forked from IQ.Lvbs/IQ.Pilot
IQ.Pilot Release Commit @ 67fd9c2
This commit is contained in:
IQ.Lvbs CI [bot]
@@ -506,8 +506,8 @@
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@@ -536,28 +536,28 @@
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@@ -568,10 +568,10 @@
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@@ -1 +1 @@
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OSV+ZbTBvP8stU4KDyT4wavo+fGUZEqcuvN7ltBw4LyMopdaMcbz9jYyIimicnQQniA1d4vaGuWRRQmvm0emAg==
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@@ -13,6 +13,7 @@ The USB eGPU dock is identified by VID/PID only. comma's internal codename for
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it is deliberately not used here: IQ.Pilot runs these models on several
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backends (eGPU dock, eMac), so the naming stays about the role, not the vendor.
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"""
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import subprocess
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from pathlib import Path
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# comma's USB eGPU dock, both shipped USB IDs. The ROM ids are the same board
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@@ -124,6 +125,26 @@ def get_link_error_count(soc: Path = SOC_PLATFORM_PATH) -> int:
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return sum(link_errors(c) for c in usb_controllers(soc))
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def host_role_controller(soc: Path = SOC_PLATFORM_PATH, udc_root: Path = UDC_PATH) -> Path | None:
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ctrl = link_controller(udc_root)
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return (soc / ctrl / "mode") if ctrl else None
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def ensure_host_role(mode_path: Path | None = None) -> bool:
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"""A usbpd blip mid-drive can leave the Type-C controller in 'none'/'peripheral', and the
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dock can never re-enumerate until something puts the port back into host mode."""
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path = mode_path if mode_path is not None else host_role_controller()
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if path is None:
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return False
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current = read(path)
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if current == "host":
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return True
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if current is None:
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return False
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rc = subprocess.run(["sudo", "-n", "sh", "-c", f"echo host > {path}"], check=False, capture_output=True)
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return rc.returncode == 0 and read(path) == "host"
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def egpu_dock_present(root: Path = USB_DEVICES_PATH) -> bool:
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"""A dock in ROM/bootloader state is deliberately NOT counted as present: it
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enumerates but cannot serve a GPU until vendor firmware is flashed."""
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@@ -1 +0,0 @@
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3184657cdc4d4fc1c69a924491f8a52466f10ec2
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@@ -186,7 +186,7 @@
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@@ -196,107 +196,122 @@
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|
||||
"python/iqpilot_private/navd/__init__.cpython-312-aarch64-linux-gnu.so": "lg9M4QXLrh1ynX/Hev+0FAPnbN9mDoqv8diic0U+aYqjLMgkW+wHcB4r78J8oTrpDC+vF1wWztWj3cQOx98NCw==",
|
||||
"python/iqpilot_private/navd/alpr_matcher.cpython-312-aarch64-linux-gnu.so": "DGacFfOsQ9paqF8ytUgX572A/wPOZi7rJefAl9vydnAFbQv5NL+c9ot5YDGI1s4mXs/SHPbn0WtTOOU2aS/hDQ==",
|
||||
"python/iqpilot_private/navd/amap_client.cpython-312-aarch64-linux-gnu.so": "r0vM+nE7A00o362Oj745OQzat76z889uBd/niFp18Qds4P1Wpvynd1ctrbOlo9H1yESeC09NuP/Qw4k1pvt1Cg==",
|
||||
"python/iqpilot_private/navd/event_builder.cpython-312-aarch64-linux-gnu.so": "JkfNSqU9uM4oZqxteomIbPo6abywxUzzdBx5B2myJNtUjGW5bHEii2D2DAUKuO+gd7x+6+IwgPwSOJJyN+QYBQ==",
|
||||
"python/iqpilot_private/navd/helpers.cpython-312-aarch64-linux-gnu.so": "/CNm/bxjvo/IgjjDTde0p8c1Gl6I54dSwiSS0sEVUcrTRP3Y31S0dh8dnBqn1VTH3PIGlUDBF7EmTavXUOAfDg==",
|
||||
"python/iqpilot_private/navd/incident_feed.cpython-312-aarch64-linux-gnu.so": "3IB5k4NEsFoKHckxlqoOZVXBAyVhYkVWRCvRdBnH4H+8udEuW5EpRXHv0rxtqBAs82ozbpOcZ7QjtfFgQPbXCQ==",
|
||||
"python/iqpilot_private/navd/iqmapd.cpython-312-aarch64-linux-gnu.so": "Dp4PpzIqDJ5ySg1lIi0b5V49g7U2aOx1T+SeKGGKhOaEcCLnUEAd2EilrXt2luq8Xj+nnHWbMrZUho0KV7MfBQ==",
|
||||
"python/iqpilot_private/navd/long_decel.cpython-312-aarch64-linux-gnu.so": "z87MDJLWKyqWqsXzTnoxjNfjkPxi6W0wsUt+Cafw5QWHMB6jGkJ1ZedYeS83qqdaxZGR3OaBdKohMSi9JKQHDA==",
|
||||
"python/iqpilot_private/navd/mapbox_client.cpython-312-aarch64-linux-gnu.so": "FtOYM9RJA3LudYiGW9h4+EO94TqJVV4/hhEb9DOIL3hrbJYMWCctCTfo70UmgL+v8+8MSCyHgL3KBqPsW58gCg==",
|
||||
"python/iqpilot_private/navd/nav_cameras.cpython-312-aarch64-linux-gnu.so": "XfkYcx/mj7TT57RjfAdlleSW5kgdGkLYt0h+SpJV+UdQeb+NTVHYa3+PgglT1KP8WjO5Tbyr6i5V4pq4ZwbhCQ==",
|
||||
"python/iqpilot_private/navd/nav_turn_signals.cpython-312-aarch64-linux-gnu.so": "GGhf7FRjRzg9uLp4ClSosUUXJk+ocH4NETh8wetaqTkXev1smeJCd2OWbTqgWmlGRfjLqsnXzpv+bxBIKishAw==",
|
||||
"python/iqpilot_private/navd/navd.cpython-312-aarch64-linux-gnu.so": "YwIAOpt1komu3aFiqx1uhCJFpFZ/tCub2RNrJMyh8RS7SI0ySxmiQ9MXMyuXt5Gxnt9ReGmxVSKo7x3UDsuCCg==",
|
||||
"python/iqpilot_private/navd/navincidentd.cpython-312-aarch64-linux-gnu.so": "2agJVQwkglB5XE1acDWp+u/ZzwP0qJcEklPATDv4jez1KkftYqQb47J1/iGSxOtwh9NuXe//MNg+EEmwSlzvAQ==",
