IQ.Pilot Release Commit @ f82ff4d

selfdrive/test/longitudinal_maneuvers/plant.py

@@ -48,8 +48,8 @@ class Plant:
     time.sleep(0.1)
     self.sm = messaging.SubMaster(['longitudinalPlan'])
 
-    from opendbc.car.honda.values import CAR
-    from opendbc.car.honda.interface import CarInterface
+    from iqdbc.car.honda.values import CAR
+    from iqdbc.car.honda.interface import CarInterface
 
     CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
     CP_IQ = CarInterface.get_non_essential_params_iq(CP, CAR.HONDA_CIVIC)
@@ -70,6 +70,7 @@ class Plant:
     car_control = messaging.new_message('carControl')
     model = messaging.new_message('modelV2')
     iq_car_state = messaging.new_message('iqCarState')
+    iq_nav_state = messaging.new_message('iqNavState')
     live_map_data_iq = messaging.new_message('iqLiveData')
     gps_data = messaging.new_message('gpsLocation')
     a_lead = (v_lead - self.v_lead_prev)/self.ts
@@ -112,7 +113,7 @@ class Plant:
     position = log.XYZTData.new_message()
     position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
     model.modelV2.position = position
-    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
+    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.5)
     velocity = log.XYZTData.new_message()
     velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
     velocity.x[0] = float(self.speed) # always start at current speed
@@ -140,6 +141,7 @@ class Plant:
           'liveParameters': lp.liveParameters,
           'modelV2': model.modelV2,
           'iqCarState': iq_car_state.iqCarState,
+          'iqNavState': iq_nav_state.iqNavState,
           'iqLiveData': live_map_data_iq.iqLiveData,
           'gpsLocation': gps_data.gpsLocation}
     self.planner.update(sm)

selfdrive/test/process_replay/migration.py

@@ -6,11 +6,11 @@ import functools
 import traceback
 
 from cereal import messaging, car, log
-from opendbc.car.fingerprints import MIGRATION
-from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
-from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
-from opendbc.car.hyundai.values import HyundaiSafetyFlags
-from opendbc.car.gm.values import GMSafetyFlags
+from iqdbc.car.fingerprints import MIGRATION
+from iqdbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
+from iqdbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
+from iqdbc.car.hyundai.values import HyundaiSafetyFlags
+from iqdbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
@@ -455,21 +455,46 @@ def migrate_onroadEvents(msgs):
   return ops, [], []
 
 
-@migration(inputs=["driverMonitoringState"])
+@migration(inputs=["driverMonitoringStateDEPRECATED"])
 def migrate_driverMonitoringState(msgs):
   ops = []
   for index, msg in msgs:
-    msg = msg.as_builder()
-    events = []
-    for event in msg.driverMonitoringState.eventsDEPRECATED:
-      try:
-        if not str(event.name).endswith('DEPRECATED'):
-          # dict converts name enum into string representation
-          events.append(log.OnroadEvent(**event.to_dict()))
-      except RuntimeError:  # Member was null
-        traceback.print_exc()
+    old = msg.driverMonitoringStateDEPRECATED
+    new_msg = messaging.new_message('driverMonitoringState', valid=msg.valid, logMonoTime=msg.logMonoTime)
+    dm = new_msg.driverMonitoringState
+    dm.isRHD = old.isRHD
+    dm.activePolicy = log.DriverMonitoringState.MonitoringPolicy.vision if old.isActiveMode else \
+                          log.DriverMonitoringState.MonitoringPolicy.wheeltouch
 
-    msg.driverMonitoringState.events = events
-    ops.append((index, msg.as_reader()))
+    AlertLevel = log.DriverMonitoringState.AlertLevel
+    event_to_alert_level = {
+      'driverDistracted1': AlertLevel.one, 'driverUnresponsive1': AlertLevel.one,
+      'driverDistracted2': AlertLevel.two, 'driverUnresponsive2': AlertLevel.two,
+      'driverDistracted3': AlertLevel.three, 'driverUnresponsive3': AlertLevel.three,
+    }
+    for event in old.events:
+      level = event_to_alert_level.get(str(event.name))
+      if level is not None:
+        dm.alertLevel = level
+        break
+    dm.lockout = any(str(event.name) == 'tooDistracted' for event in old.events)
+
+    dm.visionPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessStatus if old.isActiveMode else old.awarenessActive) * 100)))
+    dm.visionPolicyState.awarenessStep = old.stepChange if old.isActiveMode else 0.
+    dm.visionPolicyState.isDistracted = old.isDistracted
+    dm.visionPolicyState.distractedTypes.pose = bool(old.distractedType & 1)
+    dm.visionPolicyState.distractedTypes.eye = bool(old.distractedType & 2)
+    dm.visionPolicyState.distractedTypes.phone = bool(old.distractedType & 4)
+    dm.visionPolicyState.faceDetected = old.faceDetected
+    dm.visionPolicyState.pose.pitchCalib.offset = old.posePitchOffset
+    dm.visionPolicyState.pose.pitchCalib.calibratedPercent = int(min(100, old.posePitchValidCount / 1200 * 100))
+    dm.visionPolicyState.pose.yawCalib.offset = old.poseYawOffset
+    dm.visionPolicyState.pose.yawCalib.calibratedPercent = int(min(100, old.poseYawValidCount / 1200 * 100))
+    dm.visionPolicyState.pose.calibrated = old.posePitchValidCount >= 1200 and old.poseYawValidCount >= 1200
+    dm.visionPolicyState.wheeltouchFallbackPercent = int(min(100, old.hiStdCount / 200 * 100))
+    dm.visionPolicyState.uncertainOffroadAlertPercent = int(min(100, old.uncertainCount / 1200 * 100))
+    dm.wheeltouchPolicyState.awarenessPercent = int(max(0, min(100, (old.awarenessPassive if old.isActiveMode else old.awarenessStatus) * 100)))
+    dm.wheeltouchPolicyState.awarenessStep = 0. if old.isActiveMode else old.stepChange
+    ops.append((index, new_msg.as_reader()))
 
   return ops, [], []

selfdrive/test/process_replay/process_replay.py

@@ -17,8 +17,8 @@ import cereal.messaging as messaging
 from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
-from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import get_car, interfaces
+from iqdbc.car.can_definitions import CanData
+from iqdbc.car.car_helpers import get_car, interfaces
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout

selfdrive/test/process_replay/test_fuzzy.py

@@ -5,7 +5,7 @@ import hypothesis.strategies as st
 from parameterized import parameterized
 
 from cereal import log
-from opendbc.car.toyota.values import CAR as TOYOTA
+from iqdbc.car.toyota.values import CAR as TOYOTA
 from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
 import openpilot.selfdrive.test.process_replay.process_replay as pr
 

selfdrive/test/process_replay/test_processes.py

@@ -7,7 +7,7 @@ from collections import defaultdict
 from tqdm import tqdm
 from typing import Any
 
-from opendbc.car.car_helpers import interface_names
+from iqdbc.car.car_helpers import interface_names
 from openpilot.common.git import get_commit
 from openpilot.tools.lib.openpilotci import get_url, upload_file
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff

selfdrive/test/scons_build_test.sh

@@ -11,7 +11,7 @@ cd $BASEDIR
 # helpful commands:
 # scons -Q --tree=derived
 
-cd $BASEDIR/opendbc_repo/
+cd $BASEDIR/iqdbc_repo/
 scons --clean
 scons --no-cache --random -j$(nproc)
 if ! scons -q; then

selfdrive/test/test_onroad.py

@@ -63,7 +63,6 @@ PROCS = {
   "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
-  "system.statsd": 1.0,
   "iqpilot.konn3kt.uploaderd.iquploaderd": 15.0,
   "system.loggerd.deleter": 1.0,
   "./pandad": 19.0,

selfdrive/test/update_ci_routes.py

@@ -7,7 +7,7 @@ from collections.abc import Iterable
 
 from tqdm import tqdm
 
-from opendbc.car.tests.routes import routes as test_car_models_routes
+from iqdbc.car.tests.routes import routes as test_car_models_routes
 from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
 from openpilot.tools.lib.azure_container import AzureContainer
 from openpilot.tools.lib.openpilotcontainers import DataCIContainer, DataProdContainer, OpenpilotCIContainer