From 5212c29964b56f0bce73ab61a036611782bbe278 Mon Sep 17 00:00:00 2001 From: FrogAi <91348155+FrogAi@users.noreply.github.com> Date: Sun, 13 Oct 2024 16:34:19 -0700 Subject: [PATCH] October 13th, 2024 Update --- selfdrive/car/toyota/interface.py | 4 +- selfdrive/classic_modeld/modeld | 10 - selfdrive/classic_modeld/modeld.py | 366 ------------------ selfdrive/controls/lib/longcontrol.py | 3 - .../christmas/icons/button_flag.png | Bin 39077 -> 0 bytes .../christmas/icons/button_home.png | Bin 39077 -> 0 bytes .../christmas/icons/button_settings.png | Bin 2779 -> 0 bytes .../christmas/sounds/disengage.wav | Bin 68628 -> 0 bytes .../christmas/sounds/engage.wav | Bin 63120 -> 0 bytes .../easter/icons/button_flag.png | Bin 24370 -> 0 bytes .../easter/icons/button_home.png | Bin 24370 -> 0 bytes .../easter/icons/button_settings.png | Bin 5999 -> 0 bytes .../easter/signals/turn_signal_1.png | Bin 47186 -> 0 bytes .../easter/signals/turn_signal_1_red.png | Bin 35910 -> 0 bytes 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39077 -> 0 bytes .../valentines_day/icons/button_settings.png | Bin 2779 -> 0 bytes .../valentines_day/sounds/disengage.wav | Bin 68628 -> 0 bytes .../valentines_day/sounds/engage.wav | Bin 63120 -> 0 bytes selfdrive/frogpilot/frogpilot_variables.py | 1 - selfdrive/modeld/constants.py | 5 - selfdrive/modeld/fill_model_msg.py | 17 +- selfdrive/modeld/modeld.py | 92 +---- selfdrive/modeld/models/classic_metadata.pkl | Bin 687 -> 0 bytes selfdrive/modeld/models/commonmodel.cc | 10 - selfdrive/modeld/models/commonmodel.pxd | 1 - .../modeld/models/gas-brake_metadata.pkl | Bin 686 -> 0 bytes selfdrive/modeld/models/poseless_metadata.pkl | Bin 686 -> 0 bytes .../models/secret-good-openpilot_metadata.pkl | Bin 663 -> 0 bytes selfdrive/modeld/parse_model_outputs.py | 2 +- system/athena/manage_athenad.py | 4 - 61 files changed, 18 insertions(+), 497 deletions(-) delete mode 100755 selfdrive/classic_modeld/modeld delete mode 100755 selfdrive/classic_modeld/modeld.py delete mode 100644 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selfdrive/frogpilot/assets/holiday_themes/valentines_day/icons/button_home.png delete mode 100644 selfdrive/frogpilot/assets/holiday_themes/valentines_day/icons/button_settings.png delete mode 100644 selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/disengage.wav delete mode 100644 selfdrive/frogpilot/assets/holiday_themes/valentines_day/sounds/engage.wav delete mode 100644 selfdrive/modeld/models/classic_metadata.pkl delete mode 100644 selfdrive/modeld/models/gas-brake_metadata.pkl delete mode 100644 selfdrive/modeld/models/poseless_metadata.pkl delete mode 100644 selfdrive/modeld/models/secret-good-openpilot_metadata.pkl diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 426f9cc8ef1c82..8222599e2cf267 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -157,9 +157,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp if params.get_bool("FrogsGoMoosTweak"): if candidate in TSS2_CAR or ret.flags & ToyotaFlags.NEW_TOYOTA_TUNE: - tune.kiV = [0.3] + tune.kiV = [0.5] - ret.stoppingDecelRate = 0.01 # reach stopping target smoothly + ret.stoppingDecelRate = 0.1 # reach stopping target smoothly ret.vEgoStopping = 0.15 ret.vEgoStarting = 0.15 diff --git a/selfdrive/classic_modeld/modeld b/selfdrive/classic_modeld/modeld deleted file mode 100755 index e1cef4dcc35f18..00000000000000 --- a/selfdrive/classic_modeld/modeld +++ /dev/null @@ -1,10 +0,0 @@ -#!/usr/bin/env bash - -DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" -cd "$DIR/../../" - -if [ -f "$DIR/libthneed.so" ]; then - export LD_PRELOAD="$DIR/libthneed.so" -fi - -exec "$DIR/modeld.py" "$@" diff --git a/selfdrive/classic_modeld/modeld.py b/selfdrive/classic_modeld/modeld.py deleted file mode 100755 index ad476c5830ac9e..00000000000000 --- a/selfdrive/classic_modeld/modeld.py +++ /dev/null @@ -1,366 +0,0 @@ -#!/usr/bin/env python3 -import os -import time -import pickle -import numpy as np -import cereal.messaging as messaging -from cereal import car, log -from pathlib import Path -from setproctitle import setproctitle -from types import SimpleNamespace -from cereal.messaging import PubMaster, SubMaster -from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf -from openpilot.common.swaglog import cloudlog -from openpilot.common.params import Params -from openpilot.common.filter_simple import FirstOrderFilter -from openpilot.common.realtime import config_realtime_process -from openpilot.common.transformations.camera import DEVICE_CAMERAS -from openpilot.common.transformations.model import get_warp_matrix -from openpilot.system import sentry -from openpilot.selfdrive.car.car_helpers import get_demo_car_params -from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper -from openpilot.selfdrive.classic_modeld.runners import ModelRunner, Runtime -from openpilot.selfdrive.classic_modeld.parse_model_outputs import Parser -from openpilot.selfdrive.classic_modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState -from openpilot.selfdrive.classic_modeld.constants import ModelConstants -from openpilot.selfdrive.classic_modeld.models.commonmodel_pyx import ModelFrame, CLContext - -from openpilot.selfdrive.frogpilot.assets.model_manager import DEFAULT_MODEL -from openpilot.selfdrive.frogpilot.frogpilot_functions import MODELS_PATH -from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables - -PROCESS_NAME = "selfdrive.classic_modeld.modeld" -SEND_RAW_PRED = os.getenv('SEND_RAW_PRED') - -MODEL_PATHS = { - ModelRunner.THNEED: Path(__file__).parent / 'models/supercombo.thneed', - ModelRunner.ONNX: Path(__file__).parent / 'models/supercombo.onnx'} - -METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl' - -class FrameMeta: - frame_id: int = 0 - timestamp_sof: int = 0 - timestamp_eof: int = 0 - - def __init__(self, vipc=None): - if vipc is not None: - self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof - -class ModelState: - frame: ModelFrame - wide_frame: ModelFrame - inputs: dict[str, np.ndarray] - output: np.ndarray - prev_desire: np.ndarray # for tracking the rising edge of the pulse - model: ModelRunner - - def __init__(self, context: CLContext, frogpilot_toggles: SimpleNamespace): - # FrogPilot variables - self.enable_navigation = not frogpilot_toggles.navigationless_model - self.radarless = frogpilot_toggles.radarless_model - - if frogpilot_toggles.model != DEFAULT_MODEL: - MODEL_PATHS[ModelRunner.THNEED] = Path(__file__).parent / f'{MODELS_PATH}/{frogpilot_toggles.model}.thneed' - - self.frame = ModelFrame(context) - self.wide_frame = ModelFrame(context) - self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) - self.inputs = { - 'desire': np.zeros(ModelConstants.DESIRE_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), - 'traffic_convention': np.zeros(ModelConstants.TRAFFIC_CONVENTION_LEN, dtype=np.float32), - 'lateral_control_params': np.zeros(ModelConstants.LATERAL_CONTROL_PARAMS_LEN, dtype=np.float32), - 'prev_desired_curv': np.zeros(ModelConstants.PREV_DESIRED_CURV_LEN * (ModelConstants.HISTORY_BUFFER_LEN+1), dtype=np.float32), - **({'nav_features': np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32), - 'nav_instructions': np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32)} if self.enable_navigation else {}), - 'features_buffer': np.zeros((ModelConstants.HISTORY_BUFFER_LEN) * ModelConstants.FEATURE_LEN, dtype=np.float32), - **({'radar_tracks': np.zeros(ModelConstants.RADAR_TRACKS_LEN * ModelConstants.RADAR_TRACKS_WIDTH, dtype=np.float32)} if self.radarless else {}), - } - - with open(METADATA_PATH, 