|
||||
"python/iqpilot_private/navd/navrenderd.cpython-312-aarch64-linux-gnu.so": "G2ccii+ezg3lFQcNXI15EMVXWpszZlJJ4dy+nylF0OLEWWKRGFofb+vq4fYfwrJXmbn4nK9F+286nt4Q81WQAQ==",
|
||||
"python/iqpilot_private/navd/osm_cameras.cpython-312-aarch64-linux-gnu.so": "+zTVSWeyZBkJFOC95QdK0LGd0EzLBZVB/GbKd3RiMsiQw83oAwNomLWs3SbsUhRBCZyGF56n2TQXEZQWjknaCg==",
|
||||
"python/iqpilot_private/navd/reroute.cpython-312-aarch64-linux-gnu.so": "V+CQv3lqojsqJ/1gJJCuaR94ncCkRX4fT0iD+mxvJNmTLBGvw90hKl9v6IgtUvCOhqnHo2nJf30iH07C8R7iBA==",
|
||||
"python/iqpilot_private/navd/road_incidents.cpython-312-aarch64-linux-gnu.so": "y5v5qBwMoKEvcYxjEy5tOwEB2BXaCAKIaKEBQKUuUfZpEZw7IpvPDGZbD5P5f1j05EJBde6jV9XbPB1mHIiHCg==",
|
||||
"python/iqpilot_private/navd/route_manager.cpython-312-aarch64-linux-gnu.so": "BIpSZfiTIaOZucyCX3pGiAtNAtRIg8WNQyfaMqnMEy52Ttowb1NheURl/qn11wqKaKeQN5+wgDmTwIkx3Eu6CQ==",
|
||||
"python/iqpilot_private/navd/runtime_common.cpython-312-aarch64-linux-gnu.so": "pyRMyI5u6/IG5LKIgCuZf4rcquMN19P8M2rcmr+yjnfO50o8SRT18+iklNXj0VY96LKMyQx/ejV7y7Jgt+qnDw==",
|
||||
"python/iqpilot_private/navd/traffic.cpython-312-aarch64-linux-gnu.so": "MVSL4IXTQ8SFa6zDY5Y/QWN5yhcFBx6LaujCzLJQfALs0bYb7jyy7XVbxlyQshpOy4n151YggEBhuNSCGHSaCA==",
|
||||
"python/iqpilot_private/navd/turn_desire.cpython-312-aarch64-linux-gnu.so": "A6QTQvEit2o797TrW2PuahnLODdACAAIahBw3UWtOTKHhD+vQaXke0yvxBcgVxgaBJLfpIz8SjKaZuEeIPphDg==",
|
||||
"python/iqpilot_private/navd/web_server.cpython-312-aarch64-linux-gnu.so": "Qe32cW7+K4rQR6eRvi9vM8BZta5mPsK/xo9/dF4IZnfPYTP0bHzBFXZjsO4LVntwY/bUwMagp4fnRgXxwhNFCw=="
|
||||
"python/iqpilot_private/navd/__init__.cpython-312-aarch64-linux-gnu.so": "9i3/SfFfCLGyTzyQQYpsSxbA3ASc1OSK7fCYXpIiIMnX+jKB288Qy7TzJnr3uINt+LhRW1wwnMI6hWBXjgv5AA==",
|
||||
"python/iqpilot_private/navd/alpr_matcher.cpython-312-aarch64-linux-gnu.so": "5K4w4dDRtts8QvxBAXL0qrYofb/bg9PV/rKn/GrVmtAVDMd0DhAiKAugoxkhl8n4JviFY8ZmsHwWBrQPIMdkAA==",
|
||||
"python/iqpilot_private/navd/amap_client.cpython-312-aarch64-linux-gnu.so": "X+hzm32FyMwE9fSIaGZH/GQqHn78izqrX8o1FdATb0Fg4+62tcgI9LHe9PIM8VY6+IaryaWyKqFtATaq6BZrDw==",
|
||||
"python/iqpilot_private/navd/event_builder.cpython-312-aarch64-linux-gnu.so": "dQnA8CCeRMXqiARr/Kzf2x736DuaT1/ALC8ZLDZep2/nY2IJ7StZeZ8DwOBuRPRK8KJ5HNU424QMZkVzQcDnBg==",
|
||||
"python/iqpilot_private/navd/helpers.cpython-312-aarch64-linux-gnu.so": "tdLykhS2t9M7R115Rse80M2Urg/8sNQTLaOz3YFyUTTkEzpaBlk3JnbgOQVpzDjrPB7y22y6mNORCkYI3cKfCw==",
|
||||
"python/iqpilot_private/navd/incident_feed.cpython-312-aarch64-linux-gnu.so": "MJ/i1ZvGb3bYBVxKvT/zBk43CM/XT37GZa6la52Tfmqp9mrx6oz98PpvLZMgJ+18J4lSdMf2uGuJ2IHx5wWTAQ==",
|
||||
"python/iqpilot_private/navd/iqmapd.cpython-312-aarch64-linux-gnu.so": "+ULQz9iDSDBtYRYSVVWz63TImB3DizGV2oFER6pmNttfJ6vA4SBVToxKV1YjHAebdMiSrTBrEkgPd5K4unE0Bg==",
|
||||
"python/iqpilot_private/navd/long_decel.cpython-312-aarch64-linux-gnu.so": "PB+q882Oo/cOi+fN0IahlaBP7xEQrjF7BykAnCsxrnK8zJGkFZdrVUcLCS4T5DYjXhwlXbdveb3ZHdG/LoMcBQ==",
|
||||
"python/iqpilot_private/navd/mapbox_client.cpython-312-aarch64-linux-gnu.so": "vqQRU0t5AS/oUs1JWxZlwHC5mrpaaHD10jgQCLzDGUL4Yv1aFHWAoM6KfFdUldmdSG1d4e6VGu+Y2bMdBIwAAw==",
|
||||
"python/iqpilot_private/navd/nav_cameras.cpython-312-aarch64-linux-gnu.so": "OfuUD6/swlx5ggtvLfUVjGqpJbZWf+Ezwia5fE81FXA6RcuR4SMx1t/D38+TaMKDGvaBV31s08TJgh+/hXiiDA==",
|
||||
"python/iqpilot_private/navd/nav_turn_signals.cpython-312-aarch64-linux-gnu.so": "WQOzntcyeraddagnvnxAwH/ciLFMztjfEhg07HFHy+++XJPCSGctdaxlgPWX6xq9kiE7aEkcTsW2CwOwYo3tDw==",
|
||||
"python/iqpilot_private/navd/navd.cpython-312-aarch64-linux-gnu.so": "5c68ZgFSkAXf9m32zKbBDSNHF0rVTwZPVu0puTiIcM7laHyHVtkQJduq6g4SUm+wz634nLK2u5pggaNf+mkhAw==",
|
||||
"python/iqpilot_private/navd/navincidentd.cpython-312-aarch64-linux-gnu.so": "LBV8K1SPj+bN8idsPR/3B24grXQYRNarYsCUbVaRdkfORuib70gRlGz4KtyOyYT/vpCU4iuDhnSRsd4ltH4RAg==",
|
||||
"python/iqpilot_private/navd/navrenderd.cpython-312-aarch64-linux-gnu.so": "ZT4bVD2W2w9w2AdbKkZ7AgfQv+zqTmJH5126ngiDDRFFuW2Bnp+E/4M+6U912uGZsV5xayCw8QmJbM9EeSqgDQ==",
|
||||
"python/iqpilot_private/navd/osm_cameras.cpython-312-aarch64-linux-gnu.so": "jjmBJtLWRVkPsO4n7/N/pDVD9jrC4SCMm0lIT/P8HCzsMhIIAkXhRAMGKdl1kYDxK8VMGRMMF7eoiCKEFPq2AA==",
|
||||
"python/iqpilot_private/navd/reroute.cpython-312-aarch64-linux-gnu.so": "A0FeGUh384rTKZJLOL6wNdX3bLTTsmUX7kF3ysax7WjnyUSlctbms15E+3Ww87qmXwjMGbyPdlTdsnhvpcstAA==",
|
||||
"python/iqpilot_private/navd/road_incidents.cpython-312-aarch64-linux-gnu.so": "J/I+XcODFE7LKvtyImt/Dw8fh2uvQeEhZ1IWx2IHZPH8sXhuVGVQIECVFGQJGfsckjzoUpgZq8AYNReRF62sBw==",
|
||||
"python/iqpilot_private/navd/route_manager.cpython-312-aarch64-linux-gnu.so": "n/RFD32mlinaYGrWvKWGv8ziTTSFP8+qCS/I1ibFXRYU6gtwx/+03eUR+p2jh5hzPteo5RxLUfHDwxFvJMJzDA==",
|
||||
"python/iqpilot_private/navd/runtime_common.cpython-312-aarch64-linux-gnu.so": "/5mYKn9um2aBLipkFsEptfM3sOId3SKkV8AHXGslWdH9Evp2ll8XENvirAX5tV1X35WslGYIybK3Xv3cZ4o8DQ==",
|
||||
"python/iqpilot_private/navd/traffic.cpython-312-aarch64-linux-gnu.so": "kfl1Mm7G3CguQGtUvDutvbd4StDnKr0pW7ojLn6gydVTyxEiD/VAEFfTKBK/CAyUcw3eeX5+U8Qq2+6o0zEUBA==",
|
||||
"python/iqpilot_private/navd/traffic_sources.cpython-312-aarch64-linux-gnu.so": "SzicVJ2/F8aMjcOHVCmEeJ952a+JPL8NLI6wsVkA2f5xiOSKMdynvcf7EgvrvBA4bgTRUGOmtpoqzMiCcNh2AA==",
|
||||
"python/iqpilot_private/navd/traffic_writer.cpython-312-aarch64-linux-gnu.so": "tMmnyV9knGA0eoRq1+bYLaQRAmLLrpSC9KraH9iNWMgleg+xdY3dIpx+uyP77de/oOQ2Bovsp3Vq2MobcDACCQ==",
|
||||
"python/iqpilot_private/navd/turn_desire.cpython-312-aarch64-linux-gnu.so": "kFb5U48pTMYRWee+JbH6CbOpE2je60Xk5ntJZIUCw66KWLTOUGFtQqMcUUcQ1b2/3xnCz7sb3Yt0GdbyyspMDg==",
|
||||
"python/iqpilot_private/navd/valhalla_process.cpython-312-aarch64-linux-gnu.so": "u6o5lRGFT3PA7XPM0IXyr7iEsngyLKqh+kJhHNW7U7+iTI3hH25ag73YFQjnCfIuzPk2NtB4v2JKqcqBaNaQAQ==",
|
||||
"python/iqpilot_private/navd/web_server.cpython-312-aarch64-linux-gnu.so": "4AB7oakyIWLG7OFuGpO+SidZnJzq3rC7/uWemSbhFVn9oOZBMQZ5IWN5Y3WfImyqoZXjZVGqxE9Yf0d8gmWdDA=="
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1 +1 @@
