Update to T.O.P v0.9.4 DEV

C2 version Synced with legacypilot master 2023.07.17 commits. T.O.P function update ．New Vision Turn Control
CT921 · Jul 20, 2023 · bbb115d · bbb115d
1 parent 9c1b38c
commit bbb115d
Show file tree

Hide file tree

Showing 150 changed files with 29,333 additions and 500 deletions.
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
@@ -188,6 +188,7 @@ jobs:
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
+    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
@@ -200,6 +201,7 @@ jobs:
   valgrind:
     name: valgrind
     runs-on: ubuntu-20.04
+    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
@@ -217,6 +219,7 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on: ubuntu-20.04
+    timeout-minutes: 50
     steps:
     - uses: actions/checkout@v3
       with:
@@ -242,6 +245,7 @@ jobs:
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
                         $UNIT_TEST system/hardware/tici && \
+                        $UNIT_TEST selfdrive/mapd && \
                         $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -259,47 +263,48 @@ jobs:
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
 
-  process_replay:
-    name: process replay
-    runs-on: ubuntu-20.04
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup
-    - name: Cache test routes
-      id: dependency-cache
-      uses: actions/cache@v3
-      with:
-        path: /tmp/comma_download_cache
-        key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Run replay
-      run: |
-        ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
-                        coverage xml"
-    - name: Print diff
-      id: 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
-    - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
-      run: |
-        ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v3
+  #process_replay:
+  #  name: process replay
+  #  runs-on: ubuntu-20.04
+  #  steps:
+  #  - uses: actions/checkout@v3
+  #    with:
+  #      submodules: true
+  #  - uses: ./.github/workflows/setup
+  #  - name: Cache test routes
+  #    id: dependency-cache
+  #    uses: actions/cache@v3
+  #    with:
+  #      path: /tmp/comma_download_cache
+  #      key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
+  #  - name: Build openpilot
+  #    run: |
+  #      ${{ env.RUN }} "scons -j$(nproc)"
+  #  - name: Run replay
+  #    run: |
+  #      ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
+  #                      coverage xml"
+  #  - name: Print diff
+  #    id: 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
+  #  - name: Upload reference logs
+  #    if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+  #    run: |
+  #      ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+  #  - name: "Upload coverage to Codecov"
+  #    uses: codecov/codecov-action@v3
 
   test_modeld:
     name: model tests
     runs-on: ubuntu-20.04
+    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
@@ -325,6 +330,7 @@ jobs:
   test_longitudinal:
     name: longitudinal
     runs-on: ubuntu-20.04
+    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
@@ -351,6 +357,7 @@ jobs:
   test_cars:
     name: cars
     runs-on: ubuntu-20.04
+    timeout-minutes: 40
     strategy:
       fail-fast: false
       matrix:

diff --git a/.gitignore b/.gitignore
@@ -32,7 +32,6 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
-*.qm
 config.json
 clcache
 compile_commands.json

diff --git a/.gitmodules b/.gitmodules
@@ -1,18 +1,15 @@
 [submodule "panda"]
   path = panda
-  url = ../../dragonpilot-community/panda.git
-  branch = legacy
+  url = ../../CT921/panda.git
 [submodule "opendbc"]
   path = opendbc
-  url = ../../dragonpilot-community/opendbc.git
-  branch = legacy
+  url = ../../CT921/opendbc.git
 [submodule "laika_repo"]
   path = laika_repo
   url = ../../commaai/laika.git
 [submodule "cereal"]
   path = cereal
-  url = ../../dragonpilot-community/cereal.git
-  branch = legacy
+  url = ../../CT921/cereal.git
 [submodule "rednose_repo"]
   path = rednose_repo
   url = ../../commaai/rednose.git

diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -15,12 +15,12 @@ repos:
     -   id: check-merge-conflict
     -   id: check-symlinks
     -   id: check-added-large-files
-        args: ['--maxkb=100']
+        args: ['--maxkb=420']
 -   repo: https://github.com/codespell-project/codespell
     rev: v2.2.5
     hooks:
     -   id: codespell
-        exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)|(selfdrive/mapd/test/.*.xml)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup

diff --git a/cereal b/cereal
diff --git a/common/params.cc b/common/params.cc
@@ -204,9 +204,37 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
 
+    // TOP
+    {"CarModel", PERSISTENT},
+    {"dp_atl", PERSISTENT},
+    {"dp_jetson", PERSISTENT},
+    {"DrivingPersonalitiesUIWheel", PERSISTENT},
+    {"dynamic_lane", PERSISTENT},
+    {"e2e_link", PERSISTENT},
+    {"EnableTorqueController", PERSISTENT},
+    {"GpxDeleteAfterUpload", PERSISTENT},
+    {"GpxDeleteIfUploaded", PERSISTENT},
+    {"LastGPSPosition", PERSISTENT},
+    {"LateralAllowed", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"LiveTorque", PERSISTENT},
+    {"NudgelessLaneChange", PERSISTENT},
+    {"OnroadScreenOff", PERSISTENT},
+    {"PrimeAd", PERSISTENT},
+    {"ReverseAccChange", PERSISTENT},
+    {"TimSignals", PERSISTENT},
+    {"TogglesUpdated", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"topsng", PERSISTENT},
+    {"toyotaautolock", PERSISTENT},
+    {"toyotaautounlock", PERSISTENT},
+    {"toyota_bsm", PERSISTENT},
+    {"TurnVisionControl", PERSISTENT},
+    {"QuietDrive", PERSISTENT},
     {"dp_no_gps_ctrl", PERSISTENT},
     {"dp_no_fan_ctrl", PERSISTENT},
+    {"dp_mapd", PERSISTENT},
     {"dp_logging", PERSISTENT},
+    {"dp_fileserv", PERSISTENT},
+    {"dp_otisserv", PERSISTENT},
 };
 
 } // namespace

diff --git a/common/params.h b/common/params.h
@@ -32,6 +32,10 @@ class Params {
   inline bool getBool(const std::string &key, bool block = false) {
     return get(key, block) == "1";
   }
+  inline int getInt(const std::string &key, bool block = false) {
+    std::string value = get(key, block);
+    return value.empty() ? 0 : std::stoi(value);
+  }
   std::map<std::string, std::string> readAll();
 
   // helpers for writing values
@@ -42,6 +46,9 @@ class Params {
   inline int putBool(const std::string &key, bool val) {
     return put(key.c_str(), val ? "1" : "0", 1);
   }
+  inline int putInt(const std::string &key, int val) {
+    return put(key.c_str(), std::to_string(val).c_str(), std::to_string(val).size());
+  }
 
 private:
   std::string params_path;

diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
@@ -17,9 +17,11 @@ cdef extern from "common/params.h":
     c_Params(string) nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
+    int getInt(string, bool) nogil
     int remove(string) nogil
     int put(string, string) nogil
     int putBool(string, bool) nogil
+    int putInt(string, int) nogil
     bool checkKey(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyType)
@@ -75,6 +77,13 @@ cdef class Params:
       r = self.p.getBool(k, block)
     return r
 
+  def get_int(self, key, bool block=False):
+    cdef string k = self.check_key(key)
+    cdef int r
+    with nogil:
+      r = self.p.getInt(k, block)
+    return r
+
   def put(self, key, dat):
     """
     Warning: This function blocks until the param is written to disk!
@@ -92,6 +101,11 @@ cdef class Params:
     with nogil:
       self.p.putBool(k, val)
 
+  def put_int(self, key, int val):
+    cdef string k = self.check_key(key)
+    with nogil:
+      self.p.putInt(k, val)
+
   def remove(self, key):
     cdef string k = self.check_key(key)
     with nogil:
@@ -109,3 +123,6 @@ def put_nonblocking(key, val, d=""):
 
 def put_bool_nonblocking(key, bool val, d=""):
   threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()
+
+def put_int_nonblocking(key, int val, d=""):
+  threading.Thread(target=lambda: Params(d).put_int(key, val)).start()
diff --git a/force_car_recognition.py b/force_car_recognition.py
@@ -0,0 +1,8 @@
+filenames = ['/data/openpilot/selfdrive/car/top_tmp/HondaCars', '/data/openpilot/selfdrive/car/top_tmp/HyundaiCars', '/data/openpilot/selfdrive/car/top_tmp/SubaruCars',
+             '/data/openpilot/selfdrive/car/top_tmp/ToyotaCars', '/data/openpilot/selfdrive/car/top_tmp/VolkswagenCars']
+
+with open('/data/openpilot/selfdrive/car/top_tmp/Cars', 'w') as outfile:
+  for names in filenames:
+    with open(names) as infile:
+      outfile.write(infile.read())
+    outfile.write("\n")
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
@@ -125,6 +125,17 @@ function two_init {
   LIB_PATH="/data/openpilot/system/hardware/eon/libs"
   PY_LIB_DEST="/system/comma/usr/lib/python3.8/site-packages"
   mount -o remount,rw /system
+  # mapd
+  MODULE="opspline"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
+  MODULE="overpy"
+  if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
+    echo "Installing $MODULE..."
+    tar -zxvf "$LIB_PATH/$MODULE.tar.gz" -C "$PY_LIB_DEST/"
+  fi
   # laika
   MODULE="hatanaka"
   if [ ! -d "$PY_LIB_DEST/$MODULE" ]; then
@@ -162,6 +173,18 @@ function two_init {
   fi
   mount -o remount,r /system
 
+  # osm server
+  if [ -f /data/params/d/dp_mapd ]; then
+    dp_mapd=`cat /data/params/d/dp_mapd`
+    if [ $dp_mapd == "1" ]; then
+      MODULE="osm-3s_v0.7.56"
+      if [ ! -d /data/media/0/osm/ ]; then
+        tar -vxf "/data/openpilot/system/hardware/eon/libs/$MODULE.tar.xz" -C /data/media/0/
+        mv "/data/media/0/$MODULE" /data/media/0/osm
+      fi
+    fi
+  fi
+
   # Check for NEOS update
   if [ -f /LEECO ] && [ $(< /VERSION) != "$REQUIRED_NEOS_VERSION" ]; then
     echo "Installing NEOS update"
@@ -190,11 +213,6 @@ function two_init {
 }
 
 function agnos_init {
-  # wait longer for weston to come up
-  if [ -f "$BASEDIR/prebuilt" ]; then
-    sleep 3
-  fi
-
   # TODO: move this to agnos
   sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
 
@@ -268,8 +286,17 @@ function launch {
   # write tmux scrollback to a file
   tmux capture-pane -pq -S-1000 > /tmp/launch_log
 
+  python ./selfdrive/car/honda/values.py > /data/openpilot/selfdrive/car/top_tmp/HondaCars
+  python ./selfdrive/car/hyundai/values.py > /data/openpilot/selfdrive/car/top_tmp/HyundaiCars
+  python ./selfdrive/car/subaru/values.py > /data/openpilot/selfdrive/car/top_tmp/SubaruCars
+  python ./selfdrive/car/toyota/values.py > /data/openpilot/selfdrive/car/top_tmp/ToyotaCars
+  python ./selfdrive/car/volkswagen/values.py > /data/openpilot/selfdrive/car/top_tmp/VolkswagenCars
+
+  python ./force_car_recognition.py
+
   # start manager
   cd selfdrive/manager
+  chmod 775 manager.py
   ./build.py && ./manager.py
 
   # if broken, keep on screen error

diff --git a/opendbc b/opendbc
diff --git a/panda b/panda