'rb') as f: - model_metadata = pickle.load(f) - - self.output_slices = model_metadata['output_slices'] - net_output_size = model_metadata['output_shapes']['outputs'][1] - self.output = np.zeros(net_output_size, dtype=np.float32) - self.parser = Parser() - - self.model = ModelRunner(MODEL_PATHS, self.output, Runtime.GPU, False, context) - self.model.addInput("input_imgs", None) - self.model.addInput("big_input_imgs", None) - for k,v in self.inputs.items(): - self.model.addInput(k, v) - - def slice_outputs(self, model_outputs: np.ndarray) -> dict[str, np.ndarray]: - parsed_model_outputs = {k: model_outputs[np.newaxis, v] for k,v in self.output_slices.items()} - if SEND_RAW_PRED: - parsed_model_outputs['raw_pred'] = model_outputs.copy() - return parsed_model_outputs - - def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray, - inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None: - # Model decides when action is completed, so desire input is just a pulse triggered on rising edge - inputs['desire'][0] = 0 - self.inputs['desire'][:-ModelConstants.DESIRE_LEN] = self.inputs['desire'][ModelConstants.DESIRE_LEN:] - self.inputs['desire'][-ModelConstants.DESIRE_LEN:] = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0) - self.prev_desire[:] = inputs['desire'] - - self.inputs['traffic_convention'][:] = inputs['traffic_convention'] - self.inputs['lateral_control_params'][:] = inputs['lateral_control_params'] - - if self.enable_navigation: - self.inputs['nav_features'][:] = inputs['nav_features'] - self.inputs['nav_instructions'][:] = inputs['nav_instructions'] - - if self.radarless: - self.inputs['radar_tracks'][:] = inputs['radar_tracks'] - - # if getCLBuffer is not None, frame will be None - self.model.setInputBuffer("input_imgs", self.frame.prepare(buf, transform.flatten(), self.model.getCLBuffer("input_imgs"))) - if wbuf is not None: - self.model.setInputBuffer("big_input_imgs", self.wide_frame.prepare(wbuf, transform_wide.flatten(), self.model.getCLBuffer("big_input_imgs"))) - - if prepare_only: - return None - - self.model.execute() - outputs = self.parser.parse_outputs(self.slice_outputs(self.output)) - - self.inputs['features_buffer'][:-ModelConstants.FEATURE_LEN] = self.inputs['features_buffer'][ModelConstants.FEATURE_LEN:] - self.inputs['features_buffer'][-ModelConstants.FEATURE_LEN:] = outputs['hidden_state'][0, :] - self.inputs['prev_desired_curv'][:-ModelConstants.PREV_DESIRED_CURV_LEN] = self.inputs['prev_desired_curv'][ModelConstants.PREV_DESIRED_CURV_LEN:] - self.inputs['prev_desired_curv'][-ModelConstants.PREV_DESIRED_CURV_LEN:] = outputs['desired_curvature'][0, :] - return outputs - - -def main(demo=False): - # FrogPilot variables - frogpilot_toggles = FrogPilotVariables.toggles - FrogPilotVariables.update_frogpilot_params() - - enable_navigation = not frogpilot_toggles.navigationless_model - radarless = frogpilot_toggles.radarless_model - - update_toggles = False - - cloudlog.warning("classic_modeld init") - - sentry.set_tag("daemon", PROCESS_NAME) - cloudlog.bind(daemon=PROCESS_NAME) - setproctitle(PROCESS_NAME) - config_realtime_process(7, 54) - - cloudlog.warning("setting up CL context") - cl_context = CLContext() - cloudlog.warning("CL context ready; loading model") - model = ModelState(cl_context, frogpilot_toggles) - cloudlog.warning("models loaded, classic_modeld starting") - - # visionipc clients - while True: - available_streams = VisionIpcClient.available_streams("camerad", block=False) - if available_streams: - use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams - main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams - break - time.sleep(.1) - - vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD - vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True, cl_context) - vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False, cl_context) - cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}") - - while not vipc_client_main.connect(False): - time.sleep(0.1) - while use_extra_client and not vipc_client_extra.connect(False): - time.sleep(0.1) - - cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})") - if use_extra_client: - cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})") - - # messaging - pm = PubMaster(["modelV2", "cameraOdometry"]) - sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl", "liveTracks", "frogpilotPlan"]) - - publish_state = PublishState() - params = Params() - - # setup filter to track dropped frames - frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ) - frame_id = 0 - last_vipc_frame_id = 0 - run_count = 0 - - model_transform_main = np.zeros((3, 3), dtype=np.float32) - model_transform_extra = np.zeros((3, 3), dtype=np.float32) - live_calib_seen = False - nav_features = np.zeros(ModelConstants.NAV_FEATURE_LEN, dtype=np.float32) - nav_instructions = np.zeros(ModelConstants.NAV_INSTRUCTION_LEN, dtype=np.float32) - buf_main, buf_extra = None, None - meta_main = FrameMeta() - meta_extra = FrameMeta() - - - if demo: - CP = get_demo_car_params() - else: - with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: - CP = msg - cloudlog.info("classic_modeld got CarParams: %s", CP.carName) - - # TODO this needs more thought, use .2s extra for now to estimate other delays - steer_delay = CP.steerActuatorDelay + .2 - - DH = DesireHelper() - - while True: - # Keep receiving frames until we are at least 1 frame ahead of previous extra frame - while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: - buf_main = vipc_client_main.recv() - meta_main = FrameMeta(vipc_client_main) - if buf_main is None: - break - - if buf_main is None: - cloudlog.debug("vipc_client_main no frame") - continue - - if use_extra_client: - # Keep receiving extra frames until frame id matches main camera - while True: - buf_extra = vipc_client_extra.recv() - meta_extra = FrameMeta(vipc_client_extra) - if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000: - break - - if buf_extra is None: - cloudlog.debug("vipc_client_extra no frame") - continue - - if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000: - cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\ - extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})") - - else: - # Use single camera - buf_extra = buf_main - meta_extra = meta_main - - sm.update(0) - desire = DH.desire - is_rhd = sm["driverMonitoringState"].isRHD - frame_id = sm["roadCameraState"].frameId - lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32) - if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']: - device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32) - dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))] - model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32) - model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32) - live_calib_seen = True - - traffic_convention = np.zeros(2) - traffic_convention[int(is_rhd)] = 1 - - vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32) - if desire >= 0 and desire < ModelConstants.DESIRE_LEN: - vec_desire[desire] = 1 - - # Enable/disable nav features - timestamp_llk = sm["navModel"].locationMonoTime - nav_valid = sm.valid["navModel"] # and (nanos_since_boot() - timestamp_llk < 1e9) - nav_enabled = nav_valid and enable_navigation - - if not nav_enabled: - nav_features[:] = 0 - nav_instructions[:] = 0 - - if nav_enabled and sm.updated["navModel"]: - nav_features = np.array(sm["navModel"].features) - - if nav_enabled and sm.updated["navInstruction"]: - nav_instructions[:] = 0 - for maneuver in sm["navInstruction"].allManeuvers: - distance_idx = 25 + int(maneuver.distance / 20) - direction_idx = 0 - if maneuver.modifier in ("left", "slight left", "sharp left"): - direction_idx = 1 - if maneuver.modifier in ("right", "slight right", "sharp right"): - direction_idx = 2 - if 0 <= distance_idx < 50: - nav_instructions[distance_idx*3 + direction_idx] = 1 - - radar_tracks = np.zeros(ModelConstants.RADAR_TRACKS_LEN * ModelConstants.RADAR_TRACKS_WIDTH, dtype=np.float32) - if sm.updated["liveTracks"]: - for i, track in enumerate(sm["liveTracks"]): - if i >= ModelConstants.RADAR_TRACKS_LEN: - break - vec_index = i * ModelConstants.RADAR_TRACKS_WIDTH - radar_tracks[vec_index:vec_index+ModelConstants.RADAR_TRACKS_WIDTH] = [track.dRel, track.yRel, track.vRel] - - # tracked dropped frames - vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1) - frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10)) - if run_count < 10: # let frame drops warm up - frame_dropped_filter.x = 0. - frames_dropped = 0. - run_count = run_count + 1 - - frame_drop_ratio = frames_dropped / (1 + frames_dropped) - prepare_only = vipc_dropped_frames > 0 - if prepare_only: - cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames") - - inputs:dict[str, np.ndarray] = { - 'desire': vec_desire, - 'traffic_convention': traffic_convention, - 'lateral_control_params': lateral_control_params, - **({'nav_features': nav_features, 'nav_instructions': nav_instructions} if enable_navigation else {}), - **({'radar_tracks': radar_tracks,} if radarless else {}), - } - - mt1 = time.perf_counter() - model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only) - mt2 = time.perf_counter() - model_execution_time = mt2 - mt1 - - if model_output is not None: - modelv2_send = messaging.new_message('modelV2') - posenet_send = messaging.new_message('cameraOdometry') - fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, - meta_main.timestamp_eof, timestamp_llk, model_execution_time, live_calib_seen, nav_enabled) - - desire_state = modelv2_send.modelV2.meta.desireState - l_lane_change_prob = desire_state[log.Desire.laneChangeLeft] - r_lane_change_prob = desire_state[log.Desire.laneChangeRight] - lane_change_prob = l_lane_change_prob + r_lane_change_prob - DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, sm['frogpilotPlan'], frogpilot_toggles) - modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state - modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction - modelv2_send.modelV2.meta.turnDirection = DH.turn_direction - - fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen) - pm.send('modelV2', modelv2_send) - pm.send('cameraOdometry', posenet_send) - - last_vipc_frame_id = meta_main.frame_id - - # Update FrogPilot parameters - if FrogPilotVariables.toggles_updated: - update_toggles = True - elif update_toggles: - FrogPilotVariables.update_frogpilot_params() - update_toggles = False - -if __name__ == "__main__": - try: - import argparse - parser = argparse.ArgumentParser() - parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.') - args = parser.parse_args() - main(demo=args.demo) - except KeyboardInterrupt: - cloudlog.warning(f"child {PROCESS_NAME} got SIGINT") - except Exception: - sentry.capture_exception() - raise diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index b089a8be52a69c..7e4a780263c449 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -116,9 +116,6 @@ def update(self, active, CS, a_target, should_stop, accel_limits): if output_accel > self.CP.stopAccel: output_accel = min(output_accel, 0.0) output_accel -= self.CP.stoppingDecelRate * DT_CTRL - elif output_accel < self.CP.stopAccel: - output_accel = min(output_accel, 0.0) - output_accel += self.CP.stoppingDecelRate * DT_CTRL self.reset() elif self.long_control_state == LongCtrlState.starting: diff --git 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