From c65dfaac68bbf836900dd612a33667cb00cdf854 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 Feb 2024 22:06:14 -0600 Subject: [PATCH 01/70] Leaf: get VIN (#31398) * Add Leaf VIN query * add lots of requests * add exception for nissan * no more logging * update refs * lower worst case * Update selfdrive/car/car_helpers.py * update refs * it's the vcm! --- selfdrive/car/fw_query_definitions.py | 3 +++ selfdrive/car/tests/test_fw_fingerprint.py | 2 +- selfdrive/car/vin.py | 5 +++-- 3 files changed, 7 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index ed886a69dbea33..350c062826ff21 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -65,6 +65,9 @@ class StdQueries: GM_VIN_REQUEST = b'\x1a\x90' GM_VIN_RESPONSE = b'\x5a\x90' + KWP_VIN_REQUEST = b'\x21\x81' + KWP_VIN_RESPONSE = b'\x61\x81' + @dataclass class Request: diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index fa006e51a66858..17eba80d2a83b1 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -225,7 +225,7 @@ def _assert_timing(self, avg_time, ref_time): def test_startup_timing(self): # Tests worse-case VIN query time and typical present ECU query time - vin_ref_times = {'worst': 1.0, 'best': 0.5} # best assumes we go through all queries to get a match + vin_ref_times = {'worst': 1.2, 'best': 0.6} # best assumes we go through all queries to get a match present_ecu_ref_time = 0.75 def fake_get_ecu_addrs(*_, timeout): diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 184455af17922f..e668c35f7d5086 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -22,6 +22,7 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False): (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8), (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400), # Bolt fwdCamera + (StdQueries.KWP_VIN_REQUEST, StdQueries.KWP_VIN_RESPONSE, (0,), [0x797], None, 0x3), # Nissan Leaf VCM ): if bus not in valid_buses: continue @@ -40,8 +41,8 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False): for addr in vin_addrs: vin = results.get((addr, None)) if vin is not None: - # Ford pads with null bytes - if len(vin) == 24: + # Ford and Nissan pads with null bytes + if len(vin) in (19, 24): vin = re.sub(b'\x00*$', b'', vin) # Honda Bosch response starts with a length, trim to correct length From 68fcc955ac69cd9e2d1a58127bbae32a2b6da1e5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 Feb 2024 22:47:30 -0600 Subject: [PATCH 02/70] bump panda (#31472) * bump * fix renames --- panda | 2 +- selfdrive/boardd/boardd.cc | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/panda b/panda index ad0f372adabef4..ef68fea95ed063 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ad0f372adabef438d67340c6b9c76ba7146d0671 +Subproject commit ef68fea95ed0633b05752e56b3fb9f43e324a01b diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 9e2a9600557381..b2b59d3752fc2c 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -362,11 +362,11 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt)); ps.setAlternativeExperience(health.alternative_experience_pkt); ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt)); - ps.setInterruptLoad(health.interrupt_load); + ps.setInterruptLoad(health.interrupt_load_pkt); ps.setFanPower(health.fan_power); ps.setFanStallCount(health.fan_stall_count); - ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid)); - ps.setSpiChecksumErrorCount(health.spi_checksum_error_count); + ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt)); + ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt); ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f); ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f); From 0e94567a181e75243321e05c1397259635697f68 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 Feb 2024 23:32:44 -0600 Subject: [PATCH 03/70] Toyota: only read gas interceptor if we're using it (#31473) * we shouldn't be reading from interceptor and not writing/sending gas command * better * add a test! * comment is clear --- selfdrive/car/tests/test_car_interfaces.py | 4 ++++ selfdrive/car/toyota/interface.py | 8 ++++---- 2 files changed, 8 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index f2625abe572a20..a454f616cbf38f 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -74,6 +74,10 @@ def test_car_interfaces(self, car_name, data): self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP)) self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP)) + # If we're using the interceptor for gasPressed, we should be commanding gas with it + if car_params.enableGasInterceptor: + self.assertTrue(car_params.openpilotLongitudinalControl) + # Lateral sanity checks if car_params.steerControlType != car.CarParams.SteerControlType.angle: tune = car_params.lateralTuning diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 3d9755c8c9e7b5..3165d151087937 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -225,10 +225,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): found_ecus = [fw.ecu for fw in car_fw] ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \ and not (ret.flags & ToyotaFlags.SMART_DSU) - ret.enableGasInterceptor = 0x201 in fingerprint[0] - - if ret.enableGasInterceptor: - ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar. # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle @@ -253,10 +249,14 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): # - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet) ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value) ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR + ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl if not ret.openpilotLongitudinalControl: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL + if ret.enableGasInterceptor: + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR + # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED From 55ba64568d1b1be75ce5394352566c3f22cde0ce Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 Feb 2024 23:41:01 -0600 Subject: [PATCH 04/70] test_models: add RAV4 route without relay malfunction (#31474) add it back --- selfdrive/car/tests/routes.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index b874e31b6aec04..99a4d0873c1970 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -187,6 +187,7 @@ class CarTestRoute(NamedTuple): CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2), CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2), # hybrid CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS), + CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4), CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H), CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2), CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), From 622d099d0001bd1c697af1f4ef7c11304561e575 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 Feb 2024 23:55:33 -0600 Subject: [PATCH 05/70] Toyota: check ACC_CONTROL for relay malfunction (#31475) toyota: check acc control for relay malfunction --- panda | 2 +- selfdrive/car/tests/routes.py | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/panda b/panda index ef68fea95ed063..27768f5ef3b9ee 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ef68fea95ed0633b05752e56b3fb9f43e324a01b +Subproject commit 27768f5ef3b9eeca66bca93d9f49ae368fdd738a diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 99a4d0873c1970..9618549dea0e6f 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -292,7 +292,6 @@ class CarTestRoute(NamedTuple): # Segments that test specific issues # Controls mismatch due to interceptor threshold CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21), - CarTestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2), # Controls mismatch due to standstill threshold CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22), ] From b1f452d42b58336fe24f83f2bc0ac54116a83b2b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Feb 2024 01:27:07 -0600 Subject: [PATCH 06/70] Toyota TSS2: radar disable support (#29094) * try to disable radar * fix bug and bump panda * prep * always attempt longitudinal for testers * fix rav4 * send ACC_HUD * bump panda * revert * check for failure to disable * fix arg * allow * this has no effect * bump * update docs * bug fix * fix * check relay malfunc for acc control * remove route where SDSU caused a relay malfunction * missing rav4 * bump * use chr route * bump * add back * relay malfunction * bump to master * add to releases --- RELEASES.md | 1 + docs/CARS.md | 12 ++++++------ panda | 2 +- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/toyota/interface.py | 4 ++-- 5 files changed, 11 insertions(+), 10 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 215b9759742def..375a33b867b970 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -9,6 +9,7 @@ Version 0.9.6 (2024-02-22) * AGNOS 9 * comma body streaming and controls over WebRTC * Improved fuzzy fingerprinting for many makes and models +* Alpha longitudinal support for new Toyota models * Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire! * Dodge Duranago 2020-21 support * Hyundai Staria 2023 support thanks to sunnyhaibin! diff --git a/docs/CARS.md b/docs/CARS.md index 48e2e77e624a29..6d3ee716598f6a 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -216,9 +216,9 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|Avalon Hybrid 2019-21|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)
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|| |Toyota|Avalon Hybrid 2022|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)
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|| |Toyota|C-HR 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 2021|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|C-HR 2021|All|openpilot available[1](#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
|| |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)
Buy Here
|| -|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|C-HR Hybrid 2021-22|All|openpilot available[1](#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
|| |Toyota|Camry 2018-20|All|Stock|0 mph[9](#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 2021-24|All|openpilot|0 mph[9](#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)
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|| @@ -244,13 +244,13 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 2016|Toyota Safety Sense P|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
|| |Toyota|RAV4 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
|| |Toyota|RAV4 2019-21|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|RAV4 2022|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|RAV4 2023-24|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|RAV4 2022|All|openpilot available[1](#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
|| +|Toyota|RAV4 2023-24|All|openpilot available[1](#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
|| |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|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
|| |Toyota|RAV4 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
|| |Toyota|RAV4 Hybrid 2019-21|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|RAV4 Hybrid 2022|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|RAV4 Hybrid 2023-24|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|RAV4 Hybrid 2022|All|openpilot available[1](#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
|| +|Toyota|RAV4 Hybrid 2023-24|All|openpilot available[1](#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
|| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 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)
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|| |Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#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)
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|| |Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,13](#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/panda b/panda index 27768f5ef3b9ee..0a1ec8580ecbde 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 27768f5ef3b9eeca66bca93d9f49ae368fdd738a +Subproject commit 0a1ec8580ecbde1f73b424f63b9fb8fbe29ddf09 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 9618549dea0e6f..f7ae4e038e7df5 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -224,7 +224,7 @@ class CarTestRoute(NamedTuple): CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2), CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2), # hybrid - # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled + CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2), # hybrid, openpilot longitudinal, radar disabled CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 3165d151087937..988b1b45475420 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -230,11 +230,11 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) if candidate in (RADAR_ACC_CAR | NO_DSU_CAR): - ret.experimentalLongitudinalAvailable = use_sdsu + ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR if not use_sdsu: # Disabling radar is only supported on TSS2 radar-ACC cars - if experimental_long and candidate in RADAR_ACC_CAR and False: # TODO: disabling radar isn't supported yet + if experimental_long and candidate in RADAR_ACC_CAR: ret.flags |= ToyotaFlags.DISABLE_RADAR.value else: use_sdsu = use_sdsu and experimental_long From 62c51e2d0cb0ea6d160396c7afede9e75f9219f4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 Feb 2024 23:35:59 -0800 Subject: [PATCH 07/70] HKG CAN FD: fix bus 0 VIN addr Added camera addr instead of cluster on accident here: https://github.com/commaai/openpilot/pull/31348 --- selfdrive/car/fw_query_definitions.