From 7ca76edf0512e3302c885e3cbfe9b2bfe0844f89 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Sun, 14 Nov 2021 13:00:00 -0600 Subject: [PATCH 01/56] docs/CARS: add 2022 Camry (#22904) * Add 2022 Camry ICE DongleID/route f72a3ad7dc38d5cf|2021-11-14--09-21-28 https://discord.com/channels/469524606043160576/524327905937850394/909452075467960320 * fix whitespace Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index 924b3f72cd7abf..fa768567f99dc1 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -46,7 +46,7 @@ | Toyota | Avalon 2016-21 | TSS-P | Stock3| 20mph1 | 0mph | | Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock3| 20mph1 | 0mph | | Toyota | Camry 2018-20 | All | Stock | 0mph4 | 0mph | -| Toyota | Camry 2021 | All | openpilot | 0mph4 | 0mph | +| Toyota | Camry 2021-22 | All | openpilot | 0mph4 | 0mph | | Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph4 | 0mph | | Toyota | Camry Hybrid 2021-22 | All | openpilot | 0mph | 0mph | | Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph | From abb292d66655c5934c437e2cb5b7d4f61db52505 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Sun, 14 Nov 2021 23:31:10 -0600 Subject: [PATCH 02/56] Add missing COROLLAH_TSS2 engine f/w (#22909) --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 0cd75d8723b205..75026561e1621a 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -618,6 +618,7 @@ class CAR: b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00', b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', + b'\x038966312T3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B12361\x00\x00\x00\x00\x00\x00', From cdc53efb9873899729113e95bf4d03f8f336ea9b Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Sun, 14 Nov 2021 23:49:36 -0600 Subject: [PATCH 03/56] Add missing HIGHLANDERH_TSS2 engine f/w (#22910) * Add missing HIGHLANDERH_TSS2 engine f/w `maximammx#7799` 2022 Highlander Hybrid AWD DongleID/route 91445f0962323b04|2021-11-14--21-33-29 * Add 2022 Highlander Hybrid --- docs/CARS.md | 2 +- selfdrive/car/toyota/values.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index fa768567f99dc1..aa23a85cecb0a6 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -58,7 +58,7 @@ | Toyota | Highlander 2017-19 | All | Stock3| 0mph | 0mph | | Toyota | Highlander 2020-22 | All | openpilot | 0mph | 0mph | | Toyota | Highlander Hybrid 2017-19 | All | Stock3| 0mph | 0mph | -| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph | +| Toyota | Highlander Hybrid 2020-22 | All | openpilot | 0mph | 0mph | | Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph | | Toyota | Prius 2016-20 | TSS-P | Stock3| 0mph | 0mph | | Toyota | Prius 2021 | All | openpilot | 0mph | 0mph | diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 75026561e1621a..734dbc276d3b2d 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -784,6 +784,7 @@ class CAR: ], (Ecu.engine, 0x700, None): [ b'\x01896630EA1000\000\000\000\000', + b'\x01896630EE4000\x00\x00\x00\x00', b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', From e42bf919b2734830aaeae12ac73106bbb9e20d65 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Mon, 15 Nov 2021 03:34:44 -0600 Subject: [PATCH 04/56] Firmware replace \000 with \x00 (#22911) --- selfdrive/car/toyota/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 734dbc276d3b2d..73198d925fc8ae 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -783,7 +783,7 @@ class CAR: b'\x01F152648C6300\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ - b'\x01896630EA1000\000\000\000\000', + b'\x01896630EA1000\x00\x00\x00\x00', b'\x01896630EE4000\x00\x00\x00\x00', b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', From 8e12b9ca76bed74bc4cab5a5a363bdc81101ae11 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 15 Nov 2021 14:10:08 +0100 Subject: [PATCH 05/56] boardd: fix segfault when SIGINT with no pandas (#22914) * boardd: fix segfault when SIGINT with no pandas * remove if block Co-authored-by: Robbe Derks --- selfdrive/boardd/boardd.cc | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index c6f2cf8ed39867..12470c94482fa5 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -669,6 +669,11 @@ int main(int argc, char* argv[]) { } } + if (pandas.size() == 0) { + // do_exit was set while not connected to a panda + return 0; + } + peripheral_panda = pandas[0]; LOGW("connected to board"); From 1d03f2a97bb0a95fdc701fed4a03cc061f792c92 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Mon, 15 Nov 2021 17:52:42 +0100 Subject: [PATCH 06/56] reset on ignition edge (#22915) --- selfdrive/thermald/thermald.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 5e678587911d6f..1f4247145544c7 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -126,16 +126,23 @@ def handle_fan_uno(controller, max_cpu_temp, fan_speed, ignition): return new_speed +last_ignition = False def handle_fan_tici(controller, max_cpu_temp, fan_speed, ignition): + global last_ignition + controller.neg_limit = -(80 if ignition else 30) controller.pos_limit = -(30 if ignition else 0) + if ignition != last_ignition: + controller.reset() + fan_pwr_out = -int(controller.update( setpoint=(75 if ignition else (OFFROAD_DANGER_TEMP - 2)), measurement=max_cpu_temp, feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80]) )) + last_ignition = ignition return fan_pwr_out From 5f2c7ad69f68857c0a160032fc4308927e38302e Mon Sep 17 00:00:00 2001 From: qadmus <42746943+qadmus@users.noreply.github.com> Date: Mon, 15 Nov 2021 13:20:53 -0800 Subject: [PATCH 07/56] plotjuggler: plotjuggler: tuning layout w/ cruise setpoint, use carControl.enable not carControl.active (#22908) --- tools/plotjuggler/layouts/tuning.xml | 200 ++++++++++++++------------- 1 file changed, 101 insertions(+), 99 deletions(-) diff --git a/tools/plotjuggler/layouts/tuning.xml b/tools/plotjuggler/layouts/tuning.xml index 270b4a6284c3e2..877fb82a5d9164 100644 --- a/tools/plotjuggler/layouts/tuning.xml +++ b/tools/plotjuggler/layouts/tuning.xml @@ -1,43 +1,43 @@ - + - + - + - + - + - - - + + + - + - + - + - - + + - + @@ -48,46 +48,47 @@ - - + + - + - - + + + - + - - - + + + - + - + - + - - - + + + - + - - + + @@ -95,10 +96,10 @@ - + - + @@ -107,23 +108,23 @@ - + - - + + - + - - + + - + @@ -131,7 +132,7 @@ - t + @@ -142,40 +143,39 @@ + - + engage_delay = 5 last_bad_time = -engage_delay - accel = value -brake = v1 -gas = v2 -active = v3 + curvature = value / v3 +pressed = v1 +enabled = v2 -if (brake ~= 0 or gas ~= 0 or active == 0) then +if (pressed == 1 or enabled == 0) then last_bad_time = time end if (time > last_bad_time + engage_delay) then - return value + return curvature else return 0 end - /carControl/actuators/accel + /liveLocationKalman/angularVelocityCalibrated/value/2 - /carState/brakePressed - /carState/gasPressed - /carControl/active + /carState/steeringPressed + /carControl/enabled + /liveLocationKalman/velocityCalibrated/value/0 - + engage_delay = 5 last_bad_time = -engage_delay - accel = value -brake = v1 -gas = v2 -active = v3 + curvature = value +pressed = v1 +enabled = v2 -if (brake ~= 0 or gas ~= 0 or active == 0) then +if (pressed == 1 or enabled == 0) then last_bad_time = time end @@ -184,22 +184,20 @@ if (time > last_bad_time + engage_delay) then else return 0 end - /longitudinalPlan/accels/0 + /controlsState/curvature - /carState/brakePressed - /carState/gasPressed - /carControl/active + /carState/steeringPressed + /carControl/enabled - + engage_delay = 5 last_bad_time = -engage_delay - accel = value -brake = v1 -gas = v2 -active = v3 + curvature = value +pressed = v1 +enabled = v2 -if (brake ~= 0 or gas ~= 0 or active == 0) then +if (pressed == 1 or enabled == 0) then last_bad_time = time end @@ -208,21 +206,21 @@ if (time > last_bad_time + engage_delay) then else return 0 end - /carState/aEgo + /lateralPlan/curvatures/0 - /carState/brakePressed - /carState/gasPressed - /carControl/active + /carState/steeringPressed + /carControl/enabled - + engage_delay = 5 last_bad_time = -engage_delay - curvature = value -pressed = v1 -active = v2 + accel = value +brake = v1 +gas = v2 +enabled = v3 -if (pressed == 1 or active == 0) then +if (brake ~= 0 or gas ~= 0 or enabled == 0) then last_bad_time = time end @@ -231,20 +229,22 @@ if (time > last_bad_time + engage_delay) then else return 0 end - /lateralPlan/curvatures/0 + /carState/aEgo - /carState/steeringPressed - /carControl/active + /carState/brakePressed + /carState/gasPressed + /carControl/enabled - + engage_delay = 5 last_bad_time = -engage_delay - curvature = value -pressed = v1 -active = v2 + accel = value +brake = v1 +gas = v2 +enabled = v3 -if (pressed == 1 or active == 0) then +if (brake ~= 0 or gas ~= 0 or enabled == 0) then last_bad_time = time end @@ -253,33 +253,35 @@ if (time > last_bad_time + engage_delay) then else return 0 end - /controlsState/curvature + /longitudinalPlan/accels/0 - /carState/steeringPressed - /controlsState/active + /carState/brakePressed + /carState/gasPressed + /carControl/enabled - + engage_delay = 5 last_bad_time = -engage_delay - curvature = value / v3 -pressed = v1 -active = v2 + accel = value +brake = v1 +gas = v2 +enabled = v3 -if (pressed == 1 or active == 0) then +if (brake ~= 0 or gas ~= 0 or enabled == 0) then last_bad_time = time end if (time > last_bad_time + engage_delay) then - return curvature + return value else return 0 end - /liveLocationKalman/angularVelocityCalibrated/value/2 + /carControl/actuators/accel - /carState/steeringPressed - /carControl/active - /carState/vEgo + /carState/brakePressed + /carState/gasPressed + /carControl/enabled From ec66573a8b139a680ebdda649596554ccae17364 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 Nov 2021 16:03:30 -0800 Subject: [PATCH 08/56] better onroad test output (#22873) --- selfdrive/test/test_onroad.py | 44 +++++++++++++++++++++++------------ 1 file changed, 29 insertions(+), 15 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index f051b18b075040..86d9a9937991ca 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -97,7 +97,8 @@ def cputime_total(ct): def check_cpu_usage(first_proc, last_proc): - result = "------------------------------------------------\n" + result = "\n" + result += "------------------------------------------------\n" result += "------------------ CPU Usage -------------------\n" result += "------------------------------------------------\n" @@ -112,10 +113,9 @@ def check_cpu_usage(first_proc, last_proc): cpu_usage = cpu_time / dt * 100. if cpu_usage > max(normal_cpu_usage * 1.15, normal_cpu_usage + 5.0): # cpu usage is high while playing sounds - if proc_name == "./_soundd" and cpu_usage < 65.: - continue - result += f"Warning {proc_name} using more CPU than normal\n" - r = False + if not (proc_name == "./_soundd" and cpu_usage < 65.): + result += f"Warning {proc_name} using more CPU than normal\n" + r = False elif cpu_usage < min(normal_cpu_usage * 0.65, max(normal_cpu_usage - 1.0, 0.0)): result += f"Warning {proc_name} using less CPU than normal\n" r = False @@ -201,7 +201,8 @@ def test_cpu_usage(self): self.assertTrue(cpu_ok) def test_model_execution_timings(self): - result = "------------------------------------------------\n" + result = "\n" + result += "------------------------------------------------\n" result += "----------------- Model Timing -----------------\n" result += "------------------------------------------------\n" # TODO: this went up when plannerd cpu usage increased, why? @@ -212,12 +213,15 @@ def test_model_execution_timings(self): self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") result += f"'{s}' execution time: {min(ts)}\n" result += f"'{s}' avg execution time: {np.mean(ts)}\n" + result += "------------------------------------------------\n" print(result) def test_timings(self): - - print("\n\n") - print("="*25, "service timings", "="*25) + passed = True + result = "\n" + result += "------------------------------------------------\n" + result += "----------------- Service Timings --------------\n" + result += "------------------------------------------------\n" for s, (maxmin, rsd) in TIMINGS.items(): msgs = [m.logMonoTime for m in self.lr if m.which() == s] if not len(msgs): @@ -226,12 +230,22 @@ def test_timings(self): ts = np.diff(msgs) / 1e9 dt = 1 / service_list[s].frequency - np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check") - np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check") - self.assertLess(np.std(ts) / dt, rsd, msg=f"{s} - failed RSD timing check") - print(f"{s}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}") - print(f" {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}") - print("="*67) + try: + np.testing.assert_allclose(np.mean(ts), dt, rtol=0.03, err_msg=f"{s} - failed mean timing check") + np.testing.assert_allclose([np.max(ts), np.min(ts)], dt, rtol=maxmin, err_msg=f"{s} - failed max/min timing check") + except Exception as e: + result += str(e) + "\n" + passed = False + + if np.std(ts) / dt > rsd: + result += f"{s} - failed RSD timing check\n" + passed = False + + result += f"{s.ljust(40)}: {np.array([np.mean(ts), np.max(ts), np.min(ts)])*1e3}\n" + result += f"{''.ljust(40)} {np.max(np.absolute([np.max(ts)/dt, np.min(ts)/dt]))} {np.std(ts)/dt}\n" + result += "="*67 + print(result) + self.assertTrue(passed) @release_only def test_startup(self): From 04e1a25881db89fd186b0a621299093b282dc47b Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Mon, 15 Nov 2021 16:10:39 -0800 Subject: [PATCH 09/56] panda.cc: add functions to set can and data speed (#22920) --- selfdrive/boardd/panda.cc | 8 ++++++++ selfdrive/boardd/panda.h | 2 ++ 2 files changed, 10 insertions(+) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index b5bf3f903dbcf5..546a7904f21fe1 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -344,6 +344,14 @@ void Panda::send_heartbeat() { usb_write(0xf3, 1, 0); } +void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) { + usb_write(0xde, bus, (speed * 10)); +} + +void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) { + usb_write(0xf9, bus, (speed * 10)); +} + uint8_t Panda::len_to_dlc(uint8_t len) { if (len <= 8) { return len; diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 2373d1cb938139..e42955d2b2a935 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -96,6 +96,8 @@ class Panda { void set_power_saving(bool power_saving); void set_usb_power_mode(cereal::PeripheralState::UsbPowerMode power_mode); void send_heartbeat(); + void set_can_speed_kbps(uint16_t bus, uint16_t speed); + void set_data_speed_kbps(uint16_t bus, uint16_t speed); uint8_t len_to_dlc(uint8_t len); void can_send(capnp::List::Reader can_data_list); bool can_receive(std::vector& out_vec); From 5265c36de7be6a2519488fa4a46462f13918b1fb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 Nov 2021 16:14:31 -0800 Subject: [PATCH 10/56] alert cleanup (#22919) --- selfdrive/controls/lib/events.py | 104 +++++++++---------------------- 1 file changed, 31 insertions(+), 73 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 09e9d65c90c34a..4710d50507f1b5 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -171,10 +171,18 @@ def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert): class NormalPermanentAlert(Alert): - def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2): + def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER): super().__init__(alert_text_1, alert_text_2, AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, duration), + priority, VisualAlert.none, AudibleAlert.none, duration), + + +class StartupAlert(Alert): + def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal): + super().__init__(alert_text_1, alert_text_2, + alert_status, AlertSize.mid, + Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + # ********** helper functions ********** def get_display_speed(speed_ms: float, metric: bool) -> str: @@ -244,61 +252,38 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> }, EventName.startup: { - ET.PERMANENT: Alert( - "Be ready to take over at any time", - "Always keep hands on wheel and eyes on road", - AlertStatus.normal, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + ET.PERMANENT: StartupAlert("Be ready to take over at any time") }, EventName.startupMaster: { - ET.PERMANENT: Alert( - "WARNING: This branch is not tested", - "Always keep hands on wheel and eyes on road", - AlertStatus.userPrompt, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + ET.PERMANENT: StartupAlert("WARNING: This branch is not tested", + alert_status=AlertStatus.userPrompt), }, # Car is recognized, but marked as dashcam only EventName.startupNoControl: { - ET.PERMANENT: Alert( - "Dashcam mode", - "Always keep hands on wheel and eyes on road", - AlertStatus.normal, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + ET.PERMANENT: StartupAlert("Dashcam mode"), }, # Car is not recognized EventName.startupNoCar: { - ET.PERMANENT: Alert( - "Dashcam mode for unsupported car", - "Always keep hands on wheel and eyes on road", - AlertStatus.normal, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + ET.PERMANENT: StartupAlert("Dashcam mode for unsupported car"), }, EventName.startupNoFw: { - ET.PERMANENT: Alert( - "Car Unrecognized", - "Check comma power connections", - AlertStatus.userPrompt, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.), + ET.PERMANENT: StartupAlert("Car Unrecognized", + "Check comma power connections", + alert_status=AlertStatus.userPrompt), }, EventName.dashcamMode: { - ET.PERMANENT: Alert( - "Dashcam Mode", - "", - AlertStatus.normal, AlertSize.small, - Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", + priority=Priority.LOWEST), }, EventName.invalidLkasSetting: { - ET.PERMANENT: Alert( - "Stock LKAS is turned on", - "Turn off stock LKAS to engage", - AlertStatus.normal, AlertSize.mid, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("Stock LKAS is turned on", + "Turn off stock LKAS to engage"), }, EventName.cruiseMismatch: { @@ -309,23 +294,17 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> # detects the use of a community feature it switches to dashcam mode # until these features are allowed using a toggle in settings. EventName.communityFeatureDisallowed: { - # LOW priority to overcome Cruise Error - ET.PERMANENT: Alert( - "openpilot Not Available", - "Enable Community Features in Settings to Engage", - AlertStatus.normal, AlertSize.mid, - Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("openpilot Not Available", + "Enable Community Features in Settings to Engage"), }, # openpilot doesn't recognize the car. This switches openpilot into a # read-only mode. This can be solved by adding your fingerprint. # See https://github.com/commaai/openpilot/wiki/Fingerprinting for more information EventName.carUnrecognized: { - ET.PERMANENT: Alert( - "Dashcam Mode", - "Car Unrecognized", - AlertStatus.normal, AlertSize.mid, - Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("Dashcam Mode", + "Car Unrecognized", + priority=Priority.LOWEST), }, EventName.stockAeb: { @@ -374,11 +353,6 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> EventName.vehicleModelInvalid: { ET.NO_ENTRY: NoEntryAlert("Vehicle Parameter Identification Failed"), ET.SOFT_DISABLE: SoftDisableAlert("Vehicle Parameter Identification Failed"), - ET.WARNING: Alert( - "Vehicle Parameter Identification Failed", - "", - AlertStatus.normal, AlertSize.small, - Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1), }, EventName.steerTempUnavailableSilent: { @@ -756,21 +730,13 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> EventName.steerUnavailable: { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("LKAS Fault: Restart the Car"), - ET.PERMANENT: Alert( - "LKAS Fault: Restart the car to engage", - "", - AlertStatus.normal, AlertSize.small, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("LKAS Fault: Restart the car to engage"), ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"), }, EventName.brakeUnavailable: { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"), - ET.PERMANENT: Alert( - "Cruise Fault: Restart the car to engage", - "", - AlertStatus.normal, AlertSize.small, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), }, @@ -832,19 +798,11 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> "Model uncertain at this speed", AlertStatus.userPrompt, AlertSize.mid, Priority.HIGH, VisualAlert.steerRequired, AudibleAlert.chimeWarning2RepeatInfinite, 4.), - ET.NO_ENTRY: Alert( - "Speed Too High", - "Slow down to engage", - AlertStatus.normal, AlertSize.mid, - Priority.LOW, VisualAlert.none, AudibleAlert.chimeError, 3.), + ET.NO_ENTRY: NoEntryAlert("Slow down to engage"), }, EventName.lowSpeedLockout: { - ET.PERMANENT: Alert( - "Cruise Fault: Restart the car to engage", - "", - AlertStatus.normal, AlertSize.small, - Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2), + ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), }, From 2f90f04f8d1a64c22f4162e9425e80645bd28092 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 Nov 2021 16:27:19 -0800 Subject: [PATCH 11/56] UI: fix alert flicker when controlsState not updated (#22921) --- selfdrive/ui/qt/onroad.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index a2195a621d5f49..c3fbdcb6e64112 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -42,10 +42,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { void OnroadWindow::updateState(const UIState &s) { QColor bgColor = bg_colors[s.status]; Alert alert = Alert::get(*(s.sm), s.scene.started_frame); + if (s.sm->updated("controlsState") || !alert.equal({})) { + alerts->updateAlert(alert, bgColor); + } if (alert.type == "controlsUnresponsive") { bgColor = bg_colors[STATUS_ALERT]; } - alerts->updateAlert(alert, bgColor); if (bg != bgColor) { // repaint border bg = bgColor; From 3c7a8cba5bf89d271ae445b9d5a03a9365215cd4 Mon Sep 17 00:00:00 2001 From: Igor Biletksyy Date: Mon, 15 Nov 2021 16:41:28 -0800 Subject: [PATCH 12/56] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index ae26b75d7bac3d..571512a3923962 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ae26b75d7bac3d57b060f9fdc48b591fa23e0a25 +Subproject commit 571512a392396271e54469c562b2ba08cbb44bfc From 31031a723c265414fa1450a970b453369c6d0575 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 Nov 2021 17:34:16 -0800 Subject: [PATCH 13/56] jenkins: decrease timeout once tests start running --- Jenkinsfile | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 29edbeb1726e2b..64ca4bfa24f5e8 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -37,7 +37,7 @@ EOF""" def phone_steps(String device_type, steps) { lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) { - timeout(time: 150, unit: 'MINUTES') { + timeout(time: 60, unit: 'MINUTES') { phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),) steps.each { item -> phone(device_ip, item[0], item[1]) @@ -53,7 +53,7 @@ pipeline { SOURCE_DIR = "/data/openpilot_source/" } options { - timeout(time: 3, unit: 'HOURS') + timeout(time: 4, unit: 'HOURS') } stages { From 33022390138df73199ac626cb7b5ab7fac1a89a6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 Nov 2021 21:16:27 -0800 Subject: [PATCH 14/56] put cruiseMismatch event in logging only mode --- selfdrive/controls/lib/events.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 4710d50507f1b5..ce30ea7230d074 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -287,7 +287,7 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> }, EventName.cruiseMismatch: { - ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"), + #ET.PERMANENT: ImmediateDisableAlert("openpilot failed to cancel cruise"), }, # Some features or cars are marked as community features. If openpilot diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d58be73f571c5b..8db758855f7ef1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b3c61dc5f6777497fdd82fb7421a469a43efcbf1 \ No newline at end of file +016f58a8f6024a944bf9f73a0e0b745c931485ff \ No newline at end of file From 8b929f005a01a4207e218510512ae72689dd2565 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 Nov 2021 21:42:33 -0800 Subject: [PATCH 15/56] bump openbbc --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index b9669cbe5405fe..fedaf7eb31949e 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit b9669cbe5405fe3cc3b591f7bba44b407021fde6 +Subproject commit fedaf7eb31949ee3b72831c1bc7bba7641b64912 From f262725705c8cd5bfb46cf5c6e893432e5743cc0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 15 Nov 2021 21:45:18 -0800 Subject: [PATCH 16/56] update refs after alert disable --- selfdrive/test/process_replay/ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8db758855f7ef1..0c2cdc6a551400 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -016f58a8f6024a944bf9f73a0e0b745c931485ff \ No newline at end of file +8b929f005a01a4207e218510512ae72689dd2565 \ No newline at end of file From c9218a55f3af82369883af0db90c8b2416a565f7 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 15 Nov 2021 22:11:17 -0800 Subject: [PATCH 17/56] tici: limit brightness with display uptime (#22918) Co-authored-by: Adeeb Shihadeh --- selfdrive/ui/ui.cc | 38 ++++++++++++++++++++++++-------------- selfdrive/ui/ui.h | 3 ++- 2 files changed, 26 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index d0c3c04879c9e7..054e90e1768a82 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -12,7 +12,7 @@ #define BACKLIGHT_DT 0.05 #define BACKLIGHT_TS 10.00 -#define BACKLIGHT_OFFROAD 75 +#define BACKLIGHT_OFFROAD 50 // Projects a point in car to space to the corresponding point in full frame @@ -105,6 +105,7 @@ static void update_sockets(UIState *s) { static void update_state(UIState *s) { SubMaster &sm = *(s->sm); UIScene &scene = s->scene; + s->running_time = 1e-9 * (nanos_since_boot() - sm["deviceState"].getDeviceState().getStartedMonoTime()); // update engageability and DM icons at 2Hz if (sm.frame % (UI_FREQ / 2) == 0) { @@ -278,21 +279,30 @@ void Device::setAwake(bool on, bool reset) { } void Device::updateBrightness(const UIState &s) { - // Scale to 0% to 100% - float clipped_brightness = 100.0 * s.scene.light_sensor; - - // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm - if (clipped_brightness <= 8) { - clipped_brightness = (clipped_brightness / 903.3); - } else { - clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0); - } + float clipped_brightness = BACKLIGHT_OFFROAD; + if (s.scene.started) { + // Scale to 0% to 100% + clipped_brightness = 100.0 * s.scene.light_sensor; + + // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm + if (clipped_brightness <= 8) { + clipped_brightness = (clipped_brightness / 903.3); + } else { + clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0); + } - // Scale back to 10% to 100% - clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f); + // Scale back to 10% to 100% + clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f); - if (!s.scene.started) { - clipped_brightness = BACKLIGHT_OFFROAD; + // Limit brightness if running for too long + if (Hardware::TICI()) { + const float MAX_BRIGHTNESS_HOURS = 4; + const float HOURLY_BRIGHTNESS_DECREASE = 5; + float ui_running_hours = s.running_time / (60*60); + float anti_burnin_max_percent = std::clamp(100.0f - HOURLY_BRIGHTNESS_DECREASE * (ui_running_hours - MAX_BRIGHTNESS_HOURS), + 30.0f, 100.0f); + clipped_brightness = std::min(clipped_brightness, anti_burnin_max_percent); + } } int brightness = brightness_filter.update(clipped_brightness); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 4fcc137df7d8ff..3f52bf120d94cc 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -31,7 +31,6 @@ const int header_h = 420; const int footer_h = 280; const int UI_FREQ = 20; // Hz - typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; // TODO: this is also hardcoded in common/transformations/camera.py @@ -149,6 +148,8 @@ typedef struct UIState { float car_space_transform[6]; bool wide_camera; + + float running_time; } UIState; From 241a0824d9a80cda6255a60930aa7bad29219a92 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 16 Nov 2021 14:22:11 +0100 Subject: [PATCH 18/56] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 78ded8f8606e17..5edffa0f494abf 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 78ded8f8606e1760f8bb99834ed4cbfc68c5d49e +Subproject commit 5edffa0f494abfa2e907c497cda0f64223a421e7 From 9f423a93cd1c56ab7178dce11f478e2932fe68f5 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 16 Nov 2021 14:27:38 +0100 Subject: [PATCH 19/56] nav: fix receiving navRoute while map is loading (#22929) --- selfdrive/ui/qt/maps/map.cc | 8 +++++++- selfdrive/ui/qt/maps/map.h | 1 + 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 1daed310b756aa..1f54516133fb24 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -25,6 +25,9 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.1) { sm = new SubMaster({"liveLocationKalman", "navInstruction", "navRoute"}); + // Connect now, so any navRoutes sent while the map is initializing are not dropped + sm->update(0); + timer = new QTimer(this); QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate())); timer->start(100); @@ -50,6 +53,7 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : } grabGesture(Qt::GestureType::PinchGesture); + qDebug() << "MapWindow initialized"; } MapWindow::~MapWindow() { @@ -178,7 +182,8 @@ void MapWindow::timerUpdate() { } } - if (sm->updated("navRoute")) { + if (sm->rcv_frame("navRoute") != route_rcv_frame) { + qWarning() << "Got new navRoute from navd"; auto route = (*sm)["navRoute"].getNavRoute(); auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates()); QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {}); @@ -193,6 +198,7 @@ void MapWindow::timerUpdate() { setVisible(true); // Show map on destination set/change allow_open = false; } + route_rcv_frame = sm->rcv_frame("navRoute"); } } diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index 519750ce58a784..a5e333fdf50e60 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -114,6 +114,7 @@ class MapWindow : public QOpenGLWidget { MapETA* map_eta; void clearRoute(); + uint64_t route_rcv_frame = 0; private slots: void timerUpdate(); From 906208504363457172d951ae99b8dac99d3400e1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 17 Nov 2021 04:13:16 +0800 Subject: [PATCH 20/56] ui: update params on the show event (#22927) --- selfdrive/ui/paint.h | 1 + selfdrive/ui/qt/onroad.cc | 6 ++++++ selfdrive/ui/qt/onroad.h | 1 + selfdrive/ui/ui.cc | 9 ++------- 4 files changed, 10 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/paint.h b/selfdrive/ui/paint.h index 55fe9c1d0835f1..4ce7cbd133e156 100644 --- a/selfdrive/ui/paint.h +++ b/selfdrive/ui/paint.h @@ -9,3 +9,4 @@ void ui_fill_rect(NVGcontext *vg, const Rect &r, const NVGpaint &paint, float ra void ui_fill_rect(NVGcontext *vg, const Rect &r, const NVGcolor &color, float radius = 0); void ui_nvg_init(UIState *s); void ui_resize(UIState *s, int width, int height); +void ui_update_params(UIState *s); diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index c3fbdcb6e64112..1eef3122e08629 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -186,3 +186,9 @@ void NvgWindow::paintGL() { } prev_draw_t = cur_draw_t; } + +void NvgWindow::showEvent(QShowEvent *event) { + CameraViewWidget::showEvent(event); + ui_update_params(&QUIState::ui_state); + prev_draw_t = millis_since_boot(); +} diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 9be04e04ae473f..ee44973cf24c19 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -34,6 +34,7 @@ class NvgWindow : public CameraViewWidget { protected: void paintGL() override; void initializeGL() override; + void showEvent(QShowEvent *event) override; double prev_draw_t = 0; }; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 054e90e1768a82..016bf72d1d00c5 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -186,12 +186,8 @@ static void update_state(UIState *s) { scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; } -static void update_params(UIState *s) { - const uint64_t frame = s->sm->frame; - UIScene &scene = s->scene; - if (frame % (5*UI_FREQ) == 0) { - scene.is_metric = Params().getBool("IsMetric"); - } +void ui_update_params(UIState *s) { + s->scene.is_metric = Params().getBool("IsMetric"); } static void update_status(UIState *s) { @@ -240,7 +236,6 @@ QUIState::QUIState(QObject *parent) : QObject(parent) { } void QUIState::update() { - update_params(&ui_state); update_sockets(&ui_state); update_state(&ui_state); update_status(&ui_state); From 10bca095c2cb291f83fdef8c0e0307fe7e1c1c54 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 17 Nov 2021 05:06:58 +0800 Subject: [PATCH 21/56] boardd/usb_connect: remove unused variable params (#22931) --- selfdrive/boardd/boardd.cc | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 12470c94482fa5..50749a10617dae 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -158,8 +158,6 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) { return nullptr; } - Params params = Params(); - if (getenv("BOARDD_LOOPBACK")) { panda->set_loopback(true); } From 833399e9418db26df70169d37c2dff90051d89c7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Nov 2021 13:11:32 -0800 Subject: [PATCH 22/56] alerts: make soft disables an orange alert (#22925) --- selfdrive/controls/controlsd.py | 4 ++-- selfdrive/controls/lib/events.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 07b68c941ae22e..bd184f200faf78 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -404,7 +404,7 @@ def state_transition(self, CS): elif self.CP.pcmCruise and CS.cruiseState.enabled: self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH - # decrease the soft disable timer at every step, as it's reset on + # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state self.soft_disable_timer = max(0, self.soft_disable_timer - 1) @@ -426,7 +426,7 @@ def state_transition(self, CS): if self.state == State.enabled: if self.events.any(ET.SOFT_DISABLE): self.state = State.softDisabling - self.soft_disable_timer = 300 # 3s + self.soft_disable_timer = int(3 / DT_CTRL) self.current_alert_types.append(ET.SOFT_DISABLE) # SOFT DISABLING diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index ce30ea7230d074..e7aa1a470a9e45 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -149,7 +149,7 @@ def __init__(self, alert_text_2, audible_alert=AudibleAlert.chimeError, class SoftDisableAlert(Alert): def __init__(self, alert_text_2): super().__init__("TAKE CONTROL IMMEDIATELY", alert_text_2, - AlertStatus.critical, AlertSize.full, + AlertStatus.userPrompt, AlertSize.full, Priority.MID, VisualAlert.steerRequired, AudibleAlert.chimeWarningRepeatInfinite, 2.), From 0e35db7c05172b154c70216d2b1b9ed8c9c7b163 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Nov 2021 13:16:56 -0800 Subject: [PATCH 23/56] UI: fix wrong background on controls unresponsive alert --- selfdrive/ui/qt/onroad.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 1eef3122e08629..e7a233000cdd8e 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -43,11 +43,11 @@ void OnroadWindow::updateState(const UIState &s) { QColor bgColor = bg_colors[s.status]; Alert alert = Alert::get(*(s.sm), s.scene.started_frame); if (s.sm->updated("controlsState") || !alert.equal({})) { + if (alert.type == "controlsUnresponsive") { + bgColor = bg_colors[STATUS_ALERT]; + } alerts->updateAlert(alert, bgColor); } - if (alert.type == "controlsUnresponsive") { - bgColor = bg_colors[STATUS_ALERT]; - } if (bg != bgColor) { // repaint border bg = bgColor; From fb1e8ce086ec5e2dc7b2150b62fdd99368eb7e66 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Nov 2021 13:30:33 -0800 Subject: [PATCH 24/56] add offroad alerts for car unrecognized --- selfdrive/common/params.cc | 2 ++ selfdrive/controls/controlsd.py | 6 +++++- selfdrive/controls/lib/alerts_offroad.json | 8 ++++++++ 3 files changed, 15 insertions(+), 1 deletion(-) diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc index 7e65ec128c2742..01bf9a8f4f5b78 100644 --- a/selfdrive/common/params.cc +++ b/selfdrive/common/params.cc @@ -158,12 +158,14 @@ std::unordered_map keys = { {"ApiCache_DriveStats", PERSISTENT}, {"ApiCache_NavDestinations", PERSISTENT}, {"ApiCache_Owner", PERSISTENT}, + {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT}, {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START}, {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START}, + {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index bd184f200faf78..bbd84d458f1c7d 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -22,7 +22,7 @@ from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR from selfdrive.controls.lib.latcontrol_angle import LatControlAngle from selfdrive.controls.lib.events import Events, ET -from selfdrive.controls.lib.alertmanager import AlertManager +from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.locationd.calibrationd import Calibration from selfdrive.hardware import HARDWARE, TICI, EON @@ -170,6 +170,10 @@ def __init__(self, sm=None, pm=None, can_sock=None): self.events.add(EventName.communityFeatureDisallowed, static=True) if not car_recognized: self.events.add(EventName.carUnrecognized, static=True) + if len(self.CP.carFw) > 0: + set_offroad_alert("Offroad_CarUnrecognized", True) + else: + set_offroad_alert("Offroad_NoFirmware", True) elif self.read_only: self.events.add(EventName.dashcamMode, static=True) elif self.joystick_mode: diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json index 9a863551a82811..34f7601b3fa45e 100644 --- a/selfdrive/controls/lib/alerts_offroad.json +++ b/selfdrive/controls/lib/alerts_offroad.json @@ -40,5 +40,13 @@ "Offroad_StorageMissing": { "text": "Storage drive not mounted.", "severity": 1 + }, + "Offroad_CarUnrecognized": { + "text": "openpilot was unable to identify your car... TODO", + "severity": 0 + }, + "Offroad_NoFirmware": { + "text": "openpilot was unable to identify your car (no fw)... TODO", + "severity": 0 } } From d8a5c415cd73b50a3424a28f644466fee263e09c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Nov 2021 13:31:10 -0800 Subject: [PATCH 25/56] Revert "add offroad alerts for car unrecognized" This reverts commit fb1e8ce086ec5e2dc7b2150b62fdd99368eb7e66. --- selfdrive/common/params.cc | 2 -- selfdrive/controls/controlsd.py | 6 +----- selfdrive/controls/lib/alerts_offroad.json | 8 -------- 3 files changed, 1 insertion(+), 15 deletions(-) diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc index 01bf9a8f4f5b78..7e65ec128c2742 100644 --- a/selfdrive/common/params.cc +++ b/selfdrive/common/params.cc @@ -158,14 +158,12 @@ std::unordered_map keys = { {"ApiCache_DriveStats", PERSISTENT}, {"ApiCache_NavDestinations", PERSISTENT}, {"ApiCache_Owner", PERSISTENT}, - {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"Offroad_ChargeDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_PANDA_DISCONNECT}, {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START}, {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START}, - {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index bbd84d458f1c7d..bd184f200faf78 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -22,7 +22,7 @@ from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR from selfdrive.controls.lib.latcontrol_angle import LatControlAngle from selfdrive.controls.lib.events import Events, ET -from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert +from selfdrive.controls.lib.alertmanager import AlertManager from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.locationd.calibrationd import Calibration from selfdrive.hardware import HARDWARE, TICI, EON @@ -170,10 +170,6 @@ def __init__(self, sm=None, pm=None, can_sock=None): self.events.add(EventName.communityFeatureDisallowed, static=True) if not car_recognized: self.events.add(EventName.carUnrecognized, static=True) - if len(self.CP.carFw) > 0: - set_offroad_alert("Offroad_CarUnrecognized", True) - else: - set_offroad_alert("Offroad_NoFirmware", True) elif self.read_only: self.events.add(EventName.dashcamMode, static=True) elif self.joystick_mode: diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json index 34f7601b3fa45e..9a863551a82811 100644 --- a/selfdrive/controls/lib/alerts_offroad.json +++ b/selfdrive/controls/lib/alerts_offroad.json @@ -40,13 +40,5 @@ "Offroad_StorageMissing": { "text": "Storage drive not mounted.", "severity": 1 - }, - "Offroad_CarUnrecognized": { - "text": "openpilot was unable to identify your car... TODO", - "severity": 0 - }, - "Offroad_NoFirmware": { - "text": "openpilot was unable to identify your car (no fw)... TODO", - "severity": 0 } } From 0674726cf4e0dfffc30d4596e2c650821b792588 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Nov 2021 14:30:51 -0800 Subject: [PATCH 26/56] ubuntu_setup.sh: add option to continue on unsupported os --- tools/ubuntu_setup.sh | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index a7eaa9876827ca..6ad7931b5619c7 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -104,7 +104,12 @@ if [ -f "/etc/os-release" ]; then ;; *) echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04." - exit 1 + read -p "Would you like to attempt installation anyway? " -n 1 -r + echo "" + if [[ ! $REPLY =~ ^[Yy]$ ]]; then + exit 1 + fi + install_ubuntu_lts_requirements esac else echo "No /etc/os-release in the system" From b3b45c8d29d0afb741c829fea8145fb47ffa7462 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 16 Nov 2021 17:57:55 -0800 Subject: [PATCH 27/56] Add cost to long plan change for smoother lag comp (#22923) * add plan changing cost * fix compile * set weights * try this cost * horizon problem * looks pretty good * update refs * update refs * smoother plan changes --- .../lib/longitudinal_mpc_lib/long_mpc.py | 29 +++++++++++++------ .../test_longitudinal.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 22 insertions(+), 11 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index df6d8e0fb64316..577651f8d47262 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -24,15 +24,17 @@ X_DIM = 3 U_DIM = 1 -COST_E_DIM = 4 +PARAM_DIM= 4 +COST_E_DIM = 5 COST_DIM = COST_E_DIM + 1 CONSTR_DIM = 4 X_EGO_OBSTACLE_COST = 3. -V_EGO_COST = 0. X_EGO_COST = 0. +V_EGO_COST = 0. A_EGO_COST = 0. -J_EGO_COST = 10. +J_EGO_COST = 5.0 +A_CHANGE_COST = .5 DANGER_ZONE_COST = 100. CRASH_DISTANCE = .5 LIMIT_COST = 1e6 @@ -85,7 +87,8 @@ def gen_long_model(): x_obstacle = SX.sym('x_obstacle') a_min = SX.sym('a_min') a_max = SX.sym('a_max') - model.p = vertcat(a_min, a_max, x_obstacle) + prev_a = SX.sym('prev_a') + model.p = vertcat(a_min, a_max, x_obstacle, prev_a) # dynamics model f_expl = vertcat(v_ego, a_ego, j_ego) @@ -118,6 +121,7 @@ def gen_long_mpc_solver(): a_min, a_max = ocp.model.p[0], ocp.model.p[1] x_obstacle = ocp.model.p[2] + prev_a = ocp.model.p[3] ocp.cost.yref = np.zeros((COST_DIM, )) ocp.cost.yref_e = np.zeros((COST_E_DIM, )) @@ -132,6 +136,7 @@ def gen_long_mpc_solver(): x_ego, v_ego, a_ego, + 20*(a_ego - prev_a), j_ego] ocp.model.cost_y_expr = vertcat(*costs) ocp.model.cost_y_expr_e = vertcat(*costs[:-1]) @@ -148,7 +153,7 @@ def gen_long_mpc_solver(): x0 = np.zeros(X_DIM) ocp.constraints.x0 = x0 - ocp.parameter_values = np.array([-1.2, 1.2, 0.0]) + ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0]) # We put all constraint cost weights to 0 and only set them at runtime cost_weights = np.zeros(CONSTR_DIM) @@ -198,6 +203,7 @@ def reset(self): self.solver = AcadosOcpSolverFast('long', N, EXPORT_DIR) self.v_solution = [0.0 for i in range(N+1)] self.a_solution = [0.0 for i in range(N+1)] + self.prev_a = self.a_solution self.j_solution = [0.0 for i in range(N)] self.yref = np.zeros((N+1, COST_DIM)) for i in range(N): @@ -205,7 +211,7 @@ def reset(self): self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) self.x_sol = np.zeros((N+1, X_DIM)) self.u_sol = np.zeros((N,1)) - self.params = np.zeros((N+1,3)) + self.params = np.zeros((N+1, PARAM_DIM)) for i in range(N+1): self.solver.set(i, 'x', np.zeros(X_DIM)) self.last_cloudlog_t = 0 @@ -222,8 +228,9 @@ def set_weights(self): self.set_weights_for_lead_policy() def set_weights_for_lead_policy(self): - W = np.asfortranarray(np.diag([X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, J_EGO_COST])) + W = np.asfortranarray(np.diag([X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, A_CHANGE_COST, J_EGO_COST])) for i in range(N): + W[4,4] = A_CHANGE_COST * np.interp(T_IDXS[i], [0.0, 1.0, 2.0], [1.0, 1.0, 0.0]) self.solver.cost_set(i, 'W', W) # Setting the slice without the copy make the array not contiguous, # causing issues with the C interface. @@ -235,7 +242,7 @@ def set_weights_for_lead_policy(self): self.solver.cost_set(i, 'Zl', Zl) def set_weights_for_xva_policy(self): - W = np.asfortranarray(np.diag([0., 10., 1., 10., 1.])) + W = np.asfortranarray(np.diag([0., 10., 1., 10., 0.0, 1.])) for i in range(N): self.solver.cost_set(i, 'W', W) # Setting the slice without the copy make the array not contiguous, @@ -320,6 +327,7 @@ def update(self, carstate, radarstate, v_cruise): x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) self.source = SOURCES[np.argmin(x_obstacles[0])] self.params[:,2] = np.min(x_obstacles, axis=1) + self.params[:,3] = np.copy(self.prev_a) self.run() if (np.any(lead_xv_0[:,0] - self.x_sol[:,0] < CRASH_DISTANCE) and @@ -339,7 +347,8 @@ def update_with_xva(self, x, v, a): self.accel_limit_arr[:,1] = 10. x_obstacle = 1e5*np.ones((N+1)) self.params = np.concatenate([self.accel_limit_arr, - x_obstacle[:,None]], axis=1) + x_obstacle[:,None], + self.prev_a], axis=1) self.run() @@ -358,6 +367,8 @@ def run(self): self.a_solution = self.x_sol[:,2] self.j_solution = self.u_sol[:,0] + self.prev_a = interp(T_IDXS + 0.05, T_IDXS, self.a_solution) + t = sec_since_boot() if self.solution_status != 0: if t > self.last_cloudlog_t + 5.0: diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 4267f3c9e134d7..35b9f32e68e86a 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -62,7 +62,7 @@ speed_lead_values=[20., 20., 0.], prob_lead_values=[0., 1., 1.], cruise_values=[20., 20., 20.], - breakpoints=[2., 2.01, 8.51], + breakpoints=[2., 2.01, 8.8], ), Maneuver( "approach stopped car at 20m/s", diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0c2cdc6a551400..5027b0c1798917 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -8b929f005a01a4207e218510512ae72689dd2565 \ No newline at end of file +6540e8c5a765975fd292b1efdef97b2d6391fa9c \ No newline at end of file From 2492a116613a4758b6e926a88019351f2793099b Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Tue, 16 Nov 2021 22:10:16 -0700 Subject: [PATCH 28/56] Mazda: add three new FW FP (#22939) --- selfdrive/car/mazda/values.py | 40 ++++++++++++++++++++--------------- 1 file changed, 23 insertions(+), 17 deletions(-) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 4e4ecd341c26f1..c890584de3c7f5 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -46,13 +46,14 @@ class Buttons: ], (Ecu.engine, 0x7e0, None): [ b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-D\0x0\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2K-188K2-B\0x0\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -67,14 +68,14 @@ class Buttons: ], (Ecu.esp, 0x760, None): [ b'K123-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KL2K-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KN0W-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'KBJ5-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x706, None): [ - b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'B61L-67XK2-R\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -82,14 +83,15 @@ class Buttons: (Ecu.transmission, 0x7e1, None): [ b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB1-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB1-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYB2-21PS1-G\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYNC-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'SH9T-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, @@ -101,55 +103,59 @@ class Buttons: b'KJ01-3210X-L-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ - b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYFM-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ - b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K123-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K131-67XK2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'TK80-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.esp, 0x760, None): [ + b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'TK79-437K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'TM53-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'TN40-437K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'TA0B-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x706, None): [ - b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], + b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + ], (Ecu.transmission, 0x7e1, None): [ + b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYD5-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYD5-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYD6-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYD6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.MAZDA3: { (Ecu.eps, 0x730, None): [ + b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K070-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KR11-3210X-K-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'BHN1-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'P5JD-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYKC-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYKE-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PY2P-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ + b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GHP9-67Y10---41\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'K131-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'B63C-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.esp, 0x760, None): [ b'B45A-437AS-0-08\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -173,8 +179,8 @@ class Buttons: b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000', ], (Ecu.engine, 0x7e0, None): [ - b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000', + b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -189,8 +195,8 @@ class Buttons: b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000', ], (Ecu.transmission, 0x7e1, None): [ - b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000', + b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, From 70c1f19304cf6c81baddee2f67d64e48b7891d3f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Nov 2021 22:38:23 -0800 Subject: [PATCH 29/56] pedal: only send command while actuators active (#22942) --- selfdrive/car/honda/carcontroller.py | 2 +- selfdrive/car/toyota/carcontroller.py | 4 ++-- selfdrive/car/toyota/interface.py | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 088e42476ea0b3..1e0a35fdf50222 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -232,7 +232,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, # This prevents unexpected pedal range rescaling # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected # when you do enable. - if enabled: + if active: apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.) else: apply_gas = 0.0 diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 2d17ee20f821df..daf91a49d38262 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -37,7 +37,7 @@ def __init__(self, dbc_name, CP, VM): self.packer = CANPacker(dbc_name) - def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert, + def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_alert, left_line, right_line, lead, left_lane_depart, right_lane_depart): # *** compute control surfaces *** @@ -53,7 +53,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert, elif CS.out.vEgo > MIN_ACC_SPEED + PEDAL_HYST_GAP: self.use_interceptor = False - if self.use_interceptor and enabled: + if self.use_interceptor and active: # only send negative accel when using interceptor. gas handles acceleration # +0.18 m/s^2 offset to reduce ABS pump usage when OP is engaged MAX_INTERCEPTOR_GAS = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED], [0.2, 0.5]) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 643876af118a93..cc24b92152f547 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -375,7 +375,7 @@ def update(self, c, can_strings): # to be called @ 100hz def apply(self, c): - can_sends = self.CC.update(c.enabled, self.CS, self.frame, + can_sends = self.CC.update(c.enabled, c.active, self.CS, self.frame, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert, c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leadVisible, From 8d917b6702858a3864f8f8c9fced56a04e65f206 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Nov 2021 22:56:29 -0800 Subject: [PATCH 30/56] more alert checks --- selfdrive/controls/tests/test_alerts.py | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py index d32bc2365d9899..a55cb373a133cc 100755 --- a/selfdrive/controls/tests/test_alerts.py +++ b/selfdrive/controls/tests/test_alerts.py @@ -76,11 +76,16 @@ def test_alert_text_length(self): def test_alert_sanity_check(self): for a in ALERTS: if a.alert_size == AlertSize.none: - self.assertEqual(0, len(a.alert_text_1)) - self.assertEqual(0, len(a.alert_text_2)) + self.assertEqual(len(a.alert_text_1), 0) + self.assertEqual(len(a.alert_text_2), 0) + elif a.alert_size == AlertSize.small: + self.assertGreater(len(a.alert_text_1), 0) + self.assertEqual(len(a.alert_text_2), 0) + elif a.alert_size == AlertSize.mid: + self.assertGreater(len(a.alert_text_1), 0) + self.assertGreater(len(a.alert_text_2), 0) else: - if a.alert_size == AlertSize.small: - self.assertEqual(0, len(a.alert_text_2)) + self.assertGreater(len(a.alert_text_1), 0) self.assertGreaterEqual(a.duration, 0.) From 5296ca8d73573a59a5198b73770d2a4f20cbc9c2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Nov 2021 22:57:22 -0800 Subject: [PATCH 31/56] improve crc camera error (#22943) --- selfdrive/controls/lib/events.py | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index e7aa1a470a9e45..bd728159b708d4 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -171,10 +171,10 @@ def __init__(self, audible_alert: car.CarControl.HUDControl.AudibleAlert): class NormalPermanentAlert(Alert): - def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER): + def __init__(self, alert_text_1: str, alert_text_2: str = "", duration: float = 0.2, priority: Priority = Priority.LOWER, creation_delay: float = 0.): super().__init__(alert_text_1, alert_text_2, AlertStatus.normal, AlertSize.mid if len(alert_text_2) else AlertSize.small, - priority, VisualAlert.none, AudibleAlert.none, duration), + priority, VisualAlert.none, AudibleAlert.none, duration, creation_delay=creation_delay), class StartupAlert(Alert): @@ -692,18 +692,21 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool) -> }, EventName.roadCameraError: { - ET.PERMANENT: NormalPermanentAlert("Road Camera Error", "", - duration=10.), + ET.PERMANENT: NormalPermanentAlert("Camera Error", + duration=1., + creation_delay=30.), }, EventName.driverCameraError: { - ET.PERMANENT: NormalPermanentAlert("Driver Camera Error", "", - duration=10.), + ET.PERMANENT: NormalPermanentAlert("Camera Error", + duration=1., + creation_delay=30.), }, EventName.wideRoadCameraError: { - ET.PERMANENT: NormalPermanentAlert("Wide Road Camera Error", "", - duration=10.), + ET.PERMANENT: NormalPermanentAlert("Camera Error", + duration=1., + creation_delay=30.), }, # Sometimes the USB stack on the device can get into a bad state From 3d87eb6c67c454b6624e76e9497880f6d77501b7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 16 Nov 2021 23:42:02 -0800 Subject: [PATCH 32/56] we're an oxford comma company --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 31383eec8015ec..0b708d756085d7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,7 +3,7 @@ Version 0.8.11 (2021-11-22) * Support for an external panda on the comma three * Navigation: Show more detailed instructions when approaching maneuver * Fixed occasional steering faults on GM cars thanks to jyoung8607! - * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl and razem-io! + * Nissan ECU firmware fingerprinting thanks to robin-reckmann, martinl, and razem-io! * Cadillac Escalade ESV 2016 support thanks to Gibby! * Mazda CX-9 2021 support thanks to Jacar! * Volkswagen Polo 2020 support thanks to jyoung8607! From 20d3cf1fcb3d5c64d438426b0706b2478b72e3d7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 17 Nov 2021 18:17:59 +0800 Subject: [PATCH 33/56] framereader: support hardware decoding (#22906) * support hardware accelerated video decoding * support cuda only * print decode info * add yuv flag back * fix height * default is cuda * fallback to CPU decoding fix memory leak&cleanup add output --- selfdrive/ui/replay/framereader.cc | 162 ++++++++++++++++++++--------- selfdrive/ui/replay/framereader.h | 20 +++- selfdrive/ui/replay/main.cc | 1 + selfdrive/ui/replay/replay.h | 1 + selfdrive/ui/replay/route.cc | 9 +- selfdrive/ui/replay/route.h | 3 +- 6 files changed, 139 insertions(+), 57 deletions(-) diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc index bfdc6ee386d767..6c531d1d6e706c 100644 --- a/selfdrive/ui/replay/framereader.cc +++ b/selfdrive/ui/replay/framereader.cc @@ -11,35 +11,42 @@ int readFunction(void *opaque, uint8_t *buf, int buf_size) { return iss.gcount() ? iss.gcount() : AVERROR_EOF; } +enum AVPixelFormat get_hw_format(AVCodecContext *ctx, const enum AVPixelFormat *pix_fmts) { + enum AVPixelFormat *hw_pix_fmt = reinterpret_cast(ctx->opaque); + for (const enum AVPixelFormat *p = pix_fmts; *p != -1; p++) { + if (*p == *hw_pix_fmt) return *p; + } + printf("Please run replay with the --no-cuda flag!\n"); + assert(0); + return AV_PIX_FMT_NONE; +} + } // namespace FrameReader::FrameReader(bool local_cache, int chunk_size, int retries) : FileReader(local_cache, chunk_size, retries) { - pFormatCtx_ = avformat_alloc_context(); - av_frame_ = av_frame_alloc(); - rgb_frame_ = av_frame_alloc(); - yuv_frame_ = av_frame_alloc(); + input_ctx = avformat_alloc_context(); + sws_frame.reset(av_frame_alloc()); } FrameReader::~FrameReader() { for (auto &f : frames_) { - av_free_packet(&f.pkt); + av_packet_unref(&f.pkt); } - if (pCodecCtx_) avcodec_free_context(&pCodecCtx_); - if (pFormatCtx_) avformat_close_input(&pFormatCtx_); - if (av_frame_) av_frame_free(&av_frame_); - if (rgb_frame_) av_frame_free(&rgb_frame_); - if (yuv_frame_) av_frame_free(&yuv_frame_); + if (decoder_ctx) avcodec_free_context(&decoder_ctx); + if (input_ctx) avformat_close_input(&input_ctx); + if (hw_device_ctx) av_buffer_unref(&hw_device_ctx); + if (rgb_sws_ctx_) sws_freeContext(rgb_sws_ctx_); if (yuv_sws_ctx_) sws_freeContext(yuv_sws_ctx_); if (avio_ctx_) { av_freep(&avio_ctx_->buffer); - av_freep(&avio_ctx_); + avio_context_free(&avio_ctx_); } } -bool FrameReader::load(const std::string &url, std::atomic *abort) { +bool FrameReader::load(const std::string &url, bool no_cuda, std::atomic *abort) { std::string content = read(url, abort); if (content.empty()) return false; @@ -47,48 +54,56 @@ bool FrameReader::load(const std::string &url, std::atomic *abort) { const int avio_ctx_buffer_size = 64 * 1024; unsigned char *avio_ctx_buffer = (unsigned char *)av_malloc(avio_ctx_buffer_size); avio_ctx_ = avio_alloc_context(avio_ctx_buffer, avio_ctx_buffer_size, 0, &iss, readFunction, nullptr, nullptr); - pFormatCtx_->pb = avio_ctx_; + input_ctx->pb = avio_ctx_; - pFormatCtx_->probesize = 10 * 1024 * 1024; // 10MB - int ret = avformat_open_input(&pFormatCtx_, url.c_str(), NULL, NULL); + input_ctx->probesize = 10 * 1024 * 1024; // 10MB + int ret = avformat_open_input(&input_ctx, url.c_str(), NULL, NULL); if (ret != 0) { char err_str[1024] = {0}; av_strerror(ret, err_str, std::size(err_str)); printf("Error loading video - %s - %s\n", err_str, url.c_str()); return false; } - avformat_find_stream_info(pFormatCtx_, NULL); - // av_dump_format(pFormatCtx_, 0, url.c_str(), 0); - AVStream *video = pFormatCtx_->streams[0]; - auto pCodec = avcodec_find_decoder(video->codec->codec_id); - if (!pCodec) return false; + ret = avformat_find_stream_info(input_ctx, nullptr); + if (ret < 0) { + printf("cannot find a video stream in the input file\n"); + return false; + } + + AVStream *video = input_ctx->streams[0]; + AVCodec *decoder = avcodec_find_decoder(video->codec->codec_id); + if (!decoder) return false; - pCodecCtx_ = avcodec_alloc_context3(pCodec); - ret = avcodec_parameters_to_context(pCodecCtx_, video->codecpar); + decoder_ctx = avcodec_alloc_context3(decoder); + ret = avcodec_parameters_to_context(decoder_ctx, video->codecpar); if (ret != 0) return false; - // pCodecCtx_->thread_count = 0; - // pCodecCtx_->thread_type = FF_THREAD_FRAME; - ret = avcodec_open2(pCodecCtx_, pCodec, NULL); - if (ret < 0) return false; + width = (decoder_ctx->width + 3) & ~3; + height = decoder_ctx->height; - width = (pCodecCtx_->width + 3) & ~3; - height = pCodecCtx_->height; - rgb_sws_ctx_ = sws_getContext(pCodecCtx_->width, pCodecCtx_->height, AV_PIX_FMT_YUV420P, - width, height, AV_PIX_FMT_BGR24, - SWS_FAST_BILINEAR, NULL, NULL, NULL); - if (!rgb_sws_ctx_) return false; + if (!no_cuda) { + if (!initHardwareDecoder(AV_HWDEVICE_TYPE_CUDA)) { + printf("No CUDA capable device was found. fallback to CPU decoding.\n"); + } + } - yuv_sws_ctx_ = sws_getContext(pCodecCtx_->width, pCodecCtx_->height, AV_PIX_FMT_YUV420P, - width, height, AV_PIX_FMT_YUV420P, - SWS_FAST_BILINEAR, NULL, NULL, NULL); + rgb_sws_ctx_ = sws_getContext(decoder_ctx->width, decoder_ctx->height, sws_src_format, + width, height, AV_PIX_FMT_BGR24, + SWS_BILINEAR, NULL, NULL, NULL); + if (!rgb_sws_ctx_) return false; + yuv_sws_ctx_ = sws_getContext(decoder_ctx->width, decoder_ctx->height, sws_src_format, + width, height, AV_PIX_FMT_YUV420P, + SWS_BILINEAR, NULL, NULL, NULL); if (!yuv_sws_ctx_) return false; + ret = avcodec_open2(decoder_ctx, decoder, NULL); + if (ret < 0) return false; + frames_.reserve(60 * 20); // 20fps, one minute while (!(abort && *abort)) { Frame &frame = frames_.emplace_back(); - ret = av_read_frame(pFormatCtx_, &frame.pkt); + ret = av_read_frame(input_ctx, &frame.pkt); if (ret < 0) { frames_.pop_back(); valid_ = (ret == AVERROR_EOF); @@ -100,6 +115,43 @@ bool FrameReader::load(const std::string &url, std::atomic *abort) { return valid_; } +bool FrameReader::initHardwareDecoder(AVHWDeviceType hw_device_type) { + for (int i = 0;; i++) { + const AVCodecHWConfig *config = avcodec_get_hw_config(decoder_ctx->codec, i); + if (!config) { + printf("decoder %s does not support hw device type %s.\n", + decoder_ctx->codec->name, av_hwdevice_get_type_name(hw_device_type)); + return false; + } + if (config->methods & AV_CODEC_HW_CONFIG_METHOD_HW_DEVICE_CTX && config->device_type == hw_device_type) { + hw_pix_fmt = config->pix_fmt; + break; + } + } + + int ret = av_hwdevice_ctx_create(&hw_device_ctx, hw_device_type, nullptr, nullptr, 0); + if (ret < 0) { + printf("Failed to create specified HW device %d.\n", ret); + return false; + } + + // get sws source format + AVHWFramesConstraints *hw_frames_const = av_hwdevice_get_hwframe_constraints(hw_device_ctx, nullptr); + assert(hw_frames_const != 0); + for (AVPixelFormat *p = hw_frames_const->valid_sw_formats; *p != AV_PIX_FMT_NONE; p++) { + if (sws_isSupportedInput(*p)) { + sws_src_format = *p; + break; + } + } + av_hwframe_constraints_free(&hw_frames_const); + + decoder_ctx->hw_device_ctx = av_buffer_ref(hw_device_ctx); + decoder_ctx->opaque = &hw_pix_fmt; + decoder_ctx->get_format = get_hw_format; + return true; +} + bool FrameReader::get(int idx, uint8_t *rgb, uint8_t *yuv) { assert(rgb || yuv); if (!valid_ || idx < 0 || idx >= frames_.size()) { @@ -125,35 +177,51 @@ bool FrameReader::decode(int idx, uint8_t *rgb, uint8_t *yuv) { for (int i = from_idx; i <= idx; ++i) { Frame &frame = frames_[i]; if ((!frame.decoded || i == idx) && !frame.failed) { - frame.decoded = decodeFrame(&frame.pkt); + AVFrame *f = decodeFrame(&frame.pkt); + frame.decoded = f != nullptr; frame.failed = !frame.decoded; if (frame.decoded && i == idx) { - return copyBuffers(av_frame_, rgb, yuv); + return copyBuffers(f, rgb, yuv); } } } return false; } -bool FrameReader::decodeFrame(AVPacket *pkt) { - int ret = avcodec_send_packet(pCodecCtx_, pkt); +AVFrame *FrameReader::decodeFrame(AVPacket *pkt) { + int ret = avcodec_send_packet(decoder_ctx, pkt); if (ret < 0) { printf("Error sending a packet for decoding\n"); - return false; + return nullptr; + } + + av_frame_.reset(av_frame_alloc()); + ret = avcodec_receive_frame(decoder_ctx, av_frame_.get()); + if (ret != 0) { + return nullptr; + } + + if (av_frame_->format == hw_pix_fmt) { + hw_frame.reset(av_frame_alloc()); + if ((ret = av_hwframe_transfer_data(hw_frame.get(), av_frame_.get(), 0)) < 0) { + printf("error transferring the data from GPU to CPU\n"); + return nullptr; + } + return hw_frame.get(); + } else { + return av_frame_.get(); } - ret = avcodec_receive_frame(pCodecCtx_, av_frame_); - return ret == 0; } bool FrameReader::copyBuffers(AVFrame *f, uint8_t *rgb, uint8_t *yuv) { // images is going to be written to output buffers, no alignment (align = 1) if (yuv) { - av_image_fill_arrays(yuv_frame_->data, yuv_frame_->linesize, yuv, AV_PIX_FMT_YUV420P, width, height, 1); - int ret = sws_scale(yuv_sws_ctx_, (const uint8_t **)f->data, f->linesize, 0, f->height, yuv_frame_->data, yuv_frame_->linesize); + av_image_fill_arrays(sws_frame->data, sws_frame->linesize, yuv, AV_PIX_FMT_YUV420P, width, height, 1); + int ret = sws_scale(yuv_sws_ctx_, (const uint8_t **)f->data, f->linesize, 0, f->height, sws_frame->data, sws_frame->linesize); if (ret < 0) return false; } - av_image_fill_arrays(rgb_frame_->data, rgb_frame_->linesize, rgb, AV_PIX_FMT_BGR24, width, height, 1); - int ret = sws_scale(rgb_sws_ctx_, (const uint8_t **)f->data, f->linesize, 0, f->height, rgb_frame_->data, rgb_frame_->linesize); + av_image_fill_arrays(sws_frame->data, sws_frame->linesize, rgb, AV_PIX_FMT_BGR24, width, height, 1); + int ret = sws_scale(rgb_sws_ctx_, (const uint8_t **)f->data, f->linesize, 0, f->height, sws_frame->data, sws_frame->linesize); return ret >= 0; } diff --git a/selfdrive/ui/replay/framereader.h b/selfdrive/ui/replay/framereader.h index 1b552cd1b859d0..c7b04138cfd7f3 100644 --- a/selfdrive/ui/replay/framereader.h +++ b/selfdrive/ui/replay/framereader.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -12,11 +13,15 @@ extern "C" { #include } +struct AVFrameDeleter { + void operator()(AVFrame* frame) const { av_frame_free(&frame); } +}; + class FrameReader : protected FileReader { public: FrameReader(bool local_cache = false, int chunk_size = -1, int retries = 0); ~FrameReader(); - bool load(const std::string &url, std::atomic *abort = nullptr); + bool load(const std::string &url, bool no_cuda = false, std::atomic *abort = nullptr); bool get(int idx, uint8_t *rgb, uint8_t *yuv); int getRGBSize() const { return width * height * 3; } int getYUVSize() const { return width * height * 3 / 2; } @@ -26,8 +31,9 @@ class FrameReader : protected FileReader { int width = 0, height = 0; private: + bool initHardwareDecoder(AVHWDeviceType hw_device_type); bool decode(int idx, uint8_t *rgb, uint8_t *yuv); - bool decodeFrame(AVPacket *pkt); + AVFrame * decodeFrame(AVPacket *pkt); bool copyBuffers(AVFrame *f, uint8_t *rgb, uint8_t *yuv); struct Frame { @@ -36,11 +42,15 @@ class FrameReader : protected FileReader { bool failed = false; }; std::vector frames_; + AVPixelFormat sws_src_format = AV_PIX_FMT_YUV420P; SwsContext *rgb_sws_ctx_ = nullptr, *yuv_sws_ctx_ = nullptr; - AVFrame *av_frame_, *rgb_frame_, *yuv_frame_ = nullptr; - AVFormatContext *pFormatCtx_ = nullptr; - AVCodecContext *pCodecCtx_ = nullptr; + std::unique_ptrav_frame_, sws_frame, hw_frame; + AVFormatContext *input_ctx = nullptr; + AVCodecContext *decoder_ctx = nullptr; int key_frames_count_ = 0; bool valid_ = false; AVIOContext *avio_ctx_ = nullptr; + + AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE; + AVBufferRef *hw_device_ctx = nullptr; }; diff --git a/selfdrive/ui/replay/main.cc b/selfdrive/ui/replay/main.cc index d4fc8ff13a9f5c..062837885b1c67 100644 --- a/selfdrive/ui/replay/main.cc +++ b/selfdrive/ui/replay/main.cc @@ -102,6 +102,7 @@ int main(int argc, char *argv[]) { {"no-cache", REPLAY_FLAG_NO_FILE_CACHE, "turn off local cache"}, {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"}, {"yuv", REPLAY_FLAG_SEND_YUV, "send yuv frame"}, + {"no-cuda", REPLAY_FLAG_NO_CUDA, "disable CUDA"}, }; QCommandLineParser parser; diff --git a/selfdrive/ui/replay/replay.h b/selfdrive/ui/replay/replay.h index 320afa505b9670..2d30d90e4bce7d 100644 --- a/selfdrive/ui/replay/replay.h +++ b/selfdrive/ui/replay/replay.h @@ -16,6 +16,7 @@ enum REPLAY_FLAGS { REPLAY_FLAG_NO_FILE_CACHE = 0x0020, REPLAY_FLAG_QCAMERA = 0x0040, REPLAY_FLAG_SEND_YUV = 0x0080, + REPLAY_FLAG_NO_CUDA = 0x0100, }; class Replay : public QObject { diff --git a/selfdrive/ui/replay/route.cc b/selfdrive/ui/replay/route.cc index d834d67ab63714..9ee1d387c4736c 100644 --- a/selfdrive/ui/replay/route.cc +++ b/selfdrive/ui/replay/route.cc @@ -91,7 +91,7 @@ void Route::addFileToSegment(int n, const QString &file) { // class Segment -Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n) { +Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n), flags(flags) { // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog const QString file_list[] = { (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam, @@ -102,7 +102,7 @@ Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n) { for (int i = 0; i < std::size(file_list); i++) { if (!file_list[i].isEmpty()) { loading_++; - synchronizer_.addFuture(QtConcurrent::run([=] { loadFile(i, file_list[i].toStdString(), !(flags & REPLAY_FLAG_NO_FILE_CACHE)); })); + synchronizer_.addFuture(QtConcurrent::run([=] { loadFile(i, file_list[i].toStdString()); })); } } } @@ -114,11 +114,12 @@ Segment::~Segment() { synchronizer_.waitForFinished(); } -void Segment::loadFile(int id, const std::string file, bool local_cache) { +void Segment::loadFile(int id, const std::string file) { + const bool local_cache = !(flags & REPLAY_FLAG_NO_FILE_CACHE); bool success = false; if (id < MAX_CAMERAS) { frames[id] = std::make_unique(local_cache, 20 * 1024 * 1024, 3); - success = frames[id]->load(file, &abort_); + success = frames[id]->load(file, flags & REPLAY_FLAG_NO_CUDA, &abort_); } else { log = std::make_unique(local_cache, -1, 3); success = log->load(file, &abort_); diff --git a/selfdrive/ui/replay/route.h b/selfdrive/ui/replay/route.h index b11607f250021f..c39eef7d92ef4c 100644 --- a/selfdrive/ui/replay/route.h +++ b/selfdrive/ui/replay/route.h @@ -58,9 +58,10 @@ class Segment : public QObject { void loadFinished(bool success); protected: - void loadFile(int id, const std::string file, bool local_cache); + void loadFile(int id, const std::string file); std::atomic abort_ = false; std::atomic loading_ = 0; QFutureSynchronizer synchronizer_; + uint32_t flags; }; From a87190342bbe30aa4fd09c1f9586d9a7060e8b76 Mon Sep 17 00:00:00 2001 From: eFini Date: Wed, 17 Nov 2021 18:23:05 +0800 Subject: [PATCH 34/56] macOS: Fix missing pip command issue. (#22924) * Fixed missing pip command issue. * add path to openpilot_env.sh for mac --- tools/mac_setup.sh | 1 + tools/openpilot_env.sh | 16 ++++++++-------- 2 files changed, 9 insertions(+), 8 deletions(-) diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index a633066f29ec6e..1072c1caaff4ec 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -61,6 +61,7 @@ fi # install python PYENV_PYTHON_VERSION=$(cat $OP_ROOT/.python-version) +PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH pyenv install -s ${PYENV_PYTHON_VERSION} pyenv rehash eval "$(pyenv init -)" diff --git a/tools/openpilot_env.sh b/tools/openpilot_env.sh index ac784d41e2b1bf..81ae00d64dced7 100755 --- a/tools/openpilot_env.sh +++ b/tools/openpilot_env.sh @@ -1,16 +1,16 @@ if [ -z "$OPENPILOT_ENV" ]; then export PYTHONPATH="$HOME/openpilot:$PYTHONPATH" + export PATH="$HOME/.pyenv/bin:$PATH" + + # Pyenv suggests we place the below two lines in .profile before we source + # .bashrc, but there is no simple way to guarantee we do this correctly + # programmatically across heterogeneous systems. For end-user convenience, + # we add the lines here as a workaround. + # https://github.com/pyenv/pyenv/issues/1906 + export PYENV_ROOT="$HOME/.pyenv" unamestr=`uname` if [[ "$unamestr" == 'Linux' ]]; then - export PATH="$HOME/.pyenv/bin:$PATH" - - # Pyenv suggests we place the below two lines in .profile before we source - # .bashrc, but there is no simple way to guarantee we do this correctly - # programmatically across heterogeneous systems. For end-user convenience, - # we add the lines here as a workaround. - # https://github.com/pyenv/pyenv/issues/1906 - export PYENV_ROOT="$HOME/.pyenv" eval "$(pyenv init --path)" eval "$(pyenv virtualenv-init -)" From 0dcb089254df1addd20c031f131086632302184f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 17 Nov 2021 19:01:50 +0800 Subject: [PATCH 35/56] ui: async uploading texture with PBO (#22843) * async uploading texture using pbo * use QOpenglBuffer space set usage pattern share context continue * space --- selfdrive/ui/qt/widgets/cameraview.cc | 58 +++++++++++++++++++++++---- selfdrive/ui/qt/widgets/cameraview.h | 2 + 2 files changed, 53 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 19eb4ab7700373..1daabd7d1ec784 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -1,5 +1,8 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" +#include +#include + namespace { const char frame_vertex_shader[] = @@ -197,18 +200,13 @@ void CameraViewWidget::paintGL() { glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); return; } + std::unique_lock lk(texture_lock); glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); glActiveTexture(GL_TEXTURE0); - glBindTexture(GL_TEXTURE_2D, texture[latest_frame->idx]->frame_tex); - if (!Hardware::EON()) { - // this is handled in ion on QCOM - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, latest_frame->width, latest_frame->height, - GL_RGB, GL_UNSIGNED_BYTE, latest_frame->addr); - } glUseProgram(program->programId()); glUniform1i(program->uniformLocation("uTexture"), 0); @@ -251,6 +249,25 @@ void CameraViewWidget::vipcThread() { VisionStreamType cur_stream_type = stream_type; std::unique_ptr vipc_client; + std::unique_ptr ctx; + std::unique_ptr surface; + std::unique_ptr gl_buffer; + + if (!Hardware::EON()) { + ctx = std::make_unique(); + ctx->setFormat(context()->format()); + ctx->setShareContext(context()); + ctx->create(); + assert(ctx->isValid()); + + surface = std::make_unique(); + surface->setFormat(ctx->format()); + surface->create(); + ctx->makeCurrent(surface.get()); + assert(QOpenGLContext::currentContext() == ctx.get()); + initializeOpenGLFunctions(); + } + while (!QThread::currentThread()->isInterruptionRequested()) { if (!vipc_client || cur_stream_type != stream_type) { cur_stream_type = stream_type; @@ -262,11 +279,38 @@ void CameraViewWidget::vipcThread() { QThread::msleep(100); continue; } + + if (!Hardware::EON()) { + gl_buffer.reset(new QOpenGLBuffer(QOpenGLBuffer::PixelUnpackBuffer)); + gl_buffer->create(); + gl_buffer->bind(); + gl_buffer->setUsagePattern(QOpenGLBuffer::StreamDraw); + gl_buffer->allocate(vipc_client->buffers[0].len); + } + emit vipcThreadConnected(vipc_client.get()); } if (VisionBuf *buf = vipc_client->recv(nullptr, 1000)) { - emit vipcThreadFrameReceived(buf); + if (!Hardware::EON()) { + std::unique_lock lk(texture_lock); + + void *texture_buffer = gl_buffer->map(QOpenGLBuffer::WriteOnly); + memcpy(texture_buffer, buf->addr, buf->len); + gl_buffer->unmap(); + + // copy pixels from PBO to texture object + glBindTexture(GL_TEXTURE_2D, texture[buf->idx]->frame_tex); + glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, buf->width, buf->height, GL_RGB, GL_UNSIGNED_BYTE, 0); + glBindTexture(GL_TEXTURE_2D, 0); + assert(glGetError() == GL_NO_ERROR); + + emit vipcThreadFrameReceived(buf); + + glFlush(); + } else { + emit vipcThreadFrameReceived(buf); + } } } } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index caf686cee81376..90622c6b775a6e 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -48,6 +48,8 @@ class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions { std::atomic stream_type; QThread *vipc_thread = nullptr; + std::mutex texture_lock; + protected slots: void vipcConnected(VisionIpcClient *vipc_client); void vipcFrameReceived(VisionBuf *buf); From ca88a8769be47c8cd27d7290c53b7dfc3b55f0fd Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 17 Nov 2021 19:02:31 +0800 Subject: [PATCH 36/56] watchdog_kick: non-allocating (#22892) * non-allocating * unpack * call kick every second * cleanup include --- selfdrive/common/watchdog.cc | 13 +++---------- selfdrive/manager/process.py | 3 ++- selfdrive/ui/ui.cc | 4 +++- 3 files changed, 8 insertions(+), 12 deletions(-) diff --git a/selfdrive/common/watchdog.cc b/selfdrive/common/watchdog.cc index 33307f720007bd..c937103a5d1880 100644 --- a/selfdrive/common/watchdog.cc +++ b/selfdrive/common/watchdog.cc @@ -1,19 +1,12 @@ #include "selfdrive/common/watchdog.h" - -#include - -#include -#include - #include "selfdrive/common/timing.h" #include "selfdrive/common/util.h" const std::string watchdog_fn_prefix = "/dev/shm/wd_"; // + bool watchdog_kick() { - std::string fn = watchdog_fn_prefix + std::to_string(getpid()); - std::string cur_t = std::to_string(nanos_since_boot()); + static std::string fn = watchdog_fn_prefix + std::to_string(getpid()); - int r = util::write_file(fn.c_str(), cur_t.data(), cur_t.length(), O_WRONLY | O_CREAT); - return r == 0; + uint64_t ts = nanos_since_boot(); + return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0; } diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index 8cb3505b8e00c3..d9a1619411a390 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -1,6 +1,7 @@ import importlib import os import signal +import struct import time import subprocess from abc import ABC, abstractmethod @@ -88,7 +89,7 @@ def check_watchdog(self, started): try: fn = WATCHDOG_FN + str(self.proc.pid) - self.last_watchdog_time = int(open(fn).read()) + self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] except Exception: pass diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 016bf72d1d00c5..3d151149c4c240 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -245,7 +245,9 @@ void QUIState::update() { emit offroadTransition(!ui_state.scene.started); } - watchdog_kick(); + if (ui_state.sm->frame % UI_FREQ == 0) { + watchdog_kick(); + } emit uiUpdate(ui_state); } From 06844821c5b605c2018cdda6d7bee5f68b7e1408 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 17 Nov 2021 03:06:39 -0800 Subject: [PATCH 37/56] Cleanup toyota tuning (#22859) * start cleanup * start lateral * finish lateral * add file * typo * add enu * remove whitespace * cleanup safetyparam * typo --- release/files_common | 1 + selfdrive/car/toyota/interface.py | 149 ++++++++---------------------- selfdrive/car/toyota/tunes.py | 142 ++++++++++++++++++++++++++++ 3 files changed, 181 insertions(+), 111 deletions(-) create mode 100644 selfdrive/car/toyota/tunes.py diff --git a/release/files_common b/release/files_common index bf8b22369364cc..ceaef0b0bf4607 100644 --- a/release/files_common +++ b/release/files_common @@ -130,6 +130,7 @@ selfdrive/car/hyundai/carcontroller.py selfdrive/car/hyundai/hyundaican.py selfdrive/car/toyota/__init__.py selfdrive/car/toyota/carstate.py +selfdrive/car/toyota/tunes.py selfdrive/car/toyota/interface.py selfdrive/car/toyota/radar_interface.py selfdrive/car/toyota/values.py diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index cc24b92152f547..a1221ae8a4184e 100755 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -1,7 +1,8 @@ #!/usr/bin/env python3 from cereal import car from selfdrive.config import Conversions as CV -from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams +from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune +from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, CarControllerParams from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -23,267 +24,208 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # py ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 - ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop + ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop - if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI - ret.lateralTuning.init('pid') - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] + # Most cars use this default safety param + ret.safetyConfigs[0].safetyParam = 73 if candidate == CAR.PRIUS: - stop_and_go = True ret.safetyConfigs[0].safetyParam = 66 # see conversion factor for STEER_TORQUE_EPS in dbc file + stop_and_go = True ret.wheelbase = 2.70 ret.steerRatio = 15.74 # unknown end-to-end spec tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [4.0] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [3.0] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.0] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [1.0] + set_lat_tune(ret.lateralTuning, LatTunes.INDI_PRIUS) ret.steerActuatorDelay = 0.3 elif candidate in [CAR.RAV4, CAR.RAV4H]: stop_and_go = True if (candidate in CAR.RAV4H) else False - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.65 ret.steerRatio = 16.88 # 14.5 is spec end-to-end tire_stiffness_factor = 0.5533 ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - ret.lateralTuning.init('lqr') - - ret.lateralTuning.lqr.scale = 1500.0 - ret.lateralTuning.lqr.ki = 0.05 - - ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268] - ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05] - ret.lateralTuning.lqr.c = [1., 0.] - ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255] - ret.lateralTuning.lqr.l = [0.3233671, 0.3185757] - ret.lateralTuning.lqr.dcGain = 0.002237852961363602 + set_lat_tune(ret.lateralTuning, LatTunes.LQR_RAV4) elif candidate == CAR.COROLLA: - stop_and_go = False ret.safetyConfigs[0].safetyParam = 88 + stop_and_go = False ret.wheelbase = 2.70 ret.steerRatio = 18.27 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 2860. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] - ret.lateralTuning.pid.kf = 0.00003 # full torque for 20 deg at 80mph means 0.00007818594 + set_lat_tune(ret.lateralTuning, LatTunes.PID_A) elif candidate == CAR.LEXUS_RX: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 14.8 tire_stiffness_factor = 0.5533 ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]] - ret.lateralTuning.pid.kf = 0.00006 + set_lat_tune(ret.lateralTuning, LatTunes.PID_B) + elif candidate == CAR.LEXUS_RXH: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 16. # 14.8 is spec end-to-end tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 + set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.LEXUS_RX_TSS2: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 14.8 tire_stiffness_factor = 0.5533 # not optimized yet ret.mass = 4387. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00007818594 + set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.LEXUS_RXH_TSS2: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.79 ret.steerRatio = 16.0 # 14.8 is spec end-to-end tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4481.0 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.15]] - ret.lateralTuning.pid.kf = 0.00007818594 + set_lat_tune(ret.lateralTuning, LatTunes.PID_E) elif candidate in [CAR.CHR, CAR.CHRH]: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.63906 ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.723], [0.0428]] - ret.lateralTuning.pid.kf = 0.00006 + set_lat_tune(ret.lateralTuning, LatTunes.PID_F) elif candidate in [CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2]: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.82448 ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00006 + set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in [CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.84988 # 112.2 in = 2.84988 m ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG # 4260 + 4-5 people - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]] # community tuning - ret.lateralTuning.pid.kf = 0.00012 # community tuning + set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.78 ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid limited - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.18], [0.015]] # community tuning - ret.lateralTuning.pid.kf = 0.00012 # community tuning + set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in [CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019]: stop_and_go = False - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.82 ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.17], [0.03]] - ret.lateralTuning.pid.kf = 0.00006 + set_lat_tune(ret.lateralTuning, LatTunes.PID_H) elif candidate in [CAR.RAV4_TSS2, CAR.RAV4H_TSS2]: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.68986 ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 - ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00007818594 + ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid + set_lat_tune(ret.lateralTuning, LatTunes.PID_D) # 2019+ Rav4 TSS2 uses two different steering racks and specific tuning seems to be necessary. # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 for fw in car_fw: if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15], [0.05]] - ret.lateralTuning.pid.kf = 0.00004 + set_lat_tune(ret.lateralTuning, LatTunes.PID_I) break elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2]: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback ret.steerRatio = 13.9 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00007818594 + set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate in [CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2]: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3704. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00007818594 + set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.LEXUS_ESH: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.8190 ret.steerRatio = 16.06 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3682. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00007818594 + set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.SIENNA: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 3.03 ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]] - ret.lateralTuning.pid.kf = 0.00007818594 + set_lat_tune(ret.lateralTuning, LatTunes.PID_J) elif candidate == CAR.LEXUS_IS: - stop_and_go = False ret.safetyConfigs[0].safetyParam = 77 + stop_and_go = False ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] - ret.lateralTuning.pid.kf = 0.00006 + set_lat_tune(ret.lateralTuning, LatTunes.PID_L) elif candidate == CAR.LEXUS_CTH: - stop_and_go = True ret.safetyConfigs[0].safetyParam = 100 + stop_and_go = True ret.wheelbase = 2.60 ret.steerRatio = 18.6 tire_stiffness_factor = 0.517 ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]] - ret.lateralTuning.pid.kf = 0.00007 + set_lat_tune(ret.lateralTuning, LatTunes.PID_M) elif candidate in [CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2]: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.66 ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00006 + set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.PRIUS_TSS2: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.70002 # from toyota online sepc. ret.steerRatio = 13.4 # True steerRation from older prius tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.35], [0.15]] - ret.lateralTuning.pid.kf = 0.00007818594 + set_lat_tune(ret.lateralTuning, LatTunes.PID_N) elif candidate == CAR.MIRAI: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 2.91 ret.steerRatio = 14.8 tire_stiffness_factor = 0.8 ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.1]] - ret.lateralTuning.pid.kf = 0.00006 + set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.ALPHARD_TSS2: stop_and_go = True - ret.safetyConfigs[0].safetyParam = 73 ret.wheelbase = 3.00 ret.steerRatio = 14.2 tire_stiffness_factor = 0.444 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.02]] ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG - ret.lateralTuning.pid.kf = 0.00007818594 + set_lat_tune(ret.lateralTuning, LatTunes.PID_J) ret.steerRateCost = 1. ret.centerToFront = ret.wheelbase * 0.44 @@ -316,28 +258,13 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # py ret.communityFeature = ret.enableGasInterceptor or ret.enableDsu or smartDsu if ret.enableGasInterceptor: - ret.longitudinalTuning.kpBP = [0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.] - ret.longitudinalTuning.kpV = [1.2, 0.8, 0.765, 2.255, 1.5] - ret.longitudinalTuning.kiBP = [0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.] - ret.longitudinalTuning.kiV = [0.18, 0.165, 0.489, 0.36] + set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL) elif candidate in [CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.RAV4_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_NX_TSS2]: - # Improved longitudinal tune - ret.longitudinalTuning.deadzoneBP = [0., 8.05] - ret.longitudinalTuning.deadzoneV = [.0, .14] - ret.longitudinalTuning.kpBP = [0., 5., 20.] - ret.longitudinalTuning.kpV = [1.3, 1.0, 0.7] - ret.longitudinalTuning.kiBP = [0., 5., 12., 20., 27.] - ret.longitudinalTuning.kiV = [.35, .23, .20, .17, .1] + set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) ret.stoppingDecelRate = 0.3 # reach stopping target smoothly ret.startingAccelRate = 6.0 # release brakes fast else: - # Default longitudinal tune - ret.longitudinalTuning.deadzoneBP = [0., 9.] - ret.longitudinalTuning.deadzoneV = [0., .15] - ret.longitudinalTuning.kpBP = [0., 5., 35.] - ret.longitudinalTuning.kiBP = [0., 35.] - ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5] - ret.longitudinalTuning.kiV = [0.54, 0.36] + set_long_tune(ret.longitudinalTuning, LongTunes.TSS) return ret diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py new file mode 100644 index 00000000000000..3f210d48a7791b --- /dev/null +++ b/selfdrive/car/toyota/tunes.py @@ -0,0 +1,142 @@ +#!/usr/bin/env python3 +from enum import Enum +from selfdrive.car.toyota.values import MIN_ACC_SPEED, PEDAL_HYST_GAP + + +class LongTunes(Enum): + PEDAL = 0 + TSS2 = 1 + TSS = 2 + +class LatTunes(Enum): + INDI_PRIUS = 0 + LQR_RAV4 = 1 + PID_A = 2 + PID_B = 3 + PID_C = 4 + PID_D = 5 + PID_E = 6 + PID_F = 7 + PID_G = 8 + PID_I = 9 + PID_H = 10 + PID_J = 11 + PID_K = 12 + PID_L = 13 + PID_M = 14 + PID_N = 15 + + +###### LONG ###### +def set_long_tune(tune, name): + if name == LongTunes.PEDAL: + tune.deadzoneBP = [0.] + tune.deadzoneV = [0.] + tune.kpBP = [0., 5., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.] + tune.kpV = [1.2, 0.8, 0.765, 2.255, 1.5] + tune.kiBP = [0., MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_HYST_GAP, 35.] + tune.kiV = [0.18, 0.165, 0.489, 0.36] + # Improved longitudinal tune + elif name == LongTunes.TSS2: + tune.deadzoneBP = [0., 8.05] + tune.deadzoneV = [.0, .14] + tune.kpBP = [0., 5., 20.] + tune.kpV = [1.3, 1.0, 0.7] + tune.kiBP = [0., 5., 12., 20., 27.] + tune.kiV = [.35, .23, .20, .17, .1] + # Default longitudinal tune + elif name == LongTunes.TSS: + tune.deadzoneBP = [0., 9.] + tune.deadzoneV = [0., .15] + tune.kpBP = [0., 5., 35.] + tune.kiBP = [0., 35.] + tune.kpV = [3.6, 2.4, 1.5] + tune.kiV = [0.54, 0.36] + else: + raise NotImplementedError('This longitudinal tune does not exist') + + +###### LAT ###### +def set_lat_tune(tune, name): + if name == LatTunes.INDI_PRIUS: + tune.init('indi') + tune.indi.innerLoopGainBP = [0.] + tune.indi.innerLoopGainV = [4.0] + tune.indi.outerLoopGainBP = [0.] + tune.indi.outerLoopGainV = [3.0] + tune.indi.timeConstantBP = [0.] + tune.indi.timeConstantV = [1.0] + tune.indi.actuatorEffectivenessBP = [0.] + tune.indi.actuatorEffectivenessV = [1.0] + + elif name == LatTunes.LQR_RAV4: + tune.init('lqr') + tune.lqr.scale = 1500.0 + tune.lqr.ki = 0.05 + tune.lqr.a = [0., 1., -0.22619643, 1.21822268] + tune.lqr.b = [-1.92006585e-04, 3.95603032e-05] + tune.lqr.c = [1., 0.] + tune.lqr.k = [-110.73572306, 451.22718255] + tune.lqr.l = [0.3233671, 0.3185757] + tune.lqr.dcGain = 0.002237852961363602 + + elif 'PID' in str(name): + tune.init('pid') + tune.pid.kiBP = [0.0] + tune.pid.kpBP = [0.0] + if name == LatTunes.PID_A: + tune.pid.kpV = [0.2] + tune.pid.kiV = [0.05] + tune.pid.kf = 0.00003 + elif name == LatTunes.PID_B: + tune.pid.kpV = [0.6] + tune.pid.kiV = [0.05] + tune.pid.kf = 0.00006 + elif name == LatTunes.PID_C: + tune.pid.kpV = [0.6] + tune.pid.kiV = [0.1] + tune.pid.kf = 0.00006 + elif name == LatTunes.PID_D: + tune.pid.kpV = [0.6] + tune.pid.kiV = [0.1] + tune.pid.kf = 0.00007818594 + elif name == LatTunes.PID_E: + tune.pid.kpV = [0.6] + tune.pid.kiV = [0.15] + tune.pid.kf = 0.00007818594 + elif name == LatTunes.PID_F: + tune.pid.kpV = [0.723] + tune.pid.kiV = [0.0428] + tune.pid.kf = 0.00006 + elif name == LatTunes.PID_G: + tune.pid.kpV = [0.18] + tune.pid.kiV = [0.015] + tune.pid.kf = 0.00012 + elif name == LatTunes.PID_H: + tune.pid.kpV = [0.17] + tune.pid.kiV = [0.03] + tune.pid.kf = 0.00006 + elif name == LatTunes.PID_I: + tune.pid.kpV = [0.15] + tune.pid.kiV = [0.05] + tune.pid.kf = 0.00004 + elif name == LatTunes.PID_J: + tune.pid.kpV = [0.19] + tune.pid.kiV = [0.02] + tune.pid.kf = 0.00007818594 + elif name == LatTunes.PID_L: + tune.pid.kpV = [0.3] + tune.pid.kiV = [0.05] + tune.pid.kf = 0.00006 + elif name == LatTunes.PID_M: + tune.pid.kpV = [0.3] + tune.pid.kiV = [0.05] + tune.pid.kf = 0.00007 + elif name == LatTunes.PID_N: + tune.pid.kpV = [0.35] + tune.pid.kiV = [0.15] + tune.pid.kf = 0.00007818594 + else: + raise NotImplementedError('This PID tune does not exist') + else: + raise NotImplementedError('This lateral tune does not exist') From 3d0246eed55a5e1bcc97c56ac55afd12c98b56f6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 17 Nov 2021 19:18:14 +0800 Subject: [PATCH 38/56] camera_qcom2: cleanup camera_open (#22085) * cleanup camera_open * remove static * apply review --- selfdrive/camerad/cameras/camera_qcom2.cc | 126 +++++++++------------- 1 file changed, 53 insertions(+), 73 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc index 089d9e999bb19c..03138e353aa69c 100644 --- a/selfdrive/camerad/cameras/camera_qcom2.cc +++ b/selfdrive/camerad/cameras/camera_qcom2.cc @@ -551,7 +551,6 @@ int open_v4l_by_name_and_index(const char name[], int index, int flags = O_RDWR } static void camera_open(CameraState *s) { - int ret; s->sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", s->camera_num); assert(s->sensor_fd >= 0); LOGD("opened sensor"); @@ -566,7 +565,7 @@ static void camera_open(CameraState *s) { // create session struct cam_req_mgr_session_info session_info = {}; - ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info)); + int ret = cam_control(s->multi_cam_state->video0_fd, CAM_REQ_MGR_CREATE_SESSION, &session_info, sizeof(session_info)); LOGD("get session: %d 0x%X", ret, session_info.session_hdl); s->session_handle = session_info.session_hdl; @@ -577,73 +576,59 @@ static void camera_open(CameraState *s) { s->sensor_dev_handle = *sensor_dev_handle; LOGD("acquire sensor dev"); - static struct cam_isp_resource isp_resource = {0}; - isp_resource.resource_id = CAM_ISP_RES_ID_PORT; - isp_resource.length = sizeof(struct cam_isp_in_port_info) + sizeof(struct cam_isp_out_port_info)*(1-1); - isp_resource.handle_type = CAM_HANDLE_USER_POINTER; - - struct cam_isp_in_port_info *in_port_info = (struct cam_isp_in_port_info *)malloc(isp_resource.length); - isp_resource.res_hdl = (uint64_t)in_port_info; - - switch (s->camera_num) { - case 0: - in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_0; - break; - case 1: - in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_1; - break; - case 2: - in_port_info->res_type = CAM_ISP_IFE_IN_RES_PHY_2; - break; - } - - in_port_info->lane_type = CAM_ISP_LANE_TYPE_DPHY; - in_port_info->lane_num = 4; - in_port_info->lane_cfg = 0x3210; - - in_port_info->vc = 0x0; - //in_port_info->dt = 0x2C; //CSI_RAW12 - //in_port_info->format = CAM_FORMAT_MIPI_RAW_12; - - in_port_info->dt = 0x2B; //CSI_RAW10 - in_port_info->format = CAM_FORMAT_MIPI_RAW_10; - - in_port_info->test_pattern = 0x2; // 0x3? - in_port_info->usage_type = 0x0; - - in_port_info->left_start = 0x0; - in_port_info->left_stop = FRAME_WIDTH - 1; - in_port_info->left_width = FRAME_WIDTH; - - in_port_info->right_start = 0x0; - in_port_info->right_stop = FRAME_WIDTH - 1; - in_port_info->right_width = FRAME_WIDTH; - - in_port_info->line_start = 0x0; - in_port_info->line_stop = FRAME_HEIGHT - 1; - in_port_info->height = FRAME_HEIGHT; - - in_port_info->pixel_clk = 0x0; - in_port_info->batch_size = 0x0; - in_port_info->dsp_mode = 0x0; - in_port_info->hbi_cnt = 0x0; - in_port_info->custom_csid = 0x0; - - in_port_info->num_out_res = 0x1; - in_port_info->data[0] = (struct cam_isp_out_port_info){ - .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, - //.format = CAM_FORMAT_MIPI_RAW_12, - .format = CAM_FORMAT_MIPI_RAW_10, - .width = FRAME_WIDTH, - .height = FRAME_HEIGHT, - .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, + struct cam_isp_in_port_info in_port_info = { + .res_type = (uint32_t[]){CAM_ISP_IFE_IN_RES_PHY_0, CAM_ISP_IFE_IN_RES_PHY_1, CAM_ISP_IFE_IN_RES_PHY_2}[s->camera_num], + + .lane_type = CAM_ISP_LANE_TYPE_DPHY, + .lane_num = 4, + .lane_cfg = 0x3210, + + .vc = 0x0, + // .dt = 0x2C; //CSI_RAW12 + .dt = 0x2B, //CSI_RAW10 + .format = CAM_FORMAT_MIPI_RAW_10, + + .test_pattern = 0x2, // 0x3? + .usage_type = 0x0, + + .left_start = 0, + .left_stop = FRAME_WIDTH - 1, + .left_width = FRAME_WIDTH, + + .right_start = 0, + .right_stop = FRAME_WIDTH - 1, + .right_width = FRAME_WIDTH, + + .line_start = 0, + .line_stop = FRAME_HEIGHT - 1, + .height = FRAME_HEIGHT, + + .pixel_clk = 0x0, + .batch_size = 0x0, + .dsp_mode = 0x0, + .hbi_cnt = 0x0, + .custom_csid = 0x0, + + .num_out_res = 0x1, + .data[0] = (struct cam_isp_out_port_info){ + .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, + .format = CAM_FORMAT_MIPI_RAW_10, + .width = FRAME_WIDTH, + .height = FRAME_HEIGHT, + .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, + }, + }; + struct cam_isp_resource isp_resource = { + .resource_id = CAM_ISP_RES_ID_PORT, + .handle_type = CAM_HANDLE_USER_POINTER, + .res_hdl = (uint64_t)&in_port_info, + .length = sizeof(in_port_info), }; auto isp_dev_handle = device_acquire(s->multi_cam_state->isp_fd, s->session_handle, &isp_resource); assert(isp_dev_handle); s->isp_dev_handle = *isp_dev_handle; LOGD("acquire isp dev"); - free(in_port_info); struct cam_csiphy_acquire_dev_info csiphy_acquire_dev_info = {.combo_mode = 0}; auto csiphy_dev_handle = device_acquire(s->csiphy_fd, s->session_handle, &csiphy_acquire_dev_info); @@ -651,19 +636,14 @@ static void camera_open(CameraState *s) { s->csiphy_dev_handle = *csiphy_dev_handle; LOGD("acquire csiphy dev"); - // acquires done - // config ISP alloc_w_mmu_hdl(s->multi_cam_state->video0_fd, 984480, (uint32_t*)&s->buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, s->multi_cam_state->device_iommu, s->multi_cam_state->cdm_iommu); config_isp(s, 0, 0, 1, s->buf0_handle, 0); LOG("-- Configuring sensor"); - sensors_i2c(s, init_array_ar0231, sizeof(init_array_ar0231)/sizeof(struct i2c_random_wr_payload), - CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG); - //sensors_i2c(s, start_reg_array, sizeof(start_reg_array)/sizeof(struct i2c_random_wr_payload), - //CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON); - //sensors_i2c(s, stop_reg_array, sizeof(stop_reg_array)/sizeof(struct i2c_random_wr_payload), - //CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF); + sensors_i2c(s, init_array_ar0231, std::size(init_array_ar0231), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG); + //sensors_i2c(s, start_reg_array, std::size(start_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMON); + //sensors_i2c(s, stop_reg_array, std::size(stop_reg_array), CAM_SENSOR_PACKET_OPCODE_SENSOR_STREAMOFF); // config csiphy LOG("-- Config CSI PHY"); @@ -700,7 +680,7 @@ static void camera_open(CameraState *s) { // link devices LOG("-- Link devices"); - static struct cam_req_mgr_link_info req_mgr_link_info = {0}; + struct cam_req_mgr_link_info req_mgr_link_info = {0}; req_mgr_link_info.session_hdl = s->session_handle; req_mgr_link_info.num_devices = 2; req_mgr_link_info.dev_hdls[0] = s->isp_dev_handle; @@ -709,7 +689,7 @@ static void camera_open(CameraState *s) { LOGD("link: %d", ret); s->link_handle = req_mgr_link_info.link_hdl; - static struct cam_req_mgr_link_control req_mgr_link_control = {0}; + struct cam_req_mgr_link_control req_mgr_link_control = {0}; req_mgr_link_control.ops = CAM_REQ_MGR_LINK_ACTIVATE; req_mgr_link_control.session_hdl = s->session_handle; req_mgr_link_control.num_links = 1; From c35ae999276a8f0385f5e20af06eae9f72c56971 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 17 Nov 2021 19:24:37 +0800 Subject: [PATCH 39/56] ui: replace nvg transfrom with QTransform (#21968) --- selfdrive/ui/paint.cc | 10 ++++------ selfdrive/ui/ui.cc | 14 +++++++++----- selfdrive/ui/ui.h | 4 ++-- 3 files changed, 15 insertions(+), 13 deletions(-) diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc index 1bbbb8379cd4c1..147c32b701a126 100644 --- a/selfdrive/ui/paint.cc +++ b/selfdrive/ui/paint.cc @@ -302,12 +302,10 @@ void ui_resize(UIState *s, int width, int height) { // Apply transformation such that video pixel coordinates match video // 1) Put (0, 0) in the middle of the video - nvgTranslate(s->vg, width / 2, height / 2 + y_offset); // 2) Apply same scaling as video - nvgScale(s->vg, zoom, zoom); // 3) Put (0, 0) in top left corner of video - nvgTranslate(s->vg, -intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); - - nvgCurrentTransform(s->vg, s->car_space_transform); - nvgResetTransform(s->vg); + s->car_space_transform.reset(); + s->car_space_transform.translate(width / 2, height / 2 + y_offset) + .scale(zoom, zoom) + .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); } diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 3d151149c4c240..f38b15cf55ad67 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -19,16 +19,20 @@ // image space. static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, float in_z, vertex_data *out) { const float margin = 500.0f; + const QRectF clip_region{-margin, -margin, s->fb_w + 2 * margin, s->fb_h + 2 * margin}; + const vec3 pt = (vec3){{in_x, in_y, in_z}}; const vec3 Ep = matvecmul3(s->scene.view_from_calib, pt); const vec3 KEp = matvecmul3(s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep); // Project. - float x = KEp.v[0] / KEp.v[2]; - float y = KEp.v[1] / KEp.v[2]; - - nvgTransformPoint(&out->x, &out->y, s->car_space_transform, x, y); - return out->x >= -margin && out->x <= s->fb_w + margin && out->y >= -margin && out->y <= s->fb_h + margin; + QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]}); + if (clip_region.contains(point)) { + out->x = point.x(); + out->y = point.y(); + return true; + } + return false; } static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 3f52bf120d94cc..ad754b550b995a 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -7,7 +7,7 @@ #include #include #include - +#include #include "nanovg.h" #include "cereal/messaging/messaging.h" @@ -146,7 +146,7 @@ typedef struct UIState { bool awake; bool has_prime = false; - float car_space_transform[6]; + QTransform car_space_transform; bool wide_camera; float running_time; From 5648b22833c4ec5eaa1b76af3018f856f6cfaf6f Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 17 Nov 2021 12:26:17 +0100 Subject: [PATCH 40/56] nav: render at 20fps instead of 10fps --- selfdrive/ui/qt/maps/map.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 1f54516133fb24..ecb5c122ae95ac 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -22,7 +22,7 @@ const float MIN_PITCH = 0; const float MAP_SCALE = 2; MapWindow::MapWindow(const QMapboxGLSettings &settings) : - m_settings(settings), velocity_filter(0, 10, 0.1) { + m_settings(settings), velocity_filter(0, 10, 0.05) { sm = new SubMaster({"liveLocationKalman", "navInstruction", "navRoute"}); // Connect now, so any navRoutes sent while the map is initializing are not dropped @@ -30,7 +30,7 @@ MapWindow::MapWindow(const QMapboxGLSettings &settings) : timer = new QTimer(this); QObject::connect(timer, SIGNAL(timeout()), this, SLOT(timerUpdate())); - timer->start(100); + timer->start(50); // Instructions map_instructions = new MapInstructions(this); From dc8e23c94b29a8c26cc377f8649e497f33036c33 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 17 Nov 2021 20:25:40 +0800 Subject: [PATCH 41/56] framereader: remove memory copy overhead for AVIO (#22894) * no memory copy * merge master better --- selfdrive/ui/replay/framereader.cc | 27 ++++++++++++++++++++------- 1 file changed, 20 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc index 6c531d1d6e706c..1524ad974850ed 100644 --- a/selfdrive/ui/replay/framereader.cc +++ b/selfdrive/ui/replay/framereader.cc @@ -1,14 +1,23 @@ #include "selfdrive/ui/replay/framereader.h" #include -#include namespace { -int readFunction(void *opaque, uint8_t *buf, int buf_size) { - auto &iss = *reinterpret_cast(opaque); - iss.read(reinterpret_cast(buf), buf_size); - return iss.gcount() ? iss.gcount() : AVERROR_EOF; +struct buffer_data { + const uint8_t *data; + int64_t offset; + size_t size; +}; + +int readPacket(void *opaque, uint8_t *buf, int buf_size) { + struct buffer_data *bd = (struct buffer_data *)opaque; + buf_size = std::min((size_t)buf_size, bd->size - bd->offset); + if (!buf_size) return AVERROR_EOF; + + memcpy(buf, bd->data + bd->offset, buf_size); + bd->offset += buf_size; + return buf_size; } enum AVPixelFormat get_hw_format(AVCodecContext *ctx, const enum AVPixelFormat *pix_fmts) { @@ -50,10 +59,14 @@ bool FrameReader::load(const std::string &url, bool no_cuda, std::atomic * std::string content = read(url, abort); if (content.empty()) return false; - std::istringstream iss(content); + struct buffer_data bd = { + .data = (uint8_t *)content.data(), + .offset = 0, + .size = content.size(), + }; const int avio_ctx_buffer_size = 64 * 1024; unsigned char *avio_ctx_buffer = (unsigned char *)av_malloc(avio_ctx_buffer_size); - avio_ctx_ = avio_alloc_context(avio_ctx_buffer, avio_ctx_buffer_size, 0, &iss, readFunction, nullptr, nullptr); + avio_ctx_ = avio_alloc_context(avio_ctx_buffer, avio_ctx_buffer_size, 0, &bd, readPacket, nullptr, nullptr); input_ctx->pb = avio_ctx_; input_ctx->probesize = 10 * 1024 * 1024; // 10MB From 7a3754d50b2325863259cb31b8da6c5e31990246 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 17 Nov 2021 14:00:55 +0100 Subject: [PATCH 42/56] increase c3 ui cpu usage after async pbo copy --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 86d9a9937991ca..f1aad012eff275 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -56,7 +56,7 @@ "./loggerd": 70.0, "selfdrive.controls.controlsd": 28.0, "./camerad": 31.0, - "./_ui": 21.0, + "./_ui": 30.2, "selfdrive.controls.plannerd": 11.7, "./_dmonitoringmodeld": 10.0, "selfdrive.locationd.paramsd": 5.0, From ddc35826f74ead9f6529910880f9d4f2c16fe727 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 17 Nov 2021 21:12:57 +0800 Subject: [PATCH 43/56] sidebar: dont update states when hidden (#22948) --- selfdrive/ui/qt/sidebar.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index cd53a5b725c831..73c4e2f8ce6b65 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -43,6 +43,8 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) { } void Sidebar::updateState(const UIState &s) { + if (!isVisible()) return; + auto &sm = *(s.sm); auto deviceState = sm["deviceState"].getDeviceState(); From ba0c844ad92c9be891c50445836d9393b36734b5 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 17 Nov 2021 14:21:59 +0100 Subject: [PATCH 44/56] ci: move timestamp step into correct job --- .github/workflows/selfdrive_tests.yaml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 9653a18fdd3743..aa217735bfb4a5 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -146,13 +146,6 @@ jobs: if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast steps: - - name: Get current date - id: date - run: echo "::set-output name=time::$(date +'%s')" - - name: Output timestamp - run: echo $TIMESTAMP - env: - TIMESTAMP: ${{ steps.date.outputs.time }} - uses: actions/checkout@v2 with: submodules: true @@ -217,6 +210,13 @@ jobs: runs-on: ubuntu-20.04 timeout-minutes: 50 steps: + - name: Get current date + id: date + run: echo "::set-output name=time::$(date +'%s')" + - name: Output timestamp + run: echo $TIMESTAMP + env: + TIMESTAMP: ${{ steps.date.outputs.time }} - uses: actions/checkout@v2 with: submodules: true From fa55dbe98394b5ed39385f26d6314a45fa899c15 Mon Sep 17 00:00:00 2001 From: sshane Date: Wed, 17 Nov 2021 07:29:54 -0600 Subject: [PATCH 45/56] ui: draw all radard leads (#22901) * draw leads detected from radar since it has a low speed override * comment * fill lead_verticies * fix * Revert changes Revert "fix" This reverts commit 7a478c435a0913e09512801309cf52654f3e17ac. Revert "fill lead_verticies" This reverts commit 5cdf265bb98480413a4a83c093b3e00489ba2f94. Revert "comment" This reverts commit 24a8a3fc2beef263909810d828d4e4fb5ea576e8. Revert "draw leads detected from radar since it has a low speed override" This reverts commit 4679fa5d16c7e961def9aaa52e92fb7d994a830d. * Revert "Draw model leads (#21864)" This commit reverts 276b00ccb805b8071db4352b406f39233c2c3867 --- selfdrive/ui/paint.cc | 14 +++++++------- selfdrive/ui/ui.cc | 30 +++++++++++++++++------------- 2 files changed, 24 insertions(+), 20 deletions(-) diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc index 147c32b701a126..612b924f3220d9 100644 --- a/selfdrive/ui/paint.cc +++ b/selfdrive/ui/paint.cc @@ -64,15 +64,15 @@ static void ui_draw_circle_image(const UIState *s, int center_x, int center_y, i ui_draw_circle_image(s, center_x, center_y, radius, image, nvgRGBA(0, 0, 0, (255 * bg_alpha)), img_alpha); } -static void draw_lead(UIState *s, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const vertex_data &vd) { +static void draw_lead(UIState *s, const cereal::RadarState::LeadData::Reader &lead_data, const vertex_data &vd) { // Draw lead car indicator auto [x, y] = vd; float fillAlpha = 0; float speedBuff = 10.; float leadBuff = 40.; - float d_rel = lead_data.getX()[0]; - float v_rel = lead_data.getV()[0]; + float d_rel = lead_data.getDRel(); + float v_rel = lead_data.getVRel(); if (d_rel < leadBuff) { fillAlpha = 255*(1.0-(d_rel/leadBuff)); if (v_rel < 0) { @@ -139,12 +139,12 @@ static void ui_draw_world(UIState *s) { // Draw lead indicators if openpilot is handling longitudinal if (s->scene.longitudinal_control) { - auto lead_one = (*s->sm)["modelV2"].getModelV2().getLeadsV3()[0]; - auto lead_two = (*s->sm)["modelV2"].getModelV2().getLeadsV3()[1]; - if (lead_one.getProb() > .5) { + auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne(); + auto lead_two = (*s->sm)["radarState"].getRadarState().getLeadTwo(); + if (lead_one.getStatus()) { draw_lead(s, lead_one, s->scene.lead_vertices[0]); } - if (lead_two.getProb() > .5 && (std::abs(lead_one.getX()[0] - lead_two.getX()[0]) > 3.0)) { + if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) { draw_lead(s, lead_two, s->scene.lead_vertices[1]); } } diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index f38b15cf55ad67..7a4de06586d48b 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -44,13 +44,12 @@ static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line return max_idx; } -static void update_leads(UIState *s, const cereal::ModelDataV2::Reader &model) { - auto leads = model.getLeadsV3(); - auto model_position = model.getPosition(); +static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, std::optional line) { for (int i = 0; i < 2; ++i) { - if (leads[i].getProb() > 0.5) { - float z = model_position.getZ()[get_path_length_idx(model_position, leads[i].getX()[0])]; - calib_frame_to_full_frame(s, leads[i].getX()[0], leads[i].getY()[0], z + 1.22, &s->scene.lead_vertices[i]); + auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo(); + if (lead_data.getStatus()) { + float z = line ? (*line).getZ()[get_path_length_idx(*line, lead_data.getDRel())] : 0.0; + calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]); } } } @@ -93,9 +92,9 @@ static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { } // update path - auto lead_one = model.getLeadsV3()[0]; - if (lead_one.getProb() > 0.5) { - const float lead_d = lead_one.getX()[0] * 2.; + auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne(); + if (lead_one.getStatus()) { + const float lead_d = lead_one.getDRel() * 2.; max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance); } max_idx = get_path_length_idx(model_position, max_distance); @@ -118,9 +117,14 @@ static void update_state(UIState *s) { scene.dm_active = sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode(); } if (sm.updated("modelV2") && s->vg) { - auto model = sm["modelV2"].getModelV2(); - update_model(s, model); - update_leads(s, model); + update_model(s, sm["modelV2"].getModelV2()); + } + if (sm.updated("radarState") && s->vg) { + std::optional line; + if (sm.rcv_frame("modelV2") > 0) { + line = sm["modelV2"].getModelV2().getPosition(); + } + update_leads(s, sm["radarState"].getRadarState(), line); } if (sm.updated("liveCalibration")) { scene.world_objects_visible = true; @@ -225,7 +229,7 @@ static void update_status(UIState *s) { QUIState::QUIState(QObject *parent) : QObject(parent) { ui_state.sm = std::make_unique>({ - "modelV2", "controlsState", "liveCalibration", "deviceState", "roadCameraState", + "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman", }); From 0a1aaaa74cfb36a4c99b80698f0fd6c8b32e7044 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Nov 2021 06:24:50 -0800 Subject: [PATCH 46/56] Take camera snapshot using VisionIPC (#22070) * vipc snapshot * front and rear need to go * remove SEND_* * cleanup * put that back * fix duplicate code * dont start camerad on pc * fix rgb stride Co-authored-by: Comma Device Co-authored-by: Willem Melching --- selfdrive/camerad/cameras/camera_common.h | 1 + selfdrive/camerad/snapshot/snapshot.py | 60 ++++++++++++----------- selfdrive/camerad/test/test_exposure.py | 17 ++----- 3 files changed, 36 insertions(+), 42 deletions(-) diff --git a/selfdrive/camerad/cameras/camera_common.h b/selfdrive/camerad/cameras/camera_common.h index 8387e60bf206c3..e994fc2208b722 100644 --- a/selfdrive/camerad/cameras/camera_common.h +++ b/selfdrive/camerad/cameras/camera_common.h @@ -34,6 +34,7 @@ enum CameraType { WideRoadCam }; +// TODO: remove these once all the internal tools are moved to vipc const bool env_send_driver = getenv("SEND_DRIVER") != NULL; const bool env_send_road = getenv("SEND_ROAD") != NULL; const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL; diff --git a/selfdrive/camerad/snapshot/snapshot.py b/selfdrive/camerad/snapshot/snapshot.py index 787d628370e34e..889e1579bf5949 100755 --- a/selfdrive/camerad/snapshot/snapshot.py +++ b/selfdrive/camerad/snapshot/snapshot.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import os import subprocess import time @@ -8,24 +7,29 @@ from typing import List import cereal.messaging as messaging +from cereal.visionipc.visionipc_pyx import VisionIpcClient, VisionStreamType # pylint: disable=no-name-in-module, import-error from common.params import Params from common.realtime import DT_MDL -from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size -from selfdrive.hardware import TICI +from selfdrive.hardware import TICI, PC from selfdrive.controls.lib.alertmanager import set_offroad_alert from selfdrive.manager.process_config import managed_processes LM_THRESH = 120 # defined in selfdrive/camerad/imgproc/utils.h +VISION_STREAMS = { + "roadCameraState": VisionStreamType.VISION_STREAM_RGB_BACK, + "driverCameraState": VisionStreamType.VISION_STREAM_RGB_FRONT, + "wideRoadCameraState": VisionStreamType.VISION_STREAM_RGB_WIDE, +} + def jpeg_write(fn, dat): img = Image.fromarray(dat) img.save(fn, "JPEG") -def extract_image(dat, frame_sizes): - img = np.frombuffer(dat, dtype=np.uint8) - w, h = frame_sizes[len(img) // 3] +def extract_image(buf, w, h, stride): + img = np.hstack([buf[i * stride:i * stride + 3 * w] for i in range(h)]) b = img[::3].reshape(h, w) g = img[1::3].reshape(h, w) r = img[2::3].reshape(h, w) @@ -33,45 +37,47 @@ def extract_image(dat, frame_sizes): def rois_in_focus(lapres: List[float]) -> float: - sz = len(lapres) - return sum([1. / sz for sharpness in - lapres if sharpness >= LM_THRESH]) + return sum([1. / len(lapres) for sharpness in lapres if sharpness >= LM_THRESH]) def get_snapshots(frame="roadCameraState", front_frame="driverCameraState", focus_perc_threshold=0.): - frame_sizes = [eon_f_frame_size, eon_d_frame_size, tici_f_frame_size] - frame_sizes = {w * h: (w, h) for (w, h) in frame_sizes} - - sockets = [] - if frame is not None: - sockets.append(frame) - if front_frame is not None: - sockets.append(front_frame) + sockets = [s for s in (frame, front_frame) if s is not None] + sm = messaging.SubMaster(sockets) + vipc_clients = {s: VisionIpcClient("camerad", VISION_STREAMS[s], True) for s in sockets} # wait 4 sec from camerad startup for focus and exposure - sm = messaging.SubMaster(sockets) while sm[sockets[0]].frameId < int(4. / DT_MDL): sm.update() + for client in vipc_clients.values(): + client.connect(True) + + # wait for focus start_t = time.monotonic() while time.monotonic() - start_t < 10: - sm.update() + sm.update(100) if min(sm.rcv_frame.values()) > 1 and rois_in_focus(sm[frame].sharpnessScore) >= focus_perc_threshold: break - rear = extract_image(sm[frame].image, frame_sizes) if frame is not None else None - front = extract_image(sm[front_frame].image, frame_sizes) if front_frame is not None else None + # grab images + rear, front = None, None + if frame is not None: + c = vipc_clients[frame] + rear = extract_image(c.recv(), c.width, c.height, c.stride) + if front_frame is not None: + c = vipc_clients[front_frame] + front = extract_image(c.recv(), c.width, c.height, c.stride) return rear, front def snapshot(): params = Params() - front_camera_allowed = params.get_bool("RecordFront") if (not params.get_bool("IsOffroad")) or params.get_bool("IsTakingSnapshot"): print("Already taking snapshot") return None, None + front_camera_allowed = params.get_bool("RecordFront") params.put_bool("IsTakingSnapshot", True) set_offroad_alert("Offroad_IsTakingSnapshot", True) time.sleep(2.0) # Give thermald time to read the param, or if just started give camerad time to start @@ -86,13 +92,11 @@ def snapshot(): except subprocess.CalledProcessError: pass - os.environ["SEND_ROAD"] = "1" - os.environ["SEND_WIDE_ROAD"] = "1" - if front_camera_allowed: - os.environ["SEND_DRIVER"] = "1" - try: - managed_processes['camerad'].start() + # Allow testing on replay on PC + if not PC: + managed_processes['camerad'].start() + frame = "wideRoadCameraState" if TICI else "roadCameraState" front_frame = "driverCameraState" if front_camera_allowed else None focus_perc_threshold = 0. if TICI else 10 / 12. diff --git a/selfdrive/camerad/test/test_exposure.py b/selfdrive/camerad/test/test_exposure.py index 0b5b5ace8898da..6ed69627b50d27 100755 --- a/selfdrive/camerad/test/test_exposure.py +++ b/selfdrive/camerad/test/test_exposure.py @@ -1,8 +1,6 @@ #!/usr/bin/env python3 - import time import unittest -import os import numpy as np from selfdrive.test.helpers import with_processes @@ -13,11 +11,6 @@ TEST_TIME = 45 REPEAT = 5 -os.environ["SEND_ROAD"] = "1" -os.environ["SEND_DRIVER"] = "1" -if TICI: - os.environ["SEND_WIDE_ROAD"] = "1" - class TestCamerad(unittest.TestCase): @classmethod def setUpClass(cls): @@ -38,14 +31,11 @@ def _is_exposure_okay(self, i, med_mean=np.array([[0.2,0.4],[0.2,0.6]])): print([i_median, i_mean]) return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1] - @with_processes(['camerad']) def test_camera_operation(self): - print("checking image outputs") - - start = time.time() passed = 0 - while(time.time() - start < TEST_TIME and passed < REPEAT): + start = time.time() + while time.time() - start < TEST_TIME and passed < REPEAT: rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState") res = self._is_exposure_okay(rpic) @@ -61,8 +51,7 @@ def test_camera_operation(self): passed += int(res) time.sleep(2) - print(passed) - self.assertTrue(passed >= REPEAT) + self.assertGreaterEqual(passed, REPEAT) if __name__ == "__main__": unittest.main() From 33b1b940671b4c5472e3ec272d6b109087edf73d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 17 Nov 2021 22:37:45 +0800 Subject: [PATCH 47/56] cameraview: remove glflush, reduce C3 CPU usage (#22949) * remove glflush * revert cpu --- selfdrive/test/test_onroad.py | 2 +- selfdrive/ui/qt/widgets/cameraview.cc | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index f1aad012eff275..86d9a9937991ca 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -56,7 +56,7 @@ "./loggerd": 70.0, "selfdrive.controls.controlsd": 28.0, "./camerad": 31.0, - "./_ui": 30.2, + "./_ui": 21.0, "selfdrive.controls.plannerd": 11.7, "./_dmonitoringmodeld": 10.0, "selfdrive.locationd.paramsd": 5.0, diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 1daabd7d1ec784..0cc654e40d0a12 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -307,7 +307,6 @@ void CameraViewWidget::vipcThread() { emit vipcThreadFrameReceived(buf); - glFlush(); } else { emit vipcThreadFrameReceived(buf); } From 372b0f10da2e6cd7c564f15d8769905744c0627c Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 17 Nov 2021 16:22:25 +0100 Subject: [PATCH 48/56] Revert "cameraview: remove glflush, reduce C3 CPU usage (#22949)" This reverts commit 33b1b940671b4c5472e3ec272d6b109087edf73d. --- selfdrive/test/test_onroad.py | 2 +- selfdrive/ui/qt/widgets/cameraview.cc | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 86d9a9937991ca..f1aad012eff275 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -56,7 +56,7 @@ "./loggerd": 70.0, "selfdrive.controls.controlsd": 28.0, "./camerad": 31.0, - "./_ui": 21.0, + "./_ui": 30.2, "selfdrive.controls.plannerd": 11.7, "./_dmonitoringmodeld": 10.0, "selfdrive.locationd.paramsd": 5.0, diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 0cc654e40d0a12..1daabd7d1ec784 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -307,6 +307,7 @@ void CameraViewWidget::vipcThread() { emit vipcThreadFrameReceived(buf); + glFlush(); } else { emit vipcThreadFrameReceived(buf); } From f1c77f97b934fac877230d9438fb4a15d1813c52 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 17 Nov 2021 16:23:03 +0100 Subject: [PATCH 49/56] cleanup unused pip packages (#22947) * cleanup unused pip packages * fix linter --- Pipfile | 49 - Pipfile.lock | 2370 +++------------------------- selfdrive/test/openpilotci.py | 2 +- selfdrive/test/update_ci_routes.py | 2 +- tools/lib/framereader.py | 4 +- tools/zookeeper/__init__.py | 4 +- 6 files changed, 220 insertions(+), 2211 deletions(-) diff --git a/Pipfile b/Pipfile index 6949c5c52e6459..3fc26b363bd7cf 100644 --- a/Pipfile +++ b/Pipfile @@ -4,82 +4,33 @@ url = "https://pypi.org/simple" verify_ssl = true [dev-packages] -aenum = "*" -aiohttp = "*" -azure-cli-core = "*" -azure-common = "*" -azure-core = "*" -azure-nspkg = "~=3.0" -azure-storage-blob = "~=2.1" -azure-storage-common = "~=2.1" -azure-storage-nspkg = "~=3.1" -"backports.lzma" = "*" -boto = "*" -boto3 = "*" control = "*" coverage = "*" -datadog = "*" dictdiffer = "*" -elasticsearch = "*" fastcluster = "*" -Flask-Cors = "*" -Flask-SocketIO = "*" -ft4222 = "*" -GeoAlchemy2 = "*" -git-pylint-commit-hook = "*" -gunicorn = "*" -h5py = "*" hexdump = "*" hypothesis = "*" -imageio = "*" inputs = "*" -ipykernel = "*" -ipython = "*" -joblib = "*" -json-logging-py = "*" -jupyter = "*" -jupyterlab = "*" -jupyterlab-vim = "*" -keras_applications = "*" lru-dict = "*" markdown-it-py = "*" matplotlib = "*" -mock = "*" -mpld3 = "*" -msgpack-python = "*" mypy = "*" myst-parser = "*" -networkx = "~=2.3" numpy = "*" opencv-python-headless = "*" -osmium = "*" parameterized = "*" paramiko = "*" pprofile = "*" pre-commit = "*" pycurl = "*" pygame = "*" -Pygments = "*" -pymongo = "*" -PyMySQL = "~=0.9" -pynmea2 = "*" pyprof2calltree = "*" -pyproj = "*" -python-logstash = "*" -redis = "*" reverse_geocoder = "*" -s2sphere = "*" -scikit-image = "*" scipy = "*" -seaborn = "*" -Shapely = "*" -simplejson = "*" sphinx = "*" sphinx-rtd-theme = "*" -SQLAlchemy = "*" subprocess32 = "*" tenacity = "*" -Werkzeug = "*" [packages] atomicwrites = "*" diff --git a/Pipfile.lock b/Pipfile.lock index 8aacbcbd72bdcd..a1aaeb8766e477 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "5c7313dae29ab23058c6045053416ab27993a827b4b19c0fc1d7fbf1cb9c9fd3" + "sha256": "c0f1a46ca2ccdc208a392c5ce78d9d928f82d40afd46a33da7b99b895798fce2" }, "pipfile-spec": 6, "requires": { @@ -18,11 +18,11 @@ "default": { "astroid": { "hashes": [ - "sha256:0755c998e7117078dcb7d0bda621391dd2a85da48052d948c7411ab187325346", - "sha256:1e83a69fd51b013ebf5912d26b9338d6643a55fec2f20c787792680610eed4a2" + "sha256:11f7356737b624c42e21e71fe85eea6875cb94c03c82ac76bd535a0ff10b0f25", + "sha256:abc423a1e85bc1553954a14f2053473d2b7f8baf32eae62a328be24f436b5107" ], "markers": "python_version ~= '3.6'", - "version": "==2.8.4" + "version": "==2.8.5" }, "atomicwrites": { "hashes": [ @@ -292,11 +292,11 @@ }, "isort": { "hashes": [ - "sha256:1a18ccace2ed8910bd9458b74a3ecbafd7b2f581301b0ab65cfdd4338272d76f", - "sha256:e52ff6d38012b131628cf0f26c51e7bd3a7c81592eefe3ac71411e692f1b9345" + "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7", + "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951" ], "markers": "python_version < '4' and python_full_version >= '3.6.1'", - 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"sha256:f2a8508f7350512434e41065684076f640ecce176d262a7d54f0da41d99c5a95", - "sha256:f44477ae29025d8ea87ec308539f95963ffdc31a82f42ca9deecf2d505242e72", - "sha256:f64394bd7ceef1237cc604b5a89bf748c95982a84bcd3c4bbeb40f685c810794", - "sha256:fc4dd8b01a8112809e6b636b00f487846956402834a7fd59d46d4f4267181c41", - "sha256:fce78593346c014d0d986b7ebc80d782b7f5e19843ca798ed62f8e3ba8728576", - "sha256:fd547ec596d90c8676e369dd8a581a21227fe9b4ad37d0dc7feb4ccf544c2d59" - ], - "markers": "python_version >= '3.6'", - "version": "==1.7.2" - }, - "zipp": { - "hashes": [ - "sha256:71c644c5369f4a6e07636f0aa966270449561fcea2e3d6747b8d23efaa9d7832", - "sha256:9fe5ea21568a0a70e50f273397638d39b03353731e6cbbb3fd8502a33fec40bc" - ], - "markers": "python_version < '3.10'", - "version": "==3.6.0" } } } diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py index 1939677b102822..9cc0e37c4b2b7d 100755 --- a/selfdrive/test/openpilotci.py +++ b/selfdrive/test/openpilotci.py @@ -12,7 +12,7 @@ def get_url(route_name, segment_num, log_type="rlog"): return BASE_URL + "%s/%s/%s.%s" % (route_name.replace("|", "/"), segment_num, log_type, ext) def upload_file(path, name): - from azure.storage.blob import BlockBlobService + from azure.storage.blob import BlockBlobService # pylint: disable=import-error sas_token = None if os.path.isfile(TOKEN_PATH): diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index e25172be9d62b3..3e5a0d2cf0db24 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import sys import subprocess -from azure.storage.blob import BlockBlobService +from azure.storage.blob import BlockBlobService # pylint: disable=import-error from selfdrive.test.test_routes import routes as test_car_models_routes from selfdrive.test.process_replay.test_processes import original_segments as replay_segments diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 00e28c9dfe8983..db07c20177f63b 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -6,10 +6,10 @@ import subprocess import tempfile import threading +from enum import IntEnum from functools import wraps import numpy as np -from aenum import Enum from lru import LRU import _io @@ -41,7 +41,7 @@ def __exit__(self, *x): pass -class FrameType(Enum): +class FrameType(IntEnum): raw = 1 h265_stream = 2 diff --git a/tools/zookeeper/__init__.py b/tools/zookeeper/__init__.py index 0aeafdcaab351e..cd64d3a1fb13ae 100755 --- a/tools/zookeeper/__init__.py +++ b/tools/zookeeper/__init__.py @@ -2,8 +2,8 @@ # Python library to control Zookeeper -import ft4222 -import ft4222.I2CMaster +import ft4222 # pylint: disable=import-error +import ft4222.I2CMaster # pylint: disable=import-error DEBUG = False From 61f9b3e653b08900e6a5011320f383efbe443c14 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Wed, 17 Nov 2021 12:59:36 -0500 Subject: [PATCH 50/56] Fix build failures in Ubuntu 21.10 (#22952) * Fix compile on Ubuntu 21.10 * Add missing c++17 optional refs in ui --- SConstruct | 1 + selfdrive/ui/navd/route_engine.h | 2 ++ selfdrive/ui/ui.h | 1 + 3 files changed, 4 insertions(+) diff --git a/SConstruct b/SConstruct index 73c66690ade338..67acd3eac4637f 100644 --- a/SConstruct +++ b/SConstruct @@ -189,6 +189,7 @@ env = Environment( "-Wno-inconsistent-missing-override", "-Wno-c99-designator", "-Wno-reorder-init-list", + "-Wno-error=unused-but-set-variable", ] + cflags + ccflags, CPPPATH=cpppath + [ diff --git a/selfdrive/ui/navd/route_engine.h b/selfdrive/ui/navd/route_engine.h index 5b8de698a96bb3..9a6c99041732aa 100644 --- a/selfdrive/ui/navd/route_engine.h +++ b/selfdrive/ui/navd/route_engine.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index ad754b550b995a..46cbae63fb035d 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include From 5e2570dc7555609e855370ab8afdade3640282c4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Nov 2021 11:40:17 -0800 Subject: [PATCH 51/56] Revert "Fix build failures in Ubuntu 21.10 (#22952)" This reverts commit 61f9b3e653b08900e6a5011320f383efbe443c14. --- SConstruct | 1 - selfdrive/ui/navd/route_engine.h | 2 -- selfdrive/ui/ui.h | 1 - 3 files changed, 4 deletions(-) diff --git a/SConstruct b/SConstruct index 67acd3eac4637f..73c66690ade338 100644 --- a/SConstruct +++ b/SConstruct @@ -189,7 +189,6 @@ env = Environment( "-Wno-inconsistent-missing-override", "-Wno-c99-designator", "-Wno-reorder-init-list", - "-Wno-error=unused-but-set-variable", ] + cflags + ccflags, CPPPATH=cpppath + [ diff --git a/selfdrive/ui/navd/route_engine.h b/selfdrive/ui/navd/route_engine.h index 9a6c99041732aa..5b8de698a96bb3 100644 --- a/selfdrive/ui/navd/route_engine.h +++ b/selfdrive/ui/navd/route_engine.h @@ -1,7 +1,5 @@ #pragma once -#include - #include #include #include diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 46cbae63fb035d..ad754b550b995a 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -3,7 +3,6 @@ #include #include #include -#include #include #include From 36ca9d2daa376f676e2c969a232e19dbf6c29c7a Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 17 Nov 2021 15:44:10 -0600 Subject: [PATCH 52/56] VW MQB: Add FW for 2018 Volkswagen e-Golf (#22953) --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 01677037fb7149..ed0b1ac76d407b 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -160,6 +160,7 @@ class CAR: b'\xf1\x8704L906056CR\xf1\x895813', b'\xf1\x8704L906056HE\xf1\x893758', b'\xf1\x870EA906016A \xf1\x898343', + b'\xf1\x870EA906016E \xf1\x894219', b'\xf1\x870EA906016F \xf1\x895002', b'\xf1\x870EA906016S \xf1\x897207', b'\xf1\x875G0906259 \xf1\x890007', @@ -227,6 +228,7 @@ class CAR: b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200061104171724102491132111', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200621143171724112491132111', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111', + b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111', b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\023271200111312--071104171837103791132111', b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211', b'\xf1\x875QD959655 \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112', @@ -254,6 +256,7 @@ class CAR: b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A07A02A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A00507A1', + b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A20B03A1', b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1', b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1', From f2a81309e10a93b85d4d68a83392eab9d8df9155 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Nov 2021 13:46:38 -0800 Subject: [PATCH 53/56] Revert "Revert "Fix build failures in Ubuntu 21.10 (#22952)"" This reverts commit 5e2570dc7555609e855370ab8afdade3640282c4. --- SConstruct | 1 + selfdrive/ui/navd/route_engine.h | 2 ++ selfdrive/ui/ui.h | 1 + 3 files changed, 4 insertions(+) diff --git a/SConstruct b/SConstruct index 73c66690ade338..67acd3eac4637f 100644 --- a/SConstruct +++ b/SConstruct @@ -189,6 +189,7 @@ env = Environment( "-Wno-inconsistent-missing-override", "-Wno-c99-designator", "-Wno-reorder-init-list", + "-Wno-error=unused-but-set-variable", ] + cflags + ccflags, CPPPATH=cpppath + [ diff --git a/selfdrive/ui/navd/route_engine.h b/selfdrive/ui/navd/route_engine.h index 5b8de698a96bb3..9a6c99041732aa 100644 --- a/selfdrive/ui/navd/route_engine.h +++ b/selfdrive/ui/navd/route_engine.h @@ -1,5 +1,7 @@ #pragma once +#include + #include #include #include diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index ad754b550b995a..46cbae63fb035d 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include From 787dde003ed3996a6258f636ae7e327da135570a Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Wed, 17 Nov 2021 14:49:10 -0700 Subject: [PATCH 54/56] Mazda: fix typo in CX-5 fw (#22957) --- selfdrive/car/mazda/values.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index c890584de3c7f5..ada3ea1ddbb8f3 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -52,8 +52,8 @@ class Buttons: b'PYNF-188K2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2G-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX2H-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2H-188K2-D\0x0\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PX2K-188K2-B\0x0\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2H-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PX2K-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX38-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX42-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX68-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', From 7d18e26ff1712027aa2f7a85ad5eb045295a15cf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 17 Nov 2021 15:00:37 -0800 Subject: [PATCH 55/56] bump to 0.8.12 --- RELEASES.md | 3 +++ selfdrive/common/version.h | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 0b708d756085d7..aabe4254774878 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,6 @@ +Version 0.8.12 (202X-XX-XX) +======================== + Version 0.8.11 (2021-11-22) ======================== * Support for an external panda on the comma three diff --git a/selfdrive/common/version.h b/selfdrive/common/version.h index 9f00fac4f94111..aa786903c48a22 100644 --- a/selfdrive/common/version.h +++ b/selfdrive/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.8.11" +#define COMMA_VERSION "0.8.12" From 47d0d717ebdef8a0b3c472bfc17b5cd1b401c5ed Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Wed, 17 Nov 2021 16:00:18 -0800 Subject: [PATCH 56/56] panda.cc: struct for CAN header, counter complexity, cleanup for readability (#22956) * try struct * can_send refactor * cleanups * Resize vector only when it is needed * ... * more cleanup --- selfdrive/boardd/panda.cc | 54 ++++++++++++++++++++++----------------- selfdrive/boardd/panda.h | 17 +++++++++--- 2 files changed, 45 insertions(+), 26 deletions(-) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 546a7904f21fe1..f101b2e3b20d37 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -364,12 +364,14 @@ uint8_t Panda::len_to_dlc(uint8_t len) { } void Panda::can_send(capnp::List::Reader can_data_list) { - send.resize(72 * can_data_list.size()); // TODO: need to include 1 byte for each usb 64bytes frame + if (send.size() < (can_data_list.size() * CANPACKET_MAX_SIZE)) { + send.resize(can_data_list.size() * CANPACKET_MAX_SIZE); + } int msg_count = 0; while (msg_count < can_data_list.size()) { uint32_t pos = 0; - while (pos < 256) { + while (pos < USB_TX_SOFT_LIMIT) { if (msg_count == can_data_list.size()) { break; } auto cmsg = can_data_list[msg_count]; @@ -384,26 +386,31 @@ void Panda::can_send(capnp::List::Reader can_data_list) { assert(can_data.size() <= (hw_type == cereal::PandaState::PandaType::RED_PANDA) ? 64 : 8); assert(can_data.size() == dlc_to_len[data_len_code]); - *(uint32_t*)&send[pos+1] = (cmsg.getAddress() << 3); - if (cmsg.getAddress() >= 0x800) { - *(uint32_t*)&send[pos+1] |= (1 << 2); - } - send[pos] = data_len_code << 4 | ((bus - bus_offset) << 1); - memcpy(&send[pos+5], can_data.begin(), can_data.size()); + can_header header; + header.addr = cmsg.getAddress(); + header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0; + header.data_len_code = data_len_code; + header.bus = bus - bus_offset; + memcpy(&send[pos], &header, CANPACKET_HEAD_SIZE); + memcpy(&send[pos+CANPACKET_HEAD_SIZE], can_data.begin(), can_data.size()); pos += CANPACKET_HEAD_SIZE + dlc_to_len[data_len_code]; msg_count++; } if (pos > 0) { // Helps not to spam with ZLP - // insert counter + // Counter needs to be inserted every 64 bytes (first byte of 64 bytes USB packet) uint8_t counter = 0; - for (int i = 0; i < pos; i += 64) { - send.insert(send.begin() + i, counter); + uint8_t to_write[USB_TX_SOFT_LIMIT+128]; + int ptr = 0; + for (int i = 0; i < pos; i += 63) { + to_write[ptr] = counter; + int copy_size = ((pos - i) < 63) ? (pos - i) : 63; + memcpy(&to_write[ptr+1], &(send.data()[i]) , copy_size); + ptr += copy_size + 1; counter++; - pos++; } - usb_bulk_write(3, (uint8_t*)send.data(), pos, 5); + usb_bulk_write(3, to_write, ptr, 5); } } } @@ -415,7 +422,6 @@ bool Panda::can_receive(std::vector& out_vec) { // Not sure if this can happen if (recv < 0) recv = 0; - // TODO: Might change from full to overloaded? if > some threshold that is lower than RECV_SIZE, let's say 80-90% if (recv == RECV_SIZE) { LOGW("Receive buffer full"); } @@ -426,17 +432,18 @@ bool Panda::can_receive(std::vector& out_vec) { out_vec.reserve(out_vec.size() + (recv / CANPACKET_HEAD_SIZE)); - static uint8_t tail[72]; + static uint8_t tail[CANPACKET_MAX_SIZE]; uint8_t tail_size = 0; uint8_t counter = 0; for (int i = 0; i < recv; i += 64) { + // Check for counter every 64 bytes (length of USB packet) if (counter != data[i]) { LOGE("CAN: MALFORMED USB RECV PACKET"); break; } counter++; uint8_t chunk_len = ((recv - i) > 64) ? 63 : (recv - i - 1); // as 1 is always reserved for counter - uint8_t chunk[72]; + uint8_t chunk[CANPACKET_MAX_SIZE]; memcpy(chunk, tail, tail_size); memcpy(&chunk[tail_size], &data[i+1], chunk_len); chunk_len += tail_size; @@ -447,21 +454,22 @@ bool Panda::can_receive(std::vector& out_vec) { uint8_t pckt_len = CANPACKET_HEAD_SIZE + data_len; if (pckt_len <= (chunk_len - pos)) { can_frame canData; + can_header header; + memcpy(&header, &chunk[pos], CANPACKET_HEAD_SIZE); canData.busTime = 0; - canData.address = (*(uint32_t*)&chunk[pos+1]) >> 3; - canData.src = ((chunk[pos] >> 1) & 0x7) + bus_offset; + canData.address = header.addr; + canData.src = header.bus + bus_offset; - bool rejected = chunk[pos+1] & 0x1; - bool returned = (chunk[pos+1] >> 1) & 0x1; - if (rejected) { canData.src += CANPACKET_REJECTED; } - if (returned) { canData.src += CANPACKET_RETURNED; } - canData.dat.assign((char*)&chunk[pos+5], data_len); + if (header.rejected) { canData.src += CANPACKET_REJECTED; } + if (header.returned) { canData.src += CANPACKET_RETURNED; } + canData.dat.assign((char*)&chunk[pos+CANPACKET_HEAD_SIZE], data_len); pos += pckt_len; // add to vector out_vec.push_back(canData); } else { + // Keep partial CAN packet until next USB packet tail_size = (chunk_len - pos); memcpy(tail, &chunk[pos], tail_size); break; diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index e42955d2b2a935..415bb30103fc70 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -13,11 +13,12 @@ #include "cereal/gen/cpp/car.capnp.h" #include "cereal/gen/cpp/log.capnp.h" -// double the FIFO size -#define RECV_SIZE (0x4000) #define TIMEOUT 0 #define PANDA_BUS_CNT 4 -#define CANPACKET_HEAD_SIZE (0x5U) +#define RECV_SIZE (0x4000U) +#define USB_TX_SOFT_LIMIT (0x100U) +#define CANPACKET_HEAD_SIZE 5U +#define CANPACKET_MAX_SIZE 72U #define CANPACKET_REJECTED (0xC0U) #define CANPACKET_RETURNED (0x80U) @@ -44,6 +45,16 @@ struct __attribute__((packed)) health_t { uint8_t heartbeat_lost; }; +struct __attribute__((packed)) can_header { + uint8_t reserved : 1; + uint8_t bus : 3; + uint8_t data_len_code : 4; + uint8_t rejected : 1; + uint8_t returned : 1; + uint8_t extended : 1; + uint32_t addr : 29; +}; + struct can_frame { long address; std::string dat;