From 9e06525642eb46892a58371cc8daa70fba95f02a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 13 Nov 2023 02:54:08 +0800 Subject: [PATCH 01/66] replay: remove deprecated support for `PANDA_STATE_D_E_P_R_E_C_A_T_E_D` (#30447) --- tools/replay/replay.cc | 14 -------------- 1 file changed, 14 deletions(-) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index b83f657e3917b07..81ecca1b8b60392 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -7,7 +7,6 @@ #include "cereal/services.h" #include "common/params.h" #include "common/timing.h" -#include "system/hardware/hw.h" #include "tools/replay/util.h" Replay::Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) @@ -37,9 +36,6 @@ Replay::Replay(QString route, QStringList allow, QStringList block, QStringList // the following events are needed for replay to work properly. allow_list.insert(cereal::Event::Which::INIT_DATA); allow_list.insert(cereal::Event::Which::CAR_PARAMS); - if (sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) { - allow_list.insert(cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D); - } } qDebug() << "services " << s; @@ -418,16 +414,6 @@ void Replay::stream() { cur_mono_time_ = evt->mono_time; setCurrentSegment(toSeconds(cur_mono_time_) / 60); - // migration for pandaState -> pandaStates to keep UI working for old segments - if (cur_which == cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D && - sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) { - MessageBuilder msg; - auto ps = msg.initEvent().initPandaStates(1); - ps[0].setIgnitionLine(true); - ps[0].setPandaType(cereal::PandaState::PandaType::DOS); - pm->send(sockets_[cereal::Event::Which::PANDA_STATES], msg); - } - if (cur_which < sockets_.size() && sockets_[cur_which] != nullptr) { // keep time long etime = (cur_mono_time_ - evt_start_ts) / speed_; From d3b91f266ac98b1f2a86c1eafef30bb969fdbaa8 Mon Sep 17 00:00:00 2001 From: Tim Wilson Date: Mon, 13 Nov 2023 10:19:23 -0700 Subject: [PATCH 02/66] C3: add gps_vs_llk plotjuggler layout (#30448) add gps_vs_llk plotjuggler layout --- tools/plotjuggler/layouts/gps_vs_llk.xml | 83 ++++++++++++++++++++++++ 1 file changed, 83 insertions(+) create mode 100644 tools/plotjuggler/layouts/gps_vs_llk.xml diff --git a/tools/plotjuggler/layouts/gps_vs_llk.xml b/tools/plotjuggler/layouts/gps_vs_llk.xml new file mode 100644 index 000000000000000..44980712edaf3aa --- /dev/null +++ b/tools/plotjuggler/layouts/gps_vs_llk.xml @@ -0,0 +1,83 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + R = 6378.137 -- Radius of earth in KM + -- Compute the Haversine distance between +-- two points defined by latitude and longitude. +-- Return the distance in meters +lat1, lon1 = value, v1 +lat2, lon2 = v2, v3 +dLat = (lat2 - lat1) * math.pi / 180 +dLon = (lon2 - lon1) * math.pi / 180 +a = math.sin(dLat/2) * math.sin(dLat/2) + +math.cos(lat1 * math.pi / 180) * math.cos(lat2 * math.pi / 180) * +math.sin(dLon/2) * math.sin(dLon/2) +c = 2 * math.atan(math.sqrt(a), math.sqrt(1-a)) +d = R * c +distance = d * 1000 -- meters +return distance + /gpsLocationExternal/latitude + + /gpsLocationExternal/longitude + /liveLocationKalman/positionGeodetic/value/0 + /liveLocationKalman/positionGeodetic/value/1 + + + + + + + From da95fd3019473b1f0dd8d671c22c1e618092cdb2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 14 Nov 2023 01:19:39 +0800 Subject: [PATCH 03/66] replay: simplify the code for allow/block list (#30449) simplify allow/block list --- tools/cabana/streams/replaystream.cc | 2 +- tools/replay/SConscript | 16 ++---- tools/replay/logreader.cc | 17 ++---- tools/replay/logreader.h | 6 +- tools/replay/main.cc | 5 +- tools/replay/replay.cc | 83 ++++++++++------------------ tools/replay/replay.h | 8 +-- tools/replay/route.cc | 9 +-- tools/replay/route.h | 4 +- tools/replay/tests/test_replay.cc | 2 +- 10 files changed, 50 insertions(+), 102 deletions(-) diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index e94aefec2b2e3d8..c61c81d56fe5e6f 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -46,7 +46,7 @@ void ReplayStream::mergeSegments() { bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { replay.reset(new Replay(route, {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"}, - {}, {}, nullptr, replay_flags, data_dir, this)); + {}, nullptr, replay_flags, data_dir, this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo); diff --git a/tools/replay/SConscript b/tools/replay/SConscript index bce7512e44e1d79..db8447003b1ed87 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -1,25 +1,21 @@ -import os -Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', - 'cereal', 'transformations') +Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal') base_frameworks = qt_env['FRAMEWORKS'] -base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', - 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] +base_libs = [common, messaging, cereal, visionipc, 'zmq', + 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread', 'qt_util'] + qt_env["LIBS"] if arch == "Darwin": base_frameworks.append('OpenCL') else: base_libs.append('OpenCL') -qt_libs = ['qt_util'] + base_libs qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] 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=qt_libs, FRAMEWORKS=base_frameworks) +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'] + qt_libs +replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + base_libs qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) if GetOption('extras'): - qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, qt_libs]) + qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, base_libs]) diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index 74aebceae596432..c92ff4753f750b5 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -1,6 +1,7 @@ #include "tools/replay/logreader.h" #include +#include "tools/replay/filereader.h" #include "tools/replay/util.h" Event::Event(const kj::ArrayPtr &amsg, bool frame) : reader(amsg), frame(frame) { @@ -40,9 +41,7 @@ LogReader::~LogReader() { } } -bool LogReader::load(const std::string &url, std::atomic *abort, - const std::set &allow, - bool local_cache, int chunk_size, int retries) { +bool LogReader::load(const std::string &url, std::atomic *abort, bool local_cache, int chunk_size, int retries) { raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort); if (raw_.empty()) return false; @@ -50,15 +49,15 @@ bool LogReader::load(const std::string &url, std::atomic *abort, raw_ = decompressBZ2(raw_, abort); if (raw_.empty()) return false; } - return parse(allow, abort); + return parse(abort); } bool LogReader::load(const std::byte *data, size_t size, std::atomic *abort) { raw_.assign((const char *)data, size); - return parse({}, abort); + return parse(abort); } -bool LogReader::parse(const std::set &allow, std::atomic *abort) { +bool LogReader::parse(std::atomic *abort) { try { kj::ArrayPtr words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word)); while (words.size() > 0 && !(abort && *abort)) { @@ -67,12 +66,6 @@ bool LogReader::parse(const std::set &allow, std::atomicwhich) == allow.end()) { - words = kj::arrayPtr(evt->reader.getEnd(), words.end()); - delete evt; - continue; - } - // Add encodeIdx packet again as a frame packet for the video stream if (evt->which == cereal::Event::ROAD_ENCODE_IDX || evt->which == cereal::Event::DRIVER_ENCODE_IDX || diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h index 77d751a91be3e27..73f822d16cb730b 100644 --- a/tools/replay/logreader.h +++ b/tools/replay/logreader.h @@ -6,13 +6,11 @@ #endif #include -#include #include #include #include "cereal/gen/cpp/log.capnp.h" #include "system/camerad/cameras/camera_common.h" -#include "tools/replay/filereader.h" const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam}; const int MAX_CAMERAS = std::size(ALL_CAMERAS); @@ -55,13 +53,13 @@ class LogReader { public: LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE); ~LogReader(); - bool load(const std::string &url, std::atomic *abort = nullptr, const std::set &allow = {}, + bool load(const std::string &url, std::atomic *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0); bool load(const std::byte *data, size_t size, std::atomic *abort = nullptr); std::vector events; private: - bool parse(const std::set &allow, std::atomic *abort); + bool parse(std::atomic *abort); std::string raw_; #ifdef HAS_MEMORY_RESOURCE std::unique_ptr mbr_; diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 98a0bb3333d2c11..945cb4cd0914255 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -13,7 +13,6 @@ int main(int argc, char *argv[]) { QCoreApplication app(argc, argv); - const QStringList base_blacklist = {"uiDebug", "userFlag"}; const std::tuple flags[] = { {"dcam", REPLAY_FLAG_DCAM, "load driver camera"}, {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"}, @@ -22,7 +21,7 @@ int main(int argc, char *argv[]) { {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"}, {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"}, {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"}, - {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including " + base_blacklist.join(", ") + + {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including uiDebug, userFlag" ". this may causes issues when used along with UI"} }; @@ -64,7 +63,7 @@ int main(int argc, char *argv[]) { op_prefix.reset(new OpenpilotPrefix(prefix.toStdString())); } - Replay *replay = new Replay(route, allow, block, base_blacklist, nullptr, replay_flags, parser.value("data_dir"), &app); + Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); if (!parser.value("c").isEmpty()) { replay->setSegmentCacheLimit(parser.value("c").toInt()); } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 81ecca1b8b60392..1ec484d677b72ac 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -9,35 +9,23 @@ #include "common/timing.h" #include "tools/replay/util.h" -Replay::Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) - : sm(sm_), flags_(flags), QObject(parent) { - std::vector s; +Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, + uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { + if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) { + block << "uiDebug" << "userFlag"; + } auto event_struct = capnp::Schema::from().asStruct(); sockets_.resize(event_struct.getUnionFields().size()); - for (const auto &it : services) { - auto name = it.second.name.c_str(); - uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue(); - if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) && - !(flags & REPLAY_FLAG_ALL_SERVICES) && - !allow.contains(name)) { - continue; - } - - if ((allow.empty() || allow.contains(name)) && !block.contains(name)) { - sockets_[which] = name; - if (!allow.empty() || !block.empty()) { - allow_list.insert((cereal::Event::Which)which); - } - s.push_back(name); + for (const auto &[name, _] : services) { + if (!block.contains(name.c_str()) && (allow.empty() || allow.contains(name.c_str()))) { + uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue(); + sockets_[which] = name.c_str(); } } - if (!allow_list.empty()) { - // the following events are needed for replay to work properly. - allow_list.insert(cereal::Event::Which::INIT_DATA); - allow_list.insert(cereal::Event::Which::CAR_PARAMS); - } - + std::vector s; + std::copy_if(sockets_.begin(), sockets_.end(), std::back_inserter(s), + [](const char *name) { return name != nullptr; }); qDebug() << "services " << s; qDebug() << "loading route " << route; @@ -150,7 +138,7 @@ void Replay::buildTimeline() { const auto &route_segments = route_->segments(); for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) { std::shared_ptr log(new LogReader()); - if (!log->load(it->second.qlog.toStdString(), &exit_, {}, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; + if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; for (const Event *e : log->events) { if (e->which == cereal::Event::Which::CONTROLS_STATE) { @@ -233,30 +221,17 @@ void Replay::segmentLoadFinished(bool success) { } void Replay::queueSegment() { - if (segments_.empty()) return; - - SegmentMap::iterator begin, cur; - begin = cur = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first)); - int distance = std::max(std::ceil(segment_cache_limit / 2.0) - 1, segment_cache_limit - std::distance(cur, segments_.end())); - for (int i = 0; begin != segments_.begin() && i < distance; ++i) { - --begin; - } - auto end = begin; - for (int i = 0; end != segments_.end() && i < segment_cache_limit; ++i) { - ++end; - } + auto cur = segments_.lower_bound(current_segment_.load()); + if (cur == segments_.end()) return; + auto begin = std::prev(cur, std::min(segment_cache_limit / 2, std::distance(segments_.begin(), cur))); + auto end = std::next(begin, std::min(segment_cache_limit, segments_.size())); // load one segment at a time - for (auto it = cur; it != end; ++it) { - auto &[n, seg] = *it; - if ((seg && !seg->isLoaded()) || !seg) { - if (!seg) { - rDebug("loading segment %d...", n); - seg = std::make_unique(n, route_->at(n), flags_, allow_list); - QObject::connect(seg.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished); - } - break; - } + auto it = std::find_if(cur, end, [](auto &it) { return !it.second || !it.second->isLoaded(); }); + if (it != end && !it->second) { + rDebug("loading segment %d...", it->first); + it->second = std::make_unique(it->first, route_->at(it->first), flags_); + QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished); } mergeSegments(begin, end); @@ -293,13 +268,11 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap:: new_events_->clear(); new_events_->reserve(new_events_size); for (int n : segments_need_merge) { - const auto &e = segments_[n]->log->events; - if (e.size() > 0) { - auto insert_from = e.begin(); - if (new_events_->size() > 0 && (*insert_from)->which == cereal::Event::Which::INIT_DATA) ++insert_from; - auto middle = new_events_->insert(new_events_->end(), insert_from, e.end()); - std::inplace_merge(new_events_->begin(), middle, new_events_->end(), Event::lessThan()); - } + size_t size = new_events_->size(); + const auto &events = segments_[n]->log->events; + std::copy_if(events.begin(), events.end(), std::back_inserter(*new_events_), + [this](auto e) { return e->which < sockets_.size() && sockets_[e->which] != nullptr; }); + std::inplace_merge(new_events_->begin(), new_events_->begin() + size, new_events_->end(), Event::lessThan()); } if (stream_thread_) { @@ -414,7 +387,7 @@ void Replay::stream() { cur_mono_time_ = evt->mono_time; setCurrentSegment(toSeconds(cur_mono_time_) / 60); - if (cur_which < sockets_.size() && sockets_[cur_which] != nullptr) { + if (sockets_[cur_which] != nullptr) { // keep time long etime = (cur_mono_time_ - evt_start_ts) / speed_; long rtime = nanos_since_boot() - loop_start_ts; diff --git a/tools/replay/replay.h b/tools/replay/replay.h index e26ef883b67b80f..1144da260142932 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -4,7 +4,6 @@ #include #include #include -#include #include #include #include @@ -50,8 +49,8 @@ class Replay : public QObject { Q_OBJECT public: - Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm = nullptr, - uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0); + Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, + uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0); ~Replay(); bool load(); void start(int seconds = 0); @@ -114,8 +113,6 @@ protected slots: } QThread *stream_thread_ = nullptr; - - // logs std::mutex stream_lock_; std::condition_variable stream_cv_; std::atomic updating_events_ = false; @@ -142,7 +139,6 @@ protected slots: std::mutex timeline_lock; QFuture timeline_future; std::vector> timeline; - std::set allow_list; std::string car_fingerprint_; std::atomic speed_ = 1.0; replayEventFilter event_filter = nullptr; diff --git a/tools/replay/route.cc b/tools/replay/route.cc index 15a57e5e422b9c8..9168d25b35bc3ef 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -7,9 +7,6 @@ #include #include #include -#include -#include -#include #include "selfdrive/ui/qt/api.h" #include "system/hardware/hw.h" @@ -102,9 +99,7 @@ void Route::addFileToSegment(int n, const QString &file) { // class Segment -Segment::Segment(int n, const SegmentFile &files, uint32_t flags, - const std::set &allow) - : seg_num(n), flags(flags), allow(allow) { +Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n), flags(flags) { // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog const std::array file_list = { (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam, @@ -135,7 +130,7 @@ void Segment::loadFile(int id, const std::string file) { success = frames[id]->load(file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3); } else { log = std::make_unique(); - success = log->load(file, &abort_, allow, local_cache, 0, 3); + success = log->load(file, &abort_, local_cache, 0, 3); } if (!success) { diff --git a/tools/replay/route.h b/tools/replay/route.h index 7207ff4f5cb38c2..4dad7a1f37f9e7c 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -2,7 +2,6 @@ #include #include -#include #include #include @@ -55,7 +54,7 @@ class Segment : public QObject { Q_OBJECT public: - Segment(int n, const SegmentFile &files, uint32_t flags, const std::set &allow = {}); + Segment(int n, const SegmentFile &files, uint32_t flags); ~Segment(); inline bool isLoaded() const { return !loading_ && !abort_; } @@ -73,5 +72,4 @@ class Segment : public QObject { std::atomic loading_ = 0; QFutureSynchronizer synchronizer_; uint32_t flags; - std::set allow; }; diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index d0b6a9db97aaff7..1873daaf4ba1ca0 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -161,7 +161,7 @@ TEST_CASE("Remote route") { // helper class for unit tests class TestReplay : public Replay { public: - TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, {}, nullptr, flags) {} + TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, nullptr, flags) {} void test_seek(); void testSeekTo(int seek_to); }; From 2ad82cbfb064676401876a20e49e3965c40344a0 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 13 Nov 2023 10:45:24 -0800 Subject: [PATCH 04/66] Pytest: default settings on PC improvements (#30441) * always multithreaded * multithreaded * pkill correct process * escape more * load for interfaces --- .github/workflows/selfdrive_tests.yaml | 9 ++++----- Jenkinsfile | 12 +++++++----- pyproject.toml | 4 ++-- release/files_common | 1 + selfdrive/test/pytest-tici.ini | 5 +++++ system/sensord/tests/test_sensord.py | 2 +- 6 files changed, 20 insertions(+), 13 deletions(-) create mode 100644 selfdrive/test/pytest-tici.ini diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index aba630f67c7fbc4..6ab55f6add0fb43 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -27,7 +27,6 @@ env: RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -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 $CL_BASE_IMAGE /bin/sh -c PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 - XDIST: -n auto --dist=loadscope jobs: build_release: @@ -58,7 +57,7 @@ jobs: run: | cd $STRIPPED_DIR ${{ env.RUN }} "release/check-dirty.sh && \ - MAX_EXAMPLES=5 $PYTEST $XDIST selfdrive/car" + MAX_EXAMPLES=5 $PYTEST selfdrive/car" - name: pre-commit timeout-minutes: 3 run: | @@ -176,7 +175,7 @@ jobs: - name: Run unit tests timeout-minutes: 15 run: | - ${{ env.RUN }} "$PYTEST $XDIST --timeout 30 -o cpp_files=test_* -m 'not slow' && \ + ${{ env.RUN }} "$PYTEST --timeout 30 -m 'not slow' && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ @@ -258,7 +257,7 @@ jobs: - name: Run regen timeout-minutes: 30 run: | - ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST $XDIST selfdrive/test/process_replay/test_regen.py && \ + ${{ env.RUN_CL }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \ chmod -R 777 /tmp/comma_download_cache" test_modeld: @@ -318,7 +317,7 @@ jobs: - name: Test car models timeout-minutes: 25 run: | - ${{ env.RUN }} "$PYTEST $XDIST selfdrive/car/tests/test_models.py && \ + ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \ chmod -R 777 /tmp/comma_download_cache" env: NUM_JOBS: 5 diff --git a/Jenkinsfile b/Jenkinsfile index 6857ce36e18605e..1e1d485b10f5e72 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -14,6 +14,8 @@ export GIT_BRANCH=${env.GIT_BRANCH} export GIT_COMMIT=${env.GIT_COMMIT} export AZURE_TOKEN='${env.AZURE_TOKEN}' export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}' +export PYTEST_ADDOPTS="-c selfdrive/test/pytest-tici.ini --rootdir ." + export GIT_SSH_COMMAND="ssh -i /data/gitkey" @@ -159,7 +161,7 @@ node { ["build openpilot", "cd selfdrive/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], ["onroad tests", "pytest selfdrive/test/test_onroad.py -s"], - ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"], + ["time to onroad", "pytest selfdrive/test/test_time_to_onroad.py"], ]) }, 'HW + Unit Tests': { @@ -194,17 +196,17 @@ node { 'sensord': { deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], + ["test sensord", "pytest system/sensord/tests/test_sensord.py"], ]) deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"], + ["test sensord", "pytest system/sensord/tests/test_sensord.py"], ]) }, 'replay': { deviceStage("tici", "tici-replay", ["UNSAFE=1"], [ ["build", "cd selfdrive/manager && ./build.py"], - ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], + ["model replay", "selfdrive/test/process_replay/model_replay.py"], ]) }, 'tizi': { @@ -231,7 +233,7 @@ node { sh label: "build", script: "selfdrive/manager/build.py" sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \ pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py" - sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py" + sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 --dist=load selfdrive/car/tests/test_car_interfaces.py" } }, diff --git a/pyproject.toml b/pyproject.toml index 16dad2c643a5d0a..4e494e65fc06c95 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,7 +1,7 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10" -#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadscope" +cpp_files = "test_*" python_files = "test_*.py" #timeout = "30" # you get this long by default markers = [ diff --git a/release/files_common b/release/files_common index 5a076f2b1a37c49..b2623e011359fd0 100644 --- a/release/files_common +++ b/release/files_common @@ -293,6 +293,7 @@ selfdrive/test/helpers.py selfdrive/test/setup_device_ci.sh selfdrive/test/test_onroad.py selfdrive/test/test_time_to_onroad.py +selfdrive/test/pytest-tici.ini selfdrive/ui/.gitignore selfdrive/ui/SConscript diff --git a/selfdrive/test/pytest-tici.ini b/selfdrive/test/pytest-tici.ini new file mode 100644 index 000000000000000..a5530183094420a --- /dev/null +++ b/selfdrive/test/pytest-tici.ini @@ -0,0 +1,5 @@ +[pytest] +addopts = -Werror --strict-config --strict-markers +markers = + slow: tests that take awhile to run and can be skipped with -m 'not slow' + tici: tests that are only meant to run on the C3/C3X diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 090524807150c32..3075c8a343bd86e 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -106,7 +106,7 @@ def setUpClass(cls): os.environ["LSM_SELF_TEST"] = "1" # read initial sensor values every test case can use - os.system("pkill -f ./sensord") + os.system("pkill -f \\\\./sensord") try: managed_processes["sensord"].start() cls.sample_secs = int(os.getenv("SAMPLE_SECS", "10")) From 90c873ab1def0756f6f91fcb7f2d6fad503e3f49 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 13 Nov 2023 13:50:23 -0800 Subject: [PATCH 05/66] Process Replay: move to pytest (#30260) * process replay pytest * enable long diff * readd job name * make it executable * cleanup imports * retrigger --- .github/workflows/selfdrive_tests.yaml | 26 +- common/prefix.py | 1 + selfdrive/test/process_replay/conftest.py | 37 +++ selfdrive/test/process_replay/helpers.py | 150 ++++++++++++ selfdrive/test/process_replay/regen_all.py | 3 +- .../test/process_replay/test_processes.py | 222 ++++-------------- 6 files changed, 244 insertions(+), 195 deletions(-) create mode 100644 selfdrive/test/process_replay/conftest.py create mode 100755 selfdrive/test/process_replay/helpers.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 6ab55f6add0fb43..4e622f68a5f3935 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -208,30 +208,20 @@ jobs: run: | ${{ env.RUN }} "scons -j$(nproc)" - name: Run replay + id: run-replay timeout-minutes: 30 run: | - ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ - chmod -R 777 /tmp/comma_download_cache && \ - coverage combine && \ - coverage xml" - - name: Print diff - id: print-diff - if: always() - run: cat selfdrive/test/process_replay/diff.txt - - uses: actions/upload-artifact@v3 - if: always() - continue-on-error: true - with: - name: process_replay_diff.txt - path: selfdrive/test/process_replay/diff.txt - - name: Upload reference logs - if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} - run: | - ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" + ${{ env.RUN }} "CI=1 $PYTEST -n auto --dist=loadscope selfdrive/test/process_replay/test_processes.py --long-diff && \ + chmod -R 777 /tmp/comma_download_cache" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v3 with: name: ${{ github.job }} + - name: Upload reference logs + if: ${{ failure() && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} + run: | + ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' \ + pytest -n auto --dist=loadscope selfdrive/test/process_replay/test_processes.py --upload-only" regen: name: regen diff --git a/common/prefix.py b/common/prefix.py index c1744e8ff796395..c5ae4393cdea4a3 100644 --- a/common/prefix.py +++ b/common/prefix.py @@ -21,6 +21,7 @@ def __enter__(self): except FileExistsError: pass os.makedirs(Paths.log_root(), exist_ok=True) + os.makedirs(Paths.download_cache_root(), exist_ok=True) return self diff --git a/selfdrive/test/process_replay/conftest.py b/selfdrive/test/process_replay/conftest.py new file mode 100644 index 000000000000000..f3794d26acf3615 --- /dev/null +++ b/selfdrive/test/process_replay/conftest.py @@ -0,0 +1,37 @@ +import pytest + +from openpilot.selfdrive.test.process_replay.helpers import ALL_PROCS +from openpilot.selfdrive.test.process_replay.test_processes import ALL_CARS + + +def pytest_addoption(parser: pytest.Parser): + parser.addoption("--whitelist-procs", type=str, nargs="*", default=ALL_PROCS, + help="Whitelist given processes from the test (e.g. controlsd)") + parser.addoption("--whitelist-cars", type=str, nargs="*", default=ALL_CARS, + help="Whitelist given cars from the test (e.g. HONDA)") + parser.addoption("--blacklist-procs", type=str, nargs="*", default=[], + help="Blacklist given processes from the test (e.g. controlsd)") + parser.addoption("--blacklist-cars", type=str, nargs="*", default=[], + help="Blacklist given cars from the test (e.g. HONDA)") + parser.addoption("--ignore-fields", type=str, nargs="*", default=[], + help="Extra fields or msgs to ignore (e.g. carState.events)") + parser.addoption("--ignore-msgs", type=str, nargs="*", default=[], + help="Msgs to ignore (e.g. carEvents)") + parser.addoption("--update-refs", action="store_true", + help="Updates reference logs using current commit") + parser.addoption("--upload-only", action="store_true", + help="Skips testing processes and uploads logs from previous test run") + parser.addoption("--long-diff", action="store_true", + help="Outputs diff in long format") + + +@pytest.fixture(scope="class", autouse=True) +def process_replay_test_arguments(request): + if hasattr(request.cls, "segment"): # check if a subclass of TestProcessReplayBase + request.cls.tested_procs = list(set(request.config.getoption("--whitelist-procs")) - set(request.config.getoption("--blacklist-procs"))) + request.cls.tested_cars = list({c.upper() for c in set(request.config.getoption("--whitelist-cars")) - set(request.config.getoption("--blacklist-cars"))}) + request.cls.ignore_fields = request.config.getoption("--ignore-fields") + request.cls.ignore_msgs = request.config.getoption("--ignore-msgs") + request.cls.upload_only = request.config.getoption("--upload-only") + request.cls.update_refs = request.config.getoption("--update-refs") + request.cls.long_diff = request.config.getoption("--long-diff") \ No newline at end of file diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py new file mode 100755 index 000000000000000..0952a01870aa9f0 --- /dev/null +++ b/selfdrive/test/process_replay/helpers.py @@ -0,0 +1,150 @@ +#!/usr/bin/env python3 +import os +import sys +import unittest + +from parameterized import parameterized +from typing import Optional, Union, List + + +from openpilot.selfdrive.test.openpilotci import get_url, upload_file +from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_process_diff +from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process +from openpilot.system.version import get_commit +from openpilot.tools.lib.filereader import FileReader +from openpilot.tools.lib.helpers import save_log +from openpilot.tools.lib.logreader import LogReader, LogIterable + + +BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" +REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") +EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"} + + +def get_log_data(segment): + r, n = segment.rsplit("--", 1) + with FileReader(get_url(r, n)) as f: + return f.read() + + +ALL_PROCS = sorted({cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}) +PROC_TO_CFG = {cfg.proc_name: cfg for cfg in CONFIGS} + +cpu_count = os.cpu_count() or 1 + + +class TestProcessReplayBase(unittest.TestCase): + """ + Base class that replays all processes within test_proceses from a segment, + and puts the log messages in self.log_msgs for analysis by other tests. + """ + segment: Optional[Union[str, LogIterable]] = None + tested_procs: List[str] = ALL_PROCS + + @classmethod + def setUpClass(cls, create_logs=True): + if "Base" in cls.__name__: + raise unittest.SkipTest("skipping base class") + + if isinstance(cls.segment, str): + cls.log_reader = LogReader.from_bytes(get_log_data(cls.segment)) + else: + cls.log_reader = cls.segment + + if create_logs: + cls._create_log_msgs() + + @classmethod + def _run_replay(cls, cfg): + try: + return replay_process(cfg, cls.log_reader, disable_progress=True) + except Exception as e: + raise Exception(f"failed on segment: {cls.segment} \n{e}") from e + + @classmethod + def _create_log_msgs(cls): + cls.log_msgs = {} + cls.proc_cfg = {} + + for proc in cls.tested_procs: + cfg = PROC_TO_CFG[proc] + + log_msgs = cls._run_replay(cfg) + + cls.log_msgs[proc] = log_msgs + cls.proc_cfg[proc] = cfg + + +class TestProcessReplayDiffBase(TestProcessReplayBase): + """ + Base class for checking for diff between process outputs. + """ + update_refs = False + upload_only = False + long_diff = False + ignore_msgs: List[str] = [] + ignore_fields: List[str] = [] + + def setUp(self): + super().setUp() + if self.upload_only: + raise unittest.SkipTest("skipping test, uploading only") + + @classmethod + def setUpClass(cls): + super().setUpClass(not cls.upload_only) + + if cls.long_diff: + cls.maxDiff = None + + os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True) + + cls.cur_commit = get_commit() + cls.assertNotEqual(cls.cur_commit, None, "Couldn't get current commit") + + cls.upload = cls.update_refs or cls.upload_only + + try: + with open(REF_COMMIT_FN) as f: + cls.ref_commit = f.read().strip() + except FileNotFoundError: + print("Couldn't find reference commit") + sys.exit(1) + + cls._create_ref_log_msgs() + + @classmethod + def _create_ref_log_msgs(cls): + cls.ref_log_msgs = {} + + for proc in cls.tested_procs: + cur_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.cur_commit}.bz2") + if cls.update_refs: # reference logs will not exist if routes were just regenerated + ref_log_path = get_url(*cls.segment.rsplit("--", 1)) + else: + ref_log_fn = os.path.join(FAKEDATA, f"{cls.segment}_{proc}_{cls.ref_commit}.bz2") + ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn) + + if not cls.upload_only: + save_log(cur_log_fn, cls.log_msgs[proc]) + cls.ref_log_msgs[proc] = list(LogReader(ref_log_path)) + + if cls.upload: + assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}" + upload_file(cur_log_fn, os.path.basename(cur_log_fn)) + os.remove(cur_log_fn) + + @parameterized.expand(ALL_PROCS) + def test_process_diff(self, proc): + if proc not in self.tested_procs: + raise unittest.SkipTest(f"{proc} was not requested to be tested") + + cfg = self.proc_cfg[proc] + log_msgs = self.log_msgs[proc] + ref_log_msgs = self.ref_log_msgs[proc] + + diff = compare_logs(ref_log_msgs, log_msgs, self.ignore_fields + cfg.ignore, self.ignore_msgs) + + diff_short, diff_long = format_process_diff(diff) + + self.assertEqual(len(diff), 0, "\n" + diff_long if self.long_diff else diff_short) \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index 656a5b89e1368ac..070cb5f78390f58 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -8,7 +8,8 @@ from openpilot.common.prefix import OpenpilotPrefix from openpilot.selfdrive.test.process_replay.regen import regen_and_save -from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments +from openpilot.selfdrive.test.process_replay.process_replay import FAKEDATA +from openpilot.selfdrive.test.process_replay.test_processes import source_segments as segments from openpilot.tools.lib.route import SegmentName diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 5429c9b63eb8326..efdd166cac100de 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -1,20 +1,15 @@ #!/usr/bin/env python3 -import argparse -import concurrent.futures -import os +import unittest +import pytest import sys -from collections import defaultdict -from tqdm import tqdm -from typing import Any, DefaultDict, Dict + +from parameterized import parameterized_class +from typing import List, Optional from openpilot.selfdrive.car.car_helpers import interface_names -from openpilot.selfdrive.test.openpilotci import get_url, upload_file -from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff -from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process -from openpilot.system.version import get_commit -from openpilot.tools.lib.filereader import FileReader -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.helpers import save_log +from openpilot.selfdrive.test.process_replay.process_replay import check_openpilot_enabled +from openpilot.selfdrive.test.process_replay.helpers import TestProcessReplayDiffBase + source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY @@ -63,166 +58,41 @@ # dashcamOnly makes don't need to be tested until a full port is done excluded_interfaces = ["mock", "tesla"] -BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/" -REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit") -EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"} - - -def run_test_process(data): - segment, cfg, args, cur_log_fn, ref_log_path, lr_dat = data - res = None - if not args.upload_only: - lr = LogReader.from_bytes(lr_dat) - res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) - # save logs so we can upload when updating refs - save_log(cur_log_fn, log_msgs) - - if args.update_refs or args.upload_only: - print(f'Uploading: {os.path.basename(cur_log_fn)}') - assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}" - upload_file(cur_log_fn, os.path.basename(cur_log_fn)) - os.remove(cur_log_fn) - return (segment, cfg.proc_name, res) - - -def get_log_data(segment): - r, n = segment.rsplit("--", 1) - with FileReader(get_url(r, n)) as f: - return (segment, f.read()) - - -def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None): - if ignore_fields is None: - ignore_fields = [] - if ignore_msgs is None: - ignore_msgs = [] - - ref_log_msgs = list(LogReader(ref_log_path)) - - try: - log_msgs = replay_process(cfg, lr, disable_progress=True) - except Exception as e: - raise Exception("failed on segment: " + segment) from e - - # check to make sure openpilot is engaged in the route - if cfg.proc_name == "controlsd": - if not check_openpilot_enabled(log_msgs): - return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs - - try: - return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs - except Exception as e: - return str(e), log_msgs - - -if __name__ == "__main__": - all_cars = {car for car, _ in segments} - all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS} - - cpu_count = os.cpu_count() or 1 - - parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output") - parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs, - help="Whitelist given processes from the test (e.g. controlsd)") - parser.add_argument("--whitelist-cars", type=str, nargs="*", default=all_cars, - help="Whitelist given cars from the test (e.g. HONDA)") - parser.add_argument("--blacklist-procs", type=str, nargs="*", default=[], - help="Blacklist given processes from the test (e.g. controlsd)") - parser.add_argument("--blacklist-cars", type=str, nargs="*", default=[], - help="Blacklist given cars from the test (e.g. HONDA)") - parser.add_argument("--ignore-fields", type=str, nargs="*", default=[], - help="Extra fields or msgs to ignore (e.g. carState.events)") - parser.add_argument("--ignore-msgs", type=str, nargs="*", default=[], - help="Msgs to ignore (e.g. carEvents)") - parser.add_argument("--update-refs", action="store_true", - help="Updates reference logs using current commit") - parser.add_argument("--upload-only", action="store_true", - help="Skips testing processes and uploads logs from previous test run") - parser.add_argument("-j", "--jobs", type=int, default=max(cpu_count - 2, 1), - help="Max amount of parallel jobs") - args = parser.parse_args() - - tested_procs = set(args.whitelist_procs) - set(args.blacklist_procs) - tested_cars = set(args.whitelist_cars) - set(args.blacklist_cars) - tested_cars = {c.upper() for c in tested_cars} - - full_test = (tested_procs == all_procs) and (tested_cars == all_cars) and all(len(x) == 0 for x in (args.ignore_fields, args.ignore_msgs)) - upload = args.update_refs or args.upload_only - os.makedirs(os.path.dirname(FAKEDATA), exist_ok=True) - - if upload: - assert full_test, "Need to run full test when updating refs" - - try: - ref_commit = open(REF_COMMIT_FN).read().strip() - except FileNotFoundError: - print("Couldn't find reference commit") - sys.exit(1) - - cur_commit = get_commit() - if cur_commit is None: - raise Exception("Couldn't get current commit") - - print(f"***** testing against commit {ref_commit} *****") - - # check to make sure all car brands are tested - if full_test: - untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars} - assert len(untested) == 0, f"Cars missing routes: {str(untested)}" - - log_paths: DefaultDict[str, Dict[str, Dict[str, str]]] = defaultdict(lambda: defaultdict(dict)) - with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool: - if not args.upload_only: - download_segments = [seg for car, seg in segments if car in tested_cars] - log_data: Dict[str, LogReader] = {} - p1 = pool.map(get_log_data, download_segments) - for segment, lr in tqdm(p1, desc="Getting Logs", total=len(download_segments)): - log_data[segment] = lr - - pool_args: Any = [] - for car_brand, segment in segments: - if car_brand not in tested_cars: - continue - - for cfg in CONFIGS: - if cfg.proc_name not in tested_procs: - continue - - cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2") - 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_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] - pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat)) - - log_paths[segment][cfg.proc_name]['ref'] = ref_log_path - log_paths[segment][cfg.proc_name]['new'] = cur_log_fn - - results: Any = defaultdict(dict) - p2 = pool.map(run_test_process, pool_args) - for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)): - if not args.upload_only: - results[segment][proc] = result - - diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit) - if not upload: - with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f: - f.write(diff_long) - print(diff_short) - - if failed: - print("TEST FAILED") - print("\n\nTo push the new reference logs for this commit run:") - print("./test_processes.py --upload-only") - else: - print("TEST SUCCEEDED") - - else: - with open(REF_COMMIT_FN, "w") as f: - f.write(cur_commit) - print(f"\n\nUpdated reference logs for commit: {cur_commit}") - - sys.exit(int(failed)) +ALL_CARS = sorted({car for car, _ in segments}) + + +@pytest.mark.slow +@parameterized_class(('case_name', 'segment'), segments) +class TestCarProcessReplay(TestProcessReplayDiffBase): + """ + Runs a replay diff on a segment for each car. + """ + + case_name: Optional[str] = None + tested_cars: List[str] = ALL_CARS + + @classmethod + def setUpClass(cls): + if cls.case_name not in cls.tested_cars: + raise unittest.SkipTest(f"{cls.case_name} was not requested to be tested") + super().setUpClass() + + def test_all_makes_are_tested(self): + if set(self.tested_cars) != set(ALL_CARS): + raise unittest.SkipTest("skipping check because some cars were skipped via command line") + + # check to make sure all car brands are tested + untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in self.tested_cars} + self.assertEqual(len(untested), 0, f"Cars missing routes: {str(untested)}") + + def test_controlsd_engaged(self): + if "controlsd" not in self.tested_procs: + raise unittest.SkipTest("controlsd was not requested to be tested") + + # check to make sure openpilot is engaged in the route + log_msgs = self.log_msgs["controlsd"] + self.assertTrue(check_openpilot_enabled(log_msgs), f"Route did not enable at all or for long enough: {self.segment}") + + +if __name__ == '__main__': + pytest.main([*sys.argv[1:], __file__]) \ No newline at end of file From 32a0b1098369bfe43aae853eda3b5e9164dc7a93 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 Nov 2023 15:43:25 -0800 Subject: [PATCH 06/66] Toyota: bump Camry model years to 2024 3d35748a8816ca62 --- docs/CARS.md | 2 +- selfdrive/car/toyota/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index b7f083b8e82dc59..769099cea7f4ae3 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -210,7 +210,7 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry 2018-20|All|Stock|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|Camry 2021-23|All|openpilot|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Camry 2021-24|All|openpilot|0 mph[8](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index bac1fb84b92269e..c2649b2c2b3b7e3 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -123,7 +123,7 @@ class ToyotaCarInfo(CarInfo): ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), ], CAR.CAMRY_TSS2: [ - ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]), + ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), ToyotaCarInfo("Toyota Camry Hybrid 2021-24"), ], CAR.CHR: [ From 95c6d5140aee76e6fd28990b0b58e1a3dcc5ee62 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 13 Nov 2023 19:52:57 -0500 Subject: [PATCH 07/66] Rm more laika references (#30451) Rm more laikad references --- system/sensord/rawgps/compare.py | 66 ------ system/ubloxd/tests/test_ublox_processing.py | 117 ----------- tools/gpstest/.gitignore | 4 - tools/gpstest/README.md | 33 --- tools/gpstest/fuzzy_testing.py | 111 ---------- tools/gpstest/helper.py | 53 ----- tools/gpstest/patches/hackrf.patch | 44 ---- .../limeGPS/inc_ephem_array_size.patch | 13 -- tools/gpstest/patches/limeGPS/makefile.patch | 11 - .../gpstest/patches/limeSuite/mcu_error.patch | 13 -- .../patches/limeSuite/reference_print.patch | 13 -- tools/gpstest/run_unittest.sh | 16 -- tools/gpstest/setup.sh | 25 --- tools/gpstest/setup_hackrf.sh | 21 -- tools/gpstest/simulate_gps_signal.py | 151 -------------- tools/gpstest/test_gps.py | 189 ------------------ tools/gpstest/test_gps_qcom.py | 78 -------- tools/sim/Dockerfile.sim | 2 - 18 files changed, 960 deletions(-) delete mode 100755 system/sensord/rawgps/compare.py delete mode 100755 system/ubloxd/tests/test_ublox_processing.py delete mode 100644 tools/gpstest/.gitignore delete mode 100644 tools/gpstest/README.md delete mode 100755 tools/gpstest/fuzzy_testing.py delete mode 100644 tools/gpstest/helper.py delete mode 100644 tools/gpstest/patches/hackrf.patch delete mode 100644 tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch delete mode 100644 tools/gpstest/patches/limeGPS/makefile.patch delete mode 100644 tools/gpstest/patches/limeSuite/mcu_error.patch delete mode 100644 tools/gpstest/patches/limeSuite/reference_print.patch delete mode 100755 tools/gpstest/run_unittest.sh delete mode 100755 tools/gpstest/setup.sh delete mode 100755 tools/gpstest/setup_hackrf.sh delete mode 100755 tools/gpstest/simulate_gps_signal.py delete mode 100755 tools/gpstest/test_gps.py delete mode 100755 tools/gpstest/test_gps_qcom.py diff --git a/system/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py deleted file mode 100755 index e1daa7f918b6b26..000000000000000 --- a/system/sensord/rawgps/compare.py +++ /dev/null @@ -1,66 +0,0 @@ -#!/usr/bin/env python3 -import cereal.messaging as messaging -from laika import constants - -if __name__ == "__main__": - sm = messaging.SubMaster(['ubloxGnss', 'qcomGnss']) - - meas = None - while 1: - sm.update() - if sm['ubloxGnss'].which() == "measurementReport": - meas = sm['ubloxGnss'].measurementReport.measurements - if not sm.updated['qcomGnss'] or meas is None: - continue - report = sm['qcomGnss'].measurementReport - if report.source not in [0, 1]: - continue - GLONASS = report.source == 1 - recv_time = report.milliseconds / 1000 - - car = [] - print("qcom has ", sorted([x.svId for x in report.sv])) - print("ublox has", sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)])) - for i in report.sv: - # match to ublox - tm = None - for m in meas: - if i.svId == m.svId and m.gnssId == 0 and m.sigId == 0 and not GLONASS: - tm = m - if (i.svId-64) == m.svId and m.gnssId == 6 and m.sigId == 0 and GLONASS: - tm = m - if tm is None: - continue - - if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown: - sat_time = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency) / 1000 - ublox_psuedorange = tm.pseudorange - qcom_psuedorange = (recv_time - sat_time)*constants.SPEED_OF_LIGHT - if GLONASS: - glonass_freq = tm.glonassFrequencyIndex - 7 - ublox_speed = -(constants.SPEED_OF_LIGHT / (constants.GLONASS_L1 + glonass_freq*constants.GLONASS_L1_DELTA)) * (tm.doppler) - else: - ublox_speed = -(constants.SPEED_OF_LIGHT / constants.GPS_L1) * tm.doppler - qcom_speed = i.unfilteredSpeed - car.append((i.svId, tm.pseudorange, ublox_speed, qcom_psuedorange, qcom_speed, tm.cno)) - - if len(car) == 0: - print("nothing to compare") - continue - - pr_err, speed_err = 0., 0. - for c in car: - ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed = c[1:5] - pr_err += ublox_psuedorange - qcom_psuedorange - speed_err += ublox_speed - qcom_speed - pr_err /= len(car) - speed_err /= len(car) - print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err)) - for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)): - svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c - print("svid: %3d pseudorange: %10.2f m speed: %8.2f m/s meas: %12.2f speed: %10.2f meas_err: %10.3f speed_err: %8.3f cno: %d" % - (svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, - ublox_psuedorange - qcom_psuedorange - pr_err, ublox_speed - qcom_speed - speed_err, cno)) - - - diff --git a/system/ubloxd/tests/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py deleted file mode 100755 index 311604881aad78d..000000000000000 --- a/system/ubloxd/tests/test_ublox_processing.py +++ /dev/null @@ -1,117 +0,0 @@ -#!/usr/bin/env python3 -import unittest -import time -import numpy as np - -from laika import AstroDog -from laika.helpers import ConstellationId -from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox -from laika.opt import calc_pos_fix -from openpilot.selfdrive.test.openpilotci import get_url -from openpilot.system.hardware.hw import Paths -from openpilot.tools.lib.logreader import LogReader -from openpilot.selfdrive.test.helpers import with_processes -import cereal.messaging as messaging - -def get_gnss_measurements(log_reader): - gnss_measurements = [] - for msg in log_reader: - if msg.which() == "ubloxGnss": - ublox_msg = msg.ubloxGnss - if ublox_msg.which == 'measurementReport': - report = ublox_msg.measurementReport - if len(report.measurements) > 0: - gnss_measurements.append(read_raw_ublox(report)) - return gnss_measurements - -def get_ublox_raw(log_reader): - ublox_raw = [] - for msg in log_reader: - if msg.which() == "ubloxRaw": - ublox_raw.append(msg) - return ublox_raw - -class TestUbloxProcessing(unittest.TestCase): - NUM_TEST_PROCESS_MEAS = 10 - - @classmethod - def setUpClass(cls): - lr = LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", 0)) - cls.gnss_measurements = get_gnss_measurements(lr) - - # test gps ephemeris continuity check (drive has ephemeris issues with cutover data) - lr = LogReader(get_url("37b6542f3211019a|2023-01-15--23-45-10", 14)) - cls.ublox_raw = get_ublox_raw(lr) - - def test_read_ublox_raw(self): - count_gps = 0 - count_glonass = 0 - for measurements in self.gnss_measurements: - for m in measurements: - if m.constellation_id == ConstellationId.GPS: - count_gps += 1 - elif m.constellation_id == ConstellationId.GLONASS: - count_glonass += 1 - - self.assertEqual(count_gps, 5036) - self.assertEqual(count_glonass, 3651) - - def test_get_fix(self): - dog = AstroDog(cache_dir=Paths.download_cache_root()) - position_fix_found = 0 - count_processed_measurements = 0 - count_corrected_measurements = 0 - position_fix_found_after_correcting = 0 - - pos_ests = [] - for measurements in self.gnss_measurements[:self.NUM_TEST_PROCESS_MEAS]: - processed_meas = process_measurements(measurements, dog) - count_processed_measurements += len(processed_meas) - pos_fix = calc_pos_fix(processed_meas) - if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]): - position_fix_found += 1 - - corrected_meas = correct_measurements(processed_meas, pos_fix[0][:3], dog) - count_corrected_measurements += len(corrected_meas) - - pos_fix = calc_pos_fix(corrected_meas) - if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]): - pos_ests.append(pos_fix[0]) - position_fix_found_after_correcting += 1 - - mean_fix = np.mean(np.array(pos_ests)[:, :3], axis=0) - np.testing.assert_allclose(mean_fix, [-2452306.662377, -4778343.136806, 3428550.090557], rtol=0, atol=1) - - # Note that can happen that there are less corrected measurements compared to processed when they are invalid. - # However, not for the current segment - self.assertEqual(position_fix_found, self.NUM_TEST_PROCESS_MEAS) - self.assertEqual(position_fix_found_after_correcting, self.NUM_TEST_PROCESS_MEAS) - self.assertEqual(count_processed_measurements, 69) - self.assertEqual(count_corrected_measurements, 69) - - @with_processes(['ubloxd']) - def test_ublox_gps_cutover(self): - time.sleep(2) - ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) - ur_pm = messaging.PubMaster(['ubloxRaw']) - - def replay_segment(): - rcv_msgs = [] - for msg in self.ublox_raw: - ur_pm.send(msg.which(), msg.as_builder()) - time.sleep(0.001) - rcv_msgs += messaging.drain_sock(ugs) - - time.sleep(0.1) - rcv_msgs += messaging.drain_sock(ugs) - return rcv_msgs - - # replay twice to enforce cutover data on rewind - rcv_msgs = replay_segment() - rcv_msgs += replay_segment() - - ephems_cnt = sum(m.ubloxGnss.which() == 'ephemeris' for m in rcv_msgs) - self.assertEqual(ephems_cnt, 15) - -if __name__ == "__main__": - unittest.main() diff --git a/tools/gpstest/.gitignore b/tools/gpstest/.gitignore deleted file mode 100644 index 992088ef345a418..000000000000000 --- a/tools/gpstest/.gitignore +++ /dev/null @@ -1,4 +0,0 @@ -LimeGPS/ -LimeSuite/ -hackrf/ -gps-sdr-sim/ diff --git a/tools/gpstest/README.md b/tools/gpstest/README.md deleted file mode 100644 index 01f44df0ce45389..000000000000000 --- a/tools/gpstest/README.md +++ /dev/null @@ -1,33 +0,0 @@ -# GPS test setup -Testing the GPS receiver using GPS spoofing. At the moment only -static location relpay is supported. - -# Usage -on C3 run `rpc_server.py`, on host PC run `fuzzy_testing.py` - -`simulate_gps_signal.py` downloads the latest ephemeris file from -https://cddis.nasa.gov/archive/gnss/data/daily/20xx/brdc/. - - -# Hardware Setup -* [LimeSDR USB](https://wiki.myriadrf.org/LimeSDR-USB) -* Asus AX58BT antenna - -# Software Setup -* https://github.com/myriadrf/LimeSuite -To communicate with LimeSDR the LimeSuite is needed it abstracts the direct -communication. It also contains examples for a quick start. - -The latest stable version (22.09) does not have the corresponding firmware -download available at https://downloads.myriadrf.org/project/limesuite. Therefore -version 20.10 was chosen. - -* https://github.com/osqzss/LimeGPS -Built on top of LimeSuite (libLimeSuite.so.20.10-1), generates the GPS signal. - -``` -./LimeGPS -e -l - -# Example -./LimeGPS -e /pathTo/brdc2660.22n -l 47.202028,15.740394,100 -``` diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py deleted file mode 100755 index 532fd2d34cc5e0a..000000000000000 --- a/tools/gpstest/fuzzy_testing.py +++ /dev/null @@ -1,111 +0,0 @@ -#!/usr/bin/env python3 -import argparse -import multiprocessing -import rpyc -from collections import defaultdict - -from helper import download_rinex, exec_LimeGPS_bin -from helper import get_random_coords, get_continuous_coords - -#------------------------------------------------------------------------------ -# this script is supposed to run on HOST PC -# limeSDR is unreliable via c3 USB -#------------------------------------------------------------------------------ - - -def run_lime_gps(rinex_file: str, location: str, timeout: int): - # needs to run longer than the checker - timeout += 10 - print(f"LimeGPS {location} {timeout}") - p = multiprocessing.Process(target=exec_LimeGPS_bin, - args=(rinex_file, location, timeout)) - p.start() - return p - -con = None -def run_remote_checker(lat, lon, alt, duration, ip_addr): - global con - try: - con = rpyc.connect(ip_addr, 18861) - con._config['sync_request_timeout'] = duration+20 - except ConnectionRefusedError: - print("could not run remote checker is 'rpc_server.py' running???") - return False, None, None - - matched, log, info = con.root.exposed_run_checker(lat, lon, alt, - timeout=duration) - con.close() # TODO: might wanna fetch more logs here - con = None - - print(f"Remote Checker: {log} {info}") - return matched, log, info - - -stats = defaultdict(int) # type: ignore -keys = ['success', 'failed', 'ublox_fail', 'proc_crash', 'checker_crash'] - -def print_report(): - print("\nFuzzy testing report summary:") - for k in keys: - print(f" {k}: {stats[k]}") - - -def update_stats(matched, log, info): - if matched: - stats['success'] += 1 - return - - stats['failed'] += 1 - if log == "PROC CRASH": - stats['proc_crash'] += 1 - if log == "CHECKER CRASHED": - stats['checker_crash'] += 1 - if log == "TIMEOUT": - stats['ublox_fail'] += 1 - - -def main(ip_addr, continuous_mode, timeout, pos): - rinex_file = download_rinex() - - lat, lon, alt = pos - if lat == 0 and lon == 0 and alt == 0: - lat, lon, alt = get_random_coords(47.2020, 15.7403) - - try: - while True: - # spoof random location - spoof_proc = run_lime_gps(rinex_file, f"{lat},{lon},{alt}", timeout) - - # remote checker execs blocking - matched, log, info = run_remote_checker(lat, lon, alt, timeout, ip_addr) - update_stats(matched, log, info) - spoof_proc.terminate() - spoof_proc = None - - if continuous_mode: - lat, lon, alt = get_continuous_coords(lat, lon, alt) - else: - lat, lon, alt = get_random_coords(lat, lon) - except KeyboardInterrupt: - if spoof_proc is not None: - spoof_proc.terminate() - - if con is not None and not con.closed: - con.root.exposed_kill_procs() - con.close() - - print_report() - - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description="Fuzzy test GPS stack with random locations.") - parser.add_argument("ip_addr", type=str) - parser.add_argument("-c", "--contin", type=bool, nargs='?', default=False, help='Continous location change') - parser.add_argument("-t", "--timeout", type=int, nargs='?', default=180, help='Timeout to get location') - - # for replaying a location - parser.add_argument("lat", type=float, nargs='?', default=0) - parser.add_argument("lon", type=float, nargs='?', default=0) - parser.add_argument("alt", type=float, nargs='?', default=0) - args = parser.parse_args() - main(args.ip_addr, args.contin, args.timeout, (args.lat, args.lon, args.alt)) diff --git a/tools/gpstest/helper.py b/tools/gpstest/helper.py deleted file mode 100644 index 4f62e60db021c99..000000000000000 --- a/tools/gpstest/helper.py +++ /dev/null @@ -1,53 +0,0 @@ -import random -import datetime as dt -import subprocess as sp -from typing import Tuple - -from laika.downloader import download_nav -from laika.gps_time import GPSTime -from laika.helpers import ConstellationId - - -def download_rinex(): - # TODO: check if there is a better way to get the full brdc file for LimeGPS - gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) - utc_time = dt.datetime.utcnow() - dt.timedelta(1) - gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) - return download_nav(gps_time, '/tmp/gpstest/', ConstellationId.GPS) - - -def exec_LimeGPS_bin(rinex_file: str, location: str, duration: int): - # this functions should never return, cause return means, timeout is - # reached or it crashed - try: - cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", location] - sp.check_output(cmd, timeout=duration) - except sp.TimeoutExpired: - print("LimeGPS timeout reached!") - except Exception as e: - print(f"LimeGPS crashed: {str(e)}") - - -def get_random_coords(lat, lon) -> Tuple[float, float, int]: - # jump around the world - # max values, lat: -90 to 90, lon: -180 to 180 - - lat_add = random.random()*20 + 10 - lon_add = random.random()*20 + 20 - alt = random.randint(-10**3, 4*10**3) - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - return round(lat, 5), round(lon, 5), alt - - -def get_continuous_coords(lat, lon, alt) -> Tuple[float, float, int]: - # continuously move around the world - lat_add = random.random()*0.01 - lon_add = random.random()*0.01 - alt_add = random.randint(-100, 100) - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - alt += alt_add - return round(lat, 5), round(lon, 5), alt diff --git a/tools/gpstest/patches/hackrf.patch b/tools/gpstest/patches/hackrf.patch deleted file mode 100644 index afc9ac437b6b150..000000000000000 --- a/tools/gpstest/patches/hackrf.patch +++ /dev/null @@ -1,44 +0,0 @@ -diff --git a/host/hackrf-tools/src/CMakeLists.txt b/host/hackrf-tools/src/CMakeLists.txt -index 7115151c..a51388ba 100644 ---- a/host/hackrf-tools/src/CMakeLists.txt -+++ b/host/hackrf-tools/src/CMakeLists.txt -@@ -23,20 +23,20 @@ - - set(INSTALL_DEFAULT_BINDIR "bin" CACHE STRING "Appended to CMAKE_INSTALL_PREFIX") - --find_package(FFTW REQUIRED) --include_directories(${FFTW_INCLUDES}) --get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY) --link_directories(${FFTW_LIBRARY_DIRS}) -+#find_package(FFTW REQUIRED) -+#include_directories(${FFTW_INCLUDES}) -+#get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY) -+#link_directories(${FFTW_LIBRARY_DIRS}) - - SET(TOOLS - hackrf_transfer -- hackrf_spiflash -- hackrf_cpldjtag -+ #hackrf_spiflash -+ #hackrf_cpldjtag - hackrf_info -- hackrf_debug -- hackrf_clock -- hackrf_sweep -- hackrf_operacake -+ #hackrf_debug -+ #hackrf_clock -+ #hackrf_sweep -+ #hackrf_operacake - ) - - if(MSVC) -@@ -45,7 +45,7 @@ if(MSVC) - ) - LIST(APPEND TOOLS_LINK_LIBS ${FFTW_LIBRARIES}) - else() -- LIST(APPEND TOOLS_LINK_LIBS m fftw3f) -+ LIST(APPEND TOOLS_LINK_LIBS m)# fftw3f) - endif() - - if(NOT libhackrf_SOURCE_DIR) diff --git a/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch b/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch deleted file mode 100644 index 9a3525d3467db2d..000000000000000 --- a/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/gpssim.h b/gpssim.h -index c30b227..2ae0802 100644 ---- a/gpssim.h -+++ b/gpssim.h -@@ -75,7 +75,7 @@ - #define SC08 (8) - #define SC16 (16) - --#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc) -+#define EPHEM_ARRAY_SIZE (20) // for daily GPS broadcast ephemers file (brdc) - - /*! \brief Structure representing GPS time */ - typedef struct diff --git a/tools/gpstest/patches/limeGPS/makefile.patch b/tools/gpstest/patches/limeGPS/makefile.patch deleted file mode 100644 index f99ce551db3025f..000000000000000 --- a/tools/gpstest/patches/limeGPS/makefile.patch +++ /dev/null @@ -1,11 +0,0 @@ -diff --git a/makefile b/makefile -index 51bfabf..d0ea1eb 100644 ---- a/makefile -+++ b/makefile -@@ -1,5 +1,4 @@ - CC=gcc -O2 -Wall - - all: limegps.c gpssim.c -- $(CC) -o LimeGPS limegps.c gpssim.c -lm -lpthread -lLimeSuite -- -+ $(CC) -o LimeGPS limegps.c gpssim.c -lm -lpthread -lLimeSuite -I../LimeSuite/src -L../LimeSuite/builddir/src -Wl,-rpath="$(PWD)/../LimeSuite/builddir/src" diff --git a/tools/gpstest/patches/limeSuite/mcu_error.patch b/tools/gpstest/patches/limeSuite/mcu_error.patch deleted file mode 100644 index 91790a4a2b6d355..000000000000000 --- a/tools/gpstest/patches/limeSuite/mcu_error.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/src/lms7002m/LMS7002M_RxTxCalibrations.cpp b/src/lms7002m/LMS7002M_RxTxCalibrations.cpp -index 41a37044..ac29c6b6 100644 ---- a/src/lms7002m/LMS7002M_RxTxCalibrations.cpp -+++ b/src/lms7002m/LMS7002M_RxTxCalibrations.cpp -@@ -254,7 +254,7 @@ int LMS7002M::CalibrateTx(float_type bandwidth_Hz, bool useExtLoopback) - mcuControl->RunProcedure(useExtLoopback ? MCU_FUNCTION_CALIBRATE_TX_EXTLOOPB : MCU_FUNCTION_CALIBRATE_TX); - status = mcuControl->WaitForMCU(1000); - if(status != MCU_BD::MCU_NO_ERROR) -- return ReportError(EINVAL, "Tx Calibration: MCU error %i (%s)", status, MCU_BD::MCUStatusMessage(status)); -+ return -1; //ReportError(EINVAL, "Tx Calibration: MCU error %i (%s)", status, MCU_BD::MCUStatusMessage(status)); - } - - //sync registers to cache diff --git a/tools/gpstest/patches/limeSuite/reference_print.patch b/tools/gpstest/patches/limeSuite/reference_print.patch deleted file mode 100644 index 5bd7cdf1edb1ea9..000000000000000 --- a/tools/gpstest/patches/limeSuite/reference_print.patch +++ /dev/null @@ -1,13 +0,0 @@ -diff --git a/src/FPGA_common/FPGA_common.cpp b/src/FPGA_common/FPGA_common.cpp -index 4e81f33e..7381c475 100644 ---- a/src/FPGA_common/FPGA_common.cpp -+++ b/src/FPGA_common/FPGA_common.cpp -@@ -946,7 +946,7 @@ double FPGA::DetectRefClk(double fx3Clk) - - if (i == 0) - return -1; -- lime::info("Reference clock %1.2f MHz", clkTbl[i - 1] / 1e6); -+ //lime::info("Reference clock %1.2f MHz", clkTbl[i - 1] / 1e6); - return clkTbl[i - 1]; - } - diff --git a/tools/gpstest/run_unittest.sh b/tools/gpstest/run_unittest.sh deleted file mode 100755 index e0ca017a6dda44a..000000000000000 --- a/tools/gpstest/run_unittest.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/bash - -# NOTE: can only run inside limeGPS test box! - -# run limeGPS with random static location -timeout 300 ./simulate_gps_signal.py 32.7518 -117.1962 & -gps_PID=$(ps -aux | grep -m 1 "timeout 300" | awk '{print $2}') - -echo "starting limeGPS..." -sleep 10 - -# run unit tests (skipped when module not present) -python -m unittest test_gps.py -python -m unittest test_gps_qcom.py - -kill $gps_PID diff --git a/tools/gpstest/setup.sh b/tools/gpstest/setup.sh deleted file mode 100755 index ddf41dd260cc589..000000000000000 --- a/tools/gpstest/setup.sh +++ /dev/null @@ -1,25 +0,0 @@ -#!/bin/bash -set -e - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd $DIR - -if [ ! -d LimeSuite ]; then - git clone https://github.com/myriadrf/LimeSuite.git - cd LimeSuite - # checkout latest version which has firmware updates available - git checkout v20.10.0 - git apply ../patches/limeSuite/* - mkdir builddir && cd builddir - cmake -DCMAKE_BUILD_TYPE=Release .. - make -j4 - cd ../.. -fi - -if [ ! -d LimeGPS ]; then - git clone https://github.com/osqzss/LimeGPS.git - cd LimeGPS - git apply ../patches/limeGPS/* - make - cd .. -fi diff --git a/tools/gpstest/setup_hackrf.sh b/tools/gpstest/setup_hackrf.sh deleted file mode 100755 index e504ec9447d6970..000000000000000 --- a/tools/gpstest/setup_hackrf.sh +++ /dev/null @@ -1,21 +0,0 @@ -#!/bin/bash -set -e - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd $DIR - -if [ ! -d gps-sdr-sim ]; then - git clone https://github.com/osqzss/gps-sdr-sim.git - cd gps-sdr-sim - make - cd .. -fi - -if [ ! -d hackrf ]; then - git clone https://github.com/greatscottgadgets/hackrf.git - cd hackrf/host - git apply ../../patches/hackrf.patch - cmake . - make -fi - diff --git a/tools/gpstest/simulate_gps_signal.py b/tools/gpstest/simulate_gps_signal.py deleted file mode 100755 index da0f64eacad0bb7..000000000000000 --- a/tools/gpstest/simulate_gps_signal.py +++ /dev/null @@ -1,151 +0,0 @@ -#!/usr/bin/env python3 -import os -import random -import argparse -import datetime as dt -import subprocess as sp -from typing import Tuple - -from laika.downloader import download_nav -from laika.gps_time import GPSTime -from laika.helpers import ConstellationId - -cache_dir = '/tmp/gpstest/' - - -def download_rinex(): - # TODO: check if there is a better way to get the full brdc file for LimeGPS - gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) - utc_time = dt.datetime.utcnow()# - dt.timedelta(1) - gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) - return download_nav(gps_time, cache_dir, ConstellationId.GPS) - -def get_coords(lat, lon, s1, s2, o1=0, o2=0) -> Tuple[int, int]: - lat_add = random.random()*s1 + o1 - lon_add = random.random()*s2 + o2 - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - return round(lat, 5), round(lon, 5) - -def get_continuous_coords(lat, lon) -> Tuple[int, int]: - # continuously move around the world - return get_coords(lat, lon, 0.01, 0.01) - -def get_random_coords(lat, lon) -> Tuple[int, int]: - # jump around the world - return get_coords(lat, lon, 20, 20, 10, 20) - -def run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout): - while True: - try: - # TODO: add starttime setting and altitude - # -t 2023/01/15,00:00:00 -T 2023/01/15,00:00:00 - # this needs to match the date of the navigation file - print(f"starting LimeGPS, Location: {lat} {lon} {alt}") - cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},{alt}"] - print(f"CMD: {cmd}") - sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) - except KeyboardInterrupt: - print("stopping LimeGPS") - return - except sp.TimeoutExpired: - print("LimeGPS timeout reached!") - except Exception as e: - out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member - if "Device is busy." in out_stderr: - print("GPS simulation is already running, Device is busy!") - return - - print(f"LimeGPS crashed: {str(e)}") - print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member - return - - if contin_sim: - lat, lon = get_continuous_coords(lat, lon) - else: - lat, lon = get_random_coords(lat, lon) - -def run_hackRF_loop(lat, lon, rinex_file, timeout): - - if timeout is not None: - print("no jump mode for hackrf!") - return - - try: - print(f"starting gps-sdr-sim, Location: {lat},{lon}") - # create 30second file and replay with hackrf endless - cmd = ["gps-sdr-sim/gps-sdr-sim", "-e", rinex_file, "-l", f"{lat},{lon},-200", "-d", "30"] - sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) - # created in current working directory - except Exception: - print("Failed to generate gpssim.bin") - - try: - print("starting hackrf_transfer") - # create 30second file and replay with hackrf endless - cmd = ["hackrf/host/hackrf-tools/src/hackrf_transfer", "-t", "gpssim.bin", - "-f", "1575420000", "-s", "2600000", "-a", "1", "-R"] - sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) - except KeyboardInterrupt: - print("stopping hackrf_transfer") - return - except Exception as e: - print(f"hackrf_transfer crashed:{str(e)}") - - -def main(lat, lon, alt, jump_sim, contin_sim, hackrf_mode): - - if hackrf_mode: - if not os.path.exists('hackrf'): - print("hackrf not found run 'setup_hackrf.sh' first") - return - - if not os.path.exists('gps-sdr-sim'): - print("gps-sdr-sim not found run 'setup_hackrf.sh' first") - return - - output = sp.check_output(["hackrf/host/hackrf-tools/src/hackrf_info"]) - if output.strip() == b"" or b"No HackRF boards found." in output: - print("No HackRF boards found!") - return - - else: - if not os.path.exists('LimeGPS'): - print("LimeGPS not found run 'setup.sh' first") - return - - if not os.path.exists('LimeSuite'): - print("LimeSuite not found run 'setup.sh' first") - return - - output = sp.check_output(["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"]) - if output.strip() == b"": - print("No LimeSDR device found!") - return - print(f"Device: {output.strip().decode('utf-8')}") - - if lat == 0 and lon == 0: - lat, lon = get_random_coords(47.2020, 15.7403) - - rinex_file = download_rinex() - - timeout = None - if jump_sim: - timeout = 30 - - if hackrf_mode: - run_hackRF_loop(lat, lon, rinex_file, timeout) - else: - run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout) - -if __name__ == "__main__": - parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.") - parser.add_argument("lat", type=float, nargs='?', default=0) - parser.add_argument("lon", type=float, nargs='?', default=0) - parser.add_argument("alt", type=float, nargs='?', default=0) - parser.add_argument("--jump", action="store_true", help="signal that jumps around the world") - parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world") - parser.add_argument("--hackrf", action="store_true", help="hackrf mode (DEFAULT: LimeSDR)") - args = parser.parse_args() - main(args.lat, args.lon, args.alt, args.jump, args.contin, args.hackrf) diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py deleted file mode 100755 index bbd53ebfffb0947..000000000000000 --- a/tools/gpstest/test_gps.py +++ /dev/null @@ -1,189 +0,0 @@ -#!/usr/bin/env python3 -import pytest -import time -import unittest -import struct - -from openpilot.common.params import Params -import cereal.messaging as messaging -import openpilot.system.sensord.pigeond as pd -from openpilot.selfdrive.test.helpers import with_processes - - -def read_events(service, duration_sec): - service_sock = messaging.sub_sock(service, timeout=0.1) - start_time_sec = time.monotonic() - events = [] - while time.monotonic() - start_time_sec < duration_sec: - events += messaging.drain_sock(service_sock) - time.sleep(0.1) - - assert len(events) != 0, f"No '{service}'events collected!" - return events - - -def create_backup(pigeon): - # controlled GNSS stop - pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74") - - # store almanac in flash - pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC") - try: - if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK): - raise RuntimeError("Could not store almanac") - except TimeoutError: - pass - - -def verify_ubloxgnss_data(socket: messaging.SubSocket, max_time: int): - start_time = 0 - end_time = 0 - events = messaging.drain_sock(socket) - assert len(events) != 0, "no ublxGnss measurements" - - for event in events: - if event.ubloxGnss.which() != "measurementReport": - continue - - if start_time == 0: - start_time = event.logMonoTime - - if event.ubloxGnss.measurementReport.numMeas != 0: - end_time = event.logMonoTime - break - - assert end_time != 0, "no ublox measurements received!" - - ttfm = (end_time - start_time)/1e9 - assert ttfm < max_time, f"Time to first measurement > {max_time}s, {ttfm}" - - # check for satellite count in measurements - sat_count = [] - end_id = events.index(event)# pylint:disable=undefined-loop-variable - for event in events[end_id:]: - if event.ubloxGnss.which() == "measurementReport": - sat_count.append(event.ubloxGnss.measurementReport.numMeas) - - num_sat = int(sum(sat_count)/len(sat_count)) - assert num_sat >= 5, f"Not enough satellites {num_sat} (TestBox setup!)" - - -def verify_gps_location(socket: messaging.SubSocket, max_time: int): - events = messaging.drain_sock(socket) - assert len(events) != 0, "no gpsLocationExternal measurements" - - start_time = events[0].logMonoTime - end_time = 0 - for event in events: - gps_valid = event.gpsLocationExternal.flags % 2 - - if gps_valid: - end_time = event.logMonoTime - break - - assert end_time != 0, "GPS location never converged!" - - ttfl = (end_time - start_time)/1e9 - assert ttfl < max_time, f"Time to first location > {max_time}s, {ttfl}" - - hacc = events[-1].gpsLocationExternal.accuracy - vacc = events[-1].gpsLocationExternal.verticalAccuracy - assert hacc < 20, f"Horizontal accuracy too high, {hacc}" - assert vacc < 45, f"Vertical accuracy too high, {vacc}" - - -def verify_time_to_first_fix(pigeon): - # get time to first fix from nav status message - nav_status = b"" - while True: - pigeon.send(b"\xb5\x62\x01\x03\x00\x00\x04\x0d") - nav_status = pigeon.receive() - if nav_status[:4] == b"\xb5\x62\x01\x03": - break - - values = struct.unpack(" 40s, {ttff}" - - -@pytest.mark.tici -class TestGPS(unittest.TestCase): - @classmethod - def setUpClass(cls): - ublox_available = Params().get_bool("UbloxAvailable") - if not ublox_available: - raise unittest.SkipTest - - - def tearDown(self): - pd.set_power(False) - - @with_processes(['ubloxd']) - def test_a_ublox_reset(self): - - pigeon, pm = pd.create_pigeon() - pd.init_baudrate(pigeon) - assert pigeon.reset_device(), "Could not reset device!" - - pd.initialize_pigeon(pigeon) - - ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) - gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) - - # receive some messages (restart after cold start takes up to 30seconds) - pd.run_receiving(pigeon, pm, 60) - - # store almanac for next test - create_backup(pigeon) - - verify_ubloxgnss_data(ugs, 60) - verify_gps_location(gle, 60) - - # skip for now, this might hang for a while - #verify_time_to_first_fix(pigeon) - - - @with_processes(['ubloxd']) - def test_b_ublox_almanac(self): - pigeon, pm = pd.create_pigeon() - pd.init_baudrate(pigeon) - - # device cold start - pigeon.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d") - time.sleep(1) # wait for cold start - pd.init_baudrate(pigeon) - - # clear configuration - pigeon.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x00\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\x5b") - - # restoring almanac backup - pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60") - status = pigeon.wait_for_backup_restore_status() - assert status == 2, "Could not restore almanac backup" - - pd.initialize_pigeon(pigeon) - - ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) - gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) - - pd.run_receiving(pigeon, pm, 15) - verify_ubloxgnss_data(ugs, 15) - verify_gps_location(gle, 20) - - - @with_processes(['ubloxd']) - def test_c_ublox_startup(self): - pigeon, pm = pd.create_pigeon() - pd.init_baudrate(pigeon) - pd.initialize_pigeon(pigeon) - - ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) - gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) - pd.run_receiving(pigeon, pm, 10) - verify_ubloxgnss_data(ugs, 10) - verify_gps_location(gle, 10) - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py deleted file mode 100755 index 2ea5556684bf7f8..000000000000000 --- a/tools/gpstest/test_gps_qcom.py +++ /dev/null @@ -1,78 +0,0 @@ -#!/usr/bin/env python3 -import pytest -import time -import unittest -import subprocess as sp - -from openpilot.common.params import Params -import cereal.messaging as messaging -from openpilot.selfdrive.manager.process_config import managed_processes - - -def exec_mmcli(cmd): - cmd = "mmcli -m 0 " + cmd - p = sp.Popen(cmd, shell=True, stdout=sp.PIPE, stderr=sp.PIPE) - return p.communicate() - - -def wait_for_location(socket, timeout): - while True: - events = messaging.drain_sock(socket) - for event in events: - if event.gpsLocation.flags % 2: - return False - - timeout -= 1 - if timeout <= 0: - return True - - time.sleep(0.1) - continue - - -@pytest.mark.tici -class TestGPS(unittest.TestCase): - @classmethod - def setUpClass(cls): - ublox_available = Params().get_bool("UbloxAvailable") - if ublox_available: - raise unittest.SkipTest - - def test_a_quectel_cold_start(self): - # delete assistance data to enforce cold start for GNSS - # testing shows that this takes up to 20min - - _, err = exec_mmcli("--command='AT+QGPSDEL=0'") - assert len(err) == 0, f"GPSDEL failed: {err}" - - managed_processes['rawgpsd'].start() - start_time = time.monotonic() - glo = messaging.sub_sock("gpsLocation", timeout=0.1) - - timeout = 10*60*3 # 3 minute - timedout = wait_for_location(glo, timeout) - managed_processes['rawgpsd'].stop() - - assert timedout is False, "Waiting for location timed out (3min)!" - - duration = time.monotonic() - start_time - assert duration < 60, f"Received GPS location {duration}!" - - - def test_b_quectel_startup(self): - managed_processes['rawgpsd'].start() - start_time = time.monotonic() - glo = messaging.sub_sock("gpsLocation", timeout=0.1) - - timeout = 10*60 # 1 minute - timedout = wait_for_location(glo, timeout) - managed_processes['rawgpsd'].stop() - - assert timedout is False, "Waiting for location timed out (3min)!" - - duration = time.monotonic() - start_time - assert duration < 60, f"Received GPS location {duration}!" - - -if __name__ == "__main__": - unittest.main() diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index 7dffa7b5e50c016..c2873c187d28010 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -22,8 +22,6 @@ COPY ./body ${OPENPILOT_PATH}/body COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./rednose ${OPENPILOT_PATH}/rednose -COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo -RUN ln -s ${OPENPILOT_PATH}/laika_repo/laika/ ${OPENPILOT_PATH}/laika COPY ./common ${OPENPILOT_PATH}/common COPY ./opendbc ${OPENPILOT_PATH}/opendbc COPY ./cereal ${OPENPILOT_PATH}/cereal From c0942dbf9fd0d6be501bf4eec99eba003c3a3e0c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 13 Nov 2023 23:38:24 -0500 Subject: [PATCH 08/66] Rm laika deps in rawgpsd (#30452) * Rm more laikad references * rawgpsd usage of laika * bugfix --- system/sensord/rawgps/rawgpsd.py | 25 +++++++++++++------------ 1 file changed, 13 insertions(+), 12 deletions(-) diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py index b947c548720bb57..787a9316d37dbc4 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -8,7 +8,7 @@ import pycurl import shutil import subprocess -from datetime import datetime +import datetime from multiprocessing import Process, Event from typing import NoReturn, Optional from struct import unpack_from, calcsize, pack @@ -16,9 +16,6 @@ from cereal import log import cereal.messaging as messaging from openpilot.common.gpio import gpio_init, gpio_set -from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds -from laika.helpers import get_prn_from_nmea_id -from laika.constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK from openpilot.system.hardware.tici.pins import GPIO from openpilot.system.swaglog import cloudlog from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv @@ -211,7 +208,7 @@ def setup_quectel(diag: ModemDiag) -> bool: inject_assistance() os.remove(ASSIST_DATA_FILE) #at_cmd("AT+QGPSXTRADATA?") - time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") + time_str = datetime.datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S") at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000") at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") @@ -293,7 +290,6 @@ def cleanup(sig, frame): diag = ModemDiag() r = setup_quectel(diag) want_assistance = not r - current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow())) cloudlog.warning("quectel setup done") gpio_init(GPIO.GNSS_PWR_EN, True) gpio_set(GPIO.GNSS_PWR_EN, True) @@ -366,8 +362,6 @@ def cleanup(sig, frame): setattr(sv.measurementStatus, kk, bool(v & (1< Date: Mon, 13 Nov 2023 21:33:22 -0800 Subject: [PATCH 09/66] tici: fix leftover APN config from AT&T (#30458) --- system/hardware/tici/hardware.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index d3375831ad714c4..7460e49f6d5e9c9 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -533,8 +533,9 @@ def configure_modem(self): pass # blue prime config - if sim_id.startswith('8901410'): - os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn=Broadband"') + blue_prime = sim_id.startswith('8901410') + initial_apn = "Broadband" if blue_prime else "" + os.system(f'mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn={initial_apn}"') def get_networks(self): r = {} From e3231912999d22ae8d65dbfd61ceb957b06cd83b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 Nov 2023 21:38:22 -0800 Subject: [PATCH 10/66] new sim connection settings (#30457) * new sim connection settings * fix att conflict * sim id * clenaup --------- Co-authored-by: Comma Device --- system/hardware/tici/esim.nmconnection | 28 ++++++++++++++++++++++++++ system/hardware/tici/hardware.py | 15 +++++++++++++- 2 files changed, 42 insertions(+), 1 deletion(-) create mode 100644 system/hardware/tici/esim.nmconnection diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection new file mode 100644 index 000000000000000..d170f9d0668d465 --- /dev/null +++ b/system/hardware/tici/esim.nmconnection @@ -0,0 +1,28 @@ +[connection] +id=esim +uuid=fff6553c-3284-4707-a6b1-acc021caaafb +type=gsm +permissions= +autoconnect=true +autoconnect-retries=100 + +[gsm] +apn= +home-only=false +auto-config=true +sim-id= + +[ipv4] +route-metric=1000 +dns-priority=1000 +dns-search= +method=auto + +[ipv6] +ddr-gen-mode=stable-privacy +dns-search= +route-metric=1000 +dns-priority=1000 +method=auto + +[proxy] diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 7460e49f6d5e9c9..8b1f9abe74e9638 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -3,6 +3,7 @@ import os import subprocess import time +import tempfile from enum import IntEnum from functools import cached_property, lru_cache from pathlib import Path @@ -532,11 +533,23 @@ def configure_modem(self): except Exception: pass - # blue prime config + # blue prime blue_prime = sim_id.startswith('8901410') initial_apn = "Broadband" if blue_prime else "" os.system(f'mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn={initial_apn}"') + # eSIM prime + if sim_id.startswith('8985235'): + with open('/data/openpilot/system/hardware/tici/esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: + dat = f.read() + dat = dat.replace("sim-id=", f"sim-id={sim_id}") + tf.write(dat) + tf.flush() + + # needs to be root + os.system(f"sudo cp {tf.name} /data/etc/NetworkManager/system-connections/esim.nmconnection") + os.system("sudo nmcli con reload") + def get_networks(self): r = {} From 2647a4b4a983104ed74dee880fed8f575a154a0e Mon Sep 17 00:00:00 2001 From: Calvin Chui <35386445+snyperifle@users.noreply.github.com> Date: Tue, 14 Nov 2023 04:31:27 -0600 Subject: [PATCH 11/66] Toyota: Add Lexus GS F 2016 (#30245) * added GSF ECU values * Added Lexus GSF data * added route for GSF * test RC code * revert fingerprints back from RC test to GSF * fixed type for route * specify route segment for GSF * added GSF to torque substitute * removed year designation for GSF * added MY back to all "Lexus GSF" * removed route, don't think it does anything * move GSF ecu values to better place * remove whitespace from toyota > interface.py * added in public route for LEXUS_GSF * added GSF to docs * update test route * update test route * update 266 Supported cars * trying different dbc * updated to working route * clean up * add to releases * updated test route * new route * docs * slightly better torque params --------- Co-authored-by: cchui Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + selfdrive/car/toyota/interface.py | 6 ++++++ selfdrive/car/toyota/values.py | 25 ++++++++++++++++++++++++- 6 files changed, 35 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 1d88480278c7cdd..ec1e67e3a7e13bf 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -13,6 +13,7 @@ Version 0.9.5 (2023-11-16) * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin! * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Kia Optima Hybrid 2019 support +* Lexus GS F 2016 support thanks to snyperifle! * Lexus IS 2023 support thanks to L3R5! Version 0.9.4 (2023-07-27) diff --git a/docs/CARS.md b/docs/CARS.md index 769099cea7f4ae3..d8de1491f54eec2 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. -# 267 Supported Cars +# 268 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -153,6 +153,7 @@ A supported vehicle is one that just works when you install a comma device. All |Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 8cf5f3debd75a60..dc9fa32b971478d 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -193,6 +193,7 @@ class CarTestRoute(NamedTuple): CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), CarTestRoute("37041c500fd30100|2020-12-30--12-17-24", TOYOTA.LEXUS_ESH), CarTestRoute("32696cea52831b02|2021-11-19--18-13-30", TOYOTA.LEXUS_RC), + CarTestRoute("ab9b64a5e5960cba|2023-10-24--17-32-08", TOYOTA.LEXUS_GS_F), CarTestRoute("886fcd8408d570e9|2020-01-29--02-18-55", TOYOTA.LEXUS_RX), CarTestRoute("d27ad752e9b08d4f|2021-05-26--19-39-51", TOYOTA.LEXUS_RXH), CarTestRoute("01b22eb2ed121565|2020-02-02--11-25-51", TOYOTA.LEXUS_RX_TSS2), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 29e616b102d6ab1..12b483cfa795410 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -63,6 +63,7 @@ HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1] HYUNDAI AZERA HYBRID 6TH GEN: [1.8, 1.8, 0.1] KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1] HYUNDAI CUSTIN 1ST GEN: [2.5, 2.5, 0.1] +LEXUS GS F 2016: [2.5, 2.5, 0.08] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 42ab5cf257b715f..9cf86d69abde274 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -163,6 +163,12 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.tireStiffnessFactor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + elif candidate == CAR.LEXUS_GS_F: + ret.wheelbase = 2.84988 + ret.steerRatio = 13.3 + ret.tireStiffnessFactor = 0.444 + ret.mass = 4034. * CV.LB_TO_KG + elif candidate == CAR.LEXUS_CTH: stop_and_go = True ret.wheelbase = 2.60 diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index c2649b2c2b3b7e3..cd79ef0cf7fd371 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -86,6 +86,7 @@ class CAR(StrEnum): LEXUS_RX = "LEXUS RX 2016" LEXUS_RXH = "LEXUS RX HYBRID 2017" LEXUS_RX_TSS2 = "LEXUS RX 2020" + LEXUS_GS_F = "LEXUS GS F 2016" class Footnote(Enum): @@ -194,6 +195,7 @@ class ToyotaCarInfo(CarInfo): ], CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"), + CAR.LEXUS_GS_F: ToyotaCarInfo("Lexus GS F 2016"), CAR.LEXUS_NX: [ ToyotaCarInfo("Lexus NX 2018-19"), ToyotaCarInfo("Lexus NX Hybrid 2018-19"), @@ -1717,6 +1719,26 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: b'8646F3302200\x00\x00\x00\x00', ], }, + CAR.LEXUS_GS_F: { + (Ecu.engine, 0x7E0, None): [ + b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152630700\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881513016200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B30551\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4702000\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F3002100\x00\x00\x00\x00', + ], + }, CAR.LEXUS_NX: { (Ecu.engine, 0x700, None): [ b'\x01896637850000\x00\x00\x00\x00', @@ -2081,6 +2103,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_GS_F: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), } # These cars have non-standard EPS torque scale factors. All others are 73 @@ -2094,7 +2117,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY} # the DSU uses the AEB message for longitudinal on these cars -UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} +UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GS_F} # these cars have a radar which sends ACC messages instead of the camera RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2} From 62d4f464a0db44ecb2ce0e7837d4081a0038e844 Mon Sep 17 00:00:00 2001 From: Vadim Pronin Date: Tue, 14 Nov 2023 12:43:11 +0200 Subject: [PATCH 12/66] VW MQB: Add FW for 2018 and 2022 Volkswagen T-Roc (#30315) * Added ECU values for VW T-Roc 2022 * Added ECU values for VW T-Roc 2018 * fix docs --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/values.py | 11 ++++++++++- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index d8de1491f54eec2..5bc30b036b8e764 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -268,7 +268,7 @@ A supported vehicle is one that just works when you install a comma device. All |Volkswagen|Polo 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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| |Volkswagen|Polo GTI 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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| |Volkswagen|T-Cross 2021|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Volkswagen|T-Roc 2021|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Volkswagen|T-Roc 2018-22|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| |Volkswagen|Taos 2022-23|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Teramont 2018-22|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Volkswagen|Teramont Cross Sport 2021-22|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 J533 connector
- 1 USB-C coupler
- 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/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 3c9aeb55d76a067..cc552a281d94950 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -247,7 +247,7 @@ def init_make(self, CP: car.CarParams): VWCarInfo("Volkswagen Caravelle 2020"), VWCarInfo("Volkswagen California 2021-23"), ], - CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]), + CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]), CAR.AUDI_A3_MK3: [ VWCarInfo("Audi A3 2014-19"), VWCarInfo("Audi A3 Sportback e-tron 2017-18"), @@ -955,20 +955,29 @@ def init_make(self, CP: car.CarParams): CAR.TROC_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8705E906018AT\xf1\x899640', + b'\xf1\x8705E906018CK\xf1\x890863', + b'\xf1\x8705E906018P \xf1\x896020', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300050J \xf1\x891911', b'\xf1\x870CW300051M \xf1\x891925', + b'\xf1\x870CW300051M \xf1\x891928', + b'\xf1\x870CW300041S \xf1\x891615', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100', b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100', + b'\xf1\x875Q0959655CF\xf1\x890421\xf1\x82\x1311110012333300314240021150119333613100', + b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1111001111001105111111052900', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521060405A1', + b'\xf1\x875WA907144M \xf1\x891051\xf1\x82\x001T06081T7N', + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521060403A1', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x872Q0907572M \xf1\x890233', ], }, CAR.AUDI_A3_MK3: { From 5b50cc29540f94a997483949aff9bdac34de6082 Mon Sep 17 00:00:00 2001 From: Saber <81108166+Saber422@users.noreply.github.com> Date: Tue, 14 Nov 2023 18:47:04 +0800 Subject: [PATCH 13/66] VW MQB: Add FW for 2023 Kamiq (#30376) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * VW MQB: Add FW for 2023 Kamiq route name：0bbe367c98fa1538|2023-11-04--12-56-37--0 * update docs --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/values.py | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 5bc30b036b8e764..3fe18dd3fae49d4 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -191,7 +191,7 @@ A supported vehicle is one that just works when you install a comma device. All |Subaru|XV 2018-19|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Subaru|XV 2020-21|EyeSight Driver Assistance[7](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
Tools- 1 Pry Tool
- 1 Socket Wrench 8mm or 5/16" (deep)
|| |Å koda|Fabia 2022-23[11](#footnotes)|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| -|Å koda|Kamiq 2021[9,11](#footnotes)|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| +|Å koda|Kamiq 2021-23[9,11](#footnotes)|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[13](#footnotes)|| |Å koda|Karoq 2019-23[11](#footnotes)|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Å koda|Kodiaq 2017-23[11](#footnotes)|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 J533 connector
- 1 USB-C coupler
- 1 comma 3X
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Å koda|Octavia 2015-19[11](#footnotes)|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 J533 connector
- 1 USB-C coupler
- 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/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index cc552a281d94950..cc2c47c94ced8b3 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -259,7 +259,7 @@ def init_make(self, CP: car.CarParams): CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), CAR.SKODA_FABIA_MK4: VWCarInfo("Å koda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), - CAR.SKODA_KAMIQ_MK1: VWCarInfo("Å koda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), + CAR.SKODA_KAMIQ_MK1: VWCarInfo("Å koda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), CAR.SKODA_KAROQ_MK1: VWCarInfo("Å koda Karoq 2019-23"), CAR.SKODA_KODIAQ_MK1: VWCarInfo("Å koda Kodiaq 2017-23"), CAR.SKODA_SCALA_MK1: VWCarInfo("Å koda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), @@ -1195,18 +1195,23 @@ def init_make(self, CP: car.CarParams): CAR.SKODA_KAMIQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8705C906032M \xf1\x891333', + b'\xf1\x8705E906013CK\xf1\x892540', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300020 \xf1\x891906', + b'\xf1\x870CW300020T \xf1\x892204', ], (Ecu.srs, 0x715, None): [ b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\0222221042111042121040404042E2711152H14', + b'\xf1\x872Q0959655BJ\xf1\x890412\xf1\x82\x132223042111042121040404042B251215391423', ], (Ecu.eps, 0x712, None): [ b'\xf1\x872Q1909144M \xf1\x896041', + b'\xf1\x872Q1909144AB\xf1\x896050', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572T \xf1\x890383', + b'\xf1\x872Q0907572AA\xf1\x890396', ], }, CAR.SKODA_KAROQ_MK1: { From 919303ec089e334cb63e544be134cf0ade6d80bc Mon Sep 17 00:00:00 2001 From: ohber <44625404+ohber@users.noreply.github.com> Date: Tue, 14 Nov 2023 05:56:04 -0500 Subject: [PATCH 14/66] Kia: add 2023 Stinger FW (#30344) * Added 2023 Kia Stinger Fingerprint * Fixed type on FP value * Fixed typo on fingerprint value * update docs --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 3fe18dd3fae49d4..044db1f0ec4ff51 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -146,7 +146,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Sportage 2023[6](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N 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
|| |Kia|Sportage Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai N 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
|| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C 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
|| -|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K 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
|| +|Kia|Stinger 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K 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
|| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H 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
|| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index edd4f5177c9ed1d..2d64d7a1000fd03 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -267,7 +267,7 @@ def init_make(self, CP: car.CarParams): CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.KIA_EV6: [ HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), @@ -1130,21 +1130,26 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5600 ', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81640N2051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x81HM6M1_0a0_H00', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', + b'\xf1\x00CK MDPS R 1.00 5.04 57700-J5520 4C4VL504', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT USA LHD 1.00 1.00 99211-J5500 210622', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T33NH07\xdf\xf0\xc1', b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', ], }, From 78ccef28a8ca58e075ea3c34c04b887c550ed848 Mon Sep 17 00:00:00 2001 From: Saber <81108166+Saber422@users.noreply.github.com> Date: Tue, 14 Nov 2023 18:58:20 +0800 Subject: [PATCH 15/66] VW MQB: Add FW for 2020 Golf (#30375) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit route name：0bbe367c98fa1538|2023-10-25--11-23-54--0 --- selfdrive/car/volkswagen/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index cc2c47c94ced8b3..26d5141b44e9764 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -491,6 +491,7 @@ def init_make(self, CP: car.CarParams): b'\xf1\x870CW300047E \xf1\x895261', b'\xf1\x870CW300048J \xf1\x890611', b'\xf1\x870CW300049H \xf1\x890905', + b'\xf1\x870CW300050G \xf1\x891905', b'\xf1\x870D9300012 \xf1\x894904', b'\xf1\x870D9300012 \xf1\x894913', b'\xf1\x870D9300012 \xf1\x894937', @@ -532,6 +533,7 @@ def init_make(self, CP: car.CarParams): b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2251229333463100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100', + b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100', b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112', b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211', From b643aca8d683617a03e376902b76c1979d0e289e Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Tue, 14 Nov 2023 05:03:56 -0600 Subject: [PATCH 16/66] Lexus: add several ECU versions for 2018 Lexus RC (#30322) `OQO0#8618` 2018 Lexus RC DongleID/route 01762a5235a24145|2023-10-24--17-44-27 --- selfdrive/car/toyota/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index cd79ef0cf7fd371..4a1011982c34fb6 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1816,6 +1816,7 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: }, CAR.LEXUS_RC: { (Ecu.engine, 0x700, None): [ + b'\x01896632461100\x00\x00\x00\x00', b'\x01896632478200\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ @@ -1826,17 +1827,20 @@ def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]: b'F152624221\x00\x00\x00\x00\x00\x00', ], (Ecu.dsu, 0x791, None): [ + b'881512404100\x00\x00\x00\x00', b'881512407000\x00\x00\x00\x00', b'881512409100\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B24081\x00\x00\x00\x00\x00\x00', + b'8965B24240\x00\x00\x00\x00\x00\x00', b'8965B24320\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'8821F4702300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F2401100\x00\x00\x00\x00', b'8646F2401200\x00\x00\x00\x00', b'8646F2402200\x00\x00\x00\x00', ], From 6ce66dee4fea3a3b28fe42cbb79f32888eaa7bda Mon Sep 17 00:00:00 2001 From: Viktor Hansson Date: Tue, 14 Nov 2023 12:13:33 +0100 Subject: [PATCH 17/66] VW: Add FW versions for Passat GTE 2018 (#30450) * VW: Add fw-versions for Passat GTE 2018 * Remove duplicate fw-versions for PASSAT_MK8 * Removed duplicate fw version for PASSAT_MK8 One of them included \023 and the other \x13 which was interpreted as the same character in python * Apply suggestions from code review --------- Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 26d5141b44e9764..ea8d833c01ee4dd 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -660,6 +660,7 @@ def init_make(self, CP: car.CarParams): (Ecu.engine, 0x7e0, None): [ b'\xf1\x8703N906026E \xf1\x892114', b'\xf1\x8704E906023AH\xf1\x893379', + b'\xf1\x8704E906023BM\xf1\x894522', b'\xf1\x8704L906026DP\xf1\x891538', b'\xf1\x8704L906026ET\xf1\x891990', b'\xf1\x8704L906026FP\xf1\x892012', @@ -675,6 +676,7 @@ def init_make(self, CP: car.CarParams): b'\xf1\x870D9300014L \xf1\x895002', b'\xf1\x870D9300041A \xf1\x894801', b'\xf1\x870DD300045T \xf1\x891601', + b'\xf1\x870DD300046H \xf1\x891601', b'\xf1\x870DL300011H \xf1\x895201', b'\xf1\x870CW300042H \xf1\x891601', b'\xf1\x870CW300042H \xf1\x891607', From 86a5ac383e938d16b19b69bb43e507abe8cdd63b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 14 Nov 2023 19:23:33 +0800 Subject: [PATCH 18/66] cabana: highlight dowloaded segments (#30459) highlight dowloaded segments --- tools/cabana/videowidget.cc | 20 +++++++++++++++----- tools/cabana/videowidget.h | 1 - 2 files changed, 15 insertions(+), 6 deletions(-) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 1ecdc8da1c81468..a6fd0b2b6422fdf 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -14,7 +14,6 @@ #include #include "tools/cabana/streams/replaystream.h" -#include "tools/cabana/util.h" const int MIN_VIDEO_HEIGHT = 100; const int THUMBNAIL_MARGIN = 3; @@ -290,12 +289,23 @@ void Slider::paintEvent(QPaintEvent *ev) { double min = minimum() / factor; double max = maximum() / factor; - for (auto [begin, end, type] : qobject_cast(can)->getReplay()->getTimeline()) { - if (begin > max || end < min) - continue; + auto fillRange = [&](double begin, double end, const QColor &color) { + if (begin > max || end < min) return; r.setLeft(((std::max(min, begin) - min) / (max - min)) * width()); r.setRight(((std::min(max, end) - min) / (max - min)) * width()); - p.fillRect(r, timeline_colors[(int)type]); + 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]); + } + + 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; diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index e163241fb1b7900..67c2c8a29f8711e 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -8,7 +8,6 @@ #include #include #include -#include #include "selfdrive/ui/qt/widgets/cameraview.h" #include "tools/cabana/util.h" From 06fbaacefec1cbfa788cebcfd859f317931b2982 Mon Sep 17 00:00:00 2001 From: Saber <81108166+Saber422@users.noreply.github.com> Date: Tue, 14 Nov 2023 19:29:57 +0800 Subject: [PATCH 19/66] VW MQB: Add FW for 2021 Tiguan (#30401) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * VW MQB: Add FW for 2021 Tiguan route name：f3946aa3bdb4bfc7|2023-11-06--14-53-07--0 The carParams always show transmission as "Hyundai", cant get VW format * add correct transmission --------- Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index ea8d833c01ee4dd..c8e6daaef857da5 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -830,6 +830,7 @@ def init_make(self, CP: car.CarParams): b'\xf1\x8704E906027NB\xf1\x899504', b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906027G \xf1\x899893', + b'\xf1\x8705E906018BS\xf1\x890914', b'\xf1\x875N0906259 \xf1\x890002', b'\xf1\x875NA906259H \xf1\x890002', b'\xf1\x875NA907115E \xf1\x890003', @@ -861,6 +862,7 @@ def init_make(self, CP: car.CarParams): b'\xf1\x870DL300014C \xf1\x893703', b'\xf1\x870DD300046K \xf1\x892302', b'\xf1\x870GC300013P \xf1\x892401', + b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100', @@ -895,6 +897,7 @@ def init_make(self, CP: car.CarParams): ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572AB\xf1\x890397', b'\xf1\x872Q0907572J \xf1\x890156', b'\xf1\x872Q0907572M \xf1\x890233', b'\xf1\x872Q0907572Q \xf1\x890342', From 96eee1383628c4dd76a2220ff6804d847cbac2da Mon Sep 17 00:00:00 2001 From: Tam Chau Date: Tue, 14 Nov 2023 18:36:26 +0700 Subject: [PATCH 20/66] Mazda: add CX5 2022 fingerprint values (VN 2023) (#30342) Add mazda cx5 VN 2023 values --- selfdrive/car/mazda/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 849cf229a33969b..1547f69b0448185 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -93,6 +93,7 @@ class Buttons: b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PEW5-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -113,6 +114,7 @@ class Buttons: b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXFG-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PG69-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.CX5: { From 51207aaae250f76af6d32c4a5105309bf8ad5fe3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 14 Nov 2023 15:18:42 -0800 Subject: [PATCH 21/66] Update Python packages and pre-commit hooks (#30463) Co-authored-by: adeebshihadeh --- .pre-commit-config.yaml | 2 +- poetry.lock | 330 ++++++++++++++++++++-------------------- 2 files changed, 166 insertions(+), 166 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e584758ecbdb5c8..2e023229e8ccf6f 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -41,7 +41,7 @@ repos: args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.1.4 + rev: v0.1.5 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' diff --git 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2023 15:43:57 -0800 Subject: [PATCH 22/66] remove mui --- selfdrive/ui/.gitignore | 1 - selfdrive/ui/SConscript | 3 - selfdrive/ui/mui.cc | 132 ---------------------------------------- 3 files changed, 136 deletions(-) delete mode 100644 selfdrive/ui/mui.cc diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index cb9565219106184..8ad5d394932bd7c 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -3,7 +3,6 @@ moc_* translations/main_test_en.* -_mui watch3 installer/installers/* qt/text diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 036164d6ccabee4..916f1017a3f5995 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -99,9 +99,6 @@ if GetOption('extras') and arch != "Darwin": # build updater UI qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs) - # build mui - qt_env.Program("_mui", ["mui.cc"], LIBS=qt_libs) - # build installers senv = qt_env.Clone() senv['LINKFLAGS'].append('-Wl,-strip-debug') diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc deleted file mode 100644 index e2b4358b65e877e..000000000000000 --- a/selfdrive/ui/mui.cc +++ /dev/null @@ -1,132 +0,0 @@ -#include -#include -#include -#include - -#include "cereal/messaging/messaging.h" -#include "selfdrive/ui/ui.h" -#include "selfdrive/ui/qt/qt_window.h" - -class StatusBar : public QGraphicsRectItem { - private: - QLinearGradient linear_gradient; - QRadialGradient radial_gradient; - QTimer animation_timer; - const int animation_length = 10; - int animation_index = 0; - - public: - StatusBar(double x, double y, double width, double height) : QGraphicsRectItem {x, y, width, height} { - linear_gradient = QLinearGradient(0, 0, 0, height/2); - linear_gradient.setSpread(QGradient::ReflectSpread); - - radial_gradient = QRadialGradient(width/2, height/2, width/8); - QObject::connect(&animation_timer, &QTimer::timeout, [=]() { - animation_index++; - animation_index %= animation_length; - }); - animation_timer.start(50); - } - - void solidColor(QColor color) { - QColor dark_color = QColor(color); - dark_color.setAlphaF(0.5); - - linear_gradient.setColorAt(0, dark_color); - linear_gradient.setColorAt(1, color); - setBrush(QBrush(linear_gradient)); - } - - // these need to be called continuously for the animations to work. - // can probably clean that up with some more abstractions - void blinkingColor(QColor color) { - QColor dark_color = QColor(color); - dark_color.setAlphaF(0.1); - - int radius = (rect().width() / animation_length) * animation_index; - QPoint center = QPoint(rect().width()/2, rect().height()/2); - radial_gradient.setCenter(center); - radial_gradient.setFocalPoint(center); - radial_gradient.setRadius(radius); - - radial_gradient.setColorAt(1, dark_color); - radial_gradient.setColorAt(0, color); - setBrush(QBrush(radial_gradient)); - } - - void laneChange(cereal::LateralPlan::LaneChangeDirection direction) { - QColor dark_color = QColor(bg_colors[STATUS_ENGAGED]); - dark_color.setAlphaF(0.1); - - int x = (rect().width() / animation_length) * animation_index; - QPoint center = QPoint(((direction == cereal::LateralPlan::LaneChangeDirection::RIGHT) ? x : (rect().width() - x)), rect().height()/2); - radial_gradient.setCenter(center); - radial_gradient.setFocalPoint(center); - radial_gradient.setRadius(rect().width()/5); - - radial_gradient.setColorAt(1, dark_color); - radial_gradient.setColorAt(0, bg_colors[STATUS_ENGAGED]); - setBrush(QBrush(radial_gradient)); - } - - void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget = nullptr) override { - painter->setPen(QPen()); - painter->setBrush(brush()); - - double rounding_radius = rect().height()/2; - painter->drawRoundedRect(rect(), rounding_radius, rounding_radius); - } -}; - -int main(int argc, char *argv[]) { - QApplication a(argc, argv); - QWidget w; - setMainWindow(&w); - - w.setStyleSheet("background-color: black;"); - - // our beautiful UI - QVBoxLayout *layout = new QVBoxLayout(&w); - - QGraphicsScene *scene = new QGraphicsScene(); - StatusBar *status_bar = new StatusBar(0, 0, 1000, 50); - scene->addItem(status_bar); - - QGraphicsView *graphics_view = new QGraphicsView(scene); - layout->insertSpacing(0, 400); - layout->addWidget(graphics_view, 0, Qt::AlignCenter); - - QTimer timer; - QObject::connect(&timer, &QTimer::timeout, [=]() { - static SubMaster sm({"deviceState", "controlsState", "lateralPlan"}); - - bool onroad_prev = sm.allAliveAndValid({"deviceState"}) && - sm["deviceState"].getDeviceState().getStarted(); - sm.update(0); - - bool onroad = sm.allAliveAndValid({"deviceState"}) && - sm["deviceState"].getDeviceState().getStarted(); - - if (onroad) { - auto cs = sm["controlsState"].getControlsState(); - UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED; - auto lp = sm["lateralPlan"].getLateralPlan(); - if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE) { - status_bar->blinkingColor(bg_colors[status]); - } else if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_STARTING || - lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_FINISHING) { - status_bar->laneChange(lp.getLaneChangeDirection()); - } else { - status_bar->solidColor(bg_colors[status]); - } - } - - if ((onroad != onroad_prev) || sm.frame < 2) { - Hardware::set_brightness(50); - Hardware::set_display_power(onroad); - } - }); - timer.start(50); - - return a.exec(); -} From f99939426f5f654ee7c59ab39689454f58905451 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 14 Nov 2023 16:57:34 -0800 Subject: [PATCH 23/66] thermald: recover from modemmanager restart (#30464) * test modem recovery * static analysis * also test lte reload * this should just be try catched as well * maybe we can find a better way than this * rm the test * make it clear --------- Co-authored-by: Comma Device --- system/hardware/tici/hardware.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 8b1f9abe74e9638..3b5647cc564b256 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -105,7 +105,7 @@ def bus(self): def nm(self): return self.bus.get_object(NM, '/org/freedesktop/NetworkManager') - @cached_property + @property # this should not be cached, in case the modemmanager restarts def mm(self): return self.bus.get_object(MM, '/org/freedesktop/ModemManager1') @@ -211,8 +211,8 @@ def get_imei(self, slot): return str(self.get_modem().Get(MM_MODEM, 'EquipmentIdentifier', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)) def get_network_info(self): - modem = self.get_modem() try: + modem = self.get_modem() info = modem.Command("AT+QNWINFO", math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) extra = modem.Command('AT+QENG="servingcell"', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT) state = modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) From 31c682d40743f4b102a70d72e6993b383d85a040 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 14 Nov 2023 17:33:47 -0800 Subject: [PATCH 24/66] Pytest: load by group by default (#30466) * wip * use a class marker * this one should be grouped too --- conftest.py | 15 ++++++++++++++- pyproject.toml | 2 +- selfdrive/car/tests/test_models.py | 3 ++- .../locationd/test/test_locationd_scenarios.py | 2 ++ selfdrive/test/process_replay/test_processes.py | 1 + 5 files changed, 20 insertions(+), 3 deletions(-) diff --git a/conftest.py b/conftest.py index 08ddb0d1ea9adc1..9aaf04d79857dab 100644 --- a/conftest.py +++ b/conftest.py @@ -37,8 +37,21 @@ def openpilot_class_fixture(): os.environ.update(starting_env) +@pytest.hookimpl(tryfirst=True) def pytest_collection_modifyitems(config, items): skipper = pytest.mark.skip(reason="Skipping tici test on PC") for item in items: if not TICI and "tici" in item.keywords: - item.add_marker(skipper) \ No newline at end of file + item.add_marker(skipper) + + if "xdist_group_class_property" in item.keywords: + class_property = item.get_closest_marker('xdist_group_class_property').args[0] + item.add_marker(pytest.mark.xdist_group(getattr(item.cls, class_property))) + + +@pytest.hookimpl(trylast=True) +def pytest_configure(config): + config_line = ( + "xdist_group_class_property: group tests by a property of the class that contains them" + ) + config.addinivalue_line("markers", config_line) \ No newline at end of file diff --git a/pyproject.toml b/pyproject.toml index 4e494e65fc06c95..8a5769bcc905940 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadscope" +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" cpp_files = "test_*" python_files = "test_*.py" #timeout = "30" # you get this long by default diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index b9622437a0d8afd..9b07dc20e35b04a 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -50,7 +50,7 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: for i, c in enumerate(sorted(all_known_cars())): if i % NUM_JOBS == JOB_ID: - test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,)))) + test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,)))) else: with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f: @@ -385,6 +385,7 @@ def test_panda_safety_carstate(self): @parameterized_class(('car_model', 'test_route'), get_test_cases()) +@pytest.mark.xdist_group_class_property('car_model') class TestCarModel(TestCarModelBase): pass diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py index d2455ef9e0cc910..b1792e0fd8f104e 100755 --- a/selfdrive/locationd/test/test_locationd_scenarios.py +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import pytest import unittest import numpy as np from collections import defaultdict @@ -97,6 +98,7 @@ def run_scenarios(scenario, logs): return get_select_fields_data(logs), get_select_fields_data(replayed_logs) +@pytest.mark.xdist_group("test_locationd_scenarios") class TestLocationdScenarios(unittest.TestCase): """ Test locationd with different scenarios. In all these scenarios, we expect the following: diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index efdd166cac100de..eb01e50e3342893 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -63,6 +63,7 @@ @pytest.mark.slow @parameterized_class(('case_name', 'segment'), segments) +@pytest.mark.xdist_group_class_property('case_name') class TestCarProcessReplay(TestProcessReplayDiffBase): """ Runs a replay diff on a segment for each car. From 102687e1acc658e2a25df58d67b635551a3bd503 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 Nov 2023 18:45:31 -0800 Subject: [PATCH 25/66] Sort car ports --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index ec1e67e3a7e13bf..c95816b2f8b47b2 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -11,8 +11,8 @@ Version 0.9.5 (2023-11-16) * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin! -* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Kia Optima Hybrid 2019 support +* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Lexus GS F 2016 support thanks to snyperifle! * Lexus IS 2023 support thanks to L3R5! From 7ded7a072027ce235b5166e50f695dd184585481 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 15 Nov 2023 13:44:22 +0800 Subject: [PATCH 26/66] cabana: fix double comparisons (#30468) compare double with epsilon --- tools/cabana/chart/chart.cc | 7 +++++-- tools/cabana/streams/abstractstream.cc | 5 ++++- tools/cabana/streams/abstractstream.h | 4 ++-- tools/cabana/streams/livestream.h | 1 - tools/cabana/streams/replaystream.h | 1 - 5 files changed, 11 insertions(+), 7 deletions(-) diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 4cd8eaf8b446dca..6f08a9f20ba073e 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -22,7 +22,9 @@ // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html) const int AXIS_X_TOP_MARGIN = 4; -static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } +// Define a small value of epsilon to compare double values +const float EPSILON = 0.000001; +static inline bool xLessThan(const QPointF &p, float x) { return p.x() < (x - EPSILON); } ChartView::ChartView(const std::pair &x_range, ChartsWidget *parent) : charts_widget(parent), QChartView(parent) { @@ -768,7 +770,8 @@ void ChartView::drawSignalValue(QPainter *painter) { painter->setPen(chart()->legend()->labelColor()); int i = 0; for (auto &s : sigs) { - auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; }); + auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, + [](auto &p, double x) { return p.x() > x + EPSILON; }); QString value = (it != s.vals.crend() && it->x() >= axis_x->min()) ? s.sig->formatValue(it->y()) : "--"; QRectF marker_rect = legend_markers[i++]->sceneBoundingRect(); QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size()); diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index c68259ed8b5dd44..8a20086b5cf4ab0 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -91,7 +91,9 @@ void AbstractStream::updateLastMessages() { { std::lock_guard lk(mutex_); for (const auto &id : new_msgs_) { - last_msgs[id] = messages_[id]; + const auto &can_data = messages_[id]; + current_sec_ = std::max(current_sec_, can_data.ts); + last_msgs[id] = can_data; sources.insert(id.source); } msgs = std::move(new_msgs_); @@ -128,6 +130,7 @@ void AbstractStream::updateLastMsgsTo(double sec) { new_msgs_.clear(); messages_.clear(); + current_sec_ = sec; uint64_t last_ts = (sec + routeStartTime()) * 1e9; for (const auto &[id, ev] : events_) { auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent()); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 16d4040d624465d..6c9c02512980b1f 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -69,7 +69,7 @@ class AbstractStream : public QObject { virtual QString carFingerprint() const { return ""; } virtual QDateTime beginDateTime() const { return {}; } virtual double routeStartTime() const { return 0; } - virtual double currentSec() const = 0; + inline double currentSec() const { return current_sec_; } virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); } virtual void setSpeed(float speed) {} virtual double getSpeed() { return 1; } @@ -113,6 +113,7 @@ class AbstractStream : public QObject { void updateLastMsgsTo(double sec); void updateMasks(); + double current_sec_ = 0; MessageEventsMap events_; std::unordered_map last_msgs; std::unique_ptr event_buffer_; @@ -140,7 +141,6 @@ class DummyStream : public AbstractStream { DummyStream(QObject *parent) : AbstractStream(parent) {} QString routeName() const override { return tr("No Stream"); } void start() override { emit streamStarted(); } - double currentSec() const override { return 0; } }; class StreamNotifier : public QObject { diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 719ea15c2476d07..7a0f8cd834b2766 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -16,7 +16,6 @@ class LiveStream : public AbstractStream { void start() override; inline QDateTime beginDateTime() const { return begin_date_time; } inline double routeStartTime() const override { return begin_event_ts / 1e9; } - inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; } void setSpeed(float speed) override { speed_ = speed; } double getSpeed() override { return speed_; } bool isPaused() const override { return paused_; } diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 95fb632628467cb..b4e4be4db6a6d99 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -25,7 +25,6 @@ class ReplayStream : public AbstractStream { double totalSeconds() const override { return replay->totalSeconds(); } inline QDateTime beginDateTime() const { return replay->route()->datetime(); } inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; } - inline double currentSec() const override { return replay->currentSeconds(); } inline const Route *route() const { return replay->route(); } inline void setSpeed(float speed) override { replay->setSpeed(speed); } inline float getSpeed() const { return replay->getSpeed(); } From 2de13bea91d7c095491d9f3f21cb71d995c63bb4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 15 Nov 2023 01:06:37 -0800 Subject: [PATCH 27/66] Remove laika submodule (#30453) * Remove laika submodule * Remove laika check for minimal builds * Fix minimal build check * Bring back exclude for opendbc in codespell * Fix typo * Copy GNSS indices from laika * Delete laika dependencies --- .gitmodules | 3 - .pre-commit-config.yaml | 6 +- Dockerfile.openpilot | 2 - SConstruct | 2 +- docs/Makefile | 2 +- docs/overview.rst | 8 -- laika | 1 - laika_repo | 1 - poetry.lock | 123 +-------------------- pyproject.toml | 7 +- release/files_common | 1 - selfdrive/locationd/models/gnss_helpers.py | 36 ++++-- 12 files changed, 33 insertions(+), 159 deletions(-) delete mode 120000 laika delete mode 160000 laika_repo diff --git a/.gitmodules b/.gitmodules index 26f93ef164e782c..4ba149cb2da53f4 100644 --- a/.gitmodules +++ b/.gitmodules @@ -4,9 +4,6 @@ [submodule "opendbc"] path = opendbc url = ../../commaai/opendbc.git -[submodule "laika_repo"] - path = laika_repo - url = ../../commaai/laika.git [submodule "cereal"] path = cereal url = ../../commaai/cereal.git diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 2e023229e8ccf6f..c1c24d1096918bf 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -26,7 +26,7 @@ repos: rev: v2.2.6 hooks: - id: codespell - exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' + exclude: '^(third_party/)|(body/)|(cereal/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.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 @@ -39,12 +39,12 @@ repos: language: system types: [python] args: ['--explicit-package-bases'] - exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' + exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit rev: v0.1.5 hooks: - id: ruff - exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' + exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' - repo: local hooks: - id: cppcheck diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 3541be92b0be664..27b1e246bd2db24 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -13,8 +13,6 @@ COPY SConstruct ${OPENPILOT_PATH} COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons -COPY ./laika ${OPENPILOT_PATH}/laika -COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo COPY ./rednose ${OPENPILOT_PATH}/rednose COPY ./tools ${OPENPILOT_PATH}/tools COPY ./release ${OPENPILOT_PATH}/release diff --git a/SConstruct b/SConstruct index b96347d9b2bac90..e72e344516fa980 100644 --- a/SConstruct +++ b/SConstruct @@ -56,7 +56,7 @@ AddOption('--pc-thneed', AddOption('--minimal', action='store_false', dest='extras', - default=os.path.islink(Dir('#laika/').abspath), + default=os.path.islink(Dir('#rednose/').abspath), # minimal by default on release branch (where rednose is not a link) help='the minimum build to run openpilot. no tests, tools, etc.') ## Architecture name breakdown (arch) diff --git a/docs/Makefile b/docs/Makefile index dee660f77036701..1eaae656bbbe483 100644 --- a/docs/Makefile +++ b/docs/Makefile @@ -41,7 +41,7 @@ clean: @echo "Building rst files..." sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \ - ../xx ../laika_repo ../rednose_repo ../notebooks ../panda_jungle \ + ../xx ../rednose_repo ../notebooks ../panda_jungle \ ../third_party \ ../panda/examples \ ../scripts \ diff --git a/docs/overview.rst b/docs/overview.rst index b9a57005282ee0c..8c552077f38fc54 100644 --- a/docs/overview.rst +++ b/docs/overview.rst @@ -18,14 +18,6 @@ cereal cereal/README.md cereal/messaging/msgq.md -laika -========= - -.. toctree:: - :maxdepth: 4 - - laika_repo/README.md - models ========= diff --git a/laika b/laika deleted file mode 120000 index 1c7429f4acb62e6..000000000000000 --- a/laika +++ /dev/null @@ -1 +0,0 @@ -laika_repo/laika/ \ No newline at end of file diff --git a/laika_repo b/laika_repo deleted file mode 160000 index 8861844c9b577ff..000000000000000 --- a/laika_repo +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 8861844c9b577ff7de7d03fab9f4d7f560415fc9 diff --git a/poetry.lock b/poetry.lock index 99d7fe6fd2e8f11..3b4fdea7594f899 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1549,27 +1549,6 @@ all = ["flake8", "numpy", "pylint", "pytest", "pytest-cov"] numpy = ["numpy"] test = ["flake8", "pylint", "pytest", "pytest-cov"] -[[package]] -name = "hatanaka" -version = "2.4.0" -description = "Effortlessly compress / decompress any RINEX file" -optional = false -python-versions = ">=3.6" -files = [ - 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[[package]] name = "types-pycurl" version = "7.45.2.5" @@ -5150,4 +5029,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p [metadata] lock-version = "2.0" python-versions = "~3.11" -content-hash = "9538e574ca03437994b7b0a0b6cb41842256162a2f14abfd0da26587709f145a" +content-hash = "f0abc0f53443c3b98eb06fc4dd0ff736e39197bc68c79db9aeffb4736657b676" diff --git a/pyproject.toml b/pyproject.toml index 8a5769bcc905940..38c3337c6f5a059 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" cpp_files = "test_*" python_files = "test_*.py" #timeout = "30" # you get this long by default @@ -38,8 +38,6 @@ exclude = [ "cereal/", "opendbc/", "panda/", - "laika/", - "laika_repo/", "rednose/", "rednose_repo/", "tinygrad/", @@ -82,7 +80,6 @@ crcmod = "*" cryptography = "*" Cython = "*" future-fstrings = "*" # for acados -hatanaka = "==2.4" hexdump = "*" Jinja2 = "*" json-rpc = "*" @@ -159,7 +156,6 @@ sphinx-sitemap = "*" tabulate = "*" tenacity = "*" types-atomicwrites = "*" -types-certifi = "*" types-pycurl = "*" types-PyYAML = "*" types-requests = "*" @@ -187,7 +183,6 @@ target-version="py311" exclude = [ "panda", "opendbc", - "laika_repo", "rednose_repo", "tinygrad_repo", "third_party", diff --git a/release/files_common b/release/files_common index b2623e011359fd0..a1a164bfbfb2929 100644 --- a/release/files_common +++ b/release/files_common @@ -448,7 +448,6 @@ scripts/stop_updater.sh rednose/.gitignore rednose/** -laika/** body/.gitignore body/board/SConscript diff --git a/selfdrive/locationd/models/gnss_helpers.py b/selfdrive/locationd/models/gnss_helpers.py index b6c1771ec60e727..f412fafda96def7 100644 --- a/selfdrive/locationd/models/gnss_helpers.py +++ b/selfdrive/locationd/models/gnss_helpers.py @@ -1,19 +1,35 @@ import numpy as np -from laika.raw_gnss import GNSSMeasurement + + +# source: GNSSMeasurement (https://github.com/commaai/laika/blob/master/laika/raw_gnss.py) +class RawGNSSMeasurementIndices: + PRN = 0 + RECV_TIME_WEEK = 1 + RECV_TIME_SEC = 2 + GLONASS_FREQ = 3 + + PR = 4 + PR_STD = 5 + PRR = 6 + PRR_STD = 7 + + SAT_POS = slice(8, 11) + SAT_VEL = slice(11, 14) + def parse_prr(m): - sat_pos_vel_i = np.concatenate((m[GNSSMeasurement.SAT_POS], - m[GNSSMeasurement.SAT_VEL])) - R_i = np.atleast_2d(m[GNSSMeasurement.PRR_STD]**2) - z_i = m[GNSSMeasurement.PRR] + sat_pos_vel_i = np.concatenate((m[RawGNSSMeasurementIndices.SAT_POS], + m[RawGNSSMeasurementIndices.SAT_VEL])) + R_i = np.atleast_2d(m[RawGNSSMeasurementIndices.PRR_STD]**2) + z_i = m[RawGNSSMeasurementIndices.PRR] return z_i, R_i, sat_pos_vel_i + def parse_pr(m): - pseudorange = m[GNSSMeasurement.PR] - pseudorange_stdev = m[GNSSMeasurement.PR_STD] - sat_pos_freq_i = np.concatenate((m[GNSSMeasurement.SAT_POS], - np.array([m[GNSSMeasurement.GLONASS_FREQ]]))) + pseudorange = m[RawGNSSMeasurementIndices.PR] + pseudorange_stdev = m[RawGNSSMeasurementIndices.PR_STD] + sat_pos_freq_i = np.concatenate((m[RawGNSSMeasurementIndices.SAT_POS], + np.array([m[RawGNSSMeasurementIndices.GLONASS_FREQ]]))) z_i = np.atleast_1d(pseudorange) R_i = np.atleast_2d(pseudorange_stdev**2) return z_i, R_i, sat_pos_freq_i - From a5d99e0ebbfdad405ec86ca4907325926f3e0bfb Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 15 Nov 2023 10:16:51 -0800 Subject: [PATCH 28/66] Pytest: run tests in random order (#30134) * enable random order * logprint info * revert that * better logging * go to dfu * try to flash every panda if not up to date * revert panda debugging --- pyproject.toml | 2 +- selfdrive/athena/tests/test_athenad.py | 4 ++-- selfdrive/controls/tests/test_state_machine.py | 4 ++++ 3 files changed, 7 insertions(+), 3 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 38c3337c6f5a059..1decad4d088d020 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup --random-order" cpp_files = "test_*" python_files = "test_*.py" #timeout = "30" # you get this long by default diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 8829ebfbf12776e..a31e510ff048d95 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -34,6 +34,8 @@ def setUpClass(cls): athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT} def setUp(self): + dispatcher["listUploadQueue"]() # ensure queue is empty at start + MockParams.restore_defaults() athenad.upload_queue = queue.Queue() athenad.cur_upload_items.clear() @@ -46,8 +48,6 @@ def setUp(self): else: os.unlink(p) - dispatcher["listUploadQueue"]() # ensure queue is empty at start - # *** test helpers *** @staticmethod diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index bdeed9fb7a9d002..d626f94015eb796 100755 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -1,5 +1,7 @@ #!/usr/bin/env python3 +import copy import unittest +from unittest import mock from cereal import car, log from openpilot.common.realtime import DT_CTRL @@ -17,6 +19,7 @@ # The event types checked in DISABLED section of state machine ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL) +EVENTS = copy.copy(EVENTS) def make_event(event_types): event = {} @@ -27,6 +30,7 @@ def make_event(event_types): return 0 +@mock.patch("openpilot.selfdrive.controls.lib.events.EVENTS", EVENTS) class TestStateMachine(unittest.TestCase): def setUp(self): From ba3067a560dca8d94ebf2c63b0d5fab7922c56e4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 15 Nov 2023 10:41:11 -0800 Subject: [PATCH 29/66] Revert "Pytest: run tests in random order" (#30469) Revert "Pytest: run tests in random order (#30134)" This reverts commit a5d99e0ebbfdad405ec86ca4907325926f3e0bfb. --- pyproject.toml | 2 +- selfdrive/athena/tests/test_athenad.py | 4 ++-- selfdrive/controls/tests/test_state_machine.py | 4 ---- 3 files changed, 3 insertions(+), 7 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index 1decad4d088d020..38c3337c6f5a059 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [tool.pytest.ini_options] minversion = "6.0" -addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup --random-order" +addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup" cpp_files = "test_*" python_files = "test_*.py" #timeout = "30" # you get this long by default diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index a31e510ff048d95..8829ebfbf12776e 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -34,8 +34,6 @@ def setUpClass(cls): athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT} def setUp(self): - dispatcher["listUploadQueue"]() # ensure queue is empty at start - MockParams.restore_defaults() athenad.upload_queue = queue.Queue() athenad.cur_upload_items.clear() @@ -48,6 +46,8 @@ def setUp(self): else: os.unlink(p) + dispatcher["listUploadQueue"]() # ensure queue is empty at start + # *** test helpers *** @staticmethod diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index d626f94015eb796..bdeed9fb7a9d002 100755 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -1,7 +1,5 @@ #!/usr/bin/env python3 -import copy import unittest -from unittest import mock from cereal import car, log from openpilot.common.realtime import DT_CTRL @@ -19,7 +17,6 @@ # The event types checked in DISABLED section of state machine ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL) -EVENTS = copy.copy(EVENTS) def make_event(event_types): event = {} @@ -30,7 +27,6 @@ def make_event(event_types): return 0 -@mock.patch("openpilot.selfdrive.controls.lib.events.EVENTS", EVENTS) class TestStateMachine(unittest.TestCase): def setUp(self): From 0f0acc190bab0f402d1d85a4ab730ad4a27bd68c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 15 Nov 2023 17:04:07 -0800 Subject: [PATCH 30/66] ui: add purple prime def --- selfdrive/ui/ui.h | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 2ba0775676070e2..dc180eebfb29ec5 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -103,6 +103,7 @@ enum PrimeType { LITE = 2, BLUE = 3, MAGENTA_NEW = 4, + PURPLE = 5, }; const QColor bg_colors [] = { From 361ffb5e5438dc76c847c2042cf99923ef599aff Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 15 Nov 2023 17:48:43 -0800 Subject: [PATCH 31/66] CI: separate image for docker cache (#30413) just registry cache --- selfdrive/test/docker_build.sh | 10 +++++++++- selfdrive/test/docker_common.sh | 1 + 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index e0ba54f058fd3c7..d5a05fecadc0878 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -17,7 +17,15 @@ fi source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" -DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR +if [ -n "$PUSH_IMAGE" ]; then + REG_CACHE="--cache-to type=registry,ref=$REMOTE_CACHE_TAG,mode=max" +fi + +DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load \ + --cache-from type=registry,ref=$REMOTE_CACHE_TAG \ + --cache-from type=registry,ref=$REMOTE_TAG \ + $REG_CACHE \ + -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR if [ -n "$PUSH_IMAGE" ]; then docker push $REMOTE_TAG diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh index 92da71ba6610c02..f1422bf6436c074 100644 --- a/selfdrive/test/docker_common.sh +++ b/selfdrive/test/docker_common.sh @@ -22,3 +22,4 @@ TAG_SUFFIX=$2 LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA +REMOTE_CACHE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:cache From edf90f3e7647bf0929f903bbcf3fc67a80ec87e9 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 15 Nov 2023 17:53:00 -0800 Subject: [PATCH 32/66] CI: enable buildx for registry cache (#30473) * just registry cache * enable buildx --- .github/workflows/setup/action.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 8bb1ccc3766f50e..495c4745eed3ce7 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -68,8 +68,7 @@ runs: find . -type f -executable -not -perm 755 -exec chmod 755 {} \; find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; - id: setup-buildx-action - if: contains(runner.name, 'buildjet') - name: Set up Docker Buildx on buildjet to ensure a consistent cache + name: setup docker buildx for registry cache uses: docker/setup-buildx-action@v2 with: driver: docker-container From 291c04163a0724ce67aca6188cab092d6cecad02 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 15 Nov 2023 18:21:57 -0800 Subject: [PATCH 33/66] CI: disable registry caching (#30474) * Revert "CI: separate image for docker cache (#30413)" This reverts commit 361ffb5e5438dc76c847c2042cf99923ef599aff. * Revert "CI: enable buildx for registry cache (#30473)" This reverts commit edf90f3e7647bf0929f903bbcf3fc67a80ec87e9. --- .github/workflows/setup/action.yaml | 3 ++- selfdrive/test/docker_build.sh | 10 +--------- selfdrive/test/docker_common.sh | 1 - 3 files changed, 3 insertions(+), 11 deletions(-) diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 495c4745eed3ce7..8bb1ccc3766f50e 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -68,7 +68,8 @@ runs: find . -type f -executable -not -perm 755 -exec chmod 755 {} \; find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \; - id: setup-buildx-action - name: setup docker buildx for registry cache + if: contains(runner.name, 'buildjet') + name: Set up Docker Buildx on buildjet to ensure a consistent cache uses: docker/setup-buildx-action@v2 with: driver: docker-container diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh index d5a05fecadc0878..e0ba54f058fd3c7 100755 --- a/selfdrive/test/docker_build.sh +++ b/selfdrive/test/docker_build.sh @@ -17,15 +17,7 @@ fi source $SCRIPT_DIR/docker_common.sh $1 "$TAG_SUFFIX" -if [ -n "$PUSH_IMAGE" ]; then - REG_CACHE="--cache-to type=registry,ref=$REMOTE_CACHE_TAG,mode=max" -fi - -DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load \ - --cache-from type=registry,ref=$REMOTE_CACHE_TAG \ - --cache-from type=registry,ref=$REMOTE_TAG \ - $REG_CACHE \ - -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR +DOCKER_BUILDKIT=1 docker buildx build --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR if [ -n "$PUSH_IMAGE" ]; then docker push $REMOTE_TAG diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh index f1422bf6436c074..92da71ba6610c02 100644 --- a/selfdrive/test/docker_common.sh +++ b/selfdrive/test/docker_common.sh @@ -22,4 +22,3 @@ TAG_SUFFIX=$2 LOCAL_TAG=$DOCKER_IMAGE$TAG_SUFFIX REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG REMOTE_SHA_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:$COMMIT_SHA -REMOTE_CACHE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG:cache From e44d84a7f998022c6bbe8543c69ea294ec1313ae Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 15 Nov 2023 18:50:39 -0800 Subject: [PATCH 34/66] test_models: remove ignored address check list (#30475) * remove ignore_addr_checks_valid * lessgoooo --- selfdrive/car/tests/test_models.py | 28 ++++++++++------------------ 1 file changed, 10 insertions(+), 18 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 9b07dc20e35b04a..8fe81a2f0959a4f 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -14,9 +14,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces -from openpilot.selfdrive.car.gm.values import CAR as GM from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH -from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls from openpilot.selfdrive.test.openpilotci import get_url @@ -34,11 +32,6 @@ INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "") INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0")) -ignore_addr_checks_valid = [ - GM.BUICK_REGAL, - HYUNDAI.GENESIS_G70_2020, -] - def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: # build list of test cases @@ -250,17 +243,16 @@ def test_panda_safety_rx_valid(self): failed_addrs[hex(msg.address)] += 1 # ensure all msgs defined in the addr checks are valid - if self.car_model not in ignore_addr_checks_valid: - self.safety.safety_tick_current_rx_checks() - if t > 1e6: - self.assertTrue(self.safety.addr_checks_valid()) - - # No need to check relay malfunction on disabled routes (relay closed), - # or before fingerprinting is done (1s of tolerance to exit silent mode) - if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100): - self.assertFalse(self.safety.get_relay_malfunction()) - else: - self.safety.set_relay_malfunction(False) + self.safety.safety_tick_current_rx_checks() + if t > 1e6: + self.assertTrue(self.safety.addr_checks_valid()) + + # No need to check relay malfunction on disabled routes (relay closed), + # or before fingerprinting is done (1s of tolerance to exit silent mode) + if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100): + self.assertFalse(self.safety.get_relay_malfunction()) + else: + self.safety.set_relay_malfunction(False) self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") From fc8cfe128046e741d28b127bac03b7a691aa39f3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 15 Nov 2023 18:57:37 -0800 Subject: [PATCH 35/66] test_models: check if in relay-breaking safety mode (#30476) * remove initData, remove tolerance * can check faster now * don't --- selfdrive/car/tests/test_models.py | 32 +++++++++++++++--------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 8fe81a2f0959a4f..7481695fcd85665 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -68,6 +68,7 @@ class TestCarModelBase(unittest.TestCase): can_msgs: List[capnp.lib.capnp._DynamicStructReader] elm_frame: Optional[int] + car_safety_mode_frame: Optional[int] @classmethod def setUpClass(cls): @@ -103,10 +104,9 @@ def setUpClass(cls): car_fw = [] can_msgs = [] cls.elm_frame = None + cls.car_safety_mode_frame = None fingerprint = defaultdict(dict) experimental_long = False - enabled_toggle = True - dashcam_only = False for msg in lr: if msg.which() == "can": can_msgs.append(msg) @@ -117,26 +117,26 @@ def setUpClass(cls): elif msg.which() == "carParams": car_fw = msg.carParams.carFw - dashcam_only = msg.carParams.dashcamOnly if msg.carParams.openpilotLongitudinalControl: experimental_long = True if cls.car_model is None and not cls.ci: cls.car_model = msg.carParams.carFingerprint - elif msg.which() == 'initData': - for param in msg.initData.params.entries: - if param.key == 'OpenpilotEnabledToggle': - enabled_toggle = param.value.strip(b'\x00') == b'1' - # Log which can frame the panda safety mode left ELM327, for CAN validity checks - if msg.which() == 'pandaStates': + elif msg.which() == 'pandaStates': for ps in msg.pandaStates: if cls.elm_frame is None and ps.safetyModel != SafetyModel.elm327: cls.elm_frame = len(can_msgs) + if cls.car_safety_mode_frame is None and ps.safetyModel not in \ + (SafetyModel.elm327, SafetyModel.noOutput): + cls.car_safety_mode_frame = len(can_msgs) elif msg.which() == 'pandaStateDEPRECATED': if cls.elm_frame is None and msg.pandaStateDEPRECATED.safetyModel != SafetyModel.elm327: cls.elm_frame = len(can_msgs) + if cls.car_safety_mode_frame is None and msg.pandaStateDEPRECATED.safetyModel not in \ + (SafetyModel.elm327, SafetyModel.noOutput): + cls.car_safety_mode_frame = len(can_msgs) if len(can_msgs) > int(50 / DT_CTRL): break @@ -144,7 +144,7 @@ def setUpClass(cls): raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?") # if relay is expected to be open in the route - cls.openpilot_enabled = enabled_toggle and not dashcam_only + cls.openpilot_enabled = cls.car_safety_mode_frame is not None cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) @@ -247,12 +247,12 @@ def test_panda_safety_rx_valid(self): if t > 1e6: self.assertTrue(self.safety.addr_checks_valid()) - # No need to check relay malfunction on disabled routes (relay closed), - # or before fingerprinting is done (1s of tolerance to exit silent mode) - if self.openpilot_enabled and t / 1e4 > (self.elm_frame + 100): - self.assertFalse(self.safety.get_relay_malfunction()) - else: - self.safety.set_relay_malfunction(False) + # Don't check relay malfunction on disabled routes (relay closed), + # or before fingerprinting is done (elm327 and noOutput) + if self.openpilot_enabled and t / 1e4 > self.car_safety_mode_frame: + self.assertFalse(self.safety.get_relay_malfunction()) + else: + self.safety.set_relay_malfunction(False) self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}") From 9cd60de0b911e5c374c253f4af8b20a2c417089a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 15 Nov 2023 19:56:02 -0800 Subject: [PATCH 36/66] we don't go in the release notes --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index c95816b2f8b47b2..495a54388db6eed 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,7 +8,7 @@ Version 0.9.5 (2023-11-16) * Hyundai Azera 2022 support thanks to sunnyhaibin! * Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA! * Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422! -* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! +* Hyundai Ioniq 6 2023 support thanks to sunnyhaibin and alamo3! * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! * Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin! * Kia Optima Hybrid 2019 support From 0addee2b4b9f4ad64d1cea12f4a6badf50e85e9c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 15 Nov 2023 21:15:10 -0800 Subject: [PATCH 37/66] openpilot CI: fix azure bucket names (#30477) fix azure bucket names --- selfdrive/test/openpilotci.py | 7 ++++--- selfdrive/test/update_ci_routes.py | 14 +++++++------- 2 files changed, 11 insertions(+), 10 deletions(-) diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py index f590b66e54d233c..0fc763002b9deb6 100755 --- a/selfdrive/test/openpilotci.py +++ b/selfdrive/test/openpilotci.py @@ -7,8 +7,9 @@ DATA_CI_ACCOUNT = "commadataci" DATA_CI_ACCOUNT_URL = f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net" -DATA_CI_CONTAINER = "openpilotci" -BASE_URL = f"{DATA_CI_ACCOUNT_URL}/{DATA_CI_CONTAINER}/" +OPENPILOT_CI_CONTAINER = "openpilotci" +DATA_CI_CONTAINER = "commadataci" +BASE_URL = f"{DATA_CI_ACCOUNT_URL}/{OPENPILOT_CI_CONTAINER}/" TOKEN_PATH = Path("/data/azure_token") @@ -51,7 +52,7 @@ def upload_bytes(data: Union[bytes, IO], blob_name: str) -> str: from azure.storage.blob import BlobClient blob = BlobClient( account_url=DATA_CI_ACCOUNT_URL, - container_name=DATA_CI_CONTAINER, + container_name=OPENPILOT_CI_CONTAINER, blob_name=blob_name, credential=get_azure_credential(), ) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 326cb4fa5684162..4ec8b689a528e64 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -9,8 +9,8 @@ from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments -from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, - get_azure_credential, get_container_sas) +from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER, + DATA_CI_CONTAINER, get_azure_credential, get_container_sas) DATA_PROD_ACCOUNT = "commadata2" DATA_PROD_CONTAINER = "commadata2" @@ -23,15 +23,15 @@ @lru_cache def get_azure_keys(): - dest_container = ContainerClient(DATA_CI_ACCOUNT_URL, DATA_CI_CONTAINER, credential=get_azure_credential()) - dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER) + dest_container = ContainerClient(DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER, credential=get_azure_credential()) + dest_key = get_container_sas(DATA_CI_ACCOUNT, OPENPILOT_CI_CONTAINER) source_keys = [get_container_sas(*s) for s in SOURCES] return dest_container, dest_key, source_keys def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> None: # TODO: use azure-storage-blob instead of azcopy, simplifies auth - dest_key = get_container_sas(DATA_CI_ACCOUNT, DATA_CI_CONTAINER) + dest_key = get_container_sas(DATA_CI_ACCOUNT, OPENPILOT_CI_CONTAINER) if exclude_patterns is None: exclude_patterns = ['*/dcamera.hevc'] @@ -42,7 +42,7 @@ def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> "azcopy", "copy", f"{path}/*", - f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{destpath}?{dest_key}", + f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{OPENPILOT_CI_CONTAINER}/{destpath}?{dest_key}", "--recursive=false", "--overwrite=false", ] + [f"--exclude-pattern={p}" for p in exclude_patterns] @@ -65,7 +65,7 @@ def sync_to_ci_public(route: str) -> bool: "azcopy", "copy", f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}", - f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{DATA_CI_CONTAINER}/{dongle_id}?{dest_key}", + f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{OPENPILOT_CI_CONTAINER}/{dongle_id}?{dest_key}", "--recursive=true", "--overwrite=false", "--exclude-pattern=*/dcamera.hevc", From c2af245b85cb9a168b86446a41e665dc680f7242 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 15 Nov 2023 21:22:14 -0800 Subject: [PATCH 38/66] CI: use azure-storage-blob for uploading (#30478) * use azure-storage-blob * fix pattern * nsp --- selfdrive/test/openpilotci.py | 1 + selfdrive/test/update_ci_routes.py | 21 ++++++++------------- 2 files changed, 9 insertions(+), 13 deletions(-) diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py index 0fc763002b9deb6..4e0da1bccf244d2 100755 --- a/selfdrive/test/openpilotci.py +++ b/selfdrive/test/openpilotci.py @@ -55,6 +55,7 @@ def upload_bytes(data: Union[bytes, IO], blob_name: str) -> str: container_name=OPENPILOT_CI_CONTAINER, blob_name=blob_name, credential=get_azure_credential(), + overwrite=False, ) blob.upload_blob(data) return BASE_URL + blob_name diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 4ec8b689a528e64..ccaa7f9b84c874a 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -1,4 +1,6 @@ #!/usr/bin/env python3 +import os +import re import subprocess import sys from functools import lru_cache @@ -10,7 +12,7 @@ from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments from openpilot.selfdrive.test.openpilotci import (DATA_CI_ACCOUNT, DATA_CI_ACCOUNT_URL, OPENPILOT_CI_CONTAINER, - DATA_CI_CONTAINER, get_azure_credential, get_container_sas) + DATA_CI_CONTAINER, get_azure_credential, get_container_sas, upload_file) DATA_PROD_ACCOUNT = "commadata2" DATA_PROD_CONTAINER = "commadata2" @@ -30,23 +32,16 @@ def get_azure_keys(): def upload_route(path: str, exclude_patterns: Optional[Iterable[str]] = None) -> None: - # TODO: use azure-storage-blob instead of azcopy, simplifies auth - dest_key = get_container_sas(DATA_CI_ACCOUNT, OPENPILOT_CI_CONTAINER) if exclude_patterns is None: - exclude_patterns = ['*/dcamera.hevc'] + exclude_patterns = [r'dcamera\.hevc'] r, n = path.rsplit("--", 1) r = '/'.join(r.split('/')[-2:]) # strip out anything extra in the path destpath = f"{r}/{n}" - cmd = [ - "azcopy", - "copy", - f"{path}/*", - f"https://{DATA_CI_ACCOUNT}.blob.core.windows.net/{OPENPILOT_CI_CONTAINER}/{destpath}?{dest_key}", - "--recursive=false", - "--overwrite=false", - ] + [f"--exclude-pattern={p}" for p in exclude_patterns] - subprocess.check_call(cmd) + for file in os.listdir(path): + if any(re.search(pattern, file) for pattern in exclude_patterns): + continue + upload_file(os.path.join(path, file), f"{destpath}/{file}") def sync_to_ci_public(route: str) -> bool: From 3d9f394533c3d82fc1fb5493f07fe90b366e5d88 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 16 Nov 2023 15:43:59 +0800 Subject: [PATCH 39/66] cabana: update message count after filtering (#30461) update message count after filtering --- tools/cabana/messageswidget.cc | 21 ++++++++++++++------- tools/cabana/messageswidget.h | 10 +--------- 2 files changed, 15 insertions(+), 16 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 7d4938e42745cd6..aba655d66f7b891 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,6 +1,7 @@ #include "tools/cabana/messageswidget.h" #include +#include #include #include @@ -52,18 +53,18 @@ MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget // signals/slots QObject::connect(menu, &QMenu::aboutToShow, this, &MessagesWidget::menuAboutToShow); - QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings); QObject::connect(header, &MessageViewHeader::customContextMenuRequested, this, &MessagesWidget::headerContextMenuEvent); QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions); QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, can, &AbstractStream::suppressDefinedSignals); QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified); - QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MessagesWidget::dbcModified); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::dbcModified); + QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, model, &MessageListModel::dbcModified); QObject::connect(model, &MessageListModel::modelReset, [this]() { if (current_msg_id) { selectMessage(*current_msg_id); } view->updateBytesSectionSize(); + updateTitle(); }); QObject::connect(view->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { if (current.isValid() && current.row() < model->items_.size()) { @@ -103,9 +104,15 @@ QToolBar *MessagesWidget::createToolBar() { return toolbar; } -void MessagesWidget::dbcModified() { - num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount())); - model->dbcModified(); +void MessagesWidget::updateTitle() { + auto stats = std::accumulate( + model->items_.begin(), model->items_.end(), std::pair(), + [](const auto &pair, const auto &item) { + auto m = dbc()->msg(item.id); + return m ? std::make_pair(pair.first + 1, pair.second + m->sigs.size()) : pair; + }); + num_msg_label->setText(tr("%1 Messages (%2 DBC Messages, %3 Signals)") + .arg(model->items_.size()).arg(stats.first).arg(stats.second)); } void MessagesWidget::selectMessage(const MessageId &msg_id) { @@ -398,7 +405,7 @@ void MessageViewHeader::updateFilters() { filters[i] = editors[i]->text(); } } - emit filtersUpdated(filters); + qobject_cast(model())->setFilterStrings(filters); } void MessageViewHeader::updateHeaderPositions() { diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 2452dcf21216914..4f54941c64d306d 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include @@ -80,11 +79,6 @@ class MessageViewHeader : public QHeaderView { void updateHeaderPositions(); void updateGeometries() override; QSize sizeHint() const override; - -signals: - void filtersUpdated(const QMap &filters); - -private: void updateFilters(); QMap editors; @@ -100,9 +94,6 @@ class MessagesWidget : public QWidget { bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); } void suppressHighlighted(); -public slots: - void dbcModified(); - signals: void msgSelectionChanged(const MessageId &message_id); @@ -111,6 +102,7 @@ public slots: void headerContextMenuEvent(const QPoint &pos); void menuAboutToShow(); void setMultiLineBytes(bool multi); + void updateTitle(); MessageView *view; MessageViewHeader *header; From 30ab9f8482154a96a5899704900b82f453bc31be Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 Nov 2023 14:19:02 -0800 Subject: [PATCH 40/66] tici: use BASEDIR to lookup nm connection path --- system/hardware/tici/hardware.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 3b5647cc564b256..d85477ada5f8e23 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -9,6 +9,7 @@ from pathlib import Path from cereal import log +from openpilot.common.basedir import BASEDIR from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action from openpilot.system.hardware.base import HardwareBase, ThermalConfig from openpilot.system.hardware.tici import iwlist @@ -540,7 +541,7 @@ def configure_modem(self): # eSIM prime if sim_id.startswith('8985235'): - with open('/data/openpilot/system/hardware/tici/esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: + with open(os.path.join(BASEDIR, 'system/hardware/tici/esim.nmconnection')) as f, tempfile.NamedTemporaryFile(mode='w') as tf: dat = f.read() dat = dat.replace("sim-id=", f"sim-id={sim_id}") tf.write(dat) From e6e073d099009154eb6e70989113c77111750cb4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 Nov 2023 14:20:55 -0800 Subject: [PATCH 41/66] Revert "tici: use BASEDIR to lookup nm connection path" This reverts commit 30ab9f8482154a96a5899704900b82f453bc31be. --- system/hardware/tici/hardware.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index d85477ada5f8e23..3b5647cc564b256 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -9,7 +9,6 @@ from pathlib import Path from cereal import log -from openpilot.common.basedir import BASEDIR from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action from openpilot.system.hardware.base import HardwareBase, ThermalConfig from openpilot.system.hardware.tici import iwlist @@ -541,7 +540,7 @@ def configure_modem(self): # eSIM prime if sim_id.startswith('8985235'): - with open(os.path.join(BASEDIR, 'system/hardware/tici/esim.nmconnection')) as f, tempfile.NamedTemporaryFile(mode='w') as tf: + with open('/data/openpilot/system/hardware/tici/esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: dat = f.read() dat = dat.replace("sim-id=", f"sim-id={sim_id}") tf.write(dat) From 460d9af5b748475c027da6918aa5a1834133212e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 Nov 2023 19:12:36 -0800 Subject: [PATCH 42/66] more esim config (#30480) * load single conn * high priority --------- Co-authored-by: Comma Device --- system/hardware/tici/esim.nmconnection | 1 + system/hardware/tici/hardware.py | 8 +++++--- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection index d170f9d0668d465..302ed28ed62920e 100644 --- a/system/hardware/tici/esim.nmconnection +++ b/system/hardware/tici/esim.nmconnection @@ -5,6 +5,7 @@ type=gsm permissions= autoconnect=true autoconnect-retries=100 +autoconnect-priority=2 [gsm] apn= diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 3b5647cc564b256..5f8267a4613abd5 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -540,15 +540,16 @@ def configure_modem(self): # eSIM prime if sim_id.startswith('8985235'): - with open('/data/openpilot/system/hardware/tici/esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: + dest = "/etc/NetworkManager/system-connections/esim.nmconnection" + with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf: dat = f.read() dat = dat.replace("sim-id=", f"sim-id={sim_id}") tf.write(dat) tf.flush() # needs to be root - os.system(f"sudo cp {tf.name} /data/etc/NetworkManager/system-connections/esim.nmconnection") - os.system("sudo nmcli con reload") + os.system(f"sudo cp {tf.name} {dest}") + os.system(f"sudo nmcli con load {dest}") def get_networks(self): r = {} @@ -617,5 +618,6 @@ def recover_internal_panda(self): if __name__ == "__main__": t = Tici() + t.configure_modem() t.initialize_hardware() t.set_power_save(False) From 3b1e9017c560499786d8a0e46aaaeea65037acac Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 Nov 2023 19:17:36 -0800 Subject: [PATCH 43/66] Update RELEASES.md --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 495a54388db6eed..1cb6105680c3404 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,4 +1,4 @@ -Version 0.9.5 (2023-11-16) +Version 0.9.5 (2023-11-17) ======================== * New driving model * Improved navigate on openpilot performance using navigation instructions as an additional model input From 05e4d908dfbac3444466263639ec6ac5f5d8f235 Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Fri, 17 Nov 2023 22:53:16 +0100 Subject: [PATCH 44/66] Enhance SConstruct by enabling arbitrary compiler flags (#30484) * Update SConstruct allow no-inline Allows disabling inline functions when compiling to help with the debugging process * Update SConstruct typos * Update SConstruct --- SConstruct | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/SConstruct b/SConstruct index e72e344516fa980..eb9cd737e22b588 100644 --- a/SConstruct +++ b/SConstruct @@ -37,6 +37,12 @@ AddOption('--clazy', AddOption('--compile_db', action='store_true', help='build clang compilation database') + +AddOption('--ccflags', + action='store', + type='string', + default='', + help='pass arbitrary flags over the command line') AddOption('--snpe', action='store_true', @@ -170,6 +176,10 @@ if arch != "Darwin": cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""'] cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""'] +ccflags_option = GetOption('ccflags') +if ccflags_option: + ccflags += ccflags_option.split(' ') + env = Environment( ENV=lenv, CCFLAGS=[ From d3aad9ca4601ae0a448ed971c1cd151c7c1eb690 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 Nov 2023 15:29:52 -0800 Subject: [PATCH 45/66] esim is metered (#30486) * esim is metered * it's an enum --------- Co-authored-by: Comma Device --- release/files_common | 1 + system/hardware/tici/esim.nmconnection | 1 + 2 files changed, 2 insertions(+) diff --git a/release/files_common b/release/files_common index a1a164bfbfb2929..53720aa05a34d69 100644 --- a/release/files_common +++ b/release/files_common @@ -214,6 +214,7 @@ system/hardware/tici/agnos.json system/hardware/tici/amplifier.py system/hardware/tici/updater system/hardware/tici/iwlist.py +system/hardware/tici/esim.nmconnection system/hardware/pc/__init__.py system/hardware/pc/hardware.h system/hardware/pc/hardware.py diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection index 302ed28ed62920e..74f6f8e82c74dd0 100644 --- a/system/hardware/tici/esim.nmconnection +++ b/system/hardware/tici/esim.nmconnection @@ -6,6 +6,7 @@ permissions= autoconnect=true autoconnect-retries=100 autoconnect-priority=2 +metered=1 [gsm] apn= From fa353401f44751d88ffdc583449177451d726d63 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 Nov 2023 18:44:05 -0800 Subject: [PATCH 46/66] bump to 0.9.6 --- RELEASES.md | 3 +++ common/version.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 1cb6105680c3404..4c12971c54bdb6c 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,6 @@ +Version 0.9.6 (2023-XX-XX) +======================== + Version 0.9.5 (2023-11-17) ======================== * New driving model diff --git a/common/version.h b/common/version.h index 946f6a1fecc9fb6..787bc897d7c3d16 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.5" +#define COMMA_VERSION "0.9.6" From 99fbd4b150421102cba217791e1c81f8ff94ece0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 Nov 2023 21:55:56 -0800 Subject: [PATCH 47/66] updated: wait 1m before first cycle (#30492) --- selfdrive/updated.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 1e128fb11c8ab67..fabe28920fa93fe 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -428,6 +428,9 @@ def main() -> None: # invalidate old finalized update set_consistent_flag(False) + # wait a bit before first cycle + wait_helper.sleep(60) + # Run the update loop while True: wait_helper.ready_event.clear() From 3527c1da6759e54e42f80ab7cfde038a8ae96680 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 19 Nov 2023 14:11:13 +0800 Subject: [PATCH 48/66] loggerd: c++ LoggerState (#25869) * c++ LoggerState * trigger ci * trigger ci * merge master --------- Co-authored-by: Adeeb Shihadeh --- system/loggerd/logger.cc | 182 +++++----------------------- system/loggerd/logger.h | 62 +++------- system/loggerd/loggerd.cc | 51 ++++---- system/loggerd/tests/test_logger.cc | 101 +++------------ 4 files changed, 86 insertions(+), 310 deletions(-) diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 1474552a137d98a..3af2c50aa1a48f0 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -1,21 +1,7 @@ #include "system/loggerd/logger.h" -#include -#include -#include - -#include -#include -#include -#include -#include -#include -#include #include -#include #include -#include -#include #include #include "common/params.h" @@ -108,159 +94,51 @@ std::string logger_get_route_name() { return route_name; } -void log_init_data(LoggerState *s) { - auto bytes = s->init_data.asBytes(); - logger_log(s, bytes.begin(), bytes.size(), s->has_qlog); -} - - -static void lh_log_sentinel(LoggerHandle *h, SentinelType type) { +static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = 0) { MessageBuilder msg; auto sen = msg.initEvent().initSentinel(); sen.setType(type); - sen.setSignal(h->exit_signal); - auto bytes = msg.toBytes(); - - lh_log(h, bytes.begin(), bytes.size(), true); + sen.setSignal(eixt_signal); + log->write(msg.toBytes(), true); } -// ***** logging functions ***** - -void logger_init(LoggerState *s, bool has_qlog) { - pthread_mutex_init(&s->lock, NULL); - - s->part = -1; - s->has_qlog = has_qlog; - s->route_name = logger_get_route_name(); - s->init_data = logger_build_init_data(); +LoggerState::LoggerState(const std::string &log_root) { + route_name = logger_get_route_name(); + route_path = log_root + "/" + route_name; + init_data = logger_build_init_data(); } -static LoggerHandle* logger_open(LoggerState *s, const char* root_path) { - LoggerHandle *h = NULL; - for (int i=0; ihandles[i].refcnt == 0) { - h = &s->handles[i]; - break; - } +LoggerState::~LoggerState() { + if (rlog) { + log_sentinel(this, SentinelType::END_OF_ROUTE, exit_signal); + std::remove(lock_file.c_str()); } - assert(h); - - snprintf(h->segment_path, sizeof(h->segment_path), - "%s/%s--%d", root_path, s->route_name.c_str(), s->part); - - snprintf(h->log_path, sizeof(h->log_path), "%s/rlog", h->segment_path); - snprintf(h->qlog_path, sizeof(h->qlog_path), "%s/qlog", h->segment_path); - snprintf(h->lock_path, sizeof(h->lock_path), "%s.lock", h->log_path); - h->end_sentinel_type = SentinelType::END_OF_SEGMENT; - h->exit_signal = 0; - - if (!util::create_directories(h->segment_path, 0775)) return nullptr; - - FILE* lock_file = fopen(h->lock_path, "wb"); - if (lock_file == NULL) return NULL; - fclose(lock_file); - - h->log = std::make_unique(h->log_path); - if (s->has_qlog) { - h->q_log = std::make_unique(h->qlog_path); - } - - pthread_mutex_init(&h->lock, NULL); - h->refcnt++; - return h; } -int logger_next(LoggerState *s, const char* root_path, - char* out_segment_path, size_t out_segment_path_len, - int* out_part) { - bool is_start_of_route = !s->cur_handle; - - pthread_mutex_lock(&s->lock); - s->part++; - - LoggerHandle* next_h = logger_open(s, root_path); - if (!next_h) { - pthread_mutex_unlock(&s->lock); - return -1; +bool LoggerState::next() { + if (rlog) { + log_sentinel(this, SentinelType::END_OF_SEGMENT); + std::remove(lock_file.c_str()); } - if (s->cur_handle) { - lh_close(s->cur_handle); - } - s->cur_handle = next_h; + segment_path = route_path + "--" + std::to_string(++part); + bool ret = util::create_directories(segment_path, 0775); + assert(ret == true); - if (out_segment_path) { - snprintf(out_segment_path, out_segment_path_len, "%s", next_h->segment_path); - } - if (out_part) { - *out_part = s->part; - } + const std::string rlog_path = segment_path + "/rlog"; + lock_file = rlog_path + ".lock"; + std::ofstream{lock_file}; - pthread_mutex_unlock(&s->lock); - - // write beginning of log metadata - log_init_data(s); - lh_log_sentinel(s->cur_handle, is_start_of_route ? SentinelType::START_OF_ROUTE : SentinelType::START_OF_SEGMENT); - return 0; -} + rlog.reset(new RawFile(rlog_path)); + qlog.reset(new RawFile(segment_path + "/qlog")); -LoggerHandle* logger_get_handle(LoggerState *s) { - pthread_mutex_lock(&s->lock); - LoggerHandle* h = s->cur_handle; - if (h) { - pthread_mutex_lock(&h->lock); - h->refcnt++; - pthread_mutex_unlock(&h->lock); - } - pthread_mutex_unlock(&s->lock); - return h; -} - -void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog) { - pthread_mutex_lock(&s->lock); - if (s->cur_handle) { - lh_log(s->cur_handle, data, data_size, in_qlog); - } - pthread_mutex_unlock(&s->lock); + // log init data & sentinel type. + write(init_data.asBytes(), true); + log_sentinel(this, part > 0 ? SentinelType::START_OF_SEGMENT : SentinelType::START_OF_ROUTE); + return true; } -void logger_close(LoggerState *s, ExitHandler *exit_handler) { - pthread_mutex_lock(&s->lock); - if (s->cur_handle) { - s->cur_handle->exit_signal = exit_handler && exit_handler->signal.load(); - s->cur_handle->end_sentinel_type = SentinelType::END_OF_ROUTE; - lh_close(s->cur_handle); - } - pthread_mutex_unlock(&s->lock); -} - -void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog) { - pthread_mutex_lock(&h->lock); - assert(h->refcnt > 0); - h->log->write(data, data_size); - if (in_qlog && h->q_log) { - h->q_log->write(data, data_size); - } - pthread_mutex_unlock(&h->lock); -} - -void lh_close(LoggerHandle* h) { - pthread_mutex_lock(&h->lock); - assert(h->refcnt > 0); - if (h->refcnt == 1) { - // a very ugly hack. only here can guarantee sentinel is the last msg - pthread_mutex_unlock(&h->lock); - lh_log_sentinel(h, h->end_sentinel_type); - pthread_mutex_lock(&h->lock); - } - h->refcnt--; - if (h->refcnt == 0) { - h->log.reset(nullptr); - h->q_log.reset(nullptr); - unlink(h->lock_path); - pthread_mutex_unlock(&h->lock); - pthread_mutex_destroy(&h->lock); - return; - } - pthread_mutex_unlock(&h->lock); +void LoggerState::write(uint8_t* data, size_t size, bool in_qlog) { + rlog->write(data, size); + if (in_qlog) qlog->write(data, size); } diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h index 06b11e72f93ed1d..76a12b9e874d538 100644 --- a/system/loggerd/logger.h +++ b/system/loggerd/logger.h @@ -1,27 +1,17 @@ #pragma once -#include - #include -#include -#include #include #include -#include -#include - #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "common/swaglog.h" #include "system/hardware/hw.h" -#define LOGGER_MAX_HANDLES 16 - class RawFile { public: - RawFile(const char* path) { - file = util::safe_fopen(path, "wb"); + RawFile(const std::string &path) { + file = util::safe_fopen(path.c_str(), "wb"); assert(file != nullptr); } ~RawFile() { @@ -41,39 +31,25 @@ class RawFile { typedef cereal::Sentinel::SentinelType SentinelType; -typedef struct LoggerHandle { - pthread_mutex_t lock; - SentinelType end_sentinel_type; - int exit_signal; - int refcnt; - char segment_path[4096]; - char log_path[4096]; - char qlog_path[4096]; - char lock_path[4096]; - std::unique_ptr log, q_log; -} LoggerHandle; -typedef struct LoggerState { - pthread_mutex_t lock; - int part; +class LoggerState { +public: + LoggerState(const std::string& log_root = Path::log_root()); + ~LoggerState(); + bool next(); + void write(uint8_t* data, size_t size, bool in_qlog); + inline int segment() const { return part; } + inline const std::string& segmentPath() const { return segment_path; } + inline const std::string& routeName() const { return route_name; } + inline void write(kj::ArrayPtr bytes, bool in_qlog) { write(bytes.begin(), bytes.size(), in_qlog); } + inline void setExitSignal(int signal) { exit_signal = signal; } + +protected: + int part = -1, exit_signal = 0; + std::string route_path, route_name, segment_path, lock_file; kj::Array init_data; - std::string route_name; - char log_name[64]; - bool has_qlog; - - LoggerHandle handles[LOGGER_MAX_HANDLES]; - LoggerHandle* cur_handle; -} LoggerState; + std::unique_ptr rlog, qlog; +}; kj::Array logger_build_init_data(); std::string logger_get_route_name(); -void logger_init(LoggerState *s, bool has_qlog); -int logger_next(LoggerState *s, const char* root_path, - char* out_segment_path, size_t out_segment_path_len, - int* out_part); -LoggerHandle* logger_get_handle(LoggerState *s); -void logger_close(LoggerState *s, ExitHandler *exit_handler=nullptr); -void logger_log(LoggerState *s, uint8_t* data, size_t data_size, bool in_qlog); - -void lh_log(LoggerHandle* h, uint8_t* data, size_t data_size, bool in_qlog); -void lh_close(LoggerHandle* h); diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index adb24c913c474e5..8d5fcb95ac2dec2 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -13,9 +13,7 @@ ExitHandler do_exit; struct LoggerdState { - LoggerState logger = {}; - char segment_path[4096]; - std::atomic rotate_segment; + LoggerState logger; std::atomic last_camera_seen_tms; std::atomic ready_to_rotate; // count of encoders ready to rotate int max_waiting = 0; @@ -23,13 +21,11 @@ struct LoggerdState { }; void logger_rotate(LoggerdState *s) { - int segment = -1; - int err = logger_next(&s->logger, Path::log_root().c_str(), s->segment_path, sizeof(s->segment_path), &segment); - assert(err == 0); - s->rotate_segment = segment; + bool ret =s->logger.next(); + assert(ret); s->ready_to_rotate = 0; s->last_rotate_tms = millis_since_boot(); - LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path); + LOGW((s->logger.segment() == 0) ? "logging to %s" : "rotated to %s", s->logger.segmentPath().c_str()); } void rotate_if_needed(LoggerdState *s) { @@ -85,16 +81,16 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct } int offset_segment_num = idx.getSegmentNum() - re.encoderd_segment_offset; - if (offset_segment_num == s->rotate_segment) { + if (offset_segment_num == s->logger.segment()) { // loggerd is now on the segment that matches this packet // if this is a new segment, we close any possible old segments, move to the new, and process any queued packets - if (re.current_segment != s->rotate_segment) { + if (re.current_segment != s->logger.segment()) { if (re.recording) { re.writer.reset(); re.recording = false; } - re.current_segment = s->rotate_segment; + re.current_segment = s->logger.segment(); re.marked_ready_to_rotate = false; // we are in this segment now, process any queued messages before this one if (!re.q.empty()) { @@ -117,7 +113,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct // if we aren't actually recording, don't create the writer if (encoder_info.record) { assert(encoder_info.filename != NULL); - re.writer.reset(new VideoWriter(s->segment_path, + re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(), encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType())); // write the header @@ -149,28 +145,28 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct evt.setLogMonoTime(event.getLogMonoTime()); (evt.*(encoder_info.set_encode_idx_func))(idx); auto new_msg = bmsg.toBytes(); - logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? + s->logger.write((uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? bytes_count += new_msg.size(); // free the message, we used it delete msg; - } else if (offset_segment_num > s->rotate_segment) { + } else if (offset_segment_num > s->logger.segment()) { // encoderd packet has a newer segment, this means encoderd has rolled over if (!re.marked_ready_to_rotate) { re.marked_ready_to_rotate = true; ++s->ready_to_rotate; LOGD("rotate %d -> %d ready %d/%d for %s", - s->rotate_segment.load(), offset_segment_num, + s->logger.segment(), offset_segment_num, s->ready_to_rotate.load(), s->max_waiting, name.c_str()); } // queue up all the new segment messages, they go in after the rotate re.q.push_back(msg); } else { - LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->rotate_segment:%d re.encoderd_segment_offset:%d", - name.c_str(), idx.getSegmentNum(), s->rotate_segment.load(), re.encoderd_segment_offset); + LOGE("%s: encoderd packet has a older segment!!! idx.getSegmentNum():%d s->logger.segment():%d re.encoderd_segment_offset:%d", + name.c_str(), idx.getSegmentNum(), s->logger.segment(), re.encoderd_segment_offset); // free the message, it's useless. this should never happen // actually, this can happen if you restart encoderd - re.encoderd_segment_offset = -s->rotate_segment.load(); + re.encoderd_segment_offset = -s->logger.segment(); delete msg; } @@ -179,19 +175,19 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct void handle_user_flag(LoggerdState *s) { static int prev_segment = -1; - if (s->rotate_segment == prev_segment) return; + if (s->logger.segment() == prev_segment) return; - LOGW("preserving %s", s->segment_path); + LOGW("preserving %s", s->logger.segmentPath().c_str()); #ifdef __APPLE__ - int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0); + int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0); #else - int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0); + int ret = setxattr(s->logger.segmentPath().c_str(), PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0); #endif if (ret) { - LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno)); + LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->logger.segmentPath().c_str(), strerror(errno)); } - prev_segment = s->rotate_segment.load(); + prev_segment = s->logger.segment(); } void loggerd_thread() { @@ -228,9 +224,8 @@ void loggerd_thread() { LoggerdState s; // init logger - logger_init(&s.logger, true); logger_rotate(&s); - Params().put("CurrentRoute", s.logger.route_name); + Params().put("CurrentRoute", s.logger.routeName()); std::map encoder_infos_dict; for (const auto &cam : cameras_logged) { @@ -261,7 +256,7 @@ void loggerd_thread() { s.last_camera_seen_tms = millis_since_boot(); bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]); } else { - logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog); + s.logger.write((uint8_t *)msg->getData(), msg->getSize(), in_qlog); bytes_count += msg->getSize(); delete msg; } @@ -283,7 +278,7 @@ void loggerd_thread() { } LOGW("closing logger"); - logger_close(&s.logger, &do_exit); + s.logger.setExitSignal(do_exit.signal); if (do_exit.power_failure) { LOGE("power failure"); diff --git a/system/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc index 9f815c2189731c3..2dae136e13c0bc9 100644 --- a/system/loggerd/tests/test_logger.cc +++ b/system/loggerd/tests/test_logger.cc @@ -1,16 +1,5 @@ -#include - -#include -#include -#include -#include -#include - #include "catch2/catch.hpp" -#include "cereal/messaging/messaging.h" -#include "common/util.h" #include "system/loggerd/logger.h" -#include "tools/replay/util.h" typedef cereal::Sentinel::SentinelType SentinelType; @@ -57,91 +46,29 @@ void verify_segment(const std::string &route_path, int segment, int max_segment, } } -void write_msg(LoggerHandle *logger) { +void write_msg(LoggerState *logger) { MessageBuilder msg; msg.initEvent().initClocks(); - auto bytes = msg.toBytes(); - lh_log(logger, bytes.begin(), bytes.size(), true); + logger->write(msg.toBytes(), true); } TEST_CASE("logger") { + const int segment_cnt = 100; const std::string log_root = "/tmp/test_logger"; system(("rm " + log_root + " -rf").c_str()); - - ExitHandler do_exit; - - LoggerState logger = {}; - logger_init(&logger, true); - char segment_path[PATH_MAX] = {}; - int segment = -1; - - SECTION("single thread logging & rotation(100 segments, one thread)") { - const int segment_cnt = 100; + std::string route_name; + { + LoggerState logger(log_root); + route_name = logger.routeName(); for (int i = 0; i < segment_cnt; ++i) { - REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0); - REQUIRE(util::file_exists(std::string(segment_path) + "/rlog.lock")); - REQUIRE(segment == i); - write_msg(logger.cur_handle); - } - do_exit = true; - do_exit.signal = 1; - logger_close(&logger, &do_exit); - for (int i = 0; i < segment_cnt; ++i) { - verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, 1); + REQUIRE(logger.next()); + REQUIRE(util::file_exists(logger.segmentPath() + "/rlog.lock")); + REQUIRE(logger.segment() == i); + write_msg(&logger); } + logger.setExitSignal(1); } - SECTION("multiple threads logging & rotation(100 segments, 10 threads") { - const int segment_cnt = 100, thread_cnt = 10; - std::atomic event_cnt[segment_cnt] = {}; - std::atomic main_segment = -1; - - auto logging_thread = [&]() -> void { - LoggerHandle *lh = logger_get_handle(&logger); - assert(lh != nullptr); - int segment = main_segment; - int delayed_cnt = 0; - while (!do_exit) { - // write 2 more messages in the current segment and then rotate to the new segment. - if (main_segment > segment && ++delayed_cnt == 2) { - lh_close(lh); - lh = logger_get_handle(&logger); - segment = main_segment; - delayed_cnt = 0; - } - write_msg(lh); - event_cnt[segment] += 1; - usleep(1); - } - lh_close(lh); - }; - - // start logging - std::vector threads; - for (int i = 0; i < segment_cnt; ++i) { - REQUIRE(logger_next(&logger, log_root.c_str(), segment_path, sizeof(segment_path), &segment) == 0); - REQUIRE(segment == i); - main_segment = segment; - if (i == 0) { - for (int j = 0; j < thread_cnt; ++j) { - threads.push_back(std::thread(logging_thread)); - } - } - for (int j = 0; j < 100; ++j) { - write_msg(logger.cur_handle); - usleep(1); - } - event_cnt[segment] += 100; - } - - // end logging - for (auto &t : threads) t.join(); - do_exit = true; - do_exit.signal = 1; - logger_close(&logger, &do_exit); - REQUIRE(logger.cur_handle->refcnt == 0); - - for (int i = 0; i < segment_cnt; ++i) { - verify_segment(log_root + "/" + logger.route_name, i, segment_cnt, event_cnt[i]); - } + for (int i = 0; i < segment_cnt; ++i) { + verify_segment(log_root + "/" + route_name, i, segment_cnt, 1); } } From c5f73a748e6ea9742001d771b96346e3b5eddef9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 19 Nov 2023 14:12:35 +0800 Subject: [PATCH 49/66] replay: support for setting a custom playback speed (#30462) * support for setting a custom playback speed * rename to playback speed --- tools/replay/consoleui.cc | 21 +++++++++++++-------- tools/replay/consoleui.h | 1 + tools/replay/main.cc | 6 ++++++ tools/replay/replay.cc | 6 +++--- tools/replay/replay.h | 1 - 5 files changed, 23 insertions(+), 12 deletions(-) diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 719bbd69caeb8b7..3332aa9c9020d3e 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -29,7 +29,7 @@ const std::initializer_list> keyboard_shortc }, { {"enter", "Enter seek request"}, - {"x", "+/-Replay speed"}, + {"+/-", "Playback speed"}, {"q", "Exit"}, }, }; @@ -331,13 +331,18 @@ void ConsoleUI::handleKey(char c) { refresh(); getch_timer.start(1000, this); - } else if (c == 'x') { - if (replay->hasFlag(REPLAY_FLAG_FULL_SPEED)) { - replay->removeFlag(REPLAY_FLAG_FULL_SPEED); - rWarning("replay at normal speed"); - } else { - replay->addFlag(REPLAY_FLAG_FULL_SPEED); - rWarning("replay at full speed"); + } else if (c == '+' || c == '=') { + auto it = std::upper_bound(speed_array.begin(), speed_array.end(), replay->getSpeed()); + if (it != speed_array.end()) { + rWarning("playback speed: %.1fx", *it); + replay->setSpeed(*it); + } + } else if (c == '_' || c == '-') { + auto it = std::lower_bound(speed_array.begin(), speed_array.end(), replay->getSpeed()); + if (it != speed_array.begin()) { + auto prev = std::prev(it); + rWarning("playback speed: %.1fx", *prev); + replay->setSpeed(*prev); } } else if (c == 'e') { replay->seekToFlag(FindFlag::nextEngagement); diff --git a/tools/replay/consoleui.h b/tools/replay/consoleui.h index 20e07524ddad8cc..6ed44bc623c5df7 100644 --- a/tools/replay/consoleui.h +++ b/tools/replay/consoleui.h @@ -16,6 +16,7 @@ class ConsoleUI : public QObject { public: ConsoleUI(Replay *replay, QObject *parent = 0); ~ConsoleUI(); + inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f}; private: void initWindows(); diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 945cb4cd0914255..a0c072438dfdc9c 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -33,6 +33,8 @@ int main(int argc, char *argv[]) { parser.addOption({{"b", "block"}, "blacklist of services to send", "block"}); parser.addOption({{"c", "cache"}, "cache segments in memory. default is 5", "n"}); parser.addOption({{"s", "start"}, "start from ", "seconds"}); + parser.addOption({"x", QString("playback . between %1 - %2") + .arg(ConsoleUI::speed_array.front()).arg(ConsoleUI::speed_array.back()), "speed"}); parser.addOption({"demo", "use a demo route instead of providing your own"}); parser.addOption({"data_dir", "local directory with routes", "data_dir"}); parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"}); @@ -67,6 +69,10 @@ int main(int argc, char *argv[]) { if (!parser.value("c").isEmpty()) { replay->setSegmentCacheLimit(parser.value("c").toInt()); } + if (!parser.value("x").isEmpty()) { + replay->setSpeed(std::clamp(parser.value("x").toFloat(), + ConsoleUI::speed_array.front(), ConsoleUI::speed_array.back())); + } if (!replay->load()) { return 0; } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 1ec484d677b72ac..9657375be7a7fb7 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -363,7 +363,7 @@ void Replay::publishFrame(const Event *e) { void Replay::stream() { cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA; - double prev_replay_speed = 1.0; + double prev_replay_speed = speed_; std::unique_lock lk(stream_lock_); while (true) { @@ -398,14 +398,14 @@ void Replay::stream() { evt_start_ts = cur_mono_time_; loop_start_ts = nanos_since_boot(); prev_replay_speed = speed_; - } else if (behind_ns > 0 && !hasFlag(REPLAY_FLAG_FULL_SPEED)) { + } else if (behind_ns > 0) { precise_nano_sleep(behind_ns); } if (!evt->frame) { publishMessage(evt); } else if (camera_server_) { - if (hasFlag(REPLAY_FLAG_FULL_SPEED)) { + if (speed_ > 1.0) { camera_server_->waitForSent(); } publishFrame(evt); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 1144da260142932..1a74b69c3d08ddc 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -27,7 +27,6 @@ enum REPLAY_FLAGS { REPLAY_FLAG_NO_FILE_CACHE = 0x0020, REPLAY_FLAG_QCAMERA = 0x0040, REPLAY_FLAG_NO_HW_DECODER = 0x0100, - REPLAY_FLAG_FULL_SPEED = 0x0200, REPLAY_FLAG_NO_VIPC = 0x0400, REPLAY_FLAG_ALL_SERVICES = 0x0800, }; From 17cab9bb508c74471d0ec66c4a3358122afe52aa Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 19 Nov 2023 14:14:05 +0800 Subject: [PATCH 50/66] ui/controls.cc: fix QLabel leak (#30382) fix QLabel leak --- selfdrive/ui/qt/widgets/controls.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index 87304a45858bbff..18a79b59830d2ea 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -12,13 +12,14 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons hlayout->setSpacing(20); // left icon - icon_label = new QLabel(); + icon_label = new QLabel(this); + hlayout->addWidget(icon_label); if (!icon.isEmpty()) { icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); icon_label->setPixmap(icon_pixmap); icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); - hlayout->addWidget(icon_label); } + icon_label->setVisible(!icon.isEmpty()); // title title_label = new QPushButton(title); From 3d36a0f70d2cd64dc8e6002b803f844f470d0731 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 Nov 2023 22:20:10 -0800 Subject: [PATCH 51/66] rm old loggerd debug scripts --- system/loggerd/tools/mark_all_uploaded.py | 8 -------- system/loggerd/tools/mark_unuploaded.py | 8 -------- 2 files changed, 16 deletions(-) delete mode 100644 system/loggerd/tools/mark_all_uploaded.py delete mode 100755 system/loggerd/tools/mark_unuploaded.py diff --git a/system/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py deleted file mode 100644 index 0502184380b9997..000000000000000 --- a/system/loggerd/tools/mark_all_uploaded.py +++ /dev/null @@ -1,8 +0,0 @@ -import os -from openpilot.system.hardware.hw import Paths -from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE - -for folder in os.walk(Paths.log_root()): - for file1 in folder[2]: - full_path = os.path.join(folder[0], file1) - os.setxattr(full_path, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE) diff --git a/system/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py deleted file mode 100755 index ef50280441e5cf1..000000000000000 --- a/system/loggerd/tools/mark_unuploaded.py +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME - -for fn in sys.argv[1:]: - print(f"unmarking {fn}") - os.removexattr(fn, UPLOAD_ATTR_NAME) From c055fdc8539c3c89ffa6b71b82fe70a599fac768 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 Nov 2023 22:22:31 -0800 Subject: [PATCH 52/66] one more --- system/loggerd/tests/fill.py | 27 --------------------------- 1 file changed, 27 deletions(-) delete mode 100755 system/loggerd/tests/fill.py diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py deleted file mode 100755 index 5e6f887b1273151..000000000000000 --- a/system/loggerd/tests/fill.py +++ /dev/null @@ -1,27 +0,0 @@ -#!/usr/bin/env python3 -"""Script to fill up storage with fake data""" - -from pathlib import Path - -from openpilot.system.hardware.hw import Paths -from openpilot.system.loggerd.config import get_available_percent -from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file - - -if __name__ == "__main__": - segment_idx = 0 - while True: - seg_name = f"1970-01-01--00-00-00--{segment_idx}" - seg_path = Path(Paths.log_root()) / seg_name - - print(seg_path) - - create_random_file(seg_path / "fcamera.hevc", 36) - create_random_file(seg_path / "rlog.bz2", 2) - - segment_idx += 1 - - # Fill up to 99 percent - available_percent = get_available_percent() - if available_percent < 1.0: - break From 335237aea0a854b41960c32b2f54b6c5af63b707 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 19 Nov 2023 14:45:26 +0800 Subject: [PATCH 53/66] modeld: remove modeldata.h (#30423) * remove modeldata.h * remove TRAJECTORY_SIZE --- common/modeldata.h | 38 ------------------------- release/files_common | 1 - selfdrive/ui/ui.cc | 6 ++-- selfdrive/ui/ui.h | 17 +++++++++-- system/camerad/cameras/camera_common.cc | 1 - 5 files changed, 17 insertions(+), 46 deletions(-) delete mode 100644 common/modeldata.h diff --git a/common/modeldata.h b/common/modeldata.h deleted file mode 100644 index 6dc02cc79269c98..000000000000000 --- a/common/modeldata.h +++ /dev/null @@ -1,38 +0,0 @@ -#pragma once - -#include -#include "common/mat.h" -#include "system/hardware/hw.h" - -const int TRAJECTORY_SIZE = 33; -const int LAT_MPC_N = 16; -const int LON_MPC_N = 32; -const float MIN_DRAW_DISTANCE = 10.0; -const float MAX_DRAW_DISTANCE = 100.0; - -const float RYG_GREEN = 0.01165; -const float RYG_YELLOW = 0.06157; - -template -constexpr std::array build_idxs(float max_val) { - std::array result{}; - for (int i = 0; i < size; ++i) { - result[i] = max_val * ((i / (double)(size - 1)) * (i / (double)(size - 1))); - } - return result; -} - -constexpr auto T_IDXS = build_idxs(10.0); -constexpr auto T_IDXS_FLOAT = build_idxs(10.0); -constexpr auto X_IDXS = build_idxs(192.0); -constexpr auto X_IDXS_FLOAT = build_idxs(192.0); - -const mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2, - 0.0, 2648.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; - -// tici ecam focal probably wrong? magnification is not consistent across frame -// Need to retrain model before this can be changed -const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2, - 0.0, 567.0, 1208.0 / 2, - 0.0, 0.0, 1.0}}; diff --git a/release/files_common b/release/files_common index 53720aa05a34d69..46c2c26a5b89539 100644 --- a/release/files_common +++ b/release/files_common @@ -163,7 +163,6 @@ common/ratekeeper.h common/watchdog.cc common/watchdog.h -common/modeldata.h common/mat.h common/timing.h diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 03df2cf57a00c0d..7b2d24b53a811c8 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -38,7 +38,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) { const auto line_x = line.getX(); int max_idx = 0; - for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) { + for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) { max_idx = i; } return max_idx; @@ -84,10 +84,10 @@ void update_model(UIState *s, const cereal::UiPlan::Reader &plan) { UIScene &scene = s->scene; auto plan_position = plan.getPosition(); - if (plan_position.getX().size() < TRAJECTORY_SIZE){ + if (plan_position.getX().size() < model.getPosition().getX().size()) { plan_position = model.getPosition(); } - float max_distance = std::clamp(plan_position.getX()[TRAJECTORY_SIZE - 1], + float max_distance = std::clamp(*(plan_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE); // update lane lines diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index dc180eebfb29ec5..d9a03344b637f22 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include @@ -13,9 +12,10 @@ #include #include "cereal/messaging/messaging.h" -#include "common/modeldata.h" +#include "common/mat.h" #include "common/params.h" #include "common/timing.h" +#include "system/hardware/hw.h" const int UI_BORDER_SIZE = 30; const int UI_HEADER_HEIGHT = 420; @@ -24,7 +24,18 @@ const int UI_FREQ = 20; // Hz const int BACKLIGHT_OFFROAD = 50; typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; -const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; +const float MIN_DRAW_DISTANCE = 10.0; +const float MAX_DRAW_DISTANCE = 100.0; +constexpr mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; +constexpr mat3 FCAM_INTRINSIC_MATRIX = (mat3){{2648.0, 0.0, 1928.0 / 2, + 0.0, 2648.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; +// tici ecam focal probably wrong? magnification is not consistent across frame +// Need to retrain model before this can be changed +constexpr mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2, + 0.0, 567.0, 1208.0 / 2, + 0.0, 0.0, 1.0}}; + constexpr vec3 default_face_kpts_3d[] = { {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00}, diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 23b28357da6bc74..d2c7a35f6ef8e24 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -13,7 +13,6 @@ #include "system/camerad/imgproc/utils.h" #include "common/clutil.h" -#include "common/modeldata.h" #include "common/swaglog.h" #include "common/util.h" #include "system/hardware/hw.h" From 5b2bcf6bf220f88e11978e04a77226127b520efb Mon Sep 17 00:00:00 2001 From: Logan Lasiter Date: Sat, 18 Nov 2023 22:47:11 -0800 Subject: [PATCH 54/66] adding --local-partial-types mypy opt (#30491) --- .pre-commit-config.yaml | 2 +- scripts/code_stats.py | 2 +- tools/bodyteleop/web.py | 7 +++++-- tools/sim/lib/manual_ctrl.py | 20 ++++++++++---------- tools/sim/tests/test_carla_bridge.py | 4 +++- 5 files changed, 20 insertions(+), 15 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index c1c24d1096918bf..90e55e7c7d85410 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -38,7 +38,7 @@ repos: entry: mypy language: system types: [python] - args: ['--explicit-package-bases'] + args: ['--explicit-package-bases', '--local-partial-types'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit rev: v0.1.5 diff --git a/scripts/code_stats.py b/scripts/code_stats.py index 59b5724a6804c27..3189cd7cc1bd20d 100755 --- a/scripts/code_stats.py +++ b/scripts/code_stats.py @@ -13,7 +13,7 @@ if f.endswith(".py"): pyf.append(os.path.join(root, f)) -imps = set() +imps: set[str] = set() class Analyzer(ast.NodeVisitor): def visit_Import(self, node): diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py index 717afdeaf808566..929cfa26fe89090 100644 --- a/tools/bodyteleop/web.py +++ b/tools/bodyteleop/web.py @@ -18,11 +18,14 @@ from openpilot.common.basedir import BASEDIR from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo +from typing import Optional + logger = logging.getLogger("pc") logging.basicConfig(level=logging.INFO) -pcs = set() -pm, sm = None, None +pcs: set[RTCPeerConnection] = set() +pm: Optional[messaging.PubMaster] = None +sm: Optional[messaging.SubMaster] = None TELEOPDIR = f"{BASEDIR}/tools/bodyteleop" diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py index 1687a2e6ba75fb2..04e228c18cfcf9f 100755 --- a/tools/sim/lib/manual_ctrl.py +++ b/tools/sim/lib/manual_ctrl.py @@ -4,7 +4,7 @@ import os import struct from fcntl import ioctl -from typing import NoReturn +from typing import NoReturn, Dict, List # Iterate over the joystick devices. print('Available devices:') @@ -13,8 +13,8 @@ print(f' /dev/input/{fn}') # We'll store the states here. -axis_states = {} -button_states = {} +axis_states: Dict[str, float] = {} +button_states: Dict[str, float] = {} # These constants were borrowed from linux/input.h axis_names = { @@ -88,8 +88,8 @@ 0x2c3 : 'dpad_down', } -axis_map = [] -button_map = [] +axis_name_list: List[str] = [] +button_name_list: List[str] = [] def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: # Open the joystick device. @@ -119,7 +119,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: for _axis in buf[:num_axes]: axis_name = axis_names.get(_axis, f'unknown(0x{_axis:02x})') - axis_map.append(axis_name) + axis_name_list.append(axis_name) axis_states[axis_name] = 0.0 # Get the button map. @@ -128,11 +128,11 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: for btn in buf[:num_buttons]: btn_name = button_names.get(btn, f'unknown(0x{btn:03x})') - button_map.append(btn_name) + button_name_list.append(btn_name) button_states[btn_name] = 0 - print('%d axes found: %s' % (num_axes, ', '.join(axis_map))) - print('%d buttons found: %s' % (num_buttons, ', '.join(button_map))) + print('%d axes found: %s' % (num_axes, ', '.join(axis_name_list))) + print('%d buttons found: %s' % (num_buttons, ', '.join(button_name_list))) # Enable FF import evdev @@ -147,7 +147,7 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn: value, mtype, number = struct.unpack('4xhBB', evbuf) # print(mtype, number, value) if mtype & 0x02: # wheel & paddles - axis = axis_map[number] + axis = axis_name_list[number] if axis == "z": # gas fvalue = value / 32767.0 diff --git a/tools/sim/tests/test_carla_bridge.py b/tools/sim/tests/test_carla_bridge.py index dcf2b9c6e2256a5..3a654c993a7c3eb 100755 --- a/tools/sim/tests/test_carla_bridge.py +++ b/tools/sim/tests/test_carla_bridge.py @@ -2,18 +2,20 @@ import subprocess import time import unittest +from subprocess import Popen from openpilot.selfdrive.manager.helpers import unblock_stdout from openpilot.tools.sim.run_bridge import parse_args from openpilot.tools.sim.bridge.carla.carla_bridge import CarlaBridge from openpilot.tools.sim.tests.test_sim_bridge import SIM_DIR, TestSimBridgeBase +from typing import Optional class TestCarlaBridge(TestSimBridgeBase): """ Tests need Carla simulator to run """ - carla_process = None + carla_process: Optional[Popen] = None def setUp(self): super().setUp() From 2a9986d9480063bb9b53d69a0cca47692c52b6ac Mon Sep 17 00:00:00 2001 From: DevTekVE Date: Sun, 19 Nov 2023 08:05:10 +0100 Subject: [PATCH 55/66] [cabana] fix clang17 warning (#30490) [cabana] Improve signal timing calculation in findsingal.cc The variables `first_sec` and `last_sec` have been separately initialized first before being used in `std::minmax` for signal timings. This resolves compilation warnings and potential risks of using temporary values of these variables. --- tools/cabana/tools/findsignal.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc index 5155ad91d275fe2..387a91278729e8f 100644 --- a/tools/cabana/tools/findsignal.cc +++ b/tools/cabana/tools/findsignal.cc @@ -214,7 +214,9 @@ void FindSignalDlg::setInitialSignals() { sig.factor = factor_edit->text().toDouble(); sig.offset = offset_edit->text().toDouble(); - auto [first_sec, last_sec] = std::minmax(first_time_edit->text().toDouble(), last_time_edit->text().toDouble()); + 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; model->last_time = std::numeric_limits::max(); if (last_sec > 0) { From 4cae08e6369c0f63229222c0b3815da983928787 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 Nov 2023 23:23:16 -0800 Subject: [PATCH 56/66] rename rawgpsd to qcomgpsd (#30493) * rename rawgpsd to qcomgpsd * fix more paths * that moved * forgot the d --- Jenkinsfile | 2 +- release/files_tici | 2 +- selfdrive/manager/process_config.py | 2 +- selfdrive/test/test_onroad.py | 2 +- .../{sensord/rawgps => qcomgpsd}/modemdiag.py | 0 .../{sensord/rawgps => qcomgpsd}/nmeaport.py | 6 ++-- .../rawgpsd.py => qcomgpsd/qcomgpsd.py} | 8 +++--- .../{sensord/rawgps => qcomgpsd}/structs.py | 0 .../tests/test_qcomgpsd.py} | 28 +++++++++---------- 9 files changed, 25 insertions(+), 25 deletions(-) rename system/{sensord/rawgps => qcomgpsd}/modemdiag.py (100%) rename system/{sensord/rawgps => qcomgpsd}/nmeaport.py (96%) rename system/{sensord/rawgps/rawgpsd.py => qcomgpsd/qcomgpsd.py} (98%) rename system/{sensord/rawgps => qcomgpsd}/structs.py (100%) rename system/{sensord/rawgps/test_rawgps.py => qcomgpsd/tests/test_qcomgpsd.py} (84%) diff --git a/Jenkinsfile b/Jenkinsfile index 1e1d485b10f5e72..5859920a56369a9 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -216,7 +216,7 @@ node { ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"], ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"], ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"], - ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"], + ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"], ]) }, diff --git a/release/files_tici b/release/files_tici index ab49de34f68b2d5..1e5adab49853536 100644 --- a/release/files_tici +++ b/release/files_tici @@ -12,7 +12,7 @@ system/camerad/cameras/camera_util.cc system/camerad/cameras/camera_util.h system/camerad/cameras/real_debayer.cl -system/sensord/rawgps/* +system/qcomgpsd/* selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/text_larch64 diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 320958d34405151..6f974b0687bc678 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -68,7 +68,7 @@ def only_offroad(started, params, CP: car.CarParams) -> bool: PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad), PythonProcess("deleter", "system.loggerd.deleter", always_run), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)), - PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI), + PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI), PythonProcess("navd", "selfdrive.navd.navd", only_onroad), PythonProcess("pandad", "selfdrive.boardd.pandad", always_run), PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad), diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0e9d207da379cc7..17026dc69fb9ff5 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -69,7 +69,7 @@ }, "tizi": { "./boardd": 19.0, - "system.sensord.rawgps.rawgpsd": 1.0, + "system.qcomgpsd.qcomgpsd": 1.0, } }.get(HARDWARE.get_device_type(), {})) diff --git a/system/sensord/rawgps/modemdiag.py b/system/qcomgpsd/modemdiag.py similarity index 100% rename from system/sensord/rawgps/modemdiag.py rename to system/qcomgpsd/modemdiag.py diff --git a/system/sensord/rawgps/nmeaport.py b/system/qcomgpsd/nmeaport.py similarity index 96% rename from system/sensord/rawgps/nmeaport.py rename to system/qcomgpsd/nmeaport.py index 01b9b179b9506be..231096fc5da8135 100644 --- a/system/sensord/rawgps/nmeaport.py +++ b/system/qcomgpsd/nmeaport.py @@ -120,11 +120,11 @@ def process_nmea_port_messages(device:str="/dev/ttyUSB1") -> NoReturn: def main() -> NoReturn: from openpilot.common.gpio import gpio_init, gpio_set from openpilot.system.hardware.tici.pins import GPIO - from openpilot.system.sensord.rawgps.rawgpsd import at_cmd + from openpilot.system.qcomgpsd.qcomgpsd import at_cmd try: - check_output(["pidof", "rawgpsd"]) - print("rawgpsd is running, please kill openpilot before running this script! (aborted)") + check_output(["pidof", "qcomgpsd"]) + print("qcomgpsd is running, please kill openpilot before running this script! (aborted)") sys.exit(1) except CalledProcessError as e: if e.returncode != 1: # 1 == no process found (boardd not running) diff --git a/system/sensord/rawgps/rawgpsd.py b/system/qcomgpsd/qcomgpsd.py similarity index 98% rename from system/sensord/rawgps/rawgpsd.py rename to system/qcomgpsd/qcomgpsd.py index 787a9316d37dbc4..bfd81e4b32f770d 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -18,8 +18,8 @@ from openpilot.common.gpio import gpio_init, gpio_set from openpilot.system.hardware.tici.pins import GPIO from openpilot.system.swaglog import cloudlog -from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, +from openpilot.system.qcomgpsd.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from openpilot.system.qcomgpsd.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, @@ -101,7 +101,7 @@ def at_cmd(cmd: str) -> Optional[str]: try: return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8') except subprocess.CalledProcessError: - cloudlog.exception("rawgps.mmcli_command_failed") + cloudlog.exception("qcomgps.mmcli_command_failed") time.sleep(1.0) raise Exception(f"failed to execute mmcli command {cmd=}") @@ -163,7 +163,7 @@ def inject_assistance(): return except subprocess.CalledProcessError as e: cloudlog.event( - "rawgps.assistance_loading_failed", + "qcomgps.assistance_loading_failed", error=True, cmd=e.cmd, output=e.output, diff --git a/system/sensord/rawgps/structs.py b/system/qcomgpsd/structs.py similarity index 100% rename from system/sensord/rawgps/structs.py rename to system/qcomgpsd/structs.py diff --git a/system/sensord/rawgps/test_rawgps.py b/system/qcomgpsd/tests/test_qcomgpsd.py similarity index 84% rename from system/sensord/rawgps/test_rawgps.py rename to system/qcomgpsd/tests/test_qcomgpsd.py index 364243813211577..8291f2cc32a92af 100755 --- a/system/sensord/rawgps/test_rawgps.py +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -8,7 +8,7 @@ import subprocess import cereal.messaging as messaging -from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem +from openpilot.system.qcomgpsd.qcomgpsd import at_cmd, wait_for_modem from openpilot.selfdrive.manager.process_config import managed_processes GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0'))) @@ -24,7 +24,7 @@ def setUpClass(cls): @classmethod def tearDownClass(cls): - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() os.system("sudo systemctl restart systemd-resolved") os.system("sudo systemctl restart ModemManager lte") @@ -33,7 +33,7 @@ def setUp(self): self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements']) def tearDown(self): - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() os.system("sudo systemctl restart systemd-resolved") def _wait_for_output(self, t): @@ -51,7 +51,7 @@ def test_no_crash_double_command(self): def test_wait_for_modem(self): os.system("sudo systemctl stop ModemManager") - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert not self._wait_for_output(5) os.system("sudo systemctl restart ModemManager") @@ -62,15 +62,15 @@ def test_startup_time(self): if not internet: os.system("sudo systemctl stop systemd-resolved") with self.subTest(internet=internet): - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert self._wait_for_output(7) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() def test_turns_off_gnss(self): for s in (0.1, 1, 5): - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() time.sleep(s) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8') loc_status = json.loads(ls) @@ -94,29 +94,29 @@ def check_assistance(self, should_be_loaded): assert valid_duration == '0' def test_assistance_loading(self): - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert self._wait_for_output(10) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() self.check_assistance(True) def test_no_assistance_loading(self): os.system("sudo systemctl stop systemd-resolved") - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() assert self._wait_for_output(10) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() self.check_assistance(False) def test_late_assistance_loading(self): os.system("sudo systemctl stop systemd-resolved") - managed_processes['rawgpsd'].start() + managed_processes['qcomgpsd'].start() self._wait_for_output(17) assert self.sm.updated['qcomGnss'] os.system("sudo systemctl restart systemd-resolved") time.sleep(15) - managed_processes['rawgpsd'].stop() + managed_processes['qcomgpsd'].stop() self.check_assistance(True) if __name__ == "__main__": From 31ef352234b3348aa96417e17d49a0cea5be6450 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 Nov 2023 23:31:33 -0800 Subject: [PATCH 57/66] CI: manage stale PRs (#29367) * CI: manage stale PRs * before_close * rename to ignore stale * no push * prod mode! --------- Co-authored-by: Justin Newberry --- .github/workflows/stale.yaml | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) create mode 100644 .github/workflows/stale.yaml diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml new file mode 100644 index 000000000000000..f2a24e43689f6ef --- /dev/null +++ b/.github/workflows/stale.yaml @@ -0,0 +1,28 @@ +name: stale +on: + schedule: + - cron: '30 1 * * *' + workflow_dispatch: + +env: + DAYS_BEFORE_PR_CLOSE: 7 + DAYS_BEFORE_PR_STALE: 30 + +jobs: + stale: + runs-on: ubuntu-latest + steps: + - uses: actions/stale@v8 + with: + exempt-milestones: true + + # pull request config + stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.' + close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.' + delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo + exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale + days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }} + days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }} + + # issue config + days-before-issue-stale: -1 # ignore issues for now From 631691c2122b15b989f18b6379c9efde713dee0b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 20 Nov 2023 10:56:50 -0800 Subject: [PATCH 58/66] SDProfiler: update readme (#30479) * update instructions * fix that * and that too --- selfdrive/debug/profiling/snapdragon/.gitignore | 2 +- selfdrive/debug/profiling/snapdragon/README | 7 ------- selfdrive/debug/profiling/snapdragon/README.md | 13 +++++++++++++ .../debug/profiling/snapdragon/setup-profiler.sh | 14 ++++++++++++++ 4 files changed, 28 insertions(+), 8 deletions(-) delete mode 100644 selfdrive/debug/profiling/snapdragon/README create mode 100644 selfdrive/debug/profiling/snapdragon/README.md create mode 100755 selfdrive/debug/profiling/snapdragon/setup-profiler.sh diff --git a/selfdrive/debug/profiling/snapdragon/.gitignore b/selfdrive/debug/profiling/snapdragon/.gitignore index 5d3033efb3db390..80078842a04964a 100644 --- a/selfdrive/debug/profiling/snapdragon/.gitignore +++ b/selfdrive/debug/profiling/snapdragon/.gitignore @@ -1 +1 @@ -SnapdragonProfiler/ +SnapdragonProfiler/ \ No newline at end of file diff --git a/selfdrive/debug/profiling/snapdragon/README b/selfdrive/debug/profiling/snapdragon/README deleted file mode 100644 index ee826b413a635dd..000000000000000 --- a/selfdrive/debug/profiling/snapdragon/README +++ /dev/null @@ -1,7 +0,0 @@ -snapdragon profiler --------- - -* download from https://developer.qualcomm.com/software/snapdragon-profiler -* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler -* run ./setup-agnos.sh -* run selfdrive/debug/adb.sh on device diff --git a/selfdrive/debug/profiling/snapdragon/README.md b/selfdrive/debug/profiling/snapdragon/README.md new file mode 100644 index 000000000000000..0bf6cd99e600dd3 --- /dev/null +++ b/selfdrive/debug/profiling/snapdragon/README.md @@ -0,0 +1,13 @@ +snapdragon profiler +-------- + + +* download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account) + * choose v2021.5 (verified working with 20.04) +* unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler +* run ```./setup-profiler.sh``` +* run ```./setup-agnos.sh``` +* run ```selfdrive/debug/adb.sh``` on device +* run the ```adb connect xxx``` command that was given to you on local pc (if you changed adb path in previous step, run that version of adb) +* cd to SnapdragonProfiler and run ```./run_sdp.sh``` +* connect to device -> choose device you just setup \ No newline at end of file diff --git a/selfdrive/debug/profiling/snapdragon/setup-profiler.sh b/selfdrive/debug/profiling/snapdragon/setup-profiler.sh new file mode 100755 index 000000000000000..aaec1bf756b8c3e --- /dev/null +++ b/selfdrive/debug/profiling/snapdragon/setup-profiler.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +# install depends +sudo apt update +sudo apt-get install libc++1 libc++abi1 default-jre android-tools-adb gtk-sharp2 + +# setup mono +sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 3FA7E0328081BFF6A14DA29AA6A19B38D3D831EF +sudo apt install apt-transport-https ca-certificates +echo "deb https://download.mono-project.com/repo/ubuntu stable-xenial main" | sudo tee /etc/apt/sources.list.d/mono-official-stable.list +sudo apt update +sudo apt-get install -y mono-complete + +echo "Setup successful, you should now be able to run the profiler with cd SnapdragonProfiler and ./run_sdp.sh" \ No newline at end of file From 7a4a8c9a4ac3b8ed464d3b270d6c3803cb2750c1 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 20 Nov 2023 13:30:16 -0800 Subject: [PATCH 59/66] update profiler docs again (#30503) update SD docs again --- selfdrive/debug/profiling/snapdragon/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/debug/profiling/snapdragon/README.md b/selfdrive/debug/profiling/snapdragon/README.md index 0bf6cd99e600dd3..664814b61152731 100644 --- a/selfdrive/debug/profiling/snapdragon/README.md +++ b/selfdrive/debug/profiling/snapdragon/README.md @@ -3,11 +3,11 @@ snapdragon profiler * download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account) - * choose v2021.5 (verified working with 20.04) + * choose v2021.5 (verified working with 20.04 dev environment) * unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler * run ```./setup-profiler.sh``` * run ```./setup-agnos.sh``` * run ```selfdrive/debug/adb.sh``` on device -* run the ```adb connect xxx``` command that was given to you on local pc (if you changed adb path in previous step, run that version of adb) +* run the ```adb connect xxx``` command that was given to you on local pc * cd to SnapdragonProfiler and run ```./run_sdp.sh``` -* connect to device -> choose device you just setup \ No newline at end of file +* connect to device -> choose device you just setup From afd61352d0a09c7ff169cda5b3b1bb6a94af4d38 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 20 Nov 2023 14:45:51 -0800 Subject: [PATCH 60/66] bump panda (#30501) * bump panda * bump * bump * fix renamed variables --------- Co-authored-by: Shane Smiskol --- panda | 2 +- selfdrive/car/tests/test_models.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/panda b/panda index 5fe1d67b7729c84..c345bc3cae34f09 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5fe1d67b7729c843df7dd15df5d375d08ed410c6 +Subproject commit c345bc3cae34f096fdece3c36ae7e2634023ce82 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 7481695fcd85665..abc9bbc13a0a5e7 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -243,9 +243,9 @@ def test_panda_safety_rx_valid(self): failed_addrs[hex(msg.address)] += 1 # ensure all msgs defined in the addr checks are valid - self.safety.safety_tick_current_rx_checks() + self.safety.safety_tick_current_safety_config() if t > 1e6: - self.assertTrue(self.safety.addr_checks_valid()) + self.assertTrue(self.safety.safety_config_valid()) # Don't check relay malfunction on disabled routes (relay closed), # or before fingerprinting is done (elm327 and noOutput) From 8e883669556c5dcd045d5b6e182f7524f76e800a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 21 Nov 2023 14:12:39 -0500 Subject: [PATCH 61/66] Qcomgpsd: Dont use system timezone (#30508) --- system/qcomgpsd/qcomgpsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py index bfd81e4b32f770d..ac862052d3c609c 100755 --- a/system/qcomgpsd/qcomgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -379,7 +379,7 @@ def cleanup(sig, frame): gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi # TODO needs update if there is another leap second, after june 2024? - dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, None) + + dt_timestamp = (datetime.datetime(1980, 1, 6, 0, 0, 0, 0, datetime.timezone.utc) + datetime.timedelta(weeks=report['w_GpsWeekNumber']) + datetime.timedelta(seconds=(1e-3*report['q_GpsFixTimeMs'] - 18))) gps.unixTimestampMillis = dt_timestamp.timestamp()*1e3 From 2a55ff4f5534dfb48a524cfb11f947a67b975817 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 21 Nov 2023 11:50:35 -0800 Subject: [PATCH 62/66] Update Python packages and pre-commit hooks (#30509) Co-authored-by: adeebshihadeh --- .pre-commit-config.yaml | 2 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Hardware::config_cpu_rendering(); + Hardware::config_cpu_rendering(true); qInstallMessageHandler(swagLogMessageHandler); setpriority(PRIO_PROCESS, 0, -20); diff --git a/system/hardware/base.h b/system/hardware/base.h index 43f5db023df89af..890a743ea03ad7e 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -34,7 +34,7 @@ class HardwareNone { static bool get_ssh_enabled() { return false; } static void set_ssh_enabled(bool enabled) {} - static void config_cpu_rendering(); + static void config_cpu_rendering(bool offscreen); static bool PC() { return false; } static bool TICI() { return false; } diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h index 7a7ddd60b7df634..189adbbbee3af43 100644 --- a/system/hardware/pc/hardware.h +++ b/system/hardware/pc/hardware.h @@ -21,8 +21,10 @@ class HardwarePC : public HardwareNone { std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str()); } - static void config_cpu_rendering() { - setenv("QT_QPA_PLATFORM", "offscreen", 1); + static void config_cpu_rendering(bool offscreen) { + if (offscreen) { + setenv("QT_QPA_PLATFORM", "offscreen", 1); + } setenv("__GLX_VENDOR_LIBRARY_NAME", "mesa", 1); setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU } diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index fe0a20ae5807f54..0a00aca5be169f9 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -104,8 +104,10 @@ class HardwareTici : public HardwareNone { static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); } static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); } - static void config_cpu_rendering() { - setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES + static void config_cpu_rendering(bool offscreen) { + if (offscreen) { + setenv("QT_QPA_PLATFORM", "eglfs", 1); // offscreen doesn't work with EGL/GLES + } setenv("LP_NUM_THREADS", "0", 1); // disable threading so we stay on our assigned CPU } }; From f65e6bc30e7a3cce8b073f9ae0155facfe6c7646 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 22 Nov 2023 13:25:29 -0800 Subject: [PATCH 64/66] locationd: remove models unused in openpilot (#30481) * Remove filters used exclusively by xx * Update SConstruct * Remove from release * Accomodate rednose build changes * Update rednose ref * rednose/helpers in rpath * Add rednose_filters to files_common * Change rednose_root * Copy rednose site_scons to docker images * Remove rednose from rpath * Bump rednose * Bump rednose * Bump rednose --- Dockerfile.openpilot | 1 + SConstruct | 38 +- rednose_repo | 2 +- release/files_common | 3 +- selfdrive/locationd/SConscript | 41 +- selfdrive/locationd/models/gnss_helpers.py | 35 -- selfdrive/locationd/models/gnss_kf.py | 190 ------- selfdrive/locationd/models/lane_kf.py | 105 ---- selfdrive/locationd/models/loc_kf.py | 565 --------------------- tools/sim/Dockerfile.sim | 1 + 10 files changed, 44 insertions(+), 937 deletions(-) delete mode 100644 selfdrive/locationd/models/gnss_helpers.py delete mode 100755 selfdrive/locationd/models/gnss_kf.py delete mode 100755 selfdrive/locationd/models/lane_kf.py delete mode 100755 selfdrive/locationd/models/loc_kf.py diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index 27b1e246bd2db24..1e15722bb95bbd1 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -14,6 +14,7 @@ COPY ./openpilot ${OPENPILOT_PATH}/openpilot COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./rednose ${OPENPILOT_PATH}/rednose +COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons COPY ./tools ${OPENPILOT_PATH}/tools COPY ./release ${OPENPILOT_PATH}/release COPY ./common ${OPENPILOT_PATH}/common diff --git a/SConstruct b/SConstruct index eb9cd737e22b588..87902213157e44b 100644 --- a/SConstruct +++ b/SConstruct @@ -116,10 +116,7 @@ else: cflags = [] cxxflags = [] cpppath = [] - rpath += [ - Dir("#cereal").abspath, - Dir("#common").abspath - ] + rpath += [] # MacOS if arch == "Darwin": @@ -144,8 +141,6 @@ else: f"#third_party/acados/{arch}/lib", f"#third_party/libyuv/{arch}/lib", f"#third_party/mapbox-gl-native-qt/{arch}", - "#cereal", - "#common", "/usr/lib", "/usr/local/lib", ] @@ -229,10 +224,13 @@ env = Environment( "#opendbc/can", "#selfdrive/boardd", "#common", + "#rednose/helpers", ], CYTHONCFILESUFFIX=".cpp", COMPILATIONDB_USE_ABSPATH=True, - tools=["default", "cython", "compilation_db"], + REDNOSE_ROOT="#", + tools=["default", "cython", "compilation_db", "rednose_filter"], + toolpath=["#rednose_repo/site_scons/site_tools"], ) if arch == "Darwin": @@ -367,31 +365,7 @@ SConscript([ 'panda/SConscript', ]) -# Build rednose library and ekf models -rednose_deps = [ - "#selfdrive/locationd/models/constants.py", - "#selfdrive/locationd/models/gnss_helpers.py", -] - -rednose_config = { - 'generated_folder': '#selfdrive/locationd/models/generated', - 'to_build': { - 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps), - 'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps), - 'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps), - }, -} - -if arch != "larch64": - rednose_config['to_build'].update({ - 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps), - 'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps), - 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []), - 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []), - 'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []), - }) - -Export('rednose_config') +# Build rednose library SConscript(['rednose/SConscript']) # Build system services diff --git a/rednose_repo b/rednose_repo index 8658bed29686b2d..44e8a891a2810f2 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 8658bed29686b2ddae191fd18302986c85542431 +Subproject commit 44e8a891a2810f274a1fa980775155d9463e87b9 diff --git a/release/files_common b/release/files_common index 46c2c26a5b89539..cfc3830e0d8375f 100644 --- a/release/files_common +++ b/release/files_common @@ -233,12 +233,10 @@ selfdrive/locationd/paramsd.py selfdrive/locationd/models/__init__.py selfdrive/locationd/models/.gitignore selfdrive/locationd/models/car_kf.py -selfdrive/locationd/models/gnss_kf.py selfdrive/locationd/models/live_kf.py selfdrive/locationd/models/live_kf.h selfdrive/locationd/models/live_kf.cc selfdrive/locationd/models/constants.py -selfdrive/locationd/models/gnss_helpers.py selfdrive/locationd/torqued.py selfdrive/locationd/calibrationd.py @@ -446,6 +444,7 @@ third_party/qt5/larch64/bin/** scripts/update_now.sh scripts/stop_updater.sh +rednose_repo/site_scons/site_tools/rednose_filter.py rednose/.gitignore rednose/** diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index a6febe0170b7d61..07555a6087f6788 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -1,10 +1,37 @@ -Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations') +Import('env', 'arch', 'common', 'cereal', 'messaging', 'rednose', 'transformations') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread'] +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread', 'dl'] + +# build ekf models +rednose_gen_dir = 'models/generated' +rednose_gen_deps = [ + "models/constants.py", +] +live_ekf = env.RednoseCompileFilter( + target='live', + filter_gen_script='models/live_kf.py', + output_dir=rednose_gen_dir, + extra_gen_artifacts=['live_kf_constants.h'], + gen_script_deps=rednose_gen_deps, +) +car_ekf = env.RednoseCompileFilter( + target='car', + filter_gen_script='models/car_kf.py', + output_dir=rednose_gen_dir, + extra_gen_artifacts=[], + gen_script_deps=rednose_gen_deps, +) + +# locationd build +locationd_sources = ["locationd.cc", "models/live_kf.cc"] -ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc") -locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] lenv = env.Clone() -lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}' -locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations) -lenv.Depends(locationd, libkf) \ No newline at end of file +# ekf filter libraries need to be linked, even if no symbols are used +if arch != "Darwin": + lenv["LINKFLAGS"] += ["-Wl,--no-as-needed"] + +lenv["LIBPATH"].append(Dir(rednose_gen_dir).abspath) +lenv["RPATH"].append(Dir(rednose_gen_dir).abspath) +locationd = lenv.Program("locationd", locationd_sources, LIBS=["live", "ekf_sym"] + loc_libs + transformations) +lenv.Depends(locationd, rednose) +lenv.Depends(locationd, live_ekf) diff --git a/selfdrive/locationd/models/gnss_helpers.py b/selfdrive/locationd/models/gnss_helpers.py deleted file mode 100644 index f412fafda96def7..000000000000000 --- a/selfdrive/locationd/models/gnss_helpers.py +++ /dev/null @@ -1,35 +0,0 @@ -import numpy as np - - -# source: GNSSMeasurement (https://github.com/commaai/laika/blob/master/laika/raw_gnss.py) -class RawGNSSMeasurementIndices: - PRN = 0 - RECV_TIME_WEEK = 1 - RECV_TIME_SEC = 2 - GLONASS_FREQ = 3 - - PR = 4 - PR_STD = 5 - PRR = 6 - PRR_STD = 7 - - SAT_POS = slice(8, 11) - SAT_VEL = slice(11, 14) - - -def parse_prr(m): - sat_pos_vel_i = np.concatenate((m[RawGNSSMeasurementIndices.SAT_POS], - m[RawGNSSMeasurementIndices.SAT_VEL])) - R_i = np.atleast_2d(m[RawGNSSMeasurementIndices.PRR_STD]**2) - z_i = m[RawGNSSMeasurementIndices.PRR] - return z_i, R_i, sat_pos_vel_i - - -def parse_pr(m): - pseudorange = m[RawGNSSMeasurementIndices.PR] - pseudorange_stdev = m[RawGNSSMeasurementIndices.PR_STD] - sat_pos_freq_i = np.concatenate((m[RawGNSSMeasurementIndices.SAT_POS], - np.array([m[RawGNSSMeasurementIndices.GLONASS_FREQ]]))) - z_i = np.atleast_1d(pseudorange) - R_i = np.atleast_2d(pseudorange_stdev**2) - return z_i, R_i, sat_pos_freq_i diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py deleted file mode 100755 index c4f3b2e2108e28a..000000000000000 --- a/selfdrive/locationd/models/gnss_kf.py +++ /dev/null @@ -1,190 +0,0 @@ -#!/usr/bin/env python3 -import sys -from typing import List - -import numpy as np - -from openpilot.selfdrive.locationd.models.constants import ObservationKind -from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr - -if __name__ == '__main__': # Generating sympy - import sympy as sp - from rednose.helpers.ekf_sym import gen_code -else: - from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx - from rednose.helpers.ekf_sym import EKF_sym - - -class States(): - ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters - ECEF_VELOCITY = slice(3, 6) - CLOCK_BIAS = slice(6, 7) # clock bias in light-meters, - CLOCK_DRIFT = slice(7, 8) # clock drift in light-meters/s, - CLOCK_ACCELERATION = slice(8, 9) # clock acceleration in light-meters/s**2 - GLONASS_BIAS = slice(9, 10) # clock drift in light-meters/s, - GLONASS_FREQ_SLOPE = slice(10, 11) # GLONASS bias in m expressed as bias + freq_num*freq_slope - - -class GNSSKalman(): - name = 'gnss' - - x_initial = np.array([-2712700.6008, -4281600.6679, 3859300.1830, - 0, 0, 0, - 0, 0, 0, - 0, 0]) - - # state covariance - P_initial = np.diag([1e16, 1e16, 1e16, - 10**2, 10**2, 10**2, - 1e14, (100)**2, (0.2)**2, - (10)**2, (1)**2]) - - maha_test_kinds: List[int] = [] # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS] - - @staticmethod - def generate_code(generated_dir): - dim_state = GNSSKalman.x_initial.shape[0] - name = GNSSKalman.name - maha_test_kinds = GNSSKalman.maha_test_kinds - - # make functions and jacobians with sympy - # state variables - state_sym = sp.MatrixSymbol('state', dim_state, 1) - state = sp.Matrix(state_sym) - x, y, z = state[0:3, :] - v = state[3:6, :] - vx, vy, vz = v - cb, cd, ca = state[6:9, :] - glonass_bias, glonass_freq_slope = state[9:11, :] - - dt = sp.Symbol('dt') - - state_dot = sp.Matrix(np.zeros((dim_state, 1))) - state_dot[:3, :] = v - state_dot[6, 0] = cd - state_dot[7, 0] = ca - - # Basic descretization, 1st order integrator - # Can be pretty bad if dt is big - f_sym = state + dt * state_dot - - # - # Observation functions - # - - # extra args - sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1) - sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1) - # sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1) - # orb_epos_sym = sp.MatrixSymbol('orb_epos_sym', 3, 1) - - # expand extra args - sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym - sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:] - # los_x, los_y, los_z = sat_los_sym - # orb_x, orb_y, orb_z = orb_epos_sym - - h_pseudorange_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb - ]) - - h_pseudorange_glonass_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb + glonass_bias + glonass_freq_slope * glonass_freq - ]) - - los_vector = (sp.Matrix(sat_pos_vel_sym[0:3]) - sp.Matrix([x, y, z])) - los_vector = los_vector / sp.sqrt(los_vector[0]**2 + los_vector[1]**2 + los_vector[2]**2) - h_pseudorange_rate_sym = sp.Matrix([los_vector[0] * (sat_vx - vx) + - los_vector[1] * (sat_vy - vy) + - los_vector[2] * (sat_vz - vz) + - cd]) - - obs_eqs = [[h_pseudorange_sym, ObservationKind.PSEUDORANGE_GPS, sat_pos_freq_sym], - [h_pseudorange_glonass_sym, ObservationKind.PSEUDORANGE_GLONASS, sat_pos_freq_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GPS, sat_pos_vel_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GLONASS, sat_pos_vel_sym]] - - gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds) - - def __init__(self, generated_dir, cython=False, erratic_clock=False): - # process noise - clock_error_drift = 100.0 if erratic_clock else 0.1 - self.Q = np.diag([0.03**2, 0.03**2, 0.03**2, - 3**2, 3**2, 3**2, - (clock_error_drift)**2, (0)**2, (0.005)**2, - .1**2, (.01)**2]) - - self.dim_state = self.x_initial.shape[0] - - # init filter - filter_cls = EKF_sym_pyx if cython else EKF_sym - self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, - self.dim_state, maha_test_kinds=self.maha_test_kinds) - self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial) - - @property - def x(self): - return self.filter.state() - - @property - def P(self): - return self.filter.covs() - - def predict(self, t): - return self.filter.predict(t) - - def rts_smooth(self, estimates): - return self.filter.rts_smooth(estimates, norm_quats=False) - - def init_state(self, state, covs_diag=None, covs=None, filter_time=None): - if covs_diag is not None: - P = np.diag(covs_diag) - elif covs is not None: - P = covs - else: - P = self.filter.covs() - self.filter.init_state(state, P, filter_time) - - def predict_and_observe(self, t, kind, data): - if len(data) > 0: - data = np.atleast_2d(data) - if kind == ObservationKind.PSEUDORANGE_GPS or kind == ObservationKind.PSEUDORANGE_GLONASS: - r = self.predict_and_update_pseudorange(data, t, kind) - elif kind == ObservationKind.PSEUDORANGE_RATE_GPS or kind == ObservationKind.PSEUDORANGE_RATE_GLONASS: - r = self.predict_and_update_pseudorange_rate(data, t, kind) - return r - - def predict_and_update_pseudorange(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - sat_pos_freq = np.zeros((len(meas), 4)) - z = np.zeros((len(meas), 1)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_freq_i = parse_pr(m) - sat_pos_freq[i, :] = sat_pos_freq_i - z[i, :] = z_i - R[i, :, :] = R_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq) - - def predict_and_update_pseudorange_rate(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - z = np.zeros((len(meas), 1)) - sat_pos_vel = np.zeros((len(meas), 6)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_vel_i = parse_prr(m) - sat_pos_vel[i] = sat_pos_vel_i - R[i, :, :] = R_i - z[i, :] = z_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel) - - -if __name__ == "__main__": - generated_dir = sys.argv[2] - GNSSKalman.generate_code(generated_dir) diff --git a/selfdrive/locationd/models/lane_kf.py b/selfdrive/locationd/models/lane_kf.py deleted file mode 100755 index e8fa999956bdf9a..000000000000000 --- a/selfdrive/locationd/models/lane_kf.py +++ /dev/null @@ -1,105 +0,0 @@ -#!