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80 Commits

Author SHA1 Message Date
xia0long
42b4521f7b sim: update CARLA to 0.9.12 (#22497) 
* bump carla

* update dockerfile

* no need

* specify version

* some fixups

* fix start_carla

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: a3c26a912a9d26233d040bd71fe5324cd25142fd
 2021-10-10 15:54:47 -07:00
Adeeb Shihadeh
3ed45d74dd improve sim readme 
old-commit-hash: 04271fef55d1ecf7d4a41c90a6e3331d7c5db294
 2021-10-10 15:50:30 -07:00
Robbe Derks
58c99158a1 Make pandaState and safetyMode a list (#22454) 
* wip: move to pandaStates

* bump cereal

* wip: SafetyMode struct

* move to safetyMode

* fix typo

* this can be None

* fix potential empty pandaStates list

* fix thermald

* fix controlsd

* rename safetyModes to safetyConfigs

* update process_replay

* fix test_models

* bump cereal
old-commit-hash: 91987f38d425e2a5dc61d09571933cffb9536113
 2021-10-08 17:54:34 +02:00
Adeeb Shihadeh
782d7023d2 phonelibs -> third_party (#22477) 
* git mv to third_party

* find and replace

* fix release tests

* update pre-commit

* update tici bins

* update eon bins

Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 5b641379ae04d3408093381629b9d60dee81da27
 2021-10-07 16:32:44 -07:00
Adeeb Shihadeh
b3fdccfab3 sim: build openpilot with frame stream camera 
old-commit-hash: 59c47f0334524fc63b35b1fe067a70d47e1fe3de
 2021-10-07 11:31:49 -07:00
Piotrek Rybiec
415de2224c sim: fix race condition in tmux script (#22365) 
* carla simulator tmux script enhancement

* real name

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 8412f607b7145a64a0a78a585f27912557d10ee9
 2021-09-28 14:07:41 -07:00
Alfonso Hernandez
0f3b5ba1dd Fix throttle scaling in simulator to match gas 1.0 to NIDEC_ACCEL_MAX in Honda CarControllerParams (#22310) 
old-commit-hash: 703d0cb832fb04119d88cb796ff6845eae0557d4
 2021-09-22 09:38:38 -07:00
HaraldSchafer
c422cce205 Port lateral planning to ACADOS (#22080) 
* lateral acados

* looks good!

* add another solve, needed for init somehow

* use copy

* init correctly

* cleanup sconstruct

* Update files_common

* update cpu usage

* reset when invalid

* fix cpu usage

* cost_set doesnt leak

* new ref

* non leaky reset

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7081ab4fb7473a5be424db4b63e6bdaacf62157f
 2021-09-13 19:06:54 -07:00
HaraldSchafer
a73a820338 Change car controller interface from gas/brake to acceleration (#21911) 
* retune civic

* seems smooth

* back to normal

* new ref

* fix conflict

* runs

* rm

* accel scale is 4

* toyota should be good

* more cleanup

* fixup

* better naming

* update ref

* deprecated

* sending brake when not enable causes a fault

* rm gas and brake

* unused

* update ref

* acura logic is no more

* wrong before

* revert tuning cleanup

* adress comments

* update ref

* already on master

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: 1ac89f14aa7c45c56049e8dbb0d6c5bb83a0fc6b
 2021-08-30 09:32:52 -07:00
HaraldSchafer
7e87930a20 Refactor lateral lag compensation (#21334) 
* add T_IDXS

* refactor

* fix test

* unused

* typo

* needs casting

* Update selfdrive/controls/lib/drive_helpers.py

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

* deprecate field

* regen all

* new segs

* add todo

* split back

* clean

* bad names

* do in controls

* add arg

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 6838e1c82c5abb9f347228006219d96744b3fbb5
 2021-06-30 14:19:39 -07:00
orphen
b433129fd6 fix: sim: gracefully shutdown the bridge (#21413) 
old-commit-hash: 325cabd4da786dae7f74558d2f41aaf1d471abaf
 2021-06-29 13:45:34 -07:00
HaraldSchafer
34ca4a1a29 Simplify longitudinal tests (#21337) 
* first pass

* passes!

* little more cleanup

* little more

* fix sim

* remove more plot stuff

* fix crash check

* fcw

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 234971203bbad057d85a61267e6ac7f2432394d6
 2021-06-24 21:03:18 -07:00
Alfonso Hernandez
4f3ad7284c Simulator: Complete GPS message from Carala State Values (#21357) 
old-commit-hash: 22b632f4078a979d34b833a4a265ac79014465c3
 2021-06-21 13:52:46 +02:00
siggie0815
35f0bcb35a CARLA: save calibration params as capnp (#21144) 
old-commit-hash: c798c5f027f8bb3fa507c980550addae18e648a8
 2021-06-04 16:05:05 -07:00
Josh Smith
2cae3a3799 Add type hints, small cleanups (#21080) 
* improve tools.lib.kbhit and tools.sim.lib.keyboard_ctrl

* unpack more efficiently

* minor improvements

* agnos.py match spec better

* manual_ctrl test missing queue arg

* fix incorrect type annotation

* queues are generic

* varname reuse resulting in incorrect type inference

* bytes().hex() rather than bytes.hex(bytes())

* a bit of type hinting stuff
old-commit-hash: 77321dbac4ebfedf9cb5e9085e16055346299749
 2021-06-03 12:21:04 +02:00
Cameron Reikes
5d11f5adc5 sim: get GPS data from CARLA (#20717) 
* Send simulated carla GPS to OP

* Use ublox enum from cereal

* Add more fields to carla gnss packet

* use math.degrees

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: fc4f27d20a9a3fdb0f91a8149e9b53a5c6e31828
 2021-05-18 19:52:09 -07:00
Cameron Reikes
78ae1be356 Set standstill bit in sim (#20921) 
old-commit-hash: 12ce8222529985948fb4bc985e0c2e545eb21ad6
 2021-05-15 21:09:17 -07:00
siggie0815
c3a6cc6aa0 sim: mount working dir to the same dir in the container (#20908) 
old-commit-hash: 4b7ea0a0329ebae3a56965270eac6dedd6a0e1d1
 2021-05-14 20:00:13 -07:00
ChoMinSung
7aed8355db start_openpilot_docker.sh: pass in /dev/input for joystick support (#20563) 
old-commit-hash: 780654cb3b3d9bce4ff4f4cfeb727d58cc427c91
 2021-04-06 09:55:18 +02:00
Willem Melching
d0cd4d6de9 sim/build_container.sh: fix container name 
old-commit-hash: c56396800351d09303cfa0b34442962fb7830faf
 2021-03-23 13:20:59 +01:00
ChoMinSung
a5727d14cb start_openpilot_docker.sh: fix docker container name (#20444) 
old-commit-hash: 34342b21a9b8524f21a9f8e23d0bd1f5364132cb
 2021-03-23 13:20:11 +01:00
iejMac
8aa491994f update simulator README 
old-commit-hash: 1830a87d9a39dee0f92dc5d2922513ab3d6e6d61
 2021-03-17 00:42:32 -07:00
iejMac
10844d3b57 mount openpilot in simulator docker image (#20379) 
* mount parameter

* works

* fixes
old-commit-hash: dc1506e3821fc372c267279e879b807757a2a28b
 2021-03-16 22:23:38 -07:00
wolterhv
dfb437648e Specify comma containers come from ghcr.io in docker pull commands. (#20342) 
old-commit-hash: 5463469f71e7861ccfbbd4d09b8e4ae56b8d3e45
 2021-03-14 12:59:05 -07:00
iejMac
9f86db04ea Minimize sim docker image size (#20324) 
old-commit-hash: 1e5b04ba2fd4642de2730041355714de6f497ed5
 2021-03-11 19:04:29 -08:00
iejMac
7780426434 improving tools readme (#20305) 
* rough draft

* plotjuggler and carla description

* testing someting

* this is cool

* very short replay and debug desc

* small change

* small change 2

* better word

* low quality mode

* better word

* fixes

* changes

* minor fixes

* ubuntu_setup fix + README changes

* Update tools/README.md

* Update README.md

* Update README.md

* Update README.md

* changes

* Update tools/sim/README.md

* final changes

* final change

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: c4031750f366905371565e3f9c80033534040647
 2021-03-11 15:28:37 -08:00
iejMac
9c3c7b2f7d tuning simulator parameters (#20304) 
* regular and low quality

* low_quality instead of quality

* fix
old-commit-hash: baf07191d258d86b324b85cb5641cddc1d2b1ad7
 2021-03-10 21:57:24 -08:00
iejMac
efdd0e213a optimizing simulator performance (#20295) 
* 20 hz

* weird blank screen on Low quality

* Epic quality
old-commit-hash: ea5fec76368617ec79344b1606a26c70af7e63a5
 2021-03-09 23:48:46 -08:00
iejMac
e8326f2555 minor bug fixes in sim (#20286) 
* order doensn't matter

* order doensn't matter

* minor fixes

* minor fixes

* not blocking ctrl-c

* removing weather params

* removing type ignore
old-commit-hash: 072cdcad6bedcf54d94fa8c73d5e6809b8469a3b
 2021-03-09 19:52:43 -08:00
Adeeb Shihadeh
aebfd97edd small carla docker fixes 
old-commit-hash: 1f3278461a3d93d247c9a5854434e973c9eb8b70
 2021-03-08 20:12:34 -08:00
Willem Melching
2e6473611d bridge.py: don't clear params 
old-commit-hash: b2b207917eb8fe47342ee2cc4a45e9cdfca8a837
 2021-03-08 15:53:18 +01:00
Willem Melching
e58f651070 start_openpilot_docker.sh: pull image 
old-commit-hash: bedfca4fc9e0b89f46e0e27c3fcd2501ee050855
 2021-03-08 15:42:24 +01:00
iejMac
afc0597686 Fix simulator docker: CPU only for now (#20227) 
* initial commit

* CPU working in dokcer

* Update selfdrive/manager.py

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

* Update selfdrive/manager.py

* fixes

* fixing env var

* fixes

* building and running in docker

* camerad fix

* camerad fix

* this ACTUALLY works

* removing unused libraries

* updating to CARLA 0.9.11

* removing useless flags

* small changes

* forgot this

* sudo not needed for xhost

* final changes

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 968ed10200913d81833e87a738cd780089eb0eaa
 2021-03-07 23:02:57 -08:00
Willem Melching
c0098cec09 Manager cleanup (#20231) 
* move manager in folder

* inital refactor

* call start

* small cleanup

* add comments

* use self.signal()

* order shouldnt matter

* newlines

* add helpers

* newlines

* add process config

* split out build part of manager

* this should fix most tests

* no sensord on pc

* dont start athena

* remove comment

* fix old athena test

* fix inject model

* fix test car models

* should be not none

* fix helpers exitcode

* ignore manage_athenad

* Use time.monotonic()

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

* combine init, remove spinner

* move manager test

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 5a3b51130649356b14b24e3c82e014b3a0be95a8
 2021-03-05 11:03:23 +01:00
Adeeb Shihadeh
05eb44115e cereal cleanup part 2 (#20092) 
* car stuff

* thermal

* Revert "car stuff"

This reverts commit 77fd1c65ebd01abfa8493ae12c9e6b14f7ada976.

* panda state

* camera stuff

* start deg

* most is building

* builds

* planner + controls run

* fix up paramsd

* cleanup

* process replay passes

* fix webcam build

* camerad

* no more frame

* thermald

* ui

* paramsd

* camera replay

* fix long tests

* fix camerad tests

* maxSteeringAngle

* bump cereal

* more frame

* cereal master
old-commit-hash: 312b681a46b8153314a8420611b6479dd6f70dfc
 2021-02-16 21:39:32 -08:00
Adeeb Shihadeh
af95c26b26 remove gpsd (#20027) 
old-commit-hash: fe7f3f0ec6b66e42b26451e180e3cde241e749bb
 2021-02-10 16:39:39 -08:00
Willem Melching
c8bcf66cd5 Remove dockerhub references from CI (#20038) 
* cache from base image

* specify github repo
old-commit-hash: e9c4a75a5c430ac6968808f103145cd0bd98a17a
 2021-02-08 11:53:47 +01:00
Adeeb Shihadeh
966945880b Cereal cleanup (#20003) 
* start cleanup

* fan speed

* cleanup dm

* fix cereal

* hwType -> pandaType

* update refs

* update refs

* bump cereal

* freeSpacePercent

* cereal master
old-commit-hash: 000bd226aa9902da01e6010bf26762fca2c20df0
 2021-02-03 19:57:30 -08:00
Marcos S
059bddf7fc Carla fixes (#19824) 
* use carla provided frame_number

* fix carla comm issues error

* add minimal W-A-S-D keyboard controls

* fix window from carla docker not showing

* carla 0.9.7 uses `frame`, not `frame_number`

* set safetyModel on health for simulator

* safetyModel check now works with simulator

* ignore ubloxRaw and frontFrame when running sim

* Update selfdrive/controls/controlsd.py

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

* added WINDOW flag for optional show carla window

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: c03a95f7f92ab3eda7fe3b3db9776062aae0cbac
 2021-01-18 17:16:32 -08:00
Adeeb Shihadeh
d4bf764d99 update simulator to ubuntu 20.04 (#2463) 
* fix sim build in 20.04

* run ci

* fix docker build

* restore ci cofnig

Co-authored-by: Willem Melching <willem.melching@gmail.com>
old-commit-hash: cc1bca542d8a12acc381fc3d284d37b57b12c6ee
 2020-11-18 13:10:37 -08:00
Ryan Branch
5cc1ee584a Update Simulator-Related READMEs with links to /wiki/CARLA (#2557) 
old-commit-hash: d53325109325399a5794a4916a1ec935a85d3b68
 2020-11-15 12:13:12 -08:00
Logan Lasiter
9f2d368340 update panda in sim (#2528) 
old-commit-hash: ed34ffb1ba2091a2d8428d196b3c030f1ce8c349
 2020-11-11 20:49:54 -08:00
Adeeb Shihadeh
0f2dfbfc52 trim trailing whitespace 
old-commit-hash: 818bd8a591193b891cee44726203de327c5dd7fb
 2020-11-05 14:11:41 -08:00
Willem Melching
05a758d70e build sim container with available cores 
old-commit-hash: e2fa4cc212700bf53d1c79813e2351792e1effb0
 2020-10-12 15:13:13 +02:00
Willem Melching
af97e71063 Try only extracting python folder (#2321) 
old-commit-hash: f258366e0c276bec0818286f5aeca1397eb51621
 2020-10-12 13:37:01 +02:00
Tom Dörr
370ba02e6c Add Flags to Control Simulator (#2246) 
* Add flags

* Update readme
old-commit-hash: c13c6ef76b1b3bc9249ba08818f6afef0ee37076
 2020-09-29 14:00:03 -07:00
Tom Dörr
260ff8cd46 Name openpilot docker container (#2239) 
old-commit-hash: 459aa1123d0bd7d6715951c4f8007c34ae83ac1a
 2020-09-28 14:44:03 -07:00
Tom Dörr
0768cf8be5 Enable Ctrl-C for Carla Server (#2240) 
old-commit-hash: e6eedbe70453c72c695663411b41aca437493202
 2020-09-28 13:41:37 -07:00
Adeeb Shihadeh
556c862586 fix simulator CI (#2159) 
* pull image for cache

* typo

* cleanup dockerfile

* typo

* add pr trigger

* colon?
old-commit-hash: 4cbf965165bab44dcf819aaafbd2d99c89994c97
 2020-09-12 14:31:20 -07:00
grekiki
41142635d2 Update README.md 
old-commit-hash: 596ab39e0336249c7f75641a530b02c6a65c3e0c
 2020-09-11 17:42:31 +02:00