|
||||
Fhs5w4K9yXGTe1Y9xpYpVEnHRHUsq4pJ0opKgllTGam0njHeskbHsYQmlj3n94vPeCJhQw52x9Bd1S2/R37WAg==
|
||||
NH/aexXGu1jWh6ks/x7lbVEUX9VZPhETrwkIozXSjmPR2isUyVlaZppveq23NB7BeIQTJuS/+KAuZ/pbL/kaDQ==
|
||||
|
||||
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@@ -129,6 +129,8 @@ class CarInterface(CarInterfaceBase):
|
||||
car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_iq: bool, docs: bool) -> structs.IQCarParams:
|
||||
if candidate in UNSUPPORTED_DSU_CAR:
|
||||
ret.iqSafetyFlags |= ToyotaSafetyFlagsIQ.UNSUPPORTED_DSU
|
||||
if candidate in TSS2_CAR:
|
||||
ret.iqSafetyFlags |= ToyotaSafetyFlagsIQ.LKAS_HUD
|
||||
|
||||
# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
|
||||
# 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
from iqdbc.car import gen_empty_fingerprint, structs
|
||||
from iqdbc.car.toyota.interface import CarInterface
|
||||
from iqdbc.car.toyota.values import CAR, ToyotaFlags
|
||||
from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ
|
||||
from iqdbc.lvbs.car.toyota.values import ToyotaFlagsIQ, ToyotaSafetyFlagsIQ
|
||||
|
||||
|
||||
def test_secoc_toyota_not_dashcam_on_release():
|
||||
@@ -34,3 +34,11 @@ def test_smart_dsu_clears_disable_radar_on_radar_acc_toyota():
|
||||
assert not (cp.flags & ToyotaFlags.DISABLE_RADAR.value)
|
||||
assert cp.alphaLongitudinalAvailable
|
||||
assert cp.openpilotLongitudinalControl
|
||||
|
||||
|
||||
def test_lkas_hud_safety_flag_tracks_tss2():
|
||||
for candidate, expected in ((CAR.TOYOTA_CHR_TSS2, True), (CAR.TOYOTA_PRIUS_V, False)):
|
||||
fingerprint = gen_empty_fingerprint()
|
||||
cp = CarInterface.get_params(candidate, fingerprint, [], False, False, False)
|
||||
cp_iq = CarInterface.get_params_iq(cp, candidate, fingerprint, [], False, False, False)
|
||||
assert bool(cp_iq.iqSafetyFlags & ToyotaSafetyFlagsIQ.LKAS_HUD) is expected
|
||||
|
||||
@@ -679,7 +679,7 @@ class CarState(CarStateBase):
|
||||
if self.CP.carFingerprint == CAR.PORSCHE_MACAN_MK1:
|
||||
ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_03"]["GE_Waehlhebel"], None))
|
||||
elif self.CP.transmissionType == TransmissionType.manual:
|
||||
reverse = bool(pt_cp.vl["Gateway_05"]["BCM1_Rueckfahrlicht_Schalter"])
|
||||
reverse = bool(br_cp.vl["Gateway_05"]["BCM1_Rueckfahrlicht_Schalter"])
|
||||
ret.gearShifter = GearShifter.reverse if reverse else GearShifter.drive
|
||||
else:
|
||||
ret.gearShifter = GearShifter.drive
|
||||
|
||||
@@ -8,7 +8,7 @@ from iqdbc.car.volkswagen.carcontroller import CarController
|
||||
from iqdbc.car.volkswagen.carstate import CarState
|
||||
from iqdbc.car.volkswagen.values import (
|
||||
CAR, CanBus, DashcamOnlyReason, MLB_ACC_COORDINATOR_MSGS, MLB_GEARBOX_MSGS, MLB_MSG_ACC_10,
|
||||
MLB_MSG_LH_EPS_03, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType,
|
||||
MLB_MSG_GATEWAY_05, MLB_MSG_LH_EPS_03, NetworkLocation, RADAR_DISABLE_STATE, TransmissionType,
|
||||
VolkswagenFlags, VolkswagenSafetyFlags, VolkswagenFlagsIQ, get_longitudinal_stopping_speed_override,
|
||||
)
|
||||
from iqdbc.car.volkswagen.radar_interface import RadarInterface
|
||||
@@ -115,7 +115,11 @@ class CarInterface(CarInterfaceBase):
|
||||
if fingerprinted and MLB_MSG_LH_EPS_03 not in pt_msgs:
|
||||
ret.flags |= VolkswagenFlagsIQ.IQ_MLB_NO_HCA_EPS.value
|
||||
|
||||
if fingerprinted and not any(msg in pt_msgs for msg in MLB_GEARBOX_MSGS):
|
||||
all_msgs = ecan_msgs | fingerprint[1]
|
||||
gearbox_seen = any(msg in all_msgs for msg in MLB_GEARBOX_MSGS)
|
||||
transmission_ecu = any(fw.ecu == structs.CarParams.Ecu.transmission for fw in car_fw)
|
||||
reverse_switch_seen = MLB_MSG_GATEWAY_05 in fingerprint[1]
|
||||
if fingerprinted and not gearbox_seen and not transmission_ecu and reverse_switch_seen:
|
||||
ret.transmissionType = TransmissionType.manual
|
||||
|
||||
elif ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
|
||||
|
||||
@@ -9,9 +9,9 @@ from iqdbc.car import Bus, DT_CTRL, structs
|
||||
from iqdbc.car.volkswagen.carstate import CarState
|
||||
from iqdbc.car.structs import CarParams
|
||||
from iqdbc.car.volkswagen.interface import CarInterface
|
||||
from iqdbc.car.volkswagen.values import (CAR, FW_QUERY_CONFIG, MLB_ACC_COORDINATOR_MSGS, MLB_MSG_ACC_10,
|
||||
MLB_MSG_LH_EPS_03, WMI, VolkswagenFlags, VolkswagenFlagsIQ,
|
||||
VolkswagenSafetyFlags)
|
||||
from iqdbc.car.volkswagen.values import (CAR, FW_QUERY_CONFIG, MLB_ACC_COORDINATOR_MSGS, MLB_GEARBOX_MSGS, MLB_MSG_ACC_10,
|
||||
MLB_MSG_GATEWAY_05, MLB_MSG_GETRIEBE_01, MLB_MSG_LH_EPS_03, WMI, VolkswagenFlags,
|
||||
VolkswagenFlagsIQ, VolkswagenSafetyFlags)
|
||||
from iqdbc.car.volkswagen.fingerprints import FW_VERSIONS
|
||||
|
||||
Ecu = CarParams.Ecu
|
||||
@@ -333,6 +333,58 @@ def test_mlb_manual_gear_follows_the_reverse_light_switch():
|
||||
assert _run(a4, lambda: _a4_mk4_frames(packer, reverse=False)).gearShifter == structs.CarState.GearShifter.drive
|
||||
|
||||
|
||||
def _q5_params(bus0, bus1=(), car_fw=()):
|
||||
fingerprints = _mlb_fingerprint(0, bus0)
|
||||
fingerprints[1] = {msg: 8 for msg in bus1}
|
||||
fingerprints[2] = {msg: 8 for msg in MLB_ECAN_CAMERA}
|
||||
return CarInterface.get_params(CAR.AUDI_Q5_MK1, fingerprints, list(car_fw), alpha_long=False, is_release=False, docs=False)
|
||||
|
||||
|
||||
MLB_ECAN_GATEWAY_NO_GEARBOX = tuple(msg for msg in MLB_ECAN_GATEWAY if msg not in MLB_GEARBOX_MSGS)
|
||||
|
||||
|
||||
def test_mlb_gearbox_on_the_powertrain_bus_keeps_automatic():
|
||||
params = _q5_params(MLB_ECAN_GATEWAY_NO_GEARBOX, bus1=(MLB_MSG_GETRIEBE_01, MLB_MSG_GATEWAY_05))
|
||||
assert params.transmissionType == CarParams.TransmissionType.automatic
|
||||
|
||||
|
||||
def test_mlb_transmission_ecu_firmware_keeps_automatic():
|
||||
transmission = CarParams.CarFw.new_message(ecu=Ecu.transmission, address=0x7e1)
|
||||
params = _q5_params(MLB_ECAN_GATEWAY_NO_GEARBOX, bus1=(MLB_MSG_GATEWAY_05,), car_fw=(transmission,))
|
||||
assert params.transmissionType == CarParams.TransmissionType.automatic
|
||||
|
||||
