From 8a0475bd3bc4c86777be234d393a4e80da1a5fcd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 22 Oct 2022 16:15:03 -0700 Subject: [PATCH 01/68] cabana: fix BinaryView byte indices --- tools/cabana/binaryview.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index eee3f9098..785e5c4a0 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -212,7 +212,7 @@ void BinaryViewModel::updateState() { QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Vertical) { switch (role) { - case Qt::DisplayRole: return section + 1; + case Qt::DisplayRole: return section; case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT); case Qt::TextAlignmentRole: return Qt::AlignCenter; } From 6d443007bcf47b02972e9b5f0ccc84ba1ff5165d Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 23 Oct 2022 14:03:58 -0400 Subject: [PATCH 02/68] VW MQB: Add FW for 2016 Volkswagen Passat (#26212) --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 8c679c740..695868452 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -555,6 +555,7 @@ FW_VERSIONS = { b'\xf1\x8703N906026E \xf1\x892114', b'\xf1\x8704E906023AH\xf1\x893379', b'\xf1\x8704L906026ET\xf1\x891990', + b'\xf1\x8704L906026FP\xf1\x892012', b'\xf1\x8704L906026GA\xf1\x892013', b'\xf1\x8704L906026KD\xf1\x894798', b'\xf1\x873G0906264 \xf1\x890004', @@ -562,6 +563,7 @@ FW_VERSIONS = { (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300043H \xf1\x891601', b'\xf1\x870CW300048R \xf1\x890610', + b'\xf1\x870D9300013A \xf1\x894905', b'\xf1\x870D9300014L \xf1\x895002', b'\xf1\x870D9300041A \xf1\x894801', b'\xf1\x870DD300045T \xf1\x891601', @@ -579,6 +581,7 @@ FW_VERSIONS = { ], (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', From 80c565d9fe9b10a05e34ae867f7711389ae240d1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:38:38 +0800 Subject: [PATCH 03/68] Cabana: no popup when adding a new signal. (#26155) * merge master * GM: make loopback updated check more explicit This previously checked if parser_pyx filled the defaultdict, now it checks the values in the list (same either way) * merge master * continue * continue * check for duplicate name * check duplicate signal name in saveSignal * check signal size * size*8 * cleanup * check size after push_back * install qlog handler at end * remove todo Co-authored-by: Shane Smiskol --- tools/cabana/binaryview.cc | 6 --- tools/cabana/canmessages.cc | 4 +- tools/cabana/dbcmanager.cc | 18 ++++++++ tools/cabana/dbcmanager.h | 2 + tools/cabana/detailwidget.cc | 75 ++++++++++++++++++-------------- tools/cabana/detailwidget.h | 6 +-- tools/cabana/mainwin.cc | 6 +-- tools/cabana/signaledit.cc | 84 +++++++++++++----------------------- tools/cabana/signaledit.h | 23 ++++------ 9 files changed, 108 insertions(+), 116 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 785e5c4a0..915ec8bb8 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -13,12 +13,6 @@ const int CELL_HEIGHT = 30; -static std::pair getSignalRange(const Signal *s) { - int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); - int to = from + s->size - 1; - return {from, to}; -} - BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { model = new BinaryViewModel(this); setModel(model); diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index defeacd75..d88f34801 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -54,9 +54,9 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal); if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) { ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val}); + if (ret.size() >= max_count) + return ret; } - if (ret.size() >= max_count) - return ret; } } } diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index fc40fc58e..c3fbab034 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -121,3 +121,21 @@ double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { double value = val * sig.factor + sig.offset; return value; } + +void updateSigSizeParamsFromRange(Signal &s, int from, int to) { + s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from); + s.size = to - from + 1; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } +} + +std::pair getSignalRange(const Signal *s) { + int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); + int to = from + s->size - 1; + return {from, to}; +} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 74d935119..9e64c4ed5 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -47,5 +47,7 @@ private: double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); int bigEndianStartBitsIndex(int start_bit); int bigEndianBitIndex(int index); +void updateSigSizeParamsFromRange(Signal &s, int from, int to); +std::pair getSignalRange(const Signal *s); DBCManager *dbc(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 039a7c4e5..443b33b52 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -48,7 +48,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { warning_widget = new QWidget(this); QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); QLabel *warning_icon = new QLabel(this); - warning_icon->setPixmap(style()->standardIcon(QStyle::SP_MessageBoxWarning).pixmap({16, 16})); + warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning)); warning_hlayout->addWidget(warning_icon); warning_label = new QLabel(this); warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); @@ -78,7 +78,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::dbcMsgChanged); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); }); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { setMessage(messages[index]); }); QObject::connect(tabbar, &QTabBar::tabCloseRequested, [=](int index) { messages.removeAt(index); @@ -103,7 +103,7 @@ void DetailWidget::setMessage(const QString &message_id) { dbcMsgChanged(); } -void DetailWidget::dbcMsgChanged() { +void DetailWidget::dbcMsgChanged(int show_form_idx) { if (msg_id.isEmpty()) return; warning_widget->hide(); @@ -111,7 +111,7 @@ void DetailWidget::dbcMsgChanged() { QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { for (int i = 0; i < msg->sigs.size(); ++i) { - auto form = new SignalEdit(i, msg_id, msg->sigs[i]); + auto form = new SignalEdit(i, msg_id, &(msg->sigs[i])); signals_container->layout()->addWidget(form); QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]]() { emit showChart(msg_id, sig); }); QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); @@ -119,6 +119,9 @@ void DetailWidget::dbcMsgChanged() { QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); + if (i == show_form_idx) { + QTimer::singleShot(0, [=]() { emit form->showFormClicked(); }); + } } msg_name = msg->name.c_str(); if (msg->size != can->lastMessage(msg_id).dat.size()) { @@ -162,46 +165,54 @@ void DetailWidget::editMsg() { } } -void DetailWidget::addSignal(int start_bit, int to) { - if (dbc()->msg(msg_id)) { - AddSignalDialog dlg(msg_id, start_bit, to - start_bit + 1, this); - if (dlg.exec()) { - dbc()->addSignal(msg_id, dlg.form->getSignal()); - dbcMsgChanged(); +void DetailWidget::addSignal(int from, int to) { + if (auto msg = dbc()->msg(msg_id)) { + Signal sig = {}; + for (int i = 1; /**/; ++i) { + sig.name = "NEW_SIGNAL_" + std::to_string(i); + auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig.name == s.name; }); + if (it == msg->sigs.end()) break; } + sig.is_little_endian = false, + updateSigSizeParