] jenkins trigger fixups --- .github/workflows/jenkins-pr-trigger.yaml | 19 +++++++------------ 1 file changed, 7 insertions(+), 12 deletions(-) diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml index 10c601777..acdf5feb8 100644 --- a/.github/workflows/jenkins-pr-trigger.yaml +++ b/.github/workflows/jenkins-pr-trigger.yaml @@ -2,17 +2,17 @@ name: jenkins scan on: issue_comment: - types: [created] + types: [created, edited] jobs: # TODO: gc old branches in a separate job in this workflow scan-comments: runs-on: ubuntu-latest - if: github.event.issue.pull_request != null + if: ${{ github.event.issue.pull_request }} steps: - - name: Check if comment contains trigger phrase and is from someone with write access + - name: Check for trigger phrase id: check_comment - uses: actions/github-script@v6 + uses: actions/github-script@v7 with: script: | const triggerPhrase = "trigger-jenkins"; @@ -30,21 +30,16 @@ jobs: return (hasWriteAccess && comment.includes(triggerPhrase)); result-encoding: json - - name: Set PR number - id: set_pr_number - if: steps.check_comment.outputs.result == 'true' - run: echo "PR_NUMBER=$(echo ${{ github.event.issue.number }})" >> $GITHUB_ENV - - name: Checkout repository if: steps.check_comment.outputs.result == 'true' uses: actions/checkout@v4 with: - ref: ${{ github.event.issue.pull_request.head.ref }} + ref: refs/pull/${{ github.event.issue.number }}/head - name: Push to tmp-jenkins branch if: steps.check_comment.outputs.result == 'true' run: | git config --global user.name "github-actions[bot]" git config --global user.email "github-actions[bot]@users.noreply.github.com" - git checkout -b tmp-jenkins-${{ env.PR_NUMBER }} - git push -f origin tmp-jenkins-${{ env.PR_NUMBER }} + git checkout -b tmp-jenkins-${{ github.event.issue.number }} + git push -f origin tmp-jenkins-${{ github.event.issue.number }} From 29d0bfe1ab832832f027c899e337551fd8716a49 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 23 Jul 2024 11:32:51 -0700 Subject: [PATCH 074/180] skip lfs --- .github/workflows/jenkins-pr-trigger.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml index acdf5feb8..eb2a7271b 100644 --- a/.github/workflows/jenkins-pr-trigger.yaml +++ b/.github/workflows/jenkins-pr-trigger.yaml @@ -42,4 +42,4 @@ jobs: git config --global user.name "github-actions[bot]" git config --global user.email "github-actions[bot]@users.noreply.github.com" git checkout -b tmp-jenkins-${{ github.event.issue.number }} - git push -f origin tmp-jenkins-${{ github.event.issue.number }} + GIT_LFS_SKIP_SMUDGE=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }} From 9b8c1693c9c74bae87c44615e90fc372c551900c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 23 Jul 2024 11:41:27 -0700 Subject: [PATCH 075/180] skip push --- .github/workflows/jenkins-pr-trigger.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml index eb2a7271b..db1d52401 100644 --- a/.github/workflows/jenkins-pr-trigger.yaml +++ b/.github/workflows/jenkins-pr-trigger.yaml @@ -42,4 +42,4 @@ jobs: git config --global user.name "github-actions[bot]" git config --global user.email "github-actions[bot]@users.noreply.github.com" git checkout -b tmp-jenkins-${{ github.event.issue.number }} - GIT_LFS_SKIP_SMUDGE=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }} + GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }} From fbbd4ee692d2f84b90bfaf93499c6360e5bdad2b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 24 Jul 2024 02:53:40 +0800 Subject: [PATCH 076/180] Fix `/usr/bin/ld: skipping incompatible /usr/lib/libgcc_s.so.1` warnings (#33047) fix incompatible lib warning --- SConstruct | 1 - 1 file changed, 1 deletion(-) diff --git a/SConstruct b/SConstruct index 0c4dbee18..1f83b1e43 100644 --- a/SConstruct +++ b/SConstruct @@ -102,7 +102,6 @@ if arch == "larch64": libpath = [ "/usr/local/lib", - "/usr/lib", "/system/vendor/lib64", f"#third_party/acados/{arch}/lib", ] From 3bc1b173d2390a93b0c31090861bbc597eff4d2c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 23 Jul 2024 13:55:30 -0700 Subject: [PATCH 077/180] Longcontrol: engage into stopped state when needed (#33042) test stay stopped --- selfdrive/controls/lib/longcontrol.py | 14 +++-- selfdrive/controls/tests/test_longcontrol.py | 56 ++++++++++++++++++++ 2 files changed, 65 insertions(+), 5 deletions(-) create mode 100644 selfdrive/controls/tests/test_longcontrol.py diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index e4841c705..efeb76c4a 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -22,22 +22,26 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, long_control_state = LongCtrlState.off else: - if long_control_state in (LongCtrlState.off, LongCtrlState.pid): - long_control_state = LongCtrlState.pid - if stopping_condition: + if long_control_state == LongCtrlState.off: + if not starting_condition: long_control_state = LongCtrlState.stopping + else: + if starting_condition and CP.startingState: + long_control_state = LongCtrlState.starting + else: + long_control_state = LongCtrlState.pid + elif long_control_state == LongCtrlState.stopping: if starting_condition and CP.startingState: long_control_state = LongCtrlState.starting elif starting_condition: long_control_state = LongCtrlState.pid - elif long_control_state == LongCtrlState.starting: + elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]: if stopping_condition: long_control_state = LongCtrlState.stopping elif started_condition: long_control_state = LongCtrlState.pid - return long_control_state class LongControl: diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py new file mode 100644 index 000000000..ab50810d8 --- /dev/null +++ b/selfdrive/controls/tests/test_longcontrol.py @@ -0,0 +1,56 @@ +from cereal import car +from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans + + + + +class TestLongControlStateTransition: + + def test_stay_stopped(self): + CP = car.CarParams.new_message() + active = True + current_state = LongCtrlState.stopping + next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + should_stop=True, brake_pressed=False, cruise_standstill=False) + assert next_state == LongCtrlState.stopping + next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + should_stop=False, brake_pressed=True, cruise_standstill=False) + assert next_state == LongCtrlState.stopping + next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + should_stop=False, brake_pressed=False, cruise_standstill=True) + assert next_state == LongCtrlState.stopping + next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, + should_stop=False, brake_pressed=False, cruise_standstill=False) + assert next_state == LongCtrlState.pid + active = False + next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, + should_stop=False, brake_pressed=False, cruise_standstill=False) + assert next_state == LongCtrlState.off + +def test_engage(): + CP = car.CarParams.new_message() + active = True + current_state = LongCtrlState.off + next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + should_stop=True, brake_pressed=False, cruise_standstill=False) + assert next_state == LongCtrlState.stopping + next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + should_stop=False, brake_pressed=True, cruise_standstill=False) + assert next_state == LongCtrlState.stopping + next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + should_stop=False, brake_pressed=False, cruise_standstill=True) + assert next_state == LongCtrlState.stopping + next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + should_stop=False, brake_pressed=False, cruise_standstill=False) + assert next_state == LongCtrlState.pid + +def test_starting(): + CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5) + active = True + current_state = LongCtrlState.starting + next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1, + should_stop=False, brake_pressed=False, cruise_standstill=False) + assert next_state == LongCtrlState.starting + next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0, + should_stop=False, brake_pressed=False, cruise_standstill=False) + assert next_state == LongCtrlState.pid From 1e9738131d7737cbc9af161cf829c83c67577970 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 23 Jul 2024 14:52:08 -0700 Subject: [PATCH 078/180] don't lock when installing python packages (#33051) frozen --- tools/install_python_dependencies.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index 276de58db..a90462888 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -34,7 +34,7 @@ update_uv # TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378 echo "installing python packages..." -uv --no-cache sync --all-extras +uv --no-cache sync --frozen --all-extras source .venv/bin/activate echo "PYTHONPATH=${PWD}" > $ROOT/.env From f60dfd4dbb5d33bb1ec36c550742d185e2c4bf78 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 23 Jul 2024 21:47:07 -0700 Subject: [PATCH 079/180] op tool helper (#33053) * op * change this * juggler * options * fix * submodules * typo * venv * clean + install --- tools/op.sh | 262 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 262 insertions(+) create mode 100755 tools/op.sh diff --git a/tools/op.sh b/tools/op.sh new file mode 100755 index 000000000..d8a3f4b80 --- /dev/null +++ b/tools/op.sh @@ -0,0 +1,262 @@ +#!/bin/bash + +RED='\033[0;31m' +GREEN='\033[0;32m' +NC='\033[0m' + +function op_first_install() { + (set -e + + echo "Installing op system-wide..." + RC_FILE="${HOME}/.$(basename ${SHELL})rc" + if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then + RC_FILE="$HOME/.bash_profile" + fi + printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE + echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n" + + ) +} + +# be default, assume openpilot dir is in current directory +OPENPILOT_ROOT=$(pwd) +function op_check_openpilot_dir() { + (set -e + + if [ ! -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]; then + echo "openpilot directory not found!" + return 1 + fi + + ) +} + +function op_check_git() { + (set -e + + cd $OPENPILOT_ROOT + + echo "Checking for git..." + if ! command -v "git" > /dev/null 2>&1; then + echo -e " ↳ [${RED}✗${NC}] git not found on your system!" + return 1 + else + echo -e " ↳ [${GREEN}✔${NC}] git found on your system.\n" + fi + + echo "Checking for git lfs files..." + if [[ $(file -b $(git lfs ls-files -n | grep "\.so" | head -n 1)) == "ASCII text" ]]; then + echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run git lfs pull" + return 1 + else + echo -e " ↳ [${GREEN}✔${NC}] git lfs files found on your system.\n" + fi + + echo "Checking for git submodules..." + if $(git submodule foreach --quiet --recursive 'return 1' 2&> /dev/null); then + echo -e " ↳ [${RED}✗${NC}] git submodules not found! Run 'git submodule update --init --recursive'" + return 1 + else + echo -e " ↳ [${GREEN}✔${NC}] git submodules found on your system.\n" + fi + + ) +} + +function op_check_os() { + (set -e + + echo "Checking for compatible os version..." + if [[ "$OSTYPE" == "linux-gnu"* ]]; then + + if [ -f "/etc/os-release" ]; then + source /etc/os-release + case "$VERSION_CODENAME" in + "jammy" | "kinetic" | "noble" | "focal") + OS_VERSION="Ubuntu" + echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n" + ;; + * ) + echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!" + return 1 + ;; + esac + else + echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!" + return 1 + fi + + elif [[ "$OSTYPE" == "darwin"* ]]; then + echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n" + OS_VERSION="Darwin" + else + echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!" + return 1 + fi + + ) +} + +function op_check_python() { + (set -e + + echo "Checking for compatible python version..." + export REQUIRED_PYTHON_VERSION=$(grep "requires-python" pyproject.toml | cut -d= -f3- | tr -d '"' | tr -d ' ') + if ! command -v "python3" > /dev/null 2>&1; then + echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $REQUIRED_PYTHON_VERSION to continue!" + return 1 + else + if $(python3 -c "import sys; quit(not sys.version_info >= tuple(map(int, \"$REQUIRED_PYTHON_VERSION\".split('.'))))"); then + echo -e " ↳ [${GREEN}✔${NC}] $(python3 --version) detected.\n" + else + echo -e " ↳ [${RED}✗${NC}] You need python version at least $REQUIRED_PYTHON_VERSION to continue!" + return 1 + fi + fi + + ) +} + +# this must be run in the same shell as the user calling "op" +function op_venv() { + op_check_openpilot_dir || return 1 + source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1) +} + +function op_check() { + (set -e + + op_check_openpilot_dir + cd $OPENPILOT_ROOT + op_check_git + op_check_os + op_check_python + + ) +} + +function op_run() { + (set -e + + op_venv + cd $OPENPILOT_ROOT + $OPENPILOT_ROOT/launch_openpilot.sh + + ) +} + +function op_install() { + (set -e + + op_check_openpilot_dir + cd $OPENPILOT_ROOT + + op_check_os + op_check_python + + case "$OS_VERSION" in + "Ubuntu") + $OPENPILOT_ROOT/tools/ubuntu_setup.sh + ;; + "Darwin") + $OPENPILOT_ROOT/tools/mac_setup.sh + ;; + esac + + git submodules update --init --recursive + git lfs pull + + ) +} + +function op_build() { + (set -e + + op_venv + cd $OPENPILOT_ROOT + + scons $@ || echo -e "\nBuild failed. Have you ran 'op install' ?" + + ) +} + +function op_juggle() { + (set -e + + op_venv + cd $OPENPILOT_ROOT + + $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@ + + ) +} + +function op_default() { + echo "An openpilot helper" + echo "" + echo -e "\e[4mUsage:\e[0m op [OPTIONS] " + echo "" + echo -e "\e[4mCommands:\e[0m" + echo " venv Activate the virtual environment" + echo " check Check system requirements (git, os, python) to start using openpilot" + echo " install Install requirements to use openpilot" + echo " build Build openpilot" + echo " run Run openpilot" + echo " juggle Run Plotjuggler" + echo " help Show this message" + echo " --install Install this tool system wide" + echo "" + echo -e "\e[4mOptions:\e[0m" + echo " -d, --dir" + echo " Specify the openpilot directory you want to use" + echo " Default to the current working directory" + echo "" + echo -e "\e[4mExamples:\e[0m" + echo " op --dir /tmp/openpilot check" + echo " Run the check command on openpilot located in /tmp/openpilot" + echo "" + echo " op juggle --install" + echo " Install plotjuggler in the openpilot located in your current" + echo " working directory" + echo "" + echo " op --dir /tmp/openpilot build -j4" + echo " Run the build command on openpilot located in /tmp/openpilot" + echo " on 4 cores" +} + + +function _op() { + # parse Options + case $1 in + -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;; + esac + + # parse Commands + case $1 in + venv ) shift 1; op_venv "$@" ;; + check ) shift 1; op_check "$@" ;; + install ) shift 1; op_install "$@" ;; + build ) shift 1; op_build "$@" ;; + run ) shift 1; op_run "$@" ;; + juggle ) shift 1; op_juggle "$@" ;; + --install ) shift 1; op_first_install "$@" ;; + * ) op_default "$@" ;; + esac +} + +_op $@ + +# remove from env +unset -f _op +unset -f op_check +unset -f op_install +unset -f op_build +unset -f op_run +unset -f op_juggle +unset -f op_venv +unset -f op_check_openpilot_dir +unset -f op_check_git +unset -f op_check_python +unset -f op_check_os +unset -f op_first_install +unset -f op_default From 3382002cd03604710f39d01f19a37f4bb66b7cdf Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 23 Jul 2024 22:34:21 -0700 Subject: [PATCH 080/180] Update op.sh --- tools/op.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/op.sh b/tools/op.sh index d8a3f4b80..f7caa9d04 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -163,7 +163,7 @@ function op_install() { ;; esac - git submodules update --init --recursive + git submodule update --init --recursive git lfs pull ) From 18c310addf7e19688f6cfc4530026b281ac7e75f Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 23 Jul 2024 23:04:42 -0700 Subject: [PATCH 081/180] Update op.sh --- tools/op.sh | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index f7caa9d04..bbc4ded44 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -73,7 +73,6 @@ function op_check_os() { source /etc/os-release case "$VERSION_CODENAME" in "jammy" | "kinetic" | "noble" | "focal") - OS_VERSION="Ubuntu" echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n" ;; * ) @@ -88,7 +87,6 @@ function op_check_os() { elif [[ "$OSTYPE" == "darwin"* ]]; then echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n" - OS_VERSION="Darwin" else echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!" return 1 @@ -154,14 +152,11 @@ function op_install() { op_check_os op_check_python - case "$OS_VERSION" in - "Ubuntu") - $OPENPILOT_ROOT/tools/ubuntu_setup.sh - ;; - "Darwin") - $OPENPILOT_ROOT/tools/mac_setup.sh - ;; - esac + if [[ "$OSTYPE" == "linux-gnu"* ]]; then + $OPENPILOT_ROOT/tools/ubuntu_setup.sh + elif [[ "$OSTYPE" == "darwin"* ]]; then + $OPENPILOT_ROOT/tools/mac_setup.sh + fi git submodule update --init --recursive git lfs pull From bd8dd65ce0e5477100e07f33d2b237111e922c62 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 25 Jul 2024 00:42:31 +0800 Subject: [PATCH 082/180] ui: fix wayland requestActivate warning on device (#33054) fix wayland requestActivate warning in fullscreen mode --- selfdrive/ui/qt/qt_window.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc index f71cea04e..8d3d7cf72 100644 --- a/selfdrive/ui/qt/qt_window.cc +++ b/selfdrive/ui/qt/qt_window.cc @@ -18,7 +18,9 @@ void setMainWindow(QWidget *w) { wl_surface *s = reinterpret_cast(native->nativeResourceForWindow("surface", w->windowHandle())); wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270); wl_surface_commit(s); - w->showFullScreen(); + + w->setWindowState(Qt::WindowFullScreen); + w->setVisible(true); // ensure we have a valid eglDisplay, otherwise the ui will silently fail void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle()); From 0fa6745a67b60a572cfa4060d8155ac50f4e4e06 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 25 Jul 2024 01:07:10 +0800 Subject: [PATCH 083/180] camerad: refactor camera_open() into separate functions for clarity (#33056) split function --- system/camerad/cameras/camera_qcom2.cc | 32 +++++++++++++++++++------- system/camerad/cameras/camera_qcom2.h | 5 ++++ 2 files changed, 29 insertions(+), 8 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 47ea5ded4..7c1f8e44e 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -469,6 +469,16 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num enabled = enabled_; if (!enabled) return; + if (!openSensor()) { + return; + } + + configISP(); + configCSIPHY(); + linkDevices(); +} + +bool CameraState::openSensor() { sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num); assert(sensor_fd >= 0); LOGD("opened sensor for %d", camera_num); @@ -493,7 +503,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num !init_sensor_lambda(new OS04C10)) { LOGE("** sensor %d FAILED bringup, disabling", camera_num); enabled = false; - return; + return false; } LOGD("-- Probing sensor %d success", camera_num); @@ -512,7 +522,10 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num LOG("-- Configuring sensor"); sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); + return true; +} +void CameraState::configISP() { // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c // If you don't do this, the strobe GPIO is an output (even in reset it seems!) if (!enabled) return; @@ -570,6 +583,13 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num isp_dev_handle = *isp_dev_handle_; LOGD("acquire isp dev"); + // config ISP + alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | + CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu); + config_isp(0, 0, 1, buf0_handle, 0); +} + +void CameraState::configCSIPHY() { csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", camera_num); assert(csiphy_fd >= 0); LOGD("opened csiphy for %d", camera_num); @@ -580,11 +600,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num csiphy_dev_handle = *csiphy_dev_handle_; LOGD("acquire csiphy dev"); - // config ISP - alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | - CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu); - config_isp(0, 0, 1, buf0_handle, 0); - // config csiphy LOG("-- Config CSI PHY"); { @@ -612,15 +627,16 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle); assert(ret_ == 0); } +} - // link devices +void CameraState::linkDevices() { LOG("-- Link devices"); struct cam_req_mgr_link_info req_mgr_link_info = {0}; req_mgr_link_info.session_hdl = session_handle; req_mgr_link_info.num_devices = 2; req_mgr_link_info.dev_hdls[0] = isp_dev_handle; req_mgr_link_info.dev_hdls[1] = sensor_dev_handle; - ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info)); + int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info)); link_handle = req_mgr_link_info.link_hdl; LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle); diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 0b15c9c3f..b702d1bb6 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -86,6 +86,11 @@ public: void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word); private: + bool openSensor(); + void configISP(); + void configCSIPHY(); + void linkDevices(); + // for debugging Params params; }; From d49c5193c33a41447d1d5748a069972893b7c6ec Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 24 Jul 2024 10:31:27 -0700 Subject: [PATCH 084/180] ci: fix ui preview (#33002) * use pull_request_target * env for name --- .github/workflows/selfdrive_tests.yaml | 55 +--------------- .github/workflows/ui_preview.yaml | 91 ++++++++++++++++++++++++++ 2 files changed, 94 insertions(+), 52 deletions(-) create mode 100644 .github/workflows/ui_preview.yaml diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 42c1dbb5e..1154948ac 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -338,6 +338,7 @@ jobs: }) create_ui_report: + # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml name: Create UI Report runs-on: ubuntu-latest steps: @@ -355,55 +356,5 @@ jobs: - name: Upload Test Report uses: actions/upload-artifact@v4 with: - name: report-${{ inputs.run_number || '1' }} - path: selfdrive/ui/tests/test_ui/report_${{ inputs.run_number || '1' }} - - name: Get changes to selfdrive/ui - if: ${{ github.event_name == 'pull_request' }} - id: changed-files - uses: tj-actions/changed-files@v44 - with: - files: | - selfdrive/ui/** - - name: Checkout ci-artifacts - if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }} - uses: actions/checkout@v4 - with: - repository: commaai/ci-artifacts - ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} - path: ${{ github.workspace }}/ci-artifacts - ref: master - - name: Push Screenshots - if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }} - working-directory: ${{ github.workspace }}/ci-artifacts - run: | - git checkout -b openpilot/pr-${{ github.event.pull_request.number }} - git config user.name "GitHub Actions Bot" - git config user.email "<>" - sudo mv ${{ github.workspace }}/selfdrive/ui/tests/test_ui/report_1/screenshots/* . - git add . - git commit -m "screenshots for PR #${{ github.event.pull_request.number }}" - git push origin openpilot/pr-${{ github.event.pull_request.number }} --force - - name: Comment Screenshots on PR - if: ${{ github.event_name == 'pull_request' && steps.changed-files.outputs.any_changed == 'true' }} - uses: thollander/actions-comment-pull-request@v2 - with: - message: | - - ## UI Screenshots - - - - - - - - - - - - - -
- comment_tag: run_id_screenshots - pr_number: ${{ github.event.pull_request.number }} - GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} + name: report-${{ github.event.number }} + path: selfdrive/ui/tests/test_ui/report_1/screenshots diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml new file mode 100644 index 000000000..c05c01f3e --- /dev/null +++ b/.github/workflows/ui_preview.yaml @@ -0,0 +1,91 @@ +name: "ui preview" +on: + pull_request_target: + types: [assigned, opened, synchronize, reopened, edited] + branches: + - 'master' + paths: + - 'selfdrive/ui/**' + +env: + UI_JOB_NAME: "Create UI Report" + +jobs: + preview: + if: github.repository == 'commaai/openpilot' + name: preview + runs-on: ubuntu-latest + timeout-minutes: 5 + permissions: + contents: read + pull-requests: write + actions: read + steps: + - name: Waiting for ui test to start + run: sleep 30 + + - name: Wait for ui report + uses: lewagon/wait-on-check-action@v1.3.4 + with: + ref: ${{ github.event.pull_request.head.sha }} + check-name: $UI_JOB_NAME + repo-token: ${{ secrets.GITHUB_TOKEN }} + allowed-conclusions: success + wait-interval: 20 + + - name: Get workflow run ID + id: get_run_id + run: | + echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "$UI_JOB_NAME") | .html_url | capture("(?[0-9]+)") | .number')" >> $GITHUB_OUTPUT + + - name: Checkout ci-artifacts + uses: actions/checkout@v4 + with: + repository: commaai/ci-artifacts + ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }} + path: ${{ github.workspace }}/ci-artifacts + ref: master + + - name: Download artifact + id: download-artifact + uses: dawidd6/action-download-artifact@v6 + with: + github_token: ${{ secrets.GITHUB_TOKEN }} + run_id: ${{ steps.get_run_id.outputs.run_id }} + search_artifacts: true + name: report-${{ github.event.number }} + path: ${{ github.workspace }}/ci-artifacts + + - name: Push Screenshots + working-directory: ${{ github.workspace }}/ci-artifacts + run: | + git checkout -b openpilot/pr-${{ github.event.number }} + git config user.name "GitHub Actions Bot" + git config user.email "<>" + git add ${{ github.workspace }}/ci-artifacts/* + git commit -m "screenshots for PR #${{ github.event.number }}" + git push origin openpilot/pr-${{ github.event.number }} --force + + - name: Comment Screenshots on PR + uses: thollander/actions-comment-pull-request@v2 + with: + message: | + + ## UI Screenshots + + + + + + + + + + + + + +
+ comment_tag: run_id_screenshots + pr_number: ${{ github.event.number }} + GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} From 344694110751b8282eabe0b8b1e4de38646e4623 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Wed, 24 Jul 2024 10:36:28 -0700 Subject: [PATCH 085/180] CI: remove redundant save cache step (#33052) remove --- .github/workflows/tools_tests.yaml | 6 ------ 1 file changed, 6 deletions(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index b64963fb6..908555639 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -73,12 +73,6 @@ jobs: scons-${{ runner.arch }}-ubuntu2004 - name: Building openpilot run: uv run scons -u -j$(nproc) - - name: Saving scons cache - uses: actions/cache/save@v4 - if: github.ref == 'refs/heads/master' - with: - path: /tmp/scons_cache - key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} devcontainer: name: devcontainer From 2221ffcf0ea0d0631d92e016d5c1bd98116b9aba Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 24 Jul 2024 11:03:24 -0700 Subject: [PATCH 086/180] ci: use github env for ui preview job name (#33060) fix this --- .github/workflows/ui_preview.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml index c05c01f3e..bc19e2377 100644 --- a/.github/workflows/ui_preview.yaml +++ b/.github/workflows/ui_preview.yaml @@ -28,7 +28,7 @@ jobs: uses: lewagon/wait-on-check-action@v1.3.4 with: ref: ${{ github.event.pull_request.head.sha }} - check-name: $UI_JOB_NAME + check-name: ${{ env.UI_JOB_NAME }} repo-token: ${{ secrets.GITHUB_TOKEN }} allowed-conclusions: success wait-interval: 20 @@ -36,7 +36,7 @@ jobs: - name: Get workflow run ID id: get_run_id run: | - echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "$UI_JOB_NAME") | .html_url | capture("(?[0-9]+)") | .number')" >> $GITHUB_OUTPUT + echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?[0-9]+)") | .number')" >> $GITHUB_OUTPUT - name: Checkout ci-artifacts uses: actions/checkout@v4 From 31036771ee8ba71e3fbe7c7f08aad3b5be0127e6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 24 Jul 2024 12:11:20 -0700 Subject: [PATCH 087/180] rerun: link to upstream issues --- tools/rerun/run.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/tools/rerun/run.py b/tools/rerun/run.py index 421785a2d..6d9554038 100755 --- a/tools/rerun/run.py +++ b/tools/rerun/run.py @@ -18,6 +18,12 @@ RR_TIMELINE_NAME = "Timeline" RR_WIN = "rerun_test" +""" +Relevant upstream Rerun issues: +- large time series: https://github.com/rerun-io/rerun/issues/5967 +- loading videos directly: https://github.com/rerun-io/rerun/issues/6532 +""" + class Rerunner: def __init__(self, route, segment_range, camera_config, enabled_services): self.enabled_services = [s.lower() for s in enabled_services] From e38a1428aa20aad134b4ad9fd1abab33a1de70b9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 24 Jul 2024 14:47:33 -0700 Subject: [PATCH 088/180] LogReader: support multiple log extensions in route (#33066) * support rlog.zst * TODO --- tools/lib/logreader.py | 1 + tools/lib/route.py | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 6ad77bf82..07a4b2003 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -140,6 +140,7 @@ def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> def get_internal_url(sr: SegmentRange, seg, file): return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.{file_ext}" + # TODO: list instead of using static URLs to support routes with multiple file extensions rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs] qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs] diff --git a/tools/lib/route.py b/tools/lib/route.py index 6ff5d1920..ddb8b0486 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -11,7 +11,7 @@ from openpilot.tools.lib.helpers import RE QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst'] QCAMERA_FILENAMES = ['qcamera.ts'] -LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2'] +LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2', 'rlog.zst'] CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc'] DCAMERA_FILENAMES = ['dcamera.hevc'] ECAMERA_FILENAMES = ['ecamera.hevc'] From add958bb08890c653be89999701cb3d794c5c717 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 24 Jul 2024 14:48:33 -0700 Subject: [PATCH 089/180] athenad: log failed upload items --- system/athena/athenad.py | 1 + 1 file changed, 1 insertion(+) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 9769f065f..b4f9b8b6a 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -401,6 +401,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo resp: UploadFilesToUrlResponse = {"enqueued": len(items), "items": items} if failed: + cloudlog.event("athena.uploadFilesToUrls.failed", failed=failed, error=True) resp["failed"] = failed return resp From 71ad5a8deef595d3e0cb01d3e8a4d8ced1ae5085 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 24 Jul 2024 14:49:35 -0700 Subject: [PATCH 090/180] op.sh: general improvements (#33062) * color * format * dry * unset * venv * search for openpilot * linter * replay --- tools/op.sh | 106 +++++++++++++++++++++++++++++++++++++++------------- 1 file changed, 81 insertions(+), 25 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index bbc4ded44..111a06e81 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -2,6 +2,8 @@ RED='\033[0;31m' GREEN='\033[0;32m' +UNDERLINE='\033[4m' +BOLD='\033[1m' NC='\033[0m' function op_first_install() { @@ -12,7 +14,7 @@ function op_first_install() { if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then RC_FILE="$HOME/.bash_profile" fi - printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE + op_run_command printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n" ) @@ -21,14 +23,25 @@ function op_first_install() { # be default, assume openpilot dir is in current directory OPENPILOT_ROOT=$(pwd) function op_check_openpilot_dir() { - (set -e + while [[ "$OPENPILOT_ROOT" != '/' ]]; + do + if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then + return 0 + fi + OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)" + done - if [ ! -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]; then - echo "openpilot directory not found!" - return 1 + echo "openpilot directory not found! Make sure that you are inside openpilot" + echo "directory or specify one with the --dir option!" + return 1 +} + +function op_run_command() { + CMD="$@" + echo -e "${BOLD}Running:${NC} $CMD" + if [[ -z "$DRY" ]]; then + $CMD fi - - ) } function op_check_git() { @@ -118,7 +131,7 @@ function op_check_python() { # this must be run in the same shell as the user calling "op" function op_venv() { op_check_openpilot_dir || return 1 - source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1) + op_run_command source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1) } function op_check() { @@ -138,7 +151,8 @@ function op_run() { op_venv cd $OPENPILOT_ROOT - $OPENPILOT_ROOT/launch_openpilot.sh + + op_run_command $OPENPILOT_ROOT/launch_openpilot.sh ) } @@ -170,7 +184,7 @@ function op_build() { op_venv cd $OPENPILOT_ROOT - scons $@ || echo -e "\nBuild failed. Have you ran 'op install' ?" + op_run_command scons $@ ) } @@ -181,7 +195,28 @@ function op_juggle() { op_venv cd $OPENPILOT_ROOT - $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@ + op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@ + + ) +} + +function op_linter() { + (set -e + + op_venv + cd $OPENPILOT_ROOT + + op_run_command pre-commit run --all $@ + + ) +} + +function op_replay() { + (set -e + op_check_openpilot_dir + cd $OPENPILOT_ROOT + + op_run_command $OPENPILOT_ROOT/tools/replay/replay $@ ) } @@ -189,24 +224,37 @@ function op_juggle() { function op_default() { echo "An openpilot helper" echo "" - echo -e "\e[4mUsage:\e[0m op [OPTIONS] " + echo -e "${BOLD}${UNDERLINE}Description:${NC}" + echo " op is your entry point for all things related to openpilot development." + echo " op is only a wrapper for scripts, tools and commands already existing." + echo " op will always show you what it will run on your system." echo "" - echo -e "\e[4mCommands:\e[0m" - echo " venv Activate the virtual environment" - echo " check Check system requirements (git, os, python) to start using openpilot" - echo " install Install requirements to use openpilot" - echo " build Build openpilot" - echo " run Run openpilot" - echo " juggle Run Plotjuggler" - echo " help Show this message" - echo " --install Install this tool system wide" + echo " op will try to find your openpilot directory in the following order:" + echo " 1: use the directory specified with the --dir option" + echo " 2: use the current working directory" + echo " 3: go up the file tree non-recursively" echo "" - echo -e "\e[4mOptions:\e[0m" - echo " -d, --dir" + echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] " + echo "" + echo -e "${BOLD}${UNDERLINE}Commands:${NC}" + echo -e " ${BOLD}venv${NC} Activate the virtual environment" + echo -e " ${BOLD}check${NC} Check system requirements (git, os, python) to start using openpilot" + echo -e " ${BOLD}install${NC} Install requirements to use openpilot" + echo -e " ${BOLD}build${NC} Build openpilot" + echo -e " ${BOLD}run${NC} Run openpilot" + echo -e " ${BOLD}juggle${NC} Run Plotjuggler" + echo -e " ${BOLD}replay${NC} Run replay" + echo -e " ${BOLD}linter${NC} Run all the pre-commit checks" + echo -e " ${BOLD}help${NC} Show this message" + echo -e " ${BOLD}--install${NC} Install this tool system wide" + echo "" + echo -e "${BOLD}${UNDERLINE}Options:${NC}" + echo -e " ${BOLD}-d, --dir${NC}" echo " Specify the openpilot directory you want to use" - echo " Default to the current working directory" + echo -e " ${BOLD}--dry${NC}" + echo " Don't actually run anything, just print what would be" echo "" - echo -e "\e[4mExamples:\e[0m" + echo -e "${BOLD}${UNDERLINE}Examples:${NC}" echo " op --dir /tmp/openpilot check" echo " Run the check command on openpilot located in /tmp/openpilot" echo "" @@ -224,6 +272,7 @@ function _op() { # parse Options case $1 in -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;; + --dry ) shift 1; DRY="1" ;; esac # parse Commands @@ -234,6 +283,8 @@ function _op() { build ) shift 1; op_build "$@" ;; run ) shift 1; op_run "$@" ;; juggle ) shift 1; op_juggle "$@" ;; + linter ) shift 1; op_linter "$@" ;; + replay ) shift 1; op_replay "$@" ;; --install ) shift 1; op_first_install "$@" ;; * ) op_default "$@" ;; esac @@ -255,3 +306,8 @@ unset -f op_check_python unset -f op_check_os unset -f op_first_install unset -f op_default +unset -f op_run_command +unset -f op_linter +unset -f op_replay +unset DRY +unset OPENPILOT_ROOT From 4ac938a578e68c88e39b73fa35024a4320557f64 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 24 Jul 2024 22:20:16 -0700 Subject: [PATCH 091/180] op.sh: improvements (#33067) * cabana * pre-check * cd * change this * fix * fix install --- tools/op.sh | 197 +++++++++++++++++++++++++++++++--------------------- 1 file changed, 117 insertions(+), 80 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index 111a06e81..27f181721 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -1,4 +1,4 @@ -#!/bin/bash +#!/usr/bin/env bash RED='\033[0;31m' GREEN='\033[0;32m' @@ -14,28 +14,12 @@ function op_first_install() { if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then RC_FILE="$HOME/.bash_profile" fi - op_run_command printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE + printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n" ) } -# be default, assume openpilot dir is in current directory -OPENPILOT_ROOT=$(pwd) -function op_check_openpilot_dir() { - while [[ "$OPENPILOT_ROOT" != '/' ]]; - do - if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then - return 0 - fi - OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)" - done - - echo "openpilot directory not found! Make sure that you are inside openpilot" - echo "directory or specify one with the --dir option!" - return 1 -} - function op_run_command() { CMD="$@" echo -e "${BOLD}Running:${NC} $CMD" @@ -44,34 +28,52 @@ function op_run_command() { fi } +# be default, assume openpilot dir is in current directory +OPENPILOT_ROOT=$(pwd) +function op_check_openpilot_dir() { + echo "Checking for openpilot directory..." + while [[ "$OPENPILOT_ROOT" != '/' ]]; + do + if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then + echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n" + return 0 + fi + OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)" + done + + echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are" + echo " inside the openpilot directory or specify one with the" + echo " --dir option!" + return 1 +} + function op_check_git() { (set -e - cd $OPENPILOT_ROOT - echo "Checking for git..." if ! command -v "git" > /dev/null 2>&1; then - echo -e " ↳ [${RED}✗${NC}] git not found on your system!" + echo -e " ↳ [${RED}✗${NC}] git not found on your system!\n" return 1 else - echo -e " ↳ [${GREEN}✔${NC}] git found on your system.\n" + echo -e " ↳ [${GREEN}✔${NC}] git found.\n" fi echo "Checking for git lfs files..." - if [[ $(file -b $(git lfs ls-files -n | grep "\.so" | head -n 1)) == "ASCII text" ]]; then - echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run git lfs pull" + if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "ASCII text" ]]; then + echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'\n" return 1 else - echo -e " ↳ [${GREEN}✔${NC}] git lfs files found on your system.\n" + echo -e " ↳ [${GREEN}✔${NC}] git lfs files found.\n" fi echo "Checking for git submodules..." - if $(git submodule foreach --quiet --recursive 'return 1' 2&> /dev/null); then - echo -e " ↳ [${RED}✗${NC}] git submodules not found! Run 'git submodule update --init --recursive'" - return 1 - else - echo -e " ↳ [${GREEN}✔${NC}] git submodules found on your system.\n" - fi + for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do + if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then + echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'\n" + return 1 + fi + done + echo -e " ↳ [${GREEN}✔${NC}] git submodules found.\n" ) } @@ -89,19 +91,19 @@ function op_check_os() { echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n" ;; * ) - echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!" + echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!\n" return 1 ;; esac else - echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!" + echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!\n" return 1 fi elif [[ "$OSTYPE" == "darwin"* ]]; then echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n" else - echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!" + echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!\n" return 1 fi @@ -112,49 +114,43 @@ function op_check_python() { (set -e echo "Checking for compatible python version..." - export REQUIRED_PYTHON_VERSION=$(grep "requires-python" pyproject.toml | cut -d= -f3- | tr -d '"' | tr -d ' ') - if ! command -v "python3" > /dev/null 2>&1; then - echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $REQUIRED_PYTHON_VERSION to continue!" + REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml) + INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true) + + if [[ -z $INSTALLED_PYTHON_VERSION ]]; then + echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n" return 1 + elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then + echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected.\n" else - if $(python3 -c "import sys; quit(not sys.version_info >= tuple(map(int, \"$REQUIRED_PYTHON_VERSION\".split('.'))))"); then - echo -e " ↳ [${GREEN}✔${NC}] $(python3 --version) detected.\n" - else - echo -e " ↳ [${RED}✗${NC}] You need python version at least $REQUIRED_PYTHON_VERSION to continue!" - return 1 - fi + echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n" + return 1 fi ) } -# this must be run in the same shell as the user calling "op" -function op_venv() { - op_check_openpilot_dir || return 1 - op_run_command source $OPENPILOT_ROOT/.venv/bin/activate || (echo -e "\nCan't activate venv. Have you ran 'op install' ?" && return 1) +function op_check_venv() { + echo "Checking for venv..." + if source $OPENPILOT_ROOT/.venv/bin/activate; then + echo -e " ↳ [${GREEN}✔${NC}] venv detected.\n" + else + echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!\n" + fi } -function op_check() { - (set -e +function op_before_cmd() { + if [[ ! -z "$NO_VERIFY" ]]; then + return 0 + fi op_check_openpilot_dir cd $OPENPILOT_ROOT op_check_git op_check_os + op_check_venv op_check_python - - ) -} - -function op_run() { - (set -e - - op_venv - cd $OPENPILOT_ROOT - - op_run_command $OPENPILOT_ROOT/launch_openpilot.sh - - ) + echo -e "-----------------------------\n" } function op_install() { @@ -162,18 +158,48 @@ function op_install() { op_check_openpilot_dir cd $OPENPILOT_ROOT - op_check_os op_check_python if [[ "$OSTYPE" == "linux-gnu"* ]]; then - $OPENPILOT_ROOT/tools/ubuntu_setup.sh + op_run_command $OPENPILOT_ROOT/tools/ubuntu_setup.sh elif [[ "$OSTYPE" == "darwin"* ]]; then - $OPENPILOT_ROOT/tools/mac_setup.sh + op_run_command $OPENPILOT_ROOT/tools/mac_setup.sh fi - git submodule update --init --recursive - git lfs pull + op_run_command git submodule update --init --recursive + op_run_command git lfs pull + + ) +} + +function op_venv() { + ( set -e + + op_before_cmd + + ) + + if [[ "$?" -eq 0 ]]; then + # this must be run in the same shell as the user calling "op" + op_check_openpilot_dir > /dev/null + op_run_command source $OPENPILOT_ROOT/.venv/bin/activate + fi +} + +function op_check() { + (set -e + + op_before_cmd + + ) +} + +function op_run() { + (set -e + + op_before_cmd + op_run_command $OPENPILOT_ROOT/launch_openpilot.sh ) } @@ -181,9 +207,7 @@ function op_install() { function op_build() { (set -e - op_venv - cd $OPENPILOT_ROOT - + op_before_cmd op_run_command scons $@ ) @@ -192,9 +216,7 @@ function op_build() { function op_juggle() { (set -e - op_venv - cd $OPENPILOT_ROOT - + op_before_cmd op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@ ) @@ -203,9 +225,7 @@ function op_juggle() { function op_linter() { (set -e - op_venv - cd $OPENPILOT_ROOT - + op_before_cmd op_run_command pre-commit run --all $@ ) @@ -213,14 +233,22 @@ function op_linter() { function op_replay() { (set -e - op_check_openpilot_dir - cd $OPENPILOT_ROOT + op_before_cmd op_run_command $OPENPILOT_ROOT/tools/replay/replay $@ ) } +function op_cabana() { + (set -e + + op_before_cmd + op_run_command $OPENPILOT_ROOT/tools/cabana/cabana $@ + + ) +} + function op_default() { echo "An openpilot helper" echo "" @@ -244,6 +272,7 @@ function op_default() { echo -e " ${BOLD}run${NC} Run openpilot" echo -e " ${BOLD}juggle${NC} Run Plotjuggler" echo -e " ${BOLD}replay${NC} Run replay" + echo -e " ${BOLD}cabana${NC} Run cabana" echo -e " ${BOLD}linter${NC} Run all the pre-commit checks" echo -e " ${BOLD}help${NC} Show this message" echo -e " ${BOLD}--install${NC} Install this tool system wide" @@ -253,6 +282,8 @@ function op_default() { echo " Specify the openpilot directory you want to use" echo -e " ${BOLD}--dry${NC}" echo " Don't actually run anything, just print what would be" + echo -e " ${BOLD}-n, --no-verify${NC}" + echo " Don't run checks before running a command" echo "" echo -e "${BOLD}${UNDERLINE}Examples:${NC}" echo " op --dir /tmp/openpilot check" @@ -271,8 +302,9 @@ function op_default() { function _op() { # parse Options case $1 in - -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;; - --dry ) shift 1; DRY="1" ;; + -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;; + --dry ) shift 1; DRY="1" ;; + -n | --no-verify ) shift 1; NO_VERIFY="1" ;; esac # parse Commands @@ -283,6 +315,7 @@ function _op() { build ) shift 1; op_build "$@" ;; run ) shift 1; op_run "$@" ;; juggle ) shift 1; op_juggle "$@" ;; + cabana ) shift 1; op_cabana "$@" ;; linter ) shift 1; op_linter "$@" ;; replay ) shift 1; op_replay "$@" ;; --install ) shift 1; op_first_install "$@" ;; @@ -309,5 +342,9 @@ unset -f op_default unset -f op_run_command unset -f op_linter unset -f op_replay +unset -f op_cabana +unset -f op_check_venv +unset -f op_before_cmd unset DRY unset OPENPILOT_ROOT +unset NO_VERIFY From 6cdf2a1499885acec46d77498e96cad0f972592b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 24 Jul 2024 23:11:23 -0700 Subject: [PATCH 092/180] Update op.sh --- tools/op.