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 350c062826ff21..36e6794d2c1a50 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -17,7 +17,7 @@ # A global list of addresses we will only ever consider for VIN responses # engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI # TODO: move these to each brand's FW query config -STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c4, 0x18da10f1, 0x18da0ef1] +STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c6, 0x18da10f1, 0x18da0ef1] def p16(val): From baa77ced19add6241cdc634840205b7115c584ab Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Feb 2024 02:35:21 -0600 Subject: [PATCH 08/70] TestFwFingerprint: test to prevent mismatches when utilizing non-essential ECUs (#31478) * test * same speed --- selfdrive/car/tests/test_fw_fingerprint.py | 19 +++++++++++++++---- 1 file changed, 15 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 17eba80d2a83b1..493efc1bab3ca8 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -33,18 +33,29 @@ def assertFingerprints(self, candidates, expected): self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}") self.assertEqual(candidates[0], expected) - @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) - def test_exact_match(self, brand, car_model, ecus): + @parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)]) + def test_exact_match(self, brand, car_model, ecus, test_non_essential): + config = FW_QUERY_CONFIGS[brand] CP = car.CarParams.new_message() - for _ in range(200): + for _ in range(100): fw = [] for ecu, fw_versions in ecus.items(): + # Assume non-essential ECUs apply to all cars, so we catch cases where Car A with + # missing ECUs won't match to Car B where only Car B has labeled non-essential ECUs + if ecu[0] in config.non_essential_ecus and test_non_essential: + continue + ecu_name, addr, sub_addr = ecu fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) CP.carFw = fw _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False) - self.assertFingerprints(matches, car_model) + if not test_non_essential: + self.assertFingerprints(matches, car_model) + else: + # if we're removing ECUs we expect some match loss, but it shouldn't mismatch + if len(matches) != 0: + self.assertFingerprints(matches, car_model) @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) def test_custom_fuzzy_match(self, brand, car_model, ecus): From 8aee0d2af2c9e9c1755afa2b46f68b199958ccdb Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 15 Feb 2024 14:24:27 -0500 Subject: [PATCH 09/70] test_logreader: test interactive mode + fix typo in AUTO_INTERACTIVE (#31481) * fix spelling * test interactive * remove that * test taht * move that --- tools/lib/logreader.py | 4 ++-- tools/lib/tests/test_logreader.py | 19 ++++++++++++++++--- tools/plotjuggler/juggle.py | 2 +- 3 files changed, 19 insertions(+), 6 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index af2c23ef4898ec..2269430792bcfe 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -73,7 +73,7 @@ class ReadMode(enum.StrEnum): QLOG = "q" # only read qlogs SANITIZED = "s" # read from the commaCarSegments database AUTO = "a" # default to rlogs, fallback to qlogs - AUTO_INTERACIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user + AUTO_INTERACTIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user LogPath = Optional[str] @@ -106,7 +106,7 @@ def apply_strategy(mode: ReadMode, rlog_paths: LogPaths, qlog_paths: LogPaths, v return qlog_paths elif mode == ReadMode.AUTO: return auto_strategy(rlog_paths, qlog_paths, False, valid_file) - elif mode == ReadMode.AUTO_INTERACIVE: + elif mode == ReadMode.AUTO_INTERACTIVE: return auto_strategy(rlog_paths, qlog_paths, True, valid_file) raise Exception(f"invalid mode: {mode}") diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 53b78064ab316a..974182d638565a 100755 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import io import shutil import tempfile import os @@ -168,10 +169,22 @@ def test_auto_mode(self): with mock.patch("openpilot.tools.lib.route.Route.log_paths") as log_paths_mock: log_paths_mock.return_value = [None] * NUM_SEGS # Should fall back to qlogs since rlogs are not available - lr = LogReader(f"{TEST_ROUTE}/0/a", default_source=comma_api_source) - log_len = len(list(lr)) - self.assertEqual(qlog_len, log_len) + with self.subTest("interactive_yes"): + with mock.patch("sys.stdin", new=io.StringIO("y\n")): + lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source) + log_len = len(list(lr)) + self.assertEqual(qlog_len, log_len) + + with self.subTest("interactive_no"): + with mock.patch("sys.stdin", new=io.StringIO("n\n")): + with self.assertRaises(AssertionError): + lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source) + + with self.subTest("non_interactive"): + lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source) + log_len = len(list(lr)) + self.assertEqual(qlog_len, log_len) if __name__ == "__main__": diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index cc2109541474b2..dc940628016c6e 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -73,7 +73,7 @@ def process(can, lr): return [d for d in lr if can or d.which() not in ['can', 'sendcan']] def juggle_route(route_or_segment_name, can, layout, dbc=None): - sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACIVE) + sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE) all_data = sr.run_across_segments(24, partial(process, can)) From d31269f6639b86405708f05c098ac1fd665c3107 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Feb 2024 11:52:57 -0800 Subject: [PATCH 10/70] fix no GPS alert when driving slowly in a tunnel (#31483) --- selfdrive/controls/controlsd.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3fb19c7da7fe78..adc680ed2af6bd 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -411,9 +411,12 @@ def update_events(self, CS): # TODO: fix simulator if not SIMULATION or REPLAY: + # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000): - # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes self.events.add(EventName.noGps) + if self.sm['liveLocationKalman'].gpsOK: + self.distance_traveled = 0 + self.distance_traveled += CS.vEgo * DT_CTRL if self.sm['modelV2'].frameDropPerc > 20: self.events.add(EventName.modeldLagging) @@ -476,8 +479,6 @@ def data_sample(self): if ps.safetyModel not in IGNORED_SAFETY_MODES): self.mismatch_counter += 1 - self.distance_traveled += CS.vEgo * DT_CTRL - return CS def state_transition(self, CS): From 16d13395536e84ddf492b2352d827d33befd601e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 15 Feb 2024 15:10:56 -0500 Subject: [PATCH 11/70] test_logreader: test internal scenarios (#31484) * test source scenario * test source scenario * fix --- tools/lib/logreader.py | 6 ++++-- tools/lib/tests/test_logreader.py | 32 ++++++++++++++++++++++++++++++- 2 files changed, 35 insertions(+), 3 deletions(-) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 2269430792bcfe..7957712aff6602 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -81,6 +81,8 @@ class ReadMode(enum.StrEnum): ValidFileCallable = Callable[[LogPath], bool] Source = Callable[[SegmentRange, ReadMode], LogPaths] +InternalUnavailableException = Exception("Internal source not available") + def default_valid_file(fn: LogPath) -> bool: return fn is not None and file_exists(fn) @@ -126,7 +128,7 @@ def valid_file(fn): def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths: if not internal_source_available(): - raise Exception("Internal source not available") + raise InternalUnavailableException def get_internal_url(sr: SegmentRange, seg, file): return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2" @@ -160,7 +162,7 @@ def get_invalid_files(files): def check_source(source: Source, *args) -> LogPaths: files = source(*args) - assert next(get_invalid_files(files), None) is None + assert next(get_invalid_files(files), False) is False return files diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py index 974182d638565a..2141915b877231 100755 --- a/tools/lib/tests/test_logreader.py +++ b/tools/lib/tests/test_logreader.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import contextlib import io import shutil import tempfile @@ -10,7 +11,7 @@ from parameterized import parameterized from unittest import mock -from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode +from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException from openpilot.tools.lib.route import SegmentRange from openpilot.tools.lib.url_file import URLFileException @@ -24,6 +25,24 @@ def noop(segment: LogIterable): return segment +@contextlib.contextmanager +def setup_source_scenario(is_internal=False): + with ( + mock.patch("openpilot.tools.lib.logreader.internal_source") as internal_source_mock, + mock.patch("openpilot.tools.lib.logreader.openpilotci_source") as openpilotci_source_mock, + mock.patch("openpilot.tools.lib.logreader.comma_api_source") as comma_api_source_mock, + ): + if is_internal: + internal_source_mock.return_value = [QLOG_FILE] + else: + internal_source_mock.side_effect = InternalUnavailableException + + openpilotci_source_mock.return_value = [None] + comma_api_source_mock.return_value = [QLOG_FILE] + + yield + + class TestLogReader(unittest.TestCase): @parameterized.expand([ (f"{TEST_ROUTE}", ALL_SEGS), @@ -186,6 +205,17 @@ def test_auto_mode(self): log_len = len(list(lr)) self.assertEqual(qlog_len, log_len) + @parameterized.expand([(True,), (False,)]) + @pytest.mark.slow + def test_auto_source_scenarios(self, is_internal): + lr = LogReader(QLOG_FILE) + qlog_len = len(list(lr)) + + with setup_source_scenario(is_internal=is_internal): + lr = LogReader(f"{TEST_ROUTE}/0/q") + log_len = len(list(lr)) + self.assertEqual(qlog_len, log_len) + if __name__ == "__main__": unittest.main() From c2b9f7163ace207038d4d17096f056b61c7644ba Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 15 Feb 2024 16:12:11 -0500 Subject: [PATCH 12/70] test_qcomgpsd: subtest the gps_runtime scenarios (#31485) * subtest this * runtime --------- Co-authored-by: Comma Device --- system/qcomgpsd/tests/test_qcomgpsd.py | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py index 8291f2cc32a92a..6c93f7dd9382fb 100755 --- a/system/qcomgpsd/tests/test_qcomgpsd.py +++ b/system/qcomgpsd/tests/test_qcomgpsd.py @@ -68,13 +68,14 @@ def test_startup_time(self): def test_turns_off_gnss(self): for s in (0.1, 1, 5): - managed_processes['qcomgpsd'].start() - time.sleep(s) - managed_processes['qcomgpsd'].stop() + with self.subTest(runtime=s): + managed_processes['qcomgpsd'].start() + time.sleep(s) + 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) - assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'} + ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8') + loc_status = json.loads(ls) + assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'} def check_assistance(self, should_be_loaded): From 64851baea8e61d9e83b7935f3b4727a6409d62ce Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Feb 2024 13:10:33 -0800 Subject: [PATCH 13/70] debug/count_events.py improvements --- selfdrive/debug/count_events.py | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index 0d545b3153671b..b40e1959392ece 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -16,28 +16,35 @@ cams = [s for s in SERVICE_LIST if s.endswith('CameraState')] cnt_cameras = dict.fromkeys(cams, 0) + events = [] alerts: List[Tuple[float, str]] = [] start_time = math.inf end_time = -math.inf ignition_off = None for msg in LogReader(sys.argv[1], ReadMode.QLOG): + t = (msg.logMonoTime - start_time) / 1e9 end_time = max(end_time, msg.logMonoTime) start_time = min(start_time, msg.logMonoTime) if msg.which() == 'onroadEvents': for e in msg.onroadEvents: cnt_events[e.name] += 1 + + ae = {str(e.name) for e in msg.onroadEvents if e.name not in ('pedalPressed', 'steerOverride', 'gasPressedOverride')} + if len(events) == 0 or ae != events[-1][1]: + events.append((t, ae)) + elif msg.which() == 'controlsState': at = msg.controlsState.alertType if "/override" not in at or "lanechange" in at.lower(): if len(alerts) == 0 or alerts[-1][1] != at: - t = (msg.logMonoTime - start_time) / 1e9 alerts.append((t, at)) elif msg.which() == 'pandaStates': if ignition_off is None: ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) if not ign: ignition_off = msg.logMonoTime + break elif msg.which() in cams: cnt_cameras[msg.which()] += 1 @@ -64,9 +71,14 @@ print("Alerts") for t, a in alerts: print(f"{t:8.2f} {a}") + + print("\n") + print("Events") + for t, a in events: + print(f"{t:8.2f} {a}") + + print("\n") if ignition_off is not None: ignition_off = round((ignition_off - start_time) / 1e9, 2) print("Ignition off at", ignition_off) - - print("\n") print("Route duration", datetime.timedelta(seconds=duration)) From eb5a847dc87fdbf2118aadd670487a5abd950f6c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Feb 2024 13:18:19 -0800 Subject: [PATCH 14/70] Update RELEASES.md --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 375a33b867b970..b3c5b1d6daacb1 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -11,7 +11,7 @@ Version 0.9.6 (2024-02-22) * Improved fuzzy fingerprinting for many makes and models * Alpha longitudinal support for new Toyota models * Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire! -* Dodge Duranago 2020-21 support +* Dodge Durango 2020-21 support * Hyundai Staria 2023 support thanks to sunnyhaibin! * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Lexus LC 2024 support thanks to nelsonjchen! From 663f7017f2476f3f50b23bfcbaa89947e4e99fbd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Feb 2024 13:35:33 -0800 Subject: [PATCH 15/70] fix linter --- selfdrive/debug/count_events.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index b40e1959392ece..567d1a9e071ad4 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -16,7 +16,7 @@ cams = [s for s in SERVICE_LIST if s.endswith('CameraState')] cnt_cameras = dict.fromkeys(cams, 0) - events = [] + events: List[Tuple[float, set[str]]] = [] alerts: List[Tuple[float, str]] = [] start_time = math.inf end_time = -math.inf @@ -74,8 +74,8 @@ print("\n") print("Events") - for t, a in events: - print(f"{t:8.2f} {a}") + for t, evt in events: + print(f"{t:8.2f} {evt}") print("\n") if ignition_off is not None: From 0cb206cb95ac3aa674d79ce0121893fbf7c68c88 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 15 Feb 2024 16:38:42 -0500 Subject: [PATCH 16/70] conftest: cleanup environment cleaner (#31486) * clean env * no self --- conftest.py | 47 ++++++++++++++++++++++++----------------------- 1 file changed, 24 insertions(+), 23 deletions(-) diff --git a/conftest.py b/conftest.py index e4dc6640c0df48..0d2a4a8fc4d6ba 100644 --- a/conftest.py +++ b/conftest.py @@ -1,3 +1,4 @@ +import contextlib import gc import os import pytest @@ -25,42 +26,42 @@ def pytest_runtest_call(item): yield -@pytest.fixture(scope="function", autouse=True) -def openpilot_function_fixture(request): +@contextlib.contextmanager +def clean_env(): starting_env = dict(os.environ) + yield + os.environ.clear() + os.environ.update(starting_env) - random.seed(0) - # setup a clean environment for each test - with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix: - prefix = os.environ["OPENPILOT_PREFIX"] +@pytest.fixture(scope="function", autouse=True) +def openpilot_function_fixture(request): + random.seed(0) - yield + with clean_env(): + # setup a clean environment for each test + with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix: + prefix = os.environ["OPENPILOT_PREFIX"] - # ensure the test doesn't change the prefix - assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"] + yield - os.environ.clear() - os.environ.update(starting_env) + # ensure the test doesn't change the prefix + assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"] - # cleanup any started processes - manager.manager_cleanup() + # cleanup any started processes + manager.manager_cleanup() - # some processes disable gc for performance, re-enable here - if not gc.isenabled(): - gc.enable() - gc.collect() + # some processes disable gc for performance, re-enable here + if not gc.isenabled(): + gc.enable() + gc.collect() # If you use setUpClass, the environment variables won't be cleared properly, # so we need to hook both the function and class pytest fixtures @pytest.fixture(scope="class", autouse=True) def openpilot_class_fixture(): - starting_env = dict(os.environ) - - yield - - os.environ.clear() - os.environ.update(starting_env) + with clean_env(): + yield @pytest.fixture(scope="function") From 0a5e994947170dde632c20069b80470e8c8df31e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Feb 2024 23:44:02 -0600 Subject: [PATCH 17/70] [bot] Fingerprints: add missing FW versions from new users (#31489) Export fingerprints --- selfdrive/car/honda/fingerprints.py | 1 + selfdrive/car/hyundai/fingerprints.py | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index d24838ffbca6ce..fbb1714ea18987 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -299,6 +299,7 @@ (Ecu.srs, 0x18da53f1, None): [ b'77959-TBA-A030\x00\x00', b'77959-TBA-A040\x00\x00', + b'77959-TBG-A020\x00\x00', b'77959-TBG-A030\x00\x00', b'77959-TEA-Q820\x00\x00', ], diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index d3b282422c64ea..d1fc1faabb0fa0 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1549,6 +1549,7 @@ b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', + b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.00 99211-GI020 230719', b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.00 99211-GI020 230719', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', @@ -1556,7 +1557,6 @@ b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.03 99211-GI010 220401', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.06 99211-GI010 230110', - b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.00 99211-GI020 230719', ], }, CAR.IONIQ_6: { From 5a441ec0c4bf39a5e066e307ee6c9a8b55f8d8b5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Feb 2024 22:20:00 -0800 Subject: [PATCH 18/70] modeld: fix and cleanup getting carParams (#31488) --- selfdrive/modeld/modeld.py | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 5b227d08e9826d..01acca7bcbb246 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -152,12 +152,8 @@ def main(demo=False): pm = PubMaster(["modelV2", "cameraOdometry"]) sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"]) - publish_state = PublishState() params = Params() - with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: - steer_delay = msg.steerActuatorDelay + .2 - #steer_delay = 0.4 # setup filter to track dropped frames frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) @@ -177,13 +173,15 @@ def main(demo=False): if demo: CP = get_demo_car_params() - with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: - CP = msg - cloudlog.info("plannerd got CarParams: %s", CP.carName) + else: + with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: + CP = msg + cloudlog.info("modeld got CarParams: %s", CP.carName) + # TODO this needs more thought, use .2s extra for now to estimate other delays steer_delay = CP.steerActuatorDelay + .2 - DH = DesireHelper() + DH = DesireHelper() while True: # Keep receiving frames until we are at least 1 frame ahead of previous extra frame From 0723c2bc5f22a079685c1643fa2d72f70eeff087 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 16 Feb 2024 13:19:10 -0800 Subject: [PATCH 19/70] log git commit date (#31490) * log git commit date * unix ts * fix * bump cereal * cleanup --- cereal | 2 +- common/params.cc | 1 + selfdrive/manager/manager.py | 3 ++- system/loggerd/logger.cc | 1 + system/loggerd/tests/test_loggerd.py | 1 + system/version.py | 18 ++++++++++++------ 6 files changed, 18 insertions(+), 8 deletions(-) diff --git a/cereal b/cereal index bd31b25aacc5b3..7de3c7111e78d8 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit bd31b25aacc5b39f36cedcb0dabd05db471da59f +Subproject commit 7de3c7111e78d87f9c43e2861a3e18aa59fde956 diff --git a/common/params.cc b/common/params.cc index 3ce25052433b30..eb75705ca3f6af 100644 --- a/common/params.cc +++ b/common/params.cc @@ -125,6 +125,7 @@ std::unordered_map keys = { {"ForcePowerDown", PERSISTENT}, {"GitBranch", PERSISTENT}, {"GitCommit", PERSISTENT}, + {"GitCommitDate", PERSISTENT}, {"GitDiff", PERSISTENT}, {"GithubSshKeys", PERSISTENT}, {"GithubUsername", PERSISTENT}, diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 50ba73f18cae58..bf1eeb8fd09817 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -19,7 +19,7 @@ from openpilot.common.swaglog import cloudlog, add_file_handler from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ get_normalized_origin, terms_version, training_version, \ - is_tested_branch, is_release_branch + is_tested_branch, is_release_branch, get_commit_date @@ -66,6 +66,7 @@ def manager_init() -> None: params.put("TermsVersion", terms_version) params.put("TrainingVersion", training_version) params.put("GitCommit", get_commit()) + params.put("GitCommitDate", get_commit_date()) params.put("GitBranch", get_short_branch()) params.put("GitRemote", get_origin()) params.put_bool("IsTestedBranch", is_tested_branch()) diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 2fc6492ad4744c..7a829a2f1f9cb0 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -44,6 +44,7 @@ kj::Array logger_build_init_data() { std::map params_map = params.readAll(); init.setGitCommit(params_map["GitCommit"]); + init.setGitCommitDate(params_map["GitCommitDate"]); init.setGitBranch(params_map["GitBranch"]); init.setGitRemote(params_map["GitRemote"]); init.setPassive(false); diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 0cd854880962c4..963978926d4d92 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -107,6 +107,7 @@ def test_init_data_values(self): # param, initData field, value ("DongleId", "dongleId", dongle), ("GitCommit", "gitCommit", "commit"), + ("GitCommitDate", "gitCommitDate", "date"), ("GitBranch", "gitBranch", "branch"), ("GitRemote", "gitRemote", "remote"), ] diff --git a/system/version.py b/system/version.py index 980a4fcc7cb584..e34458f16f964a 100755 --- a/system/version.py +++ b/system/version.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import subprocess -from typing import List, Optional, Callable, TypeVar +from typing import List, Callable, TypeVar from functools import lru_cache from openpilot.common.basedir import BASEDIR @@ -22,7 +22,7 @@ def run_cmd(cmd: List[str]) -> str: return subprocess.check_output(cmd, encoding='utf8').strip() -def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[str]: +def run_cmd_default(cmd: List[str], default: str = "") -> str: try: return run_cmd(cmd) except subprocess.CalledProcessError: @@ -31,17 +31,22 @@ def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[s @cache def get_commit(branch: str = "HEAD") -> str: - return run_cmd_default(["git", "rev-parse", branch]) or "" + return run_cmd_default(["git", "rev-parse", branch]) + + +@cache +def get_commit_date(commit: str = "HEAD") -> str: + return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit]) @cache def get_short_branch() -> str: - return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"]) or "" + return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"]) @cache def get_branch() -> str: - return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"]) or "" + return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"]) @cache @@ -51,7 +56,7 @@ def get_origin() -> str: tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"]) return run_cmd(["git", "config", "remote." + tracking_remote + ".url"]) except subprocess.CalledProcessError: # Not on a branch, fallback - return run_cmd_default(["git", "config", "--get", "remote.origin.url"]) or "" + return run_cmd_default(["git", "config", "--get", "remote.origin.url"]) @cache @@ -132,3 +137,4 @@ def is_dirty() -> bool: print(f"Branch: {get_branch()}") print(f"Short branch: {get_short_branch()}") print(f"Prebuilt: {is_prebuilt()}") + print(f"Commit date: {get_commit_date()}") From b218abcaa3015e6c9202550eddbbc0eff7482729 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 16 Feb 2024 13:35:45 -0800 Subject: [PATCH 20/70] controlsd: increase initializing timeout --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index adc680ed2af6bd..cf978ada32bd84 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -434,7 +434,7 @@ def data_sample(self): if not self.initialized: all_valid = CS.canValid and self.sm.all_checks() - timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5) + timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 4.0) if all_valid or timed_out or (SIMULATION and not REPLAY): available_streams = VisionIpcClient.available_streams("camerad", block=False) if VisionStreamType.VISION_STREAM_ROAD not in available_streams: From 86410a0ef0607ff78ba21ab2f4dc6b5135496e06 Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Fri, 16 Feb 2024 22:32:43 +0000 Subject: [PATCH 21/70] Bumped model replay ref for new map tiles (#31493) --- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index a2f6896307ff87..984690e2911975 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -fee90bcee1e545c7ec9a39d3c7d4e42cfefb9955 +73fe68ba29ad4bbfc9627622f29ac41ead75bc53 From 900300a928bf2029c74a2949e0778c037b355ca5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 16 Feb 2024 15:18:26 -0800 Subject: [PATCH 22/70] Calibration Transform: border pad (#31495) --- selfdrive/modeld/transforms/transform.cl | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl index 357ef87321371c..2ca25920cd19be 100644 --- a/selfdrive/modeld/transforms/transform.cl +++ b/selfdrive/modeld/transforms/transform.cl @@ -22,20 +22,20 @@ __kernel void warpPerspective(__global const uchar * src, W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f; int X = rint(X0 * W), Y = rint(Y0 * W); - short sx = convert_short_sat(X >> INTER_BITS); - short sy = convert_short_sat(Y >> INTER_BITS); + int sx = convert_short_sat(X >> INTER_BITS); + int sy = convert_short_sat(Y >> INTER_BITS); + + short sx_clamp = clamp(sx, 0, src_cols - 1); + short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1); + short sy_clamp = clamp(sy, 0, src_rows - 1); + short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1); + int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]); + int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]); + short ay = (short)(Y & (INTER_TAB_SIZE - 1)); short ax = (short)(X & (INTER_TAB_SIZE - 1)); - - int v0 = (sx >= 0 && sx < src_cols && sy >= 0 && sy < src_rows) ? - convert_int(src[mad24(sy, src_row_stride, src_offset + sx*src_px_stride)]) : 0; - int v1 = (sx+1 >= 0 && sx+1 < src_cols && sy >= 0 && sy < src_rows) ? - convert_int(src[mad24(sy, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0; - int v2 = (sx >= 0 && sx < src_cols && sy+1 >= 0 && sy+1 < src_rows) ? - convert_int(src[mad24(sy+1, src_row_stride, src_offset + sx*src_px_stride)]) : 0; - int v3 = (sx+1 >= 0 && sx+1 < src_cols && sy+1 >= 0 && sy+1 < src_rows) ? - convert_int(src[mad24(sy+1, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0; - float taby = 1.f/INTER_TAB_SIZE*ay; float tabx = 1.f/INTER_TAB_SIZE*ax; From c5f1f4c67663161d335048238e6dd5506bde3555 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 16 Feb 2024 19:55:15 -0600 Subject: [PATCH 23/70] test_fw_query_on_routes: get first qlog (#31496) * fast * this isn't internal * see --- selfdrive/debug/test_fw_query_on_routes.py | 6 +++++- tools/lib/route.py | 10 +++++----- tools/lib/tests/test_comma_car_segments.py | 2 +- 3 files changed, 11 insertions(+), 7 deletions(-) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index dd6243a44c2329..cc6fc2ae17e89f 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -44,11 +44,15 @@ dongles = [] for route in tqdm(routes): - dongle_id = SegmentRange(route).dongle_id + sr = SegmentRange(route) + dongle_id = sr.dongle_id if dongle_id in dongles: continue + if sr.slice == '' and sr.selector is None: + route += '/0' + lr = LogReader(route, default_mode=ReadMode.QLOG) try: diff --git a/tools/lib/route.py b/tools/lib/route.py index aba95718d59de0..47ebdc7a514109 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -264,7 +264,7 @@ def timestamp(self) -> str: return self.m.group("timestamp") @property - def _slice(self) -> str: + def slice(self) -> str: return self.m.group("slice") or "" @property @@ -273,12 +273,12 @@ def selector(self) -> str | None: @property def seg_idxs(self) -> list[int]: - m = re.fullmatch(RE.SLICE, self._slice) - assert m is not None, f"Invalid slice: {self._slice}" + m = re.fullmatch(RE.SLICE, self.slice) + assert m is not None, f"Invalid slice: {self.slice}" start, end, step = (None if s is None else int(s) for s in m.groups()) # one segment specified - if start is not None and end is None and ':' not in self._slice: + if start is not None and end is None and ':' not in self.slice: if start < 0: start += get_max_seg_number_cached(self) + 1 return [start] @@ -291,7 +291,7 @@ def seg_idxs(self) -> list[int]: return list(range(end + 1))[s] def __str__(self) -> str: - return f"{self.dongle_id}/{self.timestamp}" + (f"/{self._slice}" if self._slice else "") + (f"/{self.selector}" if self.selector else "") + return f"{self.dongle_id}/{self.timestamp}" + (f"/{self.slice}" if self.slice else "") + (f"/{self.selector}" if self.selector else "") def __repr__(self) -> str: return self.__str__() diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py index 484a4aae0839fc..b355b0fe60dfe6 100644 --- a/tools/lib/tests/test_comma_car_segments.py +++ b/tools/lib/tests/test_comma_car_segments.py @@ -25,7 +25,7 @@ def test_download_segment(self): sr = SegmentRange(segment) - url = get_url(sr.route_name, sr._slice) + url = get_url(sr.route_name, sr.slice) resp = requests.get(url) self.assertEqual(resp.status_code, 200) From 62f4eecf1646fff65fd6d22f64aeb0603ead3782 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 16 Feb 2024 23:18:51 -0800 Subject: [PATCH 24/70] bump panda (#31498) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 0a1ec8580ecbde..7bfba5eff21b41 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0a1ec8580ecbde1f73b424f63b9fb8fbe29ddf09 +Subproject commit 7bfba5eff21b41a89ef6a7396a6d5d0bc3fa338b From 2e8c62358ce8ab103d0c9ee29501f78d79d7f4cc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 17 Feb 2024 06:03:12 -0600 Subject: [PATCH 25/70] Honda Bosch: detect alternate brake signal (#31500) * Do Accord * add comment * good test * this catches the accord/accordh issue! * as expected, only if both radar&camera have in common FW does the test fail * cmt * clean up * better * Use HondaFlags * detect alt brake * for test * hypothesis isn't installed * test failure * works * Revert " works" This reverts commit bfc0d808abe548630e6507431f13b01e8a1316cb. * Revert "test failure" This reverts commit 10ab6eb63ccd411740751b742f31fd610397fe8e. * Revert "hypothesis isn't installed" This reverts commit d474cc3f0ed7e84fe8bd24f452b3315fd2b8d47c. * Revert "for test" This reverts commit 98e039f4fc0189ccb57c1dae6b344209ef15eb1c. * this is important too * clean up * more clean up * Update ref_commit --- selfdrive/car/car_helpers.py | 2 +- selfdrive/car/honda/carstate.py | 8 ++++---- selfdrive/car/honda/interface.py | 6 ++++-- selfdrive/car/honda/values.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 11 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 7654475358fcbd..95028e10c5d06c 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -162,7 +162,7 @@ def fingerprint(logcan, sendcan, num_pandas): cloudlog.warning("VIN %s", vin) params.put("CarVin", vin) - # disable OBD multiplexing for potential ECU knockouts + # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts set_obd_multiplexing(params, False) params.put_bool("FirmwareQueryDone", True) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 03aedb31d2afa6..9025f7239728c4 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -7,8 +7,8 @@ from opendbc.can.parser import CANParser from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \ - HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, \ - HONDA_BOSCH_RADARLESS + HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \ + HondaFlags from openpilot.selfdrive.car.interfaces import CarStateBase TransmissionType = car.CarParams.TransmissionType @@ -44,7 +44,7 @@ def get_can_messages(CP, gearbox_msg): else: messages.append((gearbox_msg, 100)) - if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL: + if CP.flags & HondaFlags.BOSCH_ALT_BRAKE: messages.append(("BRAKE_MODULE", 50)) if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}): @@ -217,7 +217,7 @@ def update(self, cp, cp_cam, cp_body): else: ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS - if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL: + if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE: ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0 else: # brake switch has shown some single time step noise, so only considered when diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 9f228cd8fb6e90..153fa1e63593bb 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -3,8 +3,9 @@ from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import interp +from openpilot.selfdrive.car.honda.hondacan import get_pt_bus from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \ - HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS + HONDA_BOSCH_RADARLESS from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.car.disable_ecu import disable_ecu @@ -275,7 +276,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): raise ValueError(f"unsupported car {candidate}") # These cars use alternate user brake msg (0x1BE) - if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL: + if 0x1BE in fingerprint[get_pt_bus(candidate)] and candidate in HONDA_BOSCH: + ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 300c21d2fec158..517d2550a4a144 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -49,6 +49,7 @@ def __init__(self, CP): class HondaFlags(IntFlag): # Bosch models with alternate set of LKAS_HUD messages BOSCH_EXT_HUD = 1 + BOSCH_ALT_BRAKE = 2 # Car button codes @@ -252,5 +253,4 @@ def init_make(self, CP: car.CarParams): CAR.PILOT, CAR.RIDGELINE} HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G} -HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G} HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G} diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 49e3461756aa46..07ab6760330e3e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7d25b1f7d0bd3b506fa4e72ff893728894eb1a45 \ No newline at end of file +1b16593e2d0c9ff2dae2916293ae5fbc7d6f26df From 07adbd347ffd48927b94ca57ed3d5d22adec9b41 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 17 Feb 2024 04:40:57 -0800 Subject: [PATCH 26/70] Honda Accord: remove unknown ECU Could be the radio/heater controller --- selfdrive/car/honda/fingerprints.py | 4 ---- 1 file changed, 4 deletions(-) diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index fbb1714ea18987..359ae83b157b7d 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -101,10 +101,6 @@ b'39990-TVA-X040\x00\x00', b'39990-TVE-H130\x00\x00', ], - (Ecu.unknown, 0x18da3af1, None): [ - b'39390-TVA-A020\x00\x00', - b'39390-TVA-A120\x00\x00', - ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TBX-H230\x00\x00', b'77959-TVA-A460\x00\x00', From 79fa3954b743f992cbe7d39d5a265125dffd8d21 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 17 Feb 2024 14:29:25 -0800 Subject: [PATCH 27/70] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 7bfba5eff21b41..6eed0364733d03 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 7bfba5eff21b41a89ef6a7396a6d5d0bc3fa338b +Subproject commit 6eed0364733d03851bd0df86f9be869592526d7c From 49dd8b476cb922062af6500e86c52735d597ba1e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 18 Feb 2024 13:01:01 -0600 Subject: [PATCH 28/70] [bot] Fingerprints: add missing FW versions from CAN fingerprinting cars (#31502) Export fingerprints --- selfdrive/car/nissan/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py index 6cd0df4c9b761f..19267ded4633db 100644 --- a/selfdrive/car/nissan/fingerprints.py +++ b/selfdrive/car/nissan/fingerprints.py @@ -46,6 +46,7 @@ CAR.LEAF: { (Ecu.abs, 0x740, None): [ b'476605SA1C', + b'476605SA7D', b'476605SC2D', b'476606WK7B', b'476606WK9B', @@ -65,6 +66,7 @@ ], (Ecu.gateway, 0x18dad0f1, None): [ b'284U25SA3C', + b'284U25SP0C', b'284U25SP1C', b'284U26WK0A', b'284U26WK0C', From b28daef34ad213670418bdbf82ae999f38ac9409 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 18 Feb 2024 14:43:42 -0800 Subject: [PATCH 29/70] controlsd: allow mismatch while boardd reads back mode (#31505) * controlsd: allow mismatch while boardd reads back mode * self --- selfdrive/controls/controlsd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index cf978ada32bd84..3db936e1340736 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -312,7 +312,8 @@ def update_events(self, CS): else: safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES - if safety_mismatch or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200: + # safety mismatch allows some time for boardd to set the safety mode and publish it back from panda + if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200: self.events.add(EventName.controlsMismatch) if log.PandaState.FaultType.relayMalfunction in pandaState.faults: From c6eae405a5ce8dfbeb5a72b4b3651770e849385f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 18 Feb 2024 17:03:33 -0800 Subject: [PATCH 30/70] ensure startup is clean (#31504) * strict * cleanup --------- Co-authored-by: Comma Device --- selfdrive/test/helpers.py | 1 - selfdrive/test/test_onroad.py | 1 + selfdrive/test/test_time_to_onroad.py | 34 ++++++++++++++++----------- 3 files changed, 21 insertions(+), 15 deletions(-) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index a8b7ca0c4d0528..0e7912a989ace2 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -11,7 +11,6 @@ def set_params_enabled(): - os.environ['REPLAY'] = "1" os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" os.environ['LOGPRINT'] = "debug" diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index c9064df870ba16..e98cf09b9ad568 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -114,6 +114,7 @@ def setUpClass(cls): params = Params() params.remove("CurrentRoute") set_params_enabled() + os.environ['REPLAY'] = '1' os.environ['TESTING_CLOSET'] = '1' if os.path.exists(Paths.log_root()): shutil.rmtree(Paths.log_root()) diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index 9288188a778f9a..a983bdf5fbbf98 100755 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -18,33 +18,39 @@ def test_time_to_onroad(): proc = subprocess.Popen(["python", manager_path]) start_time = time.monotonic() - sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents']) + sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents', 'sendcan']) try: - # wait for onroad - with Timeout(20, "timed out waiting to go onroad"): - while True: - sm.update(1000) - if sm['deviceState'].started: - break - time.sleep(1) + # wait for onroad. timeout assumes panda is up to date + with Timeout(10, "timed out waiting to go onroad"): + while not sm['deviceState'].started: + sm.update(100) # wait for engageability try: with Timeout(10, "timed out waiting for engageable"): + sendcan_frame = None while True: - sm.update(1000) - if sm['controlsState'].engageable: + sm.update(100) + + # sendcan is only sent once we're initialized + if sm.seen['controlsState'] and sendcan_frame is None: + sendcan_frame = sm.frame + + if sendcan_frame is not None and sm.recv_frame['sendcan'] > sendcan_frame: + sm.update(100) + assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}" break - time.sleep(1) finally: print(f"onroad events: {sm['onroadEvents']}") print(f"engageable after {time.monotonic() - start_time:.2f}s") - # once we're enageable, must be for the next few seconds - for _ in range(500): + # once we're enageable, must stay for the next few seconds + st = time.monotonic() + while (time.monotonic() - st) < 10.: sm.update(100) + assert sm.all_alive(), sm.alive assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}" finally: proc.terminate() - if proc.wait(60) is None: + if proc.wait(20) is None: proc.kill() From 4ded4c53af55eed17cd18fece71a4fcd72ec8237 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 18 Feb 2024 23:04:24 -0800 Subject: [PATCH 31/70] thneed: printf -> cloudlog (#31506) * thneed: printf -> cloudlog * LOGI * Revert "LOGI" This reverts commit e6ab7e45fb7f3678727595f67c1f6c8e2cda734b. --- selfdrive/modeld/thneed/serialize.cc | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc index 6ed5c08e811be3..3dc2bef41448f8 100644 --- a/selfdrive/modeld/thneed/serialize.cc +++ b/selfdrive/modeld/thneed/serialize.cc @@ -4,13 +4,14 @@ #include "third_party/json11/json11.hpp" #include "common/util.h" #include "common/clutil.h" +#include "common/swaglog.h" #include "selfdrive/modeld/thneed/thneed.h" using namespace json11; extern map g_program_source; void Thneed::load(const char *filename) { - printf("Thneed::load: loading from %s\n", filename); + LOGD("Thneed::load: loading from %s\n", filename); string buf = util::read_file(filename); int jsz = *(int *)buf.data(); @@ -74,8 +75,8 @@ void Thneed::load(const char *filename) { clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode); #endif if (clbuf == NULL) { - printf("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode), - desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer); + LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode), + desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer); } assert(clbuf != NULL); } @@ -95,11 +96,11 @@ void Thneed::load(const char *filename) { cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; input_clmem.push_back(aa); input_sizes.push_back(sz); - printf("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz); + LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz); cl_int cl_err; void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err); - if (cl_err != CL_SUCCESS) printf("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz); + if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz); assert(cl_err == CL_SUCCESS); inputs.push_back(ret); } @@ -107,7 +108,7 @@ void Thneed::load(const char *filename) { for (auto &obj : jdat["outputs"].array_items()) { auto mobj = obj.object_items(); int sz = mobj["size"].int_value(); - printf("Thneed::save: adding output with size %d\n", sz); + LOGD("Thneed::save: adding output with size %d\n", sz); // TODO: support multiple outputs output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())]; assert(output != NULL); From be4bbca9a32f3bd3f65eaf26f4f5b65d2fc14608 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Feb 2024 10:45:10 -0800 Subject: [PATCH 32/70] [bot] Update Python packages and pre-commit hooks (#31508) * Update Python packages and pre-commit hooks * remove that --------- Co-authored-by: jnewb1 Co-authored-by: Justin Newberry --- .pre-commit-config.yaml | 2 +- poetry.lock | 426 +++++++++++++++++----------------- system/hardware/tici/agnos.py | 2 +- 3 files changed, 215 insertions(+), 215 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 103bb38e2642a0..30750d6ab73fc1 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -44,7 +44,7 @@ repos: - --explicit-package-bases exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.2.1 + rev: v0.2.2 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' diff --git a/poetry.lock b/poetry.lock 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--git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index ef7d9adb7956a5..342281b0f87a0e 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -20,7 +20,7 @@ class StreamingDecompressor: def __init__(self, url: str) -> None: self.buf = b"" - self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60) # type: ignore + self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60) self.it = self.req.iter_content(chunk_size=1024 * 1024) self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO) self.eof = False From 86184b76d5cf557e0b76efe64913e3dea85f4f4c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Feb 2024 10:46:04 -0800 Subject: [PATCH 33/70] more modeld logging (#31510) --- selfdrive/modeld/modeld.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 01acca7bcbb246..9305c4302dc007 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -121,7 +121,9 @@ def main(demo=False): setproctitle(PROCESS_NAME) config_realtime_process(7, 54) + cloudlog.warning("setting up CL context") cl_context = CLContext() + cloudlog.warning("CL context ready; loading model") model = ModelState(cl_context) cloudlog.warning("models loaded, modeld starting") From 37206a83fe40a8f359b9e95d139b1e8b4442781b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Feb 2024 10:54:06 -0800 Subject: [PATCH 34/70] [bot] Bump submodules (#31507) bump submodules Co-authored-by: jnewb1 --- opendbc | 2 +- panda | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index 3d1be8427a7e80..951ab07fdcbce0 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 3d1be8427a7e801e7da4e8506e5d5c2605de9176 +Subproject commit 951ab07fdcbce023a5c927f56bbf94e0f2322366 diff --git a/panda b/panda index 6eed0364733d03..b4442a7c930aac 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 6eed0364733d03851bd0df86f9be869592526d7c +Subproject commit b4442a7c930aac112cdd82cddfc3dd12254a56e1 From 69fb3c2ed5b41858545461466004339325e413a1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Milan=20Medi=C4=87?= <45833725+belimedo@users.noreply.github.com> Date: Mon, 19 Feb 2024 21:11:56 +0100 Subject: [PATCH 35/70] add Cython static analysis (#31491) * Adding pre-commit hook for cython static analysis * Adding changes to cython files to pass static analysis * Revert "Adding changes to cython files to pass static analysis" This reverts commit 9a0eb733199abd9eef1eac3d024ef2760348d67c. * Adding ignore rule for indentation of 4 spaces (E111) * Fixes for cython-lint static analysis * Revert "Fixes for cython-lint static analysis" This reverts commit 972741735b2bdc73460d65a4d7ea167dfc0f4644. * Adding two new rules into ignore list (2 new lines after difinition of class) * Adding fixes for cython static analysis --- .pre-commit-config.yaml | 8 ++++++++ common/params_pyx.pyx | 2 +- common/transformations/transformations.pxd | 2 +- common/transformations/transformations.pyx | 7 +++---- selfdrive/modeld/models/commonmodel_pyx.pxd | 2 +- selfdrive/modeld/runners/runmodel_pyx.pyx | 1 - 6 files changed, 14 insertions(+), 8 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 30750d6ab73fc1..f98bca606070ec 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -74,6 +74,14 @@ repos: # https://google.github.io/styleguide/cppguide.html # relevant rules are whitelisted, see all options with: cpplint --filter= - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces +- repo: https://github.com/MarcoGorelli/cython-lint + rev: v0.16.0 + hooks: + - id: cython-lint + exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)' + args: + - --max-line-length=240 + - --ignore=E111, E302, E305 - repo: local hooks: - id: test_translations diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 47d2075df25eb3..535514e521a6d9 100644 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -29,7 +29,7 @@ cdef extern from "common/params.h": def ensure_bytes(v): - return v.encode() if isinstance(v, str) else v; + return v.encode() if isinstance(v, str) else v class UnknownKeyName(Exception): pass diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd index 7af009870198ad..964adf06ece9e8 100644 --- a/common/transformations/transformations.pxd +++ b/common/transformations/transformations.pxd @@ -1,4 +1,4 @@ -#cython: language_level=3 +# cython: language_level=3 from libcpp cimport bool cdef extern from "orientation.cc": diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx index c5cb9e00568e96..ae045c369d7506 100644 --- a/common/transformations/transformations.pyx +++ b/common/transformations/transformations.pyx @@ -17,7 +17,6 @@ from openpilot.common.transformations.transformations cimport ecef2geodetic as e from openpilot.common.transformations.transformations cimport LocalCoord_c -import cython import numpy as np cimport numpy as np @@ -34,14 +33,14 @@ cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m): return Matrix3(m.data) cdef ECEF list2ecef(ecef): - cdef ECEF e; + cdef ECEF e e.x = ecef[0] e.y = ecef[1] e.z = ecef[2] return e cdef NED list2ned(ned): - cdef NED n; + cdef NED n n.n = ned[0] n.e = ned[1] n.d = ned[2] @@ -61,7 +60,7 @@ def euler2quat_single(euler): def quat2euler_single(quat): cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3]) - cdef Vector3 e = quat2euler_c(q); + cdef Vector3 e = quat2euler_c(q) return [e(0), e(1), e(2)] def quat2rot_single(quat): diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd index 21c0716de4c30e..97e391458892ad 100644 --- a/selfdrive/modeld/models/commonmodel_pyx.pxd +++ b/selfdrive/modeld/models/commonmodel_pyx.pxd @@ -7,7 +7,7 @@ cdef class CLContext(BaseCLContext): pass cdef class CLMem: - cdef cl_mem * mem; + cdef cl_mem * mem @staticmethod cdef create(void*) diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx index cdc62a79be0c15..e1b201a6a92742 100644 --- a/selfdrive/modeld/runners/runmodel_pyx.pyx +++ b/selfdrive/modeld/runners/runmodel_pyx.pyx @@ -2,7 +2,6 @@ # cython: c_string_encoding=ascii from libcpp.string cimport string -from libc.string cimport memcpy from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME from selfdrive.modeld.models.commonmodel_pyx cimport CLMem From 1145122b3fea1ddb8aa49a97688f6b52155bd202 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Feb 2024 13:58:36 -0800 Subject: [PATCH 36/70] More startup checks (#31511) * no lag! * kill first --------- Co-authored-by: Comma Device --- selfdrive/manager/process.py | 4 +++- selfdrive/test/test_time_to_onroad.py | 1 + 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 523e1fd20933a3..ac1b4ac68c522f 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -281,11 +281,13 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None running = [] for p in procs: if p.enabled and p.name not in not_run and p.should_run(started, params, CP): - p.start() running.append(p) else: p.stop(block=False) p.check_watchdog(started) + for p in running: + p.start() + return running diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py index a983bdf5fbbf98..a3f803e2210624 100755 --- a/selfdrive/test/test_time_to_onroad.py +++ b/selfdrive/test/test_time_to_onroad.py @@ -50,6 +50,7 @@ def test_time_to_onroad(): sm.update(100) assert sm.all_alive(), sm.alive assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}" + assert sm['controlsState'].cumLagMs < 10. finally: proc.terminate() if proc.wait(20) is None: From d371fb042c7a7c22f90ba99340ca1dd705f7e22d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 19 Feb 2024 17:07:15 -0800 Subject: [PATCH 37/70] Modeld: cleanup unused variables (#31516) Modeld: cleanup used variables --- selfdrive/modeld/fill_model_msg.py | 2 +- selfdrive/modeld/modeld.py | 5 +---- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py index 93d1c7e77bac29..c76966867ae871 100644 --- a/selfdrive/modeld/fill_model_msg.py +++ b/selfdrive/modeld/fill_model_msg.py @@ -45,7 +45,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: Dict[str, np.ndarray], publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float, timestamp_eof: int, timestamp_llk: int, model_execution_time: float, - nav_enabled: bool, v_ego: float, steer_delay: float, valid: bool) -> None: + nav_enabled: bool, valid: bool) -> None: frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0 msg.valid = valid diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 9305c4302dc007..09fab93a33edd2 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -219,13 +219,10 @@ def main(demo=False): buf_extra = buf_main meta_extra = meta_main - # TODO: path planner timeout? sm.update(0) desire = DH.desire - v_ego = sm["carState"].vEgo is_rhd = sm["driverMonitoringState"].isRHD frame_id = sm["roadCameraState"].frameId - # TODO add lag lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) if sm.updated["liveCalibration"]: device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) @@ -293,7 +290,7 @@ def main(demo=False): modelv2_send = messaging.new_message('modelV2') posenet_send = messaging.new_message('cameraOdometry') fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, - meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, v_ego, steer_delay, live_calib_seen) + meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen) desire_state = modelv2_send.modelV2.meta.desireState l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] From 26481d082fb0db02697691ba6b074e794322c652 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 19 Feb 2024 17:26:10 -0800 Subject: [PATCH 38/70] Certified Herbalist Model (#31425) * ab9921cb-6e0a-4816-bec5-ebb55d37a7f1/700 * 93532291-a562-4ab8-82d2-34d6e9fdcfbb/700 * Update ref --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index dc93d84135ae81..ce346a406ad943 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:763821410b35b06b598cacfa5bc3e312610b3f8de2729e0d5954d7571b6794be -size 48219112 +oid sha256:c11f99aab832242a604b1bb4c4cf391c9c3d5e90cbc07ab0d4c133473b56a3a4 +size 48193749 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 984690e2911975..3b7b04df808560 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -73fe68ba29ad4bbfc9627622f29ac41ead75bc53 +fd6421f7551573c549480f9d29bb0dee4678344d From 8b5c9e84d2f5ae35925a9187abacd4543c046a8f Mon Sep 17 00:00:00 2001 From: goodchoom <85845724+goodchoom@users.noreply.github.com> Date: Mon, 19 Feb 2024 21:18:20 -0500 Subject: [PATCH 39/70] Alerts: fix inconsistent capitalization (#31514) fix capitalization --- selfdrive/controls/lib/events.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index b3667280940747..d68c95bcf50d81 100755 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -767,12 +767,12 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, # is thrown. This can mean a service crashed, did not broadcast a message for # ten times the regular interval, or the average interval is more than 10% too high. EventName.commIssue: { - ET.SOFT_DISABLE: soft_disable_alert("Communication Issue between Processes"), + ET.SOFT_DISABLE: soft_disable_alert("Communication Issue Between Processes"), ET.NO_ENTRY: comm_issue_alert, }, EventName.commIssueAvgFreq: { - ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate between Processes"), - ET.NO_ENTRY: NoEntryAlert("Low Communication Rate between Processes"), + ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate Between Processes"), + ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"), }, EventName.controlsdLagging: { From 528e5558924ab17c6ea14aed340601ae5c6167e4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Feb 2024 22:33:08 -0800 Subject: [PATCH 40/70] debug: print log messages in relative time --- selfdrive/debug/filter_log_message.py | 12 ++++++++---- 1 file changed, 8 insertions(+), 4 deletions(-) diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index 20028f8fd204c7..9cbab0b41fe1c6 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -46,6 +46,7 @@ def print_androidlog(t, msg): if __name__ == "__main__": parser = argparse.ArgumentParser() + parser.add_argument('--absolute', action='store_true') parser.add_argument('--level', default='DEBUG') parser.add_argument('--addr', default='127.0.0.1') parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage") @@ -54,15 +55,18 @@ def print_androidlog(t, msg): min_level = LEVELS[args.level] if args.route: + st = None if not args.absolute else 0 for route in args.route: - lr = LogReader(route) + lr = LogReader(route, sort_by_time=True) for m in lr: + if st is None: + st = m.logMonoTime if m.which() == 'logMessage': - print_logmessage(m.logMonoTime, m.logMessage, min_level) + print_logmessage(m.logMonoTime-st, m.logMessage, min_level) elif m.which() == 'errorLogMessage': - print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) + print_logmessage(m.logMonoTime-st, m.errorLogMessage, min_level) elif m.which() == 'androidLog': - print_androidlog(m.logMonoTime, m.androidLog) + print_androidlog(m.logMonoTime-st, m.androidLog) else: sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr) while True: From 675eeb9d1605cb1eeca6e8752fa02b6c24512600 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Feb 2024 22:33:30 -0800 Subject: [PATCH 41/70] modeld: add extra log for startup time debugging --- selfdrive/modeld/modeld.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py index 09fab93a33edd2..f2842d94b70634 100755 --- a/selfdrive/modeld/modeld.py +++ b/selfdrive/modeld/modeld.py @@ -116,6 +116,8 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_ def main(demo=False): + cloudlog.warning("modeld init") + sentry.set_tag("daemon", PROCESS_NAME) cloudlog.bind(daemon=PROCESS_NAME) setproctitle(PROCESS_NAME) From 5d4dc1dc2ffa5c4066dc33b818e4a2f0497b7043 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Feb 2024 22:34:24 -0800 Subject: [PATCH 42/70] Make ui independent of launch path (#31517) * Make ui independent of launch path * comment --- selfdrive/ui/qt/util.cc | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 16d31ce3042409..bc3c494fa759f3 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -5,6 +5,7 @@ #include #include +#include #include #include #include @@ -114,6 +115,11 @@ void initApp(int argc, char *argv[], bool disable_hidpi) { qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150)); + // ensure the current dir matches the exectuable's directory + QApplication tmp(argc, argv); + QString appDir = QCoreApplication::applicationDirPath(); + QDir::setCurrent(appDir); + setQtSurfaceFormat(); } From 2184da9deb5a04b7651cf50de106bcd121729233 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 20 Feb 2024 10:07:43 -0600 Subject: [PATCH 43/70] [bot] Fingerprints: add missing FW versions from new users (#31518) Export fingerprints --- selfdrive/car/chrysler/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 952a297e8f07c8..1df514e79b96ef 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -401,6 +401,7 @@ b'68527383AD', b'68527387AE', b'68527403AC', + b'68546047AF', b'68631938AA', b'68631942AA', ], From a51ef41cf87c5a8b2eaa5301911051a9d5a8d00c Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 20 Feb 2024 15:11:42 -0500 Subject: [PATCH 44/70] Simulator: simulate the obd enabled/changed dance (#31519) obd dance --- tools/sim/lib/simulated_car.py | 8 ++++++++ tools/sim/lib/simulated_sensors.py | 2 -- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py index 85b4ac23875604..f6319dd8190440 100644 --- a/tools/sim/lib/simulated_car.py +++ b/tools/sim/lib/simulated_car.py @@ -2,6 +2,7 @@ from opendbc.can.packer import CANPacker from opendbc.can.parser import CANParser +from openpilot.common.params import Params from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp from openpilot.selfdrive.car import crc8_pedal from openpilot.tools.sim.lib.common import SimulatorState @@ -18,6 +19,8 @@ def __init__(self): self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams']) self.cp = self.get_car_can_parser() self.idx = 0 + self.params = Params() + self.obd_multiplexing = False @staticmethod def get_car_can_parser(): @@ -100,6 +103,11 @@ def send_can_messages(self, simulator_state: SimulatorState): def send_panda_state(self, simulator_state): self.sm.update(0) + + if self.params.get_bool("ObdMultiplexingEnabled") != self.obd_multiplexing: + self.obd_multiplexing = not self.obd_multiplexing + self.params.put_bool("ObdMultiplexingChanged", True) + dat = messaging.new_message('pandaStates', 1) dat.valid = True dat.pandaStates[0] = { diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py index ebbcc6c9e802ee..df6a0aeeff532f 100644 --- a/tools/sim/lib/simulated_sensors.py +++ b/tools/sim/lib/simulated_sensors.py @@ -3,7 +3,6 @@ from cereal import log import cereal.messaging as messaging -from openpilot.common.params import Params from openpilot.common.realtime import DT_DMON from openpilot.tools.sim.lib.camerad import Camerad @@ -80,7 +79,6 @@ def send_peripheral_state(self): 'current': 5678, 'fanSpeedRpm': 1000 } - Params().put_bool("ObdMultiplexingEnabled", False) self.pm.send('peripheralState', dat) def send_fake_driver_monitoring(self): From 2cf831a3048c11613396a2e6ca2222cefda30935 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 20 Feb 2024 14:20:49 -0800 Subject: [PATCH 45/70] debug: improve count_events.py output --- selfdrive/debug/count_events.py | 14 +++----------- 1 file changed, 3 insertions(+), 11 deletions(-) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index 567d1a9e071ad4..30e9bf8ec5ba75 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -10,7 +10,6 @@ from openpilot.tools.lib.logreader import LogReader, ReadMode if __name__ == "__main__": - cnt_valid: Counter = Counter() cnt_events: Counter = Counter() cams = [s for s in SERVICE_LIST if s.endswith('CameraState')] @@ -48,17 +47,15 @@ elif msg.which() in cams: cnt_cameras[msg.which()] += 1 - if not msg.valid: - cnt_valid[msg.which()] += 1 - duration = (end_time - start_time) / 1e9 print("Events") pprint(cnt_events) print("\n") - print("Not valid") - pprint(cnt_valid) + print("Events") + for t, evt in events: + print(f"{t:8.2f} {evt}") print("\n") print("Cameras") @@ -72,11 +69,6 @@ for t, a in alerts: print(f"{t:8.2f} {a}") - print("\n") - print("Events") - for t, evt in events: - print(f"{t:8.2f} {evt}") - print("\n") if ignition_off is not None: ignition_off = round((ignition_off - start_time) / 1e9, 2) From 51e3daf244306637bfc4031ac75756eee2360ee4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 20 Feb 2024 18:02:56 -0500 Subject: [PATCH 46/70] Subaru: add 2024 forester (#31520) * also angle based * 24 forester --- selfdrive/car/subaru/fingerprints.py | 3 +++ selfdrive/car/subaru/values.py | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py index ad8ebe87cdebd5..90fa6093d97922 100644 --- a/selfdrive/car/subaru/fingerprints.py +++ b/selfdrive/car/subaru/fingerprints.py @@ -509,17 +509,20 @@ (Ecu.fwdCamera, 0x787, None): [ b'\x04!\x01\x1eD\x07!\x00\x04,', b'\x04!\x08\x01.\x07!\x08\x022', + b'\r!\x08\x017\n!\x08\x003', ], (Ecu.engine, 0x7e0, None): [ b'\xd5"`0\x07', b'\xd5"a0\x07', b'\xf1"`q\x07', b'\xf1"aq\x07', + b'\xfa"ap\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\x1d\x86B0\x00', b'\x1d\xf6B0\x00', b'\x1e\x86B0\x00', + b'\x1e\x86F0\x00', b'\x1e\xf6D0\x00', ], }, diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index d9d2f78cea23a8..2f7350b966ec80 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -132,7 +132,7 @@ def init_make(self, CP: car.CarParams): CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"), CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"), CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"), - CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-23", "All", car_parts=CarParts.common([CarHarness.subaru_c])), + CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])), CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), } From 272019f73d601fce6d3f0193662117b53de07c25 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C4=B0dris=20AKBIYIK?= Date: Wed, 21 Feb 2024 00:57:40 +0100 Subject: [PATCH 47/70] Add fingerprints.py for Skoda Octavia MK3 2017 (#30846) * Update fingerprints.py for Skoda Octavia MK2 2017 -Fingerprint values added * Update fingerprints.py Passat Alltrack 4x4 * another PR * format --------- Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index 8e5a0667bd91ef..eab2bc0090140c 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -1043,6 +1043,7 @@ ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200', + b'\xf1\x873Q0959655AK\xf1\x890306\xf1\x82\r31210031210021033733310331', b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131', b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200', @@ -1062,6 +1063,7 @@ (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572H \xf1\x890620', b'\xf1\x875Q0907572J \xf1\x890654', b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101', b'\xf1\x875Q0907572P \xf1\x890682', From c645feb1aaf52a1dae58af3c24c7955e4d0600e7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 20 Feb 2024 16:55:46 -0800 Subject: [PATCH 48/70] pj: gpu usage isn't real --- tools/plotjuggler/layouts/system_lag_debug.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/plotjuggler/layouts/system_lag_debug.xml b/tools/plotjuggler/layouts/system_lag_debug.xml index b1699348cce46e..a90bba0e279627 100644 --- a/tools/plotjuggler/layouts/system_lag_debug.xml +++ b/tools/plotjuggler/layouts/system_lag_debug.xml @@ -16,7 +16,6 @@ - From 1c794b710cdcf682205b3f3724d8858073e5370c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 20 Feb 2024 17:25:12 -0800 Subject: [PATCH 49/70] uploader: sleep more when no files in queue (#31523) * uploader: sleep more when no files in queue * fix test --- system/loggerd/uploader.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index 105e830a4c6412..5c8f25368c6d96 100755 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -207,10 +207,10 @@ def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) return success - def step(self, network_type: int, metered: bool) -> bool: + def step(self, network_type: int, metered: bool) -> Optional[bool]: d = self.next_file_to_upload(metered) if d is None: - return True + return None name, key, fn = d @@ -253,12 +253,15 @@ def main(exit_event: Optional[threading.Event] = None) -> None: continue success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered) - if success: + if success is None: + backoff = 60 if offroad else 5 + elif success: backoff = 0.1 - elif allow_sleep: + else: cloudlog.info("upload backoff %r", backoff) backoff = min(backoff*2, 120) - time.sleep(backoff + random.uniform(0, backoff)) + if allow_sleep: + time.sleep(backoff + random.uniform(0, backoff)) if __name__ == "__main__": From 27c56722ccf6fefc3d90d09f30b15bdf053f2bea Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 20 Feb 2024 18:01:28 -0800 Subject: [PATCH 50/70] fix spinner asset paths (#31524) --- selfdrive/ui/.gitignore | 5 +++-- selfdrive/ui/SConscript | 4 ++-- selfdrive/ui/spinner | 6 +++--- selfdrive/ui/text | 6 +++--- 4 files changed, 11 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index 104357f3969244..f9724816da6c5c 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -3,12 +3,13 @@ moc_* translations/main_test_en.* +_text +_spinner + ui mui watch3 installer/installers/* -qt/text -qt/spinner qt/setup/setup qt/setup/reset qt/setup/wifi diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 92b43a82b00870..ea5734fe6eb2da 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -72,8 +72,8 @@ asset_obj = qt_env.Object("assets", assets) qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) # spinner and text window -qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs) -qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs) +qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs) +qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs) # build main UI qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs) diff --git a/selfdrive/ui/spinner b/selfdrive/ui/spinner index 35feab3f7e8f3d..965c8f581ab64a 100755 --- a/selfdrive/ui/spinner +++ b/selfdrive/ui/spinner @@ -1,7 +1,7 @@ #!/bin/sh -if [ -f /TICI ] && [ ! -f qt/spinner ]; then - cp qt/spinner_larch64 qt/spinner +if [ -f /TICI ] && [ ! -f _spinner ]; then + cp qt/spinner_larch64 _spinner fi -exec ./qt/spinner "$1" +exec ./_spinner "$1" diff --git a/selfdrive/ui/text b/selfdrive/ui/text index b44bec42bdd15e..b12235f4e6a00e 100755 --- a/selfdrive/ui/text +++ b/selfdrive/ui/text @@ -1,7 +1,7 @@ #!/bin/sh -if [ -f /TICI ] && [ ! -f qt/text ]; then - cp qt/text_larch64 qt/text +if [ -f /TICI ] && [ ! -f _text ]; then + cp qt/text_larch64 _text fi -exec ./qt/text "$1" +exec ./_text "$1" From 3e6ac26569cef2dcf78115333cc0f804aa4e9b02 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 20 Feb 2024 20:15:46 -0800 Subject: [PATCH 51/70] thermald: make CPU usage list a constant size (#31526) --- selfdrive/thermald/thermald.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index bfca2ccabbbeb2..4c2764a882c0ca 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -245,8 +245,10 @@ def thermald_thread(end_event, hw_queue) -> None: msg.deviceState.freeSpacePercent = get_available_percent(default=100.0) msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent)) - msg.deviceState.cpuUsagePercent = [int(round(n)) for n in psutil.cpu_percent(percpu=True)] msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent())) + online_cpu_usage = [int(round(n)) for n in psutil.cpu_percent(percpu=True)] + offline_cpu_usage = [0., ] * (len(msg.deviceState.cpuTempC) - len(online_cpu_usage)) + msg.deviceState.cpuUsagePercent = online_cpu_usage + offline_cpu_usage msg.deviceState.networkType = last_hw_state.network_type msg.deviceState.networkMetered = last_hw_state.network_metered From 4abda1b6bc70ff021bddec87f697cce37e186707 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 20 Feb 2024 23:02:38 -0600 Subject: [PATCH 52/70] thermald: remove instant low voltage check (#31522) remove instant lv check for old bug --- selfdrive/thermald/power_monitoring.py | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 8802a82af4ea30..f74118b5686818 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -14,7 +14,6 @@ CAR_CHARGING_RATE_W = 45 VBATT_PAUSE_CHARGING = 11.8 # Lower limit on the LPF car battery voltage -VBATT_INSTANT_PAUSE_CHARGING = 7.0 # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss MAX_TIME_OFFROAD_S = 30*3600 MIN_ON_TIME_S = 3600 DELAY_SHUTDOWN_TIME_S = 300 # Wait at least DELAY_SHUTDOWN_TIME_S seconds after offroad_time to shutdown. @@ -117,7 +116,6 @@ def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: Optio should_shutdown = False offroad_time = (now - offroad_timestamp) low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and - self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3) and offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S) should_shutdown |= offroad_time > MAX_TIME_OFFROAD_S should_shutdown |= low_voltage_shutdown From c3e3103830ba62d70f45555bdd6fda554594f7a8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 21 Feb 2024 00:30:51 -0600 Subject: [PATCH 53/70] torqued: log raw params if calculable (#31521) * log params when calculable * better * Update ref_commit * this is redundant * this is only used in one place, confusing which to use so remove * better --- selfdrive/locationd/helpers.py | 8 ++++---- selfdrive/locationd/torqued.py | 24 ++++++++++++------------ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 17 insertions(+), 17 deletions(-) diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py index 93e29291394a74..c292e9886c7e37 100644 --- a/selfdrive/locationd/helpers.py +++ b/selfdrive/locationd/helpers.py @@ -27,17 +27,17 @@ def __init__(self, x_bounds: List[Tuple[float, float]], min_points: List[float], self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True)) self.min_points_total = min_points_total - def bucket_lengths(self) -> List[int]: - return [len(v) for v in self.buckets.values()] - def __len__(self) -> int: - return sum(self.bucket_lengths()) + return sum([len(v) for v in self.buckets.values()]) def is_valid(self) -> bool: individual_buckets_valid = all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)) total_points_valid = self.__len__() >= self.min_points_total return individual_buckets_valid and total_points_valid + def is_calculable(self) -> bool: + return all(len(v) > 0 for v in self.buckets.values()) + def add_point(self, x: float, y: float, bucket_val: float) -> None: raise NotImplementedError diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 51418f9c1e94a5..69bab8d1fab9e5 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -184,23 +184,23 @@ def get_msg(self, valid=True, with_points=False): liveTorqueParameters.version = VERSION liveTorqueParameters.useParams = self.use_params - if self.filtered_points.is_valid(): + # Calculate raw estimates when possible, only update filters when enough points are gathered + if self.filtered_points.is_calculable(): latAccelFactor, latAccelOffset, frictionCoeff = self.estimate_params() liveTorqueParameters.latAccelFactorRaw = float(latAccelFactor) liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset) liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff) - if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]): - cloudlog.exception("Live torque parameters are invalid.") - liveTorqueParameters.liveValid = False - self.reset() - else: - liveTorqueParameters.liveValid = True - latAccelFactor = np.clip(latAccelFactor, self.min_lataccel_factor, self.max_lataccel_factor) - frictionCoeff = np.clip(frictionCoeff, self.min_friction, self.max_friction) - self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': frictionCoeff}) - else: - liveTorqueParameters.liveValid = False + if self.filtered_points.is_valid(): + if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]): + cloudlog.exception("Live torque parameters are invalid.") + liveTorqueParameters.liveValid = False + self.reset() + else: + liveTorqueParameters.liveValid = True + latAccelFactor = np.clip(latAccelFactor, self.min_lataccel_factor, self.max_lataccel_factor) + frictionCoeff = np.clip(frictionCoeff, self.min_friction, self.max_friction) + self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': frictionCoeff}) if with_points: liveTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 07ab6760330e3e..fc38f873104b34 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1b16593e2d0c9ff2dae2916293ae5fbc7d6f26df +d0cdea7eb15f3cac8a921f7ace3eaa6baebb4fd5 From e7695c3f32e95bbd0ad31e2ef09075c93ba9f65b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Feb 2024 11:12:56 -0800 Subject: [PATCH 54/70] add power cycling to can_replay --- tools/replay/can_replay.py | 56 ++++++++++++++++++++------------------ 1 file changed, 29 insertions(+), 27 deletions(-) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index ef6864f110edbb..856dd80d49c0fb 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -12,43 +12,47 @@ from openpilot.tools.lib.logreader import LogReader from panda import Panda, PandaJungle +# set both to cycle power or ignition +PWR_ON = int(os.getenv("PWR_ON", "0")) +PWR_OFF = int(os.getenv("PWR_OFF", "0")) +IGN_ON = int(os.getenv("ON", "0")) +IGN_OFF = int(os.getenv("OFF", "0")) +ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0 +ENABLE_PWR = PWR_ON > 0 and PWR_OFF > 0 + + def send_thread(s, flock): - if "Jungle" in str(type(s)): - if "FLASH" in os.environ: - with flock: - s.flash() - - for i in [0, 1, 2, 3, 0xFFFF]: - s.can_clear(i) - s.set_can_speed_kbps(i, 500) - s.set_can_data_speed_kbps(i, 500) - s.set_ignition(False) - time.sleep(5) - s.set_ignition(True) - s.set_panda_power(True) - else: - s.set_safety_mode(Panda.SAFETY_ALLOUTPUT) + if "FLASH" in os.environ: + with flock: + s.flash() + + for i in [0, 1, 2, 3, 0xFFFF]: + s.can_clear(i) + s.set_can_speed_kbps(i, 500) + s.set_can_data_speed_kbps(i, 500) + s.set_ignition(False) + time.sleep(5) + s.set_ignition(True) + s.set_panda_power(True) s.set_can_loopback(False) - idx = 0 - ign = True rk = Ratekeeper(1 / DT_CTRL, print_delay_threshold=None) while True: - # handle ignition cycling + # handle cycling + if ENABLE_PWR: + i = (rk.frame*DT_CTRL) % (PWR_ON + PWR_OFF) < PWR_ON + s.set_panda_power(i) if ENABLE_IGN: i = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON - if i != ign: - ign = i - s.set_ignition(ign) + s.set_ignition(i) - snd = CAN_MSGS[idx] + snd = CAN_MSGS[rk.frame % len(CAN_MSGS)] snd = list(filter(lambda x: x[-1] <= 2, snd)) try: s.can_send_many(snd) except usb1.USBErrorTimeout: # timeout is fine, just means the CAN TX buffer is full pass - idx = (idx + 1) % len(CAN_MSGS) # Drain panda message buffer s.can_recv() @@ -98,10 +102,8 @@ def process(lr): print("Finished loading...") - # set both to cycle ignition - IGN_ON = int(os.getenv("ON", "0")) - IGN_OFF = int(os.getenv("OFF", "0")) - ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0 + if ENABLE_PWR: + print(f"Cycling power: on for {PWR_ON}s, off for {PWR_OFF}s") if ENABLE_IGN: print(f"Cycling ignition: on for {IGN_ON}s, off for {IGN_OFF}s") From 3f104f3fbd7af6e0d1b59377165e6ae0a347c744 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 21 Feb 2024 11:26:49 -0800 Subject: [PATCH 55/70] fix static analysis --- tools/replay/can_replay.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 856dd80d49c0fb..c597df1f662c8a 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -10,7 +10,7 @@ from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list from openpilot.tools.lib.logreader import LogReader -from panda import Panda, PandaJungle +from panda import PandaJungle # set both to cycle power or ignition PWR_ON = int(os.getenv("PWR_ON", "0")) From 7a2961710849a69e096a827936b571489bebe997 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Feb 2024 11:48:17 -0800 Subject: [PATCH 56/70] tici: ensure DSP permissions are setup on boot (#31530) Co-authored-by: Comma Device --- launch_chffrplus.sh | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh index 9271c154368737..a7f61411c867de 100755 --- a/launch_chffrplus.sh +++ b/launch_chffrplus.sh @@ -15,6 +15,11 @@ function agnos_init { # set success flag for current boot slot sudo abctl --set_success + # TODO: do this without udev in AGNOS + # udev does this, but sometimes we startup faster + sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 + sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0 + # Check if AGNOS update is required if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then AGNOS_PY="$DIR/system/hardware/tici/agnos.py" From 0eba392cf24e5ebbd09d7a3ff4acd9f98daeb3bb Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 21 Feb 2024 14:58:04 -0500 Subject: [PATCH 57/70] controlsd: sort imports (#31531) sort imports --- selfdrive/controls/controlsd.py | 23 ++++++++++++++--------- 1 file changed, 14 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3db936e1340736..0251877dfb7ea8 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -5,28 +5,33 @@ import threading from typing import SupportsFloat -from cereal import car, log -from openpilot.common.numpy_fast import clip -from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL -from openpilot.common.params import Params import cereal.messaging as messaging + +from cereal import car, log from cereal.visionipc import VisionIpcClient, VisionStreamType -from openpilot.common.conversions import Conversions as CV + from panda import ALTERNATIVE_EXPERIENCE + +from openpilot.common.conversions import Conversions as CV +from openpilot.common.numpy_fast import clip +from openpilot.common.params import Params +from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL from openpilot.common.swaglog import cloudlog -from openpilot.system.version import get_short_branch + from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can +from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature +from openpilot.selfdrive.controls.lib.events import Events, ET from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED -from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from openpilot.selfdrive.controls.lib.events import Events, ET -from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert +from openpilot.selfdrive.controls.lib.longcontrol import LongControl from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel + from openpilot.system.hardware import HARDWARE +from openpilot.system.version import get_short_branch SOFT_DISABLE_TIME = 3 # seconds LDW_MIN_SPEED = 31 * CV.MPH_TO_MS From 837b811f9c78628a1c0ba50f9f287bf96e39144d Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 21 Feb 2024 16:18:43 -0500 Subject: [PATCH 58/70] Split out can control into new "card" class (#31529) * card v1 * fix car events * fix proc replay * lets keep that the same * no extra space here * move can recv timeouts to card * organize imports * organize imports * slightly bump cpu * not a card! --- selfdrive/controls/controlsd.py | 151 +++++++++++++++++++++----------- selfdrive/test/test_onroad.py | 2 +- 2 files changed, 102 insertions(+), 51 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 0251877dfb7ea8..69b7873d20902f 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -20,6 +20,7 @@ from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can +from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature from openpilot.selfdrive.controls.lib.events import Events, ET @@ -60,22 +61,111 @@ ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES) +class CarD: + CI: CarInterfaceBase + CS: car.CarState + + def __init__(self, CI=None): + self.can_sock = messaging.sub_sock('can', timeout=20) + self.sm = messaging.SubMaster(['pandaStates']) + self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams']) + + self.can_rcv_timeout_counter = 0 # conseuctive timeout count + self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count + + self.params = Params() + + if CI is None: + # wait for one pandaState and one CAN packet + print("Waiting for CAN messages...") + get_one_can(self.can_sock) + + num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) + experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") + self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) + else: + self.CI, self.CP = CI, CI.CP + + def initialize(self): + """Initialize CarInterface, once controls are ready""" + self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) + + def state_update(self, CC: car.CarControl): + """carState update loop, driven by can""" + + # TODO: This should not depend on carControl + + # Update carState from CAN + can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) + self.CS = self.CI.update(CC, can_strs) + + self.sm.update(0) + + can_rcv_valid = len(can_strs) > 0 + + # Check for CAN timeout + if not can_rcv_valid: + self.can_rcv_timeout_counter += 1 + self.can_rcv_cum_timeout_counter += 1 + else: + self.can_rcv_timeout_counter = 0 + + self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5 + + if can_rcv_valid and REPLAY: + self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime + + return self.CS + + def state_publish(self, car_events): + """carState and carParams publish loop""" + + # TODO: carState should be independent of the event loop + + # carState + cs_send = messaging.new_message('carState') + cs_send.valid = self.CS.canValid + cs_send.carState = self.CS + cs_send.carState.events = car_events + self.pm.send('carState', cs_send) + + # carParams - logged every 50 seconds (> 1 per segment) + if (self.sm.frame % int(50. / DT_CTRL) == 0): + cp_send = messaging.new_message('carParams') + cp_send.valid = True + cp_send.carParams = self.CP + self.pm.send('carParams', cp_send) + + def controls_update(self, CC: car.CarControl): + """control update loop, driven by carControl""" + + # send car controls over can + now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) + actuators_output, can_sends = self.CI.apply(CC, now_nanos) + self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid)) + + return actuators_output + + class Controls: def __init__(self, CI=None): + self.card = CarD(CI) + + self.CP = self.card.CP + self.CI = self.card.CI + config_realtime_process(4, Priority.CTRL_HIGH) # Ensure the current branch is cached, otherwise the first iteration of controlsd lags self.branch = get_short_branch() # Setup sockets - self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', - 'carControl', 'onroadEvents', 'carParams']) + self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents']) self.sensor_packets = ["accelerometer", "gyroscope"] self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"] self.log_sock = messaging.sub_sock('androidLog') - self.can_sock = messaging.sub_sock('can', timeout=20) self.params = Params() ignore = self.sensor_packets + ['testJoystick'] @@ -88,17 +178,6 @@ def __init__(self, CI=None): ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ], frequency=int(1/DT_CTRL)) - if CI is None: - # wait for one pandaState and one CAN packet - print("Waiting for CAN messages...") - get_one_can(self.can_sock) - - num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) - experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") - self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) - else: - self.CI, self.CP = CI, CI.CP - self.joystick_mode = self.params.get_bool("JoystickDebugMode") # set alternative experiences from parameters @@ -164,8 +243,6 @@ def __init__(self, CI=None): self.soft_disable_timer = 0 self.mismatch_counter = 0 self.cruise_mismatch_counter = 0 - self.can_rcv_timeout_counter = 0 # conseuctive timeout count - self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count self.last_blinker_frame = 0 self.last_steering_pressed_frame = 0 self.distance_traveled = 0 @@ -353,10 +430,9 @@ def update_events(self, CS): self.events.add(EventName.canError) # generic catch-all. ideally, a more specific event should be added above instead - can_rcv_timeout = self.can_rcv_timeout_counter >= 5 has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE)) no_system_errors = (not has_disable_events) or (len(self.events) == num_events) - if (not self.sm.all_checks() or can_rcv_timeout) and no_system_errors: + if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors: if not self.sm.all_alive(): self.events.add(EventName.commIssue) elif not self.sm.all_freq_ok(): @@ -368,7 +444,7 @@ def update_events(self, CS): 'invalid': [s for s, valid in self.sm.valid.items() if not valid], 'not_alive': [s for s, alive in self.sm.alive.items() if not alive], 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], - 'can_rcv_timeout': can_rcv_timeout, + 'can_rcv_timeout': self.card.can_rcv_timeout, } if logs != self.logged_comm_issue: cloudlog.event("commIssue", error=True, **logs) @@ -430,11 +506,7 @@ def update_events(self, CS): def data_sample(self): """Receive data from sockets and update carState""" - # Update carState from CAN - can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) - CS = self.CI.update(self.CC, can_strs) - if len(can_strs) and REPLAY: - self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime + CS = self.card.state_update(self.CC) self.sm.update(0) @@ -449,7 +521,7 @@ def data_sample(self): self.sm.ignore_alive.append('wideRoadCameraState') if not self.CP.passive: - self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) + self.card.initialize() self.initialized = True self.set_initial_state() @@ -466,13 +538,6 @@ def data_sample(self): error=True, ) - # Check for CAN timeout - if not can_strs: - self.can_rcv_timeout_counter += 1 - self.can_rcv_cum_timeout_counter += 1 - else: - self.can_rcv_timeout_counter = 0 - # When the panda and controlsd do not agree on controls_allowed # we want to disengage openpilot. However the status from the panda goes through # another socket other than the CAN messages and one can arrive earlier than the other. @@ -761,10 +826,7 @@ def publish_logs(self, CS, start_time, CC, lac_log): hudControl.visualAlert = current_alert.visual_alert if not self.CP.passive and self.initialized: - # send car controls over can - now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) - self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) - self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) + self.last_actuators = self.card.controls_update(CC) CC.actuatorsOutput = self.last_actuators if self.CP.steerControlType == car.CarParams.SteerControlType.angle: self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \ @@ -812,7 +874,7 @@ def publish_logs(self, CS, start_time, CC, lac_log): controlsState.cumLagMs = -self.rk.remaining * 1000. controlsState.startMonoTime = int(start_time * 1e9) controlsState.forceDecel = bool(force_decel) - controlsState.canErrorCounter = self.can_rcv_cum_timeout_counter + controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter controlsState.experimentalMode = self.experimental_mode lat_tuning = self.CP.lateralTuning.which() @@ -827,13 +889,9 @@ def publish_logs(self, CS, start_time, CC, lac_log): self.pm.send('controlsState', dat) - # carState car_events = self.events.to_msg() - cs_send = messaging.new_message('carState') - cs_send.valid = CS.canValid - cs_send.carState = CS - cs_send.carState.events = car_events - self.pm.send('carState', cs_send) + + self.card.state_publish(car_events) # onroadEvents - logged every second or on change if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev): @@ -843,13 +901,6 @@ def publish_logs(self, CS, start_time, CC, lac_log): self.pm.send('onroadEvents', ce_send) self.events_prev = self.events.names.copy() - # carParams - logged every 50 seconds (> 1 per segment) - if (self.sm.frame % int(50. / DT_CTRL) == 0): - cp_send = messaging.new_message('carParams') - cp_send.valid = True - cp_send.carParams = self.CP - self.pm.send('carParams', cp_send) - # carControl cc_send = messaging.new_message('carControl') cc_send.valid = CS.canValid diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index e98cf09b9ad568..de8a4420b38c2a 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -29,7 +29,7 @@ # Baseline CPU usage by process PROCS = { - "selfdrive.controls.controlsd": 39.0, + "selfdrive.controls.controlsd": 41.0, "./loggerd": 14.0, "./encoderd": 17.0, "./camerad": 14.5, From 34138d0be9b9b0041dc5e15b81c4f4b9e653a9f3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Feb 2024 13:57:29 -0800 Subject: [PATCH 59/70] qcomgpsd: use AT helper with retry for all AT commands (#31532) --- system/qcomgpsd/qcomgpsd.py | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py index 3f723502340e61..e2a180df863415 100755 --- a/system/qcomgpsd/qcomgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -94,11 +94,7 @@ def at_cmd(cmd: str) -> Optional[str]: return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8') def gps_enabled() -> bool: - try: - p = subprocess.check_output("mmcli -m any --command=\"AT+QGPS?\"", shell=True) - return b"QGPS: 1" in p - except subprocess.CalledProcessError as exc: - raise Exception("failed to execute QGPS mmcli command") from exc + return "QGPS: 1" in at_cmd("AT+QGPS?") def download_assistance(): try: From 0b4d08fab8e35a264bc7383e878538f8083c33e5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Feb 2024 13:57:49 -0800 Subject: [PATCH 60/70] remove deviceState.ambientTempC (#31533) --- cereal | 2 +- selfdrive/thermald/thermald.py | 2 -- system/hardware/base.py | 2 +- system/hardware/pc/hardware.py | 2 +- system/hardware/tici/hardware.py | 1 - 5 files changed, 3 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index 7de3c7111e78d8..2fba1381f40df2 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 7de3c7111e78d87f9c43e2861a3e18aa59fde956 +Subproject commit 2fba1381f40df2654f42a2e4bed869f2b7d01a52 diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 4c2764a882c0ca..e868f2ffdd05a7 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -83,7 +83,6 @@ def read_thermal(thermal_config): dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]] dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]] dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1] - dat.deviceState.ambientTempC = read_tz(thermal_config.ambient[0]) / thermal_config.ambient[1] dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]] return dat @@ -412,7 +411,6 @@ def thermald_thread(end_event, hw_queue) -> None: for i, temp in enumerate(msg.deviceState.gpuTempC): statlog.gauge(f"gpu{i}_temperature", temp) statlog.gauge("memory_temperature", msg.deviceState.memoryTempC) - statlog.gauge("ambient_temperature", msg.deviceState.ambientTempC) for i, temp in enumerate(msg.deviceState.pmicTempC): statlog.gauge(f"pmic{i}_temperature", temp) for i, temp in enumerate(last_hw_state.nvme_temps): diff --git a/system/hardware/base.py b/system/hardware/base.py index 9c7a618337c409..7434bb61e8cafa 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -4,7 +4,7 @@ from cereal import log -ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient', 'pmic']) +ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'pmic']) NetworkType = log.DeviceState.NetworkType diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 4c2c104f94b5fd..719e272aea1639 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -57,7 +57,7 @@ def shutdown(self): print("SHUTDOWN!") def get_thermal_config(self): - return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1), pmic=((None,), 1)) + return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), pmic=((None,), 1)) def set_screen_brightness(self, percentage): pass diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index f6064220284230..5bb1032ba9749d 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -349,7 +349,6 @@ def get_thermal_config(self): gpu=(("gpu0-usr", "gpu1-usr"), 1000), mem=("ddr-usr", 1000), bat=(None, 1), - ambient=("xo-therm-adc", 1000), pmic=(("pm8998_tz", "pm8005_tz"), 1000)) def set_screen_brightness(self, percentage): From 00315325a38b4be8a4aaa5db5db81e818c2e31ab Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 21 Feb 2024 19:11:00 -0500 Subject: [PATCH 61/70] controlsd: move carParams management to card (#31534) * card-manage * fix * init params * reversed that * can be in the init --- selfdrive/controls/controlsd.py | 51 +++++++++++++++++++-------------- 1 file changed, 29 insertions(+), 22 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 69b7873d20902f..2959c9729cec9e 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -86,6 +86,34 @@ def __init__(self, CI=None): else: self.CI, self.CP = CI, CI.CP + # set alternative experiences from parameters + disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") + self.CP.alternativeExperience = 0 + if not disengage_on_accelerator: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS + + car_recognized = self.CP.carName != 'mock' + openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") + + controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly + + self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly + if self.CP.passive: + safety_config = car.CarParams.SafetyConfig.new_message() + safety_config.safetyModel = car.CarParams.SafetyModel.noOutput + self.CP.safetyConfigs = [safety_config] + + # Write previous route's CarParams + prev_cp = self.params.get("CarParamsPersistent") + if prev_cp is not None: + self.params.put("CarParamsPrevRoute", prev_cp) + + # Write CarParams for radard + cp_bytes = self.CP.to_bytes() + self.params.put("CarParams", cp_bytes) + self.params.put_nonblocking("CarParamsCache", cp_bytes) + self.params.put_nonblocking("CarParamsPersistent", cp_bytes) + def initialize(self): """Initialize CarInterface, once controls are ready""" self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) @@ -180,13 +208,8 @@ def __init__(self, CI=None): self.joystick_mode = self.params.get_bool("JoystickDebugMode") - # set alternative experiences from parameters - self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") - self.CP.alternativeExperience = 0 - if not self.disengage_on_accelerator: - self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - # read params + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") @@ -197,22 +220,6 @@ def __init__(self, CI=None): car_recognized = self.CP.carName != 'mock' controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly - self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly - if self.CP.passive: - safety_config = car.CarParams.SafetyConfig.new_message() - safety_config.safetyModel = car.CarParams.SafetyModel.noOutput - self.CP.safetyConfigs = [safety_config] - - # Write previous route's CarParams - prev_cp = self.params.get("CarParamsPersistent") - if prev_cp is not None: - self.params.put("CarParamsPrevRoute", prev_cp) - - # Write CarParams for radard - cp_bytes = self.CP.to_bytes() - self.params.put("CarParams", cp_bytes) - self.params.put_nonblocking("CarParamsCache", cp_bytes) - self.params.put_nonblocking("CarParamsPersistent", cp_bytes) # cleanup old params if not self.CP.experimentalLongitudinalAvailable: From d8ce15a86910972bc066aa378a80c499a924de3d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Feb 2024 16:23:43 -0800 Subject: [PATCH 62/70] controlsd: increase initializing timeout (#31535) --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 2959c9729cec9e..bd3dd08179c8a3 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -519,7 +519,7 @@ def data_sample(self): if not self.initialized: all_valid = CS.canValid and self.sm.all_checks() - timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 4.0) + timed_out = self.sm.frame * DT_CTRL > 6. if all_valid or timed_out or (SIMULATION and not REPLAY): available_streams = VisionIpcClient.available_streams("camerad", block=False) if VisionStreamType.VISION_STREAM_ROAD not in available_streams: From 9dde72797462944c8139020d8088cd20030554df Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 21 Feb 2024 21:40:35 -0600 Subject: [PATCH 63/70] Fix athenad reconnect test (#31538) * debugging * this also works * so does this * more similar to existing method * clean up * more * more --- selfdrive/athena/tests/test_athenad_ping.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py index 5231b0475f90ec..49bd5f1142c35d 100755 --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/selfdrive/athena/tests/test_athenad_ping.py @@ -55,7 +55,7 @@ def tearDown(self) -> None: self.exit_event.set() self.athenad.join() - @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', autospec=True) + @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', new_callable=lambda: mock.MagicMock(wraps=athenad.create_connection)) def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None: self.athenad.start() From c0e172e0c08a7e09feb27905b0705ed3df992f21 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 22 Feb 2024 00:08:10 -0600 Subject: [PATCH 64/70] athenad: fix test timeouts and comments (#31540) * these pass in 0.5s since server sends ping on connect * comments * unused * fix * fix these too * check end_event while uploading, throw abort exception if we need to shut down/restart * Revert "check end_event while uploading, throw abort exception if we need to shut down/restart" This reverts commit f0b822fca98cd8e2b3d4d6d5ede6b512d3ed3ec0. * more tol for lte connection --- selfdrive/athena/athenad.py | 3 +++ selfdrive/athena/tests/test_athenad_ping.py | 8 +++++--- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 833bf841f5c9a3..ca3a1bafbb7e06 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -746,6 +746,9 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: onroad_prev = onroad if sock is not None: + # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s + # offroad, we can expect to time out in 30 + (10 * 3) = 60s + # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py index 49bd5f1142c35d..7f32f60cb444d6 100755 --- a/selfdrive/athena/tests/test_athenad_ping.py +++ b/selfdrive/athena/tests/test_athenad_ping.py @@ -12,6 +12,8 @@ from openpilot.selfdrive.manager.helpers import write_onroad_params from openpilot.system.hardware import TICI +TIMEOUT_TOLERANCE = 20 # seconds + def wifi_radio(on: bool) -> None: if not TICI: @@ -63,7 +65,7 @@ def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.Magi mock_create_connection.assert_called_once() mock_create_connection.reset_mock() - # check normal behaviour + # check normal behaviour, server pings on connection with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"): while not self._received_ping(): time.sleep(0.1) @@ -92,12 +94,12 @@ def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.Magi @unittest.skipIf(not TICI, "only run on desk") def test_offroad(self) -> None: write_onroad_params(False, self.params) - self.assertTimeout(100) # expect approx 90s + self.assertTimeout(60 + TIMEOUT_TOLERANCE) # based using TCP keepalive settings @unittest.skipIf(not TICI, "only run on desk") def test_onroad(self) -> None: write_onroad_params(True, self.params) - self.assertTimeout(30) # expect 20-30s + self.assertTimeout(21 + TIMEOUT_TOLERANCE) if __name__ == "__main__": From 3009a51c060b3e660bcb37e5b8c7a49813a832dc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 22 Feb 2024 02:31:24 -0600 Subject: [PATCH 65/70] athenad: check end_event while uploading files (#31541) * check end_event while uploading, throw abort exception if we need to shut down/restart * fix * draft test stash * Revert - there's no easy way to know if it breaks early in upload loop or not yet This reverts commit ad893687e196ebb31d276a114c19e9af963ed02a. * todo for now --- selfdrive/athena/athenad.py | 8 ++++++-- selfdrive/athena/tests/test_athenad.py | 1 + 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index ca3a1bafbb7e06..cc3ab5e95b7e5a 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -206,13 +206,17 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr break -def cb(sm, item, tid, sz: int, cur: int) -> None: +def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None: # Abort transfer if connection changed to metered after starting upload + # or if athenad is shutting down to re-connect the websocket sm.update(0) metered = sm['deviceState'].networkMetered if metered and (not item.allow_cellular): raise AbortTransferException + if end_event.is_set(): + raise AbortTransferException + cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1) @@ -252,7 +256,7 @@ def upload_handler(end_event: threading.Event) -> None: sz = -1 cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count) - response = _do_upload(item, partial(cb, sm, item, tid)) + response = _do_upload(item, partial(cb, sm, item, tid, end_event)) if response.status_code not in (200, 201, 401, 403, 412): cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered) diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 2fecab1b1b5761..d59058d7e29b34 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -233,6 +233,7 @@ def test_upload_handler(self, host): time.sleep(0.1) # TODO: verify that upload actually succeeded + # TODO: also check that end_event and metered network raises AbortTransferException self.assertEqual(athenad.upload_queue.qsize(), 0) @parameterized.expand([(500, True), (412, False)]) From a2bda8724d84fa46ab57ce15cd4143985c1b3470 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 22 Feb 2024 03:34:15 -0600 Subject: [PATCH 66/70] Ford: add back OBD queries for logging (#31543) * Revert "Reapply "Ford: don't fingerprint on engine (#31195)" part 2 (#31320)" This reverts commit dd6065c33b66e04b0ba79d78f967349a5cec6a67. * fix refs * mark logging --- selfdrive/car/ford/values.py | 5 +++++ selfdrive/car/tests/test_fw_fingerprint.py | 6 +++--- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index c080e02299b1e0..979cc6d20a6e3d 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -111,6 +111,11 @@ def init_make(self, CP: car.CarParams): requests=[ # CAN and CAN FD queries are combined. # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], + logging=True, + ), Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE], diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index 493efc1bab3ca8..e1ebd5cf183568 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -263,13 +263,13 @@ def fake_get_ecu_addrs(*_, timeout): print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = {1: 5.95, 2: 6.85} + total_ref_time = {1: 6.05, 2: 6.95} brand_ref_times = { 1: { 'gm': 0.5, 'body': 0.1, 'chrysler': 0.3, - 'ford': 0.1, + 'ford': 0.2, 'honda': 0.55, 'hyundai': 1.05, 'mazda': 0.1, @@ -280,7 +280,7 @@ def test_fw_query_timing(self): 'volkswagen': 0.2, }, 2: { - 'ford': 0.2, + 'ford': 0.3, 'hyundai': 1.85, } } From 43f64ec5005b38b9d2f3ccab9b8bd99a2c1cd6fd Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Thu, 22 Feb 2024 13:17:02 -0800 Subject: [PATCH 67/70] URLFile: default value test (#31544) * URLFile: default value test * cleanup * fix env * improvements * fix GET response * only delete cache dir if it exists * env pop Co-authored-by: Adeeb Shihadeh --------- Co-authored-by: Adeeb Shihadeh --- tools/lib/tests/test_caching.py | 34 +++++++++++++++++++++++++++++++-- 1 file changed, 32 insertions(+), 2 deletions(-) diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py index 4b73e0a301d9b0..bc92b013576891 100755 --- a/tools/lib/tests/test_caching.py +++ b/tools/lib/tests/test_caching.py @@ -2,11 +2,13 @@ from functools import partial import http.server import os +import shutil +import socket import unittest from parameterized import parameterized from openpilot.selfdrive.athena.tests.helpers import with_http_server - +from openpilot.system.hardware.hw import Paths from openpilot.tools.lib.url_file import URLFile @@ -15,7 +17,7 @@ class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler): def do_GET(self): if self.FILE_EXISTS: - self.send_response(200, b'1234') + self.send_response(206 if "Range" in self.headers else 200, b'1234') else: self.send_response(404) self.end_headers() @@ -34,6 +36,34 @@ def do_HEAD(self): class TestFileDownload(unittest.TestCase): + @with_caching_server + def test_pipeline_defaults(self, host): + # TODO: parameterize the defaults so we don't rely on hard-coded values in xx + + self.assertEqual(URLFile.pool_manager().pools._maxsize, 10) # PoolManager num_pools param + pool_manager_defaults = { + "maxsize": 100, + "socket_options": [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),], + } + for k, v in pool_manager_defaults.items(): + self.assertEqual(URLFile.pool_manager().connection_pool_kw.get(k), v) + + retry_defaults = { + "total": 5, + "backoff_factor": 0.5, + "status_forcelist": [409, 429, 503, 504], + } + for k, v in retry_defaults.items(): + self.assertEqual(getattr(URLFile.pool_manager().connection_pool_kw["retries"], k), v) + + # ensure caching off by default and cache dir doesn't get created + os.environ.pop("FILEREADER_CACHE", None) + if os.path.exists(Paths.download_cache_root()): + shutil.rmtree(Paths.download_cache_root()) + URLFile(f"{host}/test.txt").get_length() + URLFile(f"{host}/test.txt").read() + self.assertEqual(os.path.exists(Paths.download_cache_root()), False) + def compare_loads(self, url, start=0, length=None): """Compares range between cached and non cached version""" file_cached = URLFile(url, cache=True) From 1ee8c9aa3317460979dfc2a96eccd101b1b70d41 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 22 Feb 2024 18:58:37 -0500 Subject: [PATCH 68/70] cars: introduce "platformconfig" to be a configuration for all relevant car information (#31542) * this is decent * make sure the docs don't change for now * hackery * these can live here --- selfdrive/car/__init__.py | 39 ++++++++++++++++++++++++++++++++++-- selfdrive/car/body/values.py | 24 +++++++++------------- 2 files changed, 46 insertions(+), 17 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index c90ae50ab9b771..ab0a26ca0c00c7 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,11 +1,14 @@ # functions common among cars from collections import namedtuple -from typing import Dict, List, Optional +from dataclasses import dataclass +from enum import ReprEnum +from typing import Dict, List, Optional, Union import capnp from cereal import car from openpilot.common.numpy_fast import clip, interp +from openpilot.selfdrive.car.docs_definitions import CarInfo # kg of standard extra cargo to count for drive, gas, etc... @@ -73,7 +76,9 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor return tire_stiffness_front, tire_stiffness_rear -def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, str]: +DbcDict = Dict[str, str] + +def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict: return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc} @@ -236,3 +241,33 @@ def update(self, current_value, current_counter): self.previous_value = current_value return self.rate + + +CarInfos = Union[CarInfo, List[CarInfo]] + +@dataclass(order=True) +class PlatformConfig: + platform_str: str + car_info: CarInfos + dbc_dict: DbcDict + + def __hash__(self) -> int: + return hash(self.platform_str) + + +class Platforms(str, ReprEnum): + config: PlatformConfig + + def __new__(cls, platform_config: PlatformConfig): + member = str.__new__(cls, platform_config.platform_str) + member.config = platform_config + member._value_ = platform_config.platform_str + return member + + @classmethod + def create_dbc_map(cls) -> Dict[str, DbcDict]: + return {p.config.platform_str: p.config.dbc_dict for p in cls} + + @classmethod + def create_carinfo_map(cls) -> Dict[str, CarInfos]: + return {p.config.platform_str: p.config.car_info for p in cls} diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 33119bf0fdfc37..441905f28b840c 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -1,8 +1,5 @@ -from enum import StrEnum -from typing import Dict - from cereal import car -from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarInfo from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -22,13 +19,12 @@ def __init__(self, CP): pass -class CAR(StrEnum): - BODY = "COMMA BODY" - - -CAR_INFO: Dict[str, CarInfo] = { - CAR.BODY: CarInfo("comma body", package="All"), -} +class CAR(Platforms): + BODY = PlatformConfig( + "COMMA BODY", + CarInfo("comma body", package="All"), + dbc_dict('comma_body', None), + ) FW_QUERY_CONFIG = FwQueryConfig( @@ -41,7 +37,5 @@ class CAR(StrEnum): ], ) - -DBC = { - CAR.BODY: dbc_dict('comma_body', None), -} +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() From 968eaf1cb2c30a2361c0993a67e720d7dc89f6ec Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 22 Feb 2024 16:12:28 -0800 Subject: [PATCH 69/70] bump to 0.9.7 --- RELEASES.md | 6 +++++- common/version.h | 2 +- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index b3c5b1d6daacb1..096fa691ac615b 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,4 +1,8 @@ -Version 0.9.6 (2024-02-22) +Version 0.9.7 (2024-XX-XX) +======================== +* New driving model + +Version 0.9.6 (2024-02-27) ======================== * New driving model * Vision model trained on more data diff --git a/common/version.h b/common/version.h index 787bc897d7c3d1..177882e31d48da 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.6" +#define COMMA_VERSION "0.9.7" From db57a21c8878602d86fbf4ec23bfe49e17e8b543 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 22 Feb 2024 17:15:53 -0800 Subject: [PATCH 70/70] pandad: wait until USB is up before panda recovery (#31549) --- selfdrive/boardd/pandad.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index 672678778ba901..a87613c8034b51 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -93,6 +93,11 @@ def main() -> NoReturn: cloudlog.event("pandad.flash_and_connect", count=count) params.remove("PandaSignatures") + # TODO: remove this in the next AGNOS + # wait until USB is up before counting + if time.monotonic() < 25.: + no_internal_panda_count = 0 + # Handle missing internal panda if no_internal_panda_count > 0: if no_internal_panda_count == 3: