Compare commits
No commits in common. "v0.4.0.2" and "spacecruft" have entirely different histories.
v0.4.0.2
...
spacecruft
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@ -0,0 +1,19 @@
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|||
---
|
||||
Checks: '
|
||||
bugprone-*,
|
||||
-bugprone-integer-division,
|
||||
-bugprone-narrowing-conversions,
|
||||
performance-*,
|
||||
clang-analyzer-*,
|
||||
misc-*,
|
||||
-misc-unused-parameters,
|
||||
modernize-*,
|
||||
-modernize-avoid-c-arrays,
|
||||
-modernize-deprecated-headers,
|
||||
-modernize-use-auto,
|
||||
-modernize-use-using,
|
||||
-modernize-use-nullptr,
|
||||
-modernize-use-trailing-return-type,
|
||||
'
|
||||
CheckOptions:
|
||||
...
|
||||
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@ -0,0 +1,3 @@
|
|||
((c++-mode (flycheck-gcc-language-standard . "c++11")
|
||||
(flycheck-clang-language-standard . "c++11")
|
||||
))
|
||||
|
|
@ -0,0 +1,40 @@
|
|||
**/.git
|
||||
.DS_Store
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pyc
|
||||
*.pyo
|
||||
.*.swp
|
||||
.*.swo
|
||||
.*.un~
|
||||
*.tmp
|
||||
*.o
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
|
||||
notebooks
|
||||
phone
|
||||
massivemap
|
||||
neos
|
||||
installer
|
||||
chffr/app2
|
||||
chffr/backend/env
|
||||
selfdrive/nav
|
||||
selfdrive/baseui
|
||||
chffr/lib/vidindex/vidindex
|
||||
selfdrive/test/simulator2
|
||||
**/cache_data
|
||||
xx/chffr/lib/vidindex/vidindex
|
||||
xx/plus
|
||||
xx/community
|
||||
xx/projects
|
||||
!xx/projects/eon_testing_master
|
||||
!xx/projects/map3d
|
||||
xx/ops
|
||||
xx/junk
|
||||
tools/sim/carla
|
||||
tools/sim/*.tar.gz
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
root = true
|
||||
|
||||
[*]
|
||||
end_of_line = lf
|
||||
insert_final_newline = true
|
||||
trim_trailing_whitespace = true
|
||||
|
||||
[{*.py, *.pyx, *.pxd}]
|
||||
charset = utf-8
|
||||
indent_style = space
|
||||
indent_size = 2
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
*.keras filter=lfs diff=lfs merge=lfs -text
|
||||
*.dlc filter=lfs diff=lfs merge=lfs -text
|
||||
*.onnx filter=lfs diff=lfs merge=lfs -text
|
||||
*.pb filter=lfs diff=lfs merge=lfs -text
|
||||
*.bin filter=lfs diff=lfs merge=lfs -text
|
||||
*.jpg filter=lfs diff=lfs merge=lfs -text
|
||||
*.ipynb filter=nbstripout -diff
|
||||
external/ffmpeg/bin/ffmpeg_cuda filter=lfs diff=lfs merge=lfs -text
|
||||
models/segnet.keras filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/acado/x86_64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/acado/x86_64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/acado/x86_64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/acado/x86_64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/acado/x86_64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/acado/aarch64/lib/libacado_toolkit.a filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/acado/aarch64/lib/libacado_toolkit_s.so.1.2.2beta filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/acado/aarch64/lib/libacado_casadi.a filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/acado/aarch64/lib/libacado_csparse.a filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/acado/aarch64/lib/libacado_qpoases.a filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/fastcv/aarch64/libfastcvopt.so filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/fastcv/aarch64/libfastcvadsp_stub.so filter=lfs diff=lfs merge=lfs -text
|
||||
models/segnet2.keras filter=lfs diff=lfs merge=lfs -text
|
||||
phonelibs/zmq/aarch64-linux/lib/libzmq.a filter=lfs diff=lfs merge=lfs -text
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
---
|
||||
name: Bug report
|
||||
about: For issues with running openpilot on your comma device
|
||||
title: ''
|
||||
labels: 'bug'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
**Describe the bug**
|
||||
|
||||
<!-- A clear and concise description of what the bug is. -->
|
||||
|
||||
**How to reproduce or log data**
|
||||
|
||||
<!-- Steps to reproduce the behavior. -->
|
||||
|
||||
**Expected behavior**
|
||||
|
||||
<!-- A clear and concise description of what you expected to happen. -->
|
||||
|
||||
**Device/Version information (please complete the following information):**
|
||||
- Device: [e.g. EON/EON Gold/comma two]
|
||||
- Dongle ID: [e.g. 77611a1fac303767, can be found in Settings -> Device -> Dongle ID or my.comma.ai/useradmin]
|
||||
- Route: [e.g. 77611a1fac303767|2020-05-11--16-37-07, can be found in my.comma.ai/useradmin]
|
||||
- Timestamp: [When in the route the bug occurs (e.g. 4min 30s into the drive)]
|
||||
- Version: [commit hash when on a non-release branch, or version number when on devel or release2 (e.g. 0.7.6)]
|
||||
- Car make/model: [e.g. Toyota Prius 2016]
|
||||
|
||||
**Additional context**
|
||||
|
||||
<!-- Add any other context about the problem here. -->
|
||||
|
|
@ -0,0 +1,31 @@
|
|||
---
|
||||
name: Car bug report
|
||||
about: For issues with a particular car or make
|
||||
title: ''
|
||||
labels: 'car bug'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
**Describe the bug**
|
||||
|
||||
<!-- A clear and concise description of what the bug is. -->
|
||||
|
||||
**How to reproduce or log data**
|
||||
|
||||
<!-- Steps to reproduce the behavior. -->
|
||||
|
||||
**Expected behavior**
|
||||
|
||||
<!-- A clear and concise description of what you expected to happen. -->
|
||||
|
||||
**Device/Version information (please complete the following information):**
|
||||
- Device: [e.g. EON/EON Gold/comma two]
|
||||
- Dongle ID: [e.g. 77611a1fac303767, can be found in Settings -> Device -> Dongle ID or my.comma.ai/useradmin]
|
||||
- Route: [e.g. 77611a1fac303767|2020-05-11--16-37-07, can be found in my.comma.ai/useradmin]
|
||||
- Timestamp: [When in the route the bug occurs (e.g. 4min 30s into the drive)]
|
||||
- Version: [commit hash when on a non-release branch, or version number when on devel or release2 (e.g. 0.7.6)]
|
||||
- Car make/model: [e.g. Toyota Prius 2016]
|
||||
|
||||
**Additional context**
|
||||
|
||||
<!-- Add any other context about the problem here. -->
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
blank_issues_enabled: false
|
||||
contact_links:
|
||||
- name: Discussions
|
||||
url: https://github.com/commaai/openpilot/discussions
|
||||
about: For questions and discussion about openpilot
|
||||
- name: Community Wiki
|
||||
url: https://github.com/commaai/openpilot/wiki
|
||||
about: Check out our community wiki
|
||||
- name: Community Discord
|
||||
url: https://discord.comma.ai
|
||||
about: Check out our community discord
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
---
|
||||
name: Enhancement
|
||||
about: For openpilot enhancement suggestions
|
||||
title: ''
|
||||
labels: 'enhancement'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
---
|
||||
name: PC Bug report
|
||||
about: For issues with running openpilot on PC
|
||||
title: ''
|
||||
labels: 'PC'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
**Describe the bug**
|
||||
|
||||
<!-- A clear and concise description of what the bug is. Add the `simulation` label if running in an environment like CARLA. -->
|
||||
|
||||
**How to reproduce or log data**
|
||||
|
||||
<!-- Steps to reproduce the behavior. -->
|
||||
|
||||
**Expected behavior**
|
||||
|
||||
<!-- A clear and concise description of what you expected to happen. -->
|
||||
|
||||
**Additional context**
|
||||
|
||||
<!-- Add any other context about the problem here. -->
|
||||
|
||||
Operating system: [e.g. Ubuntu 16.04]
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
---
|
||||
name: Bug fix
|
||||
about: For openpilot bug fixes
|
||||
title: ''
|
||||
labels: 'bugfix'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
**Description**
|
||||
|
||||
<!-- A description of the bug and the fix. Also link the issue if it exists. -->
|
||||
|
||||
**Verification**
|
||||
|
||||
<!-- Explain how you tested this bug fix. -->
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
---
|
||||
name: Car Bug fix
|
||||
about: For vehicle/brand specifc bug fixes
|
||||
title: ''
|
||||
labels: 'car bug fix'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
**Description**
|
||||
|
||||
<!-- A description of the bug and the fix. Also link the issue if it exists. -->
|
||||
|
||||
**Verification**
|
||||
|
||||
<!-- Explain how you tested this bug fix. -->
|
||||
|
||||
**Route**
|
||||
|
||||
Route: [a route with the bug fix]
|
||||
|
|
@ -0,0 +1,14 @@
|
|||
---
|
||||
name: Car port
|
||||
about: For new car ports
|
||||
title: ''
|
||||
labels: 'car port'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
**Checklist**
|
||||
|
||||
- [ ] added to README
|
||||
- [ ] test route added to [test_routes.py](../../selfdrive/test/test_routes.py)
|
||||
- [ ] route with openpilot:
|
||||
- [ ] route with stock system:
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
---
|
||||
name: Fingerprint
|
||||
about: For adding fingerprints to existing cars
|
||||
title: ''
|
||||
labels: 'fingerprint'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
Discord username: []
|
||||
|
||||
Route: []
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
---
|
||||
name: Refactor
|
||||
about: For code refactors
|
||||
title: ''
|
||||
labels: 'refactor'
|
||||
assignees: ''
|
||||
---
|
||||
|
||||
**Description**
|
||||
|
||||
<!-- A description of the refactor, including the goals it accomplishes. -->
|
||||
|
||||
**Verification**
|
||||
|
||||
<!-- Explain how you tested the refactor for regressions. -->
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
version: 2
|
||||
updates:
|
||||
- package-ecosystem: pip
|
||||
directory: "/"
|
||||
schedule:
|
||||
interval: daily
|
||||
time: '15:00'
|
||||
open-pull-requests-limit: 10
|
||||
|
|
@ -0,0 +1,38 @@
|
|||
<!-- Please copy and paste the relevant template -->
|
||||
|
||||
<!--- ***** Template: Car bug fix *****
|
||||
|
||||
**Description** [](A description of the bug and the fix. Also link any relevant issues.)
|
||||
|
||||
**Verification** [](Explain how you tested this bug fix.)
|
||||
|
||||
**Route**
|
||||
Route: [a route with the bug fix]
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Bug fix *****
|
||||
|
||||
**Description** [](A description of the bug and the fix. Also link any relevant issues.)
|
||||
|
||||
**Verification** [](Explain how you tested this bug fix.)
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Car port *****
|
||||
|
||||
**Checklist**
|
||||
- [ ] added to README
|
||||
- [ ] test route added to [test_routes.py](../../selfdrive/test/test_routes.py)
|
||||
- [ ] route with openpilot:
|
||||
- [ ] route with stock system:
|
||||
|
||||
-->
|
||||
|
||||
<!--- ***** Template: Refactor *****
|
||||
|
||||
**Description** [](A description of the refactor, including the goals it accomplishes.)
|
||||
|
||||
**Verification** [](Explain how you tested the refactor for regressions.)
|
||||
|
||||
-->
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
name: prebuilt
|
||||
on:
|
||||
schedule:
|
||||
- cron: '0 * * * *'
|
||||
|
||||
env:
|
||||
BASE_IMAGE: openpilot-base
|
||||
DOCKER_REGISTRY: ghcr.io/commaai
|
||||
|
||||
DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
|
||||
BUILD: |
|
||||
docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
|
||||
docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
|
||||
docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
|
||||
|
||||
jobs:
|
||||
build_prebuilt:
|
||||
name: build prebuilt
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 60
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
env:
|
||||
IMAGE_NAME: openpilot-prebuilt
|
||||
steps:
|
||||
- name: Wait for green check mark
|
||||
uses: lewagon/wait-on-check-action@v0.2
|
||||
with:
|
||||
ref: master
|
||||
wait-interval: 30
|
||||
running-workflow-name: 'build prebuilt'
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Build Docker image
|
||||
run: |
|
||||
eval "$BUILD"
|
||||
docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
|
||||
docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot .
|
||||
- name: Push to container registry
|
||||
run: |
|
||||
$DOCKER_LOGIN
|
||||
docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
|
||||
|
|
@ -0,0 +1,293 @@
|
|||
name: selfdrive
|
||||
on:
|
||||
push:
|
||||
branches-ignore:
|
||||
- 'testing-closet*'
|
||||
pull_request:
|
||||
|
||||
env:
|
||||
BASE_IMAGE: openpilot-base
|
||||
DOCKER_REGISTRY: ghcr.io/commaai
|
||||
|
||||
DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
|
||||
BUILD: |
|
||||
docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
|
||||
docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
|
||||
docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
|
||||
|
||||
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e SCONS_CACHE=1 -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
|
||||
UNIT_TEST: coverage run --append -m unittest discover
|
||||
|
||||
jobs:
|
||||
# TODO: once actions/cache supports read only mode, use the cache for all jobs
|
||||
build_release:
|
||||
name: build release
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 50
|
||||
env:
|
||||
STRIPPED_DIR: tmppilot
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Cache dependencies
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: /tmp/scons_cache
|
||||
key: scons-cache-${{ hashFiles('selfdrive/**') }}
|
||||
restore-keys: scons-cache-
|
||||
- name: Strip non-release files
|
||||
run: |
|
||||
mkdir $STRIPPED_DIR
|
||||
cp -pR --parents $(cat release/files_common) $STRIPPED_DIR
|
||||
cp Dockerfile.openpilot_base $STRIPPED_DIR
|
||||
|
||||
# need this to build on x86
|
||||
cp -pR --parents phonelibs/libyuv phonelibs/snpe selfdrive/modeld/runners $STRIPPED_DIR
|
||||
- name: Build Docker image
|
||||
run: eval "$BUILD"
|
||||
- name: Build openpilot and run checks
|
||||
run: |
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "python selfdrive/manager/build.py && \
|
||||
python -m unittest discover selfdrive/car"
|
||||
- name: Cleanup scons cache
|
||||
run: |
|
||||
cd $STRIPPED_DIR
|
||||
${{ env.RUN }} "scons -j$(nproc) && \
|
||||
rm -rf /tmp/scons_cache/* && \
|
||||
scons -j$(nproc) --cache-populate"
|
||||
|
||||
build_mac:
|
||||
name: build macos
|
||||
runs-on: macos-10.15
|
||||
timeout-minutes: 60
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Determine pre-existing Homebrew packages
|
||||
if: steps.dependency-cache.outputs.cache-hit != 'true'
|
||||
run: |
|
||||
echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
|
||||
ls -1 /usr/local/Cellar >> $GITHUB_ENV
|
||||
echo 'EOF' >> $GITHUB_ENV
|
||||
- name: Cache dependencies
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: |
|
||||
~/.pyenv
|
||||
~/Library/Caches/pip
|
||||
~/Library/Caches/pipenv
|
||||
/usr/local/Cellar
|
||||
~/github_brew_cache_entries.txt
|
||||
key: macos-cache-${{ hashFiles('tools/mac_setup.sh') }}
|
||||
- name: Brew link restored dependencies
|
||||
if: steps.dependency-cache.outputs.cache-hit == 'true'
|
||||
run: |
|
||||
while read pkg; do
|
||||
brew link --force "$pkg" # `--force` for keg-only packages
|
||||
done < ~/github_brew_cache_entries.txt
|
||||
- name: Install dependencies
|
||||
run: ./tools/mac_setup.sh
|
||||
- name: Build openpilot
|
||||
run: eval "$(pyenv init -)" && scons -j$(nproc)
|
||||
- name: Remove pre-existing Homebrew packages for caching
|
||||
if: steps.dependency-cache.outputs.cache-hit != 'true'
|
||||
run: |
|
||||
cd /usr/local/Cellar
|
||||
new_cellar=$(ls -1)
|
||||
comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
|
||||
if [[ $pkg != "zstd" ]]; then # caching step needs zstd
|
||||
rm -rf "$pkg"
|
||||
fi
|
||||
done
|
||||
comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
|
||||
|
||||
build_webcam:
|
||||
name: build webcam
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 90
|
||||
env:
|
||||
IMAGE_NAME: openpilotwebcamci
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Build Docker image
|
||||
run: |
|
||||
eval "$BUILD"
|
||||
docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
|
||||
docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/webcam/Dockerfile .
|
||||
- name: Build openpilot
|
||||
run: docker run --shm-size 1G --rm -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot $DOCKER_REGISTRY/$IMAGE_NAME /bin/sh -c "cd /tmp/openpilot && USE_WEBCAM=1 scons -j$(nproc)"
|
||||
- name: Push to container registry
|
||||
if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
|
||||
run: |
|
||||
$DOCKER_LOGIN
|
||||
docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
|
||||
|
||||
docker_push:
|
||||
name: docker push
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 50
|
||||
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:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Build Docker image
|
||||
run: eval "$BUILD"
|
||||
- name: Push to container registry
|
||||
run: |
|
||||
$DOCKER_LOGIN
|
||||
docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
|
||||
|
||||
static_analysis:
|
||||
name: static analysis
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 50
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Build Docker image
|
||||
run: eval "$BUILD"
|
||||
- name: pre-commit
|
||||
run: ${{ env.RUN }} "git init && git add -A && pre-commit run --all"
|
||||
|
||||
valgrind:
|
||||
name: valgrind
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 50
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Cache dependencies
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: /tmp/comma_download_cache
|
||||
key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_valgrind_replay.py') }}
|
||||
- name: Build Docker image
|
||||
run: eval "$BUILD"
|
||||
- name: Run valgrind
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc) && \
|
||||
FILEREADER_CACHE=1 python selfdrive/test/test_valgrind_replay.py"
|
||||
- name: Print logs
|
||||
if: always()
|
||||
run: cat selfdrive/test/valgrind_logs.txt
|
||||
|
||||
unit_tests:
|
||||
name: unit tests
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 50
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Build Docker image
|
||||
run: eval "$BUILD"
|
||||
- name: Run unit tests
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc) --test && \
|
||||
coverage run selfdrive/test/test_fingerprints.py && \
|
||||
$UNIT_TEST common && \
|
||||
$UNIT_TEST opendbc/can && \
|
||||
$UNIT_TEST selfdrive/boardd && \
|
||||
$UNIT_TEST selfdrive/controls && \
|
||||
$UNIT_TEST selfdrive/monitoring && \
|
||||
$UNIT_TEST selfdrive/loggerd && \
|
||||
$UNIT_TEST selfdrive/car && \
|
||||
$UNIT_TEST selfdrive/locationd && \
|
||||
$UNIT_TEST selfdrive/athena && \
|
||||
$UNIT_TEST selfdrive/thermald && \
|
||||
$UNIT_TEST tools/lib/tests && \
|
||||
./selfdrive/camerad/test/ae_gray_test"
|
||||
- name: Upload coverage to Codecov
|
||||
run: bash <(curl -s https://codecov.io/bash) -v -F unit_tests
|
||||
|
||||
process_replay:
|
||||
name: process replay
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 50
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Cache dependencies
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: /tmp/comma_download_cache
|
||||
key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/process_replay/test_processes.py') }}
|
||||
- name: Build Docker image
|
||||
run: eval "$BUILD"
|
||||
- name: Run replay
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc) && \
|
||||
FILEREADER_CACHE=1 CI=1 coverage run selfdrive/test/process_replay/test_processes.py"
|
||||
- name: Upload coverage to Codecov
|
||||
run: bash <(curl -s https://codecov.io/bash) -v -F process_replay
|
||||
- name: Print diff
|
||||
if: always()
|
||||
run: cat selfdrive/test/process_replay/diff.txt
|
||||
- uses: actions/upload-artifact@v2
|
||||
if: always()
|
||||
continue-on-error: true
|
||||
with:
|
||||
name: process_replay_diff.txt
|
||||
path: selfdrive/test/process_replay/diff.txt
|
||||
|
||||
test_longitudinal:
|
||||
name: longitudinal
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 50
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Build Docker image
|
||||
run: eval "$BUILD"
|
||||
- name: Test longitudinal
|
||||
run: |
|
||||
${{ env.RUN }} "mkdir -p selfdrive/test/out && \
|
||||
scons -j$(nproc) && \
|
||||
cd selfdrive/test/longitudinal_maneuvers && \
|
||||
./test_longitudinal.py"
|
||||
- uses: actions/upload-artifact@v2
|
||||
if: always()
|
||||
continue-on-error: true
|
||||
with:
|
||||
name: longitudinal
|
||||
path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/
|
||||
|
||||
test_car_models:
|
||||
name: car models
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 50
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Cache dependencies
|
||||
id: dependency-cache
|
||||
uses: actions/cache@v2
|
||||
with:
|
||||
path: /tmp/comma_download_cache
|
||||
key: ${{ hashFiles('.github/workflows/test.yaml', 'selfdrive/test/test_routes.py') }}
|
||||
- name: Build Docker image
|
||||
run: eval "$BUILD"
|
||||
- name: Test car models
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc) && \
|
||||
FILEREADER_CACHE=1 coverage run --parallel-mode -m nose --processes=4 --process-timeout=60 \
|
||||
selfdrive/test/test_models.py && \
|
||||
coverage combine"
|
||||
- name: Upload coverage to Codecov
|
||||
run: bash <(curl -s https://codecov.io/bash) -v -F test_car_models
|
||||
|
|
@ -0,0 +1,58 @@
|
|||
name: tools
|
||||
on:
|
||||
push:
|
||||
pull_request:
|
||||
|
||||
env:
|
||||
BASE_IMAGE: openpilot-base
|
||||
DOCKER_REGISTRY: ghcr.io/commaai
|
||||
DOCKER_LOGIN: docker login ghcr.io -u adeebshihadeh -p ${{ secrets.CONTAINER_TOKEN }}
|
||||
|
||||
BUILD: |
|
||||
docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
|
||||
docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
|
||||
docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
|
||||
RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e \
|
||||
GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
|
||||
|
||||
jobs:
|
||||
plotjuggler:
|
||||
name: plotjuggler
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 30
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
- name: Build Docker image
|
||||
run: eval "$BUILD"
|
||||
- name: Unit test
|
||||
run: |
|
||||
${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
|
||||
apt-get update && \
|
||||
apt-get install -y libdw-dev libqt5svg5-dev libqt5x11extras5-dev && \
|
||||
cd /tmp/openpilot/tools/plotjuggler && \
|
||||
./test_plotjuggler.py"
|
||||
|
||||
simulator:
|
||||
name: simulator
|
||||
runs-on: ubuntu-20.04
|
||||
timeout-minutes: 50
|
||||
env:
|
||||
IMAGE_NAME: openpilot-sim
|
||||
if: github.repository == 'commaai/openpilot'
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
with:
|
||||
submodules: true
|
||||
lfs: true
|
||||
- name: Build Docker image
|
||||
run: |
|
||||
eval "$BUILD"
|
||||
docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true
|
||||
docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
|
||||
- name: Push to container registry
|
||||
if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
|
||||
run: |
|
||||
$DOCKER_LOGIN
|
||||
docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
|
||||
|
|
@ -1,9 +1,18 @@
|
|||
venv/
|
||||
.clang-format
|
||||
.DS_Store
|
||||
.tags
|
||||
.ipynb_checkpoints
|
||||
.idea
|
||||
.overlay_init
|
||||
.overlay_consistent
|
||||
.sconsign.dblite
|
||||
.vscode*
|
||||
model2.png
|
||||
a.out
|
||||
.hypothesis
|
||||
|
||||
*.dylib
|
||||
*.DSYM
|
||||
*.d
|
||||
*.pyc
|
||||
|
|
@ -11,7 +20,11 @@ model2.png
|
|||
.*.swp
|
||||
.*.swo
|
||||
.*.un~
|
||||
*.tmp
|
||||
*.o
|
||||
*.o-*
|
||||
*.os
|
||||
*.os-*
|
||||
*.so
|
||||
*.a
|
||||
*.clb
|
||||
|
|
@ -20,11 +33,45 @@ model2.png
|
|||
*.vcd
|
||||
config.json
|
||||
clcache
|
||||
compile_commands.json
|
||||
|
||||
persist
|
||||
board/obj/
|
||||
selfdrive/boardd/boardd
|
||||
selfdrive/logcatd/logcatd
|
||||
selfdrive/mapd/default_speeds_by_region.json
|
||||
selfdrive/proclogd/proclogd
|
||||
selfdrive/ui/ui
|
||||
selfdrive/ui/_ui
|
||||
selfdrive/test/longitudinal_maneuvers/out
|
||||
selfdrive/visiond/visiond
|
||||
selfdrive/loggerd/loggerd
|
||||
selfdrive/loggerd/bootlog
|
||||
selfdrive/sensord/_gpsd
|
||||
selfdrive/sensord/_sensord
|
||||
selfdrive/camerad/camerad
|
||||
selfdrive/camerad/test/ae_gray_test
|
||||
selfdrive/modeld/_modeld
|
||||
selfdrive/modeld/_dmonitoringmodeld
|
||||
/src/
|
||||
|
||||
one
|
||||
openpilot
|
||||
notebooks
|
||||
xx
|
||||
hyperthneed
|
||||
panda_jungle
|
||||
provisioning
|
||||
|
||||
.coverage*
|
||||
coverage.xml
|
||||
htmlcov
|
||||
pandaextra
|
||||
|
||||
.mypy_cache/
|
||||
flycheck_*
|
||||
|
||||
cppcheck_report.txt
|
||||
comma*.sh
|
||||
|
||||
selfdrive/modeld/thneed/compile
|
||||
models/*.thneed
|
||||
|
|
|
|||
|
|
@ -0,0 +1,15 @@
|
|||
[submodule "panda"]
|
||||
path = panda
|
||||
url = ../../RetroPilot/panda.git
|
||||
[submodule "opendbc"]
|
||||
path = opendbc
|
||||
url = ../../RetroPilot/opendbc.git
|
||||
[submodule "laika_repo"]
|
||||
path = laika_repo
|
||||
url = ../../RetroPilot/laika.git
|
||||
[submodule "cereal"]
|
||||
path = cereal
|
||||
url = ../../RetroPilot/cereal.git
|
||||
[submodule "rednose_repo"]
|
||||
path = rednose_repo
|
||||
url = ../../RetroPilot/rednose.git
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
repos:
|
||||
- repo: https://github.com/pre-commit/pre-commit-hooks
|
||||
rev: v3.4.0
|
||||
hooks:
|
||||
- id: check-ast
|
||||
- id: check-json
|
||||
- id: check-xml
|
||||
- id: check-yaml
|
||||
- id: check-merge-conflict
|
||||
- id: check-symlinks
|
||||
- repo: https://github.com/pre-commit/mirrors-mypy
|
||||
rev: v0.800
|
||||
hooks:
|
||||
- id: mypy
|
||||
exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)/'
|
||||
additional_dependencies: ['git+https://github.com/numpy/numpy-stubs']
|
||||
- repo: https://github.com/PyCQA/flake8
|
||||
rev: 3.8.4
|
||||
hooks:
|
||||
- id: flake8
|
||||
exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(opendbc)|(laika_repo)|(rednose_repo)|(selfdrive/debug)/'
|
||||
args:
|
||||
- --select=F,E112,E113,E304,E501,E502,E701,E702,E703,E71,E72,E731,W191,W6
|
||||
- --max-line-length=240
|
||||
- --statistics
|
||||
- repo: local
|
||||
hooks:
|
||||
- id: pylint
|
||||
name: pylint
|
||||
entry: pylint
|
||||
language: system
|
||||
types: [python]
|
||||
exclude: '^(pyextra)|(cereal)|(rednose)|(panda)|(laika)|(laika_repo)|(rednose_repo)/'
|
||||
- repo: local
|
||||
hooks:
|
||||
- id: cppcheck
|
||||
name: cppcheck
|
||||
entry: cppcheck
|
||||
language: system
|
||||
types: [c++]
|
||||
exclude: '^(phonelibs)|(cereal)|(opendbc)|(panda)|(tools)|(selfdrive/modeld/thneed/debug)|(selfdrive/modeld/test)|(selfdrive/camerad/test)/|(installer)'
|
||||
args:
|
||||
- --error-exitcode=1
|
||||
- --language=c++
|
||||
- --quiet
|
||||
- --force
|
||||
- -j8
|
||||
|
|
@ -0,0 +1,471 @@
|
|||
[MASTER]
|
||||
|
||||
# A comma-separated list of package or module names from where C extensions may
|
||||
# be loaded. Extensions are loading into the active Python interpreter and may
|
||||
# run arbitrary code
|
||||
extension-pkg-whitelist=scipy cereal.messaging.messaging_pyx
|
||||
|
||||
# Add files or directories to the blacklist. They should be base names, not
|
||||
# paths.
|
||||
ignore=CVS
|
||||
|
||||
# Add files or directories matching the regex patterns to the blacklist. The
|
||||
# regex matches against base names, not paths.
|
||||
ignore-patterns=
|
||||
|
||||
# Python code to execute, usually for sys.path manipulation such as
|
||||
# pygtk.require().
|
||||
#init-hook=
|
||||
|
||||
# Use multiple processes to speed up Pylint.
|
||||
jobs=4
|
||||
|
||||
# List of plugins (as comma separated values of python modules names) to load,
|
||||
# usually to register additional checkers.
|
||||
load-plugins=
|
||||
|
||||
# Pickle collected data for later comparisons.
|
||||
persistent=yes
|
||||
|
||||
# Specify a configuration file.
|
||||
#rcfile=
|
||||
|
||||
# When enabled, pylint would attempt to guess common misconfiguration and emit
|
||||
# user-friendly hints instead of false-positive error messages
|
||||
suggestion-mode=yes
|
||||
|
||||
# Allow loading of arbitrary C extensions. Extensions are imported into the
|
||||
# active Python interpreter and may run arbitrary code.
|
||||
unsafe-load-any-extension=no
|
||||
|
||||
|
||||
[MESSAGES CONTROL]
|
||||
|
||||
# Only show warnings with the listed confidence levels. Leave empty to show
|
||||
# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
|
||||
confidence=
|
||||
|
||||
# Disable the message, report, category or checker with the given id(s). You
|
||||
# can either give multiple identifiers separated by comma (,) or put this
|
||||
# option multiple times (only on the command line, not in the configuration
|
||||
# file where it should appear only once).You can also use "--disable=all" to
|
||||
# disable everything first and then reenable specific checks. For example, if
|
||||
# you want to run only the similarities checker, you can use "--disable=all
|
||||
# --enable=similarities". If you want to run only the classes checker, but have
|
||||
# no Warning level messages displayed, use"--disable=all --enable=classes
|
||||
# --disable=W"
|
||||
disable=C,R,W0613,W0511,W0212,W0201,W0311,W0106,W0603,W0621,W0703,W1201,W1203,E1136
|
||||
|
||||
|
||||
# Enable the message, report, category or checker with the given id(s). You can
|
||||
# either give multiple identifier separated by comma (,) or put this option
|
||||
# multiple time (only on the command line, not in the configuration file where
|
||||
# it should appear only once). See also the "--disable" option for examples.
|
||||
enable=c-extension-no-member
|
||||
|
||||
|
||||
[REPORTS]
|
||||
|
||||
# Python expression which should return a note less than 10 (10 is the highest
|
||||
# note). You have access to the variables errors warning, statement which
|
||||
# respectively contain the number of errors / warnings messages and the total
|
||||
# number of statements analyzed. This is used by the global evaluation report
|
||||
# (RP0004).
|
||||
evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
|
||||
|
||||
# Template used to display messages. This is a python new-style format string
|
||||
# used to format the message information. See doc for all details
|
||||
#msg-template=
|
||||
|
||||
# Set the output format. Available formats are text, parseable, colorized, json
|
||||
# and msvs (visual studio).You can also give a reporter class, eg
|
||||
# mypackage.mymodule.MyReporterClass.
|
||||
output-format=text
|
||||
|
||||
# Tells whether to display a full report or only the messages
|
||||
reports=no
|
||||
|
||||
# Activate the evaluation score.
|
||||
score=yes
|
||||
|
||||
|
||||
[REFACTORING]
|
||||
|
||||
# Maximum number of nested blocks for function / method body
|
||||
max-nested-blocks=5
|
||||
|
||||
# Complete name of functions that never returns. When checking for
|
||||
# inconsistent-return-statements if a never returning function is called then
|
||||
# it will be considered as an explicit return statement and no message will be
|
||||
# printed.
|
||||
never-returning-functions=optparse.Values,sys.exit
|
||||
|
||||
|
||||
[LOGGING]
|
||||
|
||||
# Logging modules to check that the string format arguments are in logging
|
||||
# function parameter format
|
||||
logging-modules=logging
|
||||
|
||||
|
||||
[SPELLING]
|
||||
|
||||
# Limits count of emitted suggestions for spelling mistakes
|
||||
max-spelling-suggestions=4
|
||||
|
||||
# Spelling dictionary name. Available dictionaries: none. To make it working
|
||||
# install python-enchant package.
|
||||
spelling-dict=
|
||||
|
||||
# List of comma separated words that should not be checked.
|
||||
spelling-ignore-words=
|
||||
|
||||
# A path to a file that contains private dictionary; one word per line.
|
||||
spelling-private-dict-file=
|
||||
|
||||
# Tells whether to store unknown words to indicated private dictionary in
|
||||
# --spelling-private-dict-file option instead of raising a message.
|
||||
spelling-store-unknown-words=no
|
||||
|
||||
|
||||
[MISCELLANEOUS]
|
||||
|
||||
# List of note tags to take in consideration, separated by a comma.
|
||||
notes=FIXME,
|
||||
XXX,
|
||||
TODO
|
||||
|
||||
|
||||
[SIMILARITIES]
|
||||
|
||||
# Ignore comments when computing similarities.
|
||||
ignore-comments=yes
|
||||
|
||||
# Ignore docstrings when computing similarities.
|
||||
ignore-docstrings=yes
|
||||
|
||||
# Ignore imports when computing similarities.
|
||||
ignore-imports=no
|
||||
|
||||
# Minimum lines number of a similarity.
|
||||
min-similarity-lines=4
|
||||
|
||||
|
||||
[TYPECHECK]
|
||||
|
||||
# List of decorators that produce context managers, such as
|
||||
# contextlib.contextmanager. Add to this list to register other decorators that
|
||||
# produce valid context managers.
|
||||
contextmanager-decorators=contextlib.contextmanager
|
||||
|
||||
# List of members which are set dynamically and missed by pylint inference
|
||||
# system, and so shouldn't trigger E1101 when accessed. Python regular
|
||||
# expressions are accepted.
|
||||
generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.* ft4222.*
|
||||
|
||||
# Tells whether missing members accessed in mixin class should be ignored. A
|
||||
# mixin class is detected if its name ends with "mixin" (case insensitive).
|
||||
ignore-mixin-members=yes
|
||||
|
||||
# This flag controls whether pylint should warn about no-member and similar
|
||||
# checks whenever an opaque object is returned when inferring. The inference
|
||||
# can return multiple potential results while evaluating a Python object, but
|
||||
# some branches might not be evaluated, which results in partial inference. In
|
||||
# that case, it might be useful to still emit no-member and other checks for
|
||||
# the rest of the inferred objects.
|
||||
ignore-on-opaque-inference=yes
|
||||
|
||||
# List of class names for which member attributes should not be checked (useful
|
||||
# for classes with dynamically set attributes). This supports the use of
|
||||
# qualified names.
|
||||
ignored-classes=optparse.Values,thread._local,_thread._local
|
||||
|
||||
# List of module names for which member attributes should not be checked
|
||||
# (useful for modules/projects where namespaces are manipulated during runtime
|
||||
# and thus existing member attributes cannot be deduced by static analysis. It
|
||||
# supports qualified module names, as well as Unix pattern matching.
|
||||
ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
|
||||
|
||||
# Show a hint with possible names when a member name was not found. The aspect
|
||||
# of finding the hint is based on edit distance.
|
||||
missing-member-hint=yes
|
||||
|
||||
# The minimum edit distance a name should have in order to be considered a
|
||||
# similar match for a missing member name.
|
||||
missing-member-hint-distance=1
|
||||
|
||||
# The total number of similar names that should be taken in consideration when
|
||||
# showing a hint for a missing member.
|
||||
missing-member-max-choices=1
|
||||
|
||||
|
||||
[VARIABLES]
|
||||
|
||||
# List of additional names supposed to be defined in builtins. Remember that
|
||||
# you should avoid to define new builtins when possible.
|
||||
additional-builtins=
|
||||
|
||||
# Tells whether unused global variables should be treated as a violation.
|
||||
allow-global-unused-variables=yes
|
||||
|
||||
# List of strings which can identify a callback function by name. A callback
|
||||
# name must start or end with one of those strings.
|
||||
callbacks=cb_,
|
||||
_cb
|
||||
|
||||
# A regular expression matching the name of dummy variables (i.e. expectedly
|
||||
# not used).
|
||||
dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
|
||||
|
||||
# Argument names that match this expression will be ignored. Default to name
|
||||
# with leading underscore
|
||||
ignored-argument-names=_.*|^ignored_|^unused_
|
||||
|
||||
# Tells whether we should check for unused import in __init__ files.
|
||||
init-import=no
|
||||
|
||||
# List of qualified module names which can have objects that can redefine
|
||||
# builtins.
|
||||
redefining-builtins-modules=six.moves,past.builtins,future.builtins
|
||||
|
||||
|
||||
[FORMAT]
|
||||
|
||||
# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
|
||||
expected-line-ending-format=
|
||||
|
||||
# Regexp for a line that is allowed to be longer than the limit.
|
||||
ignore-long-lines=^\s*(# )?<?https?://\S+>?$
|
||||
|
||||
# Number of spaces of indent required inside a hanging or continued line.
|
||||
indent-after-paren=4
|
||||
|
||||
# String used as indentation unit. This is usually " " (4 spaces) or "\t" (1
|
||||
# tab).
|
||||
indent-string=' '
|
||||
|
||||
# Maximum number of characters on a single line.
|
||||
max-line-length=100
|
||||
|
||||
# Maximum number of lines in a module
|
||||
max-module-lines=1000
|
||||
|
||||
# List of optional constructs for which whitespace checking is disabled. `dict-
|
||||
# separator` is used to allow tabulation in dicts, etc.: {1 : 1,\n222: 2}.
|
||||
# `trailing-comma` allows a space between comma and closing bracket: (a, ).
|
||||
# `empty-line` allows space-only lines.
|
||||
no-space-check=trailing-comma,
|
||||
dict-separator
|
||||
|
||||
# Allow the body of a class to be on the same line as the declaration if body
|
||||
# contains single statement.
|
||||
single-line-class-stmt=no
|
||||
|
||||
# Allow the body of an if to be on the same line as the test if there is no
|
||||
# else.
|
||||
single-line-if-stmt=no
|
||||
|
||||
|
||||
[BASIC]
|
||||
|
||||
# Naming style matching correct argument names
|
||||
argument-naming-style=snake_case
|
||||
|
||||
# Regular expression matching correct argument names. Overrides argument-
|
||||
# naming-style
|
||||
#argument-rgx=
|
||||
|
||||
# Naming style matching correct attribute names
|
||||
attr-naming-style=snake_case
|
||||
|
||||
# Regular expression matching correct attribute names. Overrides attr-naming-
|
||||
# style
|
||||
#attr-rgx=
|
||||
|
||||
# Bad variable names which should always be refused, separated by a comma
|
||||
bad-names=foo,
|
||||
bar,
|
||||
baz,
|
||||
toto,
|
||||
tutu,
|
||||
tata
|
||||
|
||||
# Naming style matching correct class attribute names
|
||||
class-attribute-naming-style=any
|
||||
|
||||
# Regular expression matching correct class attribute names. Overrides class-
|
||||
# attribute-naming-style
|
||||
#class-attribute-rgx=
|
||||
|
||||
# Naming style matching correct class names
|
||||
class-naming-style=PascalCase
|
||||
|
||||
# Regular expression matching correct class names. Overrides class-naming-style
|
||||
#class-rgx=
|
||||
|
||||
# Naming style matching correct constant names
|
||||
const-naming-style=UPPER_CASE
|
||||
|
||||
# Regular expression matching correct constant names. Overrides const-naming-
|
||||
# style
|
||||
#const-rgx=
|
||||
|
||||
# Minimum line length for functions/classes that require docstrings, shorter
|
||||
# ones are exempt.
|
||||
docstring-min-length=-1
|
||||
|
||||
# Naming style matching correct function names
|
||||
function-naming-style=snake_case
|
||||
|
||||
# Regular expression matching correct function names. Overrides function-
|
||||
# naming-style
|
||||
#function-rgx=
|
||||
|
||||
# Good variable names which should always be accepted, separated by a comma
|
||||
good-names=i,
|
||||
j,
|
||||
k,
|
||||
ex,
|
||||
Run,
|
||||
_
|
||||
|
||||
# Include a hint for the correct naming format with invalid-name
|
||||
include-naming-hint=no
|
||||
|
||||
# Naming style matching correct inline iteration names
|
||||
inlinevar-naming-style=any
|
||||
|
||||
# Regular expression matching correct inline iteration names. Overrides
|
||||
# inlinevar-naming-style
|
||||
#inlinevar-rgx=
|
||||
|
||||
# Naming style matching correct method names
|
||||
method-naming-style=snake_case
|
||||
|
||||
# Regular expression matching correct method names. Overrides method-naming-
|
||||
# style
|
||||
#method-rgx=
|
||||
|
||||
# Naming style matching correct module names
|
||||
module-naming-style=snake_case
|
||||
|
||||
# Regular expression matching correct module names. Overrides module-naming-
|
||||
# style
|
||||
#module-rgx=
|
||||
|
||||
# Colon-delimited sets of names that determine each other's naming style when
|
||||
# the name regexes allow several styles.
|
||||
name-group=
|
||||
|
||||
# Regular expression which should only match function or class names that do
|
||||
# not require a docstring.
|
||||
no-docstring-rgx=^_
|
||||
|
||||
# List of decorators that produce properties, such as abc.abstractproperty. Add
|
||||
# to this list to register other decorators that produce valid properties.
|
||||
property-classes=abc.abstractproperty
|
||||
|
||||
# Naming style matching correct variable names
|
||||
variable-naming-style=snake_case
|
||||
|
||||
# Regular expression matching correct variable names. Overrides variable-
|
||||
# naming-style
|
||||
#variable-rgx=
|
||||
|
||||
|
||||
[DESIGN]
|
||||
|
||||
# Maximum number of arguments for function / method
|
||||
max-args=5
|
||||
|
||||
# Maximum number of attributes for a class (see R0902).
|
||||
max-attributes=7
|
||||
|
||||
# Maximum number of boolean expressions in a if statement
|
||||
max-bool-expr=5
|
||||
|
||||
# Maximum number of branch for function / method body
|
||||
max-branches=12
|
||||
|
||||
# Maximum number of locals for function / method body
|
||||
max-locals=15
|
||||
|
||||
# Maximum number of parents for a class (see R0901).
|
||||
max-parents=7
|
||||
|
||||
# Maximum number of public methods for a class (see R0904).
|
||||
max-public-methods=20
|
||||
|
||||
# Maximum number of return / yield for function / method body
|
||||
max-returns=6
|
||||
|
||||
# Maximum number of statements in function / method body
|
||||
max-statements=50
|
||||
|
||||
# Minimum number of public methods for a class (see R0903).
|
||||
min-public-methods=2
|
||||
|
||||
|
||||
[CLASSES]
|
||||
|
||||
# List of method names used to declare (i.e. assign) instance attributes.
|
||||
defining-attr-methods=__init__,
|
||||
__new__,
|
||||
setUp
|
||||
|
||||
# List of member names, which should be excluded from the protected access
|
||||
# warning.
|
||||
exclude-protected=_asdict,
|
||||
_fields,
|
||||
_replace,
|
||||
_source,
|
||||
_make
|
||||
|
||||
# List of valid names for the first argument in a class method.
|
||||
valid-classmethod-first-arg=cls
|
||||
|
||||
# List of valid names for the first argument in a metaclass class method.
|
||||
valid-metaclass-classmethod-first-arg=mcs
|
||||
|
||||
|
||||
[IMPORTS]
|
||||
|
||||
# Allow wildcard imports from modules that define __all__.
|
||||
allow-wildcard-with-all=no
|
||||
|
||||
# Analyse import fallback blocks. This can be used to support both Python 2 and
|
||||
# 3 compatible code, which means that the block might have code that exists
|
||||
# only in one or another interpreter, leading to false positives when analysed.
|
||||
analyse-fallback-blocks=no
|
||||
|
||||
# Deprecated modules which should not be used, separated by a comma
|
||||
deprecated-modules=regsub,
|
||||
TERMIOS,
|
||||
Bastion,
|
||||
rexec
|
||||
|
||||
# Create a graph of external dependencies in the given file (report RP0402 must
|
||||
# not be disabled)
|
||||
ext-import-graph=
|
||||
|
||||
# Create a graph of every (i.e. internal and external) dependencies in the
|
||||
# given file (report RP0402 must not be disabled)
|
||||
import-graph=
|
||||
|
||||
# Create a graph of internal dependencies in the given file (report RP0402 must
|
||||
# not be disabled)
|
||||
int-import-graph=
|
||||
|
||||
# Force import order to recognize a module as part of the standard
|
||||
# compatibility libraries.
|
||||
known-standard-library=
|
||||
|
||||
# Force import order to recognize a module as part of a third party library.
|
||||
known-third-party=enchant
|
||||
|
||||
|
||||
[EXCEPTIONS]
|
||||
|
||||
# Exceptions that will emit a warning when being caught. Defaults to
|
||||
# "Exception"
|
||||
overgeneral-exceptions=Exception
|
||||
|
|
@ -0,0 +1 @@
|
|||
3.8.5
|
||||
12
.travis.yml
12
.travis.yml
|
|
@ -1,12 +0,0 @@
|
|||
sudo: required
|
||||
|
||||
services:
|
||||
- docker
|
||||
|
||||
install:
|
||||
- docker build -t tmppilot -f Dockerfile.openpilot .
|
||||
|
||||
script:
|
||||
- docker run --rm
|
||||
-v "$(pwd)"/selfdrive/test/tests/plant/out:/tmp/openpilot/selfdrive/test/tests/plant/out
|
||||
tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/tests/plant && OPTEST=1 ./test_longitudinal.py'
|
||||
|
|
@ -0,0 +1,45 @@
|
|||
# How to contribute
|
||||
|
||||
Our software is open source so you can solve your own problems without needing help from others. And if you solve a problem and are so kind, you can upstream it for the rest of the world to use.
|
||||
|
||||
Most open source development activity is coordinated through our [GitHub Discussions](https://github.com/commaai/openpilot/discussions) and [Discord](https://discord.comma.ai). A lot of documentation is available on our [medium](https://medium.com/@comma_ai/).
|
||||
|
||||
## Getting Started
|
||||
|
||||
* Join our [Discord](https://discord.comma.ai)
|
||||
* Make sure you have a [GitHub account](https://github.com/signup/free)
|
||||
* Fork [our repositories](https://github.com/commaai) on GitHub
|
||||
|
||||
## Testing
|
||||
|
||||
### Automated Testing
|
||||
|
||||
All PRs and commits are automatically checked by GitHub Actions. Check out `.github/workflows/` for what GitHub Actions runs. Any new tests should be added to GitHub Actions.
|
||||
|
||||
### Code Style and Linting
|
||||
|
||||
Code is automatically checked for style by GitHub Actions as part of the automated tests. You can also run these tests yourself by running `pre-commit run --all`.
|
||||
|
||||
## Car Ports (openpilot)
|
||||
|
||||
We've released a [Model Port guide](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) for porting to Toyota/Lexus models.
|
||||
|
||||
If you port openpilot to a substantially new car brand, see this more generic [Brand Port guide](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84).
|
||||
|
||||
## Pull Requests
|
||||
|
||||
Pull requests should be against the master branch. Before running master on in-car hardware, you'll need to clone the submodules too. That can be done by recursively cloning the repository:
|
||||
```
|
||||
git clone https://github.com/commaai/openpilot.git --recursive
|
||||
```
|
||||
Or alternatively, when on the master branch:
|
||||
```
|
||||
git submodule update --init
|
||||
```
|
||||
The reasons for having submodules on a dedicated repository and our new development philosophy can be found in our [post about externalization](https://medium.com/@comma_ai/a-2020-theme-externalization-13b33326d8b3).
|
||||
Modules that are in seperate repositories include:
|
||||
* cereal
|
||||
* laika
|
||||
* opendbc
|
||||
* panda
|
||||
* rednose
|
||||
|
|
@ -1,19 +1,32 @@
|
|||
FROM ubuntu:16.04
|
||||
FROM ghcr.io/commaai/openpilot-base:latest
|
||||
|
||||
ENV PYTHONUNBUFFERED 1
|
||||
|
||||
RUN apt-get update && apt-get install -y build-essential clang vim screen wget bzip2 git libglib2.0-0 python-pip capnproto libcapnp-dev libzmq5-dev libffi-dev libusb-1.0-0
|
||||
RUN pip install numpy==1.11.2 scipy==0.18.1 matplotlib
|
||||
ENV OPENPILOT_PATH /home/batman/openpilot/
|
||||
ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
|
||||
|
||||
COPY requirements_openpilot.txt /tmp/
|
||||
RUN pip install -r /tmp/requirements_openpilot.txt
|
||||
RUN mkdir -p ${OPENPILOT_PATH}
|
||||
WORKDIR ${OPENPILOT_PATH}
|
||||
|
||||
ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
|
||||
COPY Pipfile Pipfile.lock $OPENPILOT_PATH
|
||||
RUN pip install --no-cache-dir pipenv==2020.8.13 && \
|
||||
pipenv install --system --deploy --dev --clear && \
|
||||
pip uninstall -y pipenv
|
||||
|
||||
COPY ./common /tmp/openpilot/common
|
||||
COPY ./cereal /tmp/openpilot/cereal
|
||||
COPY ./opendbc /tmp/openpilot/opendbc
|
||||
COPY ./selfdrive /tmp/openpilot/selfdrive
|
||||
COPY ./phonelibs /tmp/openpilot/phonelibs
|
||||
COPY ./pyextra /tmp/openpilot/pyextra
|
||||
COPY SConstruct ${OPENPILOT_PATH}
|
||||
|
||||
RUN mkdir -p /tmp/openpilot/selfdrive/test/out
|
||||
COPY ./pyextra ${OPENPILOT_PATH}/pyextra
|
||||
COPY ./phonelibs ${OPENPILOT_PATH}/phonelibs
|
||||
COPY ./site_scons ${OPENPILOT_PATH}/site_scons
|
||||
COPY ./laika ${OPENPILOT_PATH}/laika
|
||||
COPY ./laika_repo ${OPENPILOT_PATH}/laika_repo
|
||||
COPY ./rednose ${OPENPILOT_PATH}/rednose
|
||||
COPY ./tools ${OPENPILOT_PATH}/tools
|
||||
COPY ./release ${OPENPILOT_PATH}/release
|
||||
COPY ./common ${OPENPILOT_PATH}/common
|
||||
COPY ./opendbc ${OPENPILOT_PATH}/opendbc
|
||||
COPY ./cereal ${OPENPILOT_PATH}/cereal
|
||||
COPY ./panda ${OPENPILOT_PATH}/panda
|
||||
COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
|
||||
|
||||
RUN scons -j$(nproc)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,70 @@
|
|||
FROM ubuntu:20.04
|
||||
ENV PYTHONUNBUFFERED 1
|
||||
|
||||
ENV DEBIAN_FRONTEND=noninteractive
|
||||
RUN apt-get update && apt-get install -y --no-install-recommends \
|
||||
autoconf \
|
||||
build-essential \
|
||||
bzip2 \
|
||||
ca-certificates \
|
||||
capnproto \
|
||||
clang \
|
||||
cmake \
|
||||
cppcheck \
|
||||
curl \
|
||||
ffmpeg \
|
||||
gcc-arm-none-eabi \
|
||||
git \
|
||||
iputils-ping \
|
||||
libarchive-dev \
|
||||
libbz2-dev \
|
||||
libcapnp-dev \
|
||||
libcurl4-openssl-dev \
|
||||
libeigen3-dev \
|
||||
libffi-dev \
|
||||
libgles2-mesa-dev \
|
||||
libglew-dev \
|
||||
libglib2.0-0 \
|
||||
liblzma-dev \
|
||||
libomp-dev \
|
||||
libopencv-dev \
|
||||
libqt5sql5-sqlite \
|
||||
libqt5svg5-dev \
|
||||
libsqlite3-dev \
|
||||
libssl-dev \
|
||||
libsystemd-dev \
|
||||
libusb-1.0-0-dev \
|
||||
libzmq3-dev \
|
||||
locales \
|
||||
ocl-icd-libopencl1 \
|
||||
ocl-icd-opencl-dev \
|
||||
opencl-headers \
|
||||
python-dev \
|
||||
qml-module-qtquick2 \
|
||||
qt5-default \
|
||||
qtlocation5-dev \
|
||||
qtmultimedia5-dev \
|
||||
qtpositioning5-dev \
|
||||
qtwebengine5-dev \
|
||||
sudo \
|
||||
valgrind \
|
||||
wget \
|
||||
&& rm -rf /var/lib/apt/lists/*
|
||||
|
||||
RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
|
||||
ENV LANG en_US.UTF-8
|
||||
ENV LANGUAGE en_US:en
|
||||
ENV LC_ALL en_US.UTF-8
|
||||
|
||||
RUN curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
|
||||
ENV PATH="/root/.pyenv/bin:/root/.pyenv/shims:${PATH}"
|
||||
|
||||
COPY Pipfile Pipfile.lock /tmp/
|
||||
RUN pyenv install 3.8.5 && \
|
||||
pyenv global 3.8.5 && \
|
||||
pyenv rehash && \
|
||||
pip install --no-cache-dir --upgrade pip==20.1.1 && \
|
||||
pip install --no-cache-dir pipenv==2020.8.13 && \
|
||||
cd /tmp && \
|
||||
pipenv install --system --deploy --dev --clear && \
|
||||
pip uninstall -y pipenv
|
||||
|
|
@ -0,0 +1,246 @@
|
|||
def phone(String ip, String step_label, String cmd) {
|
||||
withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
|
||||
def ssh_cmd = """
|
||||
ssh -tt -o StrictHostKeyChecking=no -i ${key_file} -p 8022 'comma@${ip}' /usr/bin/bash <<'EOF'
|
||||
|
||||
set -e
|
||||
|
||||
export CI=1
|
||||
export TEST_DIR=${env.TEST_DIR}
|
||||
export GIT_BRANCH=${env.GIT_BRANCH}
|
||||
export GIT_COMMIT=${env.GIT_COMMIT}
|
||||
|
||||
source ~/.bash_profile
|
||||
if [ -f /TICI ]; then
|
||||
source /etc/profile
|
||||
fi
|
||||
|
||||
ln -snf ${env.TEST_DIR} /data/pythonpath
|
||||
|
||||
if [ -f /EON ]; then
|
||||
echo \$\$ > /dev/cpuset/app/tasks || true
|
||||
echo \$PPID > /dev/cpuset/app/tasks || true
|
||||
mkdir -p /dev/shm
|
||||
chmod 777 /dev/shm
|
||||
fi
|
||||
|
||||
cd ${env.TEST_DIR} || true
|
||||
${cmd}
|
||||
exit 0
|
||||
|
||||
EOF"""
|
||||
|
||||
sh script: ssh_cmd, label: step_label
|
||||
}
|
||||
}
|
||||
|
||||
def phone_steps(String device_type, steps) {
|
||||
lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 90, unit: 'MINUTES') {
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
steps.each { item ->
|
||||
phone(device_ip, item[0], item[1])
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
pipeline {
|
||||
agent none
|
||||
environment {
|
||||
COMMA_JWT = credentials('athena-test-jwt')
|
||||
TEST_DIR = "/data/openpilot"
|
||||
}
|
||||
options {
|
||||
timeout(time: 2, unit: 'HOURS')
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
stage('Build release2') {
|
||||
agent {
|
||||
docker {
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
when {
|
||||
branch 'devel-staging'
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build release2-staging and dashcam-staging", "cd release && PUSH=1 ./build_release2.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('openpilot tests') {
|
||||
when {
|
||||
not {
|
||||
anyOf {
|
||||
branch 'master-ci'; branch 'devel'; branch 'devel-staging'; branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging'; branch 'testing-closet*'
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
stages {
|
||||
|
||||
/*
|
||||
stage('PC tests') {
|
||||
agent {
|
||||
dockerfile {
|
||||
filename 'Dockerfile.openpilotci'
|
||||
args '--privileged --shm-size=1G --user=root'
|
||||
}
|
||||
}
|
||||
stages {
|
||||
stage('Build') {
|
||||
steps {
|
||||
sh 'scons -j$(nproc)'
|
||||
}
|
||||
}
|
||||
}
|
||||
post {
|
||||
always {
|
||||
// fix permissions since docker runs as another user
|
||||
sh "chmod -R 777 ."
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
stage('On-device Tests') {
|
||||
agent {
|
||||
docker {
|
||||
/*
|
||||
filename 'Dockerfile.ondevice_ci'
|
||||
args "--privileged -v /dev:/dev --shm-size=1G --user=root"
|
||||
*/
|
||||
image 'python:3.7.3'
|
||||
args '--user=root'
|
||||
}
|
||||
}
|
||||
|
||||
stages {
|
||||
stage('parallel tests') {
|
||||
parallel {
|
||||
stage('Devel Tests') {
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["build devel", "cd release && SCONS_CACHE=1 DEVEL_TEST=1 ./build_devel.sh"],
|
||||
["test manager", "python selfdrive/manager/test/test_manager.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Replay Tests') {
|
||||
steps {
|
||||
phone_steps("eon2", [
|
||||
["build QCOM_REPLAY", "SCONS_CACHE=1 QCOM_REPLAY=1 scons -j4"],
|
||||
["camerad/modeld replay", "cd selfdrive/test/process_replay && ./camera_replay.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('HW + Unit Tests') {
|
||||
steps {
|
||||
phone_steps("eon", [
|
||||
["build", "SCONS_CACHE=1 scons -j4"],
|
||||
["test athena", "nosetests -s selfdrive/athena/tests/test_athenad_old.py"],
|
||||
["test sounds", "nosetests -s selfdrive/test/test_sounds.py"],
|
||||
["test boardd loopback", "nosetests -s selfdrive/boardd/tests/test_boardd_loopback.py"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
["test logcatd", "python selfdrive/logcatd/tests/test_logcatd_android.py"],
|
||||
//["test updater", "python installer/updater/test_updater.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
stage('Power Consumption Tests') {
|
||||
steps {
|
||||
lock(resource: "", label: "c2-zookeeper", inversePrecedence: true, variable: 'device_ip', quantity: 1) {
|
||||
timeout(time: 90, unit: 'MINUTES') {
|
||||
sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
|
||||
phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
|
||||
phone(device_ip, "build", "SCONS_CACHE=1 scons -j4 && sync")
|
||||
sh script: "/home/batman/tools/zookeeper/disable.py $device_ip", label: "turn off device"
|
||||
sh script: "/home/batman/tools/zookeeper/enable_and_wait.py $device_ip 120", label: "turn on device"
|
||||
sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 3", label: "idle power consumption after boot"
|
||||
sh script: "/home/batman/tools/zookeeper/ignition.py 1", label: "go onroad"
|
||||
sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 10", label: "onroad power consumption"
|
||||
sh script: "/home/batman/tools/zookeeper/ignition.py 0", label: "go offroad"
|
||||
sh script: "/home/batman/tools/zookeeper/check_consumption.py 60 2", label: "idle power consumption offroad"
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
stage('Tici Build') {
|
||||
environment {
|
||||
R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
|
||||
}
|
||||
steps {
|
||||
phone_steps("tici", [
|
||||
["build", "SCONS_CACHE=1 scons -j8"],
|
||||
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
|
||||
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
|
||||
["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
|
||||
//["build release3-staging", "cd release && PUSH=${env.R3_PUSH} ./build_release3.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('camerad') {
|
||||
steps {
|
||||
phone_steps("eon-party", [
|
||||
["build", "SCONS_CACHE=1 scons -j8"],
|
||||
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
|
||||
// ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
stage('Tici camerad') {
|
||||
steps {
|
||||
phone_steps("tici-party", [
|
||||
["build", "SCONS_CACHE=1 scons -j8"],
|
||||
["test camerad", "python selfdrive/camerad/test/test_camerad.py"],
|
||||
// ["test exposure", "python selfdrive/camerad/test/test_exposure.py"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
stage('Push master-ci') {
|
||||
when {
|
||||
branch 'master'
|
||||
}
|
||||
steps {
|
||||
phone_steps("eon-build", [
|
||||
["push devel", "cd release && CI_PUSH='master-ci' ./build_devel.sh"],
|
||||
])
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
post {
|
||||
always {
|
||||
cleanWs()
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
Copyright (c) 2018, Comma.ai, Inc.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
|
|
@ -1,7 +0,0 @@
|
|||
Copyright (c) 2016, Comma.ai, Inc.