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/op.sh b/tools/op.sh index 27f181721..7ad969718 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -24,7 +24,7 @@ function op_run_command() { CMD="$@" echo -e "${BOLD}Running:${NC} $CMD" if [[ -z "$DRY" ]]; then - $CMD + eval "$CMD" fi } From edd8759f3934b44c640d7d044bd0c383caf68a42 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 26 Jul 2024 01:16:59 +0800 Subject: [PATCH 093/180] scons: move `-Ithird_party/qrcode` to qt modules (#33071) move -Ithird_party/qrcode to qt modeules --- SConstruct | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/SConstruct b/SConstruct index 1f83b1e43..90fc5b5ee 100644 --- a/SConstruct +++ b/SConstruct @@ -205,7 +205,6 @@ env = Environment( "#third_party/json11", "#third_party/linux/include", "#third_party/snpe/include", - "#third_party/qrcode", "#third_party", "#cereal", "#msgq", @@ -314,7 +313,7 @@ try: except SCons.Errors.UserError: qt_env.Tool('qt') -qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"] +qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"] qt_flags = [ "-D_REENTRANT", "-DQT_NO_DEBUG", From 75f49f84f3b71c970e7f4a5768016a092175e870 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 26 Jul 2024 04:09:03 +0800 Subject: [PATCH 094/180] camerad: add CameraConfig struct for initializing CameraState in constructor (#33065) * Add CameraConfig struct for initializing CameraState in constructor * init member variables --- system/camerad/cameras/camera_common.cc | 2 +- system/camerad/cameras/camera_common.h | 3 - system/camerad/cameras/camera_qcom2.cc | 50 ++++++----- system/camerad/cameras/camera_qcom2.h | 108 +++++++++++++++--------- 4 files changed, 97 insertions(+), 66 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 9d82284d9..aef00c1bb 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -324,7 +324,7 @@ void camerad_thread() { #endif { - MultiCameraState cameras = {}; + MultiCameraState cameras; VisionIpcServer vipc_server("camerad", device_id, context); cameras_open(&cameras); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 555362ab8..f97940b66 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -18,9 +18,6 @@ enum CameraType { }; // for debugging -const bool env_disable_road = getenv("DISABLE_ROAD") != NULL; -const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL; -const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL; const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL; const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL; const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 7c1f8e44e..5767bec87 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -26,6 +26,14 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py extern ExitHandler do_exit; +CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config) + : multi_cam_state(multi_camera_state), + camera_num(config.camera_num), + stream_type(config.stream_type), + focal_len(config.focal_len), + enabled(config.enabled) { +} + int CameraState::clear_req_queue() { struct cam_req_mgr_flush_info req_mgr_flush_request = {0}; req_mgr_flush_request.session_hdl = session_handle; @@ -425,48 +433,38 @@ void CameraState::set_exposure_rect() { } void CameraState::sensor_set_parameters() { - target_grey_fraction = 0.3; - - dc_gain_enabled = false; dc_gain_weight = ci->dc_gain_min_weight; gain_idx = ci->analog_gain_rec_idx; - exposure_time = 5; cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time; } -void CameraState::camera_map_bufs(MultiCameraState *s) { +void CameraState::camera_map_bufs() { for (int i = 0; i < FRAME_BUF_COUNT; i++) { // configure ISP to put the image in place struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0}; - mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu; + mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu; mem_mgr_map_cmd.num_hdl = 1; mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE; mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd; - int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); + int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd)); LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret); buf_handle[i] = mem_mgr_map_cmd.out.buf_handle; } enqueue_req_multi(1, FRAME_BUF_COUNT, 0); } -void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) { +void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) { if (!enabled) return; LOGD("camera init %d", camera_num); - request_id_last = 0; - skipped = true; - - buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type); - camera_map_bufs(s); + buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type); + camera_map_bufs(); fl_pix = focal_len / ci->pixel_size_mm; set_exposure_rect(); } -void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) { - multi_cam_state = multi_cam_state_; - camera_num = camera_num_; - enabled = enabled_; +void CameraState::camera_open() { if (!enabled) return; if (!openSensor()) { @@ -660,9 +658,9 @@ void CameraState::linkDevices() { } void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) { - s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM); - s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM); - s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM); + s->driver_cam.camera_init(v, device_id, ctx); + s->road_cam.camera_init(v, device_id, ctx); + s->wide_road_cam.camera_init(v, device_id, ctx); s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"}); } @@ -706,11 +704,11 @@ void cameras_open(MultiCameraState *s) { ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); LOGD("req mgr subscribe: %d", ret); - s->driver_cam.camera_open(s, 2, !env_disable_driver); + s->driver_cam.camera_open(); LOGD("driver camera opened"); - s->road_cam.camera_open(s, 1, !env_disable_road); + s->road_cam.camera_open(); LOGD("road camera opened"); - s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road); + s->wide_road_cam.camera_open(); LOGD("wide road camera opened"); } @@ -972,6 +970,12 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip)); } +MultiCameraState::MultiCameraState() + : driver_cam(this, DRIVER_CAMERA_CONFIG), + road_cam(this, ROAD_CAMERA_CONFIG), + wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) { +} + void cameras_run(MultiCameraState *s) { LOG("-- Starting threads"); std::vector threads; diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index b702d1bb6..47981e075 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -11,67 +11,94 @@ #define FRAME_BUF_COUNT 4 -#define ROAD_FL_MM 8.0f -#define WIDE_FL_MM 1.71f -#define DRIVER_FL_MM 1.71f +struct CameraConfig { + int camera_num; + VisionStreamType stream_type; + float focal_len; // millimeters + bool enabled; +}; + +const CameraConfig WIDE_ROAD_CAMERA_CONFIG = { + .camera_num = 0, + .stream_type = VISION_STREAM_WIDE_ROAD, + .focal_len = 1.71, + .enabled = !getenv("DISABLE_WIDE_ROAD"), +}; + +const CameraConfig ROAD_CAMERA_CONFIG = { + .camera_num = 1, + .stream_type = VISION_STREAM_ROAD, + .focal_len = 8.0, + .enabled = !getenv("DISABLE_ROAD"), +}; + +const CameraConfig DRIVER_CAMERA_CONFIG = { + .camera_num = 2, + .stream_type = VISION_STREAM_DRIVER, + .focal_len = 1.71, + .enabled = !getenv("DISABLE_DRIVER"), +}; class CameraState { public: - MultiCameraState *multi_cam_state; + MultiCameraState *multi_cam_state = nullptr; std::unique_ptr ci; - bool enabled; + bool enabled = true; + VisionStreamType stream_type; + float focal_len = 0; std::mutex exp_lock; - int exposure_time; - bool dc_gain_enabled; - int dc_gain_weight; - int gain_idx; - float analog_gain_frac; + int exposure_time = 5; + bool dc_gain_enabled = false; + int dc_gain_weight = 0; + int gain_idx = 0; + float analog_gain_frac = 0; - float cur_ev[3]; - float best_ev_score; - int new_exp_g; - int new_exp_t; + float cur_ev[3] = {}; + float best_ev_score = 0; + int new_exp_g = 0; + int new_exp_t = 0; - Rect ae_xywh; - float measured_grey_fraction; - float target_grey_fraction; + Rect ae_xywh = {}; + float measured_grey_fraction = 0; + float target_grey_fraction = 0.3; unique_fd sensor_fd; unique_fd csiphy_fd; - int camera_num; - float fl_pix; + int camera_num = 0; + float fl_pix = 0; + CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config); void handle_camera_event(void *evdat); void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain); void set_camera_exposure(float grey_frac); void sensors_start(); - void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled); + void camera_open(); void set_exposure_rect(); void sensor_set_parameters(); - void camera_map_bufs(MultiCameraState *s); - void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len); + void camera_map_bufs(); + void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void camera_close(); - int32_t session_handle; - int32_t sensor_dev_handle; - int32_t isp_dev_handle; - int32_t csiphy_dev_handle; + int32_t session_handle = -1; + int32_t sensor_dev_handle = -1; + int32_t isp_dev_handle = -1; + int32_t csiphy_dev_handle = -1; - int32_t link_handle; + int32_t link_handle = -1; - int buf0_handle; - int buf_handle[FRAME_BUF_COUNT]; - int sync_objs[FRAME_BUF_COUNT]; - int request_ids[FRAME_BUF_COUNT]; - int request_id_last; - int frame_id_last; - int idx_offset; - bool skipped; + int buf0_handle = 0; + int buf_handle[FRAME_BUF_COUNT] = {}; + int sync_objs[FRAME_BUF_COUNT] = {}; + int request_ids[FRAME_BUF_COUNT] = {}; + int request_id_last = 0; + int frame_id_last = 0; + int idx_offset = 0; + bool skipped = true; CameraBuf buf; MemoryManager mm; @@ -95,16 +122,19 @@ private: Params params; }; -typedef struct MultiCameraState { +class MultiCameraState { +public: + MultiCameraState(); + unique_fd video0_fd; unique_fd cam_sync_fd; unique_fd isp_fd; - int device_iommu; - int cdm_iommu; + int device_iommu = -1; + int cdm_iommu = -1; CameraState road_cam; CameraState wide_road_cam; CameraState driver_cam; PubMaster *pm; -} MultiCameraState; +}; From 2da4aef2683dc9af4ff49435c8d021b6261d329b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 26 Jul 2024 04:10:36 +0800 Subject: [PATCH 095/180] scons: remove redundant -DSWAGLOG Flag (#33070) remove redundant_-DSWAGLOG Flag --- SConstruct | 1 - 1 file changed, 1 deletion(-) diff --git a/SConstruct b/SConstruct index 90fc5b5ee..329ebe330 100644 --- a/SConstruct +++ b/SConstruct @@ -169,7 +169,6 @@ if arch != "Darwin": ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"] # Enable swaglog include in submodules -cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""'] cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""'] ccflags_option = GetOption('ccflags') From 313a2826c268a7974ce7422084ab294767b7c9bd Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 26 Jul 2024 04:36:44 +0800 Subject: [PATCH 096/180] mcid.py: optimize FFT and A-weighting calculations (#33057) * Precomputing weighting * add comments back * use cache * spacing spacing * clean up * lower by diff --------- Co-authored-by: Shane Smiskol --- selfdrive/test/test_onroad.py | 2 +- system/micd.py | 22 ++++++++++++---------- 2 files changed, 13 insertions(+), 11 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index bbb99d13b..1e4669fb0 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -56,7 +56,7 @@ PROCS = { "system.logmessaged": 0.2, "system.tombstoned": 0, "logcatd": 0, - "system.micd": 6.0, + "system.micd": 5.0, "system.timed": 0, "selfdrive.pandad.pandad": 0, "system.statsd": 0.4, diff --git a/system/micd.py b/system/micd.py index 8b738ebe9..af1aa3136 100755 --- a/system/micd.py +++ b/system/micd.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import numpy as np +from functools import cache from cereal import messaging from openpilot.common.realtime import Ratekeeper @@ -10,7 +11,16 @@ RATE = 10 FFT_SAMPLES = 4096 REFERENCE_SPL = 2e-5 # newtons/m^2 SAMPLE_RATE = 44100 -SAMPLE_BUFFER = 4096 # (approx 100ms) +SAMPLE_BUFFER = 4096 # approx 100ms + + +@cache +def get_a_weighting_filter(): + # Calculate the A-weighting filter + # https://en.wikipedia.org/wiki/A-weighting + freqs = np.fft.fftfreq(FFT_SAMPLES, d=1 / SAMPLE_RATE) + A = 12194 ** 2 * freqs ** 4 / ((freqs ** 2 + 20.6 ** 2) * (freqs ** 2 + 12194 ** 2) * np.sqrt((freqs ** 2 + 107.7 ** 2) * (freqs ** 2 + 737.9 ** 2))) + return A / np.max(A) def calculate_spl(measurements): @@ -27,16 +37,8 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray: # Generate a Hanning window of the same length as the audio measurements measurements_windowed = measurements * np.hanning(len(measurements)) - # Calculate the frequency axis for the signal - freqs = np.fft.fftfreq(measurements_windowed.size, d=1 / SAMPLE_RATE) - - # Calculate the A-weighting filter - # https://en.wikipedia.org/wiki/A-weighting - A = 12194 ** 2 * freqs ** 4 / ((freqs ** 2 + 20.6 ** 2) * (freqs ** 2 + 12194 ** 2) * np.sqrt((freqs ** 2 + 107.7 ** 2) * (freqs ** 2 + 737.9 ** 2))) - A /= np.max(A) # Normalize the filter - # Apply the A-weighting filter to the signal - return np.abs(np.fft.ifft(np.fft.fft(measurements_windowed) * A)) + return np.abs(np.fft.ifft(np.fft.fft(measurements_windowed) * get_a_weighting_filter())) class Mic: From cd8a603ad0f14d744d12e2f5f743c7880ce907a3 Mon Sep 17 00:00:00 2001 From: eivegau Date: Thu, 25 Jul 2024 21:47:43 +0100 Subject: [PATCH 097/180] Kia: add missing Optima EUR FW versions (#33027) * Update fingerprints.py * Apply suggestions from code review --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 30e4b9ed7..5f959bd68 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -765,9 +765,11 @@ FW_VERSIONS = { ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', + b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', + b'\xf1\x00JFWGN LKAS AT EUR LHD 1.00 1.01 95895-D4100 G20', ], }, CAR.KIA_OPTIMA_G4_FL: { From ed86910536e7036020a0a54be02e267db36653fe Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 25 Jul 2024 14:20:00 -0700 Subject: [PATCH 098/180] new README (#33073) * commonmark * Update README.md * Update README.md * Update README.md * Update README.md * Update README.md * relock * copy paste * Update README.md * looks better like this * cleanup --- .github/workflows/docs.yaml | 2 +- README.md | 56 +++++++++------ docs/mkdocs.yml | 3 + pyproject.toml | 9 ++- uv.lock | 137 +++++++++++++++--------------------- 5 files changed, 103 insertions(+), 104 deletions(-) diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index f5cc0d500..7fe4263db 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -29,7 +29,7 @@ jobs: - name: Build docs run: | # TODO: can we install just the "docs" dependency group without the normal deps? - pip install mkdocs mkdocs-terminal + pip install mkdocs==1.4.3 mkdocs-terminal mkdocs-plugin-commonmark cd docs mkdocs build diff --git a/README.md b/README.md index 5afaf6e7d..8ebc733e6 100644 --- a/README.md +++ b/README.md @@ -1,9 +1,32 @@ -[![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/8762862/f09e6d29-db2d-4179-80c2-51e8d92bdb5c)](https://comma.ai/shop/comma-3x) +
-What is openpilot? ------- +

openpilot

-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md). +

+ openpilot is an operating system for robotics. +
+ Currently, it upgrades the driver assistance system in 275+ supported cars. +

+ +

+ Read the docs + · + Contribute + · + Community + · + Try it on a comma 3X +

+ +Quick start: `curl -fsSL openpilot.comma.ai | bash` + +![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg) +[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot) +[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE) +[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai) +[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai) + +
@@ -49,18 +72,6 @@ Safety and Testing * panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile). * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes. -User Data and comma Account ------- - -By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone. - -openpilot is open source software: the user is free to disable data collection if they wish to do so. - -openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. -The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded. - -By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data. - Licensing ------ @@ -72,9 +83,14 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS. NO WARRANTY EXPRESSED OR IMPLIED.** ---- +User Data and comma Account +------ - +By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone. -![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg) -[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot) +openpilot is open source software: the user is free to disable data collection if they wish to do so. + +openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs. +The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded. + +By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data. diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml index 45a1503b0..92cb501b8 100644 --- a/docs/mkdocs.yml +++ b/docs/mkdocs.yml @@ -5,6 +5,9 @@ site_url: https://docs.comma.ai strict: true +plugins: + - commonmark + theme: name: terminal features: diff --git a/pyproject.toml b/pyproject.toml index 1226c8345..f5eb5a437 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -67,8 +67,9 @@ dependencies = [ [project.optional-dependencies] docs = [ "Jinja2", - "mkdocs", + "mkdocs==1.4.3", # needed for mkdocs-plugin-commonmark "mkdocs-terminal", + "mkdocs-plugin-commonmark", ] testing = [ @@ -227,7 +228,7 @@ lint.ignore = [ "UP038", # (x, y) -> x|y for isinstance ] line-length = 160 -target-version="py311" +target-version ="py311" exclude = [ "body", "cereal", @@ -239,7 +240,8 @@ exclude = [ "teleoprtc_repo", "third_party", ] -lint.flake8-implicit-str-concat.allow-multiline=false +lint.flake8-implicit-str-concat.allow-multiline = false + [tool.ruff.lint.flake8-tidy-imports.banned-api] "selfdrive".msg = "Use openpilot.selfdrive" "common".msg = "Use openpilot.common" @@ -251,5 +253,6 @@ lint.flake8-implicit-str-concat.allow-multiline=false [tool.coverage.run] concurrency = ["multiprocessing", "thread"] + [tool.ruff.format] quote-style = "preserve" diff --git a/uv.lock b/uv.lock index 8a0dc29b2..5c0de703f 100644 --- a/uv.lock +++ b/uv.lock @@ -863,14 +863,14 @@ wheels = [ [[distribution]] name = "importlib-metadata" -version = "8.0.0" +version = "8.2.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "zipp" }, ] -sdist = { url = "https://files.pythonhosted.org/packages/20/ff/bd28f70283b9cca0cbf0c2a6082acbecd822d1962ae7b2a904861b9965f8/importlib_metadata-8.0.0.tar.gz", hash = "sha256:188bd24e4c346d3f0a933f275c2fec67050326a856b9a359881d7c2a697e8812", size = 52667 } +sdist = { url = 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099/180] mac's getting there --- .github/workflows/selfdrive_tests.yaml | 3 +-- tools/mac_setup.sh | 19 ++++++------------- 2 files changed, 7 insertions(+), 15 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 1154948ac..a17863432 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -96,7 +96,7 @@ jobs: timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache build_mac: - name: build macos + name: build macOS runs-on: macos-latest steps: - uses: actions/checkout@v4 @@ -106,7 +106,6 @@ jobs: - name: Install dependencies run: ./tools/mac_setup.sh env: - SKIP_PROMPT: 1 # package install has DeprecationWarnings PYTHONWARNINGS: default - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 9823427e6..d19f1cae8 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -2,19 +2,12 @@ set -e -if [ -z "$SKIP_PROMPT" ]; then - echo "--------------- macOS support ---------------" - echo "Running openpilot natively on macOS is not officially supported." - echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues." - echo - echo "Check out devcontainers for a seamless experience (see tools/README.md)." - echo "-------------------------------------------------" - echo -n "Are you sure you want to continue? [y/N] " - read -r response - if [[ ! "$response" =~ ^([yY][eE][sS]|[yY])+$ ]]; then - exit 1 - fi -fi +echo "--------------- macOS support ---------------" +echo "Running openpilot natively on macOS is still a work-in-progress." +echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues." +echo +echo "Check out devcontainers for a seamless experience (see tools/README.md)." +echo "-------------------------------------------------" DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" ROOT="$(cd $DIR/../ && pwd)" From 173a633a75692ae104fa9c6e99501fec4df9ebb7 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 25 Jul 2024 14:28:41 -0700 Subject: [PATCH 100/180] curl pc installer (#33072) * setup * curl * usable right now * op sim * cleanup * show cmd --- tools/op.sh | 24 ++++++++++++++- tools/setup.sh | 68 ++++++++++++++++++++++++++++--------------- tools/ubuntu_setup.sh | 5 ---- 3 files changed, 68 insertions(+), 29 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index 7ad969718..42bbb1973 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -161,14 +161,23 @@ function op_install() { op_check_os op_check_python + echo "Installing dependencies..." if [[ "$OSTYPE" == "linux-gnu"* ]]; then op_run_command $OPENPILOT_ROOT/tools/ubuntu_setup.sh elif [[ "$OSTYPE" == "darwin"* ]]; then op_run_command $OPENPILOT_ROOT/tools/mac_setup.sh fi + echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully.\n" + echo "Getting git submodules..." op_run_command git submodule update --init --recursive + echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully.\n" + + echo "Pulling git lfs files..." op_run_command git lfs pull + echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully.\n" + + op_check ) } @@ -199,7 +208,7 @@ function op_run() { (set -e op_before_cmd - op_run_command $OPENPILOT_ROOT/launch_openpilot.sh + op_run_command $OPENPILOT_ROOT/launch_openpilot.sh $@ ) } @@ -249,6 +258,16 @@ function op_cabana() { ) } +function op_sim() { + (set -e + + op_before_cmd + op_run_command exec $OPENPILOT_ROOT/tools/sim/run_bridge.py & + op_run_command exec $OPENPILOT_ROOT/tools/sim/launch_openpilot.sh + + ) +} + function op_default() { echo "An openpilot helper" echo "" @@ -270,6 +289,7 @@ function op_default() { echo -e " ${BOLD}install${NC} Install requirements to use openpilot" echo -e " ${BOLD}build${NC} Build openpilot" echo -e " ${BOLD}run${NC} Run openpilot" + echo -e " ${BOLD}sim${NC} Run openpilot in a simulator" echo -e " ${BOLD}juggle${NC} Run Plotjuggler" echo -e " ${BOLD}replay${NC} Run replay" echo -e " ${BOLD}cabana${NC} Run cabana" @@ -318,6 +338,7 @@ function _op() { cabana ) shift 1; op_cabana "$@" ;; linter ) shift 1; op_linter "$@" ;; replay ) shift 1; op_replay "$@" ;; + sim ) shift 1; op_sim "$@" ;; --install ) shift 1; op_first_install "$@" ;; * ) op_default "$@" ;; esac @@ -345,6 +366,7 @@ unset -f op_replay unset -f op_cabana unset -f op_check_venv unset -f op_before_cmd +unset -f op_sim unset DRY unset OPENPILOT_ROOT unset NO_VERIFY diff --git a/tools/setup.sh b/tools/setup.sh index 22d10be80..42b8d6fd4 100755 --- a/tools/setup.sh +++ b/tools/setup.sh @@ -1,32 +1,54 @@ #!/usr/bin/env bash -set -e +RED='\033[0;31m' +GREEN='\033[0;32m' +NC='\033[0m' -if [ ! -f launch_openpilot.sh ]; then - if [ ! -d openpilot ]; then - git clone --single-branch --recurse-submodules https://github.com/commaai/openpilot.git +if [ -z "$OPENPILOT_ROOT" ]; then + # default to current directory for installation + OPENPILOT_ROOT="$(pwd)/openpilot" +fi + +function check_dir() { + echo "Checking for installation directory..." + if [ -d "$OPENPILOT_ROOT" ]; then + echo -e " ↳ [${RED}✗${NC}] can't install openpilot in $OPENPILOT_ROOT !" + return 1 fi - cd openpilot -fi -if [[ "$OSTYPE" == "darwin"* ]]; then - tools/mac_setup.sh -else - tools/ubuntu_setup.sh -fi + echo -e " ↳ [${GREEN}✔${NC}] Successfully chosen $OPENPILOT_ROOT as installation directory\n" +} -git lfs pull +function check_git() { + echo "Checking for git..." + if ! command -v "git" > /dev/null 2>&1; then + echo -e " ↳ [${RED}✗${NC}] git not found on your system, can't continue!" + return 1 + else + echo -e " ↳ [${GREEN}✔${NC}] git found.\n" + fi +} -source .venv/bin/activate +function git_clone() { + echo "Cloning openpilot..." + if $(git clone --depth=1 https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then + if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then + echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n" + return 0 + fi + fi -echo "Building openpilot" -scons -u -j$(nproc) + echo -e " ↳ [${RED}✗${NC}] failed to clone openpilot!" + return 1 +} -echo -echo "---- OPENPILOT BUILDING DONE ----" -echo "To push changes to your fork, run the following commands:" -echo "git remote remove origin" -echo "git remote add origin git@github.com:/openpilot.git" -echo "git fetch" -echo "git commit -m \"first commit\"" -echo "git push" +function install_with_op() { + cd $OPENPILOT_ROOT + $OPENPILOT_ROOT/tools/op.sh --install + $OPENPILOT_ROOT/tools/op.sh install + + # make op usable right now + alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\"" +} + +check_dir && check_git && git_clone && install_with_op diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 1bdeb50e0..f425e14cf 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -8,8 +8,3 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" $DIR/install_ubuntu_dependencies.sh $DIR/install_python_dependencies.sh - -echo -echo "---- OPENPILOT SETUP DONE ----" -echo "Open a new shell or configure your active shell env by running:" -echo "source ~/.bashrc" From 1989fbd4c4a40188fbb673d2f5e1dd467d255ad5 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 25 Jul 2024 14:38:47 -0700 Subject: [PATCH 101/180] Update setup.sh --- tools/setup.sh | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/tools/setup.sh b/tools/setup.sh index 42b8d6fd4..8aca889b8 100755 --- a/tools/setup.sh +++ b/tools/setup.sh @@ -52,3 +52,8 @@ function install_with_op() { } check_dir && check_git && git_clone && install_with_op + +unset OPENPILOT_ROOT +unset RED +unset GREEN +unset NC From ccd369ee9639beae479704615f198902d58135b9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 26 Jul 2024 06:05:14 +0800 Subject: [PATCH 102/180] camerad: merge thread functions into one (#33025) merge multiple thread functions into one --- system/camerad/cameras/camera_common.cc | 32 +------------- system/camerad/cameras/camera_common.h | 6 +-- system/camerad/cameras/camera_qcom2.cc | 55 ++++++++++++++----------- system/camerad/cameras/camera_qcom2.h | 11 +++++ 4 files changed, 43 insertions(+), 61 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index aef00c1bb..542be29d8 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -244,7 +244,7 @@ static kj::Array yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w return dat; } -static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) { +void publish_thumbnail(PubMaster *pm, const CameraBuf *b) { auto thumbnail = yuv420_to_jpeg(b, b->rgb_width / 4, b->rgb_height / 4); if (thumbnail.size() == 0) return; @@ -284,36 +284,6 @@ float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_sk return lum_med / 256.0; } -void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) { - const char *thread_name = nullptr; - if (cs == &cameras->road_cam) { - thread_name = "RoadCamera"; - } else if (cs == &cameras->driver_cam) { - thread_name = "DriverCamera"; - } else { - thread_name = "WideRoadCamera"; - } - util::set_thread_name(thread_name); - - uint32_t cnt = 0; - while (!do_exit) { - if (!cs->buf.acquire()) continue; - - callback(cameras, cs, cnt); - - if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) { - // this takes 10ms??? - publish_thumbnail(cameras->pm, &(cs->buf)); - } - ++cnt; - } - return NULL; -} - -std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) { - return std::thread(processing_thread, cameras, cs, callback); -} - void camerad_thread() { cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); #ifdef QCOM2 diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index f97940b66..d58f4d319 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -2,7 +2,6 @@ #include #include -#include #include "cereal/messaging/messaging.h" #include "msgq/visionipc/visionipc_server.h" @@ -69,13 +68,10 @@ public: void queue(size_t buf_idx); }; -typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt); - void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c); kj::Array get_raw_frame_image(const CameraBuf *b); float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip); -std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback); - +void publish_thumbnail(PubMaster *pm, const CameraBuf *b); void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx); void cameras_open(MultiCameraState *s); void cameras_run(MultiCameraState *s); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 5767bec87..2729aa264 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -31,6 +31,8 @@ CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfi camera_num(config.camera_num), stream_type(config.stream_type), focal_len(config.focal_len), + publish_name(config.publish_name), + init_camera_state(config.init_camera_state), enabled(config.enabled) { } @@ -941,33 +943,36 @@ void CameraState::set_camera_exposure(float grey_frac) { sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); } -static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) { - c->set_camera_exposure(set_exposure_target(&c->buf, c->ae_xywh, 2, 4)); +void CameraState::run() { + util::set_thread_name(publish_name); - MessageBuilder msg; - auto framed = msg.initEvent().initDriverCameraState(); - fill_frame_data(framed, c->buf.cur_frame_data, c); + for (uint32_t cnt = 0; !do_exit; ++cnt) { + // Acquire the buffer; continue if acquisition fails + if (!buf.acquire()) continue; - c->ci->processRegisters(c, framed); - s->pm->send("driverCameraState", msg); -} + MessageBuilder msg; + auto framed = (msg.initEvent().*init_camera_state)(); + fill_frame_data(framed, buf.cur_frame_data, this); -void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { - const CameraBuf *b = &c->buf; + // Log raw frames for road camera + if (env_log_raw_frames && stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) { // no overlap with qlog decimation + framed.setImage(get_raw_frame_image(&buf)); + } + // Log frame id for road and wide road cameras + if (stream_type != VISION_STREAM_DRIVER) { + LOGT(buf.cur_frame_data.frame_id, "%s: Image set", publish_name); + } - MessageBuilder msg; - auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState(); - fill_frame_data(framed, b->cur_frame_data, c); - if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) { // no overlap with qlog decimation - framed.setImage(get_raw_frame_image(b)); + // Process camera registers and set camera exposure + ci->processRegisters(this, framed); + set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, stream_type != VISION_STREAM_DRIVER ? 2 : 4)); + + // Send the message + multi_cam_state->pm->send(publish_name, msg); + if (stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) { + publish_thumbnail(multi_cam_state->pm, &buf); // this takes 10ms??? + } } - LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera"); - - c->ci->processRegisters(c, framed); - s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg); - - const int skip = 2; - c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip)); } MultiCameraState::MultiCameraState() @@ -979,9 +984,9 @@ MultiCameraState::MultiCameraState() void cameras_run(MultiCameraState *s) { LOG("-- Starting threads"); std::vector threads; - if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera)); - if (s->road_cam.enabled) threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera)); - if (s->wide_road_cam.enabled) threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera)); + if (s->driver_cam.enabled) threads.emplace_back(&CameraState::run, &s->driver_cam); + if (s->road_cam.enabled) threads.emplace_back(&CameraState::run, &s->road_cam); + if (s->wide_road_cam.enabled) threads.emplace_back(&CameraState::run, &s->wide_road_cam); // start devices LOG("-- Starting devices"); diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 47981e075..1b27fb18b 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -15,6 +15,8 @@ struct CameraConfig { int camera_num; VisionStreamType stream_type; float focal_len; // millimeters + const char *publish_name; + cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)(); bool enabled; }; @@ -22,6 +24,8 @@ const CameraConfig WIDE_ROAD_CAMERA_CONFIG = { .camera_num = 0, .stream_type = VISION_STREAM_WIDE_ROAD, .focal_len = 1.71, + .publish_name = "wideRoadCameraState", + .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState, .enabled = !getenv("DISABLE_WIDE_ROAD"), }; @@ -29,6 +33,8 @@ const CameraConfig ROAD_CAMERA_CONFIG = { .camera_num = 1, .stream_type = VISION_STREAM_ROAD, .focal_len = 8.0, + .publish_name = "roadCameraState", + .init_camera_state = &cereal::Event::Builder::initRoadCameraState, .enabled = !getenv("DISABLE_ROAD"), }; @@ -36,6 +42,8 @@ const CameraConfig DRIVER_CAMERA_CONFIG = { .camera_num = 2, .stream_type = VISION_STREAM_DRIVER, .focal_len = 1.71, + .publish_name = "driverCameraState", + .init_camera_state = &cereal::Event::Builder::initDriverCameraState, .enabled = !getenv("DISABLE_DRIVER"), }; @@ -45,6 +53,8 @@ public: std::unique_ptr ci; bool enabled = true; VisionStreamType stream_type; + const char *publish_name = nullptr; + cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)() = nullptr; float focal_len = 0; std::mutex exp_lock; @@ -83,6 +93,7 @@ public: void camera_map_bufs(); void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx); void camera_close(); + void run(); int32_t session_handle = -1; int32_t sensor_dev_handle = -1; From fb1ad1d26a74e4937801a8b70d8cdce40f2da359 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 25 Jul 2024 15:13:47 -0700 Subject: [PATCH 103/180] fix pytools (#33076) fix --- 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a/tools/op.sh b/tools/op.sh index 42bbb1973..c7431c135 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -6,7 +6,7 @@ UNDERLINE='\033[4m' BOLD='\033[1m' NC='\033[0m' -function op_first_install() { +function op_install() { (set -e echo "Installing op system-wide..." @@ -30,16 +30,22 @@ function op_run_command() { # be default, assume openpilot dir is in current directory OPENPILOT_ROOT=$(pwd) -function op_check_openpilot_dir() { - echo "Checking for openpilot directory..." +function op_get_openpilot_dir() { while [[ "$OPENPILOT_ROOT" != '/' ]]; do if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then - echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n" return 0 fi OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)" done +} + +function op_check_openpilot_dir() { + echo "Checking for openpilot directory..." + if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then + echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n" + return 0 + fi echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are" echo " inside the openpilot directory or specify one with the" @@ -52,28 +58,28 @@ function op_check_git() { echo "Checking for git..." if ! command -v "git" > /dev/null 2>&1; then - echo -e " ↳ [${RED}✗${NC}] git not found on your system!\n" + echo -e " ↳ [${RED}✗${NC}] git not found on your system!" return 1 else - echo -e " ↳ [${GREEN}✔${NC}] git found.\n" + echo -e " ↳ [${GREEN}✔${NC}] git found." fi echo "Checking for git lfs files..." - if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "ASCII text" ]]; then - echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'\n" - return 1 + if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then + echo -e " ↳ [${GREEN}✔${NC}] git lfs files found." else - echo -e " ↳ [${GREEN}✔${NC}] git lfs files found.\n" + echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'" + return 1 fi echo "Checking for git submodules..." for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then - echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'\n" + echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'" return 1 fi done - echo -e " ↳ [${GREEN}✔${NC}] git submodules found.\n" + echo -e " ↳ [${GREEN}✔${NC}] git submodules found." ) } @@ -88,22 +94,22 @@ function op_check_os() { source /etc/os-release case "$VERSION_CODENAME" in "jammy" | "kinetic" | "noble" | "focal") - echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n" + echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected." ;; * ) - echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!\n" + echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!" return 1 ;; esac else - echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!\n" + echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!" return 1 fi elif [[ "$OSTYPE" == "darwin"* ]]; then echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n" else - echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!\n" + echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!" return 1 fi @@ -118,12 +124,12 @@ function op_check_python() { INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true) if [[ -z $INSTALLED_PYTHON_VERSION ]]; then - echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n" + echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!" return 1 elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then - echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected.\n" + echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected." else - echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n" + echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!" return 1 fi @@ -133,9 +139,9 @@ function op_check_python() { function op_check_venv() { echo "Checking for venv..." if source $OPENPILOT_ROOT/.venv/bin/activate; then - echo -e " ↳ [${GREEN}✔${NC}] venv detected.\n" + echo -e " ↳ [${GREEN}✔${NC}] venv detected." else - echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!\n" + echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!" fi } @@ -144,20 +150,32 @@ function op_before_cmd() { return 0 fi - op_check_openpilot_dir + op_get_openpilot_dir cd $OPENPILOT_ROOT - op_check_git - op_check_os - op_check_venv - op_check_python - echo -e "-----------------------------\n" + + result="$((op_check_openpilot_dir ) 2>&1)" || (echo -e "$result" && return 1) + result="${result}\n$(( op_check_git ) 2>&1)" || (echo -e "$result" && return 1) + result="${result}\n$(( op_check_os ) 2>&1)" || (echo -e "$result" && return 1) + result="${result}\n$(( op_check_venv ) 2>&1)" || (echo -e "$result" && return 1) + + op_activate_venv + + result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1) + + if [[ -z $VERBOSE ]]; then + echo -e "Checking system → [${GREEN}✔${NC}] system is good." + else + echo -e "$result" + fi } -function op_install() { +function op_setup() { (set -e - op_check_openpilot_dir + op_get_openpilot_dir cd $OPENPILOT_ROOT + + op_check_openpilot_dir op_check_os op_check_python @@ -182,6 +200,10 @@ function op_install() { ) } +function op_activate_venv() { + source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true +} + function op_venv() { ( set -e @@ -191,7 +213,7 @@ function op_venv() { if [[ "$?" -eq 0 ]]; then # this must be run in the same shell as the user calling "op" - op_check_openpilot_dir > /dev/null + op_get_openpilot_dir op_run_command source $OPENPILOT_ROOT/.venv/bin/activate fi } @@ -199,7 +221,9 @@ function op_venv() { function op_check() { (set -e + VERBOSE=1 op_before_cmd + unset VERBOSE ) } @@ -208,7 +232,7 @@ function op_run() { (set -e op_before_cmd - op_run_command $OPENPILOT_ROOT/launch_openpilot.sh $@ + op_run_command ./launch_openpilot.sh $@ ) } @@ -226,7 +250,7 @@ function op_juggle() { (set -e op_before_cmd - op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@ + op_run_command tools/plotjuggler/juggle.py $@ ) } @@ -244,7 +268,7 @@ function op_replay() { (set -e op_before_cmd - op_run_command $OPENPILOT_ROOT/tools/replay/replay $@ + op_run_command tools/replay/replay $@ ) } @@ -253,7 +277,7 @@ function op_cabana() { (set -e op_before_cmd - op_run_command $OPENPILOT_ROOT/tools/cabana/cabana $@ + op_run_command tools/cabana/cabana $@ ) } @@ -262,8 +286,8 @@ function op_sim() { (set -e op_before_cmd - op_run_command exec $OPENPILOT_ROOT/tools/sim/run_bridge.py & - op_run_command exec $OPENPILOT_ROOT/tools/sim/launch_openpilot.sh + op_run_command exec tools/sim/run_bridge.py & + op_run_command exec tools/sim/launch_openpilot.sh ) } @@ -284,18 +308,18 @@ function op_default() { echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] " echo "" echo -e "${BOLD}${UNDERLINE}Commands:${NC}" - echo -e " ${BOLD}venv${NC} Activate the virtual environment" - echo -e " ${BOLD}check${NC} Check system requirements (git, os, python) to start using openpilot" - echo -e " ${BOLD}install${NC} Install requirements to use openpilot" - echo -e " ${BOLD}build${NC} Build openpilot" - echo -e " ${BOLD}run${NC} Run openpilot" - echo -e " ${BOLD}sim${NC} Run openpilot in a simulator" - echo -e " ${BOLD}juggle${NC} Run Plotjuggler" - echo -e " ${BOLD}replay${NC} Run replay" - echo -e " ${BOLD}cabana${NC} Run cabana" - echo -e " ${BOLD}linter${NC} Run all the pre-commit checks" - echo -e " ${BOLD}help${NC} Show this message" - echo -e " ${BOLD}--install${NC} Install this tool system wide" + echo -e " ${BOLD}venv${NC} Activate the virtual environment" + echo -e " ${BOLD}check${NC} Check system requirements (git, os, python) to start using openpilot" + echo -e " ${BOLD}setup${NC} Setup requirements to use openpilot" + echo -e " ${BOLD}build${NC} Build openpilot" + echo -e " ${BOLD}run${NC} Run openpilot" + echo -e " ${BOLD}sim${NC} Run openpilot in a simulator" + echo -e " ${BOLD}juggle${NC} Run Plotjuggler" + echo -e " ${BOLD}replay${NC} Run replay" + echo -e " ${BOLD}cabana${NC} Run cabana" + echo -e " ${BOLD}linter${NC} Run all the pre-commit checks" + echo -e " ${BOLD}help${NC} Show this message" + echo -e " ${BOLD}install${NC} Install this tool system wide" echo "" echo -e "${BOLD}${UNDERLINE}Options:${NC}" echo -e " ${BOLD}-d, --dir${NC}" @@ -304,6 +328,8 @@ function op_default() { echo " Don't actually run anything, just print what would be" echo -e " ${BOLD}-n, --no-verify${NC}" echo " Don't run checks before running a command" + echo -e " ${BOLD}-v, --verbose${NC}" + echo " Show the result of all checks before running a command" echo "" echo -e "${BOLD}${UNDERLINE}Examples:${NC}" echo " op --dir /tmp/openpilot check" @@ -325,13 +351,14 @@ function _op() { -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;; --dry ) shift 1; DRY="1" ;; -n | --no-verify ) shift 1; NO_VERIFY="1" ;; + -v | --verbose ) shift 1; VERBOSE="1" ;; esac # parse Commands case $1 in venv ) shift 1; op_venv "$@" ;; check ) shift 1; op_check "$@" ;; - install ) shift 1; op_install "$@" ;; + setup ) shift 1; op_setup "$@" ;; build ) shift 1; op_build "$@" ;; run ) shift 1; op_run "$@" ;; juggle ) shift 1; op_juggle "$@" ;; @@ -339,7 +366,7 @@ function _op() { linter ) shift 1; op_linter "$@" ;; replay ) shift 1; op_replay "$@" ;; sim ) shift 1; op_sim "$@" ;; - --install ) shift 1; op_first_install "$@" ;; + install ) shift 1; op_install "$@" ;; * ) op_default "$@" ;; esac } @@ -349,7 +376,7 @@ _op $@ # remove from env unset -f _op unset -f op_check -unset -f op_install +unset -f op_setup unset -f op_build unset -f op_run unset -f op_juggle @@ -358,7 +385,7 @@ unset -f op_check_openpilot_dir unset -f op_check_git unset -f op_check_python unset -f op_check_os -unset -f op_first_install +unset -f op_install unset -f op_default unset -f op_run_command unset -f op_linter @@ -367,6 +394,14 @@ unset -f op_cabana unset -f op_check_venv unset -f op_before_cmd unset -f op_sim +unset -f op_activate_venv +unset -f op_get_openpilot_dir unset DRY +unset NC +unset RED +unset GREEN +unset UNDERLINE +unset BOLD unset OPENPILOT_ROOT unset NO_VERIFY +unset VERBOSE From 02e30ac14053212436ea5129030742a8c7dfe3fb Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 25 Jul 2024 16:59:42 -0700 Subject: [PATCH 106/180] Update setup.sh --- tools/setup.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/setup.sh b/tools/setup.sh index 8aca889b8..209188610 100755 --- a/tools/setup.sh +++ b/tools/setup.sh @@ -44,8 +44,8 @@ function git_clone() { function install_with_op() { cd $OPENPILOT_ROOT - $OPENPILOT_ROOT/tools/op.sh --install $OPENPILOT_ROOT/tools/op.sh install + $OPENPILOT_ROOT/tools/op.sh setup # make op usable right now alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\"" From 8827067eaeba384722066caeeee4a35f30026d07 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 25 Jul 2024 18:21:42 -0700 Subject: [PATCH 107/180] op.sh: misc fixups (#33080) * rm run * little more * lint * one more lint * cleanup --- tools/op.sh | 36 ++++++++++++------------------------ 1 file changed, 12 insertions(+), 24 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index c7431c135..55cc3d60d 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -228,15 +228,6 @@ function op_check() { ) } -function op_run() { - (set -e - - op_before_cmd - op_run_command ./launch_openpilot.sh $@ - - ) -} - function op_build() { (set -e @@ -255,7 +246,7 @@ function op_juggle() { ) } -function op_linter() { +function op_lint() { (set -e op_before_cmd @@ -297,7 +288,7 @@ function op_default() { echo "" echo -e "${BOLD}${UNDERLINE}Description:${NC}" echo " op is your entry point for all things related to openpilot development." - echo " op is only a wrapper for scripts, tools and commands already existing." + echo " op is only a wrapper for existing scripts, tools, and commands." echo " op will always show you what it will run on your system." echo "" echo " op will try to find your openpilot directory in the following order:" @@ -308,26 +299,25 @@ function op_default() { echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] " echo "" echo -e "${BOLD}${UNDERLINE}Commands:${NC}" - echo -e " ${BOLD}venv${NC} Activate the virtual environment" - echo -e " ${BOLD}check${NC} Check system requirements (git, os, python) to start using openpilot" - echo -e " ${BOLD}setup${NC} Setup requirements to use openpilot" + echo -e " ${BOLD}venv${NC} Activate the Python virtual environment" + echo -e " ${BOLD}check${NC} Check the development environment (git, os, python) to start using openpilot" + echo -e " ${BOLD}setup${NC} Install openpilot dependencies" echo -e " ${BOLD}build${NC} Build openpilot" - echo -e " ${BOLD}run${NC} Run openpilot" echo -e " ${BOLD}sim${NC} Run openpilot in a simulator" echo -e " ${BOLD}juggle${NC} Run Plotjuggler" echo -e " ${BOLD}replay${NC} Run replay" echo -e " ${BOLD}cabana${NC} Run cabana" - echo -e " ${BOLD}linter${NC} Run all the pre-commit checks" + echo -e " ${BOLD}lint${NC} Run all the pre-commit checks" echo -e " ${BOLD}help${NC} Show this message" - echo -e " ${BOLD}install${NC} Install this tool system wide" + echo -e " ${BOLD}install${NC} Install the 'op' tool system wide" echo "" echo -e "${BOLD}${UNDERLINE}Options:${NC}" echo -e " ${BOLD}-d, --dir${NC}" echo " Specify the openpilot directory you want to use" echo -e " ${BOLD}--dry${NC}" - echo " Don't actually run anything, just print what would be" + echo " Don't actually run anything, just print what would be run" echo -e " ${BOLD}-n, --no-verify${NC}" - echo " Don't run checks before running a command" + echo " Skip environment check before running commands" echo -e " ${BOLD}-v, --verbose${NC}" echo " Show the result of all checks before running a command" echo "" @@ -358,12 +348,11 @@ function _op() { case $1 in venv ) shift 1; op_venv "$@" ;; check ) shift 1; op_check "$@" ;; - setup ) shift 1; op_setup "$@" ;; + setup ) shift 1; op_setup "$@" ;; build ) shift 1; op_build "$@" ;; - run ) shift 1; op_run "$@" ;; juggle ) shift 1; op_juggle "$@" ;; cabana ) shift 1; op_cabana "$@" ;; - linter ) shift 1; op_linter "$@" ;; + lint ) shift 1; op_lint "$@" ;; replay ) shift 1; op_replay "$@" ;; sim ) shift 1; op_sim "$@" ;; install ) shift 1; op_install "$@" ;; @@ -378,7 +367,6 @@ unset -f _op unset -f op_check unset -f op_setup unset -f op_build -unset -f op_run unset -f op_juggle unset -f op_venv unset -f op_check_openpilot_dir @@ -388,7 +376,7 @@ unset -f op_check_os unset -f op_install unset -f op_default unset -f op_run_command -unset -f op_linter +unset -f op_lint unset -f op_replay unset -f op_cabana unset -f op_check_venv From d128dbe27f9a4b87f6f37d68b22e0a385cf29d70 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 25 Jul 2024 18:59:29 -0700 Subject: [PATCH 108/180] setup.sh: fast git clone (#33081) * setup.sh: filter clone * no submodules --- tools/setup.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/setup.sh b/tools/setup.sh index 209188610..9b1ee9c0c 100755 --- a/tools/setup.sh +++ b/tools/setup.sh @@ -31,7 +31,7 @@ function check_git() { function git_clone() { echo "Cloning openpilot..." - if $(git clone --depth=1 https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then + if $(git clone --filter=blob:none https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n" return 0 From f39c5c22e80740700aa3c9bd8cba2a684903e9d2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 25 Jul 2024 19:30:40 -0700 Subject: [PATCH 109/180] remove opencv-python-headless (#33082) --- pyproject.toml | 1 - tools/webcam/camera.py | 1 + uv.lock | 1 - 3 files changed, 1 insertion(+), 2 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 8288340e5..afebfe7a7 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -103,7 +103,6 @@ dev = [ "lru-dict", "matplotlib", "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'", - "opencv-python-headless", "parameterized >=0.8, <0.9", #"pprofile", "pyautogui", diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py index d1d61b64d..ddff46c5d 100644 --- a/tools/webcam/camera.py +++ b/tools/webcam/camera.py @@ -1,3 +1,4 @@ +# TODO: remove the cv2 dependency, it's only used here import cv2 as cv import numpy as np diff --git a/uv.lock b/uv.lock index fa873c631..866cf921a 100644 --- a/uv.lock +++ b/uv.lock @@ -1469,7 +1469,6 @@ dev = [ { name = "lru-dict" }, { name = "matplotlib" }, { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" }, - { name = "opencv-python-headless" }, { name = "parameterized" }, { name = "pyautogui" }, { name = "pyopencl", marker = "platform_machine != 'aarch64'" }, From e68bb26e14d4e85f61ab3f58ac9667ca9d6ea565 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 25 Jul 2024 22:05:10 -0700 Subject: [PATCH 110/180] tools: keep re pattern file small (#33084) remove bz2 from re file --- selfdrive/debug/run_process_on_route.py | 3 +-- selfdrive/test/process_replay/model_replay.py | 3 +-- selfdrive/test/process_replay/regen.py | 3 +-- selfdrive/test/process_replay/test_processes.py | 3 +-- tools/lib/helpers.py | 13 ------------- tools/lib/logreader.py | 10 ++++++++++ tools/plotjuggler/juggle.py | 3 +-- 7 files changed, 15 insertions(+), 23 deletions(-) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index 90db14bc9..c98763f3c 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -3,8 +3,7 @@ import argparse from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process -from openpilot.tools.lib.helpers import save_log -from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.logreader import LogReader, save_log if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 0e43cad82..a58a58107 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -10,8 +10,7 @@ from openpilot.tools.lib.openpilotci import BASE_URL, get_url from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process from openpilot.tools.lib.framereader import FrameReader -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.helpers import save_log +from openpilot.tools.lib.logreader import LogReader, save_log TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" SEGMENT = 6 diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index bf7a4bfd9..fe33443b4 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -14,8 +14,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FR from openpilot.selfdrive.test.update_ci_routes import upload_route from openpilot.tools.lib.route import Route from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType -from openpilot.tools.lib.logreader import LogReader, LogIterable -from openpilot.tools.lib.helpers import save_log +from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log class DummyFrameReader(BaseFrameReader): diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 533ab125f..3bd58dfac 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -14,8 +14,7 @@ from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, f from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \ check_openpilot_enabled, check_most_messages_valid from openpilot.tools.lib.filereader import FileReader -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.helpers import save_log +from openpilot.tools.lib.logreader import LogReader, save_log source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.COMMA_BODY diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index e9b4b85e7..7c34e17cb 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -1,6 +1,3 @@ -import bz2 - - # regex patterns class RE: DONGLE_ID = r'(?P[a-f0-9]{16})' @@ -18,13 +15,3 @@ class RE: EXPLORER_FILE = fr'^(?P{SEGMENT_NAME})--(?P[a-z]+\.[a-z0-9]+)$' OP_SEGMENT_DIR = fr'^(?P{SEGMENT_NAME})$' - - -def save_log(dest, log_msgs, compress=True): - dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) - - if compress: - dat = bz2.compress(dat) - - with open(dest, "wb") as f: - f.write(dat) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 07a4b2003..2df1c0525 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -27,6 +27,16 @@ LogIterable = Iterable[LogMessage] RawLogIterable = Iterable[bytes] +def save_log(dest, log_msgs, compress=True): + dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) + + if compress: + dat = bz2.compress(dat) + + with open(dest, "wb") as f: + f.write(dat) + + class _LogFileReader: def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): self.data_version = None diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 1d1612a1c..22854b368 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -12,8 +12,7 @@ from functools import partial from openpilot.common.basedir import BASEDIR from openpilot.selfdrive.car.fingerprints import MIGRATION -from openpilot.tools.lib.helpers import save_log -from openpilot.tools.lib.logreader import LogReader, ReadMode +from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log juggle_dir = os.path.dirname(os.path.realpath(__file__)) From a1dce6ef475c69e446ab1ce13f1aadb26092804c Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 26 Jul 2024 11:34:36 -0700 Subject: [PATCH 111/180] op.sh: run pytest (#33090) test --- tools/op.sh | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/tools/op.sh b/tools/op.sh index 55cc3d60d..3dd375c96 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -255,6 +255,15 @@ function op_lint() { ) } +function op_test() { + (set -e + + op_before_cmd + op_run_command pytest $@ + + ) +} + function op_replay() { (set -e @@ -308,6 +317,7 @@ function op_default() { echo -e " ${BOLD}replay${NC} Run replay" echo -e " ${BOLD}cabana${NC} Run cabana" echo -e " ${BOLD}lint${NC} Run all the pre-commit checks" + echo -e " ${BOLD}test${NC} Run all unit tests from pytest" echo -e " ${BOLD}help${NC} Show this message" echo -e " ${BOLD}install${NC} Install the 'op' tool system wide" echo "" @@ -353,6 +363,7 @@ function _op() { juggle ) shift 1; op_juggle "$@" ;; cabana ) shift 1; op_cabana "$@" ;; lint ) shift 1; op_lint "$@" ;; + test ) shift 1; op_test "$@" ;; replay ) shift 1; op_replay "$@" ;; sim ) shift 1; op_sim "$@" ;; install ) shift 1; op_install "$@" ;; @@ -384,6 +395,7 @@ unset -f op_before_cmd unset -f op_sim unset -f op_activate_venv unset -f op_get_openpilot_dir +unset -f op_test unset DRY unset NC unset RED From d24b80fca4e554325fe455ac2ea2cfbaafe570e8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 26 Jul 2024 14:40:14 -0700 Subject: [PATCH 112/180] remove body submodule (#33091) * remove body submodule * little more * fix op --- .gitmodules | 3 --- SConstruct | 1 - body | 1 - release/release_files.py | 2 -- tools/op.sh | 2 +- 5 files changed, 1 insertion(+), 8 deletions(-) delete mode 160000 body diff --git a/.gitmodules b/.gitmodules index e33902db5..20c2c848a 100644 --- a/.gitmodules +++ b/.gitmodules @@ -10,9 +10,6 @@ [submodule "rednose_repo"] path = rednose_repo url = ../../commaai/rednose.git -[submodule "body"] - path = body - url = ../../commaai/body.git [submodule "teleoprtc_repo"] path = teleoprtc_repo url = ../../commaai/teleoprtc diff --git a/SConstruct b/SConstruct index 329ebe330..fb5c43c9a 100644 --- a/SConstruct +++ b/SConstruct @@ -360,7 +360,6 @@ Export('messaging') # Build other submodules SConscript([ - 'body/board/SConscript', 'opendbc/can/SConscript', 'panda/SConscript', ]) diff --git a/body b/body deleted file mode 160000 index c433da944..000000000 --- a/body +++ /dev/null @@ -1 +0,0 @@ -Subproject commit c433da944f0e4d974cd66601effa66a06355debe diff --git a/release/release_files.py b/release/release_files.py index 24ce6d14b..159080743 100755 --- a/release/release_files.py +++ b/release/release_files.py @@ -10,8 +10,6 @@ ROOT = HERE + "/.." # - minimizing release download size # - keeping the diff readable blacklist = [ - "body/STL/", - "panda/drivers/", "panda/examples/", "panda/tests/safety/", diff --git a/tools/op.sh b/tools/op.sh index 3dd375c96..d3311c81f 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -73,7 +73,7 @@ function op_check_git() { fi echo "Checking for git submodules..." - for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do + for name in msgq_repo opendbc panda rednose_repo tinygrad_repo; do if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'" return 1 From a1d2e84212904e23a1e3585c1f216ed6b94402a4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 26 Jul 2024 15:04:57 -0700 Subject: [PATCH 113/180] update tinygrad url to tinygrad/tinygrad (#33093) --- .gitmodules | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.gitmodules b/.gitmodules index 20c2c848a..1d5d04577 100644 --- a/.gitmodules +++ b/.gitmodules @@ -15,4 +15,4 @@ url = ../../commaai/teleoprtc [submodule "tinygrad"] path = tinygrad_repo - url = https://github.com/geohot/tinygrad.git + url = https://github.com/tinygrad/tinygrad.git From 00d9748d9a4cead5c9e968fa9fb607fbf74955e4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 26 Jul 2024 15:08:36 -0700 Subject: [PATCH 114/180] op.sh: parallel submodule update --- tools/op.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/op.sh b/tools/op.sh index d3311c81f..faa75951d 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -188,7 +188,7 @@ function op_setup() { echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully.\n" echo "Getting git submodules..." - op_run_command git submodule update --init --recursive + op_run_command git submodule update --jobs 4 --init --recursive echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully.\n" echo "Pulling git lfs files..." From 6b5f88a5332b42ceed96e2669208c690f4fde303 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 26 Jul 2024 15:17:14 -0700 Subject: [PATCH 115/180] cleanup macOS dependencies (#33094) --- tools/mac_setup.sh | 3 --- 1 file changed, 3 deletions(-) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index d19f1cae8..282121ef1 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -36,12 +36,9 @@ if [[ $(command -v brew) == "" ]]; then fi brew bundle --file=- <<-EOS -brew "catch2" -brew "cmake" brew "cppcheck" brew "git-lfs" brew "zlib" -brew "bzip2" brew "capnp" brew "coreutils" brew "eigen" From eab9cd751c99a0a5046cfb31711daab145f164b2 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 26 Jul 2024 15:28:13 -0700 Subject: [PATCH 116/180] op.sh: check submodules (#33095) submodules --- tools/op.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/op.sh b/tools/op.sh index faa75951d..6e0796539 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -73,7 +73,7 @@ function op_check_git() { fi echo "Checking for git submodules..." - for name in msgq_repo opendbc panda rednose_repo tinygrad_repo; do + for name in $(git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | tr '\n' ' '); do if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'" return 1 From db2a8e9506bf4b76f34240b79bc5643f1db3e0b1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 26 Jul 2024 15:58:00 -0700 Subject: [PATCH 117/180] docs: turning the speed blue (#33079) * blue speed * compile * just blue * cleanup --- docs/docs/how-to/first-pr.md | 0 docs/docs/how-to/turn-the-speed-blue.md | 93 ++++++++++++++++++++++ docs/docs/how-to/turning-the-speed-blue.md | 4 - docs/mkdocs.yml | 2 +- 4 files changed, 94 insertions(+), 5 deletions(-) delete mode 100644 docs/docs/how-to/first-pr.md create mode 100644 docs/docs/how-to/turn-the-speed-blue.md delete mode 100644 docs/docs/how-to/turning-the-speed-blue.md diff --git a/docs/docs/how-to/first-pr.md b/docs/docs/how-to/first-pr.md deleted file mode 100644 index e69de29bb..000000000 diff --git a/docs/docs/how-to/turn-the-speed-blue.md b/docs/docs/how-to/turn-the-speed-blue.md new file mode 100644 index 000000000..28e1a376a --- /dev/null +++ b/docs/docs/how-to/turn-the-speed-blue.md @@ -0,0 +1,93 @@ +# Turn the speed blue +*A getting started guide for openpilot development* + +In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI. + +And if you have a comma 3/3X, we'll deploy the change to your device for testing. + +## 1. Setup your development environment + +Run this to clone openpilot and install all the dependencies: +```bash +curl -fsSL openpilot.comma.ai | bash +``` + +Then, compile openpilot: +```bash +cd openpilot +scons -j8 +``` + +## 2. Run replay + +We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes. +```bash +# in terminal 1 +tools/replay/replay --demo + +# in terminal 2 +selfdrive/ui/ui +``` + +The openpilot UI should launch and show a replay of the demo route. + +If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect. + +## 3. Make the speed blue + +Search for “mph” with git grep in the `ui` folder. +```bash +$ git grep "mph" selfdrive/ui/ +paint.cc: ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular"); +``` + +The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF. +```bash +$ git diff +diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc +index 821d95115..cc996eaa1 100644 +--- a/selfdrive/ui/paint.cc ++++ b/selfdrive/ui/paint.cc +@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) { + const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363)); + const std::string speed_str = std::to_string((int)std::nearbyint(speed)); + nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE); +- ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold"); +- ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular"); ++ ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold"); ++ ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular"); + } + + static void ui_draw_vision_event(UIState *s) { +``` + + +## 4. Rebuild UI, and admire your work + +``` +scons -j8 && selfdrive/ui/ui +``` + +![](https://blog.comma.ai/img/blue_speed_ui.png) + +## 5. Push your fork to GitHub + +Click fork on GitHub. Then, push with: +```bash +git remote rm origin +git remote add origin git@github.com:/openpilot.git +git add . +git commit -m "Make the speed blue." +git push --set-upstream origin master +``` + +### 6. Run your fork on device in your car! + +Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer: +``` +installer.comma.ai//master +``` + +### 7. Admire your work IRL + +![](https://blog.comma.ai/img/c3_blue_ui.jpg) diff --git a/docs/docs/how-to/turning-the-speed-blue.md b/docs/docs/how-to/turning-the-speed-blue.md deleted file mode 100644 index f68faa7b9..000000000 --- a/docs/docs/how-to/turning-the-speed-blue.md +++ /dev/null @@ -1,4 +0,0 @@ -This section is for how-to's on common workflows. - -They'll be like this blog post we wrote: -https://blog.comma.ai/turning-the-speed-blue/ diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml index 92cb501b8..1e19d286a 100644 --- a/docs/mkdocs.yml +++ b/docs/mkdocs.yml @@ -17,7 +17,7 @@ nav: - Getting Started: - What is openpilot?: getting-started/what-is-openpilot.md - How-to: - #- Make my first pull request: how-to/first-pr.md + - Turn the speed blue: how-to/turn-the-speed-blue.md - Connect to a comma 3/3X: how-to/connect-to-comma.md - Car Porting: - What is a car port?: car-porting/what-is-a-car-port.md From d7159cd3c77cbb8eba6c347090780f49e6104cb5 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Fri, 26 Jul 2024 16:10:00 -0700 Subject: [PATCH 118/180] op.sh: misc improvements (#33096) * check for install * venv * build --- tools/op.sh | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index 6e0796539..8533017d8 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -14,7 +14,8 @@ function op_install() { if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then RC_FILE="$HOME/.bash_profile" fi - printf "\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" >> $RC_FILE + CMD="\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" + grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n" ) @@ -212,6 +213,12 @@ function op_venv() { ) if [[ "$?" -eq 0 ]]; then + + if [[ "${BASH_SOURCE[0]}" = "${0}" ]]; then + echo "Run 'op venv' or 'source op.sh venv' to activate your venv!" + return 1 + fi + # this must be run in the same shell as the user calling "op" op_get_openpilot_dir op_run_command source $OPENPILOT_ROOT/.venv/bin/activate @@ -231,7 +238,9 @@ function op_check() { function op_build() { (set -e + CDIR=$(pwd) op_before_cmd + cd "$CDIR" op_run_command scons $@ ) @@ -311,7 +320,7 @@ function op_default() { echo -e " ${BOLD}venv${NC} Activate the Python virtual environment" echo -e " ${BOLD}check${NC} Check the development environment (git, os, python) to start using openpilot" echo -e " ${BOLD}setup${NC} Install openpilot dependencies" - echo -e " ${BOLD}build${NC} Build openpilot" + echo -e " ${BOLD}build${NC} Run the openpilot build system in the current working directory" echo -e " ${BOLD}sim${NC} Run openpilot in a simulator" echo -e " ${BOLD}juggle${NC} Run Plotjuggler" echo -e " ${BOLD}replay${NC} Run replay" From c8d5a3fe25dfda776adc3daa7020c20f03e8bf5e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 26 Jul 2024 16:25:07 -0700 Subject: [PATCH 119/180] docs: style for external links --- docs/mkdocs.yml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/docs/mkdocs.yml b/docs/mkdocs.yml index 1e19d286a..82db49714 100644 --- a/docs/mkdocs.yml +++ b/docs/mkdocs.yml @@ -26,10 +26,10 @@ nav: - Contributing: - Roadmap: contributing/roadmap.md #- Architecture: contributing/architecture.md - - Contributing: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md + - Contributing →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md - Links: - - Blog: https://blog.comma.ai - - Bounties: https://comma.ai/bounties - - GitHub: https://github.com/commaai - - Discord: https://discord.comma.ai - - X: https://x.com/comma_ai + - Blog →: https://blog.comma.ai + - Bounties →: https://comma.ai/bounties + - GitHub →: https://github.com/commaai + - Discord →: https://discord.comma.ai + - X →: https://x.com/comma_ai From 6f1ea5a1fd5606e3407f32ab3eacd86a02d9a6ab Mon Sep 17 00:00:00 2001 From: ugtthis <142481257+ugtthis@users.noreply.github.com> Date: Fri, 26 Jul 2024 19:29:08 -0700 Subject: [PATCH 120/180] Docs: Added venv step (#33097) --- docs/docs/how-to/turn-the-speed-blue.md | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/docs/docs/how-to/turn-the-speed-blue.md b/docs/docs/how-to/turn-the-speed-blue.md index 28e1a376a..f76e9e489 100644 --- a/docs/docs/how-to/turn-the-speed-blue.md +++ b/docs/docs/how-to/turn-the-speed-blue.md @@ -12,9 +12,14 @@ Run this to clone openpilot and install all the dependencies: curl -fsSL openpilot.comma.ai | bash ``` -Then, compile openpilot: +Navigate to openpilot folder & activate a Python virtual environment ```bash cd openpilot +source .venv/bin/activate +``` + +Then, compile openpilot: +```bash scons -j8 ``` From 7dec7c39bec0b7015c9cc12ee78f07a07ed47ee6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 26 Jul 2024 19:33:35 -0700 Subject: [PATCH 121/180] uploader: compress with zstd (#32736) * zstd uploader * fix that * fix name of function * comment * log failed * fix comma_api_source for routes with both bz2 and zst rlogs * TODO * 10-14 achieves almost no benefit on qlogs in a few cases, but takes 2x the time * these aren't written out * regen: specify any list of sources ooh this is pretty nice * regen and process replay * damn, actually we don't need all this (cool tho) Revert "regen: specify any list of sources" This reverts commit ceb0b4abed9ad463a9fe98d9b98a05875a52806f. * just let it auto resolve * fix athenad/uploader tests * zst here too * TODOs * yes * Revert "TODOs" This reverts commit 8c7da1dbd0340c72290b5eb5563b642080ddc131. * Revert "zst here too" This reverts commit 23b0023ddfd22c8090be7a7caa09e7026a12aa5c. * Revert "just let it auto resolve" This reverts commit f296d62424227ad05facc62abc18a6f81b474e84. * Revert "regen and process replay" This reverts commit 0768330e96974a42616d229d159780619d049cd0. * revert readme * not in save_log either * lfg * Revert "lfg" This reverts commit 3718559c6c4de7d1f0c80dc9f1a1d335fe679a89. --- system/athena/athenad.py | 17 ++++---- system/athena/tests/test_athenad.py | 59 +++++++++++++++------------ system/loggerd/tests/test_uploader.py | 10 ++--- system/loggerd/uploader.py | 13 +++--- 4 files changed, 53 insertions(+), 46 deletions(-) diff --git a/system/athena/athenad.py b/system/athena/athenad.py index b4f9b8b6a..96c34b098 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -2,7 +2,6 @@ from __future__ import annotations import base64 -import bz2 import hashlib import io import json @@ -15,6 +14,7 @@ import sys import tempfile import threading import time +import zstd from dataclasses import asdict, dataclass, replace from datetime import datetime from functools import partial @@ -35,6 +35,7 @@ from openpilot.common.file_helpers import CallbackReader from openpilot.common.params import Params from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware import HARDWARE, PC +from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog from openpilot.system.version import get_build_metadata @@ -103,8 +104,8 @@ cancelled_uploads: set[str] = set() cur_upload_items: dict[int, UploadItem | None] = {} -def strip_bz2_extension(fn: str) -> str: - if fn.endswith('.bz2'): +def strip_zst_extension(fn: str) -> str: + if fn.endswith('.zst'): return fn[:-4] return fn @@ -283,16 +284,16 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R path = upload_item.path compress = False - # If file does not exist, but does exist without the .bz2 extension we will compress on the fly - if not os.path.exists(path) and os.path.exists(strip_bz2_extension(path)): - path = strip_bz2_extension(path) + # If file does not exist, but does exist without the .zst extension we will compress on the fly + if not os.path.exists(path) and os.path.exists(strip_zst_extension(path)): + path = strip_zst_extension(path) compress = True with open(path, "rb") as f: content = f.read() if compress: cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path) - content = bz2.compress(content) + content = zstd.compress(content, LOG_COMPRESSION_LEVEL) with io.BytesIO(content) as data: return requests.put(upload_item.url, @@ -375,7 +376,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo continue path = os.path.join(Paths.log_root(), file.fn) - if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)): + if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)): failed.append(file.fn) continue diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py index 48519a0ff..413255b58 100644 --- a/system/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -29,7 +29,7 @@ def seed_athena_server(host, port): with Timeout(2, 'HTTP Server seeding failed'): while True: try: - requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10) + requests.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10) break except requests.exceptions.ConnectionError: time.sleep(0.1) @@ -174,54 +174,59 @@ class TestAthenadMethods: assert resp, 'list empty!' assert len(resp) == len(expected) - def test_strip_bz2_extension(self): + def test_strip_extension(self): + # any requested log file with an invalid extension won't return as existing fn = self._create_file('qlog.bz2') if fn.endswith('.bz2'): - assert athenad.strip_bz2_extension(fn) == fn[:-4] + assert athenad.strip_zst_extension(fn) == fn + + fn = self._create_file('qlog.zst') + if fn.endswith('.zst'): + assert athenad.strip_zst_extension(fn) == fn[:-4] @pytest.mark.parametrize("compress", [True, False]) def test_do_upload(self, host, compress): # random bytes to ensure rather large object post-compression fn = self._create_file('qlog', data=os.urandom(10000 * 1024)) - upload_fn = fn + ('.bz2' if compress else '') + upload_fn = fn + ('.zst' if compress else '') item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') with pytest.raises(requests.exceptions.ConnectionError): athenad._do_upload(item) - item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='') + item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='') resp = athenad._do_upload(item) assert resp.status_code == 201 def test_upload_file_to_url(self, host): - fn = self._create_file('qlog.bz2') + fn = self._create_file('qlog.zst') - resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {}) + resp = dispatcher["uploadFileToUrl"]("qlog.zst", f"{host}/qlog.zst", {}) assert resp['enqueued'] == 1 assert 'failed' not in resp - assert {"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items() <= resp['items'][0].items() + assert {"path": fn, "url": f"{host}/qlog.zst", "headers": {}}.items() <= resp['items'][0].items() assert resp['items'][0].get('id') is not None assert athenad.upload_queue.qsize() == 1 def test_upload_file_to_url_duplicate(self, host): - self._create_file('qlog.bz2') + self._create_file('qlog.zst') - url1 = f"{host}/qlog.bz2?sig=sig1" - dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {}) + url1 = f"{host}/qlog.zst?sig=sig1" + dispatcher["uploadFileToUrl"]("qlog.zst", url1, {}) # Upload same file again, but with different signature - url2 = f"{host}/qlog.bz2?sig=sig2" - resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {}) + url2 = f"{host}/qlog.zst?sig=sig2" + resp = dispatcher["uploadFileToUrl"]("qlog.zst", url2, {}) assert resp == {'enqueued': 0, 'items': []} def test_upload_file_to_url_does_not_exist(self, host): - not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {}) - assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']} + not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.zst", "http://localhost:1238", {}) + assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.zst']} @with_upload_handler def test_upload_handler(self, host): - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) + fn = self._create_file('qlog.zst') + item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) athenad.upload_queue.put_nowait(item) self._wait_for_upload() @@ -236,8 +241,8 @@ class TestAthenadMethods: def test_upload_handler_retry(self, mocker, host, status, retry): mock_put = mocker.patch('requests.put') mock_put.return_value.status_code = status - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) + fn = self._create_file('qlog.zst') + item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) athenad.upload_queue.put_nowait(item) self._wait_for_upload() @@ -251,8 +256,8 @@ class TestAthenadMethods: @with_upload_handler def test_upload_handler_timeout(self): """When an upload times out or fails to connect it should be placed back in the queue""" - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) + fn = self._create_file('qlog.zst') + item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT) athenad.upload_queue.put_nowait(item_no_retry) @@ -272,7 +277,7 @@ class TestAthenadMethods: @with_upload_handler def test_cancel_upload(self): - item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, + item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) athenad.upload_queue.put_nowait(item) dispatcher["cancelUpload"](item.id) @@ -291,8 +296,8 @@ class TestAthenadMethods: ts = int(t_future.strftime("%s")) * 1000 # Item that would time out if actually uploaded - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True) + fn = self._create_file('qlog.zst') + item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=ts, id='', allow_cellular=True) athenad.upload_queue.put_nowait(item) self._wait_for_upload() @@ -306,8 +311,8 @@ class TestAthenadMethods: @with_upload_handler def test_list_upload_queue_current(self, host: str): - fn = self._create_file('qlog.bz2') - item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) + fn = self._create_file('qlog.zst') + item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) athenad.upload_queue.put_nowait(item) self._wait_for_upload() @@ -317,7 +322,7 @@ class TestAthenadMethods: assert items[0]['current'] def test_list_upload_queue(self): - item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, + item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True) athenad.upload_queue.put_nowait(item) diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py index 659119828..fa7160026 100644 --- a/system/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -62,10 +62,10 @@ class TestUploader(UploaderTestCase): def gen_order(self, seg1: list[int], seg2: list[int], boot=True) -> list[str]: keys = [] if boot: - keys += [f"boot/{self.seg_format.format(i)}.bz2" for i in seg1] - keys += [f"boot/{self.seg_format2.format(i)}.bz2" for i in seg2] - keys += [f"{self.seg_format.format(i)}/qlog.bz2" for i in seg1] - keys += [f"{self.seg_format2.format(i)}/qlog.bz2" for i in seg2] + keys += [f"boot/{self.seg_format.format(i)}.zst" for i in seg1] + keys += [f"boot/{self.seg_format2.format(i)}.zst" for i in seg2] + keys += [f"{self.seg_format.format(i)}/qlog.zst" for i in seg1] + keys += [f"{self.seg_format2.format(i)}/qlog.zst" for i in seg2] return keys def test_upload(self): @@ -159,7 +159,7 @@ class TestUploader(UploaderTestCase): self.join_thread() for f_path in f_paths: - fn = f_path.with_suffix(f_path.suffix.replace(".bz2", "")) + fn = f_path.with_suffix(f_path.suffix.replace(".zst", "")) uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE assert not uploaded, "File upload when locked" diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 832a22779..ee16193cd 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import bz2 import io import json import os @@ -9,6 +8,7 @@ import threading import time import traceback import datetime +import zstd from typing import BinaryIO from collections.abc import Iterator @@ -26,6 +26,7 @@ UPLOAD_ATTR_NAME = 'user.upload' UPLOAD_ATTR_VALUE = b'1' UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6 # MB +LOG_COMPRESSION_LEVEL = 10 # little benefit up to level 15. level ~17 is a small step change allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1")) force_wifi = os.getenv("FORCEWIFI") is not None @@ -83,7 +84,7 @@ class Uploader: self.last_filename = "" self.immediate_folders = ["crash/", "boot/"] - self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} + self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1} def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]: r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8") @@ -152,8 +153,8 @@ class Uploader: with open(fn, "rb") as f: data: BinaryIO - if key.endswith('.bz2') and not fn.endswith('.bz2'): - compressed = bz2.compress(f.read()) + if key.endswith('.zst') and not fn.endswith('.zst'): + compressed = zstd.compress(f.read(), LOG_COMPRESSION_LEVEL) data = io.BytesIO(compressed) else: data = f @@ -218,8 +219,8 @@ class Uploader: name, key, fn = d # qlogs and bootlogs need to be compressed before uploading - if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')): - key += ".bz2" + if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')): + key += ".zst" return self.upload(name, key, fn, network_type, metered) From 4caecf21439eb65cedb25df589b140c9c09e26fc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 26 Jul 2024 21:14:06 -0700 Subject: [PATCH 122/180] test_onroad: use zstd compression (#33100) * use zstd in test_onroad * debug * now leans towards 0.4 instead of 0.5 * 5x runs * better * more * Update selfdrive/test/test_onroad.py * revert Jenkinsfile * and this --- selfdrive/test/test_onroad.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 1e4669fb0..d78d2294a 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -1,4 +1,3 @@ -import bz2 import math import json import os @@ -9,6 +8,7 @@ import shutil import subprocess import time import numpy as np +import zstd from collections import Counter, defaultdict from functools import cached_property from pathlib import Path @@ -20,9 +20,10 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.timeout import Timeout from openpilot.common.params import Params from openpilot.selfdrive.controls.lib.events import EVENTS, ET -from openpilot.system.hardware import HARDWARE from openpilot.selfdrive.test.helpers import set_params_enabled, release_only +from openpilot.system.hardware import HARDWARE from openpilot.system.hardware.hw import Paths +from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL from openpilot.tools.lib.logreader import LogReader """ @@ -166,10 +167,10 @@ class TestOnroad: cls.log_sizes = {} for f in cls.log_path.iterdir(): assert f.is_file() - cls.log_sizes[f] = f.stat().st_size / 1e6 + cls.log_sizes[f] = f.stat().st_size / 1e6 if f.name in ("qlog", "rlog"): with open(f, 'rb') as ff: - cls.log_sizes[f] = len(bz2.compress(ff.read())) / 1e6 + cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6 @cached_property @@ -206,7 +207,7 @@ class TestOnroad: if f.name == "qcamera.ts": assert 2.15 < sz < 2.35 elif f.name == "qlog": - assert 0.4 < sz < 0.6 + assert 0.4 < sz < 0.5 elif f.name == "rlog": assert 5 < sz < 50 elif f.name.endswith('.hevc'): From 1b3b5ab75857465f58ec8a687db04c8ee0470e05 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 28 Jul 2024 02:03:47 -0700 Subject: [PATCH 123/180] use zstandard library (#33110) * use zstandard * run 10 * bye bye * this was a little overzealous * clean up --- pyproject.toml | 2 +- selfdrive/test/test_onroad.py | 4 +- system/athena/athenad.py | 2 +- system/loggerd/uploader.py | 2 +- tools/lib/logreader.py | 2 +- uv.lock | 132 ++++++++++++++++++++++------------ 6 files changed, 91 insertions(+), 53 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index afebfe7a7..dd801994f 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -61,7 +61,7 @@ dependencies = [ "pycryptodome", # used in updated/casync, panda, body, and a test # logreader - "zstd", + "zstandard", ] [project.optional-dependencies] diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index d78d2294a..e29e241da 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -8,7 +8,7 @@ import shutil import subprocess import time import numpy as np -import zstd +import zstandard as zstd from collections import Counter, defaultdict from functools import cached_property from pathlib import Path @@ -207,7 +207,7 @@ class TestOnroad: if f.name == "qcamera.ts": assert 2.15 < sz < 2.35 elif f.name == "qlog": - assert 0.4 < sz < 0.5 + assert 0.45 < sz < 0.55 elif f.name == "rlog": assert 5 < sz < 50 elif f.name.endswith('.hevc'): diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 96c34b098..52e3a29ac 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -14,7 +14,7 @@ import sys import tempfile import threading import time -import zstd +import zstandard as zstd from dataclasses import asdict, dataclass, replace from datetime import datetime from functools import partial diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index ee16193cd..d984936e8 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -8,7 +8,7 @@ import threading import time import traceback import datetime -import zstd +import zstandard as zstd from typing import BinaryIO from collections.abc import Iterator diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 2df1c0525..0f0059614 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -10,7 +10,7 @@ import sys import tqdm import urllib.parse import warnings -import zstd +import zstandard as zstd from 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2024 15:05:36 -0700 Subject: [PATCH 124/180] docs: start roadmap --- docs/docs/contributing/roadmap.md | 28 ++++++++++++++++++++++++++-- 1 file changed, 26 insertions(+), 2 deletions(-) diff --git a/docs/docs/contributing/roadmap.md b/docs/docs/contributing/roadmap.md index 64ccdb3b7..0f536cb51 100644 --- a/docs/docs/contributing/roadmap.md +++ b/docs/docs/contributing/roadmap.md @@ -1,5 +1,29 @@ # Roadmap -Coming soon... +This is the roadmap for the next major openpilot releases. Also check out +* [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases +* [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases +* [Bounties](https://comma.ai/bounties) for paid individual issues -For now, check out our GitHub [milestones](https://github.com/commaai/openpilot/milestones) and [bounties](https://comma.ai/bounties). +## openpilot 0.10 + +openpilot 0.10 will be the first release with a driving policy trained in +a [learned simulator](https://youtu.be/EqQNZXqzFSI). + +* Driving model trained in a learned simlator +* Always-on driver monitoring (behind a toggle) +* GPS removed from the driving stack +* 100KB qlogs +* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing +* Car interface code moved into [opendbc](https://github.com/commaai/opendbc) +* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon) + +## openpilot 1.0 + +openpilot 1.0 will feature a fully end-to-end driving policy. + +* End-to-end longitudinal control in Chill mode +* Automatic Emergency Braking (AEB) +* Driver monitoring with sleep detection +* Rolling updates/releases pushed out by CI +* [panda safety 1.0](https://github.com/orgs/commaai/projects/27) From 583e89d3a4f912911df2f1350cb109baa16c9f22 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Sun, 28 Jul 2024 15:08:27 -0700 Subject: [PATCH 125/180] remove cv2 usage (#33101) remove cv2 --- selfdrive/ui/tests/test_ui/run.py | 3 +-- tools/webcam/camera.py | 28 +++++++++++----------------- 2 files changed, 12 insertions(+), 19 deletions(-) diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py index 98a600eeb..0b1d84249 100644 --- a/selfdrive/ui/tests/test_ui/run.py +++ b/selfdrive/ui/tests/test_ui/run.py @@ -19,7 +19,6 @@ from openpilot.common.realtime import DT_MDL from openpilot.common.transformations.camera import DEVICE_CAMERAS from openpilot.selfdrive.test.helpers import with_processes from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state -from openpilot.tools.webcam.camera import Camera UI_DELAY = 0.5 # may be slower on CI? @@ -76,7 +75,7 @@ def setup_onroad(click, pm: PubMaster): time.sleep(0.5) # give time for vipc server to start - IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8)) + IMG = np.zeros((int(d.fcam.width*1.5), d.fcam.height), dtype=np.uint8) IMG_BYTES = IMG.flatten().tobytes() cams = ('roadCameraState', 'wideRoadCameraState') diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py index ddff46c5d..10900b60f 100644 --- a/tools/webcam/camera.py +++ b/tools/webcam/camera.py @@ -1,6 +1,4 @@ -# TODO: remove the cv2 dependency, it's only used here -import cv2 as cv -import numpy as np +import av class Camera: def __init__(self, cam_type_state, stream_type, camera_id): @@ -12,23 +10,19 @@ class Camera: self.stream_type = stream_type self.cur_frame_id = 0 - self.cap = cv.VideoCapture(camera_id) - self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH) - self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT) + self.container = av.open(camera_id) + self.video_stream = self.container.streams.video[0] + self.W = self.video_stream.codec_context.width + self.H = self.video_stream.codec_context.height @classmethod def bgr2nv12(self, bgr): - yuv = cv.cvtColor(bgr, cv.COLOR_BGR2YUV_I420) - uv_row_cnt = yuv.shape[0] // 3 - uv_plane = np.transpose(yuv[uv_row_cnt * 2:].reshape(2, -1), [1, 0]) - yuv[uv_row_cnt * 2:] = uv_plane.reshape(uv_row_cnt, -1) - return yuv + frame = av.VideoFrame.from_ndarray(bgr, format='bgr24') + return frame.reformat(format='nv12').to_ndarray() def read_frames(self): - while True: - sts , frame = self.cap.read() - if not sts: - break - yuv = Camera.bgr2nv12(frame) + for frame in self.container.decode(self.video_stream): + img = frame.to_rgb().to_ndarray()[:,:, ::-1] # convert to bgr24 + yuv = Camera.bgr2nv12(img) yield yuv.data.tobytes() - self.cap.release() + self.container.close() From 4fbac089f81079595df9852eace44cea9de3dd03 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Jul 2024 15:38:38 -0700 Subject: [PATCH 126/180] docs: fix nested structure (#33114) * docs: fix nested structure * test ci * that too * update that * not common mark anymore --- .github/workflows/docs.yaml | 5 ++-- .gitignore | 4 +++- docs/.gitignore | 1 - docs/{README.md => README} | 0 docs/{docs => }/car-porting/brand-port.md | 0 docs/{docs => }/car-porting/model-port.md | 0 .../car-porting/what-is-a-car-port.md | 0 docs/{docs => }/contributing/architecture.md | 0 docs/{docs => }/contributing/roadmap.md | 1 + .../getting-started/what-is-openpilot.md | 0 docs/{docs => }/how-to/connect-to-comma.md | 0 docs/{docs => }/how-to/turn-the-speed-blue.md | 0 docs/{docs => }/index.md | 0 docs/mkdocs.yml => mkdocs.yml | 7 +++--- pyproject.toml | 3 +-- uv.lock | 24 ------------------- 16 files changed, 11 insertions(+), 34 deletions(-) delete mode 100644 docs/.gitignore rename docs/{README.md => README} (100%) rename docs/{docs => }/car-porting/brand-port.md (100%) rename docs/{docs => }/car-porting/model-port.md (100%) rename docs/{docs => }/car-porting/what-is-a-car-port.md (100%) rename docs/{docs => }/contributing/architecture.md (100%) rename docs/{docs => }/contributing/roadmap.md (99%) rename docs/{docs => }/getting-started/what-is-openpilot.md (100%) rename docs/{docs => }/how-to/connect-to-comma.md (100%) rename docs/{docs => }/how-to/turn-the-speed-blue.md (100%) rename docs/{docs => }/index.md (100%) rename docs/mkdocs.yml => mkdocs.yml (95%) diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index 7fe4263db..33f61173f 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -29,8 +29,7 @@ jobs: - name: Build docs run: | # TODO: can we install just the "docs" dependency group without the normal deps? - pip install mkdocs==1.4.3 mkdocs-terminal mkdocs-plugin-commonmark - cd docs + pip install mkdocs mkdocs-terminal mkdocs build # Push to docs.comma.ai @@ -52,7 +51,7 @@ jobs: git rm -rf . # copy over docs - cp -r ../docs/site/ docs/ + cp -r ../docs_site/ docs/ # GitHub pages config touch docs/.nojekyll diff --git a/.gitignore b/.gitignore index ac61591bf..d66823bb5 100644 --- a/.gitignore +++ b/.gitignore @@ -14,6 +14,8 @@ model2.png a.out .hypothesis +/docs_site/ + *.dylib *.DSYM *.d @@ -102,4 +104,4 @@ Pipfile ### VisualStudioCode Patch ### # Ignore all local history of files .history -.ionide \ No newline at end of file +.ionide diff --git a/docs/.gitignore b/docs/.gitignore deleted file mode 100644 index 46ff2463e..000000000 --- a/docs/.gitignore +++ /dev/null @@ -1 +0,0 @@ -/site/ diff --git a/docs/README.md b/docs/README similarity index 100% rename from docs/README.md rename to docs/README diff --git a/docs/docs/car-porting/brand-port.md b/docs/car-porting/brand-port.md similarity index 100% rename from docs/docs/car-porting/brand-port.md rename to docs/car-porting/brand-port.md diff --git a/docs/docs/car-porting/model-port.md b/docs/car-porting/model-port.md similarity index 100% rename from docs/docs/car-porting/model-port.md rename to docs/car-porting/model-port.md diff --git a/docs/docs/car-porting/what-is-a-car-port.md b/docs/car-porting/what-is-a-car-port.md similarity index 100% rename from docs/docs/car-porting/what-is-a-car-port.md rename to docs/car-porting/what-is-a-car-port.md diff --git a/docs/docs/contributing/architecture.md b/docs/contributing/architecture.md similarity index 100% rename from docs/docs/contributing/architecture.md rename to docs/contributing/architecture.md diff --git a/docs/docs/contributing/roadmap.md b/docs/contributing/roadmap.md similarity index 99% rename from docs/docs/contributing/roadmap.md rename to docs/contributing/roadmap.md index 0f536cb51..22622a7a9 100644 --- a/docs/docs/contributing/roadmap.md +++ b/docs/contributing/roadmap.md @@ -1,6 +1,7 @@ # Roadmap This is the roadmap for the next major openpilot releases. Also check out + * [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases * [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases * [Bounties](https://comma.ai/bounties) for paid individual issues diff --git a/docs/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md similarity index 100% rename from docs/docs/getting-started/what-is-openpilot.md rename to docs/getting-started/what-is-openpilot.md diff --git a/docs/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md similarity index 100% rename from docs/docs/how-to/connect-to-comma.md rename to docs/how-to/connect-to-comma.md diff --git a/docs/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md similarity index 100% rename from docs/docs/how-to/turn-the-speed-blue.md rename to docs/how-to/turn-the-speed-blue.md diff --git a/docs/docs/index.md b/docs/index.md similarity index 100% rename from docs/docs/index.md rename to docs/index.md diff --git a/docs/mkdocs.yml b/mkdocs.yml similarity index 95% rename from docs/mkdocs.yml rename to mkdocs.yml index 82db49714..3eb02aac8 100644 --- a/docs/mkdocs.yml +++ b/mkdocs.yml @@ -1,12 +1,13 @@ site_name: openpilot docs -docs_dir: docs repo_url: https://github.com/commaai/openpilot/ site_url: https://docs.comma.ai strict: true +docs_dir: docs +site_dir: docs_site/ -plugins: - - commonmark +#plugins: +# - commonmark theme: name: terminal diff --git a/pyproject.toml b/pyproject.toml index dd801994f..456e8a8cd 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -68,9 +68,8 @@ dependencies = [ docs = [ "Jinja2", "natsort", - "mkdocs==1.4.3", # needed for mkdocs-plugin-commonmark + "mkdocs", "mkdocs-terminal", - "mkdocs-plugin-commonmark", ] testing = [ diff --git a/uv.lock b/uv.lock index fa5c36467..980797805 100644 --- a/uv.lock +++ b/uv.lock @@ -1114,15 +1114,6 @@ dependencies = [ { name = "yapf" }, ] -[[distribution]] -name = "mistletoe" -version = "1.4.0" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/11/96/ea46a376a7c4cd56955ecdfff0ea68de43996a4e6d1aee4599729453bd11/mistletoe-1.4.0.tar.gz", hash = "sha256:1630f906e5e4bbe66fdeb4d29d277e2ea515d642bb18a9b49b136361a9818c9d", size = 107203 } -wheels = [ - { url = "https://files.pythonhosted.org/packages/2a/0f/b5e545f0c7962be90366af3418989b12cf441d9da1e5d89d88f2f3e5cf8f/mistletoe-1.4.0-py3-none-any.whl", hash = "sha256:44a477803861de1237ba22e375c6b617690a31d2902b47279d1f8f7ed498a794", size = 51304 }, -] - [[distribution]] name = "mkdocs" version = "1.4.3" @@ -1144,20 +1135,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/42/7a/5ed794942ace9d00bb77a8036c64c999cda6ebaab57e9b8a6ec1aa5fc900/mkdocs-1.4.3-py3-none-any.whl", hash = "sha256:6ee46d309bda331aac915cd24aab882c179a933bd9e77b80ce7d2eaaa3f689dd", size = 3654464 }, ] -[[distribution]] -name = "mkdocs-plugin-commonmark" -version = "0.0.4" -source = { registry = "https://pypi.org/simple" } -dependencies = [ - { name = "markdown" }, - { name = "mistletoe" }, - { name = "mkdocs" }, -] -sdist = { url = "https://files.pythonhosted.org/packages/fa/a1/4aaa744deec61d75dbe3c67c18f6e4c1fa7699bc2661b6eff5f891e83023/mkdocs-plugin-commonmark-0.0.4.tar.gz", hash = "sha256:9034507af26646e95188a130782dd07d65c86507fddd3b47ea340c02683e85e7", size = 10805 } -wheels = [ - { url = "https://files.pythonhosted.org/packages/f9/4a/4333ef1eb57ff130c7715ba0847dbdae471d153d94507004c92c591cb3c5/mkdocs_plugin_commonmark-0.0.4-py3-none-any.whl", hash = "sha256:70a33394d86a04ec97877ca1b2dff6181de3ec01ef4c7add178fa45b327da535", size = 12532 }, -] - [[distribution]] name = "mkdocs-terminal" version = "4.4.0" @@ -1484,7 +1461,6 @@ dev = [ docs = [ { name = "jinja2" }, { name = "mkdocs" }, - { name = "mkdocs-plugin-commonmark" }, { name = "mkdocs-terminal" }, { name = "natsort" }, ] From 691b948ad02a20e507d5059707f8cde51a94a703 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Jul 2024 16:07:39 -0700 Subject: [PATCH 127/180] docs: readthedocs theme (#33116) * docs: read the docs theme * nav depth --- .github/workflows/docs.yaml | 2 +- docs/how-to/connect-to-comma.md | 4 ++-- docs/how-to/turn-the-speed-blue.md | 4 ++-- mkdocs.yml | 10 +++------- pyproject.toml | 1 - uv.lock | 30 ------------------------------ 6 files changed, 8 insertions(+), 43 deletions(-) diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml index 33f61173f..26b60ffec 100644 --- a/.github/workflows/docs.yaml +++ b/.github/workflows/docs.yaml @@ -29,7 +29,7 @@ jobs: - name: Build docs run: | # TODO: can we install just the "docs" dependency group without the normal deps? - pip install mkdocs mkdocs-terminal + pip install mkdocs mkdocs build # Push to docs.comma.ai diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md index 53460ac99..d9c0c701c 100644 --- a/docs/how-to/connect-to-comma.md +++ b/docs/how-to/connect-to-comma.md @@ -51,14 +51,14 @@ Host ssh.comma.ai IdentityFile ~/.ssh/my_github_key ``` -## One-off connection +### One-off connection ``` ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff ``` (Replace `ffffffffffffffff` with your dongle_id) -## ssh.comma.ai host key fingerprint +### ssh.comma.ai host key fingerprint ``` Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4 diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md index f76e9e489..643023fdf 100644 --- a/docs/how-to/turn-the-speed-blue.md +++ b/docs/how-to/turn-the-speed-blue.md @@ -86,13 +86,13 @@ git commit -m "Make the speed blue." git push --set-upstream origin master ``` -### 6. Run your fork on device in your car! +## 6. Run your fork on device in your car! Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer: ``` installer.comma.ai//master ``` -### 7. Admire your work IRL +## 7. Admire your work IRL ![](https://blog.comma.ai/img/c3_blue_ui.jpg) diff --git a/mkdocs.yml b/mkdocs.yml index 3eb02aac8..b9a901c4d 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -6,13 +6,9 @@ strict: true docs_dir: docs site_dir: docs_site/ -#plugins: -# - commonmark - theme: - name: terminal - features: - - navigation.side.toc.hide + name: readthedocs + navigation_depth: 3 nav: - Getting Started: @@ -27,7 +23,7 @@ nav: - Contributing: - Roadmap: contributing/roadmap.md #- Architecture: contributing/architecture.md - - Contributing →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md + - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md - Links: - Blog →: https://blog.comma.ai - Bounties →: https://comma.ai/bounties diff --git a/pyproject.toml b/pyproject.toml index 456e8a8cd..86eb08fa1 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -69,7 +69,6 @@ docs = [ "Jinja2", "natsort", "mkdocs", - "mkdocs-terminal", ] testing = [ diff --git a/uv.lock b/uv.lock index 980797805..a08ad9c4b 100644 --- a/uv.lock +++ b/uv.lock @@ -1135,22 +1135,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/42/7a/5ed794942ace9d00bb77a8036c64c999cda6ebaab57e9b8a6ec1aa5fc900/mkdocs-1.4.3-py3-none-any.whl", hash = "sha256:6ee46d309bda331aac915cd24aab882c179a933bd9e77b80ce7d2eaaa3f689dd", size = 3654464 }, ] -[[distribution]] -name = "mkdocs-terminal" -version = "4.4.0" -source = { registry = "https://pypi.org/simple" } -dependencies = [ - { name = "jinja2" }, - { name = "markdown" }, - { name = "mkdocs" }, - { name = "pygments" }, - { name = "pymdown-extensions" }, -] -sdist = { url = "https://files.pythonhosted.org/packages/b3/a4/afa8826c3d6971f3e93cb3669936b25579314fef2a4d648fe72729c9675f/mkdocs_terminal-4.4.0.tar.gz", hash = "sha256:d72b87b3d0edf470695811cb56c440a43b0387212590a5dfb2f26861c6e518d7", size = 619482 } -wheels = [ - { url = "https://files.pythonhosted.org/packages/93/65/7973dfe5ae03dd83a5a4e203b542ebacb16fd0c796e3f93f3cb98c3ffcc2/mkdocs_terminal-4.4.0-py3-none-any.whl", hash = "sha256:b2c94dc651c840e9762a1040d39371a31cc7482f7768e619e317419ebae4e40e", size = 641788 }, -] - [[distribution]] name = "mouseinfo" version = "0.1.3" @@ -1461,7 +1445,6 @@ dev = [ docs = [ { name = "jinja2" }, { name = "mkdocs" }, - { name = "mkdocs-terminal" }, { name = "natsort" }, ] testing = [ @@ -1899,19 +1882,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/4c/31/85a58625edc0b6967fe0904c9d89d019bcece3f3e3bf775b9151a8cf9d0d/pylibsrtp-0.10.0-cp38-abi3-win_amd64.whl", hash = "sha256:cd965d4b0e9a77b362526cab119f4d9ce39b83f1f20f46c6af8e694b86fa19a7", size = 1448840 }, ] -[[distribution]] -name = "pymdown-extensions" -version = "10.4" -source = { registry = "https://pypi.org/simple" } -dependencies = [ - { name = "markdown" }, - { name = "pyyaml" }, -] -sdist = { url = "https://files.pythonhosted.org/packages/85/71/5f48080bde77b07ca1eba6d7cb5c5598ac6c8f2a399846159b3c8b45e171/pymdown_extensions-10.4.tar.gz", hash = "sha256:bc46f11749ecd4d6b71cf62396104b4a200bad3498cb0f5dad1b8502fe461a35", size = 785151 } -wheels = [ - { url = "https://files.pythonhosted.org/packages/98/2d/2929de81618c7213176899dd6372d6ec9c8f24337841dd74634fb69864ae/pymdown_extensions-10.4-py3-none-any.whl", hash = "sha256:cfc28d6a09d19448bcbf8eee3ce098c7d17ff99f7bd3069db4819af181212037", size = 240838 }, -] - [[distribution]] name = "pymonctl" version = "0.92" From 5ebc65f254f66ff13c679f9f699a92458c41aa8a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 28 Jul 2024 16:38:38 -0700 Subject: [PATCH 128/180] docs: add concepts section --- docs/concepts/glossary.md | 8 ++++++++ system/loggerd/README.md => docs/concepts/logs.md | 13 ++++++------- docs/concepts/safety.md | 1 + docs/how-to/replay-a-drive.md | 14 ++++++++++++++ mkdocs.yml | 4 ++++ 5 files changed, 33 insertions(+), 7 deletions(-) create mode 100644 docs/concepts/glossary.md rename system/loggerd/README.md => docs/concepts/logs.md (86%) create mode 120000 docs/concepts/safety.md create mode 100644 docs/how-to/replay-a-drive.md diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md new file mode 100644 index 000000000..46e8e834d --- /dev/null +++ b/docs/concepts/glossary.md @@ -0,0 +1,8 @@ +# openpilot glossary + +* **route**: +* **segment**: routes are split into one minute chunks called segments. +* **panda**: this is . See the repo. +* **onroad**: +* **offroad**: +* **comma 3X**: diff --git a/system/loggerd/README.md b/docs/concepts/logs.md similarity index 86% rename from system/loggerd/README.md rename to docs/concepts/logs.md index 714e4242a..46ab2897d 100644 --- a/system/loggerd/README.md +++ b/docs/concepts/logs.md @@ -1,10 +1,8 @@ -# loggerd +# Logging openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge. -Check out our [python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot. - -## log types +Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot. For each segment, openpilot records the following log types: @@ -15,9 +13,10 @@ rlogs contain all the messages passed amongst openpilot's processes. See [cereal ## {f,e,d}camera.hevc Each camera stream is H.265 encoded and written to its respective file. -* fcamera.hevc is the road camera -* ecamera.hevc is the wide road camera -* dcamera.hevc is the driver camera + +* `fcamera.hevc` is the road camera +* `ecamera.hevc` is the wide road camera +* `dcamera.hevc` is the driver camera ## qlog.bz2 & qcamera.ts diff --git a/docs/concepts/safety.md b/docs/concepts/safety.md new file mode 120000 index 000000000..f286ad4b1 --- /dev/null +++ b/docs/concepts/safety.md @@ -0,0 +1 @@ +../SAFETY.md \ No newline at end of file diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md new file mode 100644 index 000000000..084b6bf82 --- /dev/null +++ b/docs/how-to/replay-a-drive.md @@ -0,0 +1,14 @@ +# Replay + +Replaying is a critical tool for openpilot development and debugging. + +## Replaying a route +*Hardware required: none* + +Just run `tools/replay/replay --demo`. + +## Replaying CAN data +*Hardware required: jungle and comma 3/3X* + +1. Connect your PC to a jungle. +2. diff --git a/mkdocs.yml b/mkdocs.yml index b9a901c4d..8778e2886 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -16,6 +16,10 @@ nav: - How-to: - Turn the speed blue: how-to/turn-the-speed-blue.md - Connect to a comma 3/3X: how-to/connect-to-comma.md + #- Replay a drive: how-to/replay-a-drive.md + - Concepts: + - Logs: concepts/logs.md + - Safety: concepts/safety.md - Car Porting: - What is a car port?: car-porting/what-is-a-car-port.md - Porting a car brand: car-porting/brand-port.md From 1ae3adbe13cc4e9d4049b9c5e5cb398ede93f001 Mon Sep 17 00:00:00 2001 From: commaci-public <60409688+commaci-public@users.noreply.github.com> Date: Mon, 29 Jul 2024 10:24:05 -0700 Subject: [PATCH 129/180] [bot] Update Python packages and pre-commit hooks (#33122) Update Python packages and pre-commit hooks Co-authored-by: Vehicle Researcher --- .pre-commit-config.yaml | 4 ++-- uv.lock | 50 +++++++++++++++++++++++++++++++---------- 2 files changed, 40 insertions(+), 14 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 10939f428..a7a537908 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -33,7 +33,7 @@ repos: - 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"control", "dictdiffer", "flaky", "inputs", diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py index 4d0e41805..f666f875a 100644 --- a/selfdrive/controls/lib/tests/test_vehicle_model.py +++ b/selfdrive/controls/lib/tests/test_vehicle_model.py @@ -2,7 +2,6 @@ import pytest import math import numpy as np -from control import StateSpace from openpilot.selfdrive.car.honda.interface import CarInterface from openpilot.selfdrive.car.honda.values import CAR @@ -47,8 +46,12 @@ class TestVehicleModel: A, B = create_dyn_state_matrices(u, self.VM) # Convert to discrete time system - ss = StateSpace(A, B, np.eye(2), np.zeros((2, 2))) - ss = ss.sample(0.01) + dt = 0.01 + top = np.hstack((A, B)) + full = np.vstack((top, np.zeros_like(top))) * dt + Md = sum([np.linalg.matrix_power(full, k) / math.factorial(k) for k in range(25)]) + Ad = Md[:A.shape[0], :A.shape[1]] + Bd = Md[:A.shape[0], A.shape[1]:] for sa in np.linspace(math.radians(-20), math.radians(20), num=11): inp = np.array([[sa], [roll]]) @@ -56,7 +59,7 @@ class TestVehicleModel: # Simulate for 1 second x1 = np.zeros((2, 1)) for _ in range(100): - x1 = ss.A @ x1 + ss.B @ inp + x1 = Ad @ x1 + Bd @ inp # Compute steady state solution directly x2 = dyn_ss_sol(sa, u, roll, self.VM) diff --git a/uv.lock b/uv.lock index 089c16464..2913075f5 100644 --- a/uv.lock +++ b/uv.lock @@ -369,20 +369,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/78/38/a046bb0ebce6f530175d434e7364149e338ffe1069ee286ed8ba7f6481ee/contourpy-1.2.1-cp312-cp312-win_amd64.whl", hash = "sha256:1a07fc092a4088ee952ddae19a2b2a85757b923217b7eed584fdf25f53a6e7ce", size = 189901 }, ] -[[distribution]] -name = "control" -version = "0.10.0" -source = { registry = "https://pypi.org/simple" } -dependencies = [ - { name = "matplotlib" }, - { name = "numpy" }, - { name = "scipy" }, -] -sdist = { url = "https://files.pythonhosted.org/packages/ee/64/02fedcf78b070571f5e446efb55b7ec82b68187323402b99b6f98f769530/control-0.10.0.tar.gz", hash = "sha256:2c18b767537f45c7fd07b2e4afe8fbe5964019499b5f52f888edb5d8560bab53", size = 8956376 } -wheels = [ - { url = "https://files.pythonhosted.org/packages/4d/de/327ab576657cb6bd5678e5d4fa266f3c4c7094e99df2bb7760e89176772d/control-0.10.0-py3-none-any.whl", hash = "sha256:ed1e0eb73f1e2945fc9af9d7b9121ef328fe980e7903b2a14b149d4f1855a808", size = 513858 }, -] - [[distribution]] name = "coverage" version = "7.6.0" @@ -1439,7 +1425,6 @@ dev = [ { name = "av" }, { name = "azure-identity" }, { name = "azure-storage-blob" }, - { name = "control" }, { name = "dictdiffer" }, { name = "flaky" }, { name = "hexdump" }, From 606890cba5ca8c65391abebba505fc211ca1e6b4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 29 Jul 2024 12:32:51 -0700 Subject: [PATCH 131/180] [bot] Fingerprints: add missing FW versions from new users (#33123) Export fingerprints --- selfdrive/car/hyundai/fingerprints.py | 3 ++- selfdrive/car/toyota/fingerprints.py | 1 + 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 5f959bd68..6c7480a15 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -712,6 +712,7 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00DEhe SCC F-CUP 1.00 1.02 99110-G5100 ', + b'\xf1\x00DEhe SCC FHCUP 1.00 1.02 99110-G5100 ', b'\xf1\x00DEhe SCC H-CUP 1.01 1.02 96400-G5100 ', ], }, @@ -764,8 +765,8 @@ FW_VERSIONS = { b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', ], (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180', + b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 37c69b54f..a7ea14f20 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -650,6 +650,7 @@ FW_VERSIONS = { (Ecu.dsu, 0x791, None): [ b'881510E01100\x00\x00\x00\x00', b'881510E01200\x00\x00\x00\x00', + b'881510E02100\x00\x00\x00\x00', b'881510E02200\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ From 2728c95b0d8f95faca4c1ee11a77a050f0d1c5fb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 30 Jul 2024 04:43:31 +0800 Subject: [PATCH 132/180] uploader.py: ensure proper resource management with io.BytesIO (#33108) * ensure proper resource management with io.BytesIO * improve --- system/loggerd/uploader.py | 11 ++++------- 1 file changed, 4 insertions(+), 7 deletions(-) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index d984936e8..965d74bef 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -9,7 +9,6 @@ import time import traceback import datetime import zstandard as zstd -from typing import BinaryIO from collections.abc import Iterator from cereal import log @@ -152,14 +151,12 @@ class Uploader: return FakeResponse() with open(fn, "rb") as f: - data: BinaryIO + content = f.read() if key.endswith('.zst') and not fn.endswith('.zst'): - compressed = zstd.compress(f.read(), LOG_COMPRESSION_LEVEL) - data = io.BytesIO(compressed) - else: - data = f + content = zstd.compress(content, LOG_COMPRESSION_LEVEL) - return requests.put(url, data=data, headers=headers, timeout=10) + with io.BytesIO(content) as data: + return requests.put(url, data=data, headers=headers, timeout=10) def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: try: From 7d6ff19dead7a9bee819a143eb4c8a929a9e28fd Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Mon, 29 Jul 2024 23:46:13 +0300 Subject: [PATCH 133/180] update mac_setup.sh brew install (#33131) --- tools/mac_setup.sh | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 282121ef1..3465747a5 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -22,16 +22,16 @@ fi # Install brew if required if [[ $(command -v brew) == "" ]]; then echo "Installing Homebrew" - /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)" + /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)" echo "[ ] installed brew t=$SECONDS" # make brew available now if [[ $ARCH == "x86_64" ]]; then - echo 'eval "$(/usr/local/homebrew/bin/brew shellenv)"' >> $RC_FILE - eval "$(/usr/local/homebrew/bin/brew shellenv)" + echo 'eval "$(/usr/local/bin/brew shellenv)"' >> $RC_FILE + eval "$(/usr/local/bin/brew shellenv)" else - echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE - eval "$(/opt/homebrew/bin/brew shellenv)" + echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE + eval "$(/opt/homebrew/bin/brew shellenv)" fi fi From ade13722cd10261696c7b49e7a6e4f6d65f1b74e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 30 Jul 2024 04:48:06 +0800 Subject: [PATCH 134/180] replay: add support for decompressing ZST log files (#32910) * Add Support for Decompressing ZST Log Files * 2 space and check magic number * match BZ2 --------- Co-authored-by: Shane Smiskol --- tools/cabana/SConscript | 2 +- tools/install_ubuntu_dependencies.sh | 1 + tools/replay/SConscript | 2 +- tools/replay/logreader.cc | 10 ++++++-- tools/replay/route.cc | 4 +-- tools/replay/util.cc | 37 +++++++++++++++++++++++++++- tools/replay/util.h | 2 ++ 7 files changed, 51 insertions(+), 7 deletions(-) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index ba4a14245..04b768dc6 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -15,7 +15,7 @@ else: qt_libs = ['qt_util'] + base_libs cabana_env = qt_env.Clone() -cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs +cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath) cabana_env['CXXFLAGS'] += [opendbc_path] diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 4373760ce..67b28fa28 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -46,6 +46,7 @@ function install_ubuntu_common_requirements() { libssl-dev \ libusb-1.0-0-dev \ libzmq3-dev \ + libzstd-dev \ libsqlite3-dev \ libsystemd-dev \ locales \ diff --git a/tools/replay/SConscript b/tools/replay/SConscript index cf9d74a89..1f966d437 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -12,7 +12,7 @@ else: replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks) Export('replay_lib') -replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + base_libs +replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) if GetOption('extras'): diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index 9b726e067..415b8c0b5 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -4,11 +4,17 @@ #include #include "tools/replay/filereader.h" #include "tools/replay/util.h" +#include "common/util.h" bool LogReader::load(const std::string &url, std::atomic *abort, bool local_cache, int chunk_size, int retries) { std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort); - if (!data.empty() && url.find(".bz2") != std::string::npos) - data = decompressBZ2(data, abort); + if (!data.empty()) { + if (url.find(".bz2") != std::string::npos || util::starts_with(data, "BZh9")) { + data = decompressBZ2(data, abort); + } else if (url.find(".zst") != std::string::npos || util::starts_with(data, "\x28\xB5\x2F\xFD")) { + data = decompressZST(data, abort); + } + } bool success = !data.empty() && load(data.data(), data.size(), abort); if (filters_.empty()) diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 716b02961..c1e65526c 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -122,9 +122,9 @@ void Route::addFileToSegment(int n, const QString &file) { const int pos = name.lastIndexOf("--"); name = pos != -1 ? name.mid(pos + 2) : name; - if (name == "rlog.bz2" || name == "rlog") { + if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") { segments_[n].rlog = file; - } else if (name == "qlog.bz2" || name == "qlog") { + } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") { segments_[n].qlog = file; } else if (name == "fcamera.hevc") { segments_[n].road_cam = file; diff --git a/tools/replay/util.cc b/tools/replay/util.cc index aaf73749d..81e87b7dd 100644 --- a/tools/replay/util.cc +++ b/tools/replay/util.cc @@ -15,6 +15,7 @@ #include #include #include +#include #include "common/timing.h" #include "common/util.h" @@ -300,7 +301,7 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic if (bzerror == BZ_OK && prev_write_pos == strm.next_out) { // content is corrupt bzerror = BZ_STREAM_END; - rWarning("decompressBZ2 error : content is corrupt"); + rWarning("decompressBZ2 error: content is corrupt"); break; } @@ -318,6 +319,40 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic return {}; } +std::string decompressZST(const std::string &in, std::atomic *abort) { + return decompressZST((std::byte *)in.data(), in.size(), abort); +} + +std::string decompressZST(const std::byte *in, size_t in_size, std::atomic *abort) { + ZSTD_DCtx *dctx = ZSTD_createDCtx(); + assert(dctx != nullptr); + + // Initialize input and output buffers + ZSTD_inBuffer input = {in, in_size, 0}; + std::string decompressedData; + const size_t bufferSize = ZSTD_DStreamOutSize(); // recommended output buffer size + std::string outputBuffer(bufferSize, '\0'); + + while (input.pos < input.size && !(abort && *abort)) { + ZSTD_outBuffer output = {outputBuffer.data(), bufferSize, 0}; + + size_t result = ZSTD_decompressStream(dctx, &output, &input); + if (ZSTD_isError(result)) { + rWarning("decompressZST error: content is corrupt"); + break; + } + + decompressedData.append(outputBuffer.data(), output.pos); + } + + ZSTD_freeDCtx(dctx); + if (!(abort && *abort)) { + decompressedData.shrink_to_fit(); + return decompressedData; + } + return {}; +} + void precise_nano_sleep(int64_t nanoseconds, std::atomic &should_exit) { struct timespec req, rem; req.tv_sec = nanoseconds / 1000000000; diff --git a/tools/replay/util.h b/tools/replay/util.h index 97516e181..c3b016c39 100644 --- a/tools/replay/util.h +++ b/tools/replay/util.h @@ -40,6 +40,8 @@ std::string sha256(const std::string &str); void precise_nano_sleep(int64_t nanoseconds, std::atomic &should_exit); std::string decompressBZ2(const std::string &in, std::atomic *abort = nullptr); std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic *abort = nullptr); +std::string decompressZST(const std::string &in, std::atomic *abort = nullptr); +std::string decompressZST(const std::byte *in, size_t in_size, std::atomic *abort = nullptr); std::string getUrlWithoutQuery(const std::string &url); size_t getRemoteFileSize(const std::string &url, std::atomic *abort = nullptr); std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic *abort = nullptr); From 43dcddc68b5ac132f3d2a1b0adeea9af60ee541e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 29 Jul 2024 14:44:03 -0700 Subject: [PATCH 135/180] qlog: remove mag and less CAN --- cereal/services.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal/services.py b/cereal/services.py index 7d73374df..f7aaa377a 100755 --- a/cereal/services.py +++ b/cereal/services.py @@ -16,13 +16,13 @@ _services: dict[str, tuple] = { "gyroscope2": (True, 100., 100), "accelerometer": (True, 104., 104), "accelerometer2": (True, 100., 100), - "magnetometer": (True, 25., 25), + "magnetometer": (True, 25.), "lightSensor": (True, 100., 100), "temperatureSensor": (True, 2., 200), "temperatureSensor2": (True, 2., 200), "gpsNMEA": (True, 9.), "deviceState": (True, 2., 1), - "can": (True, 100., 1223), # decimation gives ~5 msgs in a full segment + "can": (True, 100., 2053), # decimation gives ~3 msgs in a full segment "controlsState": (True, 100., 10), "pandaStates": (True, 10., 1), "peripheralState": (True, 2., 1), From 6e185f4eea470fe56fc6a33de9e81779f70941ab Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 29 Jul 2024 17:12:05 -0700 Subject: [PATCH 136/180] process_replay: regenerate locationd logs (#33134) * Filter out non-relevant services in most_messages_valid check * Set as comprehension * Update segments * Update ref commit * New check for hyundai2 --- .../test/process_replay/process_replay.py | 4 ++ selfdrive/test/process_replay/ref_commit | 2 +- .../test/process_replay/test_processes.py | 37 ++++++++++--------- 3 files changed, 24 insertions(+), 19 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index eae6abfaa..70ed745ba 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -819,11 +819,15 @@ def check_openpilot_enabled(msgs: LogIterable) -> bool: def check_most_messages_valid(msgs: LogIterable, threshold: float = 0.9) -> bool: + relevant_services = {sock for cfg in CONFIGS for sock in cfg.subs} msgs_counts = Counter(msg.which() for msg in msgs) msgs_valid_counts = Counter(msg.which() for msg in msgs if msg.valid) most_valid_for_service = {} for msg_type in msgs_counts.keys(): + if msg_type not in relevant_services: + continue + valid_share = msgs_valid_counts.get(msg_type, 0) / msgs_counts[msg_type] ok = valid_share >= threshold if not ok: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 02e4b997a..1349e2650 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3942de8e75caa7a99828e65c3396abd94d6b3da7 +949909bd80599698c1307b3304010456dded6a15 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 3bd58dfac..7fbe93343 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -41,23 +41,23 @@ source_segments = [ ] segments = [ - ("BODY", "regen29FD9FF7760|2024-05-21--06-58-51--0"), - ("HYUNDAI", "regen0B1B76A1C27|2024-05-21--06-57-53--0"), - ("HYUNDAI2", "regen3BB55FA5E20|2024-05-21--06-59-03--0"), - ("TOYOTA", "regenF6FB954C1E2|2024-05-21--06-57-53--0"), - ("TOYOTA2", "regen0AC637CE7BA|2024-05-21--06-57-54--0"), - ("TOYOTA3", "regenC7BE3FAE496|2024-05-21--06-59-01--0"), - ("HONDA", "regen58E9F8B695A|2024-05-21--06-57-55--0"), - ("HONDA2", "regen8695608EB15|2024-05-21--06-57-55--0"), - ("CHRYSLER", "regenB0F8C25C902|2024-05-21--06-59-47--0"), - ("RAM", "regenB3B2C7A105B|2024-05-21--07-00-47--0"), - ("SUBARU", "regen860FD736DCC|2024-05-21--07-00-50--0"), - ("GM", "regen8CB3048DEB9|2024-05-21--06-59-49--0"), - ("GM2", "regen379D446541D|2024-05-21--07-00-51--0"), - ("NISSAN", "regen24871108F80|2024-05-21--07-00-38--0"), - ("VOLKSWAGEN", "regenF390392F275|2024-05-21--07-00-52--0"), - ("MAZDA", "regenE5A36020581|2024-05-21--07-01-51--0"), - ("FORD", "regenDC288ED0D78|2024-05-21--07-02-18--0"), + ("BODY", "regen34ECCE11CA1|2024-07-29--22-55-10--0"), + ("HYUNDAI", "regenC713CE6FA82|2024-07-29--22-56-31--0"), + ("HYUNDAI2", "regenD81F3A374A7|2024-07-29--22-58-45--0"), + ("TOYOTA", "regenE6D76723DC2|2024-07-29--23-00-08--0"), + ("TOYOTA2", "regen198859A572C|2024-07-29--23-01-31--0"), + ("TOYOTA3", "regenDF1EB621A66|2024-07-29--23-03-49--0"), + ("HONDA", "regen0FE7C4758B5|2024-07-29--23-05-14--0"), + ("HONDA2", "regen510A1F60E60|2024-07-29--23-06-39--0"), + ("CHRYSLER", "regenDACF082E83B|2024-07-29--23-08-01--0"), + ("RAM", "regen8BFB7E62F52|2024-07-29--23-10-14--0"), + ("SUBARU", "regen4EE2D45369E|2024-07-29--23-12-31--0"), + ("GM", "regenB38D92E6A4D|2024-07-29--23-13-54--0"), + ("GM2", "regenC5488470F1A|2024-07-29--23-16-09--0"), + ("NISSAN", "regenE5400EB4689|2024-07-29--23-17-30--0"), + ("VOLKSWAGEN", "regenD0B5635A8B9|2024-07-29--23-18-54--0"), + ("MAZDA", "regen57F8511F082|2024-07-29--23-21-09--0"), + ("FORD", "regen5708620AA2E|2024-07-29--23-23-20--0"), ] # dashcamOnly makes don't need to be tested until a full port is done @@ -111,7 +111,8 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non if not check_most_messages_valid(log_msgs): return f"Route did not have enough valid messages: {new_log_path}", log_msgs - if cfg.proc_name != 'ubloxd' or segment != 'regen3BB55FA5E20|2024-05-21--06-59-03--0': + # skip this check if the segment is using qcom gps + if cfg.proc_name != 'ubloxd' or any(m.which() in cfg.pubs for m in lr): seen_msgs = {m.which() for m in log_msgs} expected_msgs = set(cfg.subs) if seen_msgs != expected_msgs: From 84cff4fc03423acde611ba29b3b2ff9436ff2580 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 29 Jul 2024 19:51:21 -0700 Subject: [PATCH 137/180] 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 --- selfdrive/locationd/helpers.py | 8 +++++ selfdrive/locationd/paramsd.py | 30 ++++++++++++++----- .../test/process_replay/process_replay.py | 4 +-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 33 insertions(+), 11 deletions(-) diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index 8f7211aeb..af8a3d372 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -4,6 +4,14 @@ from typing import Any from cereal import log +def rotate_cov(rot_matrix, cov_in): + return rot_matrix @ cov_in @ rot_matrix.T + + +def rotate_std(rot_matrix, std_in): + return np.sqrt(np.diag(rotate_cov(rot_matrix, np.diag(std_in**2)))) + + class NPQueue: def __init__(self, maxlen: int, rowsize: int) -> None: self.maxlen = maxlen diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 650ee0601..1d5749cf3 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -9,8 +9,10 @@ from cereal import car, log from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.numpy_fast import clip +from openpilot.common.transformations.orientation import rot_from_euler from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR +from openpilot.selfdrive.locationd.helpers import rotate_std from openpilot.common.swaglog import cloudlog @@ -38,6 +40,9 @@ class ParamsLearner: self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear) self.active = False + self.calibrated = False + + self.calib_from_device = np.eye(3) self.speed = 0.0 self.yaw_rate = 0.0 @@ -47,12 +52,16 @@ class ParamsLearner: self.roll_valid = False def handle_log(self, t, which, msg): - if which == 'liveLocationKalman': - self.yaw_rate = msg.angularVelocityCalibrated.value[2] - self.yaw_rate_std = msg.angularVelocityCalibrated.std[2] + if which == 'livePose': + angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z]) + angular_velocity_device_std = np.array([msg.angularVelocityDevice.xStd, msg.angularVelocityDevice.yStd, msg.angularVelocityDevice.zStd]) + angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device) + angular_velocity_calibrated_std = rotate_std(self.calib_from_device, angular_velocity_device_std) - localizer_roll = msg.orientationNED.value[0] - localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0] + self.yaw_rate, self.yaw_rate_std = angular_velocity_calibrated[2], angular_velocity_calibrated_std[2] + + localizer_roll = msg.orientationNED.x + localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.xStd) else msg.orientationNED.xStd self.roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK if self.roll_valid: roll = localizer_roll @@ -64,7 +73,7 @@ class ParamsLearner: roll_std = np.radians(10.0) self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA) - yaw_rate_valid = msg.angularVelocityCalibrated.valid + yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrated yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10 # rad/s yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1 # rad/s @@ -91,6 +100,11 @@ class ParamsLearner: self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]])) self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]])) + elif which == 'liveCalibration': + self.calibrated = msg.calStatus == log.LiveCalibrationData.Status.calibrated + device_from_calib = rot_from_euler(np.array(msg.rpyCalib)) + self.calib_from_device = device_from_calib.T + elif which == 'carState': self.steering_angle = msg.steeringAngleDeg self.speed = msg.vEgo @@ -123,7 +137,7 @@ def main(): REPLAY = bool(int(os.getenv("REPLAY", "0"))) pm = messaging.PubMaster(['liveParameters']) - sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll='liveLocationKalman') + sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose') params_reader = Params() # wait for stats about the car to come in from controls @@ -188,7 +202,7 @@ def main(): t = sm.logMonoTime[which] * 1e-9 learner.handle_log(t, which, sm[which]) - if sm.updated['liveLocationKalman']: + if sm.updated['livePose']: x = learner.kf.x P = np.sqrt(learner.kf.P.diagonal()) if not all(map(math.isfinite, x)): diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 70ed745ba..84669a8bf 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -539,11 +539,11 @@ CONFIGS = [ ), ProcessConfig( proc_name="paramsd", - pubs=["liveLocationKalman", "carState"], + pubs=["livePose", "liveCalibration", "carState"], subs=["liveParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, - should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"), + should_recv_callback=FrequencyBasedRcvCallback("livePose"), tolerance=NUMPY_TOLERANCE, processing_time=0.004, ), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1349e2650..4da168c27 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -949909bd80599698c1307b3304010456dded6a15 \ No newline at end of file +3e8feca20cd64f6a05dcbbdc0ace04a8c12bf86d \ No newline at end of file From 11cb2d3a0b3f820bb32c3de6f7ec1d2a52687f8a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 29 Jul 2024 20:13:43 -0700 Subject: [PATCH 138/180] qlog_size.py: use zstd (#33137) qlog_size: use zstd --- selfdrive/debug/internal/qlog_size.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py index 7dc61ed9d..11606c758 100755 --- a/selfdrive/debug/internal/qlog_size.py +++ b/selfdrive/debug/internal/qlog_size.py @@ -1,11 +1,12 @@ #!/usr/bin/env python3 import argparse -import bz2 +import zstandard as zstd from collections import defaultdict import matplotlib.pyplot as plt from cereal.services import SERVICE_LIST +from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL from openpilot.tools.lib.logreader import LogReader from tqdm import tqdm @@ -17,14 +18,14 @@ def make_pie(msgs, typ): for m in msgs: msgs_by_type[m.which()].append(m.as_builder().to_bytes()) - total = len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs]))) + total = len(zstd.compress(b"".join([m.as_builder().to_bytes() for m in msgs]), LOG_COMPRESSION_LEVEL)) uncompressed_total = len(b"".join([m.as_builder().to_bytes() for m in msgs])) length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()} # calculate compressed size by calculating diff when removed from the segment compressed_length_by_type = {} for k in tqdm(msgs_by_type.keys(), desc="Compressing"): - compressed_length_by_type[k] = total - len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k]))) + compressed_length_by_type[k] = total - len(zstd.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k]), LOG_COMPRESSION_LEVEL)) sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1]) From 86d8d1d99617a0808e0a17031965a056cdc5a1b8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Mon, 29 Jul 2024 20:20:31 -0700 Subject: [PATCH 139/180] torqued: use livePose (#33136) * Use livePose * Replace it in process replay * Add liveCalibration to messages * Update ref commit --- selfdrive/locationd/torqued.py | 19 ++++++++++++++----- .../test/process_replay/process_replay.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 17 insertions(+), 8 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index e0784eb8e..edcf42ebc 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -8,6 +8,7 @@ from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, DT_MDL from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.swaglog import cloudlog +from openpilot.common.transformations.orientation import rot_from_euler from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator @@ -77,6 +78,8 @@ class TorqueEstimator(ParameterEstimator): self.offline_friction = CP.lateralTuning.torque.friction self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor + self.calib_from_device = np.eye(3) + self.reset() initial_params = { @@ -171,12 +174,18 @@ class TorqueEstimator(ParameterEstimator): # TODO: check if high aEgo affects resulting lateral accel self.raw_points["vego"].append(msg.vEgo) self.raw_points["steer_override"].append(msg.steeringPressed) + elif which == "liveCalibration": + device_from_calib = rot_from_euler(np.array(msg.rpyCalib)) + self.calib_from_device = device_from_calib.T # calculate lateral accel from past steering torque - elif which == "liveLocationKalman": + elif which == "livePose": if len(self.raw_points['steer_torque']) == self.hist_len: - yaw_rate = msg.angularVelocityCalibrated.value[2] - roll = msg.orientationNED.value[0] + angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z]) + angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device) + + yaw_rate = angular_velocity_calibrated[2] + roll = msg.orientationNED.x # check lat active up to now (without lag compensation) lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL), self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool) @@ -233,7 +242,7 @@ def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) - sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman') + sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose') params = Params() estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)) @@ -246,7 +255,7 @@ def main(demo=False): t = sm.logMonoTime[which] * 1e-9 estimator.handle_log(t, which, sm[which]) - # 4Hz driven by liveLocationKalman + # 4Hz driven by livePose if sm.frame % 5 == 0: pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks())) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 84669a8bf..1731bf2e1 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -390,7 +390,7 @@ def calibration_rcv_callback(msg, cfg, frame): def torqued_rcv_callback(msg, cfg, frame): # should_recv always true to increment frame - return (frame - 1) == 0 or msg.which() == 'liveLocationKalman' + return (frame - 1) == 0 or msg.which() == 'livePose' def dmonitoringmodeld_rcv_callback(msg, cfg, frame): @@ -555,7 +555,7 @@ CONFIGS = [ ), ProcessConfig( proc_name="torqued", - pubs=["liveLocationKalman", "carState", "carControl", "carOutput"], + pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"], subs=["liveTorqueParameters"], ignore=["logMonoTime"], init_callback=get_car_params_callback, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4da168c27..3af1f282f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3e8feca20cd64f6a05dcbbdc0ace04a8c12bf86d \ No newline at end of file +7eb60abe8030b97f79f858315d67d080704733f7 \ No newline at end of file From dfd387520e88fa68f0485b6ce8dcf5befa82bafa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jul 2024 01:46:03 -0700 Subject: [PATCH 140/180] process replay: use zst (#33138) * test * update refs to zst * update --- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/regen.py | 4 ++-- selfdrive/test/process_replay/test_processes.py | 4 ++-- tools/lib/logreader.py | 4 +++- 4 files changed, 8 insertions(+), 6 deletions(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3af1f282f..a85e8919c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7eb60abe8030b97f79f858315d67d080704733f7 \ No newline at end of file +6ca7313b9c1337fad1334d9e087cb4984fdce74d \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index fe33443b4..e87b8347e 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -74,7 +74,7 @@ def setup_data_readers( assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera." frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx]) else: - lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2") + lr = LogReader(f"{route}/{sidx}/r") frs = {} if needs_road_cam: frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc") @@ -118,7 +118,7 @@ def regen_and_save( log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime())) rel_log_dir = os.path.relpath(log_dir) - rpath = os.path.join(log_dir, "rlog.bz2") + rpath = os.path.join(log_dir, "rlog.zst") os.makedirs(log_dir) save_log(rpath, output_logs, compress=True) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 7fbe93343..84a19aa0a 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -198,11 +198,11 @@ if __name__ == "__main__": if cfg.proc_name not in tested_procs: continue - cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2") + cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst") if args.update_refs: # reference logs will not exist if routes were just regenerated ref_log_path = get_url(*segment.rsplit("--", 1)) else: - ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2") + ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst") ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) dat = None if args.upload_only else log_data[segment] diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 0f0059614..50c14ce4c 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -30,8 +30,10 @@ RawLogIterable = Iterable[bytes] def save_log(dest, log_msgs, compress=True): dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) - if compress: + if compress and dest.endswith(".bz2"): dat = bz2.compress(dat) + elif compress and dest.endswith(".zst"): + dat = zstd.compress(dat, 10) with open(dest, "wb") as f: f.write(dat) From 4e73b76a12f867dc7a831e811c33a8458e705f4c Mon Sep 17 00:00:00 2001 From: Andrei Radulescu Date: Tue, 30 Jul 2024 20:34:46 +0300 Subject: [PATCH 141/180] fix multiprocessing issue with can_replay.py on macOS (#33139) fix multiprocessing issue with can_replay.py on mac --- tools/replay/can_replay.py | 25 ++++++++++++------------- 1 file changed, 12 insertions(+), 13 deletions(-) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 3ab33a1df..9b76edde1 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -80,6 +80,17 @@ def connect(): time.sleep(1) +def process(lr): + return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + +def load_route(route_or_segment_name): + print("Loading log...") + sr = LogReader(route_or_segment_name) + CP = sr.first("carParams") + print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'") + CAN_MSGS = sr.run_across_segments(24, process) + print("Finished loading...") + return CAN_MSGS if __name__ == "__main__": parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.", @@ -87,22 +98,10 @@ if __name__ == "__main__": parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.") args = parser.parse_args() - def process(lr): - return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] - - print("Loading log...") if args.route_or_segment_name is None: args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/1:3" - sr = LogReader(args.route_or_segment_name) - - CP = sr.first("carParams") - - print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'") - - CAN_MSGS = sr.run_across_segments(24, process) - - print("Finished loading...") + CAN_MSGS = load_route(args.route_or_segment_name) if ENABLE_PWR: print(f"Cycling power: on for {PWR_ON}s, off for {PWR_OFF}s") From 0b29db5c3eed58eaaea746beb0079e3542075407 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 30 Jul 2024 13:03:34 -0700 Subject: [PATCH 142/180] add roadmap to readme --- README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 8ebc733e6..9772ad646 100644 --- a/README.md +++ b/README.md @@ -9,7 +9,9 @@

- Read the docs + Docs + · + Roadmap · Contribute · From 9536dd07c6b0f972db70b344ae2f676e031ea038 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 30 Jul 2024 13:11:05 -0700 Subject: [PATCH 143/180] unpin numpy (#33132) * unlock numpy * remove old cache * sheel * lock * remove temp * depends * export * put this back * use __version__ * move this --------- Co-authored-by: quebec --- SConstruct | 5 +++-- pyproject.toml | 2 +- selfdrive/controls/lib/lateral_mpc_lib/SConscript | 3 ++- selfdrive/controls/lib/longitudinal_mpc_lib/SConscript | 3 ++- site_scons/site_tools/cython.py | 3 +++ uv.lock | 6 +++--- 6 files changed, 14 insertions(+), 8 deletions(-) diff --git a/SConstruct b/SConstruct index fb5c43c9a..47f2db966 100644 --- a/SConstruct +++ b/SConstruct @@ -229,7 +229,7 @@ env = Environment( COMPILATIONDB_USE_ABSPATH=True, REDNOSE_ROOT="#", tools=["default", "cython", "compilation_db", "rednose_filter"], - toolpath=["#rednose_repo/site_scons/site_tools"], + toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"], ) if arch == "Darwin": @@ -268,7 +268,8 @@ if arch == "Darwin": else: envCython["LINKFLAGS"] = ["-pthread", "-shared"] -Export('envCython') +np_version = SCons.Script.Value(np.__version__) +Export('envCython', 'np_version') # Qt build environment qt_env = env.Clone() diff --git a/pyproject.toml b/pyproject.toml index 4c1e13443..1473cf570 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -26,7 +26,7 @@ dependencies = [ "pycapnp", "Cython", "setuptools", - "numpy < 2.0.0", # control does not support numpy 2 + "numpy", # body / webrtcd "aiohttp", diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript index 73242cb8f..2c03da06a 100644 --- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript +++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python') +Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version') gen = "c_generated_code" @@ -88,3 +88,4 @@ lenv2.Command(libacados_ocp_solver_c, f' {acados_ocp_solver_pyx.get_labspath()}') lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c]) lenv2.Depends(lib_cython, lib_solver) +lenv2.Depends(libacados_ocp_solver_c, np_version) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 592c1c2c2..fc1e844d5 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python') +Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version') gen = "c_generated_code" @@ -94,3 +94,4 @@ lenv2.Command(libacados_ocp_solver_c, f' {acados_ocp_solver_pyx.get_labspath()}') lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c]) lenv2.Depends(lib_cython, lib_solver) +lenv2.Depends(libacados_ocp_solver_c, np_version) diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py index c29147553..f11db1d71 100644 --- a/site_scons/site_tools/cython.py +++ b/site_scons/site_tools/cython.py @@ -2,14 +2,17 @@ import re import SCons from SCons.Action import Action from SCons.Scanner import Scanner +import numpy as np pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M) pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M) cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M) +np_version = SCons.Script.Value(np.__version__) def pyx_scan(node, env, path, arg=None): contents = node.get_text_contents() + env.Depends(str(node).split('.')[0] + env['CYTHONCFILESUFFIX'], np_version) # from cimport ... matches = pyx_from_import_re.findall(contents) diff --git a/uv.lock b/uv.lock index 2913075f5..ded3ddec7 100644 --- a/uv.lock +++ b/uv.lock @@ -4977,11 +4977,11 @@ wheels = [ [[distribution]] name = "setuptools" -version = "71.1.0" +version = "72.1.0" source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/32/c0/5b8013b5a812701c72e3b1e2b378edaa6514d06bee6704a5ab0d7fa52931/setuptools-71.1.0.tar.gz", hash = "sha256:032d42ee9fb536e33087fb66cac5f840eb9391ed05637b3f2a76a7c8fb477936", size = 2422233 } +sdist = { url = "https://files.pythonhosted.org/packages/5e/11/487b18cc768e2ae25a919f230417983c8d5afa1b6ee0abd8b6db0b89fa1d/setuptools-72.1.0.tar.gz", hash = "sha256:8d243eff56d095e5817f796ede6ae32941278f542e0f941867cc05ae52b162ec", size = 2419487 } wheels = [ - { url = "https://files.pythonhosted.org/packages/51/a0/ee460cc54e68afcf33190d198299c9579a5eafeadef0016ae8563237ccb6/setuptools-71.1.0-py3-none-any.whl", hash = "sha256:33874fdc59b3188304b2e7c80d9029097ea31627180896fb549c578ceb8a0855", size = 2341722 }, + { url = "https://files.pythonhosted.org/packages/e1/58/e0ef3b9974a04ce9cde2a7a33881ddcb2d68450803745804545cdd8d258f/setuptools-72.1.0-py3-none-any.whl", hash = "sha256:5a03e1860cf56bb6ef48ce186b0e557fdba433237481a9a625176c2831be15d1", size = 2337965 }, ] [[distribution]] From 086dcfe715985447fa33f120d16a496309718ba2 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Tue, 30 Jul 2024 13:57:42 -0700 Subject: [PATCH 144/180] docs: fix README.md (#33142) * md * Update README.md * rename * exclude * Update README.md --- docs/{README => README.md} | 22 +++++++++++++--------- mkdocs.yml | 2 ++ 2 files changed, 15 insertions(+), 9 deletions(-) rename docs/{README => README.md} (59%) diff --git a/docs/README b/docs/README.md similarity index 59% rename from docs/README rename to docs/README.md index a16c77253..08dd4fa8b 100644 --- a/docs/README +++ b/docs/README.md @@ -3,20 +3,24 @@ This is the source for [docs.comma.ai](https://docs.comma.ai). The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml). -## development -``` -# install the docs dependencies +## Development +NOTE: Those commands must be run in the root directory of openpilot, **not /docs** + +**1. Install the docs dependencies** +``` bash pip install .[docs] +``` -cd docs/ - -# for a development server -mkdocs serve - -# build the site +**2. Build the new site** +``` bash mkdocs build ``` +**3. Run the new site locally** +``` bash +mkdocs serve +``` + References: * https://www.mkdocs.org/getting-started/ * https://github.com/ntno/mkdocs-terminal diff --git a/mkdocs.yml b/mkdocs.yml index 8778e2886..743b8fa1b 100644 --- a/mkdocs.yml +++ b/mkdocs.yml @@ -2,6 +2,8 @@ site_name: openpilot docs repo_url: https://github.com/commaai/openpilot/ site_url: https://docs.comma.ai +exclude_docs: README.md + strict: true docs_dir: docs site_dir: docs_site/ From 0fe143e4a75e7657f4d815a5616fc29f70de5ad5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jul 2024 14:07:47 -0700 Subject: [PATCH 145/180] test_onroad: lower lower log size bound --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index e29e241da..27feb344f 100644 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -207,7 +207,7 @@ class TestOnroad: if f.name == "qcamera.ts": assert 2.15 < sz < 2.35 elif f.name == "qlog": - assert 0.45 < sz < 0.55 + assert 0.4 < sz < 0.55 elif f.name == "rlog": assert 5 < sz < 50 elif f.name.endswith('.hevc'): From 0739d79a512965abbe22f0b15c7fddcdd71478d0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jul 2024 14:27:27 -0700 Subject: [PATCH 146/180] cars: remove some external imports (#33133) * ford and gm * clean that up * also this * honda * temp fix * move into selfdrive.car * clean up * more --- .importlinter | 3 --- selfdrive/car/__init__.py | 21 +++++++++++++++++++++ selfdrive/car/ford/carcontroller.py | 2 +- selfdrive/car/gm/interface.py | 3 +-- selfdrive/car/honda/carcontroller.py | 3 +-- selfdrive/car/interfaces.py | 4 ++-- selfdrive/controls/lib/drive_helpers.py | 23 +---------------------- 7 files changed, 27 insertions(+), 32 deletions(-) diff --git a/.importlinter b/.importlinter index 594d75ee4..f77ea24b3 100644 --- a/.importlinter +++ b/.importlinter @@ -33,9 +33,6 @@ ignore_imports = openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog openpilot.selfdrive.car.car_helpers -> openpilot.system.version - openpilot.selfdrive.car.ford.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers - openpilot.selfdrive.car.gm.interface -> openpilot.selfdrive.controls.lib.drive_helpers - openpilot.selfdrive.car.honda.carcontroller -> openpilot.selfdrive.controls.lib.drive_helpers openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 6f3bde7f0..b685c6a43 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -166,6 +166,27 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra return above_limit_frames, request +def apply_center_deadzone(error, deadzone): + if (error > - deadzone) and (error < deadzone): + error = 0. + return error + + +def rate_limit(new_value, last_value, dw_step, up_step): + return clip(new_value, last_value + dw_step, last_value + up_step) + + +def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, + torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float: + friction_interp = interp( + apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), + [-friction_threshold, friction_threshold], + [-torque_params.friction, torque_params.friction] + ) + friction = float(friction_interp) if friction_compensation else 0.0 + return friction + + def make_can_msg(addr, dat, bus): return [addr, 0, dat, bus] diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 7be3b2ebe..36589f34e 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -5,10 +5,10 @@ from openpilot.selfdrive.car import apply_std_steer_angle_limits from openpilot.selfdrive.car.ford import fordcan from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags from openpilot.selfdrive.car.interfaces import CarControllerBase -from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert +V_CRUISE_MAX = 145 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw): diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index d08805048..1d4a6066c 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -6,11 +6,10 @@ from panda import Panda from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV -from openpilot.selfdrive.car import create_button_events, get_safety_config +from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel -from openpilot.selfdrive.controls.lib.drive_helpers import get_friction ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 66bd50048..dc42c41e6 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -3,11 +3,10 @@ from collections import namedtuple from cereal import car from openpilot.common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import DT_CTRL +from openpilot.selfdrive.car import DT_CTRL, rate_limit from openpilot.selfdrive.car.honda import hondacan from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams from openpilot.selfdrive.car.interfaces import CarControllerBase -from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 9f1b65015..d37e171da 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -13,9 +13,9 @@ from openpilot.common.basedir import BASEDIR from openpilot.common.conversions import Conversions as CV from openpilot.common.simple_kalman import KF1D, get_kalman_gain from openpilot.common.numpy_fast import clip -from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG +from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG from openpilot.selfdrive.car.values import PLATFORMS -from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction +from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index bd7405137..4c111a4fd 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -2,7 +2,7 @@ import math from cereal import car, log from openpilot.common.conversions import Conversions as CV -from openpilot.common.numpy_fast import clip, interp +from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL # WARNING: this value was determined based on the model's training distribution, @@ -141,16 +141,6 @@ class VCruiseHelper: self.v_cruise_cluster_kph = self.v_cruise_kph -def apply_center_deadzone(error, deadzone): - if (error > - deadzone) and (error < deadzone): - error = 0. - return error - - -def rate_limit(new_value, last_value, dw_step, up_step): - return clip(new_value, last_value + dw_step, last_value + up_step) - - def clip_curvature(v_ego, prev_curvature, new_curvature): v_ego = max(MIN_SPEED, v_ego) max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 @@ -161,17 +151,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature): return safe_desired_curvature -def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, - torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float: - friction_interp = interp( - apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), - [-friction_threshold, friction_threshold], - [-torque_params.friction, torque_params.friction] - ) - friction = float(friction_interp) if friction_compensation else 0.0 - return friction - - def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float: # ToDo: Try relative error, and absolute speed if len(modelV2.temporalPose.trans): From 76fd5b00f1f169013334e06031e6b063c16cf5a5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 30 Jul 2024 14:29:48 -0700 Subject: [PATCH 147/180] CI: increase shm size to 2G --- .github/workflows/badges.yaml | 2 +- .github/workflows/selfdrive_tests.yaml | 2 +- .github/workflows/tools_tests.yaml | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index cf8bdc710..f8d2fc3cf 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -7,7 +7,7 @@ on: env: BASE_IMAGE: openpilot-base DOCKER_REGISTRY: ghcr.io/commaai - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c + RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c jobs: badges: diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a17863432..bfad6e1e7 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -25,7 +25,7 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c + RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 908555639..271e4bda1 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -21,7 +21,7 @@ env: BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c + RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c jobs: From 661ef03a24171addba79b69bb14867425f5a9474 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jul 2024 15:18:26 -0700 Subject: [PATCH 148/180] Ford: add long controls todo --- selfdrive/car/ford/carcontroller.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 36589f34e..09bba4656 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -92,6 +92,7 @@ class CarController(CarControllerBase): if not CC.longActive or gas < CarControllerParams.MIN_GAS: gas = CarControllerParams.INACTIVE_GAS stopping = CC.actuators.longControlState == LongCtrlState.stopping + # TODO: look into using the actuators packet to send the desired speed can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX)) ### ui ### From b6d124d268ec705585e49d4ba84a316810e3b2b8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jul 2024 18:09:22 -0700 Subject: [PATCH 149/180] tester present msgs: use helper (#33147) use helper --- selfdrive/car/__init__.py | 11 +++++++++++ selfdrive/car/ecu_addrs.py | 13 ++----------- selfdrive/car/honda/carcontroller.py | 4 ++-- selfdrive/car/hyundai/carcontroller.py | 6 +++--- selfdrive/car/subaru/carcontroller.py | 4 ++-- selfdrive/car/toyota/carcontroller.py | 4 ++-- 6 files changed, 22 insertions(+), 20 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index b685c6a43..87d43831e 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -7,6 +7,7 @@ from dataclasses import replace import capnp from cereal import car +from panda.python.uds import SERVICE_TYPE from openpilot.common.numpy_fast import clip, interp from openpilot.common.utils import Freezable from openpilot.selfdrive.car.docs_definitions import CarDocs @@ -191,6 +192,16 @@ def make_can_msg(addr, dat, bus): return [addr, 0, dat, bus] +def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False): + dat = [0x02, SERVICE_TYPE.TESTER_PRESENT] + if subaddr is not None: + dat.insert(0, subaddr) + dat.append(0x80 if suppress_response else 0x0) # sub-function + + dat.extend([0x0] * (8 - len(dat))) + return make_can_msg(addr, bytes(dat), bus) + + def get_safety_config(safety_model, safety_param = None): ret = car.CarParams.SafetyConfig.new_message() ret.safetyModel = safety_model diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 0fd4bbd0b..0ff827593 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -4,21 +4,12 @@ import time import cereal.messaging as messaging from panda.python.uds import SERVICE_TYPE -from openpilot.selfdrive.car import make_can_msg +from openpilot.selfdrive.car import make_tester_present_msg from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType from openpilot.selfdrive.pandad import can_list_to_can_capnp from openpilot.common.swaglog import cloudlog -def _make_tester_present_msg(addr, bus, subaddr=None): - dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0] - if subaddr is not None: - dat.insert(0, subaddr) - - dat.extend([0x0] * (8 - len(dat))) - return make_can_msg(addr, bytes(dat), bus) - - def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool: # ISO-TP messages are always padded to 8 bytes # tester present response is always a single frame @@ -44,7 +35,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]: ecu_responses: set[EcuAddrBusType] = set() # set((addr, subaddr, bus),) try: - msgs = [_make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] + msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] messaging.drain_sock_raw(logcan) sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan')) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index dc42c41e6..84ccf29d1 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -3,7 +3,7 @@ from collections import namedtuple from cereal import car from openpilot.common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import DT_CTRL, rate_limit +from openpilot.selfdrive.car import DT_CTRL, rate_limit, make_tester_present_msg from openpilot.selfdrive.car.honda import hondacan from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams from openpilot.selfdrive.car.interfaces import CarControllerBase @@ -164,7 +164,7 @@ class CarController(CarControllerBase): # tester present - w/ no response (keeps radar disabled) if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl: if self.frame % 10 == 0: - can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1)) + can_sends.append(make_tester_present_msg(0x18DAB0F1, 1, suppress_response=True)) # Send steering command. can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint, diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 3d7768a83..75aeb0efd 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -2,7 +2,7 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance +from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR @@ -96,11 +96,11 @@ class CarController(CarControllerBase): addr, bus = 0x7d0, 0 if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: addr, bus = 0x730, self.CAN.ECAN - can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus]) + can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True)) # for blinkers if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: - can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN]) + can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True)) # CAN-FD platforms if self.CP.carFingerprint in CANFD_CAR: diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index d89ae8c63..3e1b62c97 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,6 +1,6 @@ from openpilot.common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker -from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance +from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.car.subaru import subarucan from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags @@ -124,7 +124,7 @@ class CarController(CarControllerBase): if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT: # Tester present (keeps eyesight disabled) if self.frame % 100 == 0: - can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera]) + can_sends.append(make_tester_present_msg(GLOBAL_ES_ADDR, CanBus.camera, suppress_response=True)) # Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled if self.frame % 5 == 0: diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index f9b7a478e..ea71dd536 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -1,6 +1,6 @@ from cereal import car from openpilot.common.numpy_fast import clip -from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg +from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, make_can_msg, make_tester_present_msg from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.car.toyota import toyotacan from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ @@ -166,7 +166,7 @@ class CarController(CarControllerBase): # keep radar disabled if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value: - can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0]) + can_sends.append(make_tester_present_msg(0x750, 0, 0xF)) new_actuators = actuators.as_builder() new_actuators.steer = apply_steer / self.params.STEER_MAX From 42f2601416bcb53c25e24b899131e66ee00177b8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jul 2024 21:26:58 -0700 Subject: [PATCH 150/180] deprecate busTime (#33146) * deprecate busTime * bump * do car can + more * forgot some * bump opendbc * fix that too * bump --- cereal/log.capnp | 2 +- opendbc | 2 +- panda | 2 +- selfdrive/car/__init__.py | 2 +- selfdrive/car/ford/fordcan.py | 2 +- selfdrive/car/gm/gmcan.py | 2 +- selfdrive/car/hyundai/hyundaican.py | 6 +++--- selfdrive/car/isotp_parallel_query.py | 8 ++++---- selfdrive/car/nissan/nissancan.py | 2 +- selfdrive/car/subaru/subarucan.py | 2 +- selfdrive/car/tesla/teslacan.py | 6 +++--- selfdrive/car/tests/test_models.py | 2 +- selfdrive/controls/tests/test_startup.py | 4 ++-- selfdrive/pandad/__init__.py | 2 +- selfdrive/pandad/can_list_to_can_capnp.cc | 1 - selfdrive/pandad/panda.cc | 1 - selfdrive/pandad/panda.h | 1 - selfdrive/pandad/pandad.cc | 1 - selfdrive/pandad/pandad_api_impl.pyx | 6 ++---- system/webrtc/tests/test_stream_session.py | 2 +- tools/cabana/streams/pandastream.cc | 1 - 21 files changed, 25 insertions(+), 32 deletions(-) diff --git a/cereal/log.capnp b/cereal/log.capnp index d849f4840..dcf9463ac 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -336,9 +336,9 @@ enum LaneChangeDirection { struct CanData { address @0 :UInt32; - busTime @1 :UInt16; dat @2 :Data; src @3 :UInt8; + busTimeDEPRECATED @1 :UInt16; } struct DeviceState @0xa4d8b5af2aa492eb { diff --git a/opendbc b/opendbc index cff2af8ff..8e9d36884 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit cff2af8ff8690466109f56be62129ebfb85cd5dc +Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715 diff --git a/panda b/panda index f6375848c..8c3bb0151 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit f6375848ca393a9483921665b6a2d131d7ec9b20 +Subproject commit 8c3bb0151e8907ade344ccb293d58cd543e28baa diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 87d43831e..28ec4ad18 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -189,7 +189,7 @@ def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, fric def make_can_msg(addr, dat, bus): - return [addr, 0, dat, bus] + return [addr, dat, bus] def make_tester_present_msg(addr, bus, subaddr=None, suppress_response=False): diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 2cfd61a19..46d09ec22 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -112,7 +112,7 @@ def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path } # calculate checksum - dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2] + dat = packer.make_can_msg("LateralMotionControl2", 0, values)[1] values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat) return packer.make_can_msg("LateralMotionControl2", CAN.main, values) diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index e833e7763..a70bcccd0 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -64,7 +64,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop): "GasRegenAlwaysOne3": 1, } - dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[2] + dat = packer.make_can_msg("ASCMGasRegenCmd", bus, values)[1] values["GasRegenChecksum"] = (((0xff - dat[1]) & 0xff) << 16) | \ (((0xff - dat[2]) & 0xff) << 8) | \ ((0x100 - dat[3] - idx) & 0xff) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index b4b951f89..d2002e23e 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -77,7 +77,7 @@ def create_lkas11(packer, frame, CP, apply_steer, steer_req, # Genesis and Optima fault when forwarding while engaged values["CF_Lkas_LdwsActivemode"] = 2 - dat = packer.make_can_msg("LKAS11", 0, values)[2] + dat = packer.make_can_msg("LKAS11", 0, values)[1] if CP.flags & HyundaiFlags.CHECKSUM_CRC8: # CRC Checksum as seen on 2019 Hyundai Santa Fe @@ -156,7 +156,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se scc12_values["CF_VSM_ConfMode"] = 1 scc12_values["AEB_Status"] = 1 # AEB disabled - scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2] + scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[1] scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10 commands.append(packer.make_can_msg("SCC12", 0, scc12_values)) @@ -181,7 +181,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se "FCA_DrvSetStatus": 1, "FCA_Status": 1, # AEB disabled } - fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2] + fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[1] fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7]) commands.append(packer.make_can_msg("FCA11", 0, fca11_values)) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 447c7093c..b5158f212 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -27,7 +27,7 @@ class IsoTpParallelQuery: assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}" self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs} - self.msg_buffer: dict[int, list[tuple[int, int, bytes, int]]] = defaultdict(list) + self.msg_buffer: dict[int, list[tuple[int, bytes, int]]] = defaultdict(list) def rx(self): """Drain can socket and sort messages into buffers based on address""" @@ -36,11 +36,11 @@ class IsoTpParallelQuery: for packet in can_packets: for msg in packet.can: if msg.src == self.bus and msg.address in self.msg_addrs.values(): - self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src)) + self.msg_buffer[msg.address].append((msg.address, msg.dat, msg.src)) def _can_tx(self, tx_addr, dat, bus): """Helper function to send single message""" - msg = [tx_addr, 0, dat, bus] + msg = [tx_addr, dat, bus] self.sendcan.send(can_list_to_can_capnp([msg], msgtype='sendcan')) def _can_rx(self, addr, sub_addr=None): @@ -53,7 +53,7 @@ class IsoTpParallelQuery: # Filter based on subadress msgs = [] for m in self.msg_buffer[addr]: - first_byte = m[2][0] + first_byte = m[1][0] if first_byte == sub_addr: msgs.append(m) else: diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py index b9a1b4f84..28fb01d7e 100644 --- a/selfdrive/car/nissan/nissancan.py +++ b/selfdrive/car/nissan/nissancan.py @@ -15,7 +15,7 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu "LKA_ACTIVE": steer_on, } - dat = packer.make_can_msg("LKAS", 0, values)[2] + dat = packer.make_can_msg("LKAS", 0, values)[1] values["CHECKSUM"] = nissan_checksum(dat[:7]) return packer.make_can_msg("LKAS", 0, values) diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 86d39ff88..41bd177ff 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -279,7 +279,7 @@ def create_es_static_2(packer): # *** Subaru Pre-global *** def subaru_preglobal_checksum(packer, values, addr, checksum_byte=7): - dat = packer.make_can_msg(addr, 0, values)[2] + dat = packer.make_can_msg(addr, 0, values)[1] return (sum(dat[:checksum_byte]) + sum(dat[checksum_byte+1:])) % 256 diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py index 6bb27b995..f8cd138e7 100644 --- a/selfdrive/car/tesla/teslacan.py +++ b/selfdrive/car/tesla/teslacan.py @@ -25,7 +25,7 @@ class TeslaCAN: "DAS_steeringControlCounter": counter, } - data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2] + data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[1] values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3]) return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values) @@ -69,7 +69,7 @@ class TeslaCAN: values["SpdCtrlLvr_Stat"] = 1 values["MC_STW_ACTN_RQ"] = counter - data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[2] + data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[1] values["CRC_STW_ACTN_RQ"] = self.crc(data[:7]) return self.packer.make_can_msg("STW_ACTN_RQ", bus, values) @@ -88,7 +88,7 @@ class TeslaCAN: } for packer, bus in [(self.packer, CANBUS.chassis), (self.pt_packer, CANBUS.powertrain)]: - data = packer.make_can_msg("DAS_control", bus, values)[2] + data = packer.make_can_msg("DAS_control", bus, values)[1] values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7]) messages.append(packer.make_can_msg("DAS_control", bus, values)) return messages diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 02e99f0b8..1d05b7c73 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -297,7 +297,7 @@ class TestCarModelBase(unittest.TestCase): now_nanos += DT_CTRL * 1e9 msgs_sent += len(sendcan) - for addr, _, dat, bus in sendcan: + for addr, dat, bus in sendcan: to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat) self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus)) diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 14b0788a3..51b9887c9 100644 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -90,7 +90,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand): managed_processes['card'].start() assert pm.wait_for_readers_to_update('can', 5) - pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) + pm.send('can', can_list_to_can_capnp([[0, b"", 0]])) assert pm.wait_for_readers_to_update('pandaStates', 5) msg = messaging.new_message('pandaStates', 1) @@ -103,7 +103,7 @@ def test_startup_alert(expected_event, car_model, fw_versions, brand): else: finger = _FINGERPRINTS[car_model][0] - msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] + msgs = [[addr, b'\x00'*length, 0] for addr, length in finger.items()] for _ in range(1000): # card waits for pandad to echo back that it has changed the multiplexing mode if not params.get_bool("ObdMultiplexingChanged"): diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py index 8081a62dd..2c80cd03c 100644 --- a/selfdrive/pandad/__init__.py +++ b/selfdrive/pandad/__init__.py @@ -6,5 +6,5 @@ def can_capnp_to_can_list(can, src_filter=None): ret = [] for msg in can: if src_filter is None or msg.src in src_filter: - ret.append((msg.address, msg.busTime, msg.dat, msg.src)) + ret.append((msg.address, msg.dat, msg.src)) return ret diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc index 9fc2648da..d73541c17 100644 --- a/selfdrive/pandad/can_list_to_can_capnp.cc +++ b/selfdrive/pandad/can_list_to_can_capnp.cc @@ -10,7 +10,6 @@ void can_list_to_can_capnp_cpp(const std::vector &can_list, std::stri for (auto it = can_list.begin(); it != can_list.end(); it++, j++) { auto c = canData[j]; c.setAddress(it->address); - c.setBusTime(it->busTime); c.setDat(kj::arrayPtr((uint8_t*)it->dat.data(), it->dat.size())); c.setSrc(it->src); } diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc index fcb4ac67a..ed5ee6250 100644 --- a/selfdrive/pandad/panda.cc +++ b/selfdrive/pandad/panda.cc @@ -257,7 +257,6 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector pandas) { auto canData = evt.initCan(raw_can_data.size()); for (uint i = 0; i Date: Tue, 30 Jul 2024 23:28:49 -0700 Subject: [PATCH 151/180] bump --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 8e9d36884..0a095bc1a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715 +Subproject commit 0a095bc1a487a8df669349cc923a9b3984219765 From 80f9278a734ad566d9484074d2f6834659ab1feb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jul 2024 23:29:46 -0700 Subject: [PATCH 152/180] Revert "bump" This reverts commit 7824074aae74ff12bd56880a690234b582535748. --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 0a095bc1a..8e9d36884 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 0a095bc1a487a8df669349cc923a9b3984219765 +Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715 From 1b6ac2d876fe3170968944722df67ee815d8cb1b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 30 Jul 2024 23:55:23 -0700 Subject: [PATCH 153/180] CarController: call to super's init (#33148) * this should be common * super! * bump * and frame is common * bump --- selfdrive/car/body/carcontroller.py | 2 +- selfdrive/car/chrysler/carcontroller.py | 3 +-- selfdrive/car/chrysler/radar_interface.py | 1 - selfdrive/car/ford/carcontroller.py | 3 +-- selfdrive/car/gm/carcontroller.py | 3 +-- selfdrive/car/honda/carcontroller.py | 3 +-- selfdrive/car/hyundai/carcontroller.py | 3 +-- selfdrive/car/interfaces.py | 4 +++- selfdrive/car/mazda/carcontroller.py | 3 +-- selfdrive/car/nissan/carcontroller.py | 3 +-- selfdrive/car/subaru/carcontroller.py | 3 +-- selfdrive/car/tesla/carcontroller.py | 3 +-- selfdrive/car/tesla/radar_interface.py | 1 - selfdrive/car/toyota/carcontroller.py | 3 +-- selfdrive/car/volkswagen/carcontroller.py | 3 +-- 15 files changed, 15 insertions(+), 26 deletions(-) diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index c45dc7f0d..0771d7a47 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -17,7 +17,7 @@ MAX_TURN_INTEGRATOR = 0.1 # meters class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.frame = 0 + super().__init__(dbc_name, CP, VM) self.packer = CANPacker(dbc_name) # PIDs diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index c9e7e2c9e..c0c03e0e0 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -7,9 +7,8 @@ from openpilot.selfdrive.car.interfaces import CarControllerBase class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP + super().__init__(dbc_name, CP, VM) self.apply_steer_last = 0 - self.frame = 0 self.hud_count = 0 self.last_lkas_falling_edge = 0 diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py index d98295842..f1d863d1e 100755 --- a/selfdrive/car/chrysler/radar_interface.py +++ b/selfdrive/car/chrysler/radar_interface.py @@ -39,7 +39,6 @@ def _address_to_track(address): class RadarInterface(RadarInterfaceBase): def __init__(self, CP): super().__init__(CP) - self.CP = CP self.rcp = _create_radar_can_parser(CP.carFingerprint) self.updated_messages = set() self.trigger_msg = LAST_MSG diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 09bba4656..d090adf69 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -25,11 +25,10 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP + super().__init__(dbc_name, CP, VM) self.VM = VM self.packer = CANPacker(dbc_name) self.CAN = fordcan.CanBus(CP) - self.frame = 0 self.apply_curvature_last = 0 self.main_on_last = False diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 013e72ad0..cac4f13ed 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -19,12 +19,11 @@ MIN_STEER_MSG_INTERVAL_MS = 15 class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP + super().__init__(dbc_name, CP, VM) self.start_time = 0. self.apply_steer_last = 0 self.apply_gas = 0 self.apply_brake = 0 - self.frame = 0 self.last_steer_frame = 0 self.last_button_frame = 0 self.cancel_counter = 0 diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 84ccf29d1..574881264 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -105,11 +105,10 @@ def rate_limit_steer(new_steer, last_steer): class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP + super().__init__(dbc_name, CP, VM) self.packer = CANPacker(dbc_name) self.params = CarControllerParams(CP) self.CAN = hondacan.CanBus(CP) - self.frame = 0 self.braking = False self.brake_steady = 0. diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 75aeb0efd..84b565f0c 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -44,12 +44,11 @@ def process_hud_alert(enabled, fingerprint, hud_control): class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP + super().__init__(dbc_name, CP, VM) self.CAN = CanBus(CP) self.params = CarControllerParams(CP) self.packer = CANPacker(dbc_name) self.angle_limit_counter = 0 - self.frame = 0 self.accel_last = 0 self.apply_steer_last = 0 diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index d37e171da..e491de3ed 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -344,6 +344,7 @@ class CarInterfaceBase(ABC): class RadarInterfaceBase(ABC): def __init__(self, CP): + self.CP = CP self.rcp = None self.pts = {} self.delay = 0 @@ -466,7 +467,8 @@ SendCan = tuple[int, int, bytes, int] class CarControllerBase(ABC): def __init__(self, dbc_name: str, CP, VM): - pass + self.CP = CP + self.frame = 0 @abstractmethod def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]: diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 3d4163487..23441a3a7 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -10,11 +10,10 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP + super().__init__(dbc_name, CP, VM) self.apply_steer_last = 0 self.packer = CANPacker(dbc_name) self.brake_counter = 0 - self.frame = 0 def update(self, CC, CS, now_nanos): can_sends = [] diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index c7bd23139..473282edf 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -10,9 +10,8 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP + super().__init__(dbc_name, CP, VM) self.car_fingerprint = CP.carFingerprint - self.frame = 0 self.lkas_max_torque = 0 self.apply_angle_last = 0 diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index 3e1b62c97..6ce006df8 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -13,9 +13,8 @@ MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP + super().__init__(dbc_name, CP, VM) self.apply_steer_last = 0 - self.frame = 0 self.cruise_button_prev = 0 self.steer_rate_counter = 0 diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index e460111e3..8ee2a2165 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -8,8 +8,7 @@ from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParam class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP - self.frame = 0 + super().__init__(dbc_name, CP, VM) self.apply_angle_last = 0 self.packer = CANPacker(dbc_name) self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt']) diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py index ae5077824..1684e42e7 100755 --- a/selfdrive/car/tesla/radar_interface.py +++ b/selfdrive/car/tesla/radar_interface.py @@ -8,7 +8,6 @@ from openpilot.selfdrive.car.interfaces import RadarInterfaceBase class RadarInterface(RadarInterfaceBase): def __init__(self, CP): super().__init__(CP) - self.CP = CP if CP.carFingerprint == CAR.TESLA_MODELS_RAVEN: messages = [('RadarStatus', 16)] diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index ea71dd536..f844b7dc4 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -27,9 +27,8 @@ MAX_LTA_DRIVER_TORQUE_ALLOWANCE = 150 # slightly above steering pressed allows class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP + super().__init__(dbc_name, CP, VM) self.params = CarControllerParams(self.CP) - self.frame = 0 self.last_steer = 0 self.last_angle = 0 self.alert_active = False diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 8e8652d3b..228900b6e 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -13,7 +13,7 @@ LongCtrlState = car.CarControl.Actuators.LongControlState class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): - self.CP = CP + super().