|
||||
def test_mlb_reverse_switch_on_the_extended_can_alone_keeps_automatic():
|
||||
params = _q5_params(MLB_ECAN_GATEWAY_NO_GEARBOX + (MLB_MSG_GATEWAY_05,))
|
||||
assert params.transmissionType == CarParams.TransmissionType.automatic
|
||||
|
||||
|
||||
def test_mlb_manual_needs_no_gearbox_anywhere_and_a_reverse_switch_on_the_powertrain_bus():
|
||||
params = _q5_params(MLB_ECAN_GATEWAY_NO_GEARBOX, bus1=(MLB_MSG_GATEWAY_05,))
|
||||
assert params.transmissionType == CarParams.TransmissionType.manual
|
||||
|
||||
|
||||
def test_mlb_manual_gateway_car_reads_reverse_from_the_powertrain_bus():
|
||||
fingerprints = _mlb_fingerprint(0, MLB_ECAN_GATEWAY_NO_GEARBOX)
|
||||
fingerprints[1] = {MLB_MSG_GATEWAY_05: 8}
|
||||
fingerprints[2] = {msg: 8 for msg in MLB_ECAN_CAMERA}
|
||||
q5 = _build_mlb_car(CAR.AUDI_Q5_MK1, fingerprints)
|
||||
assert q5.CP.transmissionType == CarParams.TransmissionType.manual
|
||||
|
||||
packer = CANPacker("vw_mlb")
|
||||
frames = lambda reverse: [packer.make_can_msg("Gateway_05", 1, {"BCM1_Rueckfahrlicht_Schalter": int(reverse)})]
|
||||
assert _run(q5, lambda: frames(True)).gearShifter == structs.CarState.GearShifter.reverse
|
||||
assert _run(q5, lambda: frames(False)).gearShifter == structs.CarState.GearShifter.drive
|
||||
assert MLB_MSG_GATEWAY_05 not in q5.can_parsers[Bus.pt].addresses
|
||||
|
||||
|
||||
def test_mlb_automatic_never_subscribes_gateway_05():
|
||||
q5 = _q5_mk1_car()
|
||||
q5.update([(int(DT_CTRL * 1e9), [])])
|
||||
assert MLB_MSG_GATEWAY_05 not in q5.can_parsers[Bus.pt].addresses
|
||||
assert MLB_MSG_GATEWAY_05 not in q5.can_parsers[Bus.aux].addresses
|
||||
|
||||
|
||||
@pytest.mark.parametrize("button_type", (
|
||||
structs.CarState.ButtonEvent.Type.setCruise,
|
||||
structs.CarState.ButtonEvent.Type.resumeCruise,
|
||||
|
||||
@@ -348,6 +348,7 @@ MLB_MSG_ACC_01 = 0x109
|
||||
MLB_MSG_ACC_05 = 0x10D
|
||||
MLB_MSG_ACC_02 = 0x30C
|
||||
MLB_MSG_ACC_10 = 0x117
|
||||
MLB_MSG_GATEWAY_05 = 0x39C
|
||||
|
||||
MLB_ACC_COORDINATOR_MSGS = (MLB_MSG_ACC_01, MLB_MSG_ACC_05, MLB_MSG_ACC_02)
|
||||
MLB_GEARBOX_MSGS = (MLB_MSG_GETRIEBE_01, MLB_MSG_GETRIEBE_02, MLB_MSG_GETRIEBE_03, MLB_MSG_GETRIEBE_04)
|
||||
|
||||
@@ -17,5 +17,5 @@ class ToyotaSafetyFlagsIQ:
|
||||
DEFAULT = 0
|
||||
UNSUPPORTED_DSU = 1
|
||||
GAS_INTERCEPTOR = 2
|
||||
|
||||
LKAS_HUD = 4
|
||||
|
||||
|
||||
@@ -39,7 +39,6 @@
|
||||
#define TOYOTA_COMMON_RX_CHECKS(lta) \
|
||||
{.msg = {{ 0xaa, 0, 8, 83U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x260, 0, 8, 50U, .ignore_counter = true, .ignore_quality_flag=!(lta)}, { 0 }, { 0 }}}, \
|
||||
{.msg = {{0x412, 2, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 1U}, { 0 }, { 0 }}}, \
|
||||
|
||||
#define TOYOTA_RX_CHECKS(lta) \
|
||||
TOYOTA_COMMON_RX_CHECKS(lta) \
|
||||
@@ -66,6 +65,9 @@
|
||||
#define TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK \
|
||||
{.msg = {{0x201, 0, 6, 50U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
|
||||
|
||||
#define TOYOTA_LKAS_HUD_ADDR_CHECK \
|
||||
{.msg = {{0x412, 2, 8, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true, .frequency = 1U}, { 0 }, { 0 }}}, \
|
||||
|
||||
static bool toyota_secoc = false;
|
||||
static bool toyota_alt_brake = false;
|
||||
static bool toyota_stock_longitudinal = false;
|
||||
@@ -433,6 +435,7 @@ static safety_config toyota_init(uint16_t param) {
|
||||
|
||||
const uint16_t TOYOTA_PARAM_IQ_UNSUPPORTED_DSU = 1;
|
||||
const uint16_t TOYTOA_PARAM_IQ_GAS_INTERCEPTOR = 2;
|
||||
const uint16_t TOYOTA_PARAM_IQ_LKAS_HUD = 4;
|
||||
|
||||
#ifdef ALLOW_DEBUG
|
||||
const uint32_t TOYOTA_PARAM_SECOC = 8UL << TOYOTA_PARAM_OFFSET;
|
||||
@@ -446,6 +449,7 @@ static safety_config toyota_init(uint16_t param) {
|
||||
|
||||
const bool toyota_unsupported_dsu = GET_FLAG(current_safety_param_iq, TOYOTA_PARAM_IQ_UNSUPPORTED_DSU);
|
||||
enable_gas_interceptor = GET_FLAG(current_safety_param_iq, TOYTOA_PARAM_IQ_GAS_INTERCEPTOR);
|
||||
const bool toyota_lkas_hud = GET_FLAG(current_safety_param_iq, TOYOTA_PARAM_IQ_LKAS_HUD);
|
||||
|
||||
// gas interceptor should not be used if openpilot is not controlling longitudinal or is a TSK car
|
||||
if (toyota_stock_longitudinal || toyota_secoc) {
|
||||
@@ -471,6 +475,7 @@ static safety_config toyota_init(uint16_t param) {
|
||||
static RxCheck toyota_secoc_rx_checks[] = {
|
||||
TOYOTA_SECOC_RX_CHECKS
|
||||
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
|
||||
SET_RX_CHECKS(toyota_secoc_rx_checks, ret);
|
||||
@@ -479,6 +484,7 @@ static safety_config toyota_init(uint16_t param) {
|
||||
static RxCheck toyota_lta_rx_checks[] = {
|
||||
TOYOTA_RX_CHECKS(true)
|
||||
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
|
||||
SET_RX_CHECKS(toyota_lta_rx_checks, ret);
|
||||
@@ -486,18 +492,22 @@ static safety_config toyota_init(uint16_t param) {
|
||||
static RxCheck toyota_lka_rx_checks[] = {
|
||||
TOYOTA_RX_CHECKS(false)
|
||||
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
static RxCheck toyota_lka_alt_brake_rx_checks[] = {
|
||||
TOYOTA_ALT_BRAKE_RX_CHECKS(false)
|
||||
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
static RxCheck toyota_lka_unsupported_dsu_rx_checks[] = {
|
||||
TOYOTA_RX_CHECKS(false)
|
||||
TOYOTA_DSU_CRUISE_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
static RxCheck toyota_lka_alt_brake_unsupported_dsu_rx_checks[] = {
|
||||
TOYOTA_ALT_BRAKE_RX_CHECKS(false)
|
||||
TOYOTA_DSU_CRUISE_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
|
||||
if (!toyota_alt_brake) {
|
||||
@@ -523,6 +533,7 @@ static safety_config toyota_init(uint16_t param) {
|
||||
TOYOTA_RX_CHECKS(true)
|
||||
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
|
||||
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
|
||||
SET_RX_CHECKS(toyota_lta_interceptor_rx_checks, ret);
|
||||
@@ -531,21 +542,25 @@ static safety_config toyota_init(uint16_t param) {
|
||||
TOYOTA_RX_CHECKS(false)
|
||||
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
|
||||
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
static RxCheck toyota_lka_alt_brake_interceptor_rx_checks[] = {
|
||||
TOYOTA_ALT_BRAKE_RX_CHECKS(false)
|
||||
TOYOTA_PCM_CRUISE_2_ADDR_CHECK
|
||||
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
static RxCheck toyota_lka_unsupported_dsu_interceptor_rx_checks[] = {
|
||||
TOYOTA_RX_CHECKS(false)
|
||||
TOYOTA_DSU_CRUISE_ADDR_CHECK
|
||||
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
static RxCheck toyota_lka_alt_brake_unsupported_dsu_interceptor_rx_checks[] = {
|
||||
TOYOTA_ALT_BRAKE_RX_CHECKS(false)
|
||||
TOYOTA_DSU_CRUISE_ADDR_CHECK
|
||||
TOYOTA_GAS_INTERCEPTOR_ADDR_CHECK
|
||||
TOYOTA_LKAS_HUD_ADDR_CHECK
|
||||
};
|
||||
|
||||
if (!toyota_alt_brake) {
|
||||
@@ -564,6 +579,10 @@ static safety_config toyota_init(uint16_t param) {
|
||||
}
|
||||
}
|
||||
|
||||
if (!toyota_lkas_hud) {
|
||||
ret.rx_checks_len -= 1;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
@@ -21,8 +21,8 @@ TOYOTA_COMMON_LONG_TX_MSGS = [[0x283, 0], [0x2E6, 0], [0x2E7, 0], [0x33E, 0], [0
|
||||
GAS_INTERCEPTOR_TX_MSGS = [[0x200, 0]]
|
||||
|
||||
UNSUPPORTED_DSU = [
|
||||
{"SAFETY_PARAM_IQ": ToyotaSafetyFlagsIQ.DEFAULT},
|
||||
{"SAFETY_PARAM_IQ": ToyotaSafetyFlagsIQ.UNSUPPORTED_DSU},
|
||||
{"SAFETY_PARAM_IQ": ToyotaSafetyFlagsIQ.LKAS_HUD},
|
||||
{"SAFETY_PARAM_IQ": ToyotaSafetyFlagsIQ.UNSUPPORTED_DSU | ToyotaSafetyFlagsIQ.LKAS_HUD},
|
||||
]
|
||||
|
||||
|
||||
@@ -33,7 +33,7 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
|
||||
FWD_BLACKLISTED_ADDRS = {2: [0x2E4, 0x412, 0x191, 0x343]}
|
||||
EPS_SCALE = 73
|
||||
|
||||
SAFETY_PARAM_IQ: int = 0
|
||||
SAFETY_PARAM_IQ: int = ToyotaSafetyFlagsIQ.LKAS_HUD
|
||||
|
||||
packer: CANPackerSafety
|
||||
safety: libsafety_py.LibSafety
|
||||
@@ -96,6 +96,9 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
|
||||
return self.packer.make_can_msg_safety("LKAS_HUD", 2, values)
|
||||
|
||||
def test_enable_control_allowed_with_aol_button(self):
|
||||
self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ | ToyotaSafetyFlagsIQ.LKAS_HUD)
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.safety.get_current_safety_param())
|
||||
self.safety.init_tests()
|
||||
for enable_aol in (True, False):
|
||||
with self.subTest("enable_aol", aol_enabled=enable_aol):
|
||||
self.safety.set_aol_params(enable_aol, False, False)
|
||||
@@ -120,6 +123,16 @@ class TestToyotaSafetyBase(common.CarSafetyTest, common.LongitudinalAccelSafetyT
|
||||
self.safety.set_controls_allowed_lat(False)
|
||||
self.safety.set_aol_params(False, False, False)
|
||||
|
||||
def test_lkas_button_requires_lkas_hud(self):
|
||||
self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ & ~ToyotaSafetyFlagsIQ.LKAS_HUD)
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.safety.get_current_safety_param())
|
||||
self.safety.init_tests()
|
||||
self.safety.set_aol_params(True, False, False)
|
||||
button_state = self.safety.get_aol_button_press()
|
||||
self._rx(self._lkas_button_msg(True))
|
||||
self.assertEqual(button_state, self.safety.get_aol_button_press())
|
||||
self.assertFalse(self.safety.get_controls_allowed_lat())
|
||||
|
||||
def test_diagnostics(self, stock_longitudinal: bool = False, ecu_disabled: bool = True):
|
||||
for should_tx, msg in ((False, b"\x6D\x02\x3E\x00\x00\x00\x00\x00"), # fwdCamera tester present
|
||||
(False, b"\x0F\x03\xAA\xAA\x00\x00\x00\x00"), # non-tester present
|
||||
@@ -250,6 +263,7 @@ class TestToyotaSafetyAngle(TestToyotaSafetyBase, common.AngleSteeringSafetyTest
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.LTA)
|
||||
self.safety.init_tests()
|
||||
|
||||
@@ -431,6 +445,7 @@ class TestToyotaStockLongitudinalAngle(TestToyotaStockLongitudinalBase, TestToyo
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("toyota_nodsu_pt_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
|
||||
self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL | ToyotaSafetyFlags.LTA)
|
||||
self.safety.init_tests()
|
||||
@@ -445,6 +460,7 @@ class TestToyotaSecOcSafetyBase(TestToyotaSafetyBase):
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("toyota_secoc_pt_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
|
||||
self.EPS_SCALE | ToyotaSafetyFlags.SECOC)
|
||||
self.safety.init_tests()
|
||||
@@ -485,6 +501,7 @@ class TestToyotaSecOcSafetyStockLongitudinal(TestToyotaSecOcSafetyBase, TestToyo
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("toyota_secoc_pt_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.toyota,
|
||||
self.EPS_SCALE | ToyotaSafetyFlags.STOCK_LONGITUDINAL | ToyotaSafetyFlags.SECOC)
|
||||
self.safety.init_tests()
|
||||
@@ -498,6 +515,7 @@ class TestToyotaSecOcSafety(TestToyotaSecOcSafetyBase):
|
||||
def setUp(self):
|
||||
self.packer = CANPackerSafety("toyota_secoc_pt_generated")
|
||||
self.safety = libsafety_py.libsafety
|
||||
self.safety.set_current_safety_param_iq(self.SAFETY_PARAM_IQ)
|
||||
self.safety.set_safety_hooks(CarParams.SafetyModel.toyota, self.EPS_SCALE | ToyotaSafetyFlags.SECOC)
|
||||
self.safety.init_tests()
|
||||
|
||||
|
||||
@@ -249,6 +249,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"MacModelFailed", {CLEAR_ON_MANAGER_START, BOOL}},
|
||||
{"MacModelLastError", {CLEAR_ON_MANAGER_START, STRING}},
|
||||
{"MacModelLatencyMs", {CLEAR_ON_MANAGER_START, FLOAT, "0.0"}},
|
||||
{"MacModelRetryBackoff", {CLEAR_ON_MANAGER_START, STRING, "10.0"}},
|
||||
|
||||
// comma USB eGPU big-model backend. Mutually exclusive with eMac at
|
||||
// runtime (eMac wins). UsbGpu* naming/flags mirror comma's handover branch
|
||||
@@ -363,6 +364,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
|
||||
{"IQLateralCurvatureLookahead", {PERSISTENT, BOOL, "0"}},
|
||||
{"IQSoftwareSteerDelay", {PERSISTENT, FLOAT, "0.2"}},
|
||||
{"IQSteerDelayCache", {PERSISTENT, FLOAT, "0.2"}},
|
||||
{"IQLatJerkGain", {PERSISTENT, STRING, "1.0"}},
|
||||
{"LaneChangeBsd", {PERSISTENT, INT, "0"}}, // -1 ignore BSD, 0 default, 1 block lane change on BSD
|
||||