|
||||
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
|
||||
|
||||
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||
9
Makefile
9
Makefile
|
|
@ -1,9 +0,0 @@
|
|||
|
||||
code_dir := $(shell pwd)
|
||||
|
||||
# TODO: Add a global build system
|
||||
|
||||
.PHONY: all
|
||||
all:
|
||||
cd selfdrive && PYTHONPATH=$(code_dir) PREPAREONLY=1 ./manager.py
|
||||
|
||||
|
|
@ -0,0 +1,119 @@
|
|||
[[source]]
|
||||
name = "pypi"
|
||||
url = "https://pypi.org/simple"
|
||||
verify_ssl = true
|
||||
|
||||
[dev-packages]
|
||||
opencv-python= "*"
|
||||
ipython = "*"
|
||||
networkx = "~=2.3"
|
||||
azure-core = "*"
|
||||
azure-common = "*"
|
||||
azure-nspkg = "~=3.0"
|
||||
azure-storage-blob = "~=2.1"
|
||||
azure-storage-common = "~=2.1"
|
||||
azure-storage-nspkg = "~=3.1"
|
||||
boto = "*"
|
||||
"boto3" = "*"
|
||||
control = "*"
|
||||
datadog = "*"
|
||||
elasticsearch = "*"
|
||||
gunicorn = "*"
|
||||
"h5py" = "*"
|
||||
hexdump = "*"
|
||||
imageio = "*"
|
||||
ipykernel = "*"
|
||||
joblib = "*"
|
||||
json-logging-py = "*"
|
||||
jupyter = "*"
|
||||
"mpld3" = "*"
|
||||
msgpack-python = "*"
|
||||
numpy = "*"
|
||||
osmium = "*"
|
||||
pycurl = "*"
|
||||
git-pylint-commit-hook = "*"
|
||||
pymongo = "*"
|
||||
"pynmea2" = "*"
|
||||
python-logstash = "*"
|
||||
redis = "*"
|
||||
"s2sphere" = "*"
|
||||
"subprocess32" = "*"
|
||||
tenacity = "*"
|
||||
keras_applications = "*"
|
||||
PyMySQL = "~=0.9"
|
||||
Werkzeug = "*"
|
||||
"backports.lzma" = "*"
|
||||
Flask-Cors = "*"
|
||||
Flask-SocketIO = "*"
|
||||
"GeoAlchemy2" = "*"
|
||||
Pygments = "*"
|
||||
reverse_geocoder = "*"
|
||||
Shapely = "*"
|
||||
SQLAlchemy = "*"
|
||||
scipy = "*"
|
||||
fastcluster = "*"
|
||||
simplejson = "*"
|
||||
seaborn = "*"
|
||||
pyproj = "*"
|
||||
mock = "*"
|
||||
matplotlib = "*"
|
||||
dictdiffer = "*"
|
||||
aenum = "*"
|
||||
coverage = "*"
|
||||
azure-cli-core = "*"
|
||||
paramiko = "*"
|
||||
aiohttp = "*"
|
||||
lru-dict = "*"
|
||||
scikit-image = "*"
|
||||
pygame = "==2.0.0.dev8"
|
||||
pprofile = "*"
|
||||
pyprof2calltree = "*"
|
||||
pre-commit = "*"
|
||||
mypy = "*"
|
||||
parameterized = "*"
|
||||
ft4222 = "*"
|
||||
hypothesis = "*"
|
||||
|
||||
[packages]
|
||||
atomicwrites = "*"
|
||||
cffi = "*"
|
||||
crcmod = "*"
|
||||
hexdump = "*"
|
||||
libusb1 = "*"
|
||||
numpy = "*"
|
||||
psutil = "*"
|
||||
pycapnp = "==1.0.0"
|
||||
cryptography = "*"
|
||||
python-dateutil = "*"
|
||||
pyzmq = "*"
|
||||
requests = "*"
|
||||
setproctitle = "*"
|
||||
six = "*"
|
||||
smbus2 = "*"
|
||||
sympy = "!=1.6.1"
|
||||
tqdm = "*"
|
||||
Cython = "*"
|
||||
PyYAML = "*"
|
||||
websocket_client = "*"
|
||||
urllib3 = "*"
|
||||
gunicorn = "*"
|
||||
utm = "*"
|
||||
json-rpc = "*"
|
||||
Flask = "*"
|
||||
nose = "*"
|
||||
flake8 = "*"
|
||||
pylint = "*"
|
||||
pillow = "*"
|
||||
scons = "*"
|
||||
cysignals = "*"
|
||||
pycryptodome = "*"
|
||||
"Jinja2" = "*"
|
||||
PyJWT = "*"
|
||||
pyserial = "*"
|
||||
onnx = "*"
|
||||
onnxruntime = "*"
|
||||
timezonefinder = "*"
|
||||
sentry-sdk = "*"
|
||||
|
||||
[requires]
|
||||
python_version = "3.8"
|
||||
File diff suppressed because it is too large
Load Diff
428
README.md
428
README.md
|
|
@ -1,141 +1,377 @@
|
|||
Welcome to openpilot
|
||||
======
|
||||
[](#)
|
||||
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driving agent.
|
||||
Table of Contents
|
||||
=======================
|
||||
|
||||
Currently it performs the functions of Adaptive Cruise Control (ACC) and Lane Keeping Assist System (LKAS) for Hondas, Acuras and Toyotas. It's about on par with Tesla Autopilot at launch, and better than [all other manufacturers](http://www.thedrive.com/tech/5707/the-war-for-autonomous-driving-part-iii-us-vs-germany-vs-japan).
|
||||
* [What is openpilot?](#what-is-openpilot)
|
||||
* [Integration with Stock Features](#integration-with-stock-features)
|
||||
* [Supported Hardware](#supported-hardware)
|
||||
* [Supported Cars](#supported-cars)
|
||||
* [Community Maintained Cars and Features](#community-maintained-cars-and-features)
|
||||
* [Installation Instructions](#installation-instructions)
|
||||
* [Limitations of openpilot ALC and LDW](#limitations-of-openpilot-alc-and-ldw)
|
||||
* [Limitations of openpilot ACC and FCW](#limitations-of-openpilot-acc-and-fcw)
|
||||
* [Limitations of openpilot DM](#limitations-of-openpilot-dm)
|
||||
* [User Data and comma Account](#user-data-and-comma-account)
|
||||
* [Safety and Testing](#safety-and-testing)
|
||||
* [Testing on PC](#testing-on-pc)
|
||||
* [Community and Contributing](#community-and-contributing)
|
||||
* [Directory Structure](#directory-structure)
|
||||
* [Licensing](#licensing)
|
||||
|
||||
The openpilot codebase has been written to be concise and enable rapid prototyping. We look forward to your contributions - improving real vehicle automation has never been easier.
|
||||
---
|
||||
|
||||
Here are [some](https://www.youtube.com/watch?v=9OwTJFuDI7g) [videos](https://www.youtube.com/watch?v=64Wvt5pYQmE) [of](https://www.youtube.com/watch?v=6IW7Nejsr3A) [it](https://www.youtube.com/watch?v=-VN1YcC83nA) [running](https://www.youtube.com/watch?v=EQJZvVeihZk). And a really cool [tutorial](https://www.youtube.com/watch?v=PwOnsT2UW5o).
|
||||
|
||||
Hardware
|
||||
What is openpilot?
|
||||
------
|
||||
|
||||
Right now openpilot supports the [NEO research platform](http://github.com/commaai/neo) and the [EON Dashcam DevKit](https://shop.comma.ai/products/eon-dashcam-devkit). We'd like to support other platforms as well.
|
||||
[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW) and Lane Departure Warning (LDW) for a growing variety of supported [car makes, models and model years](#supported-cars). In addition, while openpilot is engaged, a camera based Driver Monitoring (DM) feature alerts distracted and asleep drivers.
|
||||
|
||||
Install openpilot on a neo device by entering ``https://openpilot.comma.ai`` during NEOS setup.
|
||||
<table>
|
||||
<tr>
|
||||
<td><a href="https://www.youtube.com/watch?v=mgAbfr42oI8" title="YouTube" rel="noopener"><img src="https://i.imgur.com/kAtT6Ei.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=394rJKeh76k" title="YouTube" rel="noopener"><img src="https://i.imgur.com/lTt8cS2.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=1iNOc3cq8cs" title="YouTube" rel="noopener"><img src="https://i.imgur.com/ANnuSpe.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=Vr6NgrB-zHw" title="YouTube" rel="noopener"><img src="https://i.imgur.com/Qypanuq.png"></a></td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td><a href="https://www.youtube.com/watch?v=Ug41KIKF0oo" title="YouTube" rel="noopener"><img src="https://i.imgur.com/3caZ7xM.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=NVR_CdG1FRg" title="YouTube" rel="noopener"><img src="https://i.imgur.com/bAZOwql.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=tkEvIdzdfUE" title="YouTube" rel="noopener"><img src="https://i.imgur.com/EFINEzG.png"></a></td>
|
||||
<td><a href="https://www.youtube.com/watch?v=_P-N1ewNne4" title="YouTube" rel="noopener"><img src="https://i.imgur.com/gAyAq22.png"></a></td>
|
||||
</tr>
|
||||
</table>
|
||||
|
||||
Integration with Stock Features
|
||||
------
|
||||
|
||||
In all supported cars:
|
||||
* Stock Lane Keep Assist (LKA) and stock ALC are replaced by openpilot ALC, which only functions when openpilot is engaged by the user.
|
||||
* Stock LDW is replaced by openpilot LDW.
|
||||
|
||||
Additionally, on specific supported cars (see ACC column in [supported cars](#supported-cars)):
|
||||
* Stock ACC is replaced by openpilot ACC.
|
||||
* openpilot FCW operates in addition to stock FCW.
|
||||
|
||||
openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
|
||||
|
||||
Supported Hardware
|
||||
------
|
||||
|
||||
At the moment, openpilot supports the [EON DevKit](https://comma.ai/shop/products/eon-dashcam-devkit) and the [comma two](https://comma.ai/shop/products/comma-two-devkit). A [car harness](https://comma.ai/shop/products/car-harness) is recommended to connect the EON or comma two to the car. For experimental purposes, openpilot can also run on an Ubuntu computer with external [webcams](https://github.com/commaai/openpilot/tree/master/tools/webcam).
|
||||
|
||||
Supported Cars
|
||||
------
|
||||
|
||||
- Acura ILX 2016 with AcuraWatch Plus
|
||||
- Due to use of the cruise control for gas, it can only be enabled above 25 mph
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-20 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan/Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-20 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | NX 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-20 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
|
||||
- Honda Civic 2016-2017 with Honda Sensing
|
||||
- Due to limitations in steering firmware, steering is disabled below 12 mph
|
||||
- Note that the hatchback model is not supported
|
||||
<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
|
||||
- Honda CR-V Touring 2015-2016
|
||||
- Can only be enabled above 25 mph
|
||||
|
||||
- Toyota RAV-4 2016+ non-hybrid with TSS-P
|
||||
- By default it uses stock Toyota ACC for longitudinal control
|
||||
- openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can be enabled above 20 mph
|
||||
|
||||
- Toyota Prius 2017 (alpha!)
|
||||
- By default it uses stock Toyota ACC for longitudinal control
|
||||
- openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Prius_.28for_openpilot.29)
|
||||
- Lateral control needs improvements
|
||||
|
||||
- Toyota RAV-4 2017 hybrid (alpha!)
|
||||
- By default it uses stock Toyota ACC for longitudinal control
|
||||
- openpilot longitudinal control available after unplugging the [Driving Support ECU](https://community.comma.ai/wiki/index.php/Toyota#Rav4_.28for_openpilot.29) and can do stop and go
|
||||
|
||||
In Progress Cars
|
||||
------
|
||||
- Probably all TSS-P Toyota with Steering Assist.
|
||||
- 'Full Speed Range Dynamic Radar Cruise Control' is required to enable stop-and-go. Only the Prius, Camry and C-HR have this option.
|
||||
- Even though the Tundra, Sequoia and the Land Cruiser have TSS-P, they don't have Steering Assist and are not supported.
|
||||
|
||||
Community WIP Cars
|
||||
Community Maintained Cars and Features
|
||||
------
|
||||
|
||||
- [Chevy Volt 2016-2018 Premier with Driver Confidence II](https://github.com/commaai/openpilot/pull/104)
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2014-17 | Prestige | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | Prestige | Stock | 0mph | 0mph |
|
||||
| Buick | Regal 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Cadillac | ATS 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Malibu 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Holden | Astra 2017<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Forte 2018-2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Nissan | Altima 2020 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Ĺ koda | Kodiaq 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Ĺ koda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Ĺ koda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Atlas 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf Alltrack 2017-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTI 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Passat 2016-17<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
- [Classic Tesla Model S (pre-AP)](https://github.com/commaai/openpilot/pull/145)
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>Only includes the MQB Passat sold outside of North America. The NMS Passat made in Chattanooga TN is not yet supported.
|
||||
|
||||
- [Honda Odyssey 2018 with Honda Sensing](https://github.com/commaai/openpilot/pull/155)
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them. They are only available after enabling the toggle in `Settings->Developer->Enable Community Features`.
|
||||
|
||||
- [Honda Pilot 2017 with Honda Sensing](https://github.com/commaai/openpilot/pull/161)
|
||||
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
|
||||
|
||||
- [Acura RDX 2018 with AcuraWatch Plus](https://github.com/commaai/openpilot/pull/162)
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
||||
Directory structure
|
||||
Installation Instructions
|
||||
------
|
||||
|
||||
- cereal -- The messaging spec used for all logs on the phone
|
||||
- common -- Library like functionality we've developed here
|
||||
- opendbc -- Files showing how to interpret data from cars
|
||||
- panda -- Code used to communicate on CAN and LIN
|
||||
- phonelibs -- Libraries used on the phone
|
||||
- selfdrive -- Code needed to drive the car
|
||||
- assets -- Fonts for ui
|
||||
- boardd -- Daemon to talk to the board
|
||||
- car -- Code that talks to the car and implements CarInterface
|
||||
- common -- Shared C/C++ code for the daemons
|
||||
- controls -- Python controls (PID loops etc) for the car
|
||||
- debug -- Tools to help you debug and do car ports
|
||||
- logcatd -- Android logcat as a service
|
||||
- loggerd -- Logger and uploader of car data
|
||||
- proclogd -- Logs information from proc
|
||||
- radar -- Code that talks to the radar and implements RadarInterface
|
||||
- sensord -- IMU / GPS interface code
|
||||
- test/plant -- Car simulator running code through virtual maneuvers
|
||||
- ui -- The UI
|
||||
- visiond -- embedded vision pipeline
|
||||
Install openpilot on an EON or comma two by entering ``https://openpilot.comma.ai`` during the installer setup.
|
||||
|
||||
To understand how the services interact, see `selfdrive/service_list.yaml`
|
||||
Follow these [video instructions](https://youtu.be/lcjqxCymins) to properly mount the device on the windshield. Note: openpilot features an automatic pose calibration routine and openpilot performance should not be affected by small pitch and yaw misalignments caused by imprecise device mounting.
|
||||
|
||||
Before placing the device on your windshield, check the state and local laws and ordinances where you drive. Some state laws prohibit or restrict the placement of objects on the windshield of a motor vehicle.
|
||||
|
||||
You will be able to engage openpilot after reviewing the onboarding screens and finishing the calibration procedure.
|
||||
|
||||
Limitations of openpilot ALC and LDW
|
||||
------
|
||||
|
||||
openpilot ALC and openpilot LDW do not automatically drive the vehicle or reduce the amount of attention that must be paid to operate your vehicle. The driver must always keep control of the steering wheel and be ready to correct the openpilot ALC action at all times.
|
||||
|
||||
While changing lanes, openpilot is not capable of looking next to you or checking your blind spot. Only nudge the wheel to initiate a lane change after you have confirmed it's safe to do so.
|
||||
|
||||
Many factors can impact the performance of openpilot ALC and openpilot LDW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera is obstructed, covered or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* When in sharp curves, like on-off ramps, intersections etc...; openpilot is designed to be limited in the amount of steering torque it can produce.
|
||||
* In the presence of restricted lanes or construction zones.
|
||||
* When driving on highly banked roads or in presence of strong cross-wind.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
Limitations of openpilot ACC and FCW
|
||||
------
|
||||
|
||||
openpilot ACC and openpilot FCW are not systems that allow careless or inattentive driving. It is still necessary for the driver to pay close attention to the vehicle’s surroundings and to be ready to re-take control of the gas and the brake at all times.
|
||||
|
||||
Many factors can impact the performance of openpilot ACC and openpilot FCW, causing them to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Poor visibility (heavy rain, snow, fog, etc.) or weather conditions that may interfere with sensor operation.
|
||||
* The road facing camera or radar are obstructed, covered, or damaged by mud, ice, snow, etc.
|
||||
* Obstruction caused by applying excessive paint or adhesive products (such as wraps, stickers, rubber coating, etc.) onto the vehicle.
|
||||
* The device is mounted incorrectly.
|
||||
* Approaching a toll booth, a bridge or a large metal plate.
|
||||
* When driving on roads with pedestrians, cyclists, etc...
|
||||
* In presence of traffic signs or stop lights, which are not detected by openpilot at this time.
|
||||
* When the posted speed limit is below the user selected set speed. openpilot does not detect speed limits at this time.
|
||||
* In presence of vehicles in the same lane that are not moving.
|
||||
* When abrupt braking maneuvers are required. openpilot is designed to be limited in the amount of deceleration and acceleration that it can produce.
|
||||
* When surrounding vehicles perform close cut-ins from neighbor lanes.
|
||||
* Driving on hills, narrow, or winding roads.
|
||||
* Extremely hot or cold temperatures.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* Interference from other equipment that generates radar waves.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. It is the driver's responsibility to be in control of the vehicle at all times.
|
||||
|
||||
Limitations of openpilot DM
|
||||
------
|
||||
|
||||
openpilot DM should not be considered an exact measurement of the alertness of the driver.
|
||||
|
||||
Many factors can impact the performance of openpilot DM, causing it to be unable to function as intended. These include, but are not limited to:
|
||||
|
||||
* Low light conditions, such as driving at night or in dark tunnels.
|
||||
* Bright light (due to oncoming headlights, direct sunlight, etc.).
|
||||
* The driver's face is partially or completely outside field of view of the driver facing camera.
|
||||
* The driver facing camera is obstructed, covered, or damaged.
|
||||
|
||||
The list above does not represent an exhaustive list of situations that may interfere with proper operation of openpilot components. A driver should not rely on openpilot DM to assess their level of attention.
|
||||
|
||||
User Data and comma Account
|
||||
------
|
||||
|
||||
By default, openpilot uploads the driving data to our servers. You can also access your data by pairing with the comma connect app ([iOS](https://apps.apple.com/us/app/comma-connect/id1456551889), [Android](https://play.google.com/store/apps/details?id=ai.comma.connect&hl=en_US)). We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
openpilot is open source software: the user is free to disable data collection if they wish to do so.
|
||||
|
||||
openpilot logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
The driver facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
|
||||
|
||||
By using openpilot, you agree to [our Privacy Policy](https://my.comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
|
||||
|
||||
Safety and Testing
|
||||
----
|
||||
|
||||
* openpilot observes ISO26262 guidelines, see [SAFETY.md](SAFETY.md) for more details.
|
||||
* openpilot has software in the loop [tests](.github/workflows/test.yaml) that run on every commit.
|
||||
* The safety model code lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
|
||||
* panda has software in the loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
|
||||
* Internally, we have a hardware in the loop Jenkins test suite that builds and unit tests the various processes.
|
||||
* panda has additional hardware in the loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
|
||||
* We run the latest openpilot in a testing closet containing 10 EONs continuously replaying routes.
|
||||
|
||||
Testing on PC
|
||||
------
|
||||
For simplified development and experimentation, openpilot can be run in the CARLA driving simulator, which allows you to develop openpilot without a car. The whole setup should only take a few minutes.
|
||||
|
||||
There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
|
||||
|
||||
```bash
|
||||
# Requires working docker
|
||||
./run_docker_tests.sh
|
||||
Steps:
|
||||
1) Start the CARLA server on first terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_carla.sh)"
|
||||
```
|
||||
2) Start openpilot on second terminal
|
||||
```
|
||||
bash -c "$(curl https://raw.githubusercontent.com/commaai/openpilot/master/tools/sim/start_openpilot_docker.sh)"
|
||||
```
|
||||
3) Press 1 to engage openpilot
|
||||
|
||||
The results are written to `selfdrive/test/plant/out/index.html`
|
||||
See the full [README](tools/sim/README.md)
|
||||
|
||||
More extensive testing infrastructure and simulation environments are coming soon.
|
||||
You should also take a look at the tools directory in master: lots of tools you can use to replay driving data, test, and develop openpilot from your PC.
|
||||
|
||||
Adding Car Support
|
||||
|
||||
Community and Contributing
|
||||
------
|
||||
|
||||
comma.ai offers [bounties](http://comma.ai/bounties.html) for adding additional car support.
|
||||
openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot). Bug fixes and new car ports are encouraged.
|
||||
|
||||
CR-V Touring support came in through this program. Chevy Volt is close. Accord is close as well.
|
||||
You can add support for your car by following guides we have written for [Brand](https://medium.com/@comma_ai/how-to-write-a-car-port-for-openpilot-7ce0785eda84) and [Model](https://medium.com/@comma_ai/openpilot-port-guide-for-toyota-models-e5467f4b5fe6) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
|
||||
|
||||
User Data / chffr Account / Crash Reporting
|
||||
Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
|
||||
|
||||
And [follow us on Twitter](https://twitter.com/comma_ai).
|
||||
|
||||
Directory Structure
|
||||
------
|
||||
|
||||
By default openpilot creates an account and includes a client for chffr, our dashcam app. We use your data to train better models and improve openpilot for everyone.
|
||||
|
||||
It's open source software, so you are free to disable it if you wish.
|
||||
|
||||
It logs the road facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
|
||||
It does not log the user facing camera or the microphone.
|
||||
|
||||
By using it, you agree to [our privacy policy](https://beta.comma.ai/privacy.html). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma.ai. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma.ai for the use of this data.
|
||||
|
||||
Contributing
|
||||
------
|
||||
|
||||
We welcome both pull requests and issues on
|
||||
[github](http://github.com/commaai/openpilot). See the TODO file for a list of
|
||||
good places to start.
|
||||
|
||||
Want to get paid to work on openpilot? [comma.ai is hiring](http://comma.ai/positions.html)
|
||||
.
|
||||
├── cereal # The messaging spec and libs used for all logs
|
||||
├── common # Library like functionality we've developed here
|
||||
├── installer/updater # Manages auto-updates of NEOS
|
||||
├── opendbc # Files showing how to interpret data from cars
|
||||
├── panda # Code used to communicate on CAN
|
||||
├── phonelibs # Libraries used on NEOS devices
|
||||
├── pyextra # Libraries used on NEOS devices
|
||||
└── selfdrive # Code needed to drive the car
|
||||
├── assets # Fonts, images and sounds for UI
|
||||
├── athena # Allows communication with the app
|
||||
├── boardd # Daemon to talk to the board
|
||||
├── camerad # Driver to capture images from the camera sensors
|
||||
├── car # Car specific code to read states and control actuators
|
||||
├── common # Shared C/C++ code for the daemons
|
||||
├── controls # Perception, planning and controls
|
||||
├── debug # Tools to help you debug and do car ports
|
||||
├── locationd # Soon to be home of precise location
|
||||
├── logcatd # Android logcat as a service
|
||||
├── loggerd # Logger and uploader of car data
|
||||
├── modeld # Driving and monitoring model runners
|
||||
├── proclogd # Logs information from proc
|
||||
├── sensord # IMU / GPS interface code
|
||||
├── test # Unit tests, system tests and a car simulator
|
||||
└── ui # The UI
|
||||
|
||||
Licensing
|
||||
------
|
||||
|
||||
openpilot is released under the MIT license.
|
||||
openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
|
||||
|
||||
Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
Any user of this software shall indemnify and hold harmless comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
|
||||
|
||||
**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
|
||||
YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
|
||||
NO WARRANTY EXPRESSED OR IMPLIED.**
|
||||
|
||||
---
|
||||
|
||||
<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
|
||||
|
||||
[](https://github.com/commaai/openpilot/actions)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:python)
|
||||
[](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
|
||||
[](https://codecov.io/gh/commaai/openpilot)
|
||||
|
|
|
|||
593
RELEASES.md
593
RELEASES.md
|
|
@ -1,3 +1,494 @@
|
|||
Version 0.8.5 (2021-XX-XX)
|
||||
========================
|
||||
|
||||
Version 0.8.4 (2021-05-17)
|
||||
========================
|
||||
* Delay controls start until system is ready
|
||||
* Fuzzy car identification, enabled with Community Features toggle
|
||||
* Localizer optimized for increased precision and less CPU usage
|
||||
* Retuned lateral control to be more aggressive when model is confident
|
||||
* Toyota Mirai 2021 support
|
||||
* Lexus NX 300 2020 support thanks to goesreallyfast!
|
||||
* Volkswagen Atlas 2018-19 support thanks to jyoung8607!
|
||||
|
||||
Version 0.8.3 (2021-04-01)
|
||||
========================
|
||||
* New model
|
||||
* Trained on new diverse dataset from 2000+ users from 30+ countries
|
||||
* Trained with improved segnet from the comma-pencil community project
|
||||
* 🥬 Dramatically improved end-to-end lateral performance 🥬
|
||||
* Toggle added to disable the use of lanelines
|
||||
* NEOS update: update packages and support for new UI
|
||||
* New offroad UI based on Qt
|
||||
* Default SSH key only used for setup
|
||||
* Kia Ceed 2019 support thanks to ZanZaD13!
|
||||
* Kia Seltos 2021 support thanks to speedking456!
|
||||
* Added support for many Volkswagen and Ĺ koda models thanks to jyoung8607!
|
||||
|
||||
Version 0.8.2 (2021-02-26)
|
||||
========================
|
||||
* Use model points directly in MPC (no more polyfits), making lateral planning more accurate
|
||||
* Use model heading prediction for smoother lateral control
|
||||
* Smarter actuator delay compensation
|
||||
* Improve qcamera resolution for improved video in explorer and connect
|
||||
* Adjust maximum engagement speed to better fit the model's training distribution
|
||||
* New driver monitoring model trained with 3x more diverse data
|
||||
* Improved face detection with masks
|
||||
* More predictable DM alerts when visibility is bad
|
||||
* Rewritten video streaming between openpilot processes
|
||||
* Improved longitudinal tuning on TSS2 Corolla and Rav4 thanks to briskspirit!
|
||||
* Audi A3 2015 and 2017 support thanks to keeleysam!
|
||||
* Nissan Altima 2020 support thanks to avolmensky!
|
||||
* Lexus ES Hybrid 2018 support thanks to TheInventorMan!
|
||||
* Toyota Camry Hybrid 2021 support thanks to alancyau!
|
||||
|
||||
Version 0.8.1 (2020-12-21)
|
||||
========================
|
||||
* Original EON is deprecated, upgrade to comma two
|
||||
* Better model performance in heavy rain
|
||||
* Better lane positioning in turns
|
||||
* Fixed bug where model would cut turns on empty roads at night
|
||||
* Fixed issue where some Toyotas would not completely stop thanks to briskspirit!
|
||||
* Toyota Camry 2021 with TSS2.5 support
|
||||
* Hyundai Ioniq Electric 2020 support thanks to baldwalker!
|
||||
|
||||
Version 0.8.0 (2020-11-30)
|
||||
========================
|
||||
* New driving model: fully 3D and improved cut-in detection
|
||||
* UI draws 2 road edges, 4 lanelines and paths in 3D
|
||||
* Major fixes to cut-in detection for openpilot longitudinal
|
||||
* Grey panda is no longer supported, upgrade to comma two or black panda
|
||||
* Lexus NX 2018 support thanks to matt12eagles!
|
||||
* Kia Niro EV 2020 support thanks to nickn17!
|
||||
* Toyota Prius 2021 support thanks to rav4kumar!
|
||||
* Improved lane positioning with uncertain lanelines, wide lanes and exits
|
||||
* Improved lateral control for Prius and Subaru
|
||||
|
||||
Version 0.7.10 (2020-10-29)
|
||||
========================
|
||||
* Grey panda is deprecated, upgrade to comma two or black panda
|
||||
* NEOS update: update to Python 3.8.2 and lower CPU frequency
|
||||
* Improved thermals due to reduced CPU frequency
|
||||
* Update SNPE to 1.41.0
|
||||
* Reduced offroad power consumption
|
||||
* Various system stability improvements
|
||||
* Acura RDX 2020 support thanks to csouers!
|
||||
|
||||
Version 0.7.9 (2020-10-09)
|
||||
========================
|
||||
* Improved car battery power management
|
||||
* Improved updater robustness
|
||||
* Improved realtime performance
|
||||
* Reduced UI and modeld lags
|
||||
* Increased torque on 2020 Hyundai Sonata and Palisade
|
||||
|
||||
Version 0.7.8 (2020-08-19)
|
||||
========================
|
||||
* New driver monitoring model: improved face detection and better compatibility with sunglasses
|
||||
* Download NEOS operating system updates in the background
|
||||
* Improved updater reliability and responsiveness
|
||||
* Hyundai Kona 2020, Veloster 2019, and Genesis G70 2018 support thanks to xps-genesis!
|
||||
|
||||
Version 0.7.7 (2020-07-20)
|
||||
========================
|
||||
* White panda is no longer supported, upgrade to comma two or black panda
|
||||
* Improved vehicle model estimation using high precision localizer
|
||||
* Improved thermal management on comma two
|
||||
* Improved autofocus for road-facing camera
|
||||
* Improved noise performance for driver-facing camera
|
||||
* Block lane change start using blindspot monitor on select Toyota, Hyundai, and Subaru
|
||||
* Fix GM ignition detection
|
||||
* Code cleanup and smaller release sizes
|
||||
* Hyundai Sonata 2020 promoted to officially supported car
|
||||
* Hyundai Ioniq Electric Limited 2019 and Ioniq SE 2020 support thanks to baldwalker!
|
||||
* Subaru Forester 2019 and Ascent 2019 support thanks to martinl!
|
||||
|
||||
Version 0.7.6.1 (2020-06-16)
|
||||
========================
|
||||
* Hotfix: update kernel on some comma twos (orders #8570-#8680)
|
||||
|
||||
Version 0.7.6 (2020-06-05)
|
||||
========================
|
||||
* White panda is deprecated, upgrade to comma two or black panda
|
||||
* 2017 Nissan X-Trail, 2018-19 Leaf and 2019 Rogue support thanks to avolmensky!
|
||||
* 2017 Mazda CX-5 support in dashcam mode thanks to Jafaral!
|
||||
* Huge CPU savings in modeld by using thneed!
|
||||
* Lots of code cleanup and refactors
|
||||
|
||||
Version 0.7.5 (2020-05-13)
|
||||
========================
|
||||
* Right-Hand Drive support for both driving and driver monitoring!
|
||||
* New driving model: improved at sharp turns and lead speed estimation
|
||||
* New driver monitoring model: overall improvement on comma two
|
||||
* Driver camera preview in settings to improve mounting position
|
||||
* Added support for many Hyundai, Kia, Genesis models thanks to xx979xx!
|
||||
* Improved lateral tuning for 2020 Toyota Rav 4 (hybrid)
|
||||
|
||||
Version 0.7.4 (2020-03-20)
|
||||
========================
|
||||
* New driving model: improved lane changes and lead car detection
|
||||
* Improved driver monitoring model: improve eye detection
|
||||
* Improved calibration stability
|
||||
* Improved lateral control on some 2019 and 2020 Toyota Prius
|
||||
* Improved lateral control on VW Golf: 20% more steering torque
|
||||
* Fixed bug where some 2017 and 2018 Toyota C-HR would use the wrong steering angle sensor
|
||||
* Support for Honda Insight thanks to theantihero!
|
||||
* Code cleanup in car abstraction layers and ui
|
||||
|
||||
Version 0.7.3 (2020-02-21)
|
||||
========================
|
||||
* Support for 2020 Highlander thanks to che220!
|
||||
* Support for 2018 Lexus NX 300h thanks to kengggg!
|
||||
* Speed up ECU firmware query
|
||||
* Fix bug where manager would sometimes hang after shutting down the car
|
||||
|
||||
Version 0.7.2 (2020-02-07)
|
||||
========================
|
||||
* ECU firmware version based fingerprinting for Honda & Toyota
|
||||
* New driving model: improved path prediction during turns and lane changes and better lead speed tracking
|
||||
* Improve driver monitoring under extreme lighting and add low accuracy alert
|
||||
* Support for 2019 Rav4 Hybrid thanks to illumiN8i!
|
||||
* Support for 2016, 2017 and 2020 Lexus RX thanks to illumiN8i!
|
||||
* Support for 2020 Chrysler Pacifica Hybrid thanks to adhintz!
|
||||
|
||||
Version 0.7.1 (2020-01-20)
|
||||
========================
|
||||
* comma two support!
|
||||
* Lane Change Assist above 45 mph!
|
||||
* Replace zmq with custom messaging library, msgq!
|
||||
* Supercombo model: calibration and driving models are combined for better lead estimate
|
||||
* More robust updater thanks to jyoung8607! Requires NEOS update
|
||||
* Improve low speed ACC tuning
|
||||
|
||||
Version 0.7 (2019-12-13)
|
||||
========================
|
||||
* Move to SCons build system!
|
||||
* Add Lane Departure Warning (LDW) for all supported vehicles!
|
||||
* NEOS update: increase wifi speed thanks to jyoung8607!
|
||||
* Adaptive driver monitoring based on scene
|
||||
* New driving model trained end-to-end: improve lane lines and lead detection
|
||||
* Smarter torque limit alerts for all cars
|
||||
* Improve GM longitudinal control: proper computations for 15Hz radar
|
||||
* Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
|
||||
* Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
|
||||
* Refactor Panda code towards ISO26262 and SIL2 compliancy
|
||||
* Forward stock FCW for Honda Nidec
|
||||
* Volkswagen port now standard: comma Harness intercepts stock camera
|
||||
|
||||
Version 0.6.6 (2019-11-05)
|
||||
========================
|
||||
* Volkswagen support thanks to jyoung8607!
|
||||
* Toyota Corolla Hybrid with TSS 2.0 support thanks to u8511049!
|
||||
* Lexus ES with TSS 2.0 support thanks to energee!
|
||||
* Fix GM ignition detection and lock safety mode not required anymore
|
||||
* Log panda firmware and dongle ID thanks to martinl!
|
||||
* New driving model: improve path prediction and lead detection
|
||||
* New driver monitoring model, 4x smaller and running on DSP
|
||||
* Display an alert and don't start openpilot if panda has wrong firmware
|
||||
* Fix bug preventing EON from terminating processes after a drive
|
||||
* Remove support for Toyota giraffe without the 120Ohm resistor
|
||||
|
||||
Version 0.6.5 (2019-10-07)
|
||||
========================
|
||||
* NEOS update: upgrade to Python3 and new installer!
|
||||
* comma Harness support!
|
||||
* New driving model: improve path prediction
|
||||
* New driver monitoring model: more accurate face and eye detection
|
||||
* Redesign offroad screen to display updates and alerts
|
||||
* Increase maximum allowed acceleration
|
||||
* Prevent car 12V battery drain by cutting off EON charge after 3 days of no drive
|
||||
* Lexus CT Hybrid support thanks to thomaspich!
|
||||
* Louder chime for critical alerts
|
||||
* Add toggle to switch to dashcam mode
|
||||
* Fix "invalid vehicle params" error on DSU-less Toyota
|
||||
|
||||
Version 0.6.4 (2019-09-08)
|
||||
========================
|
||||
* Forward stock AEB for Honda Nidec
|
||||
* Improve lane centering on banked roads
|
||||
* Always-on forward collision warning
|
||||
* Always-on driver monitoring, except for right hand drive countries
|
||||
* Driver monitoring learns the user's normal driving position
|
||||
* Honda Fit support thanks to energee!
|
||||
* Lexus IS support
|
||||
|
||||
Version 0.6.3 (2019-08-12)
|
||||
========================
|
||||
* Alert sounds from EON: requires NEOS update
|
||||
* Improve driver monitoring: eye tracking and improved awareness logic
|
||||
* Improve path prediction with new driving model
|
||||
* Improve lane positioning with wide lanes and exits
|
||||
* Improve lateral control on RAV4
|
||||
* Slow down for turns using model
|
||||
* Open sourced regression test to verify outputs against reference logs
|
||||
* Open sourced regression test to sanity check all car models
|
||||
|
||||
Version 0.6.2 (2019-07-29)
|
||||
========================
|
||||
* New driving model!
|
||||
* Improve lane tracking with double lines
|
||||
* Strongly improve stationary vehicle detection
|
||||
* Strongly reduce cases of braking due to false leads
|
||||
* Better lead tracking around turns
|
||||
* Improve cut-in prediction by using neural network
|
||||
* Improve lateral control on Toyota Camry and C-HR thanks to zorrobyte!
|
||||
* Fix unintended openpilot disengagements on Jeep thanks to adhintz!
|
||||
* Fix delayed transition to offroad when car is turned off
|
||||
|
||||
Version 0.6.1 (2019-07-21)
|
||||
========================
|
||||
* Remote SSH with comma prime and [ssh.comma.ai](https://ssh.comma.ai)
|
||||
* Panda code Misra-c2012 compliance, tested against cppcheck coverage
|
||||
* Lockout openpilot after 3 terminal alerts for driver distracted or unresponsive
|
||||
* Toyota Sienna support thanks to wocsor!
|
||||
|
||||
Version 0.6 (2019-07-01)
|
||||
========================
|
||||
* New model, with double the pixels and ten times the temporal context!
|
||||
* Car should not take exits when in the right lane
|
||||
* openpilot uses only ~65% of the CPU (down from 75%)
|
||||
* Routes visible in connect/explorer after only 0.2% is uploaded (qlogs)
|
||||
* loggerd and sensord are open source, every line of openpilot is now open
|
||||
* Panda safety code is MISRA compliant and ships with a signed version on release2
|
||||
* New NEOS is 500MB smaller and has a reproducible usr/pipenv
|
||||
* Lexus ES Hybrid support thanks to wocsor!
|
||||
* Improve tuning for supported Toyota with TSS 2.0
|
||||
* Various other stability improvements
|
||||
|
||||
Version 0.5.13 (2019-05-31)
|
||||
==========================
|
||||
* Reduce panda power consumption by 70%, down to 80mW, when car is off (not for GM)
|
||||
* Reduce EON power consumption by 40%, down to 1100mW, when car is off
|
||||
* Reduce CPU utilization by 20% and improve stability
|
||||
* Temporarily remove mapd functionalities to improve stability
|
||||
* Add openpilot record-only mode for unsupported cars
|
||||
* Synchronize controlsd to boardd to reduce latency
|
||||
* Remove panda support for Subaru giraffe
|
||||
|
||||
Version 0.5.12 (2019-05-16)
|
||||
==========================
|
||||
* Improve lateral control for the Prius and Prius Prime
|
||||
* Compress logs before writing to disk
|
||||
* Remove old driving data when storage reaches 90% full
|
||||
* Fix small offset in following distance
|
||||
* Various small CPU optimizations
|
||||
* Improve offroad power consumption: require NEOS Update
|
||||
* Add default speed limits for Estonia thanks to martinl!
|
||||
* Subaru Crosstrek support thanks to martinl!
|
||||
* Toyota Avalon support thanks to njbrown09!
|
||||
* Toyota Rav4 with TSS 2.0 support thanks to wocsor!
|
||||
* Toyota Corolla with TSS 2.0 support thanks to wocsor!
|
||||
|
||||
Version 0.5.11 (2019-04-17)
|
||||
========================
|
||||
* Add support for Subaru
|
||||
* Reduce panda power consumption by 60% when car is off
|
||||
* Fix controlsd lag every 6 minutes. This would sometimes cause disengagements
|
||||
* Fix bug in controls with new angle-offset learner in MPC
|
||||
* Reduce cpu consumption of ubloxd by rewriting it in C++
|
||||
* Improve driver monitoring model and face detection
|
||||
* Improve performance of visiond and ui
|
||||
* Honda Passport 2019 support
|
||||
* Lexus RX Hybrid 2019 support thanks to schomems!
|
||||
* Improve road selection heuristic in mapd
|
||||
* Add Lane Departure Warning to dashboard for Toyota thanks to arne182
|
||||
|
||||
Version 0.5.10 (2019-03-19)
|
||||
========================
|
||||
* Self-tuning vehicle parameters: steering offset, tire stiffness and steering ratio
|
||||
* Improve longitudinal control at low speed when lead vehicle harshly decelerates
|
||||
* Fix panda bug going unexpectedly in DCP mode when EON is connected
|
||||
* Reduce white panda power consumption by 500mW when EON is disconnected by turning off WIFI
|
||||
* New Driver Monitoring Model
|
||||
* Support QR codes for login using comma connect
|
||||
* Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required.
|
||||
Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal.
|
||||
* Additional speed limit rules for Germany thanks to arne182
|
||||
* Allow negative speed limit offsets
|
||||
|
||||
Version 0.5.9 (2019-02-10)
|
||||
========================
|
||||
* Improve calibration using a dedicated neural network
|
||||
* Abstract planner in its own process to remove lags in controls process
|
||||
* Improve speed limits with country/region defaults by road type
|
||||
* Reduce mapd data usage with gzip thanks to eFiniLan
|
||||
* Zip log files in the background to reduce disk usage
|
||||
* Kia Optima support thanks to emmertex!
|
||||
* Buick Regal 2018 support thanks to HOYS!
|
||||
* Comma pedal support for Toyota thanks to wocsor! Note: tuning needed and not maintained by comma
|
||||
* Chrysler Pacifica and Jeep Grand Cherokee support thanks to adhintz!
|
||||
|
||||
Version 0.5.8 (2019-01-17)
|
||||
========================
|
||||
* Open sourced visiond
|
||||
* Auto-slowdown for upcoming turns
|
||||
* Chrysler/Jeep/Fiat support thanks to adhintz!
|
||||
* Honda Civic 2019 support thanks to csouers!
|
||||
* Improve use of car display in Toyota thanks to arne182!
|
||||
* No data upload when connected to Android or iOS hotspots and "Enable Upload Over Cellular" setting is off
|
||||
* EON stops charging when 12V battery drops below 11.8V
|
||||
|
||||
Version 0.5.7 (2018-12-06)
|
||||
========================
|
||||
* Speed limit from OpenStreetMap added to UI
|
||||
* Highlight speed limit when speed exceeds road speed limit plus a delta
|
||||
* Option to limit openpilot max speed to road speed limit plus a delta
|
||||
* Cadillac ATS support thanks to vntarasov!
|
||||
* GMC Acadia support thanks to CryptoKylan!
|
||||
* Decrease GPU power consumption
|
||||
* NEOSv8 autoupdate
|
||||
|
||||
Version 0.5.6 (2018-11-16)
|
||||
========================
|
||||
* Refresh settings layout and add feature descriptions
|
||||
* In Honda, keep stock camera on for logging and extra stock features; new openpilot giraffe setting is 0111!
|
||||
* In Toyota, option to keep stock camera on for logging and extra stock features (e.g. AHB); 120Ohm resistor required on giraffe.
|
||||
* Improve camera calibration stability
|
||||
* More tuning to Honda positive accelerations
|
||||
* Reduce brake pump use on Hondas
|
||||
* Chevrolet Malibu support thanks to tylergets!
|
||||
* Holden Astra support thanks to AlexHill!
|
||||
|
||||
Version 0.5.5 (2018-10-20)
|
||||
========================
|
||||
* Increase allowed Honda positive accelerations
|
||||
* Fix sporadic unexpected braking when passing semi-trucks in Toyota
|
||||
* Fix gear reading bug in Hyundai Elantra thanks to emmertex!
|
||||
|
||||
Version 0.5.4 (2018-09-25)
|
||||
========================
|
||||
* New Driving Model
|
||||
* New Driver Monitoring Model
|
||||
* Improve longitudinal mpc in mid-low speed braking
|
||||
* Honda Accord hybrid support thanks to energee!
|
||||
* Ship mpc binaries and sensibly reduce build time
|
||||
* Calibration more stable
|
||||
* More Hyundai and Kia cars supported thanks to emmertex!
|
||||
* Various GM Volt improvements thanks to vntarasov!
|
||||
|
||||
Version 0.5.3 (2018-09-03)
|
||||
========================
|
||||
* Hyundai Santa Fe support!
|
||||
* Honda Pilot 2019 support thanks to energee!
|
||||
* Toyota Highlander support thanks to daehahn!
|
||||
* Improve steering tuning for Honda Odyssey
|
||||
|
||||
Version 0.5.2 (2018-08-16)
|
||||
========================
|
||||
* New calibration: more accurate, a lot faster, open source!
|
||||
* Enable orbd
|
||||
* Add little endian support to CAN packer
|
||||
* Fix fingerprint for Honda Accord 1.5T
|
||||
* Improve driver monitoring model
|
||||
|
||||
Version 0.5.1 (2018-08-01)
|
||||
========================
|
||||
* Fix radar error on Civic sedan 2018
|
||||
* Improve thermal management logic
|
||||
* Alpha Toyota C-HR and Camry support!
|
||||
* Auto-switch Driver Monitoring to 3 min counter when inaccurate
|
||||
|
||||
Version 0.5 (2018-07-11)
|
||||
========================
|
||||
* Driver Monitoring (beta) option in settings!
|
||||
* Make visiond, loggerd and UI use less resources
|
||||
* 60 FPS UI
|
||||
* Better car parameters for most cars
|
||||
* New sidebar with stats
|
||||
* Remove Waze and Spotify to free up system resources
|
||||
* Remove rear view mirror option
|
||||
* Calibration 3x faster
|
||||
|
||||
Version 0.4.7.2 (2018-06-25)
|
||||
==========================
|
||||
* Fix loggerd lag issue
|
||||
* No longer prompt for updates
|
||||
* Mitigate right lane hugging for properly mounted EON (procedure on wiki)
|
||||
|
||||
Version 0.4.7.1 (2018-06-18)
|
||||
==========================
|
||||
* Fix Acura ILX steer faults
|
||||
* Fix bug in mock car
|
||||
|
||||
Version 0.4.7 (2018-06-15)
|
||||
==========================
|
||||
* New model!
|
||||
* GM Volt (and CT6 lateral) support!
|
||||
* Honda Bosch lateral support!
|
||||
* Improve actuator modeling to reduce lateral wobble
|
||||
* Minor refactor of car abstraction layer
|
||||
* Hack around orbd startup issue
|
||||
|
||||
Version 0.4.6 (2018-05-18)
|
||||
==========================
|
||||
* NEOSv6 required! Will autoupdate
|
||||
* Stability improvements
|
||||
* Fix all memory leaks
|
||||
* Update C++ compiler to clang6
|
||||
* Improve front camera exposure
|
||||
|
||||
Version 0.4.5 (2018-04-27)
|
||||
==========================
|
||||
* Release notes added to the update popup
|
||||
* Improve auto shut-off logic to disallow empty battery
|
||||
* Added onboarding instructions
|
||||
* Include orbd, the first piece of new calibration algorithm
|
||||
* Show remaining upload data instead of file numbers
|
||||
* Fix UI bugs
|
||||
* Fix memory leaks
|
||||
|
||||
Version 0.4.4 (2018-04-13)
|
||||
==========================
|
||||
* EON are flipped! Flip your EON's mount!
|
||||
* Alpha Honda Ridgeline support thanks to energee!
|
||||
* Support optional front camera recording
|
||||
* Upload over cellular toggle now applies to all files, not just video
|
||||
* Increase acceleration when closing lead gap
|
||||
* User now prompted for future updates
|
||||
* NEO no longer supported :(
|
||||
|
||||
Version 0.4.3.2 (2018-03-29)
|
||||
============================
|
||||
* Improve autofocus
|
||||
* Improve driving when only one lane line is detected
|
||||
* Added fingerprint for Toyota Corolla LE
|
||||
* Fixed Toyota Corolla steer error
|
||||
* Full-screen driving UI
|
||||
* Improved path drawing
|
||||
|
||||
Version 0.4.3.1 (2018-03-19)
|
||||
============================
|
||||
* Improve autofocus
|
||||
* Add check for MPC solution error
|
||||
* Make first distracted warning visual only
|
||||
|
||||
Version 0.4.3 (2018-03-13)
|
||||
==========================
|
||||
* Add HDR and autofocus
|
||||
* Update UI aesthetic
|
||||
* Grey panda works in Waze
|
||||
* Add alpha support for 2017 Honda Pilot
|
||||
* Slight increase in acceleration response from stop
|
||||
* Switch CAN sending to use CANPacker
|
||||
* Fix pulsing acceleration regression on Honda
|
||||
* Fix openpilot bugs when stock system is in use
|
||||
* Change starting logic for chffrplus to use battery voltage
|
||||
|
||||
Version 0.4.2 (2018-02-05)
|
||||
==========================
|
||||
* Add alpha support for 2017 Lexus RX Hybrid
|
||||
* Add alpha support for 2018 ACURA RDX
|
||||
* Updated fingerprint to include Toyota Rav4 SE and Prius Prime
|
||||
* Bugfixes for Acura ILX and Honda Odyssey
|
||||
|
||||
Version 0.4.1 (2018-01-30)
|
||||
==========================
|
||||
* Add alpha support for 2017 Toyota Corolla
|
||||
* Add alpha support for 2018 Honda Odyssey with Honda Sensing
|
||||
* Add alpha support for Grey Panda
|
||||
* Refactored car abstraction layer to make car ports easier
|
||||
* Increased steering torque limit on Honda CR-V by 30%
|
||||
|
||||
Version 0.4.0.2 (2018-01-18)
|
||||
==========================
|
||||
* Add focus adjustment slider
|
||||
|
|
@ -67,96 +558,96 @@ Version 0.3.4 (2017-07-28)
|
|||
|
||||
Version 0.3.3 (2017-06-28)
|
||||
===========================
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
* Improved model trained on more data
|
||||
* Alpha CR-V support thanks to energee and johnnwvs!
|
||||
* Using the opendbc project for DBC files
|
||||
* Minor performance improvements
|
||||
* UI update thanks to pjlao307
|
||||
* Power off button
|
||||
* 6% more torque on the Civic
|
||||
|
||||
Version 0.3.2 (2017-05-22)
|
||||
===========================
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
* Minor stability bugfixes
|
||||
* Added metrics and rear view mirror disable to settings
|
||||
* Update model with more crowdsourced data
|
||||
|
||||
Version 0.3.1 (2017-05-17)
|
||||
===========================
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
* visiond stability bugfix
|
||||
* Add logging for angle and flashing
|
||||
|
||||
Version 0.3.0 (2017-05-12)
|
||||
===========================
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
* Add CarParams struct to improve the abstraction layer
|
||||
* Refactor visiond IPC to support multiple clients
|
||||
* Add raw GPS and beginning support for navigation
|
||||
* Improve model in visiond using crowdsourced data
|
||||
* Add improved system logging to diagnose instability
|
||||
* Rewrite baseui in React Native
|
||||
* Moved calibration to the cloud
|
||||
|
||||
Version 0.2.9 (2017-03-01)
|
||||
===========================
|
||||
* Retain compatibility with NEOS v1
|
||||
* Retain compatibility with NEOS v1
|
||||
|
||||
Version 0.2.8 (2017-02-27)
|
||||
===========================
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
* Fix bug where frames were being dropped in minute 71
|
||||
|
||||
Version 0.2.7 (2017-02-08)
|
||||
===========================
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
* Better performance and pictures at night
|
||||
* Fix ptr alignment issue in boardd
|
||||
* Fix brake error light, fix crash if too cold
|
||||
|
||||
Version 0.2.6 (2017-01-31)
|
||||
===========================
|
||||
* Fix bug in visiond model execution
|
||||
* Fix bug in visiond model execution
|
||||
|
||||
Version 0.2.5 (2017-01-30)
|
||||
===========================
|
||||
* Fix race condition in manager
|
||||
* Fix race condition in manager
|
||||
|
||||
Version 0.2.4 (2017-01-27)
|
||||
===========================
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
* OnePlus 3T support
|
||||
* Enable installation as NEOS app
|
||||
* Various minor bugfixes
|
||||
|
||||
Version 0.2.3 (2017-01-11)
|
||||
===========================
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
* Reduce space usage by 80%
|
||||
* Add better logging
|
||||
* Add Travis CI
|
||||
|
||||
Version 0.2.2 (2017-01-10)
|
||||
===========================
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
* Board triggers started signal on CAN messages
|
||||
* Improved autoexposure
|
||||
* Handle out of space, improve upload status
|
||||
|
||||
Version 0.2.1 (2016-12-14)
|
||||
===========================
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
* Performance improvements, removal of more numpy
|
||||
* Fix boardd process priority
|
||||
* Make counter timer reset on use of steering wheel
|
||||
|
||||
Version 0.2 (2016-12-12)
|
||||
=========================
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
* Car/Radar abstraction layers have shipped, see cereal/car.capnp
|
||||
* controlsd has been refactored
|
||||
* Shipped plant model and testing maneuvers
|
||||
* visiond exits more gracefully now
|
||||
* Hardware encoder in visiond should always init
|
||||
* ui now turns off the screen after 30 seconds
|
||||
* Switch to openpilot release branch for future releases
|
||||
* Added preliminary Docker container to run tests on PC
|
||||
|
||||
Version 0.1 (2016-11-29)
|
||||
=========================
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
* Initial release of openpilot
|
||||
* Adaptive cruise control is working
|
||||
* Lane keep assist is working
|
||||
* Support for Acura ILX 2016 with AcuraWatch Plus
|
||||
* Support for Honda Civic 2016 Touring Edition
|
||||
|
|
|
|||
85
SAFETY.md
85
SAFETY.md
|
|
@ -1,73 +1,34 @@
|
|||
openpilot Safety
|
||||
======
|
||||
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Lane Keeping Assist (LKA) system.
|
||||
Like other ACC and LKA systems, openpilot requires the driver to be alert and to
|
||||
pay attention at all times. We repeat, **driver alertness is necessary, but not
|
||||
sufficient, for openpilot to be used safely**.
|
||||
openpilot is an Adaptive Cruise Control (ACC) and Automated Lane Centering (ALC) system.
|
||||
Like other ACC and ALC systems, openpilot is a failsafe passive system and it requires the
|
||||
driver to be alert and to pay attention at all times.
|
||||
|
||||
Even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We have designed openpilot with two other safety considerations.
|
||||
In order to enforce driver alertness, openpilot includes a driver monitoring feature
|
||||
that alerts the driver when distracted.
|
||||
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
However, even with an attentive driver, we must make further efforts for the system to be
|
||||
safe. We repeat, **driver alertness is necessary, but not sufficient, for openpilot to be
|
||||
used safely** and openpilot is provided with no warranty of fitness for any purpose.
|
||||
|
||||
openpilot is developed in good faith to be compliant with FMVSS requirements and to follow
|
||||
industry standards of safety for Level 2 Driver Assistance Systems. In particular, we observe
|
||||
ISO26262 guidelines, including those from [pertinent documents](https://www.nhtsa.gov/sites/nhtsa.dot.gov/files/documents/13498a_812_573_alcsystemreport.pdf)
|
||||
released by NHTSA. In addition, we impose strict coding guidelines (like [MISRA C : 2012](https://www.misra.org.uk/MISRAHome/MISRAC2012/tabid/196/Default.aspx))
|
||||
on parts of openpilot that are safety relevant. We also perform software-in-the-loop,
|
||||
hardware-in-the-loop and in-vehicle tests before each software release.
|
||||
|
||||
Following Hazard and Risk Analysis and FMEA, at a very high level, we have designed openpilot
|
||||
ensuring two main safety requirements.
|
||||
|
||||
1. The driver must always be capable to immediately retake manual control of the vehicle,
|
||||
by stepping on either pedal or by pressing the cancel button.
|
||||
2. The vehicle must not alter its trajectory too quickly for the driver to safely
|
||||
react. This means that while the system is engaged, the actuators are constrained
|
||||
to operate within reasonable limits.
|
||||
|
||||
Following are details of the car specific safety implementations:
|
||||
For vehicle specific implementation of the safety concept, refer to `panda/board/safety/`.
|
||||
|
||||
Honda/Acura
|
||||
------
|
||||
|
||||
- While the system is engaged, gas, brake and steer limits are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- Without an interceptor, the gas is controlled by the Powertrain Control Module (PCM).
|
||||
The PCM limits acceleration to what is reasonable for a cruise control system. With an
|
||||
interceptor, the gas is clipped to 60%.
|
||||
|
||||
- The brake is controlled by the 0x1FA CAN message. This message allows full
|
||||
braking, although the board and the software clip it to 1/4th of the max.
|
||||
This is around .3g of braking.
|
||||
|
||||
- Steering is controlled by the 0xE4 CAN message. The Electronic Power Steering (EPS)
|
||||
controller in the car limits the torque to a very small amount, so regardless of the
|
||||
message, the controller cannot jerk the wheel.
|
||||
|
||||
- Brake and gas pedal pressed signals are contained in the 0x17C CAN message. A rising edge of
|
||||
either signal triggers a disengagement, which is enforced by the board and in software. The
|
||||
green led on the board signifies if the board is allowing control messages.
|
||||
|
||||
- Honda CAN uses both a counter and a checksum to ensure integrity and prevent
|
||||
replay of the same message.
|
||||
|
||||
Toyota
|
||||
------
|
||||
|
||||
- While the system is engaged, gas, brake and steer limits are subject to the same limits used by
|
||||
the stock system.
|
||||
|
||||
- With the stock Driving Support Unit (DSU) enabled, the acceleration is controlled
|
||||
by the stock system and is subject to the stock adaptive cruise control limits. Without the
|
||||
stock DSU connected, the acceleration command is controlled by the 0x343 CAN message and its
|
||||
value is limited by the board and the software to between .3g of deceleration and .15g of
|
||||
acceleration. The acceleration command is ignored by the Engine Control Module (ECM) while the
|
||||
cruise control system is disengaged.
|
||||
|
||||
- Steering torque is controlled through the 0x2E4 CAN message and it's limited by the board and in
|
||||
software to a value of -1500 and 1500. In addition, the vehicle EPS unit will not respond to
|
||||
commands outside these limits. A steering torque rate limit is enforced by the board and in
|
||||
software so that the commanded steering torque must rise from 0 to max value no faster than
|
||||
1.5s. Commanded steering torque is limited by the board and in software to be no more than 500
|
||||
units above the actual EPS generated motor torque to ensure limited differences between
|
||||
commanded and actual torques.
|
||||
|
||||
- Brake and gas pedal pressed signals are contained in the 0x224 and 0x1D2 CAN messages,
|
||||
respectively. A rising edge of either signal triggers a disengagement, which is enforced by the
|
||||
board and in software. Additionally, the cruise control system disengages on the rising edge of
|
||||
the brake pedal pressed signal.
|
||||
|
||||
- The cruise control system state is contained in the 0x1D2 message. No control messages are
|
||||
allowed if the cruise control system is not active. This is enforced by the software and the
|
||||
board. The green led on the board signifies if the board is allowing control messages.
|
||||
**Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
|
||||
not fully meeting the above requirements.
|
||||
|
|
|
|||
|
|
@ -0,0 +1,426 @@
|
|||
import os
|
||||
import shutil
|
||||
import subprocess
|
||||
import sys
|
||||
import sysconfig
|
||||
import platform
|
||||
import numpy as np
|
||||
|
||||
TICI = os.path.isfile('/TICI')
|
||||
Decider('MD5-timestamp')
|
||||
|
||||
AddOption('--test',
|
||||
action='store_true',
|
||||
help='build test files')
|
||||
|
||||
AddOption('--kaitai',
|
||||
action='store_true',
|
||||
help='Regenerate kaitai struct parsers')
|
||||
|
||||
AddOption('--asan',
|
||||
action='store_true',
|
||||
help='turn on ASAN')
|
||||
|
||||
AddOption('--ubsan',
|
||||
action='store_true',
|
||||
help='turn on UBSan')
|
||||
|
||||
AddOption('--clazy',
|
||||
action='store_true',
|
||||
help='build with clazy')
|
||||
|
||||
AddOption('--compile_db',
|
||||
action='store_true',
|
||||
help='build clang compilation database')
|
||||
|
||||
AddOption('--mpc-generate',
|
||||
action='store_true',
|
||||
help='regenerates the mpc sources')
|
||||
|
||||
AddOption('--external-sconscript',
|
||||
action='store',
|
||||
metavar='FILE',
|
||||
dest='external_sconscript',
|
||||
help='add an external SConscript to the build')
|
||||
|
||||
real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
|
||||
if platform.system() == "Darwin":
|
||||
arch = "Darwin"
|
||||
|
||||
if arch == "aarch64" and TICI:
|
||||
arch = "larch64"
|
||||
|
||||
USE_WEBCAM = os.getenv("USE_WEBCAM") is not None
|
||||
QCOM_REPLAY = arch == "aarch64" and os.getenv("QCOM_REPLAY") is not None
|
||||
|
||||
lenv = {
|
||||
"PATH": os.environ['PATH'],
|
||||
}
|
||||
|
||||
if arch == "aarch64" or arch == "larch64":
|
||||
lenv["LD_LIBRARY_PATH"] = '/data/data/com.termux/files/usr/lib'
|
||||
|
||||
if arch == "aarch64":
|
||||
# android
|
||||
lenv["ANDROID_DATA"] = os.environ['ANDROID_DATA']
|
||||
lenv["ANDROID_ROOT"] = os.environ['ANDROID_ROOT']
|
||||
|
||||
cpppath = [
|
||||
"#phonelibs/opencl/include",
|
||||
]
|
||||
|
||||
libpath = [
|
||||
"/usr/local/lib",
|
||||
"/usr/lib",
|
||||
"/system/vendor/lib64",
|
||||
"/system/comma/usr/lib",
|
||||
"#phonelibs/nanovg",
|
||||
]
|
||||
|
||||
if arch == "larch64":
|
||||
libpath += [
|
||||
"#phonelibs/snpe/larch64",
|
||||
"#phonelibs/libyuv/larch64/lib",
|
||||
"/usr/lib/aarch64-linux-gnu"
|
||||
]
|
||||
cpppath += [
|
||||
"#selfdrive/camerad/include",
|
||||
]
|
||||
cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
|
||||
rpath = ["/usr/local/lib"]
|
||||
else:
|
||||
libpath += [
|
||||
"#phonelibs/snpe/aarch64",
|
||||
"#phonelibs/libyuv/lib",
|
||||
"/system/vendor/lib64"
|
||||
]
|
||||
cflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
cxxflags = ["-DQCOM", "-mcpu=cortex-a57"]
|
||||
rpath = []
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cflags += ["-DQCOM_REPLAY"]
|
||||
cxxflags += ["-DQCOM_REPLAY"]
|
||||
else:
|
||||
cflags = []
|
||||
cxxflags = []
|
||||
cpppath = []
|
||||
|
||||
if arch == "Darwin":
|
||||
yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
|
||||
libpath = [
|
||||
f"#phonelibs/libyuv/{yuv_dir}/lib",
|
||||
"/usr/local/lib",
|
||||
"/opt/homebrew/lib",
|
||||
"/usr/local/opt/openssl/lib",
|
||||
"/opt/homebrew/opt/openssl/lib",
|
||||
"/System/Library/Frameworks/OpenGL.framework/Libraries",
|
||||
]
|
||||
cflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cxxflags += ["-DGL_SILENCE_DEPRECATION"]
|
||||
cpppath += [
|
||||
"/opt/homebrew/include",
|
||||
"/usr/local/opt/openssl/include",
|
||||
"/opt/homebrew/opt/openssl/include"
|
||||
]
|
||||
else:
|
||||
libpath = [
|
||||
"#phonelibs/snpe/x86_64-linux-clang",
|
||||
"#phonelibs/libyuv/x64/lib",
|
||||
"#phonelibs/mapbox-gl-native-qt/x86_64",
|
||||
"#cereal",
|
||||
"#selfdrive/common",
|
||||
"/usr/lib",
|
||||
"/usr/local/lib",
|
||||
]
|
||||
|
||||
rpath = [
|
||||
"phonelibs/snpe/x86_64-linux-clang",
|
||||
"cereal",
|
||||
"selfdrive/common"
|
||||
]
|
||||
|
||||
# allows shared libraries to work globally
|
||||
rpath = [os.path.join(os.getcwd(), x) for x in rpath]
|
||||
|
||||
if GetOption('asan'):
|
||||
ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
|
||||
ldflags = ["-fsanitize=address"]
|
||||
elif GetOption('ubsan'):
|
||||
ccflags = ["-fsanitize=undefined"]
|
||||
ldflags = ["-fsanitize=undefined"]
|
||||
else:
|
||||
ccflags = []
|
||||
ldflags = []
|
||||
|
||||
# no --as-needed on mac linker
|
||||
if arch != "Darwin":
|
||||
ldflags += ["-Wl,--as-needed"]
|
||||
|
||||
# change pythonpath to this
|
||||
lenv["PYTHONPATH"] = Dir("#").path
|
||||
|
||||
env = Environment(
|
||||
ENV=lenv,
|
||||
CCFLAGS=[
|
||||
"-g",
|
||||
"-fPIC",
|
||||
"-O2",
|
||||
"-Wunused",
|
||||
"-Werror",
|
||||
"-Wno-unknown-warning-option",
|
||||
"-Wno-deprecated-register",
|
||||
"-Wno-register",
|
||||
"-Wno-inconsistent-missing-override",
|
||||
"-Wno-c99-designator",
|
||||
"-Wno-reorder-init-list",
|
||||
] + cflags + ccflags,
|
||||
|
||||
CPPPATH=cpppath + [
|
||||
"#",
|
||||
"#phonelibs/catch2/include",
|
||||
"#phonelibs/bzip2",
|
||||
"#phonelibs/libyuv/include",
|
||||
"#phonelibs/openmax/include",
|
||||
"#phonelibs/json11",
|
||||
"#phonelibs/curl/include",
|
||||
"#phonelibs/libgralloc/include",
|
||||
"#phonelibs/android_frameworks_native/include",
|
||||
"#phonelibs/android_hardware_libhardware/include",
|
||||
"#phonelibs/android_system_core/include",
|
||||
"#phonelibs/linux/include",
|
||||
"#phonelibs/snpe/include",
|
||||
"#phonelibs/mapbox-gl-native-qt/include",
|
||||
"#phonelibs/nanovg",
|
||||
"#phonelibs/qrcode",
|
||||
"#phonelibs",
|
||||
"#cereal",
|
||||
"#cereal/messaging",
|
||||
"#cereal/visionipc",
|
||||
"#opendbc/can",
|
||||
],
|
||||
|
||||
CC='clang',
|
||||
CXX='clang++',
|
||||
LINKFLAGS=ldflags,
|
||||
|
||||
RPATH=rpath,
|
||||
|
||||
CFLAGS=["-std=gnu11"] + cflags,
|
||||
CXXFLAGS=["-std=c++1z"] + cxxflags,
|
||||
LIBPATH=libpath + [
|
||||
"#cereal",
|
||||
"#phonelibs",
|
||||
"#opendbc/can",
|
||||
"#selfdrive/boardd",
|
||||
"#selfdrive/common",
|
||||
],
|
||||
CYTHONCFILESUFFIX=".cpp",
|
||||
COMPILATIONDB_USE_ABSPATH=True,
|
||||
tools=["default", "cython", "compilation_db"],
|
||||
)
|
||||
|
||||
if GetOption('compile_db'):
|
||||
env.CompilationDatabase('compile_commands.json')
|
||||
|
||||
if os.environ.get('SCONS_CACHE'):
|
||||
cache_dir = '/tmp/scons_cache'
|
||||
if TICI:
|
||||
cache_dir = '/data/scons_cache'
|
||||
|
||||
if QCOM_REPLAY:
|
||||
cache_dir = '/tmp/scons_cache_qcom_replay'
|
||||
|
||||
CacheDir(cache_dir)
|
||||
|
||||
node_interval = 5
|
||||
node_count = 0
|
||||
def progress_function(node):
|
||||
global node_count
|
||||
node_count += node_interval
|
||||
sys.stderr.write("progress: %d\n" % node_count)
|
||||
|
||||
if os.environ.get('SCONS_PROGRESS'):
|
||||
Progress(progress_function, interval=node_interval)
|
||||
|
||||
SHARED = False
|
||||
|
||||
def abspath(x):
|
||||
if arch == 'aarch64':
|
||||
pth = os.path.join("/data/pythonpath", x[0].path)
|
||||
env.Depends(pth, x)
|
||||
return File(pth)
|
||||
else:
|
||||
# rpath works elsewhere
|
||||
return x[0].path.rsplit("/", 1)[1][:-3]
|
||||
|
||||
# Cython build enviroment
|
||||
py_include = sysconfig.get_paths()['include']
|
||||
envCython = env.Clone()
|
||||
envCython["CPPPATH"] += [py_include, np.get_include()]
|
||||
envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-deprecated-declarations"]
|
||||
|
||||
envCython["LIBS"] = []
|
||||
if arch == "Darwin":
|
||||
envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
|
||||
elif arch == "aarch64":
|
||||
envCython["LINKFLAGS"] = ["-shared"]
|
||||
envCython["LIBS"] = [os.path.basename(py_include)]
|
||||
else:
|
||||
envCython["LINKFLAGS"] = ["-pthread", "-shared"]
|
||||
|
||||
Export('envCython')
|
||||
|
||||
# Qt build environment
|
||||
qt_env = env.Clone()
|
||||
qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning"]
|
||||
if arch != "aarch64":
|
||||
qt_modules += ["DBus"]
|
||||
|
||||
qt_libs = []
|
||||
if arch == "Darwin":
|
||||
if real_arch == "arm64":
|
||||
qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
|
||||
else:
|
||||
qt_env['QTDIR'] = "/usr/local/opt/qt@5"
|
||||
qt_dirs = [
|
||||
os.path.join(qt_env['QTDIR'], "include"),
|
||||
]
|
||||
qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
|
||||
qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
|
||||
qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
|
||||
elif arch == "aarch64":
|
||||
qt_env['QTDIR'] = "/system/comma/usr"
|
||||
qt_dirs = [
|
||||
f"/system/comma/usr/include/qt",
|
||||
]
|
||||
qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
qt_libs += ['EGL', 'GLESv3', 'c++_shared']
|
||||
else:
|
||||
qt_env['QTDIR'] = "/usr"
|
||||
qt_dirs = [
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5",
|
||||
f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
|
||||
]
|
||||
qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
|
||||
|
||||
qt_libs = [f"Qt5{m}" for m in qt_modules]
|
||||
if arch == "larch64":
|
||||
qt_libs += ["GLESv2", "wayland-client"]
|
||||
elif arch != "Darwin":
|
||||
qt_libs += ["GL"]
|
||||
|
||||
qt_env.Tool('qt')
|
||||
qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
|
||||
qt_flags = [
|
||||
"-D_REENTRANT",
|
||||
"-DQT_NO_DEBUG",
|
||||
"-DQT_WIDGETS_LIB",
|
||||
"-DQT_GUI_LIB",
|
||||
"-DQT_QUICK_LIB",
|
||||
"-DQT_QUICKWIDGETS_LIB",
|
||||
"-DQT_QML_LIB",
|
||||
"-DQT_CORE_LIB"
|
||||
]
|
||||
qt_env['CXXFLAGS'] += qt_flags
|
||||
qt_env['LIBPATH'] += ['#selfdrive/ui']
|
||||
qt_env['LIBS'] = qt_libs
|
||||
|
||||
if GetOption("clazy"):
|
||||
checks = [
|
||||
"level0",
|
||||
"level1",
|
||||
"no-range-loop",
|
||||
"no-non-pod-global-static",
|
||||
]
|
||||
qt_env['CXX'] = 'clazy'
|
||||
qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
|
||||
qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
|
||||
|
||||
Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM', 'QCOM_REPLAY')
|
||||
|
||||
# cereal and messaging are shared with the system
|
||||
SConscript(['cereal/SConscript'])
|
||||
if SHARED:
|
||||
cereal = abspath([File('cereal/libcereal_shared.so')])
|
||||
messaging = abspath([File('cereal/libmessaging_shared.so')])
|
||||
else:
|
||||
cereal = [File('#cereal/libcereal.a')]
|
||||
messaging = [File('#cereal/libmessaging.a')]
|
||||
visionipc = [File('#cereal/libvisionipc.a')]
|
||||
|
||||
Export('cereal', 'messaging')
|
||||
|
||||
SConscript(['selfdrive/common/SConscript'])
|
||||
Import('_common', '_gpucommon', '_gpu_libs')
|
||||
|
||||
if SHARED:
|
||||
common, gpucommon = abspath(common), abspath(gpucommon)
|
||||
else:
|
||||
common = [_common, 'json11']
|
||||
gpucommon = [_gpucommon] + _gpu_libs
|
||||
|
||||
Export('common', 'gpucommon', 'visionipc')
|
||||
|
||||
# Build rednose library and ekf models
|
||||
|
||||
rednose_config = {
|
||||
'generated_folder': '#selfdrive/locationd/models/generated',
|
||||
'to_build': {
|
||||
'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
|
||||
'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
|
||||
},
|
||||
}
|
||||
|
||||
if arch != "aarch64":
|
||||
rednose_config['to_build'].update({
|
||||
'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
|
||||
'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
|
||||
'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
|
||||
'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
|
||||
'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
|
||||
'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
|
||||
})
|
||||
|
||||
Export('rednose_config')
|
||||
SConscript(['rednose/SConscript'])
|
||||
|
||||
# Build openpilot
|
||||
|
||||
SConscript(['cereal/SConscript'])
|
||||
SConscript(['panda/board/SConscript'])
|
||||
SConscript(['opendbc/can/SConscript'])
|
||||
|
||||
SConscript(['phonelibs/SConscript'])
|
||||
|
||||
SConscript(['common/SConscript'])
|
||||
SConscript(['common/kalman/SConscript'])
|
||||
SConscript(['common/transformations/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/camerad/SConscript'])
|
||||
SConscript(['selfdrive/modeld/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/controls/lib/cluster/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/lateral_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc/SConscript'])
|
||||
SConscript(['selfdrive/controls/lib/longitudinal_mpc_model/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/boardd/SConscript'])
|
||||
SConscript(['selfdrive/proclogd/SConscript'])
|
||||
SConscript(['selfdrive/clocksd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/loggerd/SConscript'])
|
||||
|
||||
SConscript(['selfdrive/locationd/SConscript'])
|
||||
SConscript(['selfdrive/sensord/SConscript'])
|
||||
SConscript(['selfdrive/ui/SConscript'])
|
||||
|
||||
if arch != "Darwin":
|
||||
SConscript(['selfdrive/logcatd/SConscript'])
|
||||
|
||||
external_sconscript = GetOption('external_sconscript')
|
||||
if external_sconscript:
|
||||
SConscript([external_sconscript])
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -1,2 +0,0 @@
|
|||
src/*
|
||||
out/*
|
||||
Binary file not shown.
Binary file not shown.
|
|
@ -1,122 +0,0 @@
|
|||
#!/usr/bin/env python2.7
|
||||
|
||||
import os
|
||||
import sys
|
||||
import glob
|
||||
import shutil
|
||||
import urllib2
|
||||
import hashlib
|
||||
import subprocess
|
||||
|
||||
|
||||
EXTERNAL_PATH = os.path.dirname(os.path.abspath(__file__))
|
||||
|
||||
if os.path.exists("/init.qcom.rc"):
|
||||
# android
|
||||
APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch_android')
|
||||
SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk_android')
|
||||
else:
|
||||
APKPATCH = os.path.join(EXTERNAL_PATH, 'tools/apkpatch')
|
||||
SIGNAPK = os.path.join(EXTERNAL_PATH, 'tools/signapk')
|
||||
|
||||
APKS = {
|
||||
'com.waze': {
|
||||
'src': 'https://apkcache.s3.amazonaws.com/com.waze_1021278.apk',
|
||||
'src_sha256': 'f00957e93e2389f9e30502ac54994b98ac769314b0963c263d4e8baa625ab0c2',
|
||||
'patch': 'com.waze.apkpatch',
|
||||
'out_sha256': '9ec8b0ea3c78c666342865b1bfb66e368a3f5c911df2ad12835206ec8b19f444'
|
||||
},
|
||||
'com.spotify.music': {
|
||||
'src': 'https://apkcache.s3.amazonaws.com/com.spotify.music_24382006.apk',
|
||||
'src_sha256': '0610fea68ee7ba5f8e4e0732ad429d729dd6cbb8bc21222c4c99db6cb09fbff4',
|
||||
'patch': 'com.spotify.music.apkpatch',
|
||||
'out_sha256': '5a3d6f478c7e40403a98ccc8906d7e0ae12b06543b41f5df52149dd09c647c11'
|
||||
},
|
||||
}
|
||||
|
||||
def sha256_path(path):
|
||||
with open(path, 'rb') as f:
|
||||
return hashlib.sha256(f.read()).hexdigest()
|
||||
|
||||
def remove(path):
|
||||
try:
|
||||
os.remove(path)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
def process(download, patch):
|
||||
# clean up any junk apks
|
||||
for out_apk in glob.glob(os.path.join(EXTERNAL_PATH, 'out/*.apk')):
|
||||
app = os.path.basename(out_apk)[:-4]
|
||||
if app not in APKS:
|
||||
print "remove junk", out_apk
|
||||
remove(out_apk)
|
||||
|
||||
complete = True
|
||||
for k,v in APKS.iteritems():
|
||||
apk_path = os.path.join(EXTERNAL_PATH, 'out', k+'.apk')
|
||||
print "checking", apk_path
|
||||
if os.path.exists(apk_path) and sha256_path(apk_path) == v['out_sha256']:
|
||||
# nothing to do
|
||||
continue
|
||||
|
||||
complete = False
|
||||
|
||||
remove(apk_path)
|
||||
|
||||
src_path = os.path.join(EXTERNAL_PATH, 'src', v['src_sha256'])
|
||||
if not os.path.exists(src_path) or sha256_path(src_path) != v['src_sha256']:
|
||||
if not download:
|
||||
continue
|
||||
|
||||
print "downloading", v['src'], "to", src_path
|
||||
# download it
|
||||
resp = urllib2.urlopen(v['src'])
|
||||
data = resp.read()
|
||||
with open(src_path, 'wb') as src_f:
|
||||
src_f.write(data)
|
||||
|
||||
if sha256_path(src_path) != v['src_sha256']:
|
||||
print "download was corrupted..."
|
||||
continue
|
||||
|
||||
if not patch:
|
||||
continue
|
||||
|
||||
# ignoring lots of TOCTTOU here...
|
||||
|
||||
apk_temp = "/tmp/"+k+".patched"
|
||||
remove(apk_temp)
|
||||
apk_temp2 = "/tmp/"+k+".signed"
|
||||
remove(apk_temp2)
|
||||
|
||||
try:
|
||||
print "patching", v['patch']
|
||||
subprocess.check_call([APKPATCH, 'apply', src_path, apk_temp, os.path.join(EXTERNAL_PATH, v['patch'])])
|
||||
print "signing", apk_temp
|
||||
subprocess.check_call([SIGNAPK,
|
||||
os.path.join(EXTERNAL_PATH, 'tools/certificate.pem'), os.path.join(EXTERNAL_PATH, 'tools/key.pk8'),
|
||||
apk_temp, apk_temp2])
|
||||
|
||||
out_sha256 = sha256_path(apk_temp2) if os.path.exists(apk_temp2) else None
|
||||
|
||||
if out_sha256 == v['out_sha256']:
|
||||
print "done", apk_path
|
||||
shutil.move(apk_temp2, apk_path)
|
||||
else:
|
||||
print "patch was corrupted", apk_temp2, out_sha256
|
||||
finally:
|
||||
remove(apk_temp)
|
||||
remove(apk_temp2)
|
||||
|
||||
return complete
|
||||
|
||||
if __name__ == "__main__":
|
||||
ret = True
|
||||
if len(sys.argv) == 2 and sys.argv[1] == "download":
|
||||
ret = process(True, False)
|
||||
elif len(sys.argv) == 2 and sys.argv[1] == "patch":
|
||||
ret = process(False, True)
|
||||
else:
|
||||
ret = process(True, True)
|
||||
sys.exit(0 if ret else 1)
|
||||
Binary file not shown.
|
|
@ -1,7 +0,0 @@
|
|||
#!/system/bin/sh
|
||||
|
||||
DIR="$(cd "$(dirname "$0")" && pwd)"
|
||||
|
||||
export LD_LIBRARY_PATH=/system/lib64
|
||||
export CLASSPATH="$DIR"/ApkPatch.android.jar
|
||||
exec app_process "$DIR" ApkPatch "$@"
|
||||
|
|
@ -1,17 +0,0 @@
|
|||
-----BEGIN CERTIFICATE-----
|
||||
MIICtTCCAh4CCQDm79UqF+Dc5zANBgkqhkiG9w0BAQUFADCBnjELMAkGA1UEBhMC
|
||||
SUQxEzARBgNVBAgTCkphd2EgQmFyYXQxEDAOBgNVBAcTB0JhbmR1bmcxEjAQBgNV
|
||||
BAoTCUxvbmRhdGlnYTETMBEGA1UECxMKQW5kcm9pZERldjEaMBgGA1UEAxMRTG9y
|
||||
ZW5zaXVzIFcuIEwuIFQxIzAhBgkqhkiG9w0BCQEWFGxvcmVuekBsb25kYXRpZ2Eu
|
||||
bmV0MB4XDTEwMDUwNTA5MjEzOFoXDTEzMDEyODA5MjEzOFowgZ4xCzAJBgNVBAYT
|
||||
AklEMRMwEQYDVQQIEwpKYXdhIEJhcmF0MRAwDgYDVQQHEwdCYW5kdW5nMRIwEAYD
|
||||
VQQKEwlMb25kYXRpZ2ExEzARBgNVBAsTCkFuZHJvaWREZXYxGjAYBgNVBAMTEUxv
|
||||
cmVuc2l1cyBXLiBMLiBUMSMwIQYJKoZIhvcNAQkBFhRsb3JlbnpAbG9uZGF0aWdh
|
||||
Lm5ldDCBnzANBgkqhkiG9w0BAQEFAAOBjQAwgYkCgYEAy2oWtbdVXMHGiS6cA3qi
|
||||
3VfZt5Vz9jTlux+TEcGx5h18ZKwclyo+z2B0L/p5bYdnrTdFEiD7IxvX+h3lu0JV
|
||||
B9rdXZdyrzXNOw5YFrsn2k7hKvB8KEBaga1gZEwodlc6N14H3FbZdZkIA9V716Pu
|
||||
e5CWBZ2VqU03lUJmKnpH8c8CAwEAATANBgkqhkiG9w0BAQUFAAOBgQBpNgXh8dw9
|
||||
uMjZxzLUXovV5ptHd61jAcZlQlffqPsz6/2QNfIShVdGH9jkm0IudfKkbvvOKive
|
||||
a77t9c4sDh2Sat2L/rx6BfTuS1+y9wFr1Ee8Rrr7wGHhRkx2qqGrXGVWqXn8aE3E
|
||||
P6e7BTPF0ibS+tG8cdDPEisqGFxw36nTNQ==
|
||||
-----END CERTIFICATE-----
|
||||
Binary file not shown.
Binary file not shown.
|
|
@ -1,7 +0,0 @@
|
|||
#!/system/bin/sh
|
||||
|
||||
DIR="$(cd "$(dirname "$0")" && pwd)"
|
||||
|
||||
export LD_LIBRARY_PATH=/system/lib64
|
||||
export CLASSPATH="$DIR"/signapk.android.jar
|
||||
exec app_process "$DIR" com.android.signapk.SignApk "$@"
|
||||
|
|
@ -0,0 +1 @@
|
|||
Subproject commit 7c3a2f87196f312529dae9d0ba05d6a449b14482
|
||||
|
|
@ -1 +0,0 @@
|
|||
gen
|
||||
|
|
@ -1,52 +0,0 @@
|
|||
PWD := $(shell pwd)
|
||||
|
||||
SRCS := log.capnp car.capnp
|
||||
|
||||
GENS := gen/cpp/car.capnp.c++ gen/cpp/log.capnp.c++
|
||||
|
||||
UNAME_M ?= $(shell uname -m)
|
||||
|
||||
# only generate C++ for docker tests
|
||||
ifneq ($(OPTEST),1)
|
||||
GENS += gen/c/car.capnp.c gen/c/log.capnp.c gen/c/c++.capnp.h gen/c/java.capnp.h
|
||||
|
||||
# Dont build java on the phone...
|
||||
ifeq ($(UNAME_M),x86_64)
|
||||
GENS += gen/java/Car.java gen/java/Log.java
|
||||
endif
|
||||
|
||||
endif
|
||||
|
||||
ifeq ($(UNAME_M),aarch64)
|
||||
CAPNPC=PATH=$(PWD)/../phonelibs/capnp-cpp/aarch64/bin/:$$PATH capnpc
|
||||
else
|
||||
CAPNPC=capnpc
|
||||
endif
|
||||
|
||||
.PHONY: all
|
||||
all: $(GENS)
|
||||
|
||||
.PHONY: clean
|
||||
clean:
|
||||
rm -rf gen
|
||||
|
||||
gen/c/%.capnp.c: %.capnp
|
||||
@echo "[ CAPNPC C ] $@"
|
||||
mkdir -p gen/c/
|
||||
$(CAPNPC) '$<' -o c:gen/c/
|
||||
|
||||
gen/cpp/%.capnp.c++: %.capnp
|
||||
@echo "[ CAPNPC C++ ] $@"
|
||||
mkdir -p gen/cpp/
|
||||
$(CAPNPC) '$<' -o c++:gen/cpp/
|
||||
|
||||
gen/java/Car.java gen/java/Log.java: $(SRCS)
|
||||
@echo "[ CAPNPC java ] $@"
|
||||
mkdir -p gen/java/
|
||||
$(CAPNPC) $^ -o java:gen/java
|
||||
|
||||
# c-capnproto needs some empty headers
|
||||
gen/c/c++.capnp.h gen/c/java.capnp.h:
|
||||
mkdir -p gen/c/
|
||||
touch '$@'
|
||||
|
||||
|
|
@ -1,20 +0,0 @@
|
|||
import os
|
||||
import capnp
|
||||
|
||||
CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
|
||||
capnp.remove_import_hook()
|
||||
|
||||
if os.getenv("NEWCAPNP"):
|
||||
import tempfile
|
||||
import pyximport
|
||||
|
||||
importers = pyximport.install(build_dir=os.path.join(tempfile.gettempdir(), ".pyxbld"))
|
||||
try:
|
||||
import cereal.gen.cython.log_capnp_cython as log
|
||||
import cereal.gen.cython.car_capnp_cython as car
|
||||
finally:
|
||||
pyximport.uninstall(*importers)
|
||||
del importers
|
||||
else:
|
||||
log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
|
||||
car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
|
||||
|
|
@ -1,26 +0,0 @@
|
|||
# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
|
||||
# Licensed under the MIT License:
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
# copies of the Software, and to permit persons to whom the Software is
|
||||
# furnished to do so, subject to the following conditions:
|
||||
#
|
||||
# The above copyright notice and this permission notice shall be included in
|
||||
# all copies or substantial portions of the Software.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
|
||||
@0xbdf87d7bb8304e81;
|
||||
$namespace("capnp::annotations");
|
||||
|
||||
annotation namespace(file): Text;
|
||||
annotation name(field, enumerant, struct, enum, interface, method, param, group, union): Text;
|
||||
315
cereal/car.capnp
315
cereal/car.capnp
|
|
@ -1,315 +0,0 @@
|
|||
using Cxx = import "c++.capnp";
|
||||
$Cxx.namespace("cereal");
|
||||
|
||||
using Java = import "java.capnp";
|
||||
$Java.package("ai.comma.openpilot.cereal");
|
||||
$Java.outerClassname("Car");
|
||||
|
||||
@0x8e2af1e708af8b8d;
|
||||
|
||||
# ******* events causing controls state machine transition *******
|
||||
|
||||
struct CarEvent @0x9b1657f34caf3ad3 {
|
||||
name @0 :EventName;
|
||||
enable @1 :Bool;
|
||||
noEntry @2 :Bool;
|
||||
warning @3 :Bool;
|
||||
userDisable @4 :Bool;
|
||||
softDisable @5 :Bool;
|
||||
immediateDisable @6 :Bool;
|
||||
preEnable @7 :Bool;
|
||||
permanent @8 :Bool;
|
||||
|
||||
enum EventName @0xbaa8c5d505f727de {
|
||||
# TODO: copy from error list
|
||||
commIssue @0;
|
||||
steerUnavailable @1;
|
||||
brakeUnavailable @2;
|
||||
gasUnavailable @3;
|
||||
wrongGear @4;
|
||||
doorOpen @5;
|
||||
seatbeltNotLatched @6;
|
||||
espDisabled @7;
|
||||
wrongCarMode @8;
|
||||
steerTempUnavailable @9;
|
||||
reverseGear @10;
|
||||
buttonCancel @11;
|
||||
buttonEnable @12;
|
||||
pedalPressed @13;
|
||||
cruiseDisabled @14;
|
||||
radarCommIssue @15;
|
||||
dataNeeded @16;
|
||||
speedTooLow @17;
|
||||
outOfSpace @18;
|
||||
overheat @19;
|
||||
calibrationInProgress @20;
|
||||
calibrationInvalid @21;
|
||||
controlsMismatch @22;
|
||||
pcmEnable @23;
|
||||
pcmDisable @24;
|
||||
noTarget @25;
|
||||
radarFault @26;
|
||||
modelCommIssue @27;
|
||||
brakeHold @28;
|
||||
parkBrake @29;
|
||||
manualRestart @30;
|
||||
lowSpeedLockout @31;
|
||||
}
|
||||
}
|
||||
|
||||
# ******* main car state @ 100hz *******
|
||||
# all speeds in m/s
|
||||
|
||||
struct CarState {
|
||||
errorsDEPRECATED @0 :List(CarEvent.EventName);
|
||||
events @13 :List(CarEvent);
|
||||
|
||||
# car speed
|
||||
vEgo @1 :Float32; # best estimate of speed
|
||||
aEgo @16 :Float32; # best estimate of acceleration
|
||||
vEgoRaw @17 :Float32; # unfiltered speed from CAN sensors
|
||||
yawRate @22 :Float32; # best estimate of yaw rate
|
||||
standstill @18 :Bool;
|
||||
wheelSpeeds @2 :WheelSpeeds;
|
||||
|
||||
# gas pedal, 0.0-1.0
|
||||
gas @3 :Float32; # this is user + computer
|
||||
gasPressed @4 :Bool; # this is user pedal only
|
||||
|
||||
# brake pedal, 0.0-1.0
|
||||
brake @5 :Float32; # this is user pedal only
|
||||
brakePressed @6 :Bool; # this is user pedal only
|
||||
brakeLights @19 :Bool;
|
||||
|
||||
# steering wheel
|
||||
steeringAngle @7 :Float32; # deg
|
||||
steeringRate @15 :Float32; # deg/s
|
||||
steeringTorque @8 :Float32; # TODO: standardize units
|
||||
steeringPressed @9 :Bool; # if the user is using the steering wheel
|
||||
|
||||
# cruise state
|
||||
cruiseState @10 :CruiseState;
|
||||
|
||||
# gear
|
||||
gearShifter @14 :GearShifter;
|
||||
|
||||
# button presses
|
||||
buttonEvents @11 :List(ButtonEvent);
|
||||
leftBlinker @20 :Bool;
|
||||
rightBlinker @21 :Bool;
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @12: List(UInt64);
|
||||
|
||||
struct WheelSpeeds {
|
||||
# optional wheel speeds
|
||||
fl @0 :Float32;
|
||||
fr @1 :Float32;
|
||||
rl @2 :Float32;
|
||||
rr @3 :Float32;
|
||||
}
|
||||
|
||||
struct CruiseState {
|
||||
enabled @0 :Bool;
|
||||
speed @1 :Float32;
|
||||
available @2 :Bool;
|
||||
speedOffset @3 :Float32;
|
||||
standstill @4 :Bool;
|
||||
}
|
||||
|
||||
enum GearShifter {
|
||||
unknown @0;
|
||||
park @1;
|
||||
drive @2;
|
||||
neutral @3;
|
||||
reverse @4;
|
||||
sport @5;
|
||||
low @6;
|
||||
brake @7;
|
||||
}
|
||||
|
||||
|
||||
# send on change
|
||||
struct ButtonEvent {
|
||||
pressed @0 :Bool;
|
||||
type @1 :Type;
|
||||
|
||||
enum Type {
|
||||
unknown @0;
|
||||
leftBlinker @1;
|
||||
rightBlinker @2;
|
||||
accelCruise @3;
|
||||
decelCruise @4;
|
||||
cancel @5;
|
||||
altButton1 @6;
|
||||
altButton2 @7;
|
||||
altButton3 @8;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ******* radar state @ 20hz *******
|
||||
|
||||
struct RadarState {
|
||||
errors @0 :List(Error);
|
||||
points @1 :List(RadarPoint);
|
||||
|
||||
# which packets this state came from
|
||||
canMonoTimes @2 :List(UInt64);
|
||||
|
||||
enum Error {
|
||||
commIssue @0;
|
||||
fault @1;
|
||||
}
|
||||
|
||||
# similar to LiveTracks
|
||||
# is one timestamp valid for all? I think so
|
||||
struct RadarPoint {
|
||||
trackId @0 :UInt64; # no trackId reuse
|
||||
|
||||
# these 3 are the minimum required
|
||||
dRel @1 :Float32; # m from the front bumper of the car
|
||||
yRel @2 :Float32; # m
|
||||
vRel @3 :Float32; # m/s
|
||||
|
||||
# these are optional and valid if they are not NaN
|
||||
aRel @4 :Float32; # m/s^2
|
||||
yvRel @5 :Float32; # m/s
|
||||
|
||||
# some radars flag measurements VS estimates
|
||||
measured @6 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
# ******* car controls @ 100hz *******
|
||||
|
||||
struct CarControl {
|
||||
# must be true for any actuator commands to work
|
||||
enabled @0 :Bool;
|
||||
|
||||
gasDEPRECATED @1 :Float32;
|
||||
brakeDEPRECATED @2 :Float32;
|
||||
steeringTorqueDEPRECATED @3 :Float32;
|
||||
|
||||
actuators @6 :Actuators;
|
||||
|
||||
cruiseControl @4 :CruiseControl;
|
||||
hudControl @5 :HUDControl;
|
||||
|
||||
struct Actuators {
|
||||
# range from 0.0 - 1.0
|
||||
gas @0: Float32;
|
||||
brake @1: Float32;
|
||||
# range from -1.0 - 1.0
|
||||
steer @2: Float32;
|
||||
}
|
||||
|
||||
struct CruiseControl {
|
||||
cancel @0: Bool;
|
||||
override @1: Bool;
|
||||
speedOverride @2: Float32;
|
||||
accelOverride @3: Float32;
|
||||
}
|
||||
|
||||
struct HUDControl {
|
||||
speedVisible @0: Bool;
|
||||
setSpeed @1: Float32;
|
||||
lanesVisible @2: Bool;
|
||||
leadVisible @3: Bool;
|
||||
visualAlert @4: VisualAlert;
|
||||
audibleAlert @5: AudibleAlert;
|
||||
|
||||
enum VisualAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
fcw @1;
|
||||
steerRequired @2;
|
||||
brakePressed @3;
|
||||
wrongGear @4;
|
||||
seatbeltUnbuckled @5;
|
||||
speedTooHigh @6;
|
||||
}
|
||||
|
||||
enum AudibleAlert {
|
||||
# these are the choices from the Honda
|
||||
# map as good as you can for your car
|
||||
none @0;
|
||||
beepSingle @1;
|
||||
beepTriple @2;
|
||||
beepRepeated @3;
|
||||
chimeSingle @4;
|
||||
chimeDouble @5;
|
||||
chimeRepeated @6;
|
||||
chimeContinuous @7;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
# ****** car param ******
|
||||
|
||||
struct CarParams {
|
||||
carName @0 :Text;
|
||||
radarName @1 :Text;
|
||||
carFingerprint @2 :Text;
|
||||
|
||||
enableSteer @3 :Bool;
|
||||
enableGas @4 :Bool;
|
||||
enableBrake @5 :Bool;
|
||||
enableCruise @6 :Bool;
|
||||
enableCamera @26 :Bool;
|
||||
enableDsu @27 :Bool; # driving support unit
|
||||
enableApgs @28 :Bool; # advanced parking guidance system
|
||||
|
||||
minEnableSpeed @17 :Float32;
|
||||
safetyModel @18 :Int16;
|
||||
|
||||
steerMaxBP @19 :List(Float32);
|
||||
steerMaxV @20 :List(Float32);
|
||||
gasMaxBP @21 :List(Float32);
|
||||
gasMaxV @22 :List(Float32);
|
||||
brakeMaxBP @23 :List(Float32);
|
||||
brakeMaxV @24 :List(Float32);
|
||||
|
||||
longPidDeadzoneBP @32 :List(Float32);
|
||||
longPidDeadzoneV @33 :List(Float32);
|
||||
|
||||
enum SafetyModels {
|
||||
# does NOT match board setting
|
||||
noOutput @0;
|
||||
honda @1;
|
||||
toyota @2;
|
||||
elm327 @3;
|
||||
}
|
||||
|
||||
# things about the car in the manual
|
||||
mass @7 :Float32; # [kg] running weight
|
||||
wheelbase @8 :Float32; # [m] distance from rear to front axle
|
||||
centerToFront @9 :Float32; # [m] GC distance to front axle
|
||||
steerRatio @10 :Float32; # [] ratio between front wheels and steering wheel angles
|
||||
steerRatioRear @11 :Float32; # [] rear steering ratio wrt front steering (usually 0)
|
||||
|
||||
# things we can derive
|
||||
rotationalInertia @12 :Float32; # [kg*m2] body rotational inertia
|
||||
tireStiffnessFront @13 :Float32; # [N/rad] front tire coeff of stiff
|
||||
tireStiffnessRear @14 :Float32; # [N/rad] rear tire coeff of stiff
|
||||
|
||||
# Kp and Ki for the lateral control
|
||||
steerKp @15 :Float32;
|
||||
steerKi @16 :Float32;
|
||||
steerKf @25 :Float32;
|
||||
|
||||
# Kp and Ki for the longitudinal control
|
||||
longitudinalKpBP @36 :List(Float32);
|
||||
longitudinalKpV @37 :List(Float32);
|
||||
longitudinalKiBP @38 :List(Float32);
|
||||
longitudinalKiV @39 :List(Float32);
|
||||
|
||||
steerLimitAlert @29 :Bool;
|
||||
|
||||
vEgoStopping @30 :Float32; # Speed at which the car goes into stopping state
|
||||
directAccelControl @31 :Bool; # Does the car have direct accel control or just gas/brake
|
||||
stoppingControl @34 :Bool; # Does the car allows full control even at lows speeds when stopping
|
||||
startAccel @35 :Float32; # Required acceleraton to overcome creep braking
|
||||
steerRateCost @40 :Float32; # Lateral MPC cost on steering rate
|
||||
}
|
||||
|
|
@ -1,28 +0,0 @@
|
|||
# Copyright (c) 2013-2015 Sandstorm Development Group, Inc. and contributors
|
||||
# Licensed under the MIT License:
|
||||
#
|
||||
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
# of this software and associated documentation files (the "Software"), to deal
|
||||
# in the Software without restriction, including without limitation the rights
|
||||
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
# copies of the Software, and to permit persons to whom the Software is
|
||||
# furnished to do so, subject to the following conditions:
|
||||
#
|
||||
# The above copyright notice and this permission notice shall be included in
|
||||
# all copies or substantial portions of the Software.
|
||||
#
|
||||
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
# THE SOFTWARE.
|
||||
|
||||
@0xc5f1af96651f70ea;
|
||||
|
||||
annotation package @0x9ee4c8f803b3b596 (file) : Text;
|
||||
# Name of the package, such as "org.example.foo", in which the generated code will reside.
|
||||
|
||||
annotation outerClassname @0x9b066bb4881f7cd3 (file) : Text;
|
||||
# Name of the outer class that will wrap the generated code.
|
||||
1383
cereal/log.capnp
1383
cereal/log.capnp
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,8 @@
|
|||
comment: false
|
||||
coverage:
|
||||
status:
|
||||
project:
|
||||
default:
|
||||
informational: true
|
||||
patch: off
|
||||
|
||||
|
|
@ -0,0 +1 @@
|
|||
*.cpp
|
||||
|
|
@ -0,0 +1,4 @@
|
|||
Import('envCython', 'common')
|
||||
|
||||
envCython.Program('clock.so', 'clock.pyx')
|
||||
envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [common, 'zmq'])
|
||||
|
|
@ -1,7 +1,38 @@
|
|||
import jwt
|
||||
import requests
|
||||
|
||||
from datetime import datetime, timedelta
|
||||
from common.basedir import PERSIST
|
||||
from selfdrive.version import version
|
||||
|
||||
class Api():
|
||||
def __init__(self, dongle_id):
|
||||
self.dongle_id = dongle_id
|
||||
with open(PERSIST+'/comma/id_rsa') as f:
|
||||
self.private_key = f.read()
|
||||
|
||||
def get(self, *args, **kwargs):
|
||||
return self.request('GET', *args, **kwargs)
|
||||
|
||||
def post(self, *args, **kwargs):
|
||||
return self.request('POST', *args, **kwargs)
|
||||
|
||||
def request(self, method, endpoint, timeout=None, access_token=None, **params):
|
||||
return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
|
||||
|
||||
def get_token(self):
|
||||
now = datetime.utcnow()
|
||||
payload = {
|
||||
'identity': self.dongle_id,
|
||||
'nbf': now,
|
||||
'iat': now,
|
||||
'exp': now + timedelta(hours=1)
|
||||
}
|
||||
token = jwt.encode(payload, self.private_key, algorithm='RS256')
|
||||
if isinstance(token, bytes):
|
||||
token = token.decode('utf8')
|
||||
return token
|
||||
|
||||
|
||||
def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
||||
backend = "https://api.commadotai.com/"
|
||||
|
||||
|
|
@ -11,5 +42,4 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
|
|||
|
||||
headers['User-Agent'] = "openpilot-" + version
|
||||
|
||||
return requests.request(method, backend+endpoint, timeout=timeout, headers = headers, params=params)
|
||||
|
||||
return requests.request(method, backend+endpoint, timeout=timeout, headers=headers, params=params)
|
||||
|
|
|
|||
|
|
@ -1,4 +1,11 @@
|
|||
import os
|
||||
from pathlib import Path
|
||||
|
||||
from selfdrive.hardware import PC
|
||||
|
||||
BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
|
||||
|
||||
|
||||
if PC:
|
||||
PERSIST = os.path.join(str(Path.home()), ".comma", "persist")
|
||||
else:
|
||||
PERSIST = "/persist"
|
||||
|
|
|
|||
|
|
@ -0,0 +1,24 @@
|
|||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
|
||||
|
||||
IF UNAME_SYSNAME == "Darwin":
|
||||
# Darwin doesn't have a CLOCK_BOOTTIME
|
||||
CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
|
||||
ELSE:
|
||||
from posix.time cimport CLOCK_BOOTTIME
|
||||
|
||||
cdef double readclock(clockid_t clock_id):
|
||||
cdef timespec ts
|
||||
cdef double current
|
||||
|
||||
clock_gettime(clock_id, &ts)
|
||||
current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
|
||||
return current
|
||||
|
||||
def monotonic_time():
|
||||
return readclock(CLOCK_MONOTONIC_RAW)
|
||||
|
||||
def sec_since_boot():
|
||||
return readclock(CLOCK_BOOTTIME)
|
||||
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
import os
|
||||
import sysconfig
|
||||
from Cython.Distutils import build_ext
|
||||
|
||||
def get_ext_filename_without_platform_suffix(filename):
|
||||
name, ext = os.path.splitext(filename)
|
||||
ext_suffix = sysconfig.get_config_var('EXT_SUFFIX')
|
||||
|
||||
if ext_suffix == ext:
|
||||
return filename
|
||||
|
||||
ext_suffix = ext_suffix.replace(ext, '')
|
||||
idx = name.find(ext_suffix)
|
||||
|
||||
if idx == -1:
|
||||
return filename
|
||||
else:
|
||||
return name[:idx] + ext
|
||||
|
||||
class BuildExtWithoutPlatformSuffix(build_ext):
|
||||
def get_ext_filename(self, ext_name):
|
||||
filename = super().get_ext_filename(ext_name)
|
||||
return get_ext_filename_without_platform_suffix(filename)
|
||||
206
common/dbc.py
206
common/dbc.py
|
|
@ -1,206 +0,0 @@
|
|||
import re
|
||||
import os
|
||||
import struct
|
||||
import bitstring
|
||||
from collections import namedtuple
|
||||
|
||||
def int_or_float(s):
|
||||
# return number, trying to maintain int format
|
||||
try:
|
||||
return int(s)
|
||||
except ValueError:
|
||||
return float(s)
|
||||
|
||||
DBCSignal = namedtuple(
|
||||
"DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
|
||||
"factor", "offset", "tmin", "tmax", "units"])
|
||||
|
||||
class dbc(object):
|
||||
def __init__(self, fn):
|
||||
self.name, _ = os.path.splitext(os.path.basename(fn))
|
||||
with open(fn) as f:
|
||||
self.txt = f.read().split("\n")
|
||||
self._warned_addresses = set()
|
||||
|
||||
# regexps from https://github.com/ebroecker/canmatrix/blob/master/canmatrix/importdbc.py
|
||||
bo_regexp = re.compile("^BO\_ (\w+) (\w+) *: (\w+) (\w+)")
|
||||
sg_regexp = re.compile("^SG\_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
|
||||
sgm_regexp = re.compile("^SG\_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*)")
|
||||
|
||||
# A dictionary which maps message ids to tuples ((name, size), signals).
|
||||
# name is the ASCII name of the message.
|
||||
# size is the size of the message in bytes.
|
||||
# signals is a list signals contained in the message.
|
||||
# signals is a list of DBCSignal in order of increasing start_bit.
|
||||
self.msgs = {}
|
||||
|
||||
# lookup to bit reverse each byte
|
||||
self.bits_index = [(i & ~0b111) + ((-i-1) & 0b111) for i in xrange(64)]
|
||||
|
||||
for l in self.txt:
|
||||
l = l.strip()
|
||||
|
||||
if l.startswith("BO_ "):
|
||||
# new group
|
||||
dat = bo_regexp.match(l)
|
||||
|
||||
if dat is None:
|
||||
print "bad BO", l
|
||||
name = dat.group(2)
|
||||
size = int(dat.group(3))
|
||||
ids = int(dat.group(1), 0) # could be hex
|
||||
|
||||
self.msgs[ids] = ((name, size), [])
|
||||
|
||||
if l.startswith("SG_ "):
|
||||
# new signal
|
||||
dat = sg_regexp.match(l)
|
||||
go = 0
|
||||
if dat is None:
|
||||
dat = sgm_regexp.match(l)
|
||||
go = 1
|
||||
if dat is None:
|
||||
print "bad SG", l
|
||||
|
||||
sgname = dat.group(1)
|
||||
start_bit = int(dat.group(go+2))
|
||||
signal_size = int(dat.group(go+3))
|
||||
is_little_endian = int(dat.group(go+4))==1
|
||||
is_signed = dat.group(go+5)=='-'
|
||||
factor = int_or_float(dat.group(go+6))
|
||||
offset = int_or_float(dat.group(go+7))
|
||||
tmin = int_or_float(dat.group(go+8))
|
||||
tmax = int_or_float(dat.group(go+9))
|
||||
units = dat.group(go+10)
|
||||
|
||||
self.msgs[ids][1].append(
|
||||
DBCSignal(sgname, start_bit, signal_size, is_little_endian,
|
||||
is_signed, factor, offset, tmin, tmax, units))
|
||||
|
||||
for msg in self.msgs.viewvalues():
|
||||
msg[1].sort(key=lambda x: x.start_bit)
|
||||
|
||||
def encode(self, msg_id, dd):
|
||||
"""Encode a CAN message using the dbc.
|
||||
|
||||
Inputs:
|
||||
msg_id: The message ID.
|
||||
dd: A dictionary mapping signal name to signal data.
|
||||
"""
|
||||
# TODO: Stop using bitstring, which is super slow.
|
||||
msg_def = self.msgs[msg_id]
|
||||
size = msg_def[0][1]
|
||||
|
||||
bsf = bitstring.Bits(hex="00"*size)
|
||||
for s in msg_def[1]:
|
||||
ival = dd.get(s.name)
|
||||
if ival is not None:
|
||||
ival = (ival / s.factor) - s.offset
|
||||
ival = int(round(ival))
|
||||
|
||||
# should pack this
|
||||
if s.is_little_endian:
|
||||
ss = s.start_bit
|
||||
else:
|
||||
ss = self.bits_index[s.start_bit]
|
||||
|
||||
|
||||
if s.is_signed:
|
||||
tbs = bitstring.Bits(int=ival, length=s.size)
|
||||
else:
|
||||
tbs = bitstring.Bits(uint=ival, length=s.size)
|
||||
|
||||
lpad = bitstring.Bits(bin="0b"+"0"*ss)
|
||||
rpad = bitstring.Bits(bin="0b"+"0"*(8*size-(ss+s.size)))
|
||||
tbs = lpad+tbs+rpad
|
||||
|
||||
bsf |= tbs
|
||||
return bsf.tobytes()
|
||||
|
||||
def decode(self, x, arr=None, debug=False):
|
||||
"""Decode a CAN message using the dbc.
|
||||
|
||||
Inputs:
|
||||
x: A collection with elements (address, time, data), where address is
|
||||
the CAN address, time is the bus time, and data is the CAN data as a
|
||||
hex string.
|
||||
arr: Optional list of signals which should be decoded and returned.
|
||||
debug: True to print debugging statements.
|
||||
|
||||
Returns:
|
||||
A tuple (name, data), where name is the name of the CAN message and data
|
||||
is the decoded result. If arr is None, data is a dict of properties.
|
||||
Otherwise data is a list of the same length as arr.
|
||||
|
||||
Returns (None, None) if the message could not be decoded.
|
||||
"""
|
||||
|
||||
if arr is None:
|
||||
out = {}
|
||||
else:
|
||||
out = [None]*len(arr)
|
||||
|
||||
msg = self.msgs.get(x[0])
|
||||
if msg is None:
|
||||
if x[0] not in self._warned_addresses:
|
||||
#print("WARNING: Unknown message address {}".format(x[0]))
|
||||
self._warned_addresses.add(x[0])
|
||||
return None, None
|
||||
|
||||
name = msg[0][0]
|
||||
if debug:
|
||||
print name
|
||||
|
||||
blen = 8*len(x[2])
|
||||
|
||||
st = x[2].rjust(8, '\x00')
|
||||
le, be = None, None
|
||||
|
||||
for s in msg[1]:
|
||||
if arr is not None and s[0] not in arr:
|
||||
continue
|
||||
|
||||
# big or little endian?
|
||||
# see http://vi-firmware.openxcplatform.com/en/master/config/bit-numbering.html
|
||||
if s[3] is False:
|
||||
ss = self.bits_index[s[1]]
|
||||
if be is None:
|
||||
be = struct.unpack(">Q", st)[0]
|
||||
x2_int = be
|
||||
data_bit_pos = (blen - (ss + s[2]))
|
||||
else:
|
||||
if le is None:
|
||||
le = struct.unpack("<Q", st)[0]
|
||||
x2_int = le
|
||||
ss = s[1]
|
||||
data_bit_pos = ss
|
||||
|
||||
if data_bit_pos < 0:
|
||||
continue
|
||||
ival = (x2_int >> data_bit_pos) & ((1 << (s[2])) - 1)
|
||||
|
||||
if s[4] and (ival & (1<<(s[2]-1))): # signed
|
||||
ival -= (1<<s[2])
|
||||
|
||||
# control the offset
|
||||
ival = (ival * s[5]) + s[6]
|
||||
#if debug:
|
||||
# print "%40s %2d %2d %7.2f %s" % (s[0], s[1], s[2], ival, s[-1])
|
||||
|
||||
if arr is None:
|
||||
out[s[0]] = ival
|
||||
else:
|
||||
out[arr.index(s[0])] = ival
|
||||
return name, out
|
||||
|
||||
|
||||
def get_signals(self, msg):
|
||||
return [sgs.name for sgs in self.msgs[msg][1]]
|
||||
|
||||
if __name__ == "__main__":
|
||||
import sys
|
||||
import os
|
||||
from opendbc import DBC_PATH
|
||||
|
||||
dbc_test = dbc(os.path.join(DBC_PATH, sys.argv[1]))
|
||||
print dbc_test.get_signals(0xe4)
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
# remove all keys that end in DEPRECATED
|
||||
def strip_deprecated_keys(d):
|
||||
for k in list(d.keys()):
|
||||
if isinstance(k, str):
|
||||
if k.endswith('DEPRECATED'):
|
||||
d.pop(k)
|
||||
elif isinstance(d[k], dict):
|
||||
strip_deprecated_keys(d[k])
|
||||
return d
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
import os
|
||||
import sys
|
||||
import fcntl
|
||||
import hashlib
|
||||
import platform
|
||||
from cffi import FFI
|
||||
|
||||
def suffix():
|
||||
if platform.system() == "Darwin":
|
||||
return ".dylib"
|
||||
else:
|
||||
return ".so"
|
||||
|
||||
def ffi_wrap(name, c_code, c_header, tmpdir="/tmp/ccache", cflags="", libraries=None):
|
||||
if libraries is None:
|
||||
libraries = []
|
||||
|
||||
cache = name + "_" + hashlib.sha1(c_code.encode('utf-8')).hexdigest()
|
||||
try:
|
||||
os.mkdir(tmpdir)
|
||||
except OSError:
|
||||
pass
|
||||
|
||||
fd = os.open(tmpdir, 0)
|
||||
fcntl.flock(fd, fcntl.LOCK_EX)
|
||||
try:
|
||||
sys.path.append(tmpdir)
|
||||
try:
|
||||
mod = __import__(cache)
|
||||
except Exception:
|
||||
print("cache miss {0}".format(cache))
|
||||
compile_code(cache, c_code, c_header, tmpdir, cflags, libraries)
|
||||
mod = __import__(cache)
|
||||
finally:
|
||||
os.close(fd)
|
||||
|
||||
return mod.ffi, mod.lib
|
||||
|
||||
|
||||
def compile_code(name, c_code, c_header, directory, cflags="", libraries=None):
|
||||
if libraries is None:
|
||||
libraries = []
|
||||
|
||||
ffibuilder = FFI()
|
||||
ffibuilder.set_source(name, c_code, source_extension='.cpp', libraries=libraries)
|
||||
ffibuilder.cdef(c_header)
|
||||
os.environ['OPT'] = "-fwrapv -O2 -DNDEBUG -std=c++1z"
|
||||
os.environ['CFLAGS'] = cflags
|
||||
ffibuilder.compile(verbose=True, debug=False, tmpdir=directory)
|
||||
|
||||
|
||||
def wrap_compiled(name, directory):
|
||||
sys.path.append(directory)
|
||||
mod = __import__(name)
|
||||
return mod.ffi, mod.lib
|
||||
|
|
@ -0,0 +1,122 @@
|
|||
import os
|
||||
import shutil
|
||||
import tempfile
|
||||
from atomicwrites import AtomicWriter
|
||||
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
if path.startswith('http://') or path.startswith('https://'):
|
||||
raise ValueError('URL path')
|
||||
try:
|
||||
os.makedirs(path)
|
||||
except OSError:
|
||||
if not os.path.isdir(path):
|
||||
raise
|
||||
|
||||
|
||||
def rm_not_exists_ok(path):
|
||||
try:
|
||||
os.remove(path)
|
||||
except OSError:
|
||||
if os.path.exists(path):
|
||||
raise
|
||||
|
||||
|
||||
def rm_tree_or_link(path):
|
||||
if os.path.islink(path):
|
||||
os.unlink(path)
|
||||
elif os.path.isdir(path):
|
||||
shutil.rmtree(path)
|
||||
|
||||
|
||||
def get_tmpdir_on_same_filesystem(path):
|
||||
normpath = os.path.normpath(path)
|
||||
parts = normpath.split("/")
|
||||
if len(parts) > 1 and parts[1] == "scratch":
|
||||
return "/scratch/tmp"
|
||||
elif len(parts) > 2 and parts[2] == "runner":
|
||||
return "/{}/runner/tmp".format(parts[1])
|
||||
return "/tmp"
|
||||
|
||||
|
||||
class AutoMoveTempdir():
|
||||
def __init__(self, target_path, temp_dir=None):
|
||||
self._target_path = target_path
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
|
||||
@property
|
||||
def name(self):
|
||||
return self._path
|
||||
|
||||
def close(self):
|
||||
os.rename(self._path, self._target_path)
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
if exc_type is None:
|
||||
self.close()
|
||||
else:
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
|
||||
class NamedTemporaryDir():
|
||||
def __init__(self, temp_dir=None):
|
||||
self._path = tempfile.mkdtemp(dir=temp_dir)
|
||||
|
||||
@property
|
||||
def name(self):
|
||||
return self._path
|
||||
|
||||
def close(self):
|
||||
shutil.rmtree(self._path)
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
def _get_fileobject_func(writer, temp_dir):
|
||||
def _get_fileobject():
|
||||
file_obj = writer.get_fileobject(dir=temp_dir)
|
||||
os.chmod(file_obj.name, 0o644)
|
||||
return file_obj
|
||||
return _get_fileobject
|
||||
|
||||
|
||||
def atomic_write_on_fs_tmp(path, **kwargs):
|
||||
"""Creates an atomic writer using a temporary file in a temporary directory
|
||||
on the same filesystem as path.
|
||||
"""
|
||||
# TODO(mgraczyk): This use of AtomicWriter relies on implementation details to set the temp
|
||||
# directory.
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, get_tmpdir_on_same_filesystem(path)))
|
||||
|
||||
|
||||
def atomic_write_in_dir(path, **kwargs):
|
||||
"""Creates an atomic writer using a temporary file in the same directory
|
||||
as the destination file.
|
||||
"""
|
||||
writer = AtomicWriter(path, **kwargs)
|
||||
return writer._open(_get_fileobject_func(writer, os.path.dirname(path)))
|
||||
|
||||
|
||||
def atomic_write_in_dir_neos(path, contents, mode=None):
|
||||
"""
|
||||
Atomically writes contents to path using a temporary file in the same directory
|
||||
as path. Useful on NEOS, where `os.link` (required by atomic_write_in_dir) is missing.
|
||||
"""
|
||||
|
||||
f = tempfile.NamedTemporaryFile(delete=False, prefix=".tmp", dir=os.path.dirname(path))
|
||||
f.write(contents)
|
||||
f.flush()
|
||||
if mode is not None:
|
||||
os.fchmod(f.fileno(), mode)
|
||||
os.fsync(f.fileno())
|
||||
f.close()
|
||||
|
||||
os.rename(f.name, path)
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
class FirstOrderFilter():
|
||||
# first order filter
|
||||
def __init__(self, x0, ts, dt):
|
||||
self.k = (dt / ts) / (1. + dt / ts)
|
||||
self.x = x0
|
||||
|
||||
def update(self, x):
|
||||
self.x = (1. - self.k) * self.x + self.k * x
|
||||
return self.x
|
||||
|
|
@ -1,62 +0,0 @@
|
|||
import os
|
||||
|
||||
_FINGERPRINTS = {
|
||||
"ACURA ILX 2016 ACURAWATCH PLUS": {
|
||||
1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
|
||||
# sent messages
|
||||
0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5,
|
||||
},
|
||||
"HONDA CIVIC 2016 TOURING": {
|
||||
1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
|
||||
# sent messages
|
||||
0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
|
||||
},
|
||||
"HONDA CR-V 2016 TOURING": {
|
||||
57L: 3, 145L: 8, 316L: 8, 340L: 8, 342L: 6, 344L: 8, 380L: 8, 398L: 3, 399L: 6, 401L: 8, 420L: 8, 422L: 8, 426L: 8, 432L: 7, 464L: 8, 474L: 5, 476L: 4, 487L: 4, 490L: 8, 493L: 3, 507L: 1, 542L: 7, 545L: 4, 597L: 8, 660L: 8, 661L: 4, 773L: 7, 777L: 8, 800L: 8, 804L: 8, 808L: 8, 882L: 2, 884L: 7, 888L: 8, 891L: 8, 892L: 8, 923L: 2, 929L: 8, 983L: 8, 985L: 3, 1024L: 5, 1027L: 5, 1029L: 8, 1033L: 5, 1036L: 8, 1039L: 8, 1057L: 5, 1064L: 7, 1108L: 8, 1125L: 8, 1296L: 8, 1365L: 5, 1424L: 5, 1600L: 5, 1601L: 8,
|
||||
# sent messages
|
||||
0x194: 4, 0x1fa: 8, 0x30c: 8, 0x33d: 5,
|
||||
},
|
||||
"TOYOTA RAV4 2017": {
|
||||
36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 4, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
|
||||
},
|
||||
"TOYOTA RAV4 2017 HYBRID": {
|
||||
36L: 8, 37L: 8, 170L: 8, 180L: 8, 186L: 4, 426L: 6, 452L: 8, 464L: 8, 466L: 8, 467L: 8, 547L: 8, 548L: 8, 552L: 4, 562L: 4, 608L: 8, 610L: 5, 643L: 7, 705L: 8, 725L: 2, 740L: 5, 800L: 8, 835L: 8, 836L: 8, 849L: 4, 869L: 7, 870L: 7, 871L: 2, 896L: 8, 897L: 8, 900L: 6, 902L: 6, 905L: 8, 911L: 8, 916L: 3, 918L: 7, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 951L: 8, 955L: 8, 956L: 8, 979L: 2, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1008L: 2, 1014L: 8, 1017L: 8, 1041L: 8, 1042L: 8, 1043L: 8, 1044L: 8, 1056L: 8, 1059L: 1, 1114L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1176L: 8, 1177L: 8, 1178L: 8, 1179L: 8, 1180L: 8, 1181L: 8, 1190L: 8, 1191L: 8, 1192L: 8, 1196L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1263L: 8, 1279L: 8, 1408L: 8, 1409L: 8, 1410L: 8, 1552L: 8, 1553L: 8, 1554L: 8, 1555L: 8, 1556L: 8, 1557L: 8, 1561L: 8, 1562L: 8, 1568L: 8, 1569L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1584L: 8, 1589L: 8, 1592L: 8, 1593L: 8, 1595L: 8, 1596L: 8, 1597L: 8, 1600L: 8, 1656L: 8, 1664L: 8, 1728L: 8, 1745L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8, 581L: 5, 296: 8, 552L: 8, 560L: 7, 552L: 4, 713L: 8, 550L: 8, 608L: 8, 37L: 8, 36L: 8, 950L: 8, 1198L: 8, 1197L: 8, 1199L: 8, 1212L: 8, 953L: 3, 1264L: 8, 1184L: 8, 1005L: 2, 1185L: 8, 1232L: 8, 1186L: 8
|
||||
},
|
||||
"TOYOTA PRIUS 2017": {
|
||||
36L: 8, 37L: 8, 166L: 8, 170L: 8, 180L: 8, 295L: 8, 296L: 8, 426L: 6, 452L: 8, 466L: 8, 467L: 8, 550L: 8, 552L: 4, 560L: 7, 562L: 6, 581L: 5, 608L: 8, 610L: 8, 614L: 8, 643L: 7, 658L: 8, 713L: 8, 740L: 5, 742L: 8, 743L: 8, 800L: 8, 810L: 2, 814L: 8, 829L: 2, 830L: 7, 835L: 8, 836L: 8, 863L: 8, 869L: 7, 870L: 7, 871L: 2, 898L: 8, 900L: 6, 902L: 6, 905L: 8, 918L: 8, 921L: 8, 933L: 8, 944L: 8, 945L: 8, 950L: 8, 951L: 8, 953L: 8, 955L: 8, 956L: 8, 971L: 7, 975L: 5, 993L: 8, 998L: 5, 999L: 7, 1000L: 8, 1001L: 8, 1014L: 8, 1017L: 8, 1020L: 8, 1041L: 8, 1042L: 8, 1044L: 8, 1056L: 8, 1057L: 8, 1059L: 1, 1071L: 8, 1077L: 8, 1082L: 8, 1083L: 8, 1084L: 8, 1085L: 8, 1086L: 8, 1114L: 8, 1132L: 8, 1161L: 8, 1162L: 8, 1163L: 8, 1175L: 8, 1227L: 8, 1228L: 8, 1235L: 8, 1237L: 8, 1279L: 8, 1552L: 8, 1553L: 8, 1556L: 8, 1557L: 8, 1568L: 8, 1570L: 8, 1571L: 8, 1572L: 8, 1595L: 8, 1777L: 8, 1779L: 8, 1904L: 8, 1912L: 8, 1990L: 8, 1998L: 8
|
||||
},
|
||||
}
|
||||
|
||||
# support additional internal only fingerprints
|
||||
try:
|
||||
from common.fingerprints_internal import add_additional_fingerprints
|
||||
add_additional_fingerprints(_FINGERPRINTS)
|
||||
except ImportError:
|
||||
pass
|
||||
|
||||
def eliminate_incompatible_cars(msg, candidate_cars):
|
||||
"""Removes cars that could not have sent msg.
|
||||
|
||||
Inputs:
|
||||
msg: A cereal/log CanData message from the car.
|
||||
candidate_cars: A list of cars to consider.
|
||||
|
||||
Returns:
|
||||
A list containing the subset of candidate_cars that could have sent msg.
|
||||
"""
|
||||
compatible_cars = []
|
||||
for car_name in candidate_cars:
|
||||
adr = msg.address
|
||||
if msg.src != 0 or (adr in _FINGERPRINTS[car_name] and
|
||||
_FINGERPRINTS[car_name][adr] == len(msg.dat)):
|
||||
compatible_cars.append(car_name)
|
||||
else:
|
||||
pass
|
||||
#isin = adr in _FINGERPRINTS[car_name]
|
||||
#print "eliminate", car_name, hex(adr), isin, len(msg.dat), msg.dat.encode("hex")
|
||||
return compatible_cars
|
||||
|
||||
def all_known_cars():
|
||||
"""Returns a list of all known car strings."""
