Captured Logs

Raw output cited from Modules 1, 2, 3, and 4, kept here in full with line numbers so every "(cross-check: ...)" note in the workshop resolves to something you can actually read, not just a file path.

Process inventory

Produced by snippets/process_inventory.py (Source page), cited from Module 1.

 1  total registered: 55
 2  enabled on this machine: 43 / 55
 3  would run OFFROAD (started=False): 14
 4  ['camerad', 'deleter', 'hardwared', 'logmessaged', 'manage_athenad', 'manage_sunnylinkd', 'mapd_manager', 'models_manager', 'pandad', 'soundd', 'statsd', 'sunnylink_registration_manager', 'ui', 'uploader']
 5
 6  would run ONROAD (started=True):  30
 7  ['calibrationd', 'camerad', 'card', 'controlsd', 'deleter', 'encoderd', 'feedbackd', 'hardwared', 'journald', 'lagd', 'locationd', 'locationd_llk', 'loggerd', 'logmessaged', 'manage_athenad', 'manage_sunnylinkd', 'mapd_manager', 'micd', 'modeld', 'pandad', 'paramsd', 'plannerd', 'proclogd', 'radard', 'selfdrived', 'soundd', 'statsd', 'sunnylink_registration_manager', 'torqued', 'ui']
 8
 9  onroad-only (18): ['calibrationd', 'card', 'controlsd', 'encoderd', 'feedbackd', 'journald', 'lagd', 'locationd', 'locationd_llk', 'loggerd', 'micd', 'modeld', 'paramsd', 'plannerd', 'proclogd', 'radard', 'selfdrived', 'torqued']

Live messages, one instant

Produced by snippets/dump_msgs.py (Source page), captured against ./tools/replay/replay --demo --no-vipc -c 3 -s 45. Cited from Module 2 and Module 3.

 1  === carState (valid=True) ===
 2    vEgo=27.209 m/s  gasPressed=False  cruiseState.speed=33.528  standstill=False
 3
 4  === modelV2 (valid=True) ===
 5    frameId=983  laneLineProbs=[0.56, 0.922, 0.393, 0.027]  leadsV3[0].prob=0.115  action.desiredAcceleration=0.306
 6
 7  === selfdriveState (valid=True) ===
 8    state=enabled  enabled=True  active=True  alertType=''
 9
10  === carControl (valid=True) ===
11    latActive=True  longActive=True  cruiseControl.override=False  actuators.accel=0.277  actuators.curvature=0.00007
12
13  === radarState (valid=True) ===
14    leadOne.status=False  leadOne.dRel=0.000
15
16  === longitudinalPlan (valid=True) ===
17    longitudinalPlanSource=e2e  aTarget=0.306  hasLead=False  speeds[0]=29.618  speeds[-1]=32.449
18
19  seen: {'selfdriveState', 'carState', 'longitudinalPlan', 'modelV2', 'radarState', 'carControl'}

MADS state transitions

Produced by snippets/dump_state_transitions.py (Source page), captured against ./tools/replay/replay --demo --no-vipc -c 5 -x 3 --no-loop. Cited from Module 4.

1  [1] state -> disabled  (gasPressed=False, vEgo=0.00, latActive=False, longActive=False, alertType='')
2  [2] state -> overriding  (gasPressed=True, vEgo=14.47, latActive=False, longActive=False, alertType='pcmEnable/enable')
3  [3] state -> enabled  (gasPressed=False, vEgo=15.64, latActive=True, longActive=False, alertType='gasPressedOverride/overrideLongitudinal')
4  [4] state -> overriding  (gasPressed=False, vEgo=16.16, latActive=True, longActive=True, alertType='steerOverride/overrideLateral')
5  [5] state -> enabled  (gasPressed=False, vEgo=16.17, latActive=True, longActive=True, alertType='steerOverride/overrideLateral')
6  [6] state -> overriding  (gasPressed=False, vEgo=16.53, latActive=True, longActive=True, alertType='steerOverride/overrideLateral')
7  [7] state -> enabled  (gasPressed=False, vEgo=16.55, latActive=True, longActive=True, alertType='steerOverride/overrideLateral')
8  [8] state -> overriding  (gasPressed=False, vEgo=22.90, latActive=True, longActive=True, alertType='preLaneChangeLeft/warning')
9  done, transitions: 8

Note on determinism: rerunning these exact commands against this checkout's cached copy of the demo route reproduces these numbers byte for byte. The demo route itself is a fixed, published recording (5beb9b58bd12b691/0000010a--a51155e496), not a live drive, so there's no run-to-run variance to worry about the way there would be with a fresh recording.