{"LaneChangeContinuous", {PERSISTENT, BOOL, "0"}}, // 0 one-shot per blinker, 1 chain on held blinker (torque-gated)
|
||||
{"LaneChangeDelay", {PERSISTENT, FLOAT, "0.0"}}, // tenths of a second; scaled by 0.1 in desire_helper
|
||||
|
||||
@@ -209,6 +209,25 @@ def region_bundle_path(selector: str) -> Path:
|
||||
return region_bundle_dir(selector) / "tiles" / "offline.mbtiles"
|
||||
|
||||
|
||||
def region_valhalla_path(selector: str) -> Path:
|
||||
# valhalla mmaps this tar in place, so it stays uncompressed on disk
|
||||
return region_bundle_dir(selector) / "valhalla" / "tiles.tar"
|
||||
|
||||
|
||||
def region_valhalla_installed(selector: str) -> bool:
|
||||
return region_valhalla_path(selector).exists()
|
||||
|
||||
|
||||
def installed_valhalla_selectors() -> list[str]:
|
||||
regions_root = offline_map_root() / "regions"
|
||||
if not regions_root.exists():
|
||||
return []
|
||||
return sorted(
|
||||
child.name for child in regions_root.iterdir()
|
||||
if child.is_dir() and (child / "valhalla" / "tiles.tar").exists()
|
||||
)
|
||||
|
||||
|
||||
def region_bundle_installed(selector: str) -> bool:
|
||||
return region_bundle_path(selector).exists()
|
||||
|
||||
@@ -313,6 +332,22 @@ class TileBundleDownloader:
|
||||
)
|
||||
if not day_ok:
|
||||
cloudlog.warning(f"iq_maps: day-style bundle failed for {selector}; night set installed")
|
||||
if entry.get("valhalla_path"):
|
||||
# routing is additive: a region whose extract is missing or corrupt must still end up
|
||||
# with a usable map rather than failing the whole download
|
||||
try:
|
||||
nav_ok = self._download_file(
|
||||
selector, base_url, entry["valhalla_path"], int(entry.get("valhalla_bytes", 0)),
|
||||
str(entry.get("valhalla_sha256", "")).strip().lower(),
|
||||
region_valhalla_path(selector),
|
||||
progress_offset + int(entry.get("bytes", 0)) + int(entry.get("day_bytes", 0)),
|
||||
progress_total, 1, entry.get("valhalla_objects"),
|
||||
)
|
||||
except Exception as exc:
|
||||
nav_ok = False
|
||||
cloudlog.warning(f"iq_maps: routing extract errored for {selector}: {exc}")
|
||||
if not nav_ok:
|
||||
cloudlog.warning(f"iq_maps: routing extract failed for {selector}; map tiles installed")
|
||||
_write_manifest(selector, entry)
|
||||
cloudlog.info(f"iq_maps: installed tile bundle {selector}")
|
||||
return True
|
||||
|
||||
@@ -186,6 +186,8 @@ class NNTorqueModel:
|
||||
|
||||
PLAN_SAMPLE_START = 5
|
||||
LAG_EXTRA_S = 0.0
|
||||
JERK_AHEAD_TAU_S = 0.15 # low-pass on the model-derived jerk feed-forward (kills big-model accel.y noise)
|
||||
JERK_PARAM_REFRESH = 100 # cycles (~1s at 100Hz)
|
||||
|
||||
BASE_P = 0.8
|
||||
BASE_I = 0.15
|
||||
@@ -264,6 +266,15 @@ class PilotLateralBrain:
|
||||
self.friction_look_ahead_bp = [9.0, 30.0]
|
||||
self.lat_jerk_friction_factor = 0.4
|
||||
self.lat_accel_friction_factor = 0.7
|
||||
# The model-derived jerk term is a frame-to-frame derivative of model_v2.acceleration.y; on
|
||||
# spatial/big models that array is slightly noisy and the raw derivative drives in-lane steering
|
||||
# oscillation (sunny/stock has no such term). Low-pass it, and expose a live gain so it can be
|
||||
# tuned to 0 (== stock friction ff) without a software push.
|
||||
self._jerk_lp = FirstOrderFilter(0.0, JERK_AHEAD_TAU_S, 0.01)
|
||||
self._jerk_gain = 1.0
|
||||
self._jerk_param_frame = 0
|
||||
self._jerk_param_ok = True
|
||||
self._params = Params()
|
||||
|
||||
self.t_diffs = np.diff(ModelConstants.T_IDXS)
|
||||
self.desired_lat_jerk_time = cp.steerActuatorDelay + LAG_EXTRA_S
|
||||
@@ -294,6 +305,17 @@ class PilotLateralBrain:
|
||||
self.jerk_ahead = 0.0
|
||||
|
||||
def update_calculations(self, car_state, vehicle_model, desired_lat_accel):
|
||||
self._jerk_param_frame += 1
|
||||
if self._jerk_param_ok and self._jerk_param_frame % JERK_PARAM_REFRESH == 0:
|
||||
try:
|
||||
raw = self._params.get("IQLatJerkGain")
|
||||
self._jerk_gain = float(raw) if raw not in (None, b"", "") else 1.0
|
||||
except (ValueError, TypeError):
|
||||
self._jerk_gain = 1.0
|
||||
except Exception:
|
||||
# param key absent (params not rebuilt) — never let a param read touch lateral control
|
||||
self._jerk_param_ok = False
|
||||
self._jerk_gain = 1.0
|
||||
self._reset_jerk_estimates(car_state, vehicle_model)
|
||||
if not self.model_valid:
|
||||
return
|
||||
@@ -305,6 +327,7 @@ class PilotLateralBrain:
|
||||
forecast = _pointwise_jerk(accel_y, self.t_diffs)
|
||||
window = forecast[PLAN_SAMPLE_START:self._horizon_index(car_state.vEgo)]
|
||||
self.jerk_ahead = sign_locked_min(window, desired_jerk)
|
||||
self.jerk_ahead = self._jerk_lp.update(self.jerk_ahead) * self._jerk_gain
|
||||
|
||||
if self.jerk_ahead == 0.0:
|
||||
self.jerk_now = 0.0
|
||||
|
||||
81
iqpilot/selfdrive/controls/tests/test_lat_jerk_lowpass.py
Normal file
81
iqpilot/selfdrive/controls/tests/test_lat_jerk_lowpass.py
Normal file
@@ -0,0 +1,81 @@
|
||||
"""
|
||||
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos/
|
||||
"""
|
||||
import numpy as np
|
||||
|
||||
from iqpilot.cereal import car, log
|
||||
from iqdbc.car.car_helpers import interfaces
|
||||
from iqdbc.car.toyota.values import CAR as TOYOTA
|
||||
from iqdbc.car.vehicle_model import VehicleModel
|
||||
from iqpilot.common.realtime import DT_CTRL
|
||||
from iqpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
||||
from iqpilot.selfdrive.car.helpers import convert_to_capnp
|
||||
from iqpilot.selfdrive.car import interfaces as iqpilot_interfaces
|
||||
from iqpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
|
||||
|
||||
CAR_NAME = TOYOTA.TOYOTA_COROLLA_TSS2
|
||||
|
||||
|
||||
def _brain():
|
||||
CI_cls = interfaces[CAR_NAME]
|
||||
CP = CI_cls.get_non_essential_params(CAR_NAME)
|
||||
CP_IQ = CI_cls.get_non_essential_params_iq(CP, CAR_NAME)
|
||||
CI = CI_cls(CP, CP_IQ)
|
||||
iqpilot_interfaces.apply_iq_car_config(CI)
|
||||
ctrl = LatControlTorque(CP.as_reader(), convert_to_capnp(CP_IQ).as_reader(), CI, DT_CTRL)
|
||||
return ctrl.nnff_assist, VehicleModel(CP)
|
||||
|
||||
|
||||
def _model(rng):
|
||||
# same-sign accel ramp (so sign_locked_min yields a real jerk) whose slope jitters frame to
|
||||
# frame the way a spatial big model's path does — this is what drives jerk_ahead to swing.
|
||||
n = max(CONTROL_N, 33)
|
||||
slope = abs(0.5 + rng.normal(0, 0.25))
|
||||
m = log.ModelDataV2.new_message()
|
||||
m.acceleration.y = (slope * np.arange(n) * 0.1).tolist()
|
||||
m.orientation.x = [0.0] * n
|
||||
return m
|
||||
|
||||
|
||||
def _cs():
|
||||
cs = car.CarState.new_message()
|
||||
cs.vEgo = 25.0
|
||||
cs.steeringRateDeg = 0.0
|
||||
return cs
|
||||
|
||||
|
||||
def _run(lp_on):
|
||||
brain, VM = _brain()
|
||||
rng = np.random.default_rng(7)
|
||||
cs = _cs()
|
||||
out = []
|
||||
for _ in range(400):
|
||||
brain.update_model_v2(_model(rng))
|
||||
if not lp_on:
|
||||
brain._jerk_lp.update = lambda x: x # bypass low-pass == pre-fix behavior
|
||||
brain.update_calculations(cs, VM, 0.0)
|
||||
out.append(brain.jerk_ahead)
|
||||
return np.array(out)
|
||||
|
||||
|
||||
def test_lowpass_cuts_jerk_command_swing():
|
||||
old = _run(lp_on=False)
|
||||
new = _run(lp_on=True)
|
||||
# the path must actually exercise the jerk feed-forward (guard against a vacuous test)
|
||||
assert np.abs(np.diff(old)).mean() > 0.02, "input did not exercise jerk_ahead"
|
||||
old_swing = np.abs(np.diff(old)).mean()
|
||||
new_swing = np.abs(np.diff(new)).mean()
|
||||
# low-pass must cut the frame-to-frame jerk swing (the wheel oscillation) by a large margin
|
||||
assert new_swing < 0.3 * old_swing, (old_swing, new_swing)
|
||||
|
||||
|
||||
def test_gain_zero_matches_stock():
|
||||
brain, VM = _brain()
|
||||
brain._jerk_param_ok = False
|
||||
brain._jerk_gain = 0.0
|
||||
rng = np.random.default_rng(1)
|
||||
cs = _cs()
|
||||
for _ in range(60):
|
||||
brain.update_model_v2(_model(rng))
|
||||
brain.update_calculations(cs, VM, 0.0)
|
||||
assert brain.jerk_ahead == 0.0 # no model-jerk term == sunny/stock feedforward
|
||||
@@ -357,6 +357,7 @@ def main() -> None:
|
||||
}))
|
||||
if run_count % 100 == 0:
|
||||
cloudlog.warning(f"modeld_selector misses: {miss_reasons}")
|
||||
pwriter.put_bool(keys["active"], latch.active)
|
||||
cloudlog.warning(f"modeld_selector: big_used={big_used_count}/{run_count} "
|
||||
f"last_big_peek={big_peek} target={target} active={latch.active} "
|
||||
f"max_big_lag={BIG_MAX_LAG_FRAMES}")
|
||||
|
||||
@@ -13,7 +13,9 @@ import time
|
||||
os.environ.setdefault("FLOAT16", "1")
|
||||
os.environ.setdefault("JIT_BATCH_SIZE", "0")
|
||||
os.environ.setdefault("GMMU", "0")
|
||||
os.environ.setdefault("TC_OPT", "2")
|
||||
# TC_OPT=2 lets tinygrad pick tensor-core kernels; on some models a TC kernel miscompiles and biases
|
||||
# the output (documented on Metal). A parity gate below catches it and re-compiles with TC off.
|
||||
os.environ.setdefault("TC_OPT", "0" if ("--tc-off" in sys.argv or os.environ.get("IQ_EGPU_TC_OFF")) else "2")
|
||||
|
||||
HOST = "--host" in sys.argv
|
||||
if HOST:
|
||||
@@ -32,6 +34,10 @@ INPUT_SPEC = dict(MODEL_INPUT_SPEC)
|
||||
patch_tinygrad_fetch_fw()
|
||||
|
||||
SEED = 42
|
||||
|
||||
|
||||
class _ParityFail(RuntimeError):
|
||||
pass
|
||||
KERNEL_PROGRESS_SCALE = 260.0
|
||||
|
||||
|
||||
@@ -151,6 +157,25 @@ def _policy_frame(seed: int, input_spec: dict):
|
||||
return warped
|
||||
|
||||
|
||||
def _tc_off_reference(onnx_path: str, meta: dict):
|
||||
"""Compile+run the model with tensor cores OFF in a child process and return the last of 3
|
||||
policy frames. This is the trusted reference: TC-off kernels are the conservative path the
|
||||
eMac gate also trusts. Used to catch a TC kernel miscompile that would bias steering."""
|
||||
import subprocess
|
||||
import tempfile
|
||||
with tempfile.TemporaryDirectory() as td:
|
||||
ref = os.path.join(td, "ref.npy")
|
||||
env = {k: v for k, v in os.environ.items() if k not in ("TC_OPT", "BEAM")}
|
||||
env["TC_OPT"] = "0"
|
||||
env["IQ_EGPU_REFERENCE"] = ref
|
||||
r = subprocess.run([sys.executable, "-m", "iqpilot.selfdrive.iqmodeld.tools.compile_egpu_model",
|
||||
"--model", meta["key"], "--onnx", onnx_path, "--tc-off"],
|
||||
env=env, capture_output=True, text=True, timeout=14400)
|
||||
if r.returncode != 0 or not os.path.isfile(ref):
|
||||
raise RuntimeError(f"parity reference compile failed:\n{r.stderr[-2000:]}")
|
||||
return np.load(ref)
|
||||
|
||||
|
||||
def compile_policy_model(meta: dict, onnx_path: str, out_path: str) -> str:
|
||||
from tinygrad.device import Device
|
||||
from tinygrad.engine.jit import TinyJit
|
||||
@@ -216,6 +241,10 @@ def compile_policy_model(meta: dict, onnx_path: str, out_path: str) -> str:
|
||||
flat = out.numpy().reshape(-1)
|
||||
packed.views["prev_feat"][:] = flat[meta["output_slices"]["hidden_state"]].reshape(packed.views["prev_feat"].shape)
|
||||
outs.append(flat)
|
||||
ref_target = os.environ.get("IQ_EGPU_REFERENCE")
|
||||
if ref_target:
|
||||
np.save(ref_target, outs[-1])
|
||||
return out_path
|
||||
if HOST:
|
||||
os.replace(tmp, out_path)
|
||||
return out_path
|
||||
@@ -229,6 +258,13 @@ def compile_policy_model(meta: dict, onnx_path: str, out_path: str) -> str:
|
||||
from iqpilot.selfdrive.iqmodeld.tools.compile_supercombo import _slice_outputs, _validate_pose_outputs
|
||||
_validate_pose_outputs(PhaseParser().parse_vision_outputs(_slice_outputs(outs[-1], meta["output_slices"])))
|
||||
|
||||
if os.environ.get("TC_OPT") != "0" and not os.environ.get("IQ_EGPU_SKIP_PARITY"):
|
||||
ref = _tc_off_reference(onnx_path, meta)
|
||||
rel = float(np.abs(outs[-1] - ref).mean() / max(1e-3, float(np.abs(ref).mean())))
|
||||
if rel > 0.01:
|
||||
raise _ParityFail(f"PARITY FAIL: TC kernels miscompiled {meta['key']} (rel={rel:.4f} vs TC-off); recompiling with tensor cores disabled")
|
||||
print(f" parity vs TC-off reference: rel={rel:.6f} OK")
|
||||
|
||||
os.replace(tmp, out_path)
|
||||
return out_path
|
||||
|
||||
@@ -244,6 +280,7 @@ def main() -> None:
|
||||
p.add_argument("--format", type=int, default=2, choices=(1, 2))
|
||||
p.add_argument("--host", action="store_true", help="compile on a mock dock (no AMD hardware); outputs need a dock parity gate")
|
||||
p.add_argument("--arch", default=None, help="target gfx arch for --host")
|
||||
p.add_argument("--tc-off", action="store_true", help="disable tensor-core kernels (conservative; auto-set on parity failure)")
|
||||
args = p.parse_args()
|
||||
if args.host and args.format != 2:
|
||||
raise SystemExit("--host supports format 2 only")
|
||||
@@ -275,7 +312,15 @@ def main() -> None:
|
||||
sampler.start()
|
||||
try:
|
||||
build = compile_policy_model if args.format == 2 else compile_model
|
||||
out = build(meta, onnx_path, args.output or egpu_pkl_path(meta))
|
||||
try:
|
||||
out = build(meta, onnx_path, args.output or egpu_pkl_path(meta))
|
||||
except _ParityFail as e:
|
||||
if os.environ.get("TC_OPT") == "0" or args.format != 2:
|
||||
raise
|
||||
print(f"{e}\nretrying compile with tensor cores disabled", flush=True)
|
||||
os.environ["TC_OPT"] = "0"
|
||||
os.environ["IQ_EGPU_TC_OFF"] = "1"
|
||||
out = compile_policy_model(meta, onnx_path, args.output or egpu_pkl_path(meta))
|
||||
finally:
|
||||
if stop is not None:
|
||||
stop.set()
|
||||
|
||||
@@ -274,7 +274,10 @@ class SelfdriveD(GapButtonActions):
|
||||
dock_present = self.sm['deviceState'].egpuDockPresent
|
||||
mac_active = self.params.get_bool("MacModelActive")
|
||||
model_unavailable = big_active is True and self.sm.seen['modelV2'] and not self.sm.alive['modelV2']
|
||||
big_failed = (big_active is False or model_unavailable
|
||||
# an explicit False before this session's first activation is just the selector arming
|
||||
# (it pre-clears the param on startup); alerting on it pops "big model failed" on every
|
||||
# return to the road until the latch warms up
|
||||
big_failed = ((self.big_model_active and big_active is False) or model_unavailable
|
||||
or (self.big_model_active and not dock_present)) and not mac_active
|
||||
if big_failed:
|
||||
self.events.add(EventName.bigModelFailed)
|
||||
|
||||
@@ -152,7 +152,7 @@ class MainLayout(Widget):
|
||||
self._layouts[MainState.ROUTES].set_on_play(self.open_video)
|
||||
self._layouts[MainState.VIDEO].set_on_back(self.open_routes)
|
||||
self._layouts[MainState.ONROAD].set_click_callback(self._on_onroad_clicked)
|
||||
device.add_interactive_timeout_callback(self._set_mode_for_state)
|
||||
device.add_interactive_timeout_callback(self._on_interactive_timeout)
|
||||
|
||||
def _update_layout_rects(self):
|
||||
self._sidebar_rect = rl.Rectangle(self._rect.x, self._rect.y, SIDEBAR_WIDTH, self._rect.height)
|
||||
@@ -166,6 +166,20 @@ class MainLayout(Widget):
|
||||
|
||||
self._set_mode_for_state()
|
||||
|
||||
def _car_stationary(self) -> bool:
|
||||
if not ui_state.sm.valid["carState"]:
|
||||
return False
|
||||
return ui_state.sm["carState"].vEgo < 0.1
|
||||
|
||||
def _on_interactive_timeout(self):