/usr/bin/env python3 -import sys -import numpy as np -import sympy as sp - -from openpilot.selfdrive.locationd.models.constants import ObservationKind -from rednose.helpers.ekf_sym import gen_code, EKF_sym - - -class LaneKalman(): - name = 'lane' - - @staticmethod - def generate_code(generated_dir): - # make functions and jacobians with sympy - # state variables - dim = 6 - state = sp.MatrixSymbol('state', dim, 1) - - dd = sp.Symbol('dd') # WARNING: NOT TIME - - # Time derivative of the state as a function of state - state_dot = sp.Matrix(np.zeros((dim, 1))) - state_dot[:3,0] = sp.Matrix(state[3:6,0]) - - # Basic descretization, 1st order intergrator - # Can be pretty bad if dt is big - f_sym = sp.Matrix(state) + dd*state_dot - - # - # Observation functions - # - h_lane_sym = sp.Matrix(state[:3,0]) - obs_eqs = [[h_lane_sym, ObservationKind.LANE_PT, None]] - gen_code(generated_dir, LaneKalman.name, f_sym, dd, state, obs_eqs, dim, dim) - - def __init__(self, generated_dir, pt_std=5): - # state - # left and right lane centers in ecef - # WARNING: this is not a temporal model - # the 'time' in this kalman filter is - # the distance traveled by the vehicle, - # which should approximately be the - # distance along the lane path - # a more logical parametrization - # states 0-2 are ecef coordinates distance d - # states 3-5 is the 3d "velocity" of the - # lane in ecef (m/m). - x_initial = np.array([0,0,0, - 0,0,0]) - - # state covariance - P_initial = np.diag([1e16, 1e16, 1e16, - 1**2, 1**2, 1**2]) - - # process noise - Q = np.diag([0.1**2, 0.1**2, 0.1**2, - 0.1**2, 0.1**2, 0.1*2]) - - self.dim_state = len(x_initial) - - # init filter - self.filter = EKF_sym(generated_dir, self.name, Q, x_initial, P_initial, x_initial.shape[0], P_initial.shape[0]) - self.obs_noise = {ObservationKind.LANE_PT: np.diag([pt_std**2]*3)} - - @property - def x(self): - return self.filter.state() - - @property - def P(self): - return self.filter.covs() - - def predict(self, t): - return self.filter.predict(t) - - def rts_smooth(self, estimates): - return self.filter.rts_smooth(estimates, norm_quats=False) - - - def init_state(self, state, covs_diag=None, covs=None, filter_time=None): - if covs_diag is not None: - P = np.diag(covs_diag) - elif covs is not None: - P = covs - else: - P = self.filter.covs() - self.filter.init_state(state, P, filter_time) - - def predict_and_observe(self, t, kind, data): - data = np.atleast_2d(data) - return self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data))) - - def get_R(self, kind, n): - obs_noise = self.obs_noise[kind] - dim = obs_noise.shape[0] - R = np.zeros((n, dim, dim)) - for i in range(n): - R[i,:,:] = obs_noise - return R - - -if __name__ == "__main__": - generated_dir = sys.argv[2] - LaneKalman.generate_code(generated_dir) diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py deleted file mode 100755 index 8bd317bd58fffb0..000000000000000 --- a/selfdrive/locationd/models/loc_kf.py +++ /dev/null @@ -1,565 +0,0 @@ -#!/usr/bin/env python3 - -import sys - -import numpy as np -import sympy as sp - -from rednose.helpers.ekf_sym import EKF_sym, gen_code -from rednose.helpers.lst_sq_computer import LstSqComputer -from rednose.helpers.sympy_helpers import euler_rotate, quat_matrix_r, quat_rotate - -from openpilot.selfdrive.locationd.models.constants import ObservationKind -from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr - -EARTH_GM = 3.986005e14 # m^3/s^2 (gravitational constant * mass of earth) - -class States(): - ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters - ECEF_ORIENTATION = slice(3, 7) # quat for orientation of phone in ecef - ECEF_VELOCITY = slice(7, 10) # ecef velocity in m/s - ANGULAR_VELOCITY = slice(10, 13) # roll, pitch and yaw rates in device frame in radians/s - CLOCK_BIAS = slice(13, 14) # clock bias in light-meters, - CLOCK_DRIFT = slice(14, 15) # clock drift in light-meters/s, - GYRO_BIAS = slice(15, 18) # roll, pitch and yaw biases - ODO_SCALE_UNUSED = slice(18, 19) # odometer scale - ACCELERATION = slice(19, 22) # Acceleration in device frame in m/s**2 - FOCAL_SCALE_UNUSED = slice(22, 23) # focal length scale - IMU_FROM_DEVICE_EULER = slice(23, 26) # imu offset angles in radians - GLONASS_BIAS = slice(26, 27) # GLONASS bias in m expressed as bias + freq_num*freq_slope - GLONASS_FREQ_SLOPE = slice(27, 28) # GLONASS bias in m expressed as bias + freq_num*freq_slope - CLOCK_ACCELERATION = slice(28, 29) # clock acceleration in light-meters/s**2, - ACCELEROMETER_SCALE_UNUSED = slice(29, 30) # scale of mems accelerometer - ACCELEROMETER_BIAS = slice(30, 33) # bias of mems accelerometer - # TODO the offset is likely a translation of the sensor, not a rotation of the camera - WIDE_FROM_DEVICE_EULER = slice(33, 36) # wide camera offset angles in radians (tici only) - # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables - # (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER). - # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE - - # Error-state has different slices because it is an ESKF - ECEF_POS_ERR = slice(0, 3) - ECEF_ORIENTATION_ERR = slice(3, 6) # euler angles for orientation error - ECEF_VELOCITY_ERR = slice(6, 9) - ANGULAR_VELOCITY_ERR = slice(9, 12) - CLOCK_BIAS_ERR = slice(12, 13) - CLOCK_DRIFT_ERR = slice(13, 14) - GYRO_BIAS_ERR = slice(14, 17) - ODO_SCALE_ERR_UNUSED = slice(17, 18) - ACCELERATION_ERR = slice(18, 21) - FOCAL_SCALE_ERR_UNUSED = slice(21, 22) - IMU_FROM_DEVICE_EULER_ERR = slice(22, 25) - GLONASS_BIAS_ERR = slice(25, 26) - GLONASS_FREQ_SLOPE_ERR = slice(26, 27) - CLOCK_ACCELERATION_ERR = slice(27, 28) - ACCELEROMETER_SCALE_ERR_UNUSED = slice(28, 29) - ACCELEROMETER_BIAS_ERR = slice(29, 32) - WIDE_FROM_DEVICE_EULER_ERR = slice(32, 35) - - -class LocKalman(): - name = "loc" - x_initial = np.array([0, 0, 0, - 1, 0, 0, 0, - 0, 0, 0, - 0, 0, 0, - 0, 0, - 0, 0, 0, - 1, - 0, 0, 0, - 1, - 0, 0, 0, - 0, 0, - 0, - 1, - 0, 0, 0, - 0, 0, 0], dtype=np.float64) - - # state covariance - P_initial = np.diag([1e16, 1e16, 1e16, - 10**2, 10**2, 10**2, - 10**2, 10**2, 10**2, - 1**2, 1**2, 1**2, - 1e14, (100)**2, - 0.05**2, 0.05**2, 0.05**2, - 0.02**2, - 2**2, 2**2, 2**2, - 0.01**2, - 0.01**2, 0.01**2, 0.01**2, - 10**2, 1**2, - 0.2**2, - 0.05**2, - 0.05**2, 0.05**2, 0.05**2, - 0.01**2, 0.01**2, 0.01**2]) - - - # measurements that need to pass mahalanobis distance outlier rejector - maha_test_kinds = [ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE] # , ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_RATE] - dim_augment = 7 - dim_augment_err = 6 - - @staticmethod - def generate_code(generated_dir, N=4): - dim_augment = LocKalman.dim_augment - dim_augment_err = LocKalman.dim_augment_err - - dim_main = LocKalman.x_initial.shape[0] - dim_main_err = LocKalman.P_initial.shape[0] - dim_state = dim_main + dim_augment * N - dim_state_err = dim_main_err + dim_augment_err * N - maha_test_kinds = LocKalman.maha_test_kinds - - name = f"{LocKalman.name}_{N}" - - # make functions and jacobians with sympy - # state variables - state_sym = sp.MatrixSymbol('state', dim_state, 1) - state = sp.Matrix(state_sym) - x, y, z = state[States.ECEF_POS, :] - q = state[States.ECEF_ORIENTATION, :] - v = state[States.ECEF_VELOCITY, :] - vx, vy, vz = v - omega = state[States.ANGULAR_VELOCITY, :] - vroll, vpitch, vyaw = omega - cb = state[States.CLOCK_BIAS, :] - cd = state[States.CLOCK_DRIFT, :] - roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :] - acceleration = state[States.ACCELERATION, :] - imu_from_device_euler = state[States.IMU_FROM_DEVICE_EULER, :] - imu_from_device_euler[0, 0] = 0 # not observable enough - imu_from_device_euler[2, 0] = 0 # not observable enough - glonass_bias = state[States.GLONASS_BIAS, :] - glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :] - ca = state[States.CLOCK_ACCELERATION, :] - accel_bias = state[States.ACCELEROMETER_BIAS, :] - wide_from_device_euler = state[States.WIDE_FROM_DEVICE_EULER, :] - wide_from_device_euler[0, 0] = 0 # not observable enough - - dt = sp.Symbol('dt') - - # calibration and attitude rotation matrices - quat_rot = quat_rotate(*q) - - # Got the quat predict equations from here - # A New Quaternion-Based Kalman Filter for - # Real-Time Attitude Estimation Using the Two-Step - # Geometrically-Intuitive Correction Algorithm - A = 0.5 * sp.Matrix([[0, -vroll, -vpitch, -vyaw], - [vroll, 0, vyaw, -vpitch], - [vpitch, -vyaw, 0, vroll], - [vyaw, vpitch, -vroll, 0]]) - q_dot = A * q - - # Time derivative of the state as a function of state - state_dot = sp.Matrix(np.zeros((dim_state, 1))) - state_dot[States.ECEF_POS, :] = v - state_dot[States.ECEF_ORIENTATION, :] = q_dot - state_dot[States.ECEF_VELOCITY, 0] = quat_rot * acceleration - state_dot[States.CLOCK_BIAS, :] = cd - state_dot[States.CLOCK_DRIFT, :] = ca - - # Basic descretization, 1st order intergrator - # Can be pretty bad if dt is big - f_sym = state + dt * state_dot - - state_err_sym = sp.MatrixSymbol('state_err', dim_state_err, 1) - state_err = sp.Matrix(state_err_sym) - quat_err = state_err[States.ECEF_ORIENTATION_ERR, :] - v_err = state_err[States.ECEF_VELOCITY_ERR, :] - omega_err = state_err[States.ANGULAR_VELOCITY_ERR, :] - cd_err = state_err[States.CLOCK_DRIFT_ERR, :] - acceleration_err = state_err[States.ACCELERATION_ERR, :] - ca_err = state_err[States.CLOCK_ACCELERATION_ERR, :] - - # Time derivative of the state error as a function of state error and state - quat_err_matrix = euler_rotate(quat_err[0], quat_err[1], quat_err[2]) - q_err_dot = quat_err_matrix * quat_rot * (omega + omega_err) - state_err_dot = sp.Matrix(np.zeros((dim_state_err, 1))) - state_err_dot[States.ECEF_POS_ERR, :] = v_err - state_err_dot[States.ECEF_ORIENTATION_ERR, :] = q_err_dot - state_err_dot[States.ECEF_VELOCITY_ERR, :] = quat_err_matrix * quat_rot * (acceleration + acceleration_err) - state_err_dot[States.CLOCK_BIAS_ERR, :] = cd_err - state_err_dot[States.CLOCK_DRIFT_ERR, :] = ca_err - f_err_sym = state_err + dt * state_err_dot - - # convenient indexing - # q idxs are for quats and p idxs are for other - q_idxs = [[3, dim_augment]] + [[dim_main + n * dim_augment + 3, dim_main + (n + 1) * dim_augment] for n in range(N)] - q_err_idxs = [[3, dim_augment_err]] + [[dim_main_err + n * dim_augment_err + 3, dim_main_err + (n + 1) * dim_augment_err] for n in range(N)] - p_idxs = [[0, 3]] + [[dim_augment, dim_main]] + [[dim_main + n * dim_augment, dim_main + n * dim_augment + 3] for n in range(N)] - p_err_idxs = [[0, 3]] + [[dim_augment_err, dim_main_err]] + [[dim_main_err + n * dim_augment_err, dim_main_err + n * dim_augment_err + 3] for n in range(N)] - - # Observation matrix modifier - H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err))) - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): - H_mod_sym[p_idx[0]:p_idx[1], p_err_idx[0]:p_err_idx[1]] = np.eye(p_idx[1] - p_idx[0]) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): - H_mod_sym[q_idx[0]:q_idx[1], q_err_idx[0]:q_err_idx[1]] = 0.5 * quat_matrix_r(state[q_idx[0]:q_idx[1]])[:, 1:] - - # these error functions are defined so that say there - # is a nominal x and true x: - # true x = err_function(nominal x, delta x) - # delta x = inv_err_function(nominal x, true x) - nom_x = sp.MatrixSymbol('nom_x', dim_state, 1) - true_x = sp.MatrixSymbol('true_x', dim_state, 1) - delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1) - - err_function_sym = sp.Matrix(np.zeros((dim_state, 1))) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): - delta_quat = sp.Matrix(np.ones(4)) - delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[q_err_idx[0]: q_err_idx[1], :]) - err_function_sym[q_idx[0]:q_idx[1], 0] = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]) * delta_quat - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): - err_function_sym[p_idx[0]:p_idx[1], :] = sp.Matrix(nom_x[p_idx[0]:p_idx[1], :] + delta_x[p_err_idx[0]:p_err_idx[1], :]) - - inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1))) - for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True): - inv_err_function_sym[p_err_idx[0]:p_err_idx[1], 0] = sp.Matrix(-nom_x[p_idx[0]:p_idx[1], 0] + true_x[p_idx[0]:p_idx[1], 0]) - for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True): - delta_quat = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]).T * true_x[q_idx[0]:q_idx[1], 0] - inv_err_function_sym[q_err_idx[0]:q_err_idx[1], 0] = sp.Matrix(2 * delta_quat[1:]) - - eskf_params = [[err_function_sym, nom_x, delta_x], - [inv_err_function_sym, nom_x, true_x], - H_mod_sym, f_err_sym, state_err_sym] - # - # Observation functions - # - - # extra args - sat_pos_freq_sym = sp.MatrixSymbol('sat_pos', 4, 1) - sat_pos_vel_sym = sp.MatrixSymbol('sat_pos_vel', 6, 1) - # sat_los_sym = sp.MatrixSymbol('sat_los', 3, 1) - - # expand extra args - sat_x, sat_y, sat_z, glonass_freq = sat_pos_freq_sym - sat_vx, sat_vy, sat_vz = sat_pos_vel_sym[3:] - - h_pseudorange_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb[0] - ]) - - h_pseudorange_glonass_sym = sp.Matrix([ - sp.sqrt( - (x - sat_x)**2 + - (y - sat_y)**2 + - (z - sat_z)**2 - ) + cb[0] + glonass_bias[0] + glonass_freq_slope[0] * glonass_freq - ]) - - los_vector = (sp.Matrix(sat_pos_vel_sym[0:3]) - sp.Matrix([x, y, z])) - los_vector = los_vector / sp.sqrt(los_vector[0]**2 + los_vector[1]**2 + los_vector[2]**2) - h_pseudorange_rate_sym = sp.Matrix([los_vector[0] * (sat_vx - vx) + - los_vector[1] * (sat_vy - vy) + - los_vector[2] * (sat_vz - vz) + - cd[0]]) - - imu_from_device = euler_rotate(*imu_from_device_euler) - h_gyro_sym = imu_from_device * sp.Matrix([vroll + roll_bias, - vpitch + pitch_bias, - vyaw + yaw_bias]) - - pos = sp.Matrix([x, y, z]) - # add 1 for stability, prevent division by 0 - gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2 + 1)**(3.0 / 2.0))) * pos) - h_acc_sym = imu_from_device * (gravity + acceleration + accel_bias) - h_acc_stationary_sym = acceleration - h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw]) - h_relative_motion = sp.Matrix(quat_rot.T * v) - - obs_eqs = [[h_gyro_sym, ObservationKind.PHONE_GYRO, None], - [h_phone_rot_sym, ObservationKind.NO_ROT, None], - [h_acc_sym, ObservationKind.PHONE_ACCEL, None], - [h_pseudorange_sym, ObservationKind.PSEUDORANGE_GPS, sat_pos_freq_sym], - [h_pseudorange_glonass_sym, ObservationKind.PSEUDORANGE_GLONASS, sat_pos_freq_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GPS, sat_pos_vel_sym], - [h_pseudorange_rate_sym, ObservationKind.PSEUDORANGE_RATE_GLONASS, sat_pos_vel_sym], - [h_relative_motion, ObservationKind.CAMERA_ODO_TRANSLATION, None], - [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None], - [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]] - - wide_from_device = euler_rotate(*wide_from_device_euler) - # MSCKF configuration - if N > 0: - # experimentally found this is correct value for imx298 with 910 focal length - # this is a variable so it can change with focus, but we disregard that for now - # TODO: this isn't correct for tici - focal_scale = 1.01 - # Add observation functions for orb feature tracks - track_epos_sym = sp.MatrixSymbol('track_epos_sym', 3, 1) - track_x, track_y, track_z = track_epos_sym - h_track_sym = sp.Matrix(np.zeros(((1 + N) * 2, 1))) - h_track_wide_cam_sym = sp.Matrix(np.zeros(((1 + N) * 2, 1))) - - track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z]) - track_pos_rot_sym = quat_rot.T * track_pos_sym - track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym - h_track_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]), - focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])]) - h_track_wide_cam_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]), - focal_scale * (track_pos_rot_wide_cam_sym[2] / track_pos_rot_wide_cam_sym[0])]) - - h_msckf_test_sym = sp.Matrix(np.zeros(((1 + N) * 3, 1))) - h_msckf_test_sym[-3:, :] = track_pos_sym - - for n in range(N): - idx = dim_main + n * dim_augment - # err_idx = dim_main_err + n * dim_augment_err # FIXME: Why is this not used? - x, y, z = state[idx:idx + 3] - q = state[idx + 3:idx + 7] - quat_rot = quat_rotate(*q) - track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z]) - track_pos_rot_sym = quat_rot.T * track_pos_sym - track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym - h_track_sym[n * 2:n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]), - focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])]) - h_track_wide_cam_sym[n * 2: n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]), - focal_scale * (track_pos_rot_wide_cam_sym[2] / track_pos_rot_wide_cam_sym[0])]) - h_msckf_test_sym[n * 3:n * 3 + 3, :] = track_pos_sym - - obs_eqs.append([h_msckf_test_sym, ObservationKind.MSCKF_TEST, track_epos_sym]) - obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym]) - obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym]) - obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym]) - msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, - [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]] - else: - msckf_params = None - gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds) - - def __init__(self, generated_dir, N=4, erratic_clock=False): - name = f"{self.name}_{N}" - - - # process noise - q_clock_error = 100.0 if erratic_clock else 0.1 - q_clock_error_rate = 10 if erratic_clock else 0.0 - self.Q = np.diag([0.03**2, 0.03**2, 0.03**2, - 0.0**2, 0.0**2, 0.0**2, - 0.0**2, 0.0**2, 0.0**2, - 0.1**2, 0.1**2, 0.1**2, - (q_clock_error)**2, (q_clock_error_rate)**2, - (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, - (0.02 / 100)**2, - 3**2, 3**2, 3**2, - 0.001**2, - (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2, - (.1)**2, (.01)**2, - 0.005**2, - (0.02 / 100)**2, - (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2, - (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2]) - - - self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2), - ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]), - ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]), - ObservationKind.CAMERA_ODO_ROTATION: np.diag([0.05**2, 0.05**2, 0.05**2]), - ObservationKind.IMU_FRAME: np.diag([0.05**2, 0.05**2, 0.05**2]), - ObservationKind.NO_ROT: np.diag([0.0025**2, 0.0025**2, 0.0025**2]), - ObservationKind.ECEF_POS: np.diag([5**2, 5**2, 5**2]), - ObservationKind.NO_ACCEL: np.diag([0.0025**2, 0.0025**2, 0.0025**2])} - - # MSCKF stuff - self.N = N - self.dim_main = LocKalman.x_initial.shape[0] - self.dim_main_err = LocKalman.P_initial.shape[0] - self.dim_state = self.dim_main + self.dim_augment * self.N - self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N - - if self.N > 0: - x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q) # lgtm[py/mismatched-multiple-assignment] - self.computer = LstSqComputer(generated_dir, N) - - self.quaternion_idxs = [3, ] + [(self.dim_main + i * self.dim_augment + 3)for i in range(self.N)] - - # init filter - self.filter = EKF_sym(generated_dir, name, Q, x_initial, P_initial, self.dim_main, self.dim_main_err, - N, self.dim_augment, self.dim_augment_err, self.maha_test_kinds, self.quaternion_idxs) - - @property - def x(self): - return self.filter.state() - - @property - def t(self): - return self.filter.get_filter_time() - - @property - def P(self): - return self.filter.covs() - - def predict(self, t): - return self.filter.predict(t) - - def rts_smooth(self, estimates): - return self.filter.rts_smooth(estimates, norm_quats=True) - - def pad_augmented(self, x, P, Q=None): - if x.shape[0] == self.dim_main and self.N > 0: - x = np.pad(x, (0, self.N * self.dim_augment), mode='constant') - x[self.dim_main + 3::7] = 1 - if P.shape[0] == self.dim_main_err and self.N > 0: - P = np.pad(P, [(0, self.N * self.dim_augment_err), (0, self.N * self.dim_augment_err)], mode='constant') - P[self.dim_main_err:, self.dim_main_err:] = 10e20 * np.eye(self.dim_augment_err * self.N) - if Q is None: - return x, P - else: - Q = np.pad(Q, [(0, self.N * self.dim_augment_err), (0, self.N * self.dim_augment_err)], mode='constant') - return x, P, Q - - def init_state(self, state, covs_diag=None, covs=None, filter_time=None): - if covs_diag is not None: - P = np.diag(covs_diag) - elif covs is not None: - P = covs - else: - P = self.filter.covs() - state, P = self.pad_augmented(state, P) - self.filter.init_state(state, P, filter_time) - - def predict_and_observe(self, t, kind, data): - if len(data) > 0: - data = np.atleast_2d(data) - if kind == ObservationKind.CAMERA_ODO_TRANSLATION: - r = self.predict_and_update_odo_trans(data, t, kind) - elif kind == ObservationKind.CAMERA_ODO_ROTATION: - r = self.predict_and_update_odo_rot(data, t, kind) - elif kind == ObservationKind.PSEUDORANGE_GPS or kind == ObservationKind.PSEUDORANGE_GLONASS: - r = self.predict_and_update_pseudorange(data, t, kind) - elif kind == ObservationKind.PSEUDORANGE_RATE_GPS or kind == ObservationKind.PSEUDORANGE_RATE_GLONASS: - r = self.predict_and_update_pseudorange_rate(data, t, kind) - elif kind == ObservationKind.ORB_FEATURES or kind == ObservationKind.ORB_FEATURES_WIDE: - r = self.predict_and_update_orb_features(data, t, kind) - elif kind == ObservationKind.MSCKF_TEST: - r = self.predict_and_update_msckf_test(data, t, kind) - else: - r = self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data))) - # Normalize quats - quat_norm = np.linalg.norm(self.filter.state()[3:7]) - # Should not continue if the quats behave this weirdly - if not 0.1 < quat_norm < 10: - raise RuntimeError("Sir! The filter's gone all wobbly!") - return r - - def get_R(self, kind, n): - obs_noise = self.obs_noise[kind] - dim = obs_noise.shape[0] - R = np.zeros((n, dim, dim)) - for i in range(n): - R[i, :, :] = obs_noise - return R - - def predict_and_update_pseudorange(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - sat_pos_freq = np.zeros((len(meas), 4)) - z = np.zeros((len(meas), 1)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_freq_i = parse_pr(m) - sat_pos_freq[i, :] = sat_pos_freq_i - z[i, :] = z_i - R[i, :, :] = R_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_freq) - - def predict_and_update_pseudorange_rate(self, meas, t, kind): - R = np.zeros((len(meas), 1, 1)) - z = np.zeros((len(meas), 1)) - sat_pos_vel = np.zeros((len(meas), 6)) - for i, m in enumerate(meas): - z_i, R_i, sat_pos_vel_i = parse_prr(m) - sat_pos_vel[i] = sat_pos_vel_i - R[i, :, :] = R_i - z[i, :] = z_i - return self.filter.predict_and_update_batch(t, kind, z, R, sat_pos_vel) - - def predict_and_update_odo_trans(self, trans, t, kind): - z = trans[:, :3] - R = np.zeros((len(trans), 3, 3)) - for i, _ in enumerate(z): - R[i, :, :] = np.diag(trans[i, 3:]**2) - return self.filter.predict_and_update_batch(t, kind, z, R) - - def predict_and_update_odo_rot(self, rot, t, kind): - z = rot[:, :3] - R = np.zeros((len(rot), 3, 3)) - for i, _ in enumerate(z): - R[i, :, :] = np.diag(rot[i, 3:]**2) - return self.filter.predict_and_update_batch(t, kind, z, R) - - def predict_and_update_orb_features(self, tracks, t, kind): - k = 2 * (self.N + 1) - R = np.zeros((len(tracks), k, k)) - z = np.zeros((len(tracks), k)) - ecef_pos = np.zeros((len(tracks), 3)) - ecef_pos[:] = np.nan - poses = self.x[self.dim_main:].reshape((-1, 7)) - times = tracks.reshape((len(tracks), self.N + 1, 4))[:, :, 0] - if kind==ObservationKind.ORB_FEATURES: - pt_std = 0.005 - else: - pt_std = 0.02 - if times.any(): - assert np.allclose(times[0, :-1], self.filter.get_augment_times(), atol=1e-7, rtol=0.0) - for i, track in enumerate(tracks): - img_positions = track.reshape((self.N + 1, 4))[:, 2:] - - # TODO not perfect as last pose not used - # img_positions = unroll_shutter(img_positions, poses, self.filter.state()[7:10], self.filter.state()[10:13], ecef_pos[i]) - - ecef_pos[i] = self.computer.compute_pos(poses, img_positions[:-1]) - z[i] = img_positions.flatten() - R[i, :, :] = np.diag([pt_std**2] * (k)) - - good_idxs = np.all(np.isfinite(ecef_pos), axis=1) - - # This code relies on wide and narrow orb features being captured at the same time, - # and wide features to be processed first. - ret = self.filter.predict_and_update_batch(t, kind, z[good_idxs], R[good_idxs], ecef_pos[good_idxs], - augment=kind==ObservationKind.ORB_FEATURES) - if ret is None: - return - - # have to do some weird stuff here to keep - # to have the observations input from mesh3d - # consistent with the outputs of the filter - # Probably should be replaced, not sure how. - y_full = np.zeros((z.shape[0], z.shape[1] - 3)) - if sum(good_idxs) > 0: - y_full[good_idxs] = np.array(ret[6]) - ret = ret[:6] + (y_full, z, ecef_pos) - return ret - - def predict_and_update_msckf_test(self, test_data, t, kind): - assert self.N > 0 - z = test_data - R = np.zeros((len(test_data), len(z[0]), len(z[0]))) - ecef_pos = [self.x[:3]] - for i, _ in enumerate(z): - R[i, :, :] = np.diag([0.1**2] * len(z[0])) - ret = self.filter.predict_and_update_batch(t, kind, z, R, ecef_pos) - self.filter.augment() - return ret - - def maha_test_pseudorange(self, x, P, meas, kind, maha_thresh=.3): - bools = [] - for m in meas: - z, R, sat_pos_freq = parse_pr(m) - bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_freq, maha_thresh=maha_thresh)) - return np.array(bools) - - def maha_test_pseudorange_rate(self, x, P, meas, kind, maha_thresh=.999): - bools = [] - for m in meas: - z, R, sat_pos_vel = parse_prr(m) - bools.append(self.filter.maha_test(x, P, kind, z, R, extra_args=sat_pos_vel, maha_thresh=maha_thresh)) - return np.array(bools) - - -if __name__ == "__main__": - N = int(sys.argv[1].split("_")[-1]) - generated_dir = sys.argv[2] - LocKalman.generate_code(generated_dir, N=N) diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index c2873c187d28010..a183002589d3890 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -22,6 +22,7 @@ COPY ./body ${OPENPILOT_PATH}/body COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./rednose ${OPENPILOT_PATH}/rednose +COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons COPY ./common ${OPENPILOT_PATH}/common COPY ./opendbc ${OPENPILOT_PATH}/opendbc COPY ./cereal ${OPENPILOT_PATH}/cereal From 8d3bf1f41a52825e43ce9542ee86dea4b32f9b6c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 22 Nov 2023 13:45:49 -0800 Subject: [PATCH 65/66] Pytest: add cpp harness (#30471) cpp harness --- pyproject.toml | 1 + selfdrive/test/cpp_harness.py | 11 +++++++++++ 2 files changed, 12 insertions(+) create mode 100755 selfdrive/test/cpp_harness.py diff --git a/pyproject.toml b/pyproject.toml index 38c3337c6f5a059..1426905d0644b1b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -2,6 +2,7 @@ minversion = "6.0" addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ -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" #timeout = "30" # you get this long by default markers = [ diff --git a/selfdrive/test/cpp_harness.py b/selfdrive/test/cpp_harness.py new file mode 100755 index 000000000000000..a16b5707f53ad99 --- /dev/null +++ b/selfdrive/test/cpp_harness.py @@ -0,0 +1,11 @@ +#!/usr/bin/env python3 +import subprocess +import sys + +from openpilot.common.prefix import OpenpilotPrefix + + +with OpenpilotPrefix(): + ret = subprocess.call(sys.argv[1:]) + +exit(ret) \ No newline at end of file From f845c69b43ff56ad91236d0389f4721b6e9c6ecc Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 23 Nov 2023 11:10:44 -0800 Subject: [PATCH 66/66] Subaru: ignore eyesight faults when openpilot is controlling long (#30390) ignore eyesight faults --- selfdrive/car/subaru/carcontroller.py | 7 ++++--- selfdrive/car/subaru/subarucan.py | 12 +++++++++--- 2 files changed, 13 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index c277f012ab7764f..cc8ce4f7223bd27 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -95,8 +95,8 @@ def update(self, CC, CS, now_nanos): else: if self.frame % 10 == 0: - can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl, - CC.longActive, hud_control.leadVisible)) + can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, + self.CP.openpilotLongitudinalControl, CC.longActive, hud_control.leadVisible)) can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, @@ -110,7 +110,8 @@ def update(self, CC, CS, now_nanos): can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm)) - can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake)) + can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, + self.CP.openpilotLongitudinalControl, CC.longActive, cruise_brake)) can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd, self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle)) diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index 7d1939a4974fad9..b851bcc08868796 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -46,6 +46,7 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long # Do not disable openpilot on Eyesight Soft Disable, if openpilot is controlling long values["Cruise_Soft_Disable"] = 0 + values["Cruise_Fault"] = 0 if brake_cmd: values["Cruise_Brake_Active"] = 1 @@ -160,6 +161,7 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l if long_enabled: values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash + values["Cruise_Fault"] = 0 # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts if values["LKAS_State_Msg"] in (2, 3): @@ -167,7 +169,7 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l return packer.make_can_msg("ES_DashStatus", CanBus.main, values) -def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value): +def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value): values = {s: es_brake_msg[s] for s in [ "CHECKSUM", "Signal1", @@ -182,8 +184,11 @@ def create_es_brake(packer, frame, es_brake_msg, enabled, brake_value): values["COUNTER"] = frame % 0x10 - if enabled: - values["Cruise_Activated"] = 1 + if long_enabled: + values["Cruise_Brake_Fault"] = 0 + + if long_active: + values["Cruise_Activated"] = 1 values["Brake_Pressure"] = brake_value @@ -210,6 +215,7 @@ def create_es_status(packer, frame, es_status_msg, long_enabled, long_active, cr if long_enabled: values["Cruise_RPM"] = cruise_rpm + values["Cruise_Fault"] = 0 if long_active: values["Cruise_Activated"] = 1