Merge pull request #8 from BBBmau/fix-ui-preview-2

Fix UI preview 2

.github/workflows/stale.yaml

@@ -21,7 +21,7 @@ jobs:
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
           delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
-          exempt-pr-labels: "ignore stale,needs testing,car port,car" # if wip or it needs testing from the community, don't mark as stale
+          exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}
 

.github/workflows/ui_preview.yaml

@@ -88,14 +88,15 @@ jobs:
           A=($scenes)
 
           DIFF=""
-          TABLE="<details>"
-          TABLE="${TABLE}<summary>All Screenshots</summary>"
+          open=false
+          TABLE="<summary>All Screenshots</summary>"
           TABLE="${TABLE}<table>"
 
           for ((i=0; i<${#A[*]}; i=i+1));
           do
 
             if ! compare -fuzz 2% -highlight-color DeepSkyBlue1 -lowlight-color Black -compose Src ${{ github.workspace }}/master_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}.png ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png; then
+              open=true
               convert ${{ github.workspace }}/pr_ui/${A[$i]}_diff.png -transparent black mask.png
               composite mask.png ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png
               convert -delay 20 ${{ github.workspace }}/master_ui/${A[$i]}.png composite_diff.png -loop 0 ${{ github.workspace }}/pr_ui/${A[$i]}_diff.gif
@@ -134,7 +135,11 @@ jobs:
 
           TABLE="${TABLE}</table>"
           TABLE="${TABLE}</details>"
-
+          if [[ $open = true ]]; then
+            TABLE="<details open>${TABLE}"
+          else
+            TABLE="<details>${TABLE}"
+          fi
           echo "DIFF=$DIFF$TABLE" >> "$GITHUB_OUTPUT"
 
       - name: Saving proposed ui

cereal/messaging/__init__.py

@@ -109,25 +109,38 @@ def __init__(self, service_freq: float, update_freq: float, is_poll: bool):
     self.min_freq = min_freq * 0.8
     self.max_freq = max_freq * 1.2
     self.recv_dts: Deque[float] = deque(maxlen=int(10 * freq))
+    self.recv_dts_sum = 0.0
+    self.recent_recv_dts: Deque[float] = deque(maxlen=int(freq))
+    self.recent_recv_dts_sum = 0.0
     self.prev_time = 0.0
 
   def record_recv_time(self, cur_time: float) -> None:
     # TODO: Handle case where cur_time is less than prev_time
     if self.prev_time > 1e-5:
-      self.recv_dts.append(cur_time - self.prev_time)
+      dt = cur_time - self.prev_time
+
+      if len(self.recv_dts) == self.recv_dts.maxlen:
+        self.recv_dts_sum -= self.recv_dts[0]
+      self.recv_dts.append(dt)
+      self.recv_dts_sum += dt
+
+      if len(self.recent_recv_dts) == self.recent_recv_dts.maxlen:
+        self.recent_recv_dts_sum -= self.recent_recv_dts[0]
+      self.recent_recv_dts.append(dt)
+      self.recent_recv_dts_sum += dt
+
     self.prev_time = cur_time
 
   @property
   def valid(self) -> bool:
     if not self.recv_dts:
       return False
 
-    avg_freq = len(self.recv_dts) / sum(self.recv_dts)
+    avg_freq = len(self.recv_dts) / self.recv_dts_sum
     if self.min_freq <= avg_freq <= self.max_freq:
       return True
 
-    recent_dts = list(self.recv_dts)[-int(self.recv_dts.maxlen / 10):]
-    avg_freq_recent = len(recent_dts) / sum(recent_dts)
+    avg_freq_recent = len(self.recent_recv_dts) / self.recent_recv_dts_sum
     return self.min_freq <= avg_freq_recent <= self.max_freq
 
 

docs/CARS.md

@@ -53,7 +53,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV70 Electrified (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023">Buy Here</a></sub></details>||

selfdrive/modeld/constants.py

@@ -72,14 +72,14 @@ class Plan:
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
-  GAS_DISENGAGE = slice(1, 41, 8)
-  BRAKE_DISENGAGE = slice(2, 41, 8)
-  STEER_OVERRIDE = slice(3, 41, 8)
-  HARD_BRAKE_3 = slice(4, 41, 8)
-  HARD_BRAKE_4 = slice(5, 41, 8)
-  HARD_BRAKE_5 = slice(6, 41, 8)
-  GAS_PRESS = slice(7, 41, 8)
-  BRAKE_PRESS = slice(8, 41, 8)
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
   # next 0, 2, 4, 6, 8, 10 seconds
-  LEFT_BLINKER = slice(41, 53, 2)
-  RIGHT_BLINKER = slice(42, 53, 2)
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)

selfdrive/modeld/models/commonmodel.cc

@@ -7,28 +7,28 @@
 #include "common/clutil.h"
 