|
||||
# The idle timeout normally returns the UI to the road view. Don't yank the user out of Settings
|
||||
# while the car is stationary - e.g. a hybrid parked with the engine running to charge reads as
|
||||
# onroad (ignition tracks the ICE), so this would otherwise make Settings unusable while parked.
|
||||
# A moving car still returns to the road view.
|
||||
if self._current_mode == MainState.SETTINGS and ui_state.started and self._car_stationary():
|
||||
return
|
||||
self._set_mode_for_state()
|
||||
|
||||
def _set_mode_for_state(self):
|
||||
if ui_state.started:
|
||||
# Don't hide sidebar from interactive timeout
|
||||
|
||||
@@ -0,0 +1,56 @@
|
||||
from types import SimpleNamespace
|
||||
|
||||
import pytest
|
||||
|
||||
from iqpilot.selfdrive.ui.layouts.main import MainLayout, MainState
|
||||
|
||||
|
||||
def make_layout(current_mode):
|
||||
layout = object.__new__(MainLayout)
|
||||
layout._current_mode = current_mode
|
||||
layout._set_mode_calls = []
|
||||
layout._set_mode_for_state = lambda: layout._set_mode_calls.append(current_mode)
|
||||
return layout
|
||||
|
||||
|
||||
class FakeSm:
|
||||
def __init__(self, v_ego, carstate_valid):
|
||||
self.valid = {"carState": carstate_valid}
|
||||
self._v_ego = v_ego
|
||||
|
||||
def __getitem__(self, key):
|
||||
return SimpleNamespace(vEgo=self._v_ego)
|
||||
|
||||
|
||||
class TestSettingsInteractiveTimeout:
|
||||
def _run(self, current_mode, started, v_ego, carstate_valid=True):
|
||||
layout = make_layout(current_mode)
|
||||
fake = SimpleNamespace(started=started, sm=FakeSm(v_ego, carstate_valid))
|
||||
monkeypatch = pytest.MonkeyPatch()
|
||||
monkeypatch.setattr("iqpilot.selfdrive.ui.layouts.main.ui_state", fake)
|
||||
try:
|
||||
layout._on_interactive_timeout()
|
||||
finally:
|
||||
monkeypatch.undo()
|
||||
return layout._set_mode_calls
|
||||
|
||||
def test_stationary_in_settings_stays(self):
|
||||
# parked/charging hybrid reads onroad; the timeout must not eject from Settings
|
||||
assert self._run(MainState.SETTINGS, started=True, v_ego=0.0) == []
|
||||
|
||||
def test_moving_in_settings_returns_to_road(self):
|
||||
assert self._run(MainState.SETTINGS, started=True, v_ego=5.0) == [MainState.SETTINGS]
|
||||
|
||||
def test_onroad_layout_always_handled(self):
|
||||
assert self._run(MainState.ONROAD, started=True, v_ego=0.0) == [MainState.ONROAD]
|
||||
|
||||
def test_home_layout_always_handled(self):
|
||||
assert self._run(MainState.HOME, started=True, v_ego=0.0) == [MainState.HOME]
|
||||
|
||||
def test_offroad_in_settings_handled(self):
|
||||
# car off (offroad): existing behavior is unchanged
|
||||
assert self._run(MainState.SETTINGS, started=False, v_ego=0.0) == [MainState.SETTINGS]
|
||||
|
||||
def test_invalid_carstate_treated_as_moving(self):
|
||||
# if speed is unknown, fail safe to the road view rather than trapping in settings
|
||||
assert self._run(MainState.SETTINGS, started=True, v_ego=0.0, carstate_valid=False) == [MainState.SETTINGS]
|
||||
@@ -67,14 +67,14 @@
|
||||
},
|
||||
{
|
||||
"name": "boot",
|
||||
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/boot-aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb.img.xz",
|
||||
"hash": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
|
||||
"hash_raw": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
|
||||
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/boot-4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906.img.xz",
|
||||
"hash": "4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906",
|
||||
"hash_raw": "4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906",
|
||||
"size": 18216960,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "f568e4394e36a367de58cce2b982bf597963e088b6a00b1ac88ca03cce8f62fd"
|
||||
"ondevice_hash": "7be61ba2be5617ac22d6beb8ba8b896109a554347021f5e44b72458748336975"
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
|
||||
@@ -1 +1 @@
|
||||
qT72MCHtDUWnARJbSsLUcPaISRZxjFPNf282R9ZC1SXvFJz6X6NmjgknK3OLDLijOQWlGvvJZGsDgz2vsdPVAg==
|
||||
Myu8k7msX7pt28JKl1Lx5/NnXu9i15nT8bFWnwGsip8wdCYPJqj69AWrfCtlg9YrR98O6ThCAEA1uzUfsrTeDQ==
|
||||
|
||||
@@ -56,14 +56,14 @@
|
||||
},
|
||||
{
|
||||
"name": "boot",
|
||||
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/boot-aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb.img.xz",
|
||||
"hash": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
|
||||
"hash_raw": "aea4aecefd188d9c95726b699902378676c6266a7ae37008b5c2aa0e1e1190fb",
|
||||
"url": "https://git.konn3kt.com/IQ.Lvbs/iqos/raw/branch/master/boot-4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906.img.xz",
|
||||
"hash": "4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906",
|
||||
"hash_raw": "4258981292746f5622f4a03a1e0c1d77379660e46bbaa455c504d638b5307906",
|
||||
"size": 18216960,
|
||||
"sparse": false,
|
||||
"full_check": true,
|
||||
"has_ab": true,
|
||||
"ondevice_hash": "f568e4394e36a367de58cce2b982bf597963e088b6a00b1ac88ca03cce8f62fd"
|
||||
"ondevice_hash": "7be61ba2be5617ac22d6beb8ba8b896109a554347021f5e44b72458748336975"
|
||||
},
|
||||
{
|
||||
"name": "system",
|
||||
|
||||
@@ -1 +1 @@
|
||||
fL46Z+k/wqjavP3J1S/VzE90BXcvvRF+S41MgHEXYjW+Jlnu5REOp6rvp3SJFEkKIEaiSf9PsHyiDgQkC6J2Aw==
|
||||
aGtkoy//jP3MWJmd5uvb/mxKu1KsE8ZlhrTUr1CPCotwjIVzsxOncUGN9HnUcMXoUWZbUWz9H8Q+ARYxz41/Ag==
|
||||
|
||||
Reference in New Issue
Block a user