__init__(dbc_name, CP, VM) self.CCP = CarControllerParams(CP) self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan self.packer_pt = CANPacker(dbc_name) @@ -21,7 +21,6 @@ class CarController(CarControllerBase): self.apply_steer_last = 0 self.gra_acc_counter_last = None - self.frame = 0 self.eps_timer_soft_disable_alert = False self.hca_frame_timer_running = 0 self.hca_frame_same_torque = 0 From 0dddc97dca8bf4e023b29c35cb92fd3dd0a9a3a2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 31 Jul 2024 15:24:46 +0800 Subject: [PATCH 154/180] update to new opendbc API (#32009) * use new opendbc api * export pandad_python * merge master * merge master * bump opendbc * bump opendbc * improve func * keep interface unchanged * fix test_car_interfaces * bump opendbc * bump opendbc * fix test_models * the interface now has to convert from can capnp to list, so we should include this time * goes from ~210 to ~240 mean ms real time * remoe busTime * lowercase sendcan * consistent msgtype * bump * bump * not used in lat_mpc * space * bump to master --------- Co-authored-by: Shane Smiskol --- opendbc | 2 +- selfdrive/car/interfaces.py | 4 ++- selfdrive/car/tests/test_car_interfaces.py | 3 +- selfdrive/car/tests/test_models.py | 3 +- .../lib/longitudinal_mpc_lib/SConscript | 4 +-- selfdrive/controls/radard.py | 4 +-- .../debug/check_can_parser_performance.py | 6 ++-- selfdrive/pandad/SConscript | 4 ++- selfdrive/pandad/__init__.py | 3 +- selfdrive/pandad/can_list_to_can_capnp.cc | 35 +++++++++++++++++-- selfdrive/pandad/pandad_api_impl.pyx | 29 ++++++++++++++- .../examples/subaru_long_accel.ipynb | 3 +- .../examples/subaru_steer_temp_fault.ipynb | 3 +- 13 files changed, 86 insertions(+), 17 deletions(-) diff --git a/opendbc b/opendbc index 8e9d36884..39a534592 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715 +Subproject commit 39a5345924d2414f05c40d258d359eb8412a0b03 diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e491de3ed..6ecf6daab 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -18,6 +18,7 @@ from openpilot.selfdrive.car.values import PLATFORMS from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.selfdrive.pandad import can_capnp_to_list ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter @@ -231,9 +232,10 @@ class CarInterfaceBase(ABC): def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState: # parse can + can_list = can_capnp_to_list(can_strings) for cp in self.can_parsers: if cp is not None: - cp.update_strings(can_strings) + cp.update_strings(can_list) # get CarState ret = self._update(c) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 4ca19f019..9e3c7d157 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -15,6 +15,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl +from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()} @@ -128,7 +129,7 @@ class TestCarInterfaces: # Test radar fault if not car_params.radarUnavailable and radar_interface.rcp is not None: - cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)] + cans = can_capnp_to_list([messaging.new_message('can', 1).to_bytes() for _ in range(5)]) rr = radar_interface.update(cans) assert rr is None or len(rr.errors) > 0 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 1d05b7c73..22a80f359 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -19,6 +19,7 @@ from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.car.values import Platform from openpilot.selfdrive.car.card import Car +from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source @@ -237,7 +238,7 @@ class TestCarModelBase(unittest.TestCase): # start parsing CAN messages after we've left ELM mode and can expect CAN traffic error_cnt = 0 for i, msg in enumerate(self.can_msgs[self.elm_frame:]): - rr = RI.update((msg.as_builder().to_bytes(),)) + rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) if rr is not None and i > 50: error_cnt += car.RadarData.Error.canError in rr.errors self.assertEqual(error_cnt, 0) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index fc1e844d5..22342c007 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version') +Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python', 'np_version') gen = "c_generated_code" @@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_long = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 long_mpc.py") -lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python]) +lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python, pandad_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index c3fb60c61..a7e3c0211 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -10,8 +10,8 @@ from openpilot.common.numpy_fast import interp from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process from openpilot.common.swaglog import cloudlog - from openpilot.common.simple_kalman import KF1D +from openpilot.selfdrive.pandad import can_capnp_to_list # Default lead acceleration decay set to 50% at 1s @@ -307,7 +307,7 @@ def main(): while 1: can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) - rr = RI.update(can_strings) + rr = RI.update(can_capnp_to_list(can_strings)) sm.update(0) if rr is None: continue diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py index 604a1df12..a5155f012 100755 --- a/selfdrive/debug/check_can_parser_performance.py +++ b/selfdrive/debug/check_can_parser_performance.py @@ -6,6 +6,7 @@ from tqdm import tqdm from cereal import car from openpilot.selfdrive.car.tests.routes import CarTestRoute from openpilot.selfdrive.car.tests.test_models import TestCarModelBase +from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE N_RUNS = 10 @@ -25,12 +26,13 @@ if __name__ == '__main__': CC = car.CarControl.new_message() ets = [] for _ in tqdm(range(N_RUNS)): - msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs] + msgs = [m.as_builder().to_bytes() for m in tm.can_msgs] start_t = time.process_time_ns() for msg in msgs: + can_list = can_capnp_to_list([msg]) for cp in tm.CI.can_parsers: if cp is not None: - cp.update_strings(msg) + cp.update_strings(can_list) ets.append((time.process_time_ns() - start_t) * 1e-6) print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs') diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript index 63a2c1e65..dcc1f9811 100644 --- a/selfdrive/pandad/SConscript +++ b/selfdrive/pandad/SConscript @@ -6,6 +6,8 @@ panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) -envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) +pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) +Export('pandad_python') + if GetOption('extras'): env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py index 2c80cd03c..b72c8ccb5 100644 --- a/selfdrive/pandad/__init__.py +++ b/selfdrive/pandad/__init__.py @@ -1,6 +1,7 @@ # Cython, now uses scons to build -from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list assert can_list_to_can_capnp +assert can_capnp_to_list def can_capnp_to_can_list(can, src_filter=None): ret = [] diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc index d73541c17..ad2393b98 100644 --- a/selfdrive/pandad/can_list_to_can_capnp.cc +++ b/selfdrive/pandad/can_list_to_can_capnp.cc @@ -1,11 +1,12 @@ #include "cereal/messaging/messaging.h" #include "selfdrive/pandad/panda.h" +#include "opendbc/can/common.h" -void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendCan, bool valid) { +void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendcan, bool valid) { MessageBuilder msg; auto event = msg.initEvent(valid); - auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); + auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); int j = 0; for (auto it = can_list.begin(); it != can_list.end(); it++, j++) { auto c = canData[j]; @@ -18,3 +19,33 @@ void can_list_to_can_capnp_cpp(const std::vector &can_list, std::stri kj::ArrayOutputStream output_stream(kj::ArrayPtr((unsigned char *)out.data(), msg_size)); capnp::writeMessage(output_stream, msg); } + +// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures. +void can_capnp_to_can_list_cpp(const std::vector &strings, std::vector &can_list, bool sendcan) { + AlignedBuffer aligned_buf; + can_list.reserve(strings.size()); + + for (const auto &str : strings) { + // extract the messages + capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size())); + cereal::Event::Reader event = reader.getRoot(); + + auto frames = sendcan ? event.getSendcan() : event.getCan(); + + // Add new CanData entry + CanData &can_data = can_list.emplace_back(); + can_data.nanos = event.getLogMonoTime(); + can_data.frames.reserve(frames.size()); + + // Populate CAN frames + for (const auto &frame : frames) { + CanFrame &can_frame = can_data.frames.emplace_back(); + can_frame.src = frame.getSrc(); + can_frame.address = frame.getAddress(); + + // Copy CAN data + auto dat = frame.getDat(); + can_frame.dat.assign(dat.begin(), dat.end()); + } + } +} diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx index dd3f3d702..8a12e1c43 100644 --- a/selfdrive/pandad/pandad_api_impl.pyx +++ b/selfdrive/pandad/pandad_api_impl.pyx @@ -1,8 +1,10 @@ # distutils: language = c++ # cython: language_level=3 +from cython.operator cimport dereference as deref, preincrement as preinc from libcpp.vector cimport vector from libcpp.string cimport string from libcpp cimport bool +from libc.stdint cimport uint8_t, uint32_t, uint64_t cdef extern from "panda.h": cdef struct can_frame: @@ -10,8 +12,19 @@ cdef extern from "panda.h": string dat long src +cdef extern from "opendbc/can/common.h": + cdef struct CanFrame: + long src + uint32_t address + vector[uint8_t] dat + + cdef struct CanData: + uint64_t nanos + vector[CanFrame] frames + cdef extern from "can_list_to_can_capnp.cc": - void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid) + void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid) + void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan) def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): cdef can_frame *f @@ -27,3 +40,17 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): cdef string out can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid) return out + +def can_capnp_to_list(strings, msgtype='can'): + cdef vector[CanData] data + can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan') + + result = [] + cdef CanData *d + cdef vector[CanData].iterator it = data.begin() + while it != data.end(): + d = &deref(it) + frames = [[f.address, (&f.dat[0])[:f.dat.size()], f.src] for f in d.frames] + result.append([d.nanos, frames]) + preinc(it) + return result diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb index 9d18a114d..35b92702a 100644 --- a/tools/car_porting/examples/subaru_long_accel.ipynb +++ b/tools/car_porting/examples/subaru_long_accel.ipynb @@ -24,6 +24,7 @@ "from opendbc.can.parser import CANParser\n", "\n", "from openpilot.selfdrive.car.subaru.values import DBC\n", + "from openpilot.selfdrive.pandad import can_capnp_to_list\n", "from openpilot.tools.lib.logreader import LogReader\n", "\n", "\"\"\"\n", @@ -50,7 +51,7 @@ "\n", " for msg in lr:\n", " if msg.which() == \"can\":\n", - " cp.update_strings([msg.as_builder().to_bytes()])\n", + " cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n", " es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n", " es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n", " es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n", diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb index 3d5055cbc..8b762fecb 100644 --- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb +++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb @@ -27,6 +27,7 @@ "from opendbc.can.parser import CANParser\n", "\n", "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n", + "from openpilot.selfdrive.pandad import can_capnp_to_list\n", "from openpilot.tools.lib.logreader import LogReader\n", "\n", "\"\"\"\n", @@ -50,7 +51,7 @@ " examples = []\n", "\n", " for msg in can_msgs:\n", - " cp.update_strings([msg.as_builder().to_bytes()])\n", + " cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n", " steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n", "\n", " steer_warning_last = False\n", From ac130001cc83734118524f59a83a96a2065dd56e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 31 Jul 2024 02:38:44 -0700 Subject: [PATCH 155/180] Revert "update to new opendbc API (#32009)" This reverts commit 0dddc97dca8bf4e023b29c35cb92fd3dd0a9a3a2. --- opendbc | 2 +- selfdrive/car/interfaces.py | 4 +-- selfdrive/car/tests/test_car_interfaces.py | 3 +- selfdrive/car/tests/test_models.py | 3 +- .../lib/longitudinal_mpc_lib/SConscript | 4 +-- selfdrive/controls/radard.py | 4 +-- .../debug/check_can_parser_performance.py | 6 ++-- selfdrive/pandad/SConscript | 4 +-- selfdrive/pandad/__init__.py | 3 +- selfdrive/pandad/can_list_to_can_capnp.cc | 35 ++----------------- selfdrive/pandad/pandad_api_impl.pyx | 29 +-------------- .../examples/subaru_long_accel.ipynb | 3 +- .../examples/subaru_steer_temp_fault.ipynb | 3 +- 13 files changed, 17 insertions(+), 86 deletions(-) diff --git a/opendbc b/opendbc index 39a534592..8e9d36884 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 39a5345924d2414f05c40d258d359eb8412a0b03 +Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715 diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 6ecf6daab..e491de3ed 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -18,7 +18,6 @@ from openpilot.selfdrive.car.values import PLATFORMS from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel -from openpilot.selfdrive.pandad import can_capnp_to_list ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter @@ -232,10 +231,9 @@ class CarInterfaceBase(ABC): def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState: # parse can - can_list = can_capnp_to_list(can_strings) for cp in self.can_parsers: if cp is not None: - cp.update_strings(can_list) + cp.update_strings(can_strings) # get CarState ret = self._update(c) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 9e3c7d157..4ca19f019 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -15,7 +15,6 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl -from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()} @@ -129,7 +128,7 @@ class TestCarInterfaces: # Test radar fault if not car_params.radarUnavailable and radar_interface.rcp is not None: - cans = can_capnp_to_list([messaging.new_message('can', 1).to_bytes() for _ in range(5)]) + cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)] rr = radar_interface.update(cans) assert rr is None or len(rr.errors) > 0 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 22a80f359..1d05b7c73 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -19,7 +19,6 @@ from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.car.values import Platform from openpilot.selfdrive.car.card import Car -from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source @@ -238,7 +237,7 @@ class TestCarModelBase(unittest.TestCase): # start parsing CAN messages after we've left ELM mode and can expect CAN traffic error_cnt = 0 for i, msg in enumerate(self.can_msgs[self.elm_frame:]): - rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) + rr = RI.update((msg.as_builder().to_bytes(),)) if rr is not None and i > 50: error_cnt += car.RadarData.Error.canError in rr.errors self.assertEqual(error_cnt, 0) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index 22342c007..fc1e844d5 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python', 'np_version') +Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version') gen = "c_generated_code" @@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_long = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 long_mpc.py") -lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python, pandad_python]) +lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index a7e3c0211..c3fb60c61 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -10,8 +10,8 @@ from openpilot.common.numpy_fast import interp from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process from openpilot.common.swaglog import cloudlog + from openpilot.common.simple_kalman import KF1D -from openpilot.selfdrive.pandad import can_capnp_to_list # Default lead acceleration decay set to 50% at 1s @@ -307,7 +307,7 @@ def main(): while 1: can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) - rr = RI.update(can_capnp_to_list(can_strings)) + rr = RI.update(can_strings) sm.update(0) if rr is None: continue diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py index a5155f012..604a1df12 100755 --- a/selfdrive/debug/check_can_parser_performance.py +++ b/selfdrive/debug/check_can_parser_performance.py @@ -6,7 +6,6 @@ from tqdm import tqdm from cereal import car from openpilot.selfdrive.car.tests.routes import CarTestRoute from openpilot.selfdrive.car.tests.test_models import TestCarModelBase -from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE N_RUNS = 10 @@ -26,13 +25,12 @@ if __name__ == '__main__': CC = car.CarControl.new_message() ets = [] for _ in tqdm(range(N_RUNS)): - msgs = [m.as_builder().to_bytes() for m in tm.can_msgs] + msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs] start_t = time.process_time_ns() for msg in msgs: - can_list = can_capnp_to_list([msg]) for cp in tm.CI.can_parsers: if cp is not None: - cp.update_strings(can_list) + cp.update_strings(msg) ets.append((time.process_time_ns() - start_t) * 1e-6) print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs') diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript index dcc1f9811..63a2c1e65 100644 --- a/selfdrive/pandad/SConscript +++ b/selfdrive/pandad/SConscript @@ -6,8 +6,6 @@ panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) -pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) -Export('pandad_python') - +envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) if GetOption('extras'): env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py index b72c8ccb5..2c80cd03c 100644 --- a/selfdrive/pandad/__init__.py +++ b/selfdrive/pandad/__init__.py @@ -1,7 +1,6 @@ # Cython, now uses scons to build -from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list +from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp assert can_list_to_can_capnp -assert can_capnp_to_list def can_capnp_to_can_list(can, src_filter=None): ret = [] diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc index ad2393b98..d73541c17 100644 --- a/selfdrive/pandad/can_list_to_can_capnp.cc +++ b/selfdrive/pandad/can_list_to_can_capnp.cc @@ -1,12 +1,11 @@ #include "cereal/messaging/messaging.h" #include "selfdrive/pandad/panda.h" -#include "opendbc/can/common.h" -void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendcan, bool valid) { +void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendCan, bool valid) { MessageBuilder msg; auto event = msg.initEvent(valid); - auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); + auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); int j = 0; for (auto it = can_list.begin(); it != can_list.end(); it++, j++) { auto c = canData[j]; @@ -19,33 +18,3 @@ void can_list_to_can_capnp_cpp(const std::vector &can_list, std::stri kj::ArrayOutputStream output_stream(kj::ArrayPtr((unsigned char *)out.data(), msg_size)); capnp::writeMessage(output_stream, msg); } - -// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures. -void can_capnp_to_can_list_cpp(const std::vector &strings, std::vector &can_list, bool sendcan) { - AlignedBuffer aligned_buf; - can_list.reserve(strings.size()); - - for (const auto &str : strings) { - // extract the messages - capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size())); - cereal::Event::Reader event = reader.getRoot(); - - auto frames = sendcan ? event.getSendcan() : event.getCan(); - - // Add new CanData entry - CanData &can_data = can_list.emplace_back(); - can_data.nanos = event.getLogMonoTime(); - can_data.frames.reserve(frames.size()); - - // Populate CAN frames - for (const auto &frame : frames) { - CanFrame &can_frame = can_data.frames.emplace_back(); - can_frame.src = frame.getSrc(); - can_frame.address = frame.getAddress(); - - // Copy CAN data - auto dat = frame.getDat(); - can_frame.dat.assign(dat.begin(), dat.end()); - } - } -} diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx index 8a12e1c43..dd3f3d702 100644 --- a/selfdrive/pandad/pandad_api_impl.pyx +++ b/selfdrive/pandad/pandad_api_impl.pyx @@ -1,10 +1,8 @@ # distutils: language = c++ # cython: language_level=3 -from cython.operator cimport dereference as deref, preincrement as preinc from libcpp.vector cimport vector from libcpp.string cimport string from libcpp cimport bool -from libc.stdint cimport uint8_t, uint32_t, uint64_t cdef extern from "panda.h": cdef struct can_frame: @@ -12,19 +10,8 @@ cdef extern from "panda.h": string dat long src -cdef extern from "opendbc/can/common.h": - cdef struct CanFrame: - long src - uint32_t address - vector[uint8_t] dat - - cdef struct CanData: - uint64_t nanos - vector[CanFrame] frames - cdef extern from "can_list_to_can_capnp.cc": - void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid) - void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan) + void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid) def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): cdef can_frame *f @@ -40,17 +27,3 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): cdef string out can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid) return out - -def can_capnp_to_list(strings, msgtype='can'): - cdef vector[CanData] data - can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan') - - result = [] - cdef CanData *d - cdef vector[CanData].iterator it = data.begin() - while it != data.end(): - d = &deref(it) - frames = [[f.address, (&f.dat[0])[:f.dat.size()], f.src] for f in d.frames] - result.append([d.nanos, frames]) - preinc(it) - return result diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb index 35b92702a..9d18a114d 100644 --- a/tools/car_porting/examples/subaru_long_accel.ipynb +++ b/tools/car_porting/examples/subaru_long_accel.ipynb @@ -24,7 +24,6 @@ "from opendbc.can.parser import CANParser\n", "\n", "from openpilot.selfdrive.car.subaru.values import DBC\n", - "from openpilot.selfdrive.pandad import can_capnp_to_list\n", "from openpilot.tools.lib.logreader import LogReader\n", "\n", "\"\"\"\n", @@ -51,7 +50,7 @@ "\n", " for msg in lr:\n", " if msg.which() == \"can\":\n", - " cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n", + " cp.update_strings([msg.as_builder().to_bytes()])\n", " es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n", " es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n", " es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n", diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb index 8b762fecb..3d5055cbc 100644 --- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb +++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb @@ -27,7 +27,6 @@ "from opendbc.can.parser import CANParser\n", "\n", "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n", - "from openpilot.selfdrive.pandad import can_capnp_to_list\n", "from openpilot.tools.lib.logreader import LogReader\n", "\n", "\"\"\"\n", @@ -51,7 +50,7 @@ " examples = []\n", "\n", " for msg in can_msgs:\n", - " cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n", + " cp.update_strings([msg.as_builder().to_bytes()])\n", " steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n", "\n", " steer_warning_last = False\n", From bf003f297239afd75889814da0aa9d53ab0101a1 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 31 Jul 2024 10:42:08 -0700 Subject: [PATCH 156/180] setup.sh: retry + timing (#33145) * improve * update readme * stdin * better * allow non interactive * specify dir --- README.md | 2 +- tools/op.sh | 16 +++++--- tools/setup.sh | 102 ++++++++++++++++++++++++++++++++++++++++++++----- 3 files changed, 104 insertions(+), 16 deletions(-) diff --git a/README.md b/README.md index 9772ad646..8316e5226 100644 --- a/README.md +++ b/README.md @@ -20,7 +20,7 @@ Try it on a comma 3X

-Quick start: `curl -fsSL openpilot.comma.ai | bash` +Quick start: `bash <(curl -fsSL openpilot.comma.ai)` ![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg) [![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot) diff --git a/tools/op.sh b/tools/op.sh index 8533017d8..3ebd413a7 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -181,20 +181,26 @@ function op_setup() { op_check_python echo "Installing dependencies..." + st="$(date +%s)" if [[ "$OSTYPE" == "linux-gnu"* ]]; then op_run_command $OPENPILOT_ROOT/tools/ubuntu_setup.sh elif [[ "$OSTYPE" == "darwin"* ]]; then op_run_command $OPENPILOT_ROOT/tools/mac_setup.sh fi - echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully.\n" + et="$(date +%s)" + echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully in $((et - st)) seconds.\n" echo "Getting git submodules..." - op_run_command git submodule update --jobs 4 --init --recursive - echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully.\n" + st="$(date +%s)" + op_run_command git submodule update --filter=blob:none --jobs 4 --init --recursive + et="$(date +%s)" + echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully in $((et - st)) seconds.\n" echo "Pulling git lfs files..." + st="$(date +%s)" op_run_command git lfs pull - echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully.\n" + et="$(date +%s)" + echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully in $((et - st)) seconds.\n" op_check @@ -360,7 +366,7 @@ function _op() { -d | --dir ) shift 1; OPENPILOT_ROOT="$1"; shift 1 ;; --dry ) shift 1; DRY="1" ;; -n | --no-verify ) shift 1; NO_VERIFY="1" ;; - -v | --verbose ) shift 1; VERBOSE="1" ;; + -v | --verbose ) shift 1; VERBOSE="1" ;; esac # parse Commands diff --git a/tools/setup.sh b/tools/setup.sh index 9b1ee9c0c..e770ba48a 100755 --- a/tools/setup.sh +++ b/tools/setup.sh @@ -1,7 +1,10 @@ #!/usr/bin/env bash +set -e + RED='\033[0;31m' GREEN='\033[0;32m' +BOLD='\033[1m' NC='\033[0m' if [ -z "$OPENPILOT_ROOT" ]; then @@ -9,11 +12,84 @@ if [ -z "$OPENPILOT_ROOT" ]; then OPENPILOT_ROOT="$(pwd)/openpilot" fi +function show_motd() { +cat << 'EOF' + + .~ssos+. + +8888888888i, + {888888888888o. + h8888888888888k + t888888888s888k + `t88888d/ h88k + ``` h88l + ,88k` + .d8h` + +d8h + _+d8h` + ;y8h+` + |-` + + openpilot installer + +EOF +} + +function check_stdin() { + if [ -t 0 ]; then + INTERACTIVE=1 + else + echo "Checking for valid invocation..." + echo -e " ↳ [${RED}✗${NC}] stdin not found! Running in non-interactive mode." + echo -e " Run ${BOLD}'bash <(curl -fsSL openpilot.comma.ai)'${NC} to run in interactive mode.\n" + fi +} + +function ask_dir() { + echo -n "Enter directory in which to install openpilot (default $OPENPILOT_ROOT): " + + if [[ -z $INTERACTIVE ]]; then + echo -e "\nBecause your are running in non-interactive mode, the installation" + echo -e "will default to $OPENPILOT_ROOT\n" + return 0 + fi + + read + if [[ ! -z "$REPLY" ]]; then + mkdir -p $REPLY + OPENPILOT_ROOT="$(realpath $REPLY/openpilot)" + fi +} + function check_dir() { echo "Checking for installation directory..." if [ -d "$OPENPILOT_ROOT" ]; then - echo -e " ↳ [${RED}✗${NC}] can't install openpilot in $OPENPILOT_ROOT !" - return 1 + echo -e " ↳ [${RED}✗${NC}] Installation destination $OPENPILOT_ROOT already exists!" + + # not a valid clone, can't continue + if [[ ! -z "$(ls -A $OPENPILOT_ROOT)" && ! -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then + echo -e " $OPENPILOT_ROOT already contains files but does not seems" + echo -e " to be a valid openpilot git clone. Choose another location for" + echo -e " installing openpilot!\n" + return 1 + fi + + # by default, don't try installing in already existing directory + if [[ -z $INTERACTIVE ]]; then + return 1 + fi + + read -p " Would you like to attempt installation anyway? [Y/n] " -n 1 -r + echo -e "\n" + if [[ ! $REPLY =~ ^[Yy]$ ]]; then + return 1 + fi + + # already a "valid" openpilot clone, skip cloning again + if [[ ! -z "$(ls -A $OPENPILOT_ROOT)" ]]; then + SKIP_GIT_CLONE=1 + fi + + return 0 fi echo -e " ↳ [${GREEN}✔${NC}] Successfully chosen $OPENPILOT_ROOT as installation directory\n" @@ -30,10 +106,12 @@ function check_git() { } function git_clone() { + st="$(date +%s)" echo "Cloning openpilot..." if $(git clone --filter=blob:none https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then - echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n" + et="$(date +%s)" + echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot in $((et - st)) seconds.\n" return 0 fi fi @@ -47,13 +125,17 @@ function install_with_op() { $OPENPILOT_ROOT/tools/op.sh install $OPENPILOT_ROOT/tools/op.sh setup - # make op usable right now - alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\"" + echo -e "\n----------------------------------------------------------------------" + echo -e "openpilot was successfully installed into ${BOLD}$OPENPILOT_ROOT${NC}" + echo -e "Checkout the docs at https://docs.comma.ai" + echo -e "Checkout how to contribute at https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md" } -check_dir && check_git && git_clone && install_with_op +show_motd -unset OPENPILOT_ROOT -unset RED -unset GREEN -unset NC +check_stdin +ask_dir +check_dir +check_git +[ -z $SKIP_GIT_CLONE ] && git_clone +install_with_op From 1dd8bdc7912bef693c112816a5ac5066b036337b Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 31 Jul 2024 13:34:14 -0700 Subject: [PATCH 157/180] Remove hexdump package (#33155) * remove hexdump * uv lock * cleanup --- pyproject.toml | 1 - selfdrive/debug/dump.py | 13 +- uv.lock | 1275 ++++++++++++++++++++------------------- 3 files changed, 652 insertions(+), 637 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 1473cf570..b486df387 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -111,7 +111,6 @@ dev = [ "tabulate", "types-requests", "types-tabulate", - "hexdump", # this is only pinned since 5.15.11 is broken "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py index 787e9bc73..78cf51e3d 100755 --- a/selfdrive/debug/dump.py +++ b/selfdrive/debug/dump.py @@ -4,7 +4,6 @@ import argparse import json import codecs -from hexdump import hexdump from cereal import log from cereal.services import SERVICE_LIST from openpilot.tools.lib.live_logreader import raw_live_logreader @@ -12,6 +11,18 @@ from openpilot.tools.lib.live_logreader import raw_live_logreader codecs.register_error("strict", codecs.backslashreplace_errors) +def hexdump(msg): + m = str.upper(msg.hex()) + m = [m[i:i+2] for i in range(0,len(m),2)] + m = [m[i:i+16] for i in range(0,len(m),16)] + for row,dump in enumerate(m): + addr = '%08X:' % (row*16) + raw = ' '.join(dump[:8]) + ' ' + ' '.join(dump[8:]) + space = ' ' * (48 - len(raw)) + asci = ''.join(chr(int(x,16)) if 0x20 <= int(x,16) <= 0x7E else '.' for x in dump) + print(f'{addr} {raw} {space} {asci}') + + if __name__ == "__main__": parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.') diff --git a/uv.lock b/uv.lock index ded3ddec7..7afdbb3c6 100644 --- a/uv.lock +++ b/uv.lock @@ -1,16 +1,21 @@ version = 1 requires-python = ">=3.11" +environment-markers = [ + "python_version == '3.12' and platform_machine == 'aarch64'", + "python_version == '3.12' and platform_machine == 'aarch64' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')", + "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'", +] [[distribution]] name = "aiohttp" version = "3.9.5" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "aiosignal" }, - { name = "attrs" }, - { name = "frozenlist" }, - { name = "multidict" }, - { name = "yarl" }, + { name = "aiosignal", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "attrs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "frozenlist", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "multidict", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "yarl", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/04/a4/e3679773ea7eb5b37a2c998e25b017cc5349edf6ba2739d1f32855cfb11b/aiohttp-3.9.5.tar.gz", hash = "sha256:edea7d15772ceeb29db4aff55e482d4bcfb6ae160ce144f2682de02f6d693551", size = 7504841 } wheels = [ @@ -51,8 +56,8 @@ name = "aioice" version = "0.9.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "dnspython" }, - { name = "ifaddr" }, + { name = "dnspython", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "ifaddr", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/33/b6/e2b0e48ccb5b04fe29265e93f14a0915f416e359c897ae87d570566c430b/aioice-0.9.0.tar.gz", hash = "sha256:fc2401b1c4b6e19372eaaeaa28fd1bd9cbf6b0e412e48625297c53b495eebd1e", size = 40324 } wheels = [ @@ -64,14 +69,14 @@ name = "aiortc" version = "1.9.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "aioice" }, - { name = "av" }, - { name = "cffi" }, - { name = "cryptography" }, - { name = "google-crc32c" }, - { name = "pyee" }, - { name = "pylibsrtp" }, - { name = "pyopenssl" }, + { name = "aioice", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "av", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "cffi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "google-crc32c", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyee", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pylibsrtp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyopenssl", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/71/32/e9b01e2271124643e5dc15c273f2bb8155efebf5bc2115407441ac62f4c5/aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303", size = 1168973 } wheels = [ @@ -89,7 +94,7 @@ name = "aiosignal" version = "1.3.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "frozenlist" }, + { name = "frozenlist", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/ae/67/0952ed97a9793b4958e5736f6d2b346b414a2cd63e82d05940032f45b32f/aiosignal-1.3.1.tar.gz", hash = "sha256:54cd96e15e1649b75d6c87526a6ff0b6c1b0dd3459f43d9ca11d48c339b68cfc", size = 19422 } wheels = [ @@ -130,9 +135,9 @@ name = "azure-core" version = "1.30.2" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "requests" }, - { name = "six" }, - { name = "typing-extensions" }, + { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "six", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/99/d4/1f469fa246f554b86fb5cebc30eef1b2a38b7af7a2c2791bce0a4c6e4604/azure-core-1.30.2.tar.gz", hash = "sha256:a14dc210efcd608821aa472d9fb8e8d035d29b68993819147bc290a8ac224472", size = 271104 } wheels = [ @@ -144,11 +149,11 @@ name = "azure-identity" version = "1.17.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "azure-core" }, - { name = "cryptography" }, - { name = "msal" }, - { name = "msal-extensions" }, - { name = "typing-extensions" }, + { name = "azure-core", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "msal", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "msal-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/51/c9/f7e3926686a89670ce641b360bd2da9a2d7a12b3e532403462d99f81e9d5/azure-identity-1.17.1.tar.gz", hash = "sha256:32ecc67cc73f4bd0595e4f64b1ca65cd05186f4fe6f98ed2ae9f1aa32646efea", size = 246652 } wheels = [ @@ -160,10 +165,10 @@ name = "azure-storage-blob" version = "12.21.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "azure-core" }, - { name = "cryptography" }, - { name = "isodate" }, - { name = "typing-extensions" }, + { name = "azure-core", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "isodate", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/97/c9/0e1e864eef8071102de2d6b11dfcf8d35410735145b2fbc2e0a5f58d1490/azure-storage-blob-12.21.0.tar.gz", hash = "sha256:b9722725072f5b7373c0f4dd6d78fbae2bb37bffc5c3e01731ab8c750ee8dd7e", size = 557430 } wheels = [ @@ -174,8 +179,11 @@ wheels = [ name = "casadi" version = "3.6.5" source = { registry = "https://pypi.org/simple" } +environment-markers = [ + "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'", +] dependencies = [ - { name = "numpy" }, + { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/5a/97/ca40c4d7d36162ddfd0bb96a89206469a95b925faf67046ba6e4b5b78283/casadi-3.6.5.tar.gz", hash = "sha256:409a5f6725eadea40fddfb8ba2321139b5252edac8bc115a72f68e648631d56a", size = 5070590 } wheels = [ @@ -200,8 +208,11 @@ wheels = [ name = "casadi" version = "3.6.6" source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" } +environment-markers = [ + "python_version == '3.12' and platform_machine == 'aarch64'", +] dependencies = [ - { name = "numpy" }, + { name = "numpy", marker = "python_version == '3.12' and platform_machine == 'aarch64'" }, ] wheels = [ { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:06a15e0099657b960620a2491e565c7f126030018da80c39f6bd33439160c669" }, @@ -221,7 +232,7 @@ name = "cffi" version = "1.16.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - 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{ name = "numpy" }, + { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/8d/9e/e4786569b319847ffd98a8326802d5cf8a5500860dbfc2df1f0f4883ed99/contourpy-1.2.1.tar.gz", hash = "sha256:4d8908b3bee1c889e547867ca4cdc54e5ab6be6d3e078556814a22457f49423c", size = 13457196 } wheels = [ @@ -499,7 +510,7 @@ version = "0.2" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "python-xlib", marker = "sys_platform == 'linux'" }, - { name = "typing-extensions" }, + { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/2f/3a/46ca34abf0725a754bc44ef474ad34aedcc3ea23b052d97b18b76715a6a9/EWMHlib-0.2-py3-none-any.whl", hash = "sha256:f5b07d8cfd4c7734462ee744c32d490f2f3233fa7ab354240069344208d2f6f5", size = 46657 }, @@ -628,12 +639,12 @@ name = "geopandas" version = "1.0.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - 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{ name = "pyperclip" }, + { name = "pyperclip", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "python3-xlib", marker = "platform_system == 'Linux'" }, { name = "rubicon-objc", marker = "platform_system == 'Darwin'" }, ] @@ -1163,9 +1168,10 @@ name = "msal" version = "1.30.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "cryptography" }, + { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyjwt", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyjwt", extra = ["crypto"] }, - { name = "requests" }, + { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/03/ce/45b9af8f43fbbf34d15162e1e39ce34b675c234c56638277cc05562b6dbf/msal-1.30.0.tar.gz", hash = "sha256:b4bf00850092e465157d814efa24a18f788284c9a479491024d62903085ea2fb", size = 142510 } wheels = [ @@ -1177,8 +1183,8 @@ name = "msal-extensions" version = "1.2.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "msal" }, - { name = "portalocker" }, + { name = "msal", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "portalocker", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/2d/38/ad49272d0a5af95f7a0cb64a79bbd75c9c187f3b789385a143d8d537a5eb/msal_extensions-1.2.0.tar.gz", hash = "sha256:6f41b320bfd2933d631a215c91ca0dd3e67d84bd1a2f50ce917d5874ec646bef", size = 22391 } wheels = [ @@ -1229,8 +1235,8 @@ name = "mypy" version = "1.11.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "mypy-extensions" }, - { name = "typing-extensions" }, + { name = "mypy-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/b1/95/a6dbb4fef19402c488b001ff4bd9f1a770e44049ce049b904dcffc65356c/mypy-1.11.0.tar.gz", hash = "sha256:93743608c7348772fdc717af4aeee1997293a1ad04bc0ea6efa15bf65385c538", size = 3078260 } wheels = [ @@ -1303,8 +1309,8 @@ name = "onnx" version = "1.16.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy" }, - { name = "protobuf" }, + { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "protobuf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/74/be/242d02ebf7fe115bd695166eeea58b2206c9fa62de22cf9cbf8986fa8d27/onnx-1.16.1.tar.gz", hash = "sha256:8299193f0f2a3849bfc069641aa8e4f93696602da8d165632af8ee48ec7556b6", size = 12306956 } wheels = [ @@ -1325,12 +1331,12 @@ name = "onnxruntime" version = "1.18.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "coloredlogs" }, - { name = "flatbuffers" }, - { name = "numpy" }, - { name = "packaging" }, - { name = "protobuf" }, - { name = "sympy" }, + { name = "coloredlogs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "flatbuffers", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "packaging", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "protobuf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/d7/ae/e257a5ffa4ef84e51255a38b62b4fdb538d92455e1f0f0ad056074f89c94/onnxruntime-1.18.1-cp311-cp311-macosx_11_0_universal2.whl", hash = "sha256:f26582882f2dc581b809cfa41a125ba71ad9e715738ec6402418df356969774a", size = 15892594 }, @@ -1350,12 +1356,12 @@ name = "onnxruntime-gpu" version = "1.18.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "coloredlogs" }, - { name = "flatbuffers" }, - { name = "numpy" }, - { name = "packaging" }, - { name = "protobuf" }, - { name = "sympy" }, + { name = "coloredlogs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "flatbuffers", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "packaging", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "protobuf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/92/2e/5c6a3c94a8e4794a0ad1ba00f5b86c89673f271f43c77f537a90db4472c0/onnxruntime_gpu-1.18.1-cp311-cp311-manylinux_2_27_x86_64.manylinux_2_28_x86_64.whl", hash = "sha256:af2d3ee6fba72b57abf6f379b8aca30ee773959d4346271e7d92557dd5cf2901", size = 200794895 }, @@ -1369,7 +1375,7 @@ name = "opencv-python-headless" version = "4.10.0.84" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy" }, + { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/2f/7e/d20f68a5f1487adf19d74378d349932a386b1ece3be9be9915e5986db468/opencv-python-headless-4.10.0.84.tar.gz", hash = "sha256:f2017c6101d7c2ef8d7bc3b414c37ff7f54d64413a1847d89970b6b7069b4e1a", size = 95117755 } wheels = [ @@ -1398,8 +1404,8 @@ dependencies = [ { name = "libusb1", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "onnx", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, - { name = "onnxruntime", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" }, - { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')" }, + { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" }, + { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" }, { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyaudio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pycapnp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, @@ -1413,7 +1419,7 @@ dependencies = [ { name = "setuptools", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "smbus2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "sounddevice", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, - { name = "spidev", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" }, + { name = "spidev", marker = "platform_system == 'Linux'" }, { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "websocket-client", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, @@ -1422,50 +1428,49 @@ dependencies = [ [distribution.optional-dependencies] dev = [ - { name = "av" }, - { name = "azure-identity" }, - { name = "azure-storage-blob" }, - { name = "dictdiffer" }, - { name = "flaky" }, - { name = "hexdump" }, - { name = "inputs" }, - { name = "lru-dict" }, - { name = "matplotlib" }, + { name = "av", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "azure-identity", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "azure-storage-blob", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "dictdiffer", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "flaky", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "inputs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "lru-dict", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "matplotlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" }, - { name = "parameterized" }, - { name = "pyautogui" }, + { name = "parameterized", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyautogui", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyopencl", marker = "platform_machine != 'aarch64'" }, - { name = "pyprof2calltree" }, + { name = "pyprof2calltree", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyqt5", marker = "platform_machine == 'x86_64'" }, { name = "pytools", marker = "platform_machine != 'aarch64'" }, - { name = "pywinctl" }, - { name = "rerun-sdk" }, - { name = "tabulate" }, - { name = "types-requests" }, - { name = "types-tabulate" }, + { name = "pywinctl", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "rerun-sdk", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "tabulate", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "types-requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "types-tabulate", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] docs = [ - { name = "jinja2" }, - { name = "mkdocs" }, - { name = "natsort" }, + { name = "jinja2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "mkdocs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "natsort", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] testing = [ - { name = "coverage" }, - { name = "hypothesis" }, - { name = "import-linter" }, - { name = "mypy" }, - { name = "pre-commit" }, - { name = "pytest" }, - { name = "pytest-asyncio" }, - { name = "pytest-cov" }, - { name = "pytest-cpp" }, - { name = "pytest-mock" }, - { name = "pytest-randomly" }, - { name = "pytest-repeat" }, - { name = "pytest-subtests" }, - { name = "pytest-timeout" }, - { name = "pytest-xdist" }, - { name = "ruff" }, + { name = "coverage", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "hypothesis", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "import-linter", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "mypy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pre-commit", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pytest", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pytest-asyncio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pytest-cov", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pytest-cpp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pytest-mock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pytest-randomly", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pytest-repeat", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pytest-subtests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pytest-timeout", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pytest-xdist", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "ruff", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] [[distribution]] @@ -1500,8 +1505,8 @@ name = "panda3d-gltf" version = "0.13" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "panda3d" }, - { name = "panda3d-simplepbr" }, + { name = "panda3d", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "panda3d-simplepbr", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/07/7f/9f18fc3fa843a080acb891af6bcc12262e7bdf1d194a530f7042bebfc81f/panda3d-gltf-0.13.tar.gz", hash = "sha256:d06d373bdd91cf530909b669f43080e599463bbf6d3ef00c3558bad6c6b19675", size = 25573 } wheels = [ @@ -1513,8 +1518,8 @@ name = "panda3d-simplepbr" version = "0.12.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "panda3d" }, - { name = "typing-extensions" }, + { name = "panda3d", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/b1/af/505608eef09d7f9b822e69dc7631cd14102650b8fe1b6f60d9562d2788d9/panda3d-simplepbr-0.12.0.tar.gz", hash = "sha256:c71d490afeeb3a90455dcfde1d30c41f321a38742a97d18834e5c31016331ed5", size = 1929980 } wheels = [ @@ -1643,11 +1648,11 @@ name = "pre-commit" version = "3.8.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "cfgv" }, - { name = "identify" }, - { name = "nodeenv" }, - { name = "pyyaml" }, - { name = "virtualenv" }, + { name = "cfgv", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "identify", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "nodeenv", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyyaml", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "virtualenv", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/64/10/97ee2fa54dff1e9da9badbc5e35d0bbaef0776271ea5907eccf64140f72f/pre_commit-3.8.0.tar.gz", hash = "sha256:8bb6494d4a20423842e198980c9ecf9f96607a07ea29549e180eef9ae80fe7af", size = 177815 } wheels = [ @@ -1696,7 +1701,7 @@ name = "pyarrow" version = "17.0.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy" }, + { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/27/4e/ea6d43f324169f8aec0e57569443a38bab4b398d09769ca64f7b4d467de3/pyarrow-17.0.0.tar.gz", hash = "sha256:4beca9521ed2c0921c1023e68d097d0299b62c362639ea315572a58f3f50fd28", size = 1112479 } wheels = [ @@ -1733,14 +1738,14 @@ name = "pyautogui" version = "0.9.54" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "mouseinfo" }, - { name = "pygetwindow" }, - { name = "pymsgbox" }, + { name = "mouseinfo", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pygetwindow", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pymsgbox", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-core", marker = "platform_system == 'Darwin'" }, { name = "pyobjc-framework-quartz", marker = "platform_system == 'Darwin'" }, - { name = "pyscreeze" }, + { name = "pyscreeze", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "python3-xlib", marker = "platform_system == 'Linux'" }, - { name = "pytweening" }, + { name = "pytweening", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/65/ff/cdae0a8c2118a0de74b6cf4cbcdcaf8fd25857e6c3f205ce4b1794b27814/PyAutoGUI-0.9.54.tar.gz", hash = "sha256:dd1d29e8fd118941cb193f74df57e5c6ff8e9253b99c7b04f39cfc69f3ae04b2", size = 61236 } @@ -1814,7 +1819,7 @@ name = "pyee" version = "11.1.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "typing-extensions" }, + { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/f7/22/b4c7f3d9579204a014c4eda0e019e6bfe56af52a96cacc82004b60eec079/pyee-11.1.0.tar.gz", hash = "sha256:b53af98f6990c810edd9b56b87791021a8f54fd13db4edd1142438d44ba2263f", size = 29806 } wheels = [ @@ -1848,7 +1853,7 @@ name = "pygetwindow" version = "0.0.9" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "pyrect" }, + { name = "pyrect", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/e1/70/c7a4f46dbf06048c6d57d9489b8e0f9c4c3d36b7479f03c5ca97eaa2541d/PyGetWindow-0.0.9.tar.gz", hash = "sha256:17894355e7d2b305cd832d717708384017c1698a90ce24f6f7fbf0242dd0a688", size = 9699 } @@ -1872,7 +1877,7 @@ wheels = [ [distribution.optional-dependencies] crypto = [ - { name = "cryptography" }, + { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] [[distribution]] @@ -1880,7 +1885,7 @@ name = "pylibsrtp" version = "0.10.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "cffi" }, + { name = "cffi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/6b/ae/c95199144eed954976223bdce3f94564eb6c43567111aff8048a26a429bd/pylibsrtp-0.10.0.tar.gz", hash = "sha256:d8001912d7f51bd05b4ea3551747930631777fd37892cf3bfe0e541a742e699f", size = 10557 } wheels = [ @@ -1902,7 +1907,7 @@ dependencies = [ { name = "pyobjc", marker = "sys_platform == 'darwin'" }, { name = "python-xlib", marker = "sys_platform == 'linux'" }, { name = "pywin32", marker = "sys_platform == 'win32'" }, - { name = "typing-extensions" }, + { name = "typing-extensions", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] wheels = [ { url = "https://files.pythonhosted.org/packages/2d/13/076a20da28b82be281f7e43e16d9da0f545090f5d14b2125699232b9feba/PyMonCtl-0.92-py3-none-any.whl", hash = "sha256:2495d8dab78f9a7dbce37e74543e60b8bd404a35c3108935697dda7768611b5a", size = 45945 }, @@ -1919,20 +1924,20 @@ name = "pyobjc" version = "10.3.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "pyobjc-core" }, + { name = "pyobjc-core", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-accessibility", marker = "platform_release >= '20.0'" }, { name = "pyobjc-framework-accounts", marker = "platform_release >= '12.0'" }, - { name = "pyobjc-framework-addressbook" }, + { name = "pyobjc-framework-addressbook", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-adservices", marker = "platform_release >= '20.0'" }, { name = "pyobjc-framework-adsupport", marker = "platform_release >= '18.0'" }, - { name = "pyobjc-framework-applescriptkit" }, + { name = "pyobjc-framework-applescriptkit", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-applescriptobjc", marker = "platform_release >= '10.0'" }, - { name = "pyobjc-framework-applicationservices" }, + { name = "pyobjc-framework-applicationservices", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-apptrackingtransparency", marker = "platform_release >= '20.0'" }, { name = "pyobjc-framework-audiovideobridging", marker = "platform_release >= '12.0'" }, { name = "pyobjc-framework-authenticationservices", marker = "platform_release >= '19.0'" }, { name = "pyobjc-framework-automaticassessmentconfiguration", marker = "platform_release >= '19.0'" }, - { name = "pyobjc-framework-automator" }, + { name = "pyobjc-framework-automator", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-avfoundation", marker = "platform_release >= '11.0'" }, { name = "pyobjc-framework-avkit", marker = "platform_release >= '13.0'" }, { name = "pyobjc-framework-avrouting", marker = "platform_release >= '22.0'" }, @@ -1941,40 +1946,40 @@ dependencies = [ { name = "pyobjc-framework-businesschat", marker = "platform_release >= '18.0'" }, { name = "pyobjc-framework-calendarstore", marker = "platform_release >= '9.0'" }, { name = "pyobjc-framework-callkit", marker = "platform_release >= '20.0'" }, - { name = "pyobjc-framework-cfnetwork" }, + { name = "pyobjc-framework-cfnetwork", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-cinematic", marker = "platform_release >= '23.0'" }, { name = "pyobjc-framework-classkit", marker = "platform_release >= '20.0'" }, { name = "pyobjc-framework-cloudkit", marker = "platform_release >= '14.0'" }, - { name = "pyobjc-framework-cocoa" }, + { name = "pyobjc-framework-cocoa", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-collaboration", marker = "platform_release >= '9.0'" }, { name = "pyobjc-framework-colorsync", marker = "platform_release >= '17.0'" }, { name = "pyobjc-framework-contacts", marker = "platform_release >= '15.0'" }, { name = "pyobjc-framework-contactsui", marker = "platform_release >= '15.0'" }, - { name = "pyobjc-framework-coreaudio" }, - { name = "pyobjc-framework-coreaudiokit" }, + { name = "pyobjc-framework-coreaudio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyobjc-framework-coreaudiokit", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-corebluetooth", marker = "platform_release >= '14.0'" }, - { name = "pyobjc-framework-coredata" }, + { name = "pyobjc-framework-coredata", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-corehaptics", marker = "platform_release >= '19.0'" }, { name = "pyobjc-framework-corelocation", marker = "platform_release >= '10.0'" }, { name = "pyobjc-framework-coremedia", marker = "platform_release >= '11.0'" }, { name = "pyobjc-framework-coremediaio", marker = "platform_release >= '11.0'" }, - { name = "pyobjc-framework-coremidi" }, + { name = "pyobjc-framework-coremidi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-coreml", marker = "platform_release >= '17.0'" }, { name = "pyobjc-framework-coremotion", marker = "platform_release >= '19.0'" }, - { name = "pyobjc-framework-coreservices" }, + { name = "pyobjc-framework-coreservices", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-corespotlight", marker = "platform_release >= '17.0'" }, - { name = "pyobjc-framework-coretext" }, + { name = "pyobjc-framework-coretext", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-corewlan", marker = "platform_release >= '10.0'" }, { name = "pyobjc-framework-cryptotokenkit", marker = "platform_release >= '14.0'" }, { name = "pyobjc-framework-datadetection", marker = "platform_release >= '21.0'" }, { name = "pyobjc-framework-devicecheck", marker = "platform_release >= '19.0'" }, { name = "pyobjc-framework-dictionaryservices", marker = "platform_release >= '9.0'" }, - { name = "pyobjc-framework-discrecording" }, - { name = "pyobjc-framework-discrecordingui" }, - { name = "pyobjc-framework-diskarbitration" }, - { name = "pyobjc-framework-dvdplayback" }, + { name = "pyobjc-framework-discrecording", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyobjc-framework-discrecordingui", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyobjc-framework-diskarbitration", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyobjc-framework-dvdplayback", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-eventkit", marker = "platform_release >= '12.0'" }, - { name = "pyobjc-framework-exceptionhandling" }, + { name = "pyobjc-framework-exceptionhandling", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-executionpolicy", marker = "platform_release >= '19.0'" }, { name = "pyobjc-framework-extensionkit", marker = "platform_release >= '22.0'" }, { name = "pyobjc-framework-externalaccessory", marker = "platform_release >= '17.0'" }, @@ -1989,17 +1994,17 @@ dependencies = [ { name = "pyobjc-framework-healthkit", marker = "platform_release >= '22.0'" }, { name = "pyobjc-framework-imagecapturecore", marker = "platform_release >= '10.0'" }, { name = "pyobjc-framework-inputmethodkit", marker = "platform_release >= '9.0'" }, - { name = "pyobjc-framework-installerplugins" }, + { name = "pyobjc-framework-installerplugins", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-instantmessage", marker = "platform_release >= '9.0'" }, { name = "pyobjc-framework-intents", marker = "platform_release >= '16.0'" }, { name = "pyobjc-framework-intentsui", marker = "platform_release >= '21.0'" }, - { name = "pyobjc-framework-iobluetooth" }, - { name = "pyobjc-framework-iobluetoothui" }, + { name = "pyobjc-framework-iobluetooth", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyobjc-framework-iobluetoothui", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-iosurface", marker = "platform_release >= '10.0'" }, { name = "pyobjc-framework-ituneslibrary", marker = "platform_release >= '10.0'" }, { name = "pyobjc-framework-kernelmanagement", marker = "platform_release >= '20.0'" }, - { name = "pyobjc-framework-latentsemanticmapping" }, - { name = "pyobjc-framework-launchservices" }, + { name = "pyobjc-framework-latentsemanticmapping", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyobjc-framework-launchservices", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-libdispatch", marker = "platform_release >= '12.0'" }, { name = "pyobjc-framework-libxpc", marker = "platform_release >= '12.0'" }, { name = "pyobjc-framework-linkpresentation", marker = "platform_release >= '19.0'" }, @@ -2026,30 +2031,30 @@ dependencies = [ { name = "pyobjc-framework-networkextension", marker = "platform_release >= '15.0'" }, { name = "pyobjc-framework-notificationcenter", marker = "platform_release >= '14.0'" }, { name = "pyobjc-framework-opendirectory", marker = "platform_release >= '10.0'" }, - { name = "pyobjc-framework-osakit" }, + { name = "pyobjc-framework-osakit", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-oslog", marker = "platform_release >= '19.0'" }, { name = "pyobjc-framework-passkit", marker = "platform_release >= '20.0'" }, { name = "pyobjc-framework-pencilkit", marker = "platform_release >= '19.0'" }, { name = "pyobjc-framework-phase", marker = "platform_release >= '21.0'" }, { name = "pyobjc-framework-photos", marker = "platform_release >= '15.0'" }, { name = "pyobjc-framework-photosui", marker = "platform_release >= '15.0'" }, - { name = "pyobjc-framework-preferencepanes" }, + { name = "pyobjc-framework-preferencepanes", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-pubsub", marker = "platform_release >= '9.0' and platform_release < '18.0'" }, { name = "pyobjc-framework-pushkit", marker = "platform_release >= '19.0'" }, - 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{ name = "pyobjc-framework-searchkit" }, - { name = "pyobjc-framework-security" }, - { name = "pyobjc-framework-securityfoundation" }, - { name = "pyobjc-framework-securityinterface" }, + { name = "pyobjc-framework-searchkit", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyobjc-framework-security", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyobjc-framework-securityfoundation", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyobjc-framework-securityinterface", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-sensitivecontentanalysis", marker = "platform_release >= '23.0'" }, { name = "pyobjc-framework-servicemanagement", marker = "platform_release >= '10.0'" }, { name = "pyobjc-framework-sharedwithyou", marker = "platform_release >= '22.0'" }, @@ -2061,8 +2066,8 @@ dependencies = [ { name = "pyobjc-framework-spritekit", marker = "platform_release >= '13.0'" }, { name = "pyobjc-framework-storekit", marker = "platform_release >= '11.0'" }, { name = "pyobjc-framework-symbols", marker = "platform_release >= '23.0'" }, - { name = "pyobjc-framework-syncservices" }, - { name = "pyobjc-framework-systemconfiguration" }, + { name = "pyobjc-framework-syncservices", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "pyobjc-framework-systemconfiguration", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyobjc-framework-systemextensions", marker = "platform_release >= '19.0'" }, { name = "pyobjc-framework-threadnetwork", marker = "platform_release >= '22.0'" }, { name = "pyobjc-framework-uniformtypeidentifiers", marker = "platform_release >= '20.0'" }, @@ -2072,7 +2077,7 @@ dependencies = [ { name = "pyobjc-framework-videotoolbox", marker = "platform_release >= '12.0'" }, { name = "pyobjc-framework-virtualization", marker = "platform_release >= '20.0'" }, { name = "pyobjc-framework-vision", marker = "platform_release >= '17.0'" }, - 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{ name = "certifi" }, - { name = "urllib3" }, + { name = "certifi", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "urllib3", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/6d/b3/39e4cd04b75a1ada788342d0d30a781cf65b5e43da806d5bf2bad4846ea3/sentry_sdk-2.11.0.tar.gz", hash = "sha256:4ca16e9f5c7c6bc2fb2d5c956219f4926b148e511fffdbbde711dc94f1e0468f", size = 276242 } wheels = [ @@ -4989,7 +4994,7 @@ name = "shapely" version = "2.0.5" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy" }, + { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/ad/99/c47247f4d688bbb5346df5ff1de5d9792b6d95cbbb2fd7b71f45901c1878/shapely-2.0.5.tar.gz", hash = "sha256:bff2366bc786bfa6cb353d6b47d0443c570c32776612e527ee47b6df63fcfe32", size = 282188 } wheels = [ @@ -5059,7 +5064,7 @@ name = "sounddevice" version = "0.4.7" source = { registry = "https://pypi.org/simple" } dependencies = [ - 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{ name = "importlib-metadata" }, - { name = "platformdirs" }, - { name = "tomli" }, + { name = "importlib-metadata", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "platformdirs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "tomli", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, ] sdist = { url = "https://files.pythonhosted.org/packages/b9/14/c1f0ebd083fddd38a7c832d5ffde343150bd465689d12c549c303fbcd0f5/yapf-0.40.2.tar.gz", hash = "sha256:4dab8a5ed7134e26d57c1647c7483afb3f136878b579062b786c9ba16b94637b", size = 252068 } wheels = [ @@ -5231,8 +5236,8 @@ name = "yarl" version = "1.9.4" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "idna" }, - { name = "multidict" }, + { name = "idna", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, + { name = "multidict", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/e0/ad/bedcdccbcbf91363fd425a948994f3340924145c2bc8ccb296f4a1e52c28/yarl-1.9.4.tar.gz", hash = "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf", size = 141869 } wheels = [ From ebff7cab1ab897526800e229e30b01ec4cf1114c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 31 Jul 2024 14:53:13 -0700 Subject: [PATCH 158/180] get_fw_versions: test the full stack (#33156) * add the test fix * bump * not sure why mypy didn't catch this --- panda | 2 +- selfdrive/car/interfaces.py | 6 ++---- selfdrive/car/tests/test_fw_fingerprint.py | 20 +++++++++++++++++++- 3 files changed, 22 insertions(+), 6 deletions(-) diff --git a/panda b/panda index 8c3bb0151..daa739efb 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 8c3bb0151e8907ade344ccb293d58cd543e28baa +Subproject commit daa739efb76e2908bf1b2ee064be9034a8e299c3 diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e491de3ed..6c6e544f7 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -52,6 +52,7 @@ class LatControlInputs(NamedTuple): aego: float +SendCan = tuple[int, bytes, int] TorqueFromLateralAccelCallbackType = Callable[[LatControlInputs, car.CarParams.LateralTorqueTuning, float, float, bool, bool], float] @@ -109,7 +110,7 @@ class CarInterfaceBase(ABC): dbc_name = "" if self.cp is None else self.cp.dbc_name self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM) - def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[tuple[int, int, bytes, int]]]: + def apply(self, c: car.CarControl, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]: return self.CC.update(c, self.CS, now_nanos) @staticmethod @@ -462,9 +463,6 @@ class CarStateBase(ABC): return None -SendCan = tuple[int, int, bytes, int] - - class CarControllerBase(ABC): def __init__(self, dbc_name: str, CP, VM): self.CP = CP diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index f87297254..f6f6ed86d 100644 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -5,11 +5,13 @@ from collections import defaultdict from parameterized import parameterized from cereal import car +from openpilot.selfdrive.car import make_can_msg from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.fingerprints import FW_VERSIONS from openpilot.selfdrive.car.fw_versions import ESSENTIAL_ECUS, FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \ match_fw_to_car, get_brand_ecu_matches, get_fw_versions, get_present_ecus from openpilot.selfdrive.car.vin import get_vin +from openpilot.selfdrive.pandad import can_list_to_can_capnp CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu @@ -19,7 +21,8 @@ ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} class FakeSocket: def receive(self, non_blocking=False): - pass + return (can_list_to_can_capnp([make_can_msg(random.randint(0x600, 0x800), b'\x00' * 8, 0)]) + if random.uniform(0, 1) > 0.5 else None) def send(self, msg): pass @@ -313,3 +316,18 @@ class TestFwFingerprintTiming: total_time = round(total_times[num_pandas], 2) self._assert_timing(total_time, total_ref_time[num_pandas]) print(f'all brands, total FW query time={total_time} seconds') + + def test_get_fw_versions(self, subtests, mocker): + # some coverage on IsoTpParallelQuery and panda UDS library + # TODO: replace this with full fingerprint simulation testing + # https://github.com/commaai/panda/pull/1329 + + def fake_cloudlog_exception(*args, **kwargs): + raise + + mocker.patch("openpilot.selfdrive.car.fw_versions.set_obd_multiplexing", lambda *args: None) + mocker.patch("openpilot.common.swaglog.cloudlog.exception", fake_cloudlog_exception) + fake_socket = FakeSocket() + for brand in FW_QUERY_CONFIGS.keys(): + with subtests.test(brand=brand): + get_fw_versions(fake_socket, fake_socket, brand, num_pandas=1) From 7c112341c358b57ee9d0209cb2b2c53383adcca9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 31 Jul 2024 15:37:39 -0700 Subject: [PATCH 159/180] Reapply "update to new opendbc API (#32009)" (#33151) This reverts commit ac130001cc83734118524f59a83a96a2065dd56e. --- opendbc | 2 +- selfdrive/car/interfaces.py | 4 ++- selfdrive/car/tests/test_car_interfaces.py | 3 +- selfdrive/car/tests/test_models.py | 3 +- .../lib/longitudinal_mpc_lib/SConscript | 4 +-- selfdrive/controls/radard.py | 4 +-- .../debug/check_can_parser_performance.py | 6 ++-- selfdrive/pandad/SConscript | 4 ++- selfdrive/pandad/__init__.py | 3 +- selfdrive/pandad/can_list_to_can_capnp.cc | 35 +++++++++++++++++-- selfdrive/pandad/pandad_api_impl.pyx | 29 ++++++++++++++- .../examples/subaru_long_accel.ipynb | 3 +- .../examples/subaru_steer_temp_fault.ipynb | 3 +- 13 files changed, 86 insertions(+), 17 deletions(-) diff --git a/opendbc b/opendbc index 8e9d36884..39a534592 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 8e9d3688412405154a8189c421cfdc9d5feea715 +Subproject commit 39a5345924d2414f05c40d258d359eb8412a0b03 diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 6c6e544f7..2121f433b 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -18,6 +18,7 @@ from openpilot.selfdrive.car.values import PLATFORMS from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX from openpilot.selfdrive.controls.lib.events import Events from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel +from openpilot.selfdrive.pandad import can_capnp_to_list ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter @@ -232,9 +233,10 @@ class CarInterfaceBase(ABC): def update(self, c: car.CarControl, can_strings: list[bytes]) -> car.CarState: # parse can + can_list = can_capnp_to_list(can_strings) for cp in self.can_parsers: if cp is not None: - cp.update_strings(can_strings) + cp.update_strings(can_list) # get CarState ret = self._update(c) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 4ca19f019..9e3c7d157 100644 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -15,6 +15,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque from openpilot.selfdrive.controls.lib.longcontrol import LongControl +from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator ALL_ECUS = {ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()} @@ -128,7 +129,7 @@ class TestCarInterfaces: # Test radar fault if not car_params.radarUnavailable and radar_interface.rcp is not None: - cans = [messaging.new_message('can', 1).to_bytes() for _ in range(5)] + cans = can_capnp_to_list([messaging.new_message('can', 1).to_bytes() for _ in range(5)]) rr = radar_interface.update(cans) assert rr is None or len(rr.errors) > 0 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 1d05b7c73..22a80f359 100644 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -19,6 +19,7 @@ from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.car.values import Platform from openpilot.selfdrive.car.card import Car +from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source @@ -237,7 +238,7 @@ class TestCarModelBase(unittest.TestCase): # start parsing CAN messages after we've left ELM mode and can expect CAN traffic error_cnt = 0 for i, msg in enumerate(self.can_msgs[self.elm_frame:]): - rr = RI.update((msg.as_builder().to_bytes(),)) + rr = RI.update(can_capnp_to_list((msg.as_builder().to_bytes(),))) if rr is not None and i > 50: error_cnt += car.RadarData.Error.canError in rr.errors self.assertEqual(error_cnt, 0) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript index fc1e844d5..22342c007 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript @@ -1,4 +1,4 @@ -Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'np_version') +Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python', 'np_version') gen = "c_generated_code" @@ -66,7 +66,7 @@ lenv.Clean(generated_files, Dir(gen)) generated_long = lenv.Command(generated_files, source_list, f"cd {Dir('.').abspath} && python3 long_mpc.py") -lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python]) +lenv.Depends(generated_long, [msgq_python, common_python, opendbc_python, pandad_python]) lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES") lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES") diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index c3fb60c61..a7e3c0211 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -10,8 +10,8 @@ from openpilot.common.numpy_fast import interp from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process from openpilot.common.swaglog import cloudlog - from openpilot.common.simple_kalman import KF1D +from openpilot.selfdrive.pandad import can_capnp_to_list # Default lead acceleration decay set to 50% at 1s @@ -307,7 +307,7 @@ def main(): while 1: can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True) - rr = RI.update(can_strings) + rr = RI.update(can_capnp_to_list(can_strings)) sm.update(0) if rr is None: continue diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py index 604a1df12..a5155f012 100755 --- a/selfdrive/debug/check_can_parser_performance.py +++ b/selfdrive/debug/check_can_parser_performance.py @@ -6,6 +6,7 @@ from tqdm import tqdm from cereal import car from openpilot.selfdrive.car.tests.routes import CarTestRoute from openpilot.selfdrive.car.tests.test_models import TestCarModelBase +from openpilot.selfdrive.pandad import can_capnp_to_list from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE N_RUNS = 10 @@ -25,12 +26,13 @@ if __name__ == '__main__': CC = car.CarControl.new_message() ets = [] for _ in tqdm(range(N_RUNS)): - msgs = [(m.as_builder().to_bytes(),) for m in tm.can_msgs] + msgs = [m.as_builder().to_bytes() for m in tm.can_msgs] start_t = time.process_time_ns() for msg in msgs: + can_list = can_capnp_to_list([msg]) for cp in tm.CI.can_parsers: if cp is not None: - cp.update_strings(msg) + cp.update_strings(can_list) ets.append((time.process_time_ns() - start_t) * 1e-6) print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs') diff --git a/selfdrive/pandad/SConscript b/selfdrive/pandad/SConscript index 63a2c1e65..dcc1f9811 100644 --- a/selfdrive/pandad/SConscript +++ b/selfdrive/pandad/SConscript @@ -6,6 +6,8 @@ panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) env.Program('pandad', ['main.cc', 'pandad.cc'], LIBS=[panda] + libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) -envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) +pandad_python = envCython.Program('pandad_api_impl.so', 'pandad_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) +Export('pandad_python') + if GetOption('extras'): env.Program('tests/test_pandad_usbprotocol', ['tests/test_pandad_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/pandad/__init__.py b/selfdrive/pandad/__init__.py index 2c80cd03c..b72c8ccb5 100644 --- a/selfdrive/pandad/__init__.py +++ b/selfdrive/pandad/__init__.py @@ -1,6 +1,7 @@ # Cython, now uses scons to build -from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp +from openpilot.selfdrive.pandad.pandad_api_impl import can_list_to_can_capnp, can_capnp_to_list assert can_list_to_can_capnp +assert can_capnp_to_list def can_capnp_to_can_list(can, src_filter=None): ret = [] diff --git a/selfdrive/pandad/can_list_to_can_capnp.cc b/selfdrive/pandad/can_list_to_can_capnp.cc index d73541c17..ad2393b98 100644 --- a/selfdrive/pandad/can_list_to_can_capnp.cc +++ b/selfdrive/pandad/can_list_to_can_capnp.cc @@ -1,11 +1,12 @@ #include "cereal/messaging/messaging.h" #include "selfdrive/pandad/panda.h" +#include "opendbc/can/common.h" -void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendCan, bool valid) { +void can_list_to_can_capnp_cpp(const std::vector &can_list, std::string &out, bool sendcan, bool valid) { MessageBuilder msg; auto event = msg.initEvent(valid); - auto canData = sendCan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); + auto canData = sendcan ? event.initSendcan(can_list.size()) : event.initCan(can_list.size()); int j = 0; for (auto it = can_list.begin(); it != can_list.end(); it++, j++) { auto c = canData[j]; @@ -18,3 +19,33 @@ void can_list_to_can_capnp_cpp(const std::vector &can_list, std::stri kj::ArrayOutputStream output_stream(kj::ArrayPtr((unsigned char *)out.data(), msg_size)); capnp::writeMessage(output_stream, msg); } + +// Converts a vector of Cap'n Proto serialized can strings into a vector of CanData structures. +void can_capnp_to_can_list_cpp(const std::vector &strings, std::vector &can_list, bool sendcan) { + AlignedBuffer aligned_buf; + can_list.reserve(strings.size()); + + for (const auto &str : strings) { + // extract the messages + capnp::FlatArrayMessageReader reader(aligned_buf.align(str.data(), str.size())); + cereal::Event::Reader event = reader.getRoot(); + + auto frames = sendcan ? event.getSendcan() : event.getCan(); + + // Add new CanData entry + CanData &can_data = can_list.emplace_back(); + can_data.nanos = event.getLogMonoTime(); + can_data.frames.reserve(frames.size()); + + // Populate CAN frames + for (const auto &frame : frames) { + CanFrame &can_frame = can_data.frames.emplace_back(); + can_frame.src = frame.getSrc(); + can_frame.address = frame.getAddress(); + + // Copy CAN data + auto dat = frame.getDat(); + can_frame.dat.assign(dat.begin(), dat.end()); + } + } +} diff --git a/selfdrive/pandad/pandad_api_impl.pyx b/selfdrive/pandad/pandad_api_impl.pyx index dd3f3d702..8a12e1c43 100644 --- a/selfdrive/pandad/pandad_api_impl.pyx +++ b/selfdrive/pandad/pandad_api_impl.pyx @@ -1,8 +1,10 @@ # distutils: language = c++ # cython: language_level=3 +from cython.operator cimport dereference as deref, preincrement as preinc from libcpp.vector cimport vector from libcpp.string cimport string from libcpp cimport bool +from libc.stdint cimport uint8_t, uint32_t, uint64_t cdef extern from "panda.h": cdef struct can_frame: @@ -10,8 +12,19 @@ cdef extern from "panda.h": string dat long src +cdef extern from "opendbc/can/common.h": + cdef struct CanFrame: + long src + uint32_t address + vector[uint8_t] dat + + cdef struct CanData: + uint64_t nanos + vector[CanFrame] frames + cdef extern from "can_list_to_can_capnp.cc": - void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid) + void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendcan, bool valid) + void can_capnp_to_can_list_cpp(const vector[string] &strings, vector[CanData] &can_data, bool sendcan) def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): cdef can_frame *f @@ -27,3 +40,17 @@ def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True): cdef string out can_list_to_can_capnp_cpp(can_list, out, msgtype == 'sendcan', valid) return out + +def can_capnp_to_list(strings, msgtype='can'): + cdef vector[CanData] data + can_capnp_to_can_list_cpp(strings, data, msgtype == 'sendcan') + + result = [] + cdef CanData *d + cdef vector[CanData].iterator it = data.begin() + while it != data.end(): + d = &deref(it) + frames = [[f.address, (&f.dat[0])[:f.dat.size()], f.src] for f in d.frames] + result.append([d.nanos, frames]) + preinc(it) + return result diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb index 9d18a114d..35b92702a 100644 --- a/tools/car_porting/examples/subaru_long_accel.ipynb +++ b/tools/car_porting/examples/subaru_long_accel.ipynb @@ -24,6 +24,7 @@ "from opendbc.can.parser import CANParser\n", "\n", "from openpilot.selfdrive.car.subaru.values import DBC\n", + "from openpilot.selfdrive.pandad import can_capnp_to_list\n", "from openpilot.tools.lib.logreader import LogReader\n", "\n", "\"\"\"\n", @@ -50,7 +51,7 @@ "\n", " for msg in lr:\n", " if msg.which() == \"can\":\n", - " cp.update_strings([msg.as_builder().to_bytes()])\n", + " cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n", " es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n", " es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n", " es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n", diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb index 3d5055cbc..8b762fecb 100644 --- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb +++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb @@ -27,6 +27,7 @@ "from opendbc.can.parser import CANParser\n", "\n", "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n", + "from openpilot.selfdrive.pandad import can_capnp_to_list\n", "from openpilot.tools.lib.logreader import LogReader\n", "\n", "\"\"\"\n", @@ -50,7 +51,7 @@ " examples = []\n", "\n", " for msg in can_msgs:\n", - " cp.update_strings([msg.as_builder().to_bytes()])\n", + " cp.update_strings(can_capnp_to_list([msg.as_builder().to_bytes()]))\n", " steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n", "\n", " steer_warning_last = False\n", From 7de618a5cf38a759d3986d775f7d7f7a35167050 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 31 Jul 2024 16:12:37 -0700 Subject: [PATCH 160/180] ensure alerts_generated.h is built (#33157) don't build alerts_generated.h in test, and ensure scons builds it more reliably + clean up support --- selfdrive/ui/SConscript | 2 +- selfdrive/ui/update_translations.py | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index c6b4860bf..509f2aebd 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -40,7 +40,7 @@ translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.v translation_targets = [src.replace(".ts", ".qm") for src in translation_sources] lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease' -lupdate = qt_env.Command(translation_sources, qt_src + widgets_src, "selfdrive/ui/update_translations.py") +lupdate = qt_env.Command(translation_sources + ["translations/alerts_generated.h"], qt_src + widgets_src, "selfdrive/ui/update_translations.py") lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES") qt_env.Depends(lrelease, lupdate) qt_env.NoClean(translation_sources) diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 0fe0f05ac..f13c65fda 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -25,8 +25,6 @@ def generate_translations_include(): def update_translations(vanish: bool = False, translation_files: None | list[str] = None, translations_dir: str = TRANSLATIONS_DIR): - generate_translations_include() - if translation_files is None: with open(LANGUAGES_FILE) as f: translation_files = json.load(f).values() @@ -48,4 +46,5 @@ if __name__ == "__main__": parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") args = parser.parse_args() + generate_translations_include() update_translations(args.vanish) From 3ccc63deec85f454521d465c4e0e3438e76cb547 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 31 Jul 2024 19:10:44 -0700 Subject: [PATCH 161/180] camerad: use os binning (#33161) * all * right sz * what is this * Revert "what is this" This reverts commit 3ff771926f109452a055dfb61cee06b34e498164. * ok * big * update intrs * fl * more specifuc * fish * revert * revert --------- Co-authored-by: Comma Device --- common/transformations/camera.py | 4 +-- system/camerad/cameras/camera_common.cc | 2 +- system/camerad/sensors/os04c10.cc | 6 ++-- system/camerad/sensors/os04c10_registers.h | 42 +++++++++++----------- 4 files changed, 27 insertions(+), 27 deletions(-) diff --git a/common/transformations/camera.py b/common/transformations/camera.py index dc3ca5f38..2e68b5e37 100644 --- a/common/transformations/camera.py +++ b/common/transformations/camera.py @@ -47,9 +47,9 @@ class DeviceCameraConfig: yield cam, getattr(self, cam) _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0) # focal length probably wrong? magnification is not consistent across frame -_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3) +_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3) _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye) -_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye) +_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye) _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig()) DEVICE_CAMERAS = { diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 542be29d8..06ef2bd37 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -84,7 +84,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, // the encoder HW tells us the size it wants after setting it up. // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? - size_t nv12_size = (rgb_width >= 2688 ? 2900 : 2346)*nv12_width; + size_t nv12_size = (rgb_width <= 1344 ? 2900 : 2346)*nv12_width; vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc index 97a317407..e651d6ff7 100644 --- a/system/camerad/sensors/os04c10.cc +++ b/system/camerad/sensors/os04c10.cc @@ -20,12 +20,12 @@ const uint32_t os04c10_analog_gains_reg[] = { OS04C10::OS04C10() { image_sensor = cereal::FrameData::ImageSensor::OS04C10; - pixel_size_mm = 0.002; + pixel_size_mm = 0.004; data_word = false; hdr_offset = 64 * 2 + 8; // stagger - frame_width = 2688; - frame_height = 1520 * 2 + hdr_offset; + frame_width = 1344; + frame_height = 760 * 2 + hdr_offset; frame_stride = (frame_width * 10 / 8); // no alignment extra_height = 0; diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h index 91eb48b24..d698b1311 100644 --- a/system/camerad/sensors/os04c10_registers.h +++ b/system/camerad/sensors/os04c10_registers.h @@ -95,7 +95,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x388b, 0x00}, {0x3c80, 0x10}, {0x3c86, 0x00}, - // {0x3c8c, 0x20}, + {0x3c8c, 0x20}, {0x3c9f, 0x01}, {0x3d85, 0x1b}, {0x3d8c, 0x71}, @@ -199,7 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x370b, 0xa2}, {0x370c, 0x01}, {0x370f, 0x00}, - {0x3714, 0x24}, + {0x3714, 0x28}, {0x3716, 0x04}, {0x3719, 0x11}, {0x371a, 0x1e}, @@ -231,24 +231,24 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x37bd, 0x01}, {0x37bf, 0x26}, {0x37c0, 0x11}, - {0x37c2, 0x04}, + {0x37c2, 0x14}, {0x37cd, 0x19}, - // {0x37e0, 0x08}, - // {0x37e6, 0x04}, + {0x37e0, 0x08}, + {0x37e6, 0x04}, {0x37e5, 0x02}, - // {0x37e1, 0x0c}, - // {0x3737, 0x04}, + {0x37e1, 0x0c}, + {0x3737, 0x04}, {0x37d8, 0x02}, - // {0x37e2, 0x10}, + {0x37e2, 0x10}, {0x3739, 0x10}, - {0x3662, 0x10}, - // {0x37e4, 0x20}, - // {0x37e3, 0x08}, - {0x37d9, 0x08}, + {0x3662, 0x08}, + {0x37e4, 0x20}, + {0x37e3, 0x08}, + {0x37d9, 0x04}, {0x4040, 0x00}, - {0x4041, 0x07}, - {0x4008, 0x02}, - {0x4009, 0x0d}, + {0x4041, 0x03}, + {0x4008, 0x01}, + {0x4009, 0x06}, // FSIN {0x3002, 0x22}, @@ -269,20 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = { {0x3802, 0x00}, {0x3803, 0x00}, {0x3804, 0x0a}, {0x3805, 0x8f}, {0x3806, 0x05}, {0x3807, 0xff}, - {0x3808, 0x0a}, {0x3809, 0x80}, - {0x380a, 0x05}, {0x380b, 0xf0}, + {0x3808, 0x05}, {0x3809, 0x40}, + {0x380a, 0x02}, {0x380b, 0xf8}, {0x3811, 0x08}, {0x3813, 0x08}, - {0x3814, 0x01}, + {0x3814, 0x03}, {0x3815, 0x01}, - {0x3816, 0x01}, + {0x3816, 0x03}, {0x3817, 0x01}, {0x380c, 0x04}, {0x380d, 0x2e}, // HTS {0x380e, 0x09}, {0x380f, 0xdb}, // VTS - {0x3820, 0xb0}, - {0x3821, 0x04}, + {0x3820, 0xb3}, + {0x3821, 0x05}, {0x3880, 0x00}, {0x3882, 0x20}, {0x3c91, 0x0b}, From 16ea2ff270165e027370ddff67952b46404d01fb Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 31 Jul 2024 19:37:06 -0700 Subject: [PATCH 162/180] op.sh: call directly instead of sourcing (#33160) no source --- tools/op.sh | 114 ++++------------------------------------------------ 1 file changed, 8 insertions(+), 106 deletions(-) diff --git a/tools/op.sh b/tools/op.sh index 3ebd413a7..ec4728ddf 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -1,24 +1,22 @@ #!/usr/bin/env bash +set -e + RED='\033[0;31m' GREEN='\033[0;32m' UNDERLINE='\033[4m' BOLD='\033[1m' NC='\033[0m' +RC_FILE="${HOME}/.$(basename ${SHELL})rc" +if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then + RC_FILE="$HOME/.bash_profile" +fi function op_install() { - (set -e - echo "Installing op system-wide..." - RC_FILE="${HOME}/.$(basename ${SHELL})rc" - if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then - RC_FILE="$HOME/.bash_profile" - fi - CMD="\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" + CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n" grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n" - - ) } function op_run_command() { @@ -55,8 +53,6 @@ function op_check_openpilot_dir() { } function op_check_git() { - (set -e - echo "Checking for git..." if ! command -v "git" > /dev/null 2>&1; then echo -e " ↳ [${RED}✗${NC}] git not found on your system!" @@ -81,13 +77,9 @@ function op_check_git() { fi done echo -e " ↳ [${GREEN}✔${NC}] git submodules found." - - ) } function op_check_os() { - (set -e - echo "Checking for compatible os version..." if [[ "$OSTYPE" == "linux-gnu"* ]]; then @@ -113,13 +105,9 @@ function op_check_os() { echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!" return 1 fi - - ) } function op_check_python() { - (set -e - echo "Checking for compatible python version..." REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml) INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true) @@ -133,8 +121,6 @@ function op_check_python() { echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!" return 1 fi - - ) } function op_check_venv() { @@ -171,8 +157,6 @@ function op_before_cmd() { } function op_setup() { - (set -e - op_get_openpilot_dir cd $OPENPILOT_ROOT @@ -203,8 +187,6 @@ function op_setup() { echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully in $((et - st)) seconds.\n" op_check - - ) } function op_activate_venv() { @@ -212,99 +194,52 @@ function op_activate_venv() { } function op_venv() { - ( set -e - op_before_cmd - - ) - - if [[ "$?" -eq 0 ]]; then - - if [[ "${BASH_SOURCE[0]}" = "${0}" ]]; then - echo "Run 'op venv' or 'source op.sh venv' to activate your venv!" - return 1 - fi - - # this must be run in the same shell as the user calling "op" - op_get_openpilot_dir - op_run_command source $OPENPILOT_ROOT/.venv/bin/activate - fi + bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate") } function op_check() { - (set -e - VERBOSE=1 op_before_cmd unset VERBOSE - - ) } function op_build() { - (set -e - CDIR=$(pwd) op_before_cmd cd "$CDIR" op_run_command scons $@ - - ) } function op_juggle() { - (set -e - op_before_cmd op_run_command tools/plotjuggler/juggle.py $@ - - ) } function op_lint() { - (set -e - op_before_cmd op_run_command pre-commit run --all $@ - - ) } function op_test() { - (set -e - op_before_cmd op_run_command pytest $@ - - ) } function op_replay() { - (set -e - op_before_cmd op_run_command tools/replay/replay $@ - - ) } function op_cabana() { - (set -e - op_before_cmd op_run_command tools/cabana/cabana $@ - - ) } function op_sim() { - (set -e - op_before_cmd op_run_command exec tools/sim/run_bridge.py & op_run_command exec tools/sim/launch_openpilot.sh - - ) } function op_default() { @@ -387,36 +322,3 @@ function _op() { } _op $@ - -# remove from env -unset -f _op -unset -f op_check -unset -f op_setup -unset -f op_build -unset -f op_juggle -unset -f op_venv -unset -f op_check_openpilot_dir -unset -f op_check_git -unset -f op_check_python -unset -f op_check_os -unset -f op_install -unset -f op_default -unset -f op_run_command -unset -f op_lint -unset -f op_replay -unset -f op_cabana -unset -f op_check_venv -unset -f op_before_cmd -unset -f op_sim -unset -f op_activate_venv -unset -f op_get_openpilot_dir -unset -f op_test -unset DRY -unset NC -unset RED -unset GREEN -unset UNDERLINE -unset BOLD -unset OPENPILOT_ROOT -unset NO_VERIFY -unset VERBOSE From 3e66827a8501c792fde66f16c65e5297ab51fa2d Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 31 Jul 2024 20:32:41 -0700 Subject: [PATCH 163/180] setup.sh: work in non interactive mode (#33162) * work without terminal * failure message * no if --- tools/install_ubuntu_dependencies.sh | 7 ++++++- tools/setup.sh | 16 ++++++++-------- 2 files changed, 14 insertions(+), 9 deletions(-) diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh index 67b28fa28..a7cf0e75c 100755 --- a/tools/install_ubuntu_dependencies.sh +++ b/tools/install_ubuntu_dependencies.sh @@ -12,6 +12,11 @@ if [[ ! $(id -u) -eq 0 ]]; then SUDO="sudo" fi +# Check if stdin is open +if [ -t 0 ]; then + INTERACTIVE=1 +fi + # Install common packages function install_ubuntu_common_requirements() { $SUDO apt-get update @@ -133,7 +138,7 @@ if [ -f "/etc/os-release" ]; then esac # Install extra packages - if [[ -z "$INSTALL_EXTRA_PACKAGES" ]]; then + if [[ -z "$INSTALL_EXTRA_PACKAGES" && -n "$INTERACTIVE" ]]; then read -p "Base setup done. Do you want to install extra development packages? [Y/n]: " -n 1 -r echo "" if [[ $REPLY =~ ^[Yy]$ ]]; then diff --git a/tools/setup.sh b/tools/setup.sh index e770ba48a..b2b9563d3 100755 --- a/tools/setup.sh +++ b/tools/setup.sh @@ -73,9 +73,14 @@ function check_dir() { return 1 fi + # already a "valid" openpilot clone, skip cloning again + if [[ ! -z "$(ls -A $OPENPILOT_ROOT)" ]]; then + SKIP_GIT_CLONE=1 + fi + # by default, don't try installing in already existing directory if [[ -z $INTERACTIVE ]]; then - return 1 + return 0 fi read -p " Would you like to attempt installation anyway? [Y/n] " -n 1 -r @@ -84,11 +89,6 @@ function check_dir() { return 1 fi - # already a "valid" openpilot clone, skip cloning again - if [[ ! -z "$(ls -A $OPENPILOT_ROOT)" ]]; then - SKIP_GIT_CLONE=1 - fi - return 0 fi @@ -123,10 +123,10 @@ function git_clone() { function install_with_op() { cd $OPENPILOT_ROOT $OPENPILOT_ROOT/tools/op.sh install - $OPENPILOT_ROOT/tools/op.sh setup + $OPENPILOT_ROOT/tools/op.sh setup || (echo -e "\n[${RED}✗${NC}] failed to install openpilot!" && return 1) echo -e "\n----------------------------------------------------------------------" - echo -e "openpilot was successfully installed into ${BOLD}$OPENPILOT_ROOT${NC}" + echo -e "[${GREEN}✔${NC}] openpilot was successfully installed into ${BOLD}$OPENPILOT_ROOT${NC}" echo -e "Checkout the docs at https://docs.comma.ai" echo -e "Checkout how to contribute at https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md" } From 7bf912f40740b4cca62ddc65bd82700615636550 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Wed, 31 Jul 2024 21:40:48 -0700 Subject: [PATCH 164/180] op.sh: fix python version check (#33163) fix check --- tools/op.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/op.sh b/tools/op.sh index ec4728ddf..1715aaab6 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -115,7 +115,7 @@ function op_check_python() { if [[ -z $INSTALLED_PYTHON_VERSION ]]; then echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!" return 1 - elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then + elif [[ $(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') -ge $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') ]]; then echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected." else echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!" From 7ee9d2d1b93abb3ccba53f9552b716d3a11c2b6d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 31 Jul 2024 23:17:40 -0700 Subject: [PATCH 165/180] opendbc is a package (#33159) * bump * rename to opendbc_repo add symlink * bump * fix cabana fix cabana * bump * fix whitelist paths bump * bump to master * remove trailing slash --- .gitmodules | 2 +- opendbc | 2 +- opendbc_repo | 1 + release/release_files.py | 102 +++++++++++++++++++-------------------- tools/cabana/SConscript | 2 +- 5 files changed, 55 insertions(+), 54 deletions(-) mode change 160000 => 120000 opendbc create mode 160000 opendbc_repo diff --git a/.gitmodules b/.gitmodules index 1d5d04577..ad6530de9 100644 --- a/.gitmodules +++ b/.gitmodules @@ -2,7 +2,7 @@ path = panda url = ../../commaai/panda.git [submodule "opendbc"] - path = opendbc + path = opendbc_repo url = ../../commaai/opendbc.git [submodule "msgq"] path = msgq_repo diff --git a/opendbc b/opendbc deleted file mode 160000 index 39a534592..000000000 --- a/opendbc +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 39a5345924d2414f05c40d258d359eb8412a0b03 diff --git a/opendbc b/opendbc new file mode 120000 index 000000000..7cd9a5bd1 --- /dev/null +++ b/opendbc @@ -0,0 +1 @@ +opendbc_repo/opendbc \ No newline at end of file diff --git a/opendbc_repo b/opendbc_repo new file mode 160000 index 000000000..a40652d34 --- /dev/null +++ b/opendbc_repo @@ -0,0 +1 @@ +Subproject commit a40652d341ea3161a6a10001fa74284d9d650f8c diff --git a/release/release_files.py b/release/release_files.py index 159080743..be9ad75ed 100755 --- a/release/release_files.py +++ b/release/release_files.py @@ -14,8 +14,8 @@ blacklist = [ "panda/examples/", "panda/tests/safety/", - "opendbc/.*.dbc$", - "opendbc/generator/", + "opendbc_repo/dbc/.*.dbc$", + "opendbc_repo/dbc/generator/", "cereal/.*test.*", "^common/tests/", @@ -74,55 +74,55 @@ whitelist = [ "tinygrad_repo/tinygrad/.*.py", # TODO: do this automatically - "opendbc/comma_body.dbc", - "opendbc/chrysler_ram_hd_generated.dbc", - "opendbc/chrysler_ram_dt_generated.dbc", - "opendbc/chrysler_pacifica_2017_hybrid_generated.dbc", - "opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc", - "opendbc/gm_global_a_powertrain_generated.dbc", - "opendbc/gm_global_a_object.dbc", - "opendbc/gm_global_a_chassis.dbc", - "opendbc/FORD_CADS.dbc", - "opendbc/ford_fusion_2018_adas.dbc", - "opendbc/ford_lincoln_base_pt.dbc", - "opendbc/honda_accord_2018_can_generated.dbc", - "opendbc/acura_ilx_2016_can_generated.dbc", - "opendbc/acura_rdx_2018_can_generated.dbc", - "opendbc/acura_rdx_2020_can_generated.dbc", - "opendbc/honda_civic_touring_2016_can_generated.dbc", - "opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc", - "opendbc/honda_crv_touring_2016_can_generated.dbc", - "opendbc/honda_crv_ex_2017_can_generated.dbc", - "opendbc/honda_crv_ex_2017_body_generated.dbc", - "opendbc/honda_crv_executive_2016_can_generated.dbc", - "opendbc/honda_fit_ex_2018_can_generated.dbc", - "opendbc/honda_odyssey_exl_2018_generated.dbc", - "opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc", - "opendbc/honda_insight_ex_2019_can_generated.dbc", - "opendbc/acura_ilx_2016_nidec.dbc", - "opendbc/honda_civic_ex_2022_can_generated.dbc", - "opendbc/hyundai_canfd.dbc", - "opendbc/hyundai_kia_generic.dbc", - "opendbc/hyundai_kia_mando_front_radar_generated.dbc", - "opendbc/mazda_2017.dbc", - "opendbc/nissan_x_trail_2017_generated.dbc", - "opendbc/nissan_leaf_2018_generated.dbc", - "opendbc/subaru_global_2017_generated.dbc", - "opendbc/subaru_global_2020_hybrid_generated.dbc", - "opendbc/subaru_outback_2015_generated.dbc", - "opendbc/subaru_outback_2019_generated.dbc", - "opendbc/subaru_forester_2017_generated.dbc", - "opendbc/toyota_tnga_k_pt_generated.dbc", - "opendbc/toyota_new_mc_pt_generated.dbc", - "opendbc/toyota_nodsu_pt_generated.dbc", - "opendbc/toyota_adas.dbc", - "opendbc/toyota_tss2_adas.dbc", - "opendbc/vw_golf_mk4.dbc", - "opendbc/vw_mqb_2010.dbc", - "opendbc/tesla_can.dbc", - "opendbc/tesla_radar_bosch_generated.dbc", - "opendbc/tesla_radar_continental_generated.dbc", - "opendbc/tesla_powertrain.dbc", + "opendbc_repo/dbc/comma_body.dbc", + "opendbc_repo/dbc/chrysler_ram_hd_generated.dbc", + "opendbc_repo/dbc/chrysler_ram_dt_generated.dbc", + "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_generated.dbc", + "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc", + "opendbc_repo/dbc/gm_global_a_powertrain_generated.dbc", + "opendbc_repo/dbc/gm_global_a_object.dbc", + "opendbc_repo/dbc/gm_global_a_chassis.dbc", + "opendbc_repo/dbc/FORD_CADS.dbc", + "opendbc_repo/dbc/ford_fusion_2018_adas.dbc", + "opendbc_repo/dbc/ford_lincoln_base_pt.dbc", + "opendbc_repo/dbc/honda_accord_2018_can_generated.dbc", + "opendbc_repo/dbc/acura_ilx_2016_can_generated.dbc", + "opendbc_repo/dbc/acura_rdx_2018_can_generated.dbc", + "opendbc_repo/dbc/acura_rdx_2020_can_generated.dbc", + "opendbc_repo/dbc/honda_civic_touring_2016_can_generated.dbc", + "opendbc_repo/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc", + "opendbc_repo/dbc/honda_crv_touring_2016_can_generated.dbc", + "opendbc_repo/dbc/honda_crv_ex_2017_can_generated.dbc", + "opendbc_repo/dbc/honda_crv_ex_2017_body_generated.dbc", + "opendbc_repo/dbc/honda_crv_executive_2016_can_generated.dbc", + "opendbc_repo/dbc/honda_fit_ex_2018_can_generated.dbc", + "opendbc_repo/dbc/honda_odyssey_exl_2018_generated.dbc", + "opendbc_repo/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc", + "opendbc_repo/dbc/honda_insight_ex_2019_can_generated.dbc", + "opendbc_repo/dbc/acura_ilx_2016_nidec.dbc", + "opendbc_repo/dbc/honda_civic_ex_2022_can_generated.dbc", + "opendbc_repo/dbc/hyundai_canfd.dbc", + "opendbc_repo/dbc/hyundai_kia_generic.dbc", + "opendbc_repo/dbc/hyundai_kia_mando_front_radar_generated.dbc", + "opendbc_repo/dbc/mazda_2017.dbc", + "opendbc_repo/dbc/nissan_x_trail_2017_generated.dbc", + "opendbc_repo/dbc/nissan_leaf_2018_generated.dbc", + "opendbc_repo/dbc/subaru_global_2017_generated.dbc", + "opendbc_repo/dbc/subaru_global_2020_hybrid_generated.dbc", + "opendbc_repo/dbc/subaru_outback_2015_generated.dbc", + "opendbc_repo/dbc/subaru_outback_2019_generated.dbc", + "opendbc_repo/dbc/subaru_forester_2017_generated.dbc", + "opendbc_repo/dbc/toyota_tnga_k_pt_generated.dbc", + "opendbc_repo/dbc/toyota_new_mc_pt_generated.dbc", + "opendbc_repo/dbc/toyota_nodsu_pt_generated.dbc", + "opendbc_repo/dbc/toyota_adas.dbc", + "opendbc_repo/dbc/toyota_tss2_adas.dbc", + "opendbc_repo/dbc/vw_golf_mk4.dbc", + "opendbc_repo/dbc/vw_mqb_2010.dbc", + "opendbc_repo/dbc/tesla_can.dbc", + "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc", + "opendbc_repo/dbc/tesla_radar_continental_generated.dbc", + "opendbc_repo/dbc/tesla_powertrain.dbc", ] diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 04b768dc6..911ac9324 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -16,7 +16,7 @@ qt_libs = ['qt_util'] + base_libs cabana_env = qt_env.Clone() cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs -opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath) +opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath) cabana_env['CXXFLAGS'] += [opendbc_path] # build assets From d0671bda6d2042bd2a4cebf0304cfeffcc90df2a Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 1 Aug 2024 13:44:57 -0700 Subject: [PATCH 166/180] op.sh: check for valid invocation (#33166) no source --- tools/op.sh | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/tools/op.sh b/tools/op.sh index 1715aaab6..a7ce7ef28 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -1,5 +1,11 @@ #!/usr/bin/env bash +if [[ ! "${BASH_SOURCE[0]}" = "${0}" ]]; then + echo "Invalid invocation! This script must not be sourced." + echo "Run 'op.sh' directly or check your .bashrc for a valid alias" + return 0 +fi + set -e RED='\033[0;31m' From bfa8e0b2ec20727db070945e99549828c1f4bc0e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 1 Aug 2024 15:36:44 -0700 Subject: [PATCH 167/180] disable test_rotation until it's fixed --- system/loggerd/tests/test_loggerd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 6a24540ac..74fc42f5e 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -136,7 +136,7 @@ class TestLoggerd: assert getattr(initData, initData_key) == v assert logged_params[param_key].decode() == v - @flaky(max_runs=3) + @pytest.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist") def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" Params().put("RecordFront", "1") From 5b4b7a08fcabdc22bb52c2abeeda87772d7990d7 Mon Sep 17 00:00:00 2001 From: Hoang Bui <47828508+bongbui321@users.noreply.github.com> Date: Thu, 1 Aug 2024 19:28:26 -0400 Subject: [PATCH 168/180] CI: fix recent test_rotation skip (#33167) --- system/loggerd/tests/test_loggerd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 74fc42f5e..cfd124770 100644 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -7,7 +7,7 @@ import subprocess import time from collections import defaultdict from pathlib import Path -from flaky import flaky +import pytest import cereal.messaging as messaging from cereal import log @@ -136,7 +136,7 @@ class TestLoggerd: assert getattr(initData, initData_key) == v assert logged_params[param_key].decode() == v - @pytest.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist") + @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist") def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" Params().put("RecordFront", "1") From 4b11c9e914707df9def598616995be2a5d355a6a Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Thu, 1 Aug 2024 16:44:10 -0700 Subject: [PATCH 169/180] ci: create ui report only on PR (#33168) only on pr --- .github/workflows/selfdrive_tests.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index bfad6e1e7..80be72f26 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -340,6 +340,7 @@ jobs: # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml name: Create UI Report runs-on: ubuntu-latest + if: github.event_name == 'pull_request' steps: - uses: actions/checkout@v4 with: From 13511e383c1679d17843e8cbf1bcb0a926f74c35 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 1 Aug 2024 22:16:13 -0700 Subject: [PATCH 170/180] remove pre-commit (explorations) (#33172) * remove pre-commit (explorations) * lint.sh * remove rest * add to release files * no source * 1min is all you need --- .github/workflows/repo-maintenance.yaml | 8 +- .github/workflows/selfdrive_tests.yaml | 17 +- .../workflows/setup-pre-commit/action.yaml | 12 - .pre-commit-config.yaml | 105 --------- docs/WORKFLOW.md | 2 +- pyproject.toml | 11 +- release/release_files.py | 1 - scripts/lint.sh | 10 + scripts/pyupgrade.sh | 7 - tools/install_python_dependencies.sh | 6 - tools/op.sh | 4 +- uv.lock | 209 ++++++------------ 12 files changed, 101 insertions(+), 291 deletions(-) delete mode 100644 .github/workflows/setup-pre-commit/action.yaml delete mode 100644 .pre-commit-config.yaml create mode 100755 scripts/lint.sh delete mode 100755 scripts/pyupgrade.sh diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml index cf3580449..3893c7fa5 100644 --- a/.github/workflows/repo-maintenance.yaml +++ b/.github/workflows/repo-maintenance.yaml @@ -46,17 +46,13 @@ jobs: python3 -m ensurepip --upgrade pip3 install uv uv lock --upgrade - - name: pre-commit autoupdate - run: | - git config --global --add safe.directory '*' - pre-commit autoupdate - name: Create Pull Request uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83 with: author: Vehicle Researcher token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} - commit-message: Update Python packages and pre-commit hooks - title: '[bot] Update Python packages and pre-commit hooks' + commit-message: Update Python packages + title: '[bot] Update Python packages' branch: auto-package-updates base: master delete-branch: true diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 80be72f26..8c46e15c2 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -25,7 +25,7 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base - RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c + RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical @@ -45,7 +45,6 @@ jobs: - name: Build devel timeout-minutes: 1 run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh - - uses: ./.github/workflows/setup-pre-commit - uses: ./.github/workflows/setup-with-retry - name: Check submodules if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' @@ -62,14 +61,13 @@ jobs: cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh && \ MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car" - - name: pre-commit - timeout-minutes: 3 + - name: static analysis + timeout-minutes: 1 run: | cd $GITHUB_WORKSPACE - cp .pre-commit-config.yaml $STRIPPED_DIR cp pyproject.toml $STRIPPED_DIR cd $STRIPPED_DIR - ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit" + ${{ env.RUN }} "scripts/lint.sh" build: strategy: @@ -146,13 +144,12 @@ jobs: - uses: actions/checkout@v4 with: submodules: true - - uses: ./.github/workflows/setup-pre-commit - uses: ./.github/workflows/setup-with-retry - name: Build openpilot run: ${{ env.RUN }} "scons -j$(nproc)" - - name: pre-commit - timeout-minutes: 4 - run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit" + - name: static analysis + timeout-minutes: 1 + run: ${{ env.RUN }} "scripts/lint.sh" unit_tests: name: unit tests diff --git a/.github/workflows/setup-pre-commit/action.yaml b/.github/workflows/setup-pre-commit/action.yaml deleted file mode 100644 index f07a10686..000000000 --- a/.github/workflows/setup-pre-commit/action.yaml +++ /dev/null @@ -1,12 +0,0 @@ -name: 'set up pre-commit environment' - -runs: - using: "composite" - steps: - - uses: ./.github/workflows/auto-cache - with: - path: .ci_cache/pre-commit - key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }} - restore-keys: | - pre-commit- - save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }} diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml deleted file mode 100644 index a7a537908..000000000 --- a/.pre-commit-config.yaml +++ /dev/null @@ -1,105 +0,0 @@ -exclude: '^(tinygrad_repo)' -repos: -- repo: meta - hooks: - - id: check-hooks-apply - - id: check-useless-excludes -- repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.6.0 - hooks: - - id: check-ast - exclude: '^(third_party)/' - - id: check-json - exclude: '.devcontainer/devcontainer.json|.vscode/' # these support JSON with comments - - id: check-toml - - id: check-xml - - id: check-yaml - - id: check-merge-conflict - - id: check-symlinks - - id: check-executables-have-shebangs - - id: check-shebang-scripts-are-executable - - id: check-added-large-files - exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)' - args: - - --maxkb=120 - - --enforce-all -- repo: https://github.com/codespell-project/codespell - rev: v2.3.0 - hooks: - - id: codespell - exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)' - args: - # if you've got a short variable name that's getting flagged, add it here - - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn - - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US -- repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.5.5 - hooks: - - id: ruff - exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' -- repo: local - hooks: - - id: mypy - name: mypy - entry: mypy - language: system - types: [python] - args: - - --local-partial-types - - --explicit-package-bases - exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' -- repo: local - hooks: - - id: cppcheck - name: cppcheck - entry: cppcheck - language: system - types: [c++] - exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)' - args: - - --error-exitcode=1 - - --language=c++ - - --quiet - - --force - - -j8 - - --library=qt - - --include=third_party/kaitai/kaitaistream.h -- repo: https://github.com/cpplint/cpplint - rev: 1.6.1 - hooks: - - id: cpplint - exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' - args: - - --quiet - - --counting=total - - --linelength=240 - # https://google.github.io/styleguide/cppguide.html - # relevant rules are whitelisted, see all options with: cpplint --filter= - - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces -- repo: https://github.com/MarcoGorelli/cython-lint - rev: v0.16.2 - hooks: - - id: cython-lint - exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' - args: - - --max-line-length=240 - - --ignore=E111, E302, E305 -- repo: local - hooks: - - id: test_translations - name: test translations - entry: pytest selfdrive/ui/tests/test_translations.py - language: system - pass_filenames: false - files: '^selfdrive/ui/translations/' -- repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.29.1 - hooks: - - id: check-github-workflows -- repo: local - hooks: - - id: import-linter - name: import linter - entry: lint-imports - language: system - pass_filenames: false diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md index 10cf244fd..477c7511c 100644 --- a/docs/WORKFLOW.md +++ b/docs/WORKFLOW.md @@ -29,7 +29,7 @@ pytest cd system/loggerd && pytest . # run the linter -pre-commit run --all +op lint ``` ## Testing diff --git a/pyproject.toml b/pyproject.toml index b486df387..90b6ecf98 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -76,7 +76,6 @@ testing = [ "hypothesis ==6.47.*", "import-linter", "mypy", - "pre-commit", "pytest", "pytest-cov", "pytest-cpp", @@ -87,7 +86,8 @@ testing = [ "pytest-asyncio", "pytest-mock", "pytest-repeat", - "ruff" + "ruff", + "codespell", ] dev = [ @@ -164,6 +164,13 @@ testpaths = [ "cereal/messaging/tests", ] +[tool.codespell] +count = true +quiet-level = 3 +# if you've got a short variable name that's getting flagged, add it here +ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn" +builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US" + [tool.mypy] python_version = "3.11" plugins = [ diff --git a/release/release_files.py b/release/release_files.py index be9ad75ed..29d565a95 100755 --- a/release/release_files.py +++ b/release/release_files.py @@ -26,7 +26,6 @@ blacklist = [ "selfdrive/car/tests/test_models.*", "^tools/", - "^scripts/", "^tinygrad_repo/", "matlab.*.md", diff --git a/scripts/lint.sh b/scripts/lint.sh new file mode 100755 index 000000000..3cf548f2b --- /dev/null +++ b/scripts/lint.sh @@ -0,0 +1,10 @@ +#!/bin/bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +cd $DIR/../ + +# TODO: bring back rest of pre-commit checks: +# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2 + +ruff check . diff --git a/scripts/pyupgrade.sh b/scripts/pyupgrade.sh deleted file mode 100755 index 19aac4b5e..000000000 --- a/scripts/pyupgrade.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/usr/bin/env bash - -set -e - -pip install --upgrade pyupgrade - -git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh index a90462888..8d118525a 100755 --- a/tools/install_python_dependencies.sh +++ b/tools/install_python_dependencies.sh @@ -43,9 +43,3 @@ if [[ "$(uname)" == 'Darwin' ]]; then echo "export ZMQ=1" >> $ROOT/.env echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env fi - -if [ "$(uname)" != "Darwin" ] && [ -e "$ROOT/.git" ]; then - echo "pre-commit hooks install..." - pre-commit install - git submodule foreach pre-commit install -fi diff --git a/tools/op.sh b/tools/op.sh index a7ce7ef28..e578459ae 100755 --- a/tools/op.sh +++ b/tools/op.sh @@ -224,7 +224,7 @@ function op_juggle() { function op_lint() { op_before_cmd - op_run_command pre-commit run --all $@ + op_run_command scripts/lint.sh $@ } function op_test() { @@ -272,7 +272,7 @@ function op_default() { echo -e " ${BOLD}juggle${NC} Run Plotjuggler" echo -e " ${BOLD}replay${NC} Run replay" echo -e " ${BOLD}cabana${NC} Run cabana" - echo -e " ${BOLD}lint${NC} Run all the pre-commit checks" + echo -e " ${BOLD}lint${NC} Run the linter" echo -e " ${BOLD}test${NC} Run all unit tests from pytest" echo -e " ${BOLD}help${NC} Show this message" echo -e " ${BOLD}install${NC} Install the 'op' tool system wide" diff --git a/uv.lock b/uv.lock index 7afdbb3c6..6876de533 100644 --- a/uv.lock +++ b/uv.lock @@ -1,10 +1,5 @@ version = 1 requires-python = ">=3.11" -environment-markers = [ - "python_version == '3.12' and platform_machine == 'aarch64'", - "python_version == '3.12' and platform_machine == 'aarch64' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')", - "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'", -] [[distribution]] name = "aiohttp" @@ -179,9 +174,6 @@ wheels = [ name = "casadi" version = "3.6.5" source = { registry = "https://pypi.org/simple" } -environment-markers = [ - "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'", -] dependencies = [ { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, ] @@ -208,11 +200,8 @@ wheels = [ name = "casadi" version = "3.6.6" source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" } -environment-markers = [ - "python_version == '3.12' and platform_machine == 'aarch64'", -] dependencies = [ - { name = "numpy", marker = "python_version == '3.12' and platform_machine == 'aarch64'" }, + { name = "numpy" }, ] wheels = [ { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:06a15e0099657b960620a2491e565c7f126030018da80c39f6bd33439160c669" }, @@ -259,15 +248,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/e9/63/e285470a4880a4f36edabe4810057bd4b562c6ddcc165eacf9c3c7210b40/cffi-1.16.0-cp312-cp312-win_amd64.whl", hash = "sha256:68678abf380b42ce21a5f2abde8efee05c114c2fdb2e9eef2efdb0257fba1235", size = 181956 }, ] -[[distribution]] -name = "cfgv" -version = "3.4.0" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/11/74/539e56497d9bd1d484fd863dd69cbbfa653cd2aa27abfe35653494d85e94/cfgv-3.4.0.tar.gz", hash = "sha256:e52591d4c5f5dead8e0f673fb16db7949d2cfb3f7da4582893288f0ded8fe560", size = 7114 } -wheels = [ - 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[[distribution]] name = "idna" version = "3.7" @@ -1081,28 +1052,28 @@ name = "metadrive-simulator" version = "0.4.2.3" source = { git = "https://github.com/commaai/metadrive?rev=opencv_headless#9b6ddb791919249effa0573883076681514787e4" } dependencies = [ - { name = "filelock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "geopandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "gymnasium", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "lxml", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "matplotlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "opencv-python-headless", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "panda3d", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "panda3d-gltf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "pandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "pillow", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "progressbar", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "pygame", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "pygments", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "pytest", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "scipy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "seaborn", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "shapely", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, - { name = "yapf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" }, + { name = "filelock" }, + { name = "geopandas" }, + { name = "gymnasium" }, + { name = "lxml" }, + { name = "matplotlib" }, + { name = "numpy" }, + { name = "opencv-python-headless" }, + { name = "panda3d" }, + { name = "panda3d-gltf" }, + { name = "pandas" }, + { name = "pillow" }, + { name = "progressbar" }, + { name = "psutil" }, + { name = "pygame" }, + { name = "pygments" }, + { name = "pytest" }, + { name = "requests" }, + { name = "scipy" }, + { name = "seaborn" }, + { name = "shapely" }, + { name = "tqdm" }, + { name = "yapf" }, ] [[distribution]] @@ -1169,7 +1140,6 @@ version = "1.30.0" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, - { name = "pyjwt", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyjwt", extra = ["crypto"] }, { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, ] @@ -1271,15 +1241,6 @@ wheels = [ { url = "https://files.pythonhosted.org/packages/ef/82/7a9d0550484a62c6da82858ee9419f3dd1ccc9aa1c26a1e43da3ecd20b0d/natsort-8.4.0-py3-none-any.whl", hash = "sha256:4732914fb471f56b5cce04d7bae6f164a592c7712e1c85f9ef585e197299521c", size = 38268 }, ] -[[distribution]] -name = "nodeenv" -version = "1.9.1" -source = { registry = "https://pypi.org/simple" } -sdist = { url = "https://files.pythonhosted.org/packages/43/16/fc88b08840de0e0a72a2f9d8c6bae36be573e475a6326ae854bcc549fc45/nodeenv-1.9.1.tar.gz", hash = "sha256:6ec12890a2dab7946721edbfbcd91f3319c6ccc9aec47be7c7e6b7011ee6645f", size = 47437 } -wheels = [ - { url = "https://files.pythonhosted.org/packages/d2/1d/1b658dbd2b9fa9c4c9f32accbfc0205d532c8c6194dc0f2a4c0428e7128a/nodeenv-1.9.1-py2.py3-none-any.whl", hash = "sha256:ba11c9782d29c27c70ffbdda2d7415098754709be8a7056d79a737cd901155c9", size = 22314 }, -] - [[distribution]] name = "numpy" version = "1.26.4" @@ -1404,8 +1365,8 @@ dependencies = [ { name = "libusb1", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "onnx", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, - { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" }, - { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" }, + { name = "onnxruntime", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" }, + { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')" }, { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pyaudio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "pycapnp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, @@ -1419,7 +1380,7 @@ dependencies = [ { name = "setuptools", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "smbus2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "sounddevice", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, - { name = "spidev", marker = "platform_system == 'Linux'" }, + { name = "spidev", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" }, { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, { name = "websocket-client", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, @@ -1428,49 +1389,49 @@ dependencies = [ [distribution.optional-dependencies] dev = [ - 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{ name = "platformdirs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" }, -] -sdist = { url = "https://files.pythonhosted.org/packages/68/60/db9f95e6ad456f1872486769c55628c7901fb4de5a72c2f7bdd912abf0c1/virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a", size = 9057588 } -wheels = [ - { url = "https://files.pythonhosted.org/packages/07/4d/410156100224c5e2f0011d435e477b57aed9576fc7fe137abcf14ec16e11/virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589", size = 5684792 }, -] - [[distribution]] name = "watchdog" version = "4.0.1" From 8f3fc699d4e06811fd29fbf64fe89032cce563b9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 3 Aug 2024 03:01:56 +0800 Subject: [PATCH 171/180] loggerd: Initialize atomic variables to zero (#33130) Initialize atomic variables in LoggerdState to zero --- system/loggerd/loggerd.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index a324479fb..c9632c0dd 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -15,8 +15,8 @@ ExitHandler do_exit; struct LoggerdState { LoggerState logger; - std::atomic last_camera_seen_tms; - std::atomic ready_to_rotate; // count of encoders ready to rotate + std::atomic last_camera_seen_tms{0.0}; + std::atomic ready_to_rotate{0}; // count of encoders ready to rotate int max_waiting = 0; double last_rotate_tms = 0.; // last rotate time in ms }; From 2189164d455aba0c72192881bef43a1cee8f3d3b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 3 Aug 2024 03:16:04 +0800 Subject: [PATCH 172/180] camerad: encapsulating event management within the ImgProc Class (#33119) Encapsulating Event Management Within the ImgProc Class --- system/camerad/cameras/camera_common.cc | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 06ef2bd37..4032dad25 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -37,7 +37,7 @@ public: } - void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, cl_event *imgproc_event, int expo_time) { + void runKernel(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) { CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl)); CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl)); CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time)); @@ -45,7 +45,11 @@ public: const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)}; const int imgproc_local_worksize = 16; const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize}; - CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, imgproc_event)); + + cl_event event; + CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event)); + clWaitForEvents(1, &event); + CL_CHECK(clReleaseEvent(event)); } ~ImgProc() { @@ -116,10 +120,7 @@ bool CameraBuf::acquire() { cur_camera_buf = &camera_bufs[cur_buf_idx]; double start_time = millis_since_boot(); - cl_event event; - imgproc->queue(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event, cur_frame_data.integ_lines); - clWaitForEvents(1, &event); - CL_CHECK(clReleaseEvent(event)); + imgproc->runKernel(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines); cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; VisionIpcBufExtra extra = { From ea5ee29ebddf0a17bd884f23de6b6a5a288ebd10 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 3 Aug 2024 03:16:24 +0800 Subject: [PATCH 173/180] params: wrap fsync and close in HANDLE_EINTR for robustness (#33154) Wrap fsync and close in HANDLE_EINTR for Robustness --- common/params.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/common/params.cc b/common/params.cc index 03a3cc31f..615dd55ab 100644 --- a/common/params.cc +++ b/common/params.cc @@ -24,8 +24,8 @@ int fsync_dir(const std::string &path) { int result = -1; int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755)); if (fd >= 0) { - result = fsync(fd); - close(fd); + result = HANDLE_EINTR(fsync(fd)); + HANDLE_EINTR(close(fd)); } return result; } From 8ab587d30b461cf52844a351b912e3560b9dcbcd Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 3 Aug 2024 03:18:10 +0800 Subject: [PATCH 174/180] camerad: move `do_exit` to camera_qcom2.cc (#33086) move do_exit to camera_qcom2.cc --- system/camerad/cameras/camera_common.cc | 2 -- system/camerad/cameras/camera_qcom2.cc | 2 +- 2 files changed, 1 insertion(+), 3 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 4032dad25..6aec03eae 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -15,8 +15,6 @@ #include "CL/cl_ext_qcom.h" #endif -ExitHandler do_exit; - class ImgProc { public: ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) { diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 2729aa264..6aebc8871 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -24,7 +24,7 @@ const int MIPI_SETTLE_CNT = 33; // Calculated by camera_freqs.py // For debugging: // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl -extern ExitHandler do_exit; +ExitHandler do_exit; CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config) : multi_cam_state(multi_camera_state), From 19dec54f65459b619f9a726c7ca6ecb96f6067ea Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 2 Aug 2024 12:55:04 -0700 Subject: [PATCH 175/180] Update stale.yaml --- .github/workflows/stale.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml index a26691ea4..f7f92a038 100644 --- a/.github/workflows/stale.yaml +++ b/.github/workflows/stale.yaml @@ -5,8 +5,8 @@ on: workflow_dispatch: env: - DAYS_BEFORE_PR_CLOSE: 3 - DAYS_BEFORE_PR_STALE: 14 + DAYS_BEFORE_PR_CLOSE: 2 + DAYS_BEFORE_PR_STALE: 9 jobs: stale: From c40d129f70338674302116cfdde129ba6511a920 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 3 Aug 2024 03:57:29 +0800 Subject: [PATCH 176/180] camerad: update frame msg related variable types to uint64_t for consistency (#33113) Update frame_msg related variable types to uint64_t for type safety --- system/camerad/cameras/camera_qcom2.cc | 14 +++++++------- system/camerad/cameras/camera_qcom2.h | 10 +++++----- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 6aebc8871..0648ddf4d 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -345,7 +345,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b void CameraState::enqueue_buffer(int i, bool dp) { int ret; - int request_id = request_ids[i]; + uint64_t request_id = request_ids[i]; if (buf_handle[i] && sync_objs[i]) { // wait @@ -386,7 +386,7 @@ void CameraState::enqueue_buffer(int i, bool dp) { req_mgr_sched_request.req_id = request_id; ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request)); if (ret != 0) { - LOGE("failed to schedule cam mgr request: %d %d", ret, request_id); + LOGE("failed to schedule cam mgr request: %d %lu", ret, request_id); } // poke sensor, must happen after schedule @@ -396,8 +396,8 @@ void CameraState::enqueue_buffer(int i, bool dp) { config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1)); } -void CameraState::enqueue_req_multi(int start, int n, bool dp) { - for (int i=start; iu.frame_msg.link_hdl == link_handle); uint64_t timestamp = event_data->u.frame_msg.timestamp; - int main_id = event_data->u.frame_msg.frame_id; - int real_id = event_data->u.frame_msg.request_id; + uint64_t main_id = event_data->u.frame_msg.frame_id; + uint64_t real_id = event_data->u.frame_msg.request_id; if (real_id != 0) { // next ready if (real_id == 1) {idx_offset = main_id;} @@ -799,7 +799,7 @@ void CameraState::handle_camera_event(void *evdat) { // check for dropped requests if (real_id > request_id_last + 1) { - LOGE("camera %d dropped requests %d %d", camera_num, real_id, request_id_last); + LOGE("camera %d dropped requests %ld %ld", camera_num, real_id, request_id_last); enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0); } diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 1b27fb18b..02ebeb71f 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -105,17 +105,17 @@ public: int buf0_handle = 0; int buf_handle[FRAME_BUF_COUNT] = {}; int sync_objs[FRAME_BUF_COUNT] = {}; - int request_ids[FRAME_BUF_COUNT] = {}; - int request_id_last = 0; - int frame_id_last = 0; - int idx_offset = 0; + uint64_t request_ids[FRAME_BUF_COUNT] = {}; + uint64_t request_id_last = 0; + uint64_t frame_id_last = 0; + uint64_t idx_offset = 0; bool skipped = true; CameraBuf buf; MemoryManager mm; void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset); - void enqueue_req_multi(int start, int n, bool dp); + void enqueue_req_multi(uint64_t start, int n, bool dp); void enqueue_buffer(int i, bool dp); int clear_req_queue(); From 2cd9975e4fe31bf89cdbf41d3d5db02f519a2718 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 3 Aug 2024 04:40:33 +0800 Subject: [PATCH 177/180] modeld: remove redundant pred_mu assignment (#33152) remove redundant pred_mu assignment --- selfdrive/modeld/parse_model_outputs.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index af57e11d0..03d03c5e1 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -42,7 +42,6 @@ class Parser: raw = outs[name] raw = raw.reshape((raw.shape[0], max(in_N, 1), -1)) - pred_mu = raw[:,:,:(raw.shape[2] - out_N)//2] n_values = (raw.shape[2] - out_N)//2 pred_mu = raw[:,:,:n_values] pred_std = np.exp(raw[:,:,n_values: 2*n_values]) From cafca4f89176855585835ff7c67dea5a9b08ca23 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 3 Aug 2024 04:40:57 +0800 Subject: [PATCH 178/180] uploader.py: simplify clear_locks by using rglob (#32974) simplify clear_locks --- system/loggerd/uploader.py | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 965d74bef..4a95997e6 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -19,6 +19,7 @@ from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog +from pathlib import Path NetworkType = log.DeviceState.NetworkType UPLOAD_ATTR_NAME = 'user.upload' @@ -61,12 +62,9 @@ def listdir_by_creation(d: str) -> list[str]: return [] def clear_locks(root: str) -> None: - for logdir in os.listdir(root): - path = os.path.join(root, logdir) + for lock_file in Path(root).rglob('*.lock'): try: - for fname in os.listdir(path): - if fname.endswith(".lock"): - os.unlink(os.path.join(path, fname)) + lock_file.unlink() except OSError: cloudlog.exception("clear_locks failed") From 9474523addb78d3b16a72949c6d85c4059fffa92 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 3 Aug 2024 12:12:42 -0700 Subject: [PATCH 179/180] Revert "uploader.py: simplify clear_locks by using rglob (#32974)" This reverts commit cafca4f89176855585835ff7c67dea5a9b08ca23. --- system/loggerd/uploader.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 4a95997e6..965d74bef 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -19,7 +19,6 @@ from openpilot.common.realtime import set_core_affinity from openpilot.system.hardware.hw import Paths from openpilot.system.loggerd.xattr_cache import getxattr, setxattr from openpilot.common.swaglog import cloudlog -from pathlib import Path NetworkType = log.DeviceState.NetworkType UPLOAD_ATTR_NAME = 'user.upload' @@ -62,9 +61,12 @@ def listdir_by_creation(d: str) -> list[str]: return [] def clear_locks(root: str) -> None: - for lock_file in Path(root).rglob('*.lock'): + for logdir in os.listdir(root): + path = os.path.join(root, logdir) try: - lock_file.unlink() + for fname in os.listdir(path): + if fname.endswith(".lock"): + os.unlink(os.path.join(path, fname)) except OSError: cloudlog.exception("clear_locks failed") From 8f9b165de8be31b8c68dfa31e7f6a036107aa2e4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 4 Aug 2024 05:57:26 +0800 Subject: [PATCH 180/180] camerad: encapsulate cl_command_queue in ImgProc (#33178) move cl queue to imgproc --- system/camerad/cameras/camera_common.cc | 14 +++++++------- system/camerad/cameras/camera_common.h | 1 - 2 files changed, 7 insertions(+), 8 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 6aec03eae..6c745e1cd 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -33,9 +33,11 @@ public: krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err)); CL_CHECK(clReleaseProgram(prg_imgproc)); + const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0}; + queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err)); } - void runKernel(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) { + void runKernel(cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) { CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl)); CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl)); CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time)); @@ -45,17 +47,19 @@ public: const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize}; cl_event event; - CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event)); + CL_CHECK(clEnqueueNDRangeKernel(queue, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event)); clWaitForEvents(1, &event); CL_CHECK(clReleaseEvent(event)); } ~ImgProc() { CL_CHECK(clReleaseKernel(krnl_)); + CL_CHECK(clReleaseCommandQueue(queue)); } private: cl_kernel krnl_; + cl_command_queue queue; }; void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) { @@ -92,9 +96,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); imgproc = new ImgProc(device_id, context, this, s, nv12_width, nv12_uv_offset); - - const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0}; - q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err)); } CameraBuf::~CameraBuf() { @@ -102,7 +103,6 @@ CameraBuf::~CameraBuf() { camera_bufs[i].free(); } if (imgproc) delete imgproc; - if (q) CL_CHECK(clReleaseCommandQueue(q)); } bool CameraBuf::acquire() { @@ -118,7 +118,7 @@ bool CameraBuf::acquire() { cur_camera_buf = &camera_bufs[cur_buf_idx]; double start_time = millis_since_boot(); - imgproc->runKernel(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines); + imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines); cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; VisionIpcBufExtra extra = { diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index d58f4d319..7c2fbaeec 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -53,7 +53,6 @@ private: int frame_buf_count; public: - cl_command_queue q; FrameMetadata cur_frame_data; VisionBuf *cur_yuv_buf; VisionBuf *cur_camera_buf;