 ModelFrame::ModelFrame(cl_device_id device_id, cl_context context) {
-  input_frames = std::make_unique<float[]>(buf_size);
+  input_frames = std::make_unique<uint8_t[]>(buf_size);
 
   q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
   y_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_WIDTH * MODEL_HEIGHT, NULL, &err));
   u_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
   v_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, (MODEL_WIDTH / 2) * (MODEL_HEIGHT / 2), NULL, &err));
-  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(float), NULL, &err));
+  net_input_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, MODEL_FRAME_SIZE * sizeof(uint8_t), NULL, &err));
 
   transform_init(&transform, context, device_id);
   loadyuv_init(&loadyuv, context, device_id, MODEL_WIDTH, MODEL_HEIGHT);
 }
 
-float* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
+uint8_t* ModelFrame::prepare(cl_mem yuv_cl, int frame_width, int frame_height, int frame_stride, int frame_uv_offset, const mat3 &projection, cl_mem *output) {
   transform_queue(&this->transform, q,
-                  yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
-                  y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
+                yuv_cl, frame_width, frame_height, frame_stride, frame_uv_offset,
+                y_cl, u_cl, v_cl, MODEL_WIDTH, MODEL_HEIGHT, projection);
 
   if (output == NULL) {
     loadyuv_queue(&loadyuv, q, y_cl, u_cl, v_cl, net_input_cl);
 
-    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(float) * MODEL_FRAME_SIZE);
-    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(float), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
+    std::memmove(&input_frames[0], &input_frames[MODEL_FRAME_SIZE], sizeof(uint8_t) * MODEL_FRAME_SIZE);
+    CL_CHECK(clEnqueueReadBuffer(q, net_input_cl, CL_TRUE, 0, MODEL_FRAME_SIZE * sizeof(uint8_t), &input_frames[MODEL_FRAME_SIZE], 0, nullptr, nullptr));
     clFinish(q);
     return &input_frames[0];
   } else {

selfdrive/modeld/models/commonmodel.h

@@ -20,7 +20,7 @@ class ModelFrame {
 public:
   ModelFrame(cl_device_id device_id, cl_context context);
   ~ModelFrame();
-  float* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
+  uint8_t* prepare(cl_mem yuv_cl, int width, int height, int frame_stride, int frame_uv_offset, const mat3& transform, cl_mem *output);
 
   const int MODEL_WIDTH = 512;
   const int MODEL_HEIGHT = 256;
@@ -32,5 +32,5 @@ class ModelFrame {
   LoadYUVState loadyuv;
   cl_command_queue q;
   cl_mem y_cl, u_cl, v_cl, net_input_cl;
-  std::unique_ptr<float[]> input_frames;
+  std::unique_ptr<uint8_t[]> input_frames;
 };

selfdrive/modeld/models/commonmodel.pxd

@@ -15,4 +15,4 @@ cdef extern from "selfdrive/modeld/models/commonmodel.h":
   cppclass ModelFrame:
     int buf_size
     ModelFrame(cl_device_id, cl_context)
-    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+    unsigned char * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)

selfdrive/modeld/models/commonmodel_pyx.pyx

@@ -35,11 +35,11 @@ cdef class ModelFrame:
   def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
     cdef mat3 cprojection
     memcpy(cprojection.v, &projection[0], 9*sizeof(float))
-    cdef float * data
+    cdef unsigned char * data
     if output is None:
       data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, NULL)
     else:
       data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
     if not data:
       return None
-    return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
+    return np.asarray(<cnp.uint8_t[:self.frame.buf_size]> data)

selfdrive/modeld/transforms/loadyuv.cl

@@ -1,7 +1,7 @@
 #define UV_SIZE ((TRANSFORMED_WIDTH/2)*(TRANSFORMED_HEIGHT/2))
 
 __kernel void loadys(__global uchar8 const * const Y,
-                     __global float * out,
+                     __global uchar * out,
                      int out_offset)
 {
     const int gid = get_global_id(0);
@@ -10,13 +10,12 @@ __kernel void loadys(__global uchar8 const * const Y,
     const int ox = ois % TRANSFORMED_WIDTH;
 
     const uchar8 ys = Y[gid];
-    const float8 ysf = convert_float8(ys);
 
     // 02
     // 13
 
-    __global float* outy0;
-    __global float* outy1;
+    __global uchar* outy0;
+    __global uchar* outy1;
     if ((oy & 1) == 0) {
       outy0 = out + out_offset; //y0
       outy1 = out + out_offset + UV_SIZE*2; //y2
@@ -25,21 +24,20 @@ __kernel void loadys(__global uchar8 const * const Y,
       outy1 = out + out_offset + UV_SIZE*3; //y3
     }
 
-    vstore4(ysf.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
-    vstore4(ysf.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ys.s0246, 0, outy0 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
+    vstore4(ys.s1357, 0, outy1 + (oy/2) * (TRANSFORMED_WIDTH/2) + ox/2);
 }
 
 __kernel void loaduv(__global uchar8 const * const in,
-                     __global float8 * out,
+                     __global uchar8 * out,
                      int out_offset)
 {
   const int gid = get_global_id(0);
   const uchar8 inv = in[gid];
-  const float8 outv  = convert_float8(inv);
-  out[gid + out_offset / 8] = outv;
+  out[gid + out_offset / 8] = inv;
 }
 
-__kernel void copy(__global float8 * inout,
+__kernel void copy(__global uchar8 * inout,
                    int in_offset)
 {
   const int gid = get_global_id(0);

selfdrive/test/process_replay/model_replay.py

@@ -129,7 +129,7 @@ def model_replay(lr, frs):
         for i in range(4):
           for field in ('x', 'y', 'z', 't'):
             ignore.append(f'modelV2.laneLines.{i}.{field}')
-      tolerance = .2 if PC else None
+      tolerance = .3 if PC else None
       results: Any = {TEST_ROUTE: {}}
       log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-7cd64f431b814adfa11118643efe3822c496922b
+ff10a803005f5116a8f3d88629503bc52b15b93f

selfdrive/test/test_onroad.py

@@ -36,19 +36,19 @@
 MAX_TOTAL_CPU = 265.  # total for all 8 cores
 PROCS = {
   # Baseline CPU usage by process
-  "selfdrive.controls.controlsd": 18.0,
-  "selfdrive.selfdrived.selfdrived": 21.0,
+  "selfdrive.controls.controlsd": 16.0,
+  "selfdrive.selfdrived.selfdrived": 16.0,
   "selfdrive.car.card": 30.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
-  "selfdrive.controls.plannerd": 11.0,
+  "selfdrive.controls.plannerd": 9.0,
   "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 17.0,
-  "selfdrive.modeld.dmonitoringmodeld": 8.0,
+  "selfdrive.modeld.dmonitoringmodeld": 11.0,
   "system.hardware.hardwared": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,

selfdrive/ui/qt/offroad/settings.cc

@@ -22,7 +22,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "OpenpilotEnabledToggle",
       tr("Enable openpilot"),
       tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
-      "../assets/offroad/icon_openpilot.png",
+      "../assets/img_chffr_wheel.png",
     },
     {
       "ExperimentalLongitudinalEnabled",

system/camerad/cameras/camera_qcom2.cc

@@ -178,9 +178,10 @@ void CameraState::set_camera_exposure(float grey_frac) {
     new_exp_t = exposure_time;
     enable_dc_gain = false;
   } else {
-    // Simple brute force optimizer to choose sensor parameters
-    // to reach desired EV
-    for (int g = std::max((int)sensor->analog_gain_min_idx, gain_idx - 1); g <= std::min((int)sensor->analog_gain_max_idx, gain_idx + 1); g++) {
+    // Simple brute force optimizer to choose sensor parameters to reach desired EV
+    int min_g = std::max(gain_idx - 1, sensor->analog_gain_min_idx);
+    int max_g = std::min(gain_idx + 1, sensor->analog_gain_max_idx);
+    for (int g = min_g; g <= max_g; g++) {
       float gain = sensor->sensor_analog_gains[g] * get_gain_factor();
 
       // Compute optimal time for given gain

tools/longitudinal_maneuvers/generate_report.py

@@ -92,7 +92,7 @@ def report(platform, route, _description, CP, maneuvers):
         # TODO localizer accel
         ax[0].set_ylabel('Acceleration (m/s^2)')
         #ax[0].set_ylim(-6.5, 6.5)
-        ax[0].legend()
+        ax[0].legend(prop={'size': 30})
 
         if target_cross_time is not None:
           ax[0].plot(target_cross_time, aTarget, marker='o', markersize=50, markeredgewidth=7, markeredgecolor='black', markerfacecolor='None')

tools/longitudinal_maneuvers/maneuversd.py

@@ -80,18 +80,18 @@ def active(self):
   ),
   Maneuver(
    "start from stop",
-   [Action(1.5, 3)],
+   [Action(1.5, 5)],
    repeat=3,
    initial_speed=0.,
   ),
   Maneuver(
    "creep: alternate between +1m/s^2 and -1m/s^2",
    [
-     Action(1, 2), Action(-1, 2),
-     Action(1, 2), Action(-1, 2),
-     Action(1, 2), Action(-1, 2),
+     Action(1, 3), Action(-1, 3),
+     Action(1, 3), Action(-1, 3),
+     Action(1, 3), Action(-1, 3),
    ],
-   repeat=1,
+   repeat=2,
    initial_speed=0.,
   ),
   Maneuver(