diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml index b33945cae2d8cf..3c86b8e8549da6 100644 --- a/.github/workflows/stale.yaml +++ b/.github/workflows/stale.yaml @@ -5,8 +5,8 @@ on: workflow_dispatch: env: - DAYS_BEFORE_PR_CLOSE: 7 - DAYS_BEFORE_PR_STALE: 30 + DAYS_BEFORE_PR_CLOSE: 3 + DAYS_BEFORE_PR_STALE: 14 jobs: stale: diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index e9c7d93d88d8f7..692c6945601295 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -33,7 +33,7 @@ repos: - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.4.3 + rev: v0.4.4 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' @@ -98,6 +98,6 @@ repos: args: - --lock - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.28.2 + rev: 0.28.3 hooks: - id: check-github-workflows diff --git a/cereal b/cereal index bf1c7e5409d684..620e3e4383dd57 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit bf1c7e5409d6842da83a8ff82e1ce7d21ed70647 +Subproject commit 620e3e4383dd5720c14dbd10a256587f77f45b7d diff --git a/opendbc b/opendbc index d058bc9a9f156d..e2408cb2725671 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit d058bc9a9f156d55ee6e4b90ceb292d087267414 +Subproject commit e2408cb2725671ad63e827e02f37e0f1739b68c6 diff --git a/panda b/panda index dd2f7373c46614..8614d3cee536bd 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit dd2f7373c466144436ba5204ed489b3ae24d7721 +Subproject commit 8614d3cee536bda883988d67aaeb1a5d1bbaf240 diff --git a/poetry.lock b/poetry.lock index 70e91f2cc26202..978574a1e277e2 100644 --- a/poetry.lock +++ b/poetry.lock @@ -291,23 +291,23 @@ msal-extensions = ">=0.3.0" [[package]] name = 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def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_ events.add(EventName.accFaulted) if cs_out.steeringPressed: events.add(EventName.steerOverride) + if cs_out.brakePressed and cs_out.standstill: + events.add(EventName.preEnableStandstill) + if cs_out.gasPressed: + events.add(EventName.gasPressedOverride) # Handle button presses for b in cs_out.buttonEvents: diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index a57e58fbb7faab..d239294392ba3f 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1141,6 +1141,7 @@ CAR.TOYOTA_RAV4_TSS2_2023: { (Ecu.abs, 0x7b0, None): [ b'\x01F15260R450\x00\x00\x00\x00\x00\x00', + b'\x01F15260R50000\x00\x00\x00\x00', b'\x01F15260R51000\x00\x00\x00\x00', b'\x01F15264283200\x00\x00\x00\x00', b'\x01F15264283300\x00\x00\x00\x00', @@ -1162,6 +1163,7 @@ b'\x01896634AJ2000\x00\x00\x00\x00', b'\x01896634AL5000\x00\x00\x00\x00', b'\x01896634AL6000\x00\x00\x00\x00', + b'\x01896634AL8000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F0R03100\x00\x00\x00\x00', diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index d36c969f6014fc..370a3e1e95cab2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -211,12 +211,6 @@ def update_events(self, CS): (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): self.events.add(EventName.pedalPressed) - if CS.brakePressed and CS.standstill: - self.events.add(EventName.preEnableStandstill) - - if CS.gasPressed: - self.events.add(EventName.gasPressedOverride) - if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 40796dd8ff8f9f..bb1a54f23253fd 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -3,6 +3,7 @@ import os from enum import IntEnum from collections.abc import Callable +from sortedcontainers import SortedList from cereal import log, car import cereal.messaging as messaging @@ -48,12 +49,12 @@ class ET: class Events: def __init__(self): - self.events: list[int] = [] - self.static_events: list[int] = [] + self.events: SortedList[int] = SortedList() + self.static_events: SortedList[int] = SortedList() self.events_prev = dict.fromkeys(EVENTS.keys(), 0) @property - def names(self) -> list[int]: + def names(self) -> SortedList[int]: return self.events def __len__(self) -> int: @@ -61,8 +62,8 @@ def __len__(self) -> int: def add(self, event_name: int, static: bool=False) -> None: if static: - self.static_events.append(event_name) - self.events.append(event_name) + self.static_events.add(event_name) + self.events.add(event_name) def clear(self) -> None: self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()} @@ -92,7 +93,7 @@ def create_alerts(self, event_types: list[str], callback_args=None): def add_from_msg(self, events): for e in events: - self.events.append(e.name.raw) + self.events.add(e.name.raw) def to_msg(self): ret = [] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a0d3cc6bb21300..f3298b2ac83dda 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -685a2bb9aacdd790e26d14aa49d3792c3ed65125 \ No newline at end of file +ef0c8cb36b9cda6381412493555c21a87360e539 \ No newline at end of file diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 9afd22f13a12da..e5309c9690d067 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -205,6 +205,8 @@ static void update_state(UIState *s) { auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState(); float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f; scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f); + } else if (!sm.allAliveAndValid({"wideRoadCameraState"})) { + scene.light_sensor = -1; } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; @@ -320,7 +322,7 @@ void Device::resetInteractiveTimeout(int timeout) { void Device::updateBrightness(const UIState &s) { float clipped_brightness = offroad_brightness; - if (s.scene.started) { + if (s.scene.started && s.scene.light_sensor > 0) { clipped_brightness = s.scene.light_sensor; // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index f5028a280f8347..7238159ddacb56 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -97,7 +97,7 @@ typedef struct UIScene { cereal::LongitudinalPersonality personality; - float light_sensor; + float light_sensor = -1; bool started, ignition, is_metric, map_on_left, longitudinal_control; bool world_objects_visible = false; uint64_t started_frame; diff --git a/tools/rerun/run.py b/tools/rerun/run.py new file mode 100755 index 00000000000000..271f127d33403c --- /dev/null +++ b/tools/rerun/run.py @@ -0,0 +1,104 @@ +#!/usr/bin/env python3 +import subprocess +import sys +import argparse +import multiprocessing +from functools import partial + +from openpilot.tools.lib.logreader import LogReader +from cereal.services import SERVICE_LIST + + +NUM_CPUS = multiprocessing.cpu_count() +DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19" +WHEEL_URL = "https://build.rerun.io/commit/660463d/wheels" + + +def install(): + # currently requires a preview release build + subprocess.run([sys.executable, "-m", "pip", "install", "--pre", "-f", WHEEL_URL, "--upgrade", "rerun-sdk"], check=True) + print("Rerun installed") + + +def log_msg(msg, parent_key=''): + stack = [(msg, parent_key)] + while stack: + current_msg, current_parent_key = stack.pop() + if isinstance(current_msg, list): + for index, item in enumerate(current_msg): + new_key = f"{current_parent_key}/{index}" + if isinstance(item, (int, float)): + rr.log(str(new_key), rr.Scalar(item)) + elif isinstance(item, dict): + stack.append((item, new_key)) + elif isinstance(current_msg, dict): + for key, value in current_msg.items(): + new_key = f"{current_parent_key}/{key}" + if isinstance(value, (int, float)): + rr.log(str(new_key), rr.Scalar(value)) + elif isinstance(value, dict): + stack.append((value, new_key)) + elif isinstance(value, list): + for index, item in enumerate(value): + if isinstance(item, (int, float)): + rr.log(f"{new_key}/{index}", rr.Scalar(item)) + else: + pass # Not a plottable value + + +def createBlueprint(): + timeSeriesViews = [] + for topic in sorted(SERVICE_LIST.keys()): + timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False)) + rr.log(topic, rr.SeriesLine(name=topic), timeless=True) + blueprint = rrb.Blueprint(rrb.Grid(rrb.Vertical(*timeSeriesViews,rrb.SelectionPanel(expanded=False),rrb.TimePanel(expanded=False)), + rrb.Spatial2DView(name="thumbnail", origin="/thumbnail"))) + return blueprint + + +def log_thumbnail(thumbnailMsg): + bytesImgData = thumbnailMsg.get('thumbnail') + rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData)) + + +def process(blueprint, lr): + ret = [] + rr.init("rerun_test", spawn=True, default_blueprint=blueprint) + for msg in lr: + ret.append(msg) + rr.set_time_nanos("TIMELINE", msg.logMonoTime) + if msg.which() != "thumbnail": + log_msg(msg.to_dict()[msg.which()], msg.which()) + else: + log_thumbnail(msg.to_dict()[msg.which()]) + return ret + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") + parser.add_argument("--install", action="store_true", help="Install or update rerun") + parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot") + + if len(sys.argv) == 1: + parser.print_help() + sys.exit() + + args = parser.parse_args() + if args.install: + install() + sys.exit() + + try: + import rerun as rr + import rerun.blueprint as rrb + except ImportError: + print("Rerun is not installed, run with --install first") + sys.exit() + + route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() + blueprint = createBlueprint() + print("Getting route log paths") + lr = LogReader(route_or_segment_name) + lr.run_across_segments(NUM_CPUS, partial(process, blueprint))