|
||||
return _FINGERPRINTS.keys()
|
||||
|
||||
|
|
@ -0,0 +1,14 @@
|
|||
def gpio_init(pin, output):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
|
||||
f.write(b"out" if output else b"in")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} direction: {e}")
|
||||
|
||||
|
||||
def gpio_set(pin, high):
|
||||
try:
|
||||
with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
|
||||
f.write(b"1" if high else b"0")
|
||||
except Exception as e:
|
||||
print(f"Failed to set gpio {pin} value: {e}")
|
||||
|
|
@ -0,0 +1 @@
|
|||
simple_kalman_impl.c
|
||||
|
|
@ -0,0 +1,3 @@
|
|||
Import('envCython')
|
||||
|
||||
envCython.Program('simple_kalman_impl.so', 'simple_kalman_impl.pyx')
|
||||
|
|
@ -1,252 +0,0 @@
|
|||
import abc
|
||||
import numpy as np
|
||||
import numpy.matlib
|
||||
# The EKF class contains the framework for an Extended Kalman Filter, but must be subclassed to use.
|
||||
# A subclass must implement:
|
||||
# 1) calc_transfer_fun(); see bottom of file for more info.
|
||||
# 2) __init__() to initialize self.state, self.covar, and self.process_noise appropriately
|
||||
|
||||
# Alternatively, the existing implementations of EKF can be used (e.g. EKF2D)
|
||||
|
||||
# Sensor classes are optionally used to pass measurement information into the EKF, to keep
|
||||
# sensor parameters and processing methods for a each sensor together.
|
||||
# Sensor classes have a read() method which takes raw sensor data and returns
|
||||
# a SensorReading object, which can be passed to the EKF update() method.
|
||||
|
||||
# For usage, see run_ekf1d.py in selfdrive/new for a simple example.
|
||||
# ekf.predict(dt) should be called between update cycles with the time since it was last called.
|
||||
# Ideally, predict(dt) should be called at a relatively constant rate.
|
||||
# update() should be called once per sensor, and can be called multiple times between predict steps.
|
||||
# Access and set the state of the filter directly with ekf.state and ekf.covar.
|
||||
|
||||
|
||||
class SensorReading:
|
||||
# Given a perfect model and no noise, data = obs_model * state
|
||||
def __init__(self, data, covar, obs_model):
|
||||
self.data = data
|
||||
self.obs_model = obs_model
|
||||
self.covar = covar
|
||||
|
||||
def __repr__(self):
|
||||
return "SensorReading(data={}, covar={}, obs_model={})".format(
|
||||
repr(self.data), repr(self.covar), repr(self.obs_model))
|
||||
|
||||
|
||||
# A generic sensor class that does no pre-processing of data
|
||||
class SimpleSensor:
|
||||
# obs_model can be
|
||||
# a full observation model matrix, or
|
||||
# an integer or tuple of indices into ekf.state, indicating which variables are being directly observed
|
||||
# covar can be
|
||||
# a full covariance matrix
|
||||
# a float or tuple of individual covars for each component of the sensor reading
|
||||
# dims is the number of states in the EKF
|
||||
def __init__(self, obs_model, covar, dims):
|
||||
# Allow for integer covar/obs_model
|
||||
if not hasattr(obs_model, "__len__"):
|
||||
obs_model = (obs_model, )
|
||||
if not hasattr(covar, "__len__"):
|
||||
covar = (covar, )
|
||||
|
||||
# Full observation model passed
|
||||
if dims in np.array(obs_model).shape:
|
||||
self.obs_model = np.asmatrix(obs_model)
|
||||
self.covar = np.asmatrix(covar)
|
||||
# Indices of unit observations passed
|
||||
else:
|
||||
self.obs_model = np.matlib.zeros((len(obs_model), dims))
|
||||
self.obs_model[:, list(obs_model)] = np.identity(len(obs_model))
|
||||
if np.asarray(covar).ndim == 2:
|
||||
self.covar = np.asmatrix(covar)
|
||||
elif len(covar) == len(obs_model):
|
||||
self.covar = np.matlib.diag(covar)
|
||||
else:
|
||||
self.covar = np.matlib.identity(len(obs_model)) * covar
|
||||
|
||||
def read(self, data, covar=None):
|
||||
if covar:
|
||||
self.covar = covar
|
||||
return SensorReading(data, self.covar, self.obs_model)
|
||||
|
||||
|
||||
class EKF:
|
||||
__metaclass__ = abc.ABCMeta
|
||||
|
||||
def __init__(self, debug=False):
|
||||
self.DEBUG = debug
|
||||
|
||||
|
||||
def __str__(self):
|
||||
return "EKF(state={}, covar={})".format(self.state, self.covar)
|
||||
|
||||
# Measurement update
|
||||
# Reading should be a SensorReading object with data, covar, and obs_model attributes
|
||||
def update(self, reading):
|
||||
# Potential improvements:
|
||||
# deal with negative covars
|
||||
# add noise to really low covars to ensure stability
|
||||
# use mahalanobis distance to reject outliers
|
||||
# wrap angles after state updates and innovation
|
||||
|
||||
# y = z - H*x
|
||||
innovation = reading.data - reading.obs_model * self.state
|
||||
|
||||
if self.DEBUG:
|
||||
print "reading:\n",reading.data
|
||||
print "innovation:\n",innovation
|
||||
|
||||
# S = H*P*H' + R
|
||||
innovation_covar = reading.obs_model * self.covar * reading.obs_model.T + reading.covar
|
||||
|
||||
# K = P*H'*S^-1
|
||||
kalman_gain = self.covar * reading.obs_model.T * np.linalg.inv(
|
||||
innovation_covar)
|
||||
|
||||
if self.DEBUG:
|
||||
print "gain:\n", kalman_gain
|
||||
print "innovation_covar:\n", innovation_covar
|
||||
print "innovation: ", innovation
|
||||
print "test: ", self.covar * reading.obs_model.T * (
|
||||
reading.obs_model * self.covar * reading.obs_model.T + reading.covar *
|
||||
0).I
|
||||
|
||||
# x = x + K*y
|
||||
self.state += kalman_gain*innovation
|
||||
|
||||
# print "covar", np.diag(self.covar)
|
||||
#self.state[(roll_vel, yaw_vel, pitch_vel),:] = reading.data
|
||||
|
||||
# Standard form: P = (I - K*H)*P
|
||||
# self.covar = (self.identity - kalman_gain*reading.obs_model) * self.covar
|
||||
|
||||
# Use the Joseph form for numerical stability: P = (I-K*H)*P*(I - K*H)' + K*R*K'
|
||||
aux_mtrx = (self.identity - kalman_gain * reading.obs_model)
|
||||
self.covar = aux_mtrx * self.covar * aux_mtrx.T + kalman_gain * reading.covar * kalman_gain.T
|
||||
|
||||
if self.DEBUG:
|
||||
print "After update"
|
||||
print "state\n", self.state
|
||||
print "covar:\n",self.covar
|
||||
|
||||
def update_scalar(self, reading):
|
||||
# like update but knowing that measurement is a scalar
|
||||
# this avoids matrix inversions and speeds up (surprisingly) drived.py a lot
|
||||
|
||||
# innovation = reading.data - np.matmul(reading.obs_model, self.state)
|
||||
# innovation_covar = np.matmul(np.matmul(reading.obs_model, self.covar), reading.obs_model.T) + reading.covar
|
||||
# kalman_gain = np.matmul(self.covar, reading.obs_model.T)/innovation_covar
|
||||
# self.state += np.matmul(kalman_gain, innovation)
|
||||
# aux_mtrx = self.identity - np.matmul(kalman_gain, reading.obs_model)
|
||||
# self.covar = np.matmul(aux_mtrx, np.matmul(self.covar, aux_mtrx.T)) + np.matmul(kalman_gain, np.matmul(reading.covar, kalman_gain.T))
|
||||
|
||||
# written without np.matmul
|
||||
es = np.einsum
|
||||
ABC_T = "ij,jk,lk->il"
|
||||
AB_T = "ij,kj->ik"
|
||||
AB = "ij,jk->ik"
|
||||
innovation = reading.data - es(AB, reading.obs_model, self.state)
|
||||
innovation_covar = es(ABC_T, reading.obs_model, self.covar,
|
||||
reading.obs_model) + reading.covar
|
||||
kalman_gain = es(AB_T, self.covar, reading.obs_model) / innovation_covar
|
||||
|
||||
self.state += es(AB, kalman_gain, innovation)
|
||||
aux_mtrx = self.identity - es(AB, kalman_gain, reading.obs_model)
|
||||
self.covar = es(ABC_T, aux_mtrx, self.covar, aux_mtrx) + \
|
||||
es(ABC_T, kalman_gain, reading.covar, kalman_gain)
|
||||
|
||||
# Prediction update
|
||||
def predict(self, dt):
|
||||
es = np.einsum
|
||||
ABC_T = "ij,jk,lk->il"
|
||||
AB = "ij,jk->ik"
|
||||
|
||||
# State update
|
||||
transfer_fun, transfer_fun_jacobian = self.calc_transfer_fun(dt)
|
||||
|
||||
# self.state = np.matmul(transfer_fun, self.state)
|
||||
# self.covar = np.matmul(np.matmul(transfer_fun_jacobian, self.covar), transfer_fun_jacobian.T) + self.process_noise * dt
|
||||
|
||||
# x = f(x, u), written in the form x = A(x, u)*x
|
||||
self.state = es(AB, transfer_fun, self.state)
|
||||
|
||||
# P = J*P*J' + Q
|
||||
self.covar = es(ABC_T, transfer_fun_jacobian, self.covar,
|
||||
transfer_fun_jacobian) + self.process_noise * dt #!dt
|
||||
|
||||
#! Clip covariance to avoid explosions
|
||||
self.covar = np.clip(self.covar,-1e10,1e10)
|
||||
|
||||
@abc.abstractmethod
|
||||
def calc_transfer_fun(self, dt):
|
||||
"""Return a tuple with the transfer function and transfer function jacobian
|
||||
The transfer function and jacobian should both be a numpy matrix of size DIMSxDIMS
|
||||
|
||||
The transfer function matrix A should satisfy the state-update equation
|
||||
x_(k+1) = A * x_k
|
||||
|
||||
The jacobian J is the direct jacobian A*x_k. For linear systems J=A.
|
||||
|
||||
Current implementations calculate A and J as functions of state. Control input
|
||||
can be added trivially by adding a control parameter to predict() and calc_tranfer_update(),
|
||||
and using it during calculation of A and J
|
||||
"""
|
||||
|
||||
|
||||
class FastEKF1D(EKF):
|
||||
"""Fast version of EKF for 1D problems with scalar readings."""
|
||||
|
||||
def __init__(self, dt, var_init, Q):
|
||||
super(FastEKF1D, self).__init__(False)
|
||||
self.state = [0, 0]
|
||||
self.covar = [var_init, var_init, 0]
|
||||
|
||||
# Process Noise
|
||||
self.dtQ0 = dt * Q[0]
|
||||
self.dtQ1 = dt * Q[1]
|
||||
|
||||
def update(self, reading):
|
||||
raise NotImplementedError
|
||||
|
||||
def update_scalar(self, reading):
|
||||
# TODO(mgraczyk): Delete this for speed.
|
||||
# assert np.all(reading.obs_model == [1, 0])
|
||||
|
||||
rcov = reading.covar[0, 0]
|
||||
|
||||
x = self.state
|
||||
S = self.covar
|
||||
|
||||
innovation = reading.data - x[0]
|
||||
innovation_covar = S[0] + rcov
|
||||
|
||||
k0 = S[0] / innovation_covar
|
||||
k1 = S[2] / innovation_covar
|
||||
|
||||
x[0] += k0 * innovation
|
||||
x[1] += k1 * innovation
|
||||
|
||||
mk = 1 - k0
|
||||
S[1] += k1 * (k1 * (S[0] + rcov) - 2 * S[2])
|
||||
S[2] = mk * (S[2] - k1 * S[0]) + rcov * k0 * k1
|
||||
S[0] = mk * mk * S[0] + rcov * k0 * k0
|
||||
|
||||
def predict(self, dt):
|
||||
# State update
|
||||
x = self.state
|
||||
|
||||
x[0] += dt * x[1]
|
||||
|
||||
# P = J*P*J' + Q
|
||||
S = self.covar
|
||||
S[0] += dt * (2 * S[2] + dt * S[1]) + self.dtQ0
|
||||
S[2] += dt * S[1]
|
||||
S[1] += self.dtQ1
|
||||
|
||||
# Clip covariance to avoid explosions
|
||||
S = max(-1e10, min(S, 1e10))
|
||||
|
||||
def calc_transfer_fun(self, dt):
|
||||
tf = np.identity(2)
|
||||
tf[0, 1] = dt
|
||||
tfj = tf
|
||||
return tf, tfj
|
||||
|
|
@ -1,23 +1,3 @@
|
|||
import numpy as np
|
||||
|
||||
|
||||
class KF1D:
|
||||
# this EKF assumes constant covariance matrix, so calculations are much simpler
|
||||
# the Kalman gain also needs to be precomputed using the control module
|
||||
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x = x0
|
||||
self.A = A
|
||||
self.C = C
|
||||
self.K = K
|
||||
|
||||
self.A_K = self.A - np.dot(self.K, self.C)
|
||||
|
||||
# K matrix needs to be pre-computed as follow:
|
||||
# import control
|
||||
# (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
|
||||
# self.K = np.transpose(K)
|
||||
|
||||
def update(self, meas):
|
||||
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
|
||||
return self.x
|
||||
# pylint: skip-file
|
||||
from common.kalman.simple_kalman_impl import KF1D as KF1D
|
||||
assert KF1D
|
||||
|
|
|
|||
|
|
@ -0,0 +1,18 @@
|
|||
# cython: language_level = 3
|
||||
|
||||
cdef class KF1D:
|
||||
cdef public:
|
||||
double x0_0
|
||||
double x1_0
|
||||
double K0_0
|
||||
double K1_0
|
||||
double A0_0
|
||||
double A0_1
|
||||
double A1_0
|
||||
double A1_1
|
||||
double C0_0
|
||||
double C0_1
|
||||
double A_K_0
|
||||
double A_K_1
|
||||
double A_K_2
|
||||
double A_K_3
|
||||
|
|
@ -0,0 +1,37 @@
|
|||
# distutils: language = c++
|
||||
# cython: language_level=3
|
||||
|
||||
cdef class KF1D:
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x0_0 = x0[0][0]
|
||||
self.x1_0 = x0[1][0]
|
||||
self.A0_0 = A[0][0]
|
||||
self.A0_1 = A[0][1]
|
||||
self.A1_0 = A[1][0]
|
||||
self.A1_1 = A[1][1]
|
||||
self.C0_0 = C[0]
|
||||
self.C0_1 = C[1]
|
||||
self.K0_0 = K[0][0]
|
||||
self.K1_0 = K[1][0]
|
||||
|
||||
self.A_K_0 = self.A0_0 - self.K0_0 * self.C0_0
|
||||
self.A_K_1 = self.A0_1 - self.K0_0 * self.C0_1
|
||||
self.A_K_2 = self.A1_0 - self.K1_0 * self.C0_0
|
||||
self.A_K_3 = self.A1_1 - self.K1_0 * self.C0_1
|
||||
|
||||
def update(self, meas):
|
||||
cdef double x0_0 = self.A_K_0 * self.x0_0 + self.A_K_1 * self.x1_0 + self.K0_0 * meas
|
||||
cdef double x1_0 = self.A_K_2 * self.x0_0 + self.A_K_3 * self.x1_0 + self.K1_0 * meas
|
||||
self.x0_0 = x0_0
|
||||
self.x1_0 = x1_0
|
||||
|
||||
return [self.x0_0, self.x1_0]
|
||||
|
||||
@property
|
||||
def x(self):
|
||||
return [[self.x0_0], [self.x1_0]]
|
||||
|
||||
@x.setter
|
||||
def x(self, x):
|
||||
self.x0_0 = x[0][0]
|
||||
self.x1_0 = x[1][0]
|
||||
|
|
@ -0,0 +1,23 @@
|
|||
import numpy as np
|
||||
|
||||
|
||||
class KF1D:
|
||||
# this EKF assumes constant covariance matrix, so calculations are much simpler
|
||||
# the Kalman gain also needs to be precomputed using the control module
|
||||
|
||||
def __init__(self, x0, A, C, K):
|
||||
self.x = x0
|
||||
self.A = A
|
||||
self.C = np.atleast_2d(C)
|
||||
self.K = K
|
||||
|
||||
self.A_K = self.A - np.dot(self.K, self.C)
|
||||
|
||||
# K matrix needs to be pre-computed as follow:
|
||||
# import control
|
||||
# (x, l, K) = control.dare(np.transpose(self.A), np.transpose(self.C), Q, R)
|
||||
# self.K = np.transpose(K)
|
||||
|
||||
def update(self, meas):
|
||||
self.x = np.dot(self.A_K, self.x) + np.dot(self.K, meas)
|
||||
return self.x
|
||||
|
|
@ -0,0 +1,87 @@
|
|||
import unittest
|
||||
import random
|
||||
import timeit
|
||||
import numpy as np
|
||||
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from common.kalman.simple_kalman_old import KF1D as KF1D_old
|
||||
|
||||
|
||||
class TestSimpleKalman(unittest.TestCase):
|
||||
def setUp(self):
|
||||
dt = 0.01
|
||||
x0_0 = 0.0
|
||||
x1_0 = 0.0
|
||||
A0_0 = 1.0
|
||||
A0_1 = dt
|
||||
A1_0 = 0.0
|
||||
A1_1 = 1.0
|
||||
C0_0 = 1.0
|
||||
C0_1 = 0.0
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
self.kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
C=[C0_0, C0_1],
|
||||
K=[[K0_0], [K1_0]])
|
||||
|
||||
def test_getter_setter(self):
|
||||
self.kf.x = [[1.0], [1.0]]
|
||||
self.assertEqual(self.kf.x, [[1.0], [1.0]])
|
||||
|
||||
def update_returns_state(self):
|
||||
x = self.kf.update(100)
|
||||
self.assertEqual(x, self.kf.x)
|
||||
|
||||
def test_old_equal_new(self):
|
||||
for _ in range(1000):
|
||||
v_wheel = random.uniform(0, 200)
|
||||
|
||||
x_old = self.kf_old.update(v_wheel)
|
||||
x = self.kf.update(v_wheel)
|
||||
|
||||
# Compare the output x, verify that the error is less than 1e-4
|
||||
np.testing.assert_almost_equal(x_old[0], x[0])
|
||||
np.testing.assert_almost_equal(x_old[1], x[1])
|
||||
|
||||
def test_new_is_faster(self):
|
||||
setup = """
|
||||
import numpy as np
|
||||
|
||||
from common.kalman.simple_kalman import KF1D
|
||||
from common.kalman.simple_kalman_old import KF1D as KF1D_old
|
||||
|
||||
dt = 0.01
|
||||
x0_0 = 0.0
|
||||
x1_0 = 0.0
|
||||
A0_0 = 1.0
|
||||
A0_1 = dt
|
||||
A1_0 = 0.0
|
||||
A1_1 = 1.0
|
||||
C0_0 = 1.0
|
||||
C0_1 = 0.0
|
||||
K0_0 = 0.12287673
|
||||
K1_0 = 0.29666309
|
||||
|
||||
kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
|
||||
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
|
||||
C=np.array([C0_0, C0_1]),
|
||||
K=np.array([[K0_0], [K1_0]]))
|
||||
|
||||
kf = KF1D(x0=[[x0_0], [x1_0]],
|
||||
A=[[A0_0, A0_1], [A1_0, A1_1]],
|
||||
C=[C0_0, C0_1],
|
||||
K=[[K0_0], [K1_0]])
|
||||
"""
|
||||
kf_speed = timeit.timeit("kf.update(1234)", setup=setup, number=10000)
|
||||
kf_old_speed = timeit.timeit("kf_old.update(1234)", setup=setup, number=10000)
|
||||
self.assertTrue(kf_speed < kf_old_speed / 4)
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
class lazy_property():
|
||||
"""Defines a property whose value will be computed only once and as needed.
|
||||
|
||||
This can only be used on instance methods.
|
||||
"""
|
||||
def __init__(self, func):
|
||||
self._func = func
|
||||
|
||||
def __get__(self, obj_self, cls):
|
||||
value = self._func(obj_self)
|
||||
setattr(obj_self, self._func.__name__, value)
|
||||
return value
|
||||
|
|
@ -1,9 +1,12 @@
|
|||
import io
|
||||
import os
|
||||
import sys
|
||||
import copy
|
||||
import json
|
||||
import uuid
|
||||
import socket
|
||||
import logging
|
||||
import traceback
|
||||
from threading import local
|
||||
from collections import OrderedDict
|
||||
from contextlib import contextmanager
|
||||
|
|
@ -18,7 +21,7 @@ def json_robust_dumps(obj):
|
|||
|
||||
class NiceOrderedDict(OrderedDict):
|
||||
def __str__(self):
|
||||
return '{'+', '.join("%r: %r" % p for p in self.iteritems())+'}'
|
||||
return json_robust_dumps(self)
|
||||
|
||||
class SwagFormatter(logging.Formatter):
|
||||
def __init__(self, swaglogger):
|
||||
|
|
@ -60,10 +63,57 @@ class SwagFormatter(logging.Formatter):
|
|||
return record_dict
|
||||
|
||||
def format(self, record):
|
||||
if self.swaglogger is None:
|
||||
raise Exception("must set swaglogger before calling format()")
|
||||
return json_robust_dumps(self.format_dict(record))
|
||||
|
||||
_tmpfunc = lambda: 0
|
||||
_srcfile = os.path.normcase(_tmpfunc.__code__.co_filename)
|
||||
class SwagLogFileFormatter(SwagFormatter):
|
||||
def fix_kv(self, k, v):
|
||||
# append type to names to preserve legacy naming in logs
|
||||
# avoids overlapping key namespaces with different types
|
||||
# e.g. log.info() creates 'msg' -> 'msg$s'
|
||||
# log.event() creates 'msg.health.logMonoTime' -> 'msg.health.logMonoTime$i'
|
||||
# because overlapping namespace 'msg' caused problems
|
||||
if isinstance(v, (str, bytes)):
|
||||
k += "$s"
|
||||
elif isinstance(v, float):
|
||||
k += "$f"
|
||||
elif isinstance(v, bool):
|
||||
k += "$b"
|
||||
elif isinstance(v, int):
|
||||
k += "$i"
|
||||
elif isinstance(v, dict):
|
||||
nv = {}
|
||||
for ik, iv in v.items():
|
||||
ik, iv = self.fix_kv(ik, iv)
|
||||
nv[ik] = iv
|
||||
v = nv
|
||||
elif isinstance(v, list):
|
||||
k += "$a"
|
||||
return k, v
|
||||
|
||||
def format(self, record):
|
||||
if isinstance(record, str):
|
||||
v = json.loads(record)
|
||||
else:
|
||||
v = self.format_dict(record)
|
||||
|
||||
mk, mv = self.fix_kv('msg', v['msg'])
|
||||
del v['msg']
|
||||
v[mk] = mv
|
||||
v['id'] = uuid.uuid4().hex
|
||||
|
||||
return json_robust_dumps(v)
|
||||
|
||||
class SwagErrorFilter(logging.Filter):
|
||||
def filter(self, record):
|
||||
return record.levelno < logging.ERROR
|
||||
|
||||
def _tmpfunc():
|
||||
return 0
|
||||
|
||||
def _srcfile():
|
||||
return os.path.normcase(_tmpfunc.__code__.co_filename)
|
||||
|
||||
class SwagLogger(logging.Logger):
|
||||
def __init__(self):
|
||||
|
|
@ -74,28 +124,6 @@ class SwagLogger(logging.Logger):
|
|||
self.log_local = local()
|
||||
self.log_local.ctx = {}
|
||||
|
||||
def findCaller(self):
|
||||
"""
|
||||
Find the stack frame of the caller so that we can note the source
|
||||
file name, line number and function name.
|
||||
"""
|
||||
# f = currentframe()
|
||||
f = sys._getframe(3)
|
||||
#On some versions of IronPython, currentframe() returns None if
|
||||
#IronPython isn't run with -X:Frames.
|
||||
if f is not None:
|
||||
f = f.f_back
|
||||
rv = "(unknown file)", 0, "(unknown function)"
|
||||
while hasattr(f, "f_code"):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
if filename in (logging._srcfile, _srcfile):
|
||||
f = f.f_back
|
||||
continue
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name)
|
||||
break
|
||||
return rv
|
||||
|
||||
def local_ctx(self):
|
||||
try:
|
||||
return self.log_local.ctx
|
||||
|
|
@ -128,15 +156,80 @@ class SwagLogger(logging.Logger):
|
|||
if args:
|
||||
evt['args'] = args
|
||||
evt.update(kwargs)
|
||||
self.info(evt)
|
||||
if 'error' in kwargs:
|
||||
self.error(evt)
|
||||
if 'debug' in kwargs:
|
||||
self.debug(evt)
|
||||
else:
|
||||
self.info(evt)
|
||||
|
||||
def findCaller(self, stack_info=False, stacklevel=1):
|
||||
"""
|
||||
Find the stack frame of the caller so that we can note the source
|
||||
file name, line number and function name.
|
||||
"""
|
||||
f = sys._getframe(3)
|
||||
#On some versions of IronPython, currentframe() returns None if
|
||||
#IronPython isn't run with -X:Frames.
|
||||
if f is not None:
|
||||
f = f.f_back
|
||||
orig_f = f
|
||||
while f and stacklevel > 1:
|
||||
f = f.f_back
|
||||
stacklevel -= 1
|
||||
if not f:
|
||||
f = orig_f
|
||||
rv = "(unknown file)", 0, "(unknown function)", None
|
||||
while hasattr(f, "f_code"):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
|
||||
# TODO: is this pylint exception correct?
|
||||
if filename == _srcfile: # pylint: disable=comparison-with-callable
|
||||
f = f.f_back
|
||||
continue
|
||||
sinfo = None
|
||||
if stack_info:
|
||||
sio = io.StringIO()
|
||||
sio.write('Stack (most recent call last):\n')
|
||||
traceback.print_stack(f, file=sio)
|
||||
sinfo = sio.getvalue()
|
||||
if sinfo[-1] == '\n':
|
||||
sinfo = sinfo[:-1]
|
||||
sio.close()
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
|
||||
break
|
||||
return rv
|
||||
|
||||
if __name__ == "__main__":
|
||||
log = SwagLogger()
|
||||
|
||||
stdout_handler = logging.StreamHandler(sys.stdout)
|
||||
stdout_handler.setLevel(logging.INFO)
|
||||
stdout_handler.addFilter(SwagErrorFilter())
|
||||
log.addHandler(stdout_handler)
|
||||
|
||||
stderr_handler = logging.StreamHandler(sys.stderr)
|
||||
stderr_handler.setLevel(logging.ERROR)
|
||||
log.addHandler(stderr_handler)
|
||||
|
||||
log.info("asdasd %s", "a")
|
||||
log.info({'wut': 1})
|
||||
log.warning("warning")
|
||||
log.error("error")
|
||||
log.critical("critical")
|
||||
log.event("test", x="y")
|
||||
|
||||
with log.ctx():
|
||||
stdout_handler.setFormatter(SwagFormatter(log))
|
||||
stderr_handler.setFormatter(SwagFormatter(log))
|
||||
log.bind(user="some user")
|
||||
log.info("in req")
|
||||
log.event("do_req")
|
||||
print("")
|
||||
log.warning("warning")
|
||||
print("")
|
||||
log.error("error")
|
||||
print("")
|
||||
log.critical("critical")
|
||||
print("")
|
||||
log.event("do_req", a=1, b="c")
|
||||
|
|
|
|||
|
|
@ -1,25 +1,22 @@
|
|||
def int_rnd(x):
|
||||
return int(round(x))
|
||||
|
||||
def clip(x, lo, hi):
|
||||
return max(lo, min(hi, x))
|
||||
|
||||
|
||||
def interp(x, xp, fp):
|
||||
N = len(xp)
|
||||
if not hasattr(x, '__iter__'):
|
||||
hi = 0
|
||||
while hi < N and x > xp[hi]:
|
||||
hi += 1
|
||||
low = hi - 1
|
||||
return fp[-1] if hi == N and x > xp[low] else (
|
||||
fp[0] if hi == 0 else
|
||||
(x - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
|
||||
|
||||
result = []
|
||||
for v in x:
|
||||
def get_interp(xv):
|
||||
hi = 0
|
||||
while hi < N and v > xp[hi]:
|
||||
while hi < N and xv > xp[hi]:
|
||||
hi += 1
|
||||
low = hi - 1
|
||||
result.append(fp[-1] if hi == N and v > xp[low] else (fp[
|
||||
0] if hi == 0 else (v - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]
|
||||
) + fp[low]))
|
||||
return result
|
||||
return fp[-1] if hi == N and xv > xp[low] else (
|
||||
fp[0] if hi == 0 else
|
||||
(xv - xp[low]) * (fp[hi] - fp[low]) / (xp[hi] - xp[low]) + fp[low])
|
||||
|
||||
return [get_interp(v) for v in x] if hasattr(x, '__iter__') else get_interp(x)
|
||||
|
||||
def mean(x):
|
||||
return sum(x) / len(x)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,22 @@
|
|||
import numpy as np
|
||||
|
||||
|
||||
def deep_interp_np(x, xp, fp, axis=None):
|
||||
if axis is not None:
|
||||
fp = fp.swapaxes(0,axis)
|
||||
x = np.atleast_1d(x)
|
||||
xp = np.array(xp)
|
||||
if len(xp) < 2:
|
||||
return np.repeat(fp, len(x), axis=0)
|
||||
if min(np.diff(xp)) < 0:
|
||||
raise RuntimeError('Bad x array for interpolation')
|
||||
j = np.searchsorted(xp, x) - 1
|
||||
j = np.clip(j, 0, len(xp)-2)
|
||||
d = np.divide(x - xp[j], xp[j + 1] - xp[j], out=np.ones_like(x, dtype=np.float64), where=xp[j + 1] - xp[j] != 0)
|
||||
vals_interp = (fp[j].T*(1 - d)).T + (fp[j + 1].T*d).T
|
||||
if axis is not None:
|
||||
vals_interp = vals_interp.swapaxes(0,axis)
|
||||
if len(vals_interp) == 1:
|
||||
return vals_interp[0]
|
||||
else:
|
||||
return vals_interp
|
||||
|
|
@ -1,330 +1,24 @@
|
|||
#!/usr/bin/env python
|
||||
"""ROS has a parameter server, we have files.
|
||||
|
||||
The parameter store is a persistent key value store, implemented as a directory with a writer lock.
|
||||
On Android, we store params under params_dir = /data/params. The writer lock is a file
|
||||
"<params_dir>/.lock" taken using flock(), and data is stored in a directory symlinked to by
|
||||
"<params_dir>/d".
|
||||
|
||||
Each key, value pair is stored as a file with named <key> with contents <value>, located in
|
||||
<params_dir>/d/<key>
|
||||
|
||||
Readers of a single key can just open("<params_dir>/d/<key>") and read the file contents.
|
||||
Readers who want a consistent snapshot of multiple keys should take the lock.
|
||||
|
||||
Writers should take the lock before modifying anything. Writers should also leave the DB in a
|
||||
consistent state after a crash. The implementation below does this by copying all params to a temp
|
||||
directory <params_dir>/<tmp>, then atomically symlinking <params_dir>/<d> to <params_dir>/<tmp>
|
||||
before deleting the old <params_dir>/<d> directory.
|
||||
|
||||
Writers that only modify a single key can simply take the lock, then swap the corresponding value
|
||||
file in place without messing with <params_dir>/d.
|
||||
"""
|
||||
import time
|
||||
import os
|
||||
import errno
|
||||
import sys
|
||||
import shutil
|
||||
import fcntl
|
||||
import tempfile
|
||||
from enum import Enum
|
||||
|
||||
def mkdirs_exists_ok(path):
|
||||
try:
|
||||
os.makedirs(path)
|
||||
except OSError:
|
||||
if not os.path.isdir(path):
|
||||
raise
|
||||
|
||||
class TxType(Enum):
|
||||
PERSISTANT = 1
|
||||
CLEAR_ON_MANAGER_START = 2
|
||||
CLEAR_ON_CAR_START = 3
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
keys = {
|
||||
# written: manager
|
||||
# read: loggerd, uploaderd, baseui
|
||||
"DongleId": TxType.PERSISTANT,
|
||||
"AccessToken": TxType.PERSISTANT,
|
||||
"Version": TxType.PERSISTANT,
|
||||
"GitCommit": TxType.PERSISTANT,
|
||||
"GitBranch": TxType.PERSISTANT,
|
||||
"GitRemote": TxType.PERSISTANT,
|
||||
# written: baseui
|
||||
# read: ui, controls
|
||||
"IsMetric": TxType.PERSISTANT,
|
||||
"IsRearViewMirror": TxType.PERSISTANT,
|
||||
"IsFcwEnabled": TxType.PERSISTANT,
|
||||
"HasAcceptedTerms": TxType.PERSISTANT,
|
||||
"IsUploadVideoOverCellularEnabled": TxType.PERSISTANT,
|
||||
# written: visiond
|
||||
# read: visiond, controlsd
|
||||
"CalibrationParams": TxType.PERSISTANT,
|
||||
# written: visiond
|
||||
# read: visiond, ui
|
||||
"CloudCalibration": TxType.PERSISTANT,
|
||||
# written: controlsd
|
||||
# read: radard
|
||||
"CarParams": TxType.CLEAR_ON_CAR_START,
|
||||
|
||||
"Passive": TxType.PERSISTANT,
|
||||
"DoUninstall": TxType.CLEAR_ON_MANAGER_START,
|
||||
}
|
||||
|
||||
def fsync_dir(path):
|
||||
fd = os.open(path, os.O_RDONLY)
|
||||
try:
|
||||
os.fsync(fd)
|
||||
finally:
|
||||
os.close(fd)
|
||||
|
||||
|
||||
class FileLock(object):
|
||||
def __init__(self, path, create):
|
||||
self._path = path
|
||||
self._create = create
|
||||
self._fd = None
|
||||
|
||||
def acquire(self):
|
||||
self._fd = os.open(self._path, os.O_CREAT if self._create else 0)
|
||||
fcntl.flock(self._fd, fcntl.LOCK_EX)
|
||||
|
||||
def release(self):
|
||||
if self._fd is not None:
|
||||
os.close(self._fd)
|
||||
self._fd = None
|
||||
|
||||
|
||||
class DBAccessor(object):
|
||||
def __init__(self, path):
|
||||
self._path = path
|
||||
self._vals = None
|
||||
|
||||
def keys(self):
|
||||
self._check_entered()
|
||||
return self._vals.keys()
|
||||
|
||||
def get(self, key):
|
||||
self._check_entered()
|
||||
try:
|
||||
return self._vals[key]
|
||||
except KeyError:
|
||||
return None
|
||||
|
||||
def _get_lock(self, create):
|
||||
lock = FileLock(os.path.join(self._path, ".lock"), create)
|
||||
lock.acquire()
|
||||
return lock
|
||||
|
||||
def _read_values_locked(self):
|
||||
"""Callers should hold a lock while calling this method."""
|
||||
vals = {}
|
||||
try:
|
||||
data_path = self._data_path()
|
||||
keys = os.listdir(data_path)
|
||||
for key in keys:
|
||||
with open(os.path.join(data_path, key), "rb") as f:
|
||||
vals[key] = f.read()
|
||||
except (OSError, IOError) as e:
|
||||
# Either the DB hasn't been created yet, or somebody wrote a bug and left the DB in an
|
||||
# inconsistent state. Either way, return empty.
|
||||
if e.errno == errno.ENOENT:
|
||||
return {}
|
||||
|
||||
return vals
|
||||
|
||||
def _data_path(self):
|
||||
return os.path.join(self._path, "d")
|
||||
|
||||
def _check_entered(self):
|
||||
if self._vals is None:
|
||||
raise Exception("Must call __enter__ before using DB")
|
||||
|
||||
|
||||
class DBReader(DBAccessor):
|
||||
def __enter__(self):
|
||||
try:
|
||||
lock = self._get_lock(False)
|
||||
except OSError as e:
|
||||
# Do not create lock if it does not exist.
|
||||
if e.errno == errno.ENOENT:
|
||||
self._vals = {}
|
||||
return self
|
||||
|
||||
try:
|
||||
# Read everything.
|
||||
self._vals = self._read_values_locked()
|
||||
return self
|
||||
finally:
|
||||
lock.release()
|
||||
|
||||
def __exit__(self, type, value, traceback): pass
|
||||
|
||||
|
||||
class DBWriter(DBAccessor):
|
||||
def __init__(self, path):
|
||||
super(DBWriter, self).__init__(path)
|
||||
self._lock = None
|
||||
self._prev_umask = None
|
||||
|
||||
def put(self, key, value):
|
||||
self._vals[key] = value
|
||||
|
||||
def delete(self, key):
|
||||
self._vals.pop(key, None)
|
||||
|
||||
def __enter__(self):
|
||||
mkdirs_exists_ok(self._path)
|
||||
|
||||
# Make sure we can write and that permissions are correct.
|
||||
self._prev_umask = os.umask(0)
|
||||
|
||||
try:
|
||||
os.chmod(self._path, 0o777)
|
||||
self._lock = self._get_lock(True)
|
||||
self._vals = self._read_values_locked()
|
||||
except:
|
||||
os.umask(self._prev_umask)
|
||||
self._prev_umask = None
|
||||
raise
|
||||
|
||||
return self
|
||||
|
||||
def __exit__(self, type, value, traceback):
|
||||
self._check_entered()
|
||||
|
||||
try:
|
||||
# data_path refers to the externally used path to the params. It is a symlink.
|
||||
# old_data_path is the path currently pointed to by data_path.
|
||||
# tempdir_path is a path where the new params will go, which the new data path will point to.
|
||||
# new_data_path is a temporary symlink that will atomically overwrite data_path.
|
||||
#
|
||||
# The current situation is:
|
||||
# data_path -> old_data_path
|
||||
# We're going to write params data to tempdir_path
|
||||
# tempdir_path -> params data
|
||||
# Then point new_data_path to tempdir_path
|
||||
# new_data_path -> tempdir_path
|
||||
# Then atomically overwrite data_path with new_data_path
|
||||
# data_path -> tempdir_path
|
||||
old_data_path = None
|
||||
new_data_path = None
|
||||
tempdir_path = tempfile.mkdtemp(prefix=".tmp", dir=self._path)
|
||||
|
||||
try:
|
||||
# Write back all keys.
|
||||
os.chmod(tempdir_path, 0o777)
|
||||
for k, v in self._vals.items():
|
||||
with open(os.path.join(tempdir_path, k), "wb") as f:
|
||||
f.write(v)
|
||||
f.flush()
|
||||
os.fsync(f.fileno())
|
||||
fsync_dir(tempdir_path)
|
||||
|
||||
data_path = self._data_path()
|
||||
try:
|
||||
old_data_path = os.path.join(self._path, os.readlink(data_path))
|
||||
except (OSError, IOError) as e:
|
||||
# NOTE(mgraczyk): If other DB implementations have bugs, this could cause
|
||||
# copies to be left behind, but we still want to overwrite.
|
||||
pass
|
||||
|
||||
new_data_path = "{}.link".format(tempdir_path)
|
||||
os.symlink(os.path.basename(tempdir_path), new_data_path)
|
||||
os.rename(new_data_path, data_path)
|
||||
fsync_dir(self._path)
|
||||
finally:
|
||||
# If the rename worked, we can delete the old data. Otherwise delete the new one.
|
||||
success = new_data_path is not None and os.path.exists(data_path) and (
|
||||
os.readlink(data_path) == os.path.basename(tempdir_path))
|
||||
|
||||
if success:
|
||||
if old_data_path is not None:
|
||||
shutil.rmtree(old_data_path)
|
||||
else:
|
||||
shutil.rmtree(tempdir_path)
|
||||
|
||||
# Regardless of what happened above, there should be no link at new_data_path.
|
||||
if new_data_path is not None and os.path.islink(new_data_path):
|
||||
os.remove(new_data_path)
|
||||
finally:
|
||||
os.umask(self._prev_umask)
|
||||
self._prev_umask = None
|
||||
|
||||
# Always release the lock.
|
||||
self._lock.release()
|
||||
self._lock = None
|
||||
|
||||
|
||||
|
||||
class JSDB(object):
|
||||
def __init__(self, fn):
|
||||
self._fn = fn
|
||||
|
||||
def begin(self, write=False):
|
||||
if write:
|
||||
return DBWriter(self._fn)
|
||||
else:
|
||||
return DBReader(self._fn)
|
||||
|
||||
class Params(object):
|
||||
def __init__(self, db='/data/params'):
|
||||
self.env = JSDB(db)
|
||||
|
||||
def _clear_keys_with_type(self, tx_type):
|
||||
with self.env.begin(write=True) as txn:
|
||||
for key in keys:
|
||||
if keys[key] == tx_type:
|
||||
txn.delete(key)
|
||||
|
||||
def manager_start(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_MANAGER_START)
|
||||
|
||||
def car_start(self):
|
||||
self._clear_keys_with_type(TxType.CLEAR_ON_CAR_START)
|
||||
|
||||
def delete(self, key):
|
||||
with self.env.begin(write=True) as txn:
|
||||
txn.delete(key)
|
||||
|
||||
def get(self, key, block=False):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
while 1:
|
||||
with self.env.begin() as txn:
|
||||
ret = txn.get(key)
|
||||
if not block or ret is not None:
|
||||
break
|
||||
# is polling really the best we can do?
|
||||
time.sleep(0.05)
|
||||
return ret
|
||||
|
||||
def put(self, key, dat):
|
||||
if key not in keys:
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
with self.env.begin(write=True) as txn:
|
||||
txn.put(key, dat)
|
||||
print "set", key
|
||||
from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
|
||||
assert Params
|
||||
assert ParamKeyType
|
||||
assert UnknownKeyName
|
||||
assert put_nonblocking
|
||||
|
||||
if __name__ == "__main__":
|
||||
params = Params()
|
||||
if len(sys.argv) > 2:
|
||||
params.put(sys.argv[1], sys.argv[2])
|
||||
else:
|
||||
for k in keys:
|
||||
pp = params.get(k)
|
||||
if pp is None:
|
||||
print k, "is None"
|
||||
elif all(ord(c) < 128 and ord(c) >= 32 for c in pp):
|
||||
print k, pp
|
||||
else:
|
||||
print k, pp.encode("hex")
|
||||
import sys
|
||||
from common.params_pyx import keys # pylint: disable=no-name-in-module, import-error
|
||||
|
||||
# Test multiprocess:
|
||||
# seq 0 100000 | xargs -P20 -I{} python common/params.py DongleId {} && sleep 0.05
|
||||
# while python common/params.py DongleId; do sleep 0.05; done
|
||||
params = Params()
|
||||
if len(sys.argv) == 3:
|
||||
name = sys.argv[1]
|
||||
val = sys.argv[2]
|
||||
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
|
||||
print(f"SET: {name} = {val}")
|
||||
params.put(name, val)
|
||||
elif len(sys.argv) == 2:
|
||||
name = sys.argv[1]
|
||||
assert name.encode("utf-8") in keys.keys(), f"unknown param: {name}"
|
||||
print(f"GET: {name} = {params.get(name)}")
|
||||
else:
|
||||
for k in keys.keys():
|
||||
print(f"GET: {k} = {params.get(k)}")
|
||||
|
|
|
|||
|
|
@ -0,0 +1,27 @@
|
|||
from libcpp.string cimport string
|
||||
from libcpp cimport bool
|
||||
|
||||
cdef extern from "selfdrive/common/params.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/util.cc":
|
||||
pass
|
||||
|
||||
cdef extern from "selfdrive/common/params.h":
|
||||
cpdef enum ParamKeyType:
|
||||
PERSISTENT
|
||||
CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION
|
||||
ALL
|
||||
|
||||
cdef cppclass Params:
|
||||
Params(bool)
|
||||
Params(string)
|
||||
string get(string, bool) nogil
|
||||
bool getBool(string)
|
||||
int remove(string)
|
||||
int put(string, string)
|
||||
int putBool(string, bool)
|
||||
bool checkKey(string)
|
||||
void clearAll(ParamKeyType)
|
||||
|
|
@ -0,0 +1,108 @@
|
|||
# distutils: language = c++
|
||||
# cython: language_level = 3
|
||||
from libcpp cimport bool
|
||||
from libcpp.string cimport string
|
||||
from common.params_pxd cimport Params as c_Params, ParamKeyType as c_ParamKeyType
|
||||
|
||||
import os
|
||||
import threading
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
cdef class ParamKeyType:
|
||||
PERSISTENT = c_ParamKeyType.PERSISTENT
|
||||
CLEAR_ON_MANAGER_START = c_ParamKeyType.CLEAR_ON_MANAGER_START
|
||||
CLEAR_ON_PANDA_DISCONNECT = c_ParamKeyType.CLEAR_ON_PANDA_DISCONNECT
|
||||
CLEAR_ON_IGNITION = c_ParamKeyType.CLEAR_ON_IGNITION
|
||||
ALL = c_ParamKeyType.ALL
|
||||
|
||||
def ensure_bytes(v):
|
||||
if isinstance(v, str):
|
||||
return v.encode()
|
||||
else:
|
||||
return v
|
||||
|
||||
|
||||
class UnknownKeyName(Exception):
|
||||
pass
|
||||
|
||||
cdef class Params:
|
||||
cdef c_Params* p
|
||||
|
||||
def __cinit__(self, d=None, bool persistent_params=False):
|
||||
if d is None:
|
||||
self.p = new c_Params(persistent_params)
|
||||
else:
|
||||
self.p = new c_Params(<string>d.encode())
|
||||
|
||||
def __dealloc__(self):
|
||||
del self.p
|
||||
|
||||
def clear_all(self, tx_type=None):
|
||||
if tx_type is None:
|
||||
tx_type = ParamKeyType.ALL
|
||||
|
||||
self.p.clearAll(tx_type)
|
||||
|
||||
def check_key(self, key):
|
||||
key = ensure_bytes(key)
|
||||
|
||||
if not self.p.checkKey(key):
|
||||
raise UnknownKeyName(key)
|
||||
|
||||
return key
|
||||
|
||||
def get(self, key, block=False, encoding=None):
|
||||
cdef string k = self.check_key(key)
|
||||
cdef bool b = block
|
||||
|
||||
cdef string val
|
||||
with nogil:
|
||||
val = self.p.get(k, b)
|
||||
|
||||
if val == b"":
|
||||
if block:
|
||||
# If we got no value while running in blocked mode
|
||||
# it means we got an interrupt while waiting
|
||||
raise KeyboardInterrupt
|
||||
else:
|
||||
return None
|
||||
|
||||
if encoding is not None:
|
||||
return val.decode(encoding)
|
||||
else:
|
||||
return val
|
||||
|
||||
def get_bool(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
return self.p.getBool(k)
|
||||
|
||||
def put(self, key, dat):
|
||||
"""
|
||||
Warning: This function blocks until the param is written to disk!
|
||||
In very rare cases this can take over a second, and your code will hang.
|
||||
Use the put_nonblocking helper function in time sensitive code, but
|
||||
in general try to avoid writing params as much as possible.
|
||||
"""
|
||||
cdef string k = self.check_key(key)
|
||||
dat = ensure_bytes(dat)
|
||||
self.p.put(k, dat)
|
||||
|
||||
def put_bool(self, key, val):
|
||||
cdef string k = self.check_key(key)
|
||||
self.p.putBool(k, val)
|
||||
|
||||
def delete(self, key):
|
||||
cdef string k = self.check_key(key)
|
||||
self.p.remove(k)
|
||||
|
||||
|
||||
def put_nonblocking(key, val, d=None):
|
||||
def f(key, val):
|
||||
params = Params(d)
|
||||
cdef string k = ensure_bytes(key)
|
||||
params.put(k, val)
|
||||
|
||||
t = threading.Thread(target=f, args=(key, val))
|
||||
t.start()
|
||||
return t
|
||||
|
|
@ -1,12 +1,12 @@
|
|||
import time
|
||||
|
||||
class Profiler(object):
|
||||
class Profiler():
|
||||
def __init__(self, enabled=False):
|
||||
self.enabled = enabled
|
||||
self.cp = {}
|
||||
self.cp_ignored = []
|
||||
self.iter = 0
|
||||
self.start_time = time.clock()
|
||||
self.start_time = time.time()
|
||||
self.last_time = self.start_time
|
||||
self.tot = 0.
|
||||
|
||||
|
|
@ -15,14 +15,14 @@ class Profiler(object):
|
|||
self.cp = {}
|
||||
self.cp_ignored = []
|
||||
self.iter = 0
|
||||
self.start_time = time.clock()
|
||||
self.start_time = time.time()
|
||||
self.last_time = self.start_time
|
||||
|
||||
def checkpoint(self, name, ignore=False):
|
||||
# ignore flag needed when benchmarking threads with ratekeeper
|
||||
if not self.enabled:
|
||||
return
|
||||
tt = time.clock()
|
||||
tt = time.time()
|
||||
if name not in self.cp:
|
||||
self.cp[name] = 0.
|
||||
if ignore:
|
||||
|
|
@ -36,12 +36,10 @@ class Profiler(object):
|
|||
if not self.enabled:
|
||||
return
|
||||
self.iter += 1
|
||||
print "******* Profiling *******"
|
||||
for n in self.cp:
|
||||
ms = self.cp[n]
|
||||
print("******* Profiling %d *******" % self.iter)
|
||||
for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]):
|
||||
if n in self.cp_ignored:
|
||||
print "%30s: %7.2f perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100), " IGNORED"
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
else:
|
||||
print "%30s: %7.2f perc: %1.0f" % (n, ms*1000.0, ms/self.tot*100)
|
||||
print "Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot)
|
||||
|
||||
print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100))
|
||||
print("Iter clock: %2.6f TOTAL: %2.2f" % (self.tot/self.iter, self.tot))
|
||||
|
|
|
|||
|
|
@ -1,76 +1,53 @@
|
|||
"""Utilities for reading real time clocks and keeping soft real time constraints."""
|
||||
import gc
|
||||
import os
|
||||
import time
|
||||
import ctypes
|
||||
import platform
|
||||
import threading
|
||||
import subprocess
|
||||
import multiprocessing
|
||||
|
||||
from cffi import FFI
|
||||
ffi = FFI()
|
||||
ffi.cdef("""
|
||||
|
||||
typedef int clockid_t;
|
||||
struct timespec {
|
||||
long tv_sec; /* Seconds. */
|
||||
long tv_nsec; /* Nanoseconds. */
|
||||
};
|
||||
int clock_gettime (clockid_t clk_id, struct timespec *tp);
|
||||
|
||||
long syscall(long number, ...);
|
||||
|
||||
"""
|
||||
)
|
||||
libc = ffi.dlopen(None)
|
||||
from common.clock import sec_since_boot # pylint: disable=no-name-in-module, import-error
|
||||
from selfdrive.hardware import PC, TICI
|
||||
|
||||
|
||||
# see <linux/time.h>
|
||||
CLOCK_MONOTONIC_RAW = 4
|
||||
CLOCK_BOOTTIME = 7
|
||||
# time step for each process
|
||||
DT_CTRL = 0.01 # controlsd
|
||||
DT_MDL = 0.05 # model
|
||||
DT_TRML = 0.5 # thermald and manager
|
||||
|
||||
if platform.system() != 'Darwin' and hasattr(libc, 'clock_gettime'):
|
||||
c_clock_gettime = libc.clock_gettime
|
||||
|
||||
tlocal = threading.local()
|
||||
def clock_gettime(clk_id):
|
||||
if not hasattr(tlocal, 'ts'):
|
||||
tlocal.ts = ffi.new('struct timespec *')
|
||||
|
||||
ts = tlocal.ts
|
||||
|
||||
r = c_clock_gettime(clk_id, ts)
|
||||
if r != 0:
|
||||
raise OSError("clock_gettime")
|
||||
return ts.tv_sec + ts.tv_nsec * 1e-9
|
||||
# driver monitoring
|
||||
if TICI:
|
||||
DT_DMON = 0.05
|
||||
else:
|
||||
# hack. only for OS X < 10.12
|
||||
def clock_gettime(clk_id):
|
||||
return time.time()
|
||||
DT_DMON = 0.1
|
||||
|
||||
def monotonic_time():
|
||||
return clock_gettime(CLOCK_MONOTONIC_RAW)
|
||||
|
||||
def sec_since_boot():
|
||||
return clock_gettime(CLOCK_BOOTTIME)
|
||||
class Priority:
|
||||
# CORE 2
|
||||
# - modeld = 55
|
||||
# - camerad = 54
|
||||
CTRL_LOW = 51 # plannerd & radard
|
||||
|
||||
# CORE 3
|
||||
# - boardd = 55
|
||||
CTRL_HIGH = 53
|
||||
|
||||
|
||||
def set_realtime_priority(level):
|
||||
if os.getuid() != 0:
|
||||
print("not setting priority, not root")
|
||||
return
|
||||
if platform.machine() == "x86_64":
|
||||
NR_gettid = 186
|
||||
elif platform.machine() == "aarch64":
|
||||
NR_gettid = 178
|
||||
else:
|
||||
raise NotImplementedError
|
||||
|
||||
tid = libc.syscall(NR_gettid)
|
||||
return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
|
||||
if not PC:
|
||||
os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
|
||||
|
||||
|
||||
class Ratekeeper(object):
|
||||
def set_core_affinity(core):
|
||||
if not PC:
|
||||
os.sched_setaffinity(0, [core,])
|
||||
|
||||
|
||||
def config_realtime_process(core, priority):
|
||||
gc.disable()
|
||||
set_realtime_priority(priority)
|
||||
set_core_affinity(core)
|
||||
|
||||
|
||||
class Ratekeeper():
|
||||
def __init__(self, rate, print_delay_threshold=0.):
|
||||
"""Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
|
||||
self._interval = 1. / rate
|
||||
|
|
@ -100,12 +77,9 @@ class Ratekeeper(object):
|
|||
lagged = False
|
||||
remaining = self._next_frame_time - sec_since_boot()
|
||||
self._next_frame_time += self._interval
|
||||
if remaining < -self._print_delay_threshold:
|
||||
if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
|
||||
print("%s lagging by %.2f ms" % (self._process_name, -remaining * 1000))
|
||||
lagged = True
|
||||
self._frame += 1
|
||||
self._remaining = remaining
|
||||
return lagged
|
||||
|
||||
if __name__ == "__main__":
|
||||
print sec_since_boot()
|
||||
|
|
|
|||
|
|
@ -0,0 +1,52 @@
|
|||
import os
|
||||
import subprocess
|
||||
from common.basedir import BASEDIR
|
||||
|
||||
|
||||
class Spinner():
|
||||
def __init__(self):
|
||||
try:
|
||||
self.spinner_proc = subprocess.Popen(["./spinner"],
|
||||
stdin=subprocess.PIPE,
|
||||
cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
|
||||
close_fds=True)
|
||||
except OSError:
|
||||
self.spinner_proc = None
|
||||
|
||||
def __enter__(self):
|
||||
return self
|
||||
|
||||
def update(self, spinner_text: str):
|
||||
if self.spinner_proc is not None:
|
||||
self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
|
||||
try:
|
||||
self.spinner_proc.stdin.flush()
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
|
||||
def update_progress(self, cur: int, total: int):
|
||||
self.update(str(round(100 * cur / total)))
|
||||
|
||||
def close(self):
|
||||
if self.spinner_proc is not None:
|
||||
try:
|
||||
self.spinner_proc.stdin.close()
|
||||
except BrokenPipeError:
|
||||
pass
|
||||
self.spinner_proc.terminate()
|
||||
self.spinner_proc = None
|
||||
|
||||
def __del__(self):
|
||||
self.close()
|
||||
|
||||
def __exit__(self, exc_type, exc_value, traceback):
|
||||
self.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import time
|
||||
with Spinner() as s:
|
||||
s.update("Spinner text")
|
||||
time.sleep(5.0)
|
||||
print("gone")
|
||||
time.sleep(5.0)
|
||||
|
|
@ -0,0 +1,73 @@
|
|||
import numpy as np
|
||||
|
||||
class RunningStat():
|
||||
# tracks realtime mean and standard deviation without storing any data
|
||||
def __init__(self, priors=None, max_trackable=-1):
|
||||
self.max_trackable = max_trackable
|
||||
if priors is not None:
|
||||
# initialize from history
|
||||
self.M = priors[0]
|
||||
self.S = priors[1]
|
||||
self.n = priors[2]
|
||||
self.M_last = self.M
|
||||
self.S_last = self.S
|
||||
|
||||
else:
|
||||
self.reset()
|
||||
|
||||
def reset(self):
|
||||
self.M = 0.
|
||||
self.S = 0.
|
||||
self.M_last = 0.
|
||||
self.S_last = 0.
|
||||
self.n = 0
|
||||
|
||||
def push_data(self, new_data):
|
||||
# short term memory hack
|
||||
if self.max_trackable < 0 or self.n < self.max_trackable:
|
||||
self.n += 1
|
||||
if self.n == 0:
|
||||
self.M_last = new_data
|
||||
self.M = self.M_last
|
||||
self.S_last = 0.
|
||||
else:
|
||||
self.M = self.M_last + (new_data - self.M_last) / self.n
|
||||
self.S = self.S_last + (new_data - self.M_last) * (new_data - self.M)
|
||||
self.M_last = self.M
|
||||
self.S_last = self.S
|
||||
|
||||
def mean(self):
|
||||
return self.M
|
||||
|
||||
def variance(self):
|
||||
if self.n >= 2:
|
||||
return self.S / (self.n - 1.)
|
||||
else:
|
||||
return 0
|
||||
|
||||
def std(self):
|
||||
return np.sqrt(self.variance())
|
||||
|
||||
def params_to_save(self):
|
||||
return [self.M, self.S, self.n]
|
||||
|
||||
class RunningStatFilter():
|
||||
def __init__(self, raw_priors=None, filtered_priors=None, max_trackable=-1):
|
||||
self.raw_stat = RunningStat(raw_priors, -1)
|
||||
self.filtered_stat = RunningStat(filtered_priors, max_trackable)
|
||||
|
||||
def reset(self):
|
||||
self.raw_stat.reset()
|
||||
self.filtered_stat.reset()
|
||||
|
||||
def push_and_update(self, new_data):
|
||||
_std_last = self.raw_stat.std()
|
||||
self.raw_stat.push_data(new_data)
|
||||
_delta_std = self.raw_stat.std() - _std_last
|
||||
if _delta_std <= 0:
|
||||
self.filtered_stat.push_data(new_data)
|
||||
else:
|
||||
pass
|
||||
# self.filtered_stat.push_data(self.filtered_stat.mean())
|
||||
|
||||
# class SequentialBayesian():
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
def replace_right(s, old, new, occurrence):
|
||||
# replace_right('1232425', '2', ' ', 1) -> '12324 5'
|
||||
# replace_right('1232425', '2', ' ', 2) -> '123 4 5'
|
||||
|
||||
split = s.rsplit(old, occurrence)
|
||||
return new.join(split)
|
||||
|
|
@ -1,9 +0,0 @@
|
|||
import os
|
||||
from nose.tools import nottest
|
||||
|
||||
def phone_only(x):
|
||||
if os.path.isfile("/init.qcom.rc"):
|
||||
return x
|
||||
else:
|
||||
return nottest(x)
|
||||
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
import os
|
||||
import unittest
|
||||
from uuid import uuid4
|
||||
|
||||
from common.file_helpers import atomic_write_on_fs_tmp
|
||||
from common.file_helpers import atomic_write_in_dir
|
||||
|
||||
|
||||
class TestFileHelpers(unittest.TestCase):
|
||||
def run_atomic_write_func(self, atomic_write_func):
|
||||
path = "/tmp/tmp{}".format(uuid4())
|
||||
with atomic_write_func(path) as f:
|
||||
f.write("test")
|
||||
|
||||
with open(path) as f:
|
||||
self.assertEqual(f.read(), "test")
|
||||
self.assertEqual(os.stat(path).st_mode & 0o777, 0o644)
|
||||
os.remove(path)
|
||||
|
||||
def test_atomic_write_on_fs_tmp(self):
|
||||
self.run_atomic_write_func(atomic_write_on_fs_tmp)
|
||||
|
||||
def test_atomic_write_in_dir(self):
|
||||
self.run_atomic_write_func(atomic_write_in_dir)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,26 @@
|
|||
import numpy as np
|
||||
import unittest
|
||||
|
||||
from common.numpy_fast import interp
|
||||
|
||||
|
||||
class InterpTest(unittest.TestCase):
|
||||
def test_correctness_controls(self):
|
||||
_A_CRUISE_MIN_BP = np.asarray([0., 5., 10., 20., 40.])
|
||||
_A_CRUISE_MIN_V = np.asarray([-1.0, -.8, -.67, -.5, -.30])
|
||||
v_ego_arr = [-1, -1e-12, 0, 4, 5, 6, 7, 10, 11, 15.2, 20, 21, 39,
|
||||
39.999999, 40, 41]
|
||||
|
||||
expected = np.interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
|
||||
actual = interp(v_ego_arr, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
|
||||
|
||||
np.testing.assert_equal(actual, expected)
|
||||
|
||||
for v_ego in v_ego_arr:
|
||||
expected = np.interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
|
||||
actual = interp(v_ego, _A_CRUISE_MIN_BP, _A_CRUISE_MIN_V)
|
||||
np.testing.assert_equal(actual, expected)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
|
|
@ -0,0 +1,116 @@
|
|||
import os
|
||||
import threading
|
||||
import time
|
||||
import tempfile
|
||||
import shutil
|
||||
import stat
|
||||
import unittest
|
||||
|
||||
from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking
|
||||
|
||||
class TestParams(unittest.TestCase):
|
||||
def setUp(self):
|
||||
self.tmpdir = tempfile.mkdtemp()
|
||||
print("using", self.tmpdir)
|
||||
self.params = Params(self.tmpdir)
|
||||
|
||||
def tearDown(self):
|
||||
shutil.rmtree(self.tmpdir)
|
||||
|
||||
def test_params_put_and_get(self):
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
assert self.params.get("DongleId") == b"cb38263377b873ee"
|
||||
|
||||
def test_persist_params_put_and_get(self):
|
||||
p = Params(persistent_params=True)
|
||||
p.put("DongleId", "cb38263377b873ee")
|
||||
assert p.get("DongleId") == b"cb38263377b873ee"
|
||||
|
||||
def test_params_non_ascii(self):
|
||||
st = b"\xe1\x90\xff"
|
||||
self.params.put("CarParams", st)
|
||||
assert self.params.get("CarParams") == st
|
||||
|
||||
def test_params_get_cleared_panda_disconnect(self):
|
||||
self.params.put("CarParams", "test")
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
assert self.params.get("CarParams") == b"test"
|
||||
self.params.clear_all(ParamKeyType.CLEAR_ON_PANDA_DISCONNECT)
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("DongleId") is not None
|
||||
|
||||
def test_params_get_cleared_manager_start(self):
|
||||
self.params.put("CarParams", "test")
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
assert self.params.get("CarParams") == b"test"
|
||||
self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("DongleId") is not None
|
||||
|
||||
def test_params_two_things(self):
|
||||
self.params.put("DongleId", "bob")
|
||||
self.params.put("AthenadPid", "123")
|
||||
assert self.params.get("DongleId") == b"bob"
|
||||
assert self.params.get("AthenadPid") == b"123"
|
||||
|
||||
def test_params_get_block(self):
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
self.params.put("CarParams", "test")
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert self.params.get("CarParams") is None
|
||||
assert self.params.get("CarParams", True) == b"test"
|
||||
|
||||
def test_params_unknown_key_fails(self):
|
||||
with self.assertRaises(UnknownKeyName):
|
||||
self.params.get("swag")
|
||||
|
||||
with self.assertRaises(UnknownKeyName):
|
||||
self.params.get_bool("swag")
|
||||
|
||||
with self.assertRaises(UnknownKeyName):
|
||||
self.params.put("swag", "abc")
|
||||
|
||||
with self.assertRaises(UnknownKeyName):
|
||||
self.params.put_bool("swag", True)
|
||||
|
||||
def test_params_permissions(self):
|
||||
permissions = stat.S_IRUSR | stat.S_IWUSR | stat.S_IRGRP | stat.S_IWGRP | stat.S_IROTH | stat.S_IWOTH
|
||||
|
||||
self.params.put("DongleId", "cb38263377b873ee")
|
||||
st_mode = os.stat(f"{self.tmpdir}/d/DongleId").st_mode
|
||||
assert (st_mode & permissions) == permissions
|
||||
|
||||
def test_delete_not_there(self):
|
||||
assert self.params.get("CarParams") is None
|
||||
self.params.delete("CarParams")
|
||||
assert self.params.get("CarParams") is None
|
||||
|
||||
def test_get_bool(self):
|
||||
self.params.delete("IsMetric")
|
||||
self.assertFalse(self.params.get_bool("IsMetric"))
|
||||
|
||||
self.params.put_bool("IsMetric", True)
|
||||
self.assertTrue(self.params.get_bool("IsMetric"))
|
||||
|
||||
self.params.put_bool("IsMetric", False)
|
||||
self.assertFalse(self.params.get_bool("IsMetric"))
|
||||
|
||||
self.params.put("IsMetric", "1")
|
||||
self.assertTrue(self.params.get_bool("IsMetric"))
|
||||
|
||||
self.params.put("IsMetric", "0")
|
||||
self.assertFalse(self.params.get_bool("IsMetric"))
|
||||
|
||||
def test_put_non_blocking_with_get_block(self):
|
||||
q = Params(self.tmpdir)
|
||||
def _delayed_writer():
|
||||
time.sleep(0.1)
|
||||
put_nonblocking("CarParams", "test", self.tmpdir)
|
||||
threading.Thread(target=_delayed_writer).start()
|
||||
assert q.get("CarParams") is None
|
||||
assert q.get("CarParams", True) == b"test"
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
unittest.main()
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue