card parses radar points (#33443)
* interfaces returns radarinterface old-commit-hash: 9ad1f096bfca3712320f19b1b49aa9e6ac9b68e4 * bump old-commit-hash: 20334a8b257c6037e11d02f2ba7b1f02c59f3240 * get RI from opendbc old-commit-hash: b5f6d0c48c90927926e9dd557130075aeec5edee * stash so far old-commit-hash: 5aa2c842eb152316434c17a661df05bb8af61f47 * new liveTracks message (radard expects and needs RadarData) * this should just work? * whoops * fix that * rm liveTracks from radard pm * fix proceess replay * lol fcw diff, something's not right * actually there's fcw in original route. it's pretty close * no tracks! * fix test_leads * CPU moved across procs * fix not engageable from onroadEvents * bump * fixes * bump to master * radard publishes w/ modelV2 now, so it will always be sent. check valid which radard sets using liveTracks avg freq * fix that (it works!) * combine join * bump * bump * deprecate * why * fix incorrect args * remove cumLagMs from process_replay * update refs
This commit is contained in:
Shane Smiskol
GitHub
parent
aef650013e
commit
922348f33d
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@ -508,6 +508,7 @@ struct CarParams {
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carFw @44 :List(CarFw);
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radarTimeStep @45: Float32 = 0.05; # time delta between radar updates, 20Hz is very standard
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radarDelay @74 :Float32;
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fingerprintSource @49: FingerprintSource;
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networkLocation @50 :NetworkLocation; # Where Panda/C2 is integrated into the car's CAN network
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@ -611,7 +611,6 @@ struct RadarState @0x9a185389d6fdd05f {
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leadOne @3 :LeadData;
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leadTwo @4 :LeadData;
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cumLagMs @5 :Float32;
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struct LeadData {
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dRel @0 :Float32;
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@ -641,6 +640,7 @@ struct RadarState @0x9a185389d6fdd05f {
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calCycleDEPRECATED @8 :Int32;
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calPercDEPRECATED @9 :Int8;
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canMonoTimesDEPRECATED @10 :List(UInt64);
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cumLagMsDEPRECATED @5 :Float32;
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}
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struct LiveCalibrationData {
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@ -671,7 +671,7 @@ struct LiveCalibrationData {
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}
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}
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struct LiveTracks {
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struct LiveTracksDEPRECATED {
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trackId @0 :Int32;
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dRel @1 :Float32;
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yRel @2 :Float32;
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@ -2335,7 +2335,7 @@ struct Event {
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pandaStates @81 :List(PandaState);
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peripheralState @80 :PeripheralState;
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radarState @13 :RadarState;
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liveTracks @16 :List(LiveTracks);
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liveTracks @131 :Car.RadarData;
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sendcan @17 :List(CanData);
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liveCalibration @19 :LiveCalibrationData;
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carState @22 :Car.CarState;
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@ -2465,5 +2465,6 @@ struct Event {
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navModelDEPRECATED @104 :NavModelData;
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uiPlanDEPRECATED @106 :UiPlan;
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liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
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liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
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}
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}
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@ -1 +1 @@
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Subproject commit 86be858a37217d003e8d8b0097522656df7a5870
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Subproject commit c0a9ab5c39197d48cc920a818a85610e526f9e73
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@ -16,8 +16,8 @@ from openpilot.common.swaglog import cloudlog, ForwardingHandler
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from opendbc.car import DT_CTRL, carlog, structs
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from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
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from opendbc.car.fw_versions import ObdCallback
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from opendbc.car.car_helpers import get_car
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from opendbc.car.interfaces import CarInterfaceBase
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from opendbc.car.car_helpers import get_car, get_radar_interface
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from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
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from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
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from openpilot.selfdrive.car.cruise import VCruiseHelper
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from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState
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@ -63,13 +63,14 @@ def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket
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class Car:
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CI: CarInterfaceBase
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RI: RadarInterfaceBase
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CP: structs.CarParams
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CP_capnp: car.CarParams
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def __init__(self, CI=None) -> None:
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def __init__(self, CI=None, RI=None) -> None:
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self.can_sock = messaging.sub_sock('can', timeout=20)
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self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
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self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput'])
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self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
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self.can_rcv_cum_timeout_counter = 0
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@ -101,12 +102,14 @@ class Car:
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cached_params = structs.CarParams(carName=_cached_params.carName, carFw=_cached_params.carFw, carVin=_cached_params.carVin)
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self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
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self.RI = get_radar_interface(self.CI.CP)
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self.CP = self.CI.CP
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# continue onto next fingerprinting step in pandad
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self.params.put_bool("FirmwareQueryDone", True)
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else:
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self.CI, self.CP = CI, CI.CP
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self.RI = RI
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# set alternative experiences from parameters
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self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
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@ -149,7 +152,7 @@ class Car:
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# card is driven by can recv, expected at 100Hz
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self.rk = Ratekeeper(100, print_delay_threshold=None)
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def state_update(self) -> car.CarState:
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def state_update(self) -> tuple[car.CarState, structs.RadarData | None]:
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"""carState update loop, driven by can"""
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# Update carState from CAN
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@ -159,6 +162,9 @@ class Car:
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if self.CP.carName == 'mock':
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CS = self.mock_carstate.update(CS)
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# Update radar tracks from CAN
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RD: structs.RadarData | None = self.RI.update(can_capnp_to_list(can_strs))
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self.sm.update(0)
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can_rcv_valid = len(can_strs) > 0
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@ -175,9 +181,9 @@ class Car:
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CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
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CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
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return CS
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return CS, RD
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def update_events(self, CS: car.CarState):
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def update_events(self, CS: car.CarState, RD: structs.RadarData | None):
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self.events.clear()
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CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg()
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@ -196,9 +202,12 @@ class Car:
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(CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
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self.events.add(EventName.pedalPressed)
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if RD is not None and len(RD.errors):
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self.events.add(EventName.radarFault)
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CS.events = self.events.to_msg()
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def state_publish(self, CS: car.CarState):
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def state_publish(self, CS: car.CarState, RD: structs.RadarData | None):
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"""carState and carParams publish loop"""
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# carParams - logged every 50 seconds (> 1 per segment)
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@ -222,6 +231,12 @@ class Car:
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cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
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self.pm.send('carState', cs_send)
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if RD is not None:
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tracks_msg = messaging.new_message('liveTracks')
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tracks_msg.valid = CS.canValid and len(RD.errors) == 0
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tracks_msg.liveTracks = convert_to_capnp(RD)
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self.pm.send('liveTracks', tracks_msg)
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def controls_update(self, CS: car.CarState, CC: car.CarControl):
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"""control update loop, driven by carControl"""
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@ -241,14 +256,14 @@ class Car:
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self.CC_prev = CC
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def step(self):
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CS = self.state_update()
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CS, RD = self.state_update()
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self.update_events(CS)
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self.update_events(CS, RD)
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if not self.sm['carControl'].enabled and self.events.contains(ET.ENABLE):
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self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
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self.state_publish(CS)
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self.state_publish(CS, RD)
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initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and
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self.sm.seen['onroadEvents'])
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@ -35,7 +35,7 @@ def asdictref(obj) -> dict[str, Any]:
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return _asdictref_inner(obj)
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def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators) -> capnp.lib.capnp._DynamicStructBuilder:
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def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarControl.Actuators | structs.RadarData) -> capnp.lib.capnp._DynamicStructBuilder:
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struct_dict = asdictref(struct)
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if isinstance(struct, structs.CarParams):
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@ -51,6 +51,8 @@ def convert_to_capnp(struct: structs.CarParams | structs.CarState | structs.CarC
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struct_capnp = car.CarState.new_message(**struct_dict)
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elif isinstance(struct, structs.CarControl.Actuators):
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struct_capnp = car.CarControl.Actuators.new_message(**struct_dict)
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elif isinstance(struct, structs.RadarData):
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struct_capnp = car.RadarData.new_message(**struct_dict)
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else:
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raise ValueError(f"Unsupported struct type: {type(struct)}")
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@ -448,7 +448,7 @@ class TestCarModelBase(unittest.TestCase):
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checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
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else:
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# Check for enable events on rising edge of controls allowed
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card.update_events(CS)
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card.update_events(CS, None)
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card.CS_prev = CS
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button_enable = (any(evt.enable for evt in CS.events) and
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not any(evt == EventName.pedalPressed for evt in card.events.names))
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@ -96,7 +96,7 @@ class Controls:
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'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
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'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
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'testJoystick'] + self.camera_packets + self.sensor_packets + self.gps_packets,
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ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
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ignore_alive=ignore, ignore_avg_freq=ignore+['testJoystick'], ignore_valid=['testJoystick', ],
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frequency=int(1/DT_CTRL))
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self.joystick_mode = self.params.get_bool("JoystickDebugMode")
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@ -301,7 +301,7 @@ class Controls:
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self.events.add(EventName.cameraFrameRate)
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if not REPLAY and self.rk.lagging:
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self.events.add(EventName.controlsdLagging)
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if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])):
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if not self.sm.valid['radarState']:
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self.events.add(EventName.radarFault)
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if not self.sm.valid['pandaStates']:
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self.events.add(EventName.usbError)
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@ -1,18 +1,15 @@
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#!/usr/bin/env python3
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import importlib
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import math
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from collections import deque
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from typing import Any
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import capnp
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from cereal import messaging, log, car
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from opendbc.car import structs
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from openpilot.common.numpy_fast import interp
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
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from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
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from openpilot.common.swaglog import cloudlog
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from openpilot.common.simple_kalman import KF1D
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from openpilot.selfdrive.pandad import can_capnp_to_list
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# Default lead acceleration decay set to 50% at 1s
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@ -194,14 +191,14 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
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class RadarD:
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def __init__(self, radar_ts: float, delay: int = 0):
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def __init__(self, delay: float = 0.0):
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self.current_time = 0.0
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self.tracks: dict[int, Track] = {}
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self.kalman_params = KalmanParams(radar_ts)
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self.kalman_params = KalmanParams(DT_MDL)
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self.v_ego = 0.0
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self.v_ego_hist = deque([0.0], maxlen=delay+1)
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self.v_ego_hist = deque([0.0], maxlen=int(round(delay / DT_MDL))+1)
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self.last_v_ego_frame = -1
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self.radar_state: capnp._DynamicStructBuilder | None = None
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@ -209,7 +206,7 @@ class RadarD:
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self.ready = False
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def update(self, sm: messaging.SubMaster, rr: structs.RadarData):
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def update(self, sm: messaging.SubMaster, rr: car.RadarData):
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self.ready = sm.seen['modelV2']
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self.current_time = 1e-9*max(sm.logMonoTime.values())
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@ -255,27 +252,14 @@ class RadarD:
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self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
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self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
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def publish(self, pm: messaging.PubMaster, lag_ms: float):
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def publish(self, pm: messaging.PubMaster):
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assert self.radar_state is not None
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radar_msg = messaging.new_message("radarState")
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radar_msg.valid = self.radar_state_valid
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radar_msg.radarState = self.radar_state
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radar_msg.radarState.cumLagMs = lag_ms
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pm.send("radarState", radar_msg)
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# publish tracks for UI debugging (keep last)
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tracks_msg = messaging.new_message('liveTracks', len(self.tracks))
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tracks_msg.valid = self.radar_state_valid
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for index, tid in enumerate(sorted(self.tracks.keys())):
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tracks_msg.liveTracks[index] = {
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"trackId": tid,
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"dRel": float(self.tracks[tid].dRel),
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"yRel": float(self.tracks[tid].yRel),
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"vRel": float(self.tracks[tid].vRel),
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}
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pm.send('liveTracks', tracks_msg)
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# fuses camera and radar data for best lead detection
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def main() -> None:
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@ -286,31 +270,17 @@ def main() -> None:
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CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
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cloudlog.info("radard got CarParams")
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# import the radar from the fingerprint
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cloudlog.info("radard is importing %s", CP.carName)
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RadarInterface = importlib.import_module(f'opendbc.car.{CP.carName}.radar_interface').RadarInterface
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# *** setup messaging
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can_sock = messaging.sub_sock('can')
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sm = messaging.SubMaster(['modelV2', 'carState'], frequency=int(1./DT_CTRL))
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pm = messaging.PubMaster(['radarState', 'liveTracks'])
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sm = messaging.SubMaster(['modelV2', 'carState', 'liveTracks'], poll='modelV2')
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pm = messaging.PubMaster(['radarState'])
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RI = RadarInterface(CP)
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rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
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RD = RadarD(CP.radarTimeStep, RI.delay)
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RD = RadarD(CP.radarDelay)
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while 1:
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can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
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rr: structs.RadarData | None = RI.update(can_capnp_to_list(can_strings))
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sm.update(0)
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if rr is None:
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continue
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sm.update()
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RD.update(sm, rr)
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RD.publish(pm, -rk.remaining*1000.0)
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rk.monitor_time()
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RD.update(sm, sm['liveTracks'])
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RD.publish(pm)
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if __name__ == "__main__":
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@ -11,19 +11,21 @@ class TestLeads:
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def single_iter_pkg():
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# single iter package, with meaningless cans and empty carState/modelV2
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msgs = []
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for _ in range(5):
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for _ in range(500):
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can = messaging.new_message("can", 1)
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cs = messaging.new_message("carState")
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cp = messaging.new_message("carParams")
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msgs.append(can.as_reader())
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msgs.append(cs.as_reader())
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msgs.append(cp.as_reader())
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model = messaging.new_message("modelV2")
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msgs.append(model.as_reader())
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return msgs
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msgs = [m for _ in range(3) for m in single_iter_pkg()]
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out = replay_process_with_name("radard", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
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states = [m for m in out if m.which() == "radarState"]
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failures = [not state.valid and len(state.radarState.radarErrors) for state in states]
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out = replay_process_with_name("card", msgs, fingerprint=TOYOTA.TOYOTA_COROLLA_TSS2)
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states = [m for m in out if m.which() == "liveTracks"]
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failures = [not state.valid and len(state.liveTracks.errors) for state in states]
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assert len(states) == 0 or all(failures)
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@ -1,6 +1,6 @@
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from collections import defaultdict
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from cereal import messaging
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from cereal import messaging, car
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from opendbc.car.fingerprints import MIGRATION
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from opendbc.car.toyota.values import EPS_SCALE
|
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from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
|
||||
|
|
@ -17,6 +17,7 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
|
|||
msgs = migrate_carOutput(msgs)
|
||||
msgs = migrate_controlsState(msgs)
|
||||
msgs = migrate_liveLocationKalman(msgs)
|
||||
msgs = migrate_liveTracks(msgs)
|
||||
if manager_states:
|
||||
msgs = migrate_managerState(msgs)
|
||||
if panda_states:
|
||||
|
|
@ -28,6 +29,35 @@ def migrate_all(lr, manager_states=False, panda_states=False, camera_states=Fals
|
|||
return msgs
|
||||
|
||||
|
||||
def migrate_liveTracks(lr):
|
||||
all_msgs = []
|
||||
for msg in lr:
|
||||
if msg.which() != "liveTracksDEPRECATED":
|
||||
all_msgs.append(msg)
|
||||
continue
|
||||
|
||||
new_msg = messaging.new_message('liveTracks')
|
||||
new_msg.valid = msg.valid
|
||||
new_msg.logMonoTime = msg.logMonoTime
|
||||
|
||||
pts = []
|
||||
for track in msg.liveTracksDEPRECATED:
|
||||
pt = car.RadarData.RadarPoint()
|
||||
pt.trackId = track.trackId
|
||||
|
||||
pt.dRel = track.dRel
|
||||
pt.yRel = track.yRel
|
||||
pt.vRel = track.vRel
|
||||
pt.aRel = track.aRel
|
||||
pt.measured = True
|
||||
pts.append(pt)
|
||||
|
||||
new_msg.liveTracks.points = pts
|
||||
all_msgs.append(new_msg.as_reader())
|
||||
|
||||
return all_msgs
|
||||
|
||||
|
||||
def migrate_liveLocationKalman(lr):
|
||||
# migration needed only for routes before livePose
|
||||
if any(msg.which() == 'livePose' for msg in lr):
|
||||
|
|
|
|||
|
|
@ -480,7 +480,7 @@ CONFIGS = [
|
|||
ProcessConfig(
|
||||
proc_name="card",
|
||||
pubs=["pandaStates", "carControl", "onroadEvents", "can"],
|
||||
subs=["sendcan", "carState", "carParams", "carOutput"],
|
||||
subs=["sendcan", "carState", "carParams", "carOutput", "liveTracks"],
|
||||
ignore=["logMonoTime", "carState.cumLagMs"],
|
||||
init_callback=card_fingerprint_callback,
|
||||
should_recv_callback=card_rcv_callback,
|
||||
|
|
@ -490,12 +490,11 @@ CONFIGS = [
|
|||
),
|
||||
ProcessConfig(
|
||||
proc_name="radard",
|
||||
pubs=["can", "carState", "modelV2"],
|
||||
subs=["radarState", "liveTracks"],
|
||||
ignore=["logMonoTime", "radarState.cumLagMs"],
|
||||
pubs=["liveTracks", "carState", "modelV2"],
|
||||
subs=["radarState"],
|
||||
ignore=["logMonoTime"],
|
||||
init_callback=get_car_params_callback,
|
||||
should_recv_callback=MessageBasedRcvCallback("can"),
|
||||
main_pub="can",
|
||||
should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
|
||||
),
|
||||
ProcessConfig(
|
||||
proc_name="plannerd",
|
||||
|
|
|
|||
|
|
@ -1 +1 @@
|
|||
fb0827a00b21b97733f8385cf7ce87a21a526f4c
|
||||
2b842a259e15f4b8679f16a14de405b5df06ae1f
|
||||
|
|
@ -36,7 +36,7 @@ MAX_TOTAL_CPU = 260. # total for all 8 cores
|
|||
PROCS = {
|
||||
# Baseline CPU usage by process
|
||||
"selfdrive.controls.controlsd": 32.0,
|
||||
"selfdrive.car.card": 26.0,
|
||||
"selfdrive.car.card": 31.0,
|
||||
"./loggerd": 14.0,
|
||||
"./encoderd": 17.0,
|
||||
"./camerad": 14.5,
|
||||
|
|
@ -44,7 +44,7 @@ PROCS = {
|
|||
"./ui": 18.0,
|
||||
"selfdrive.locationd.paramsd": 9.0,
|
||||
"./sensord": 7.0,
|
||||
"selfdrive.controls.radard": 7.0,
|
||||
"selfdrive.controls.radard": 2.0,
|
||||
"selfdrive.modeld.modeld": 13.0,
|
||||
"selfdrive.modeld.dmonitoringmodeld": 8.0,
|
||||
"system.hardware.hardwared": 3.87,
|
||||
|
|
|
|||
Loading…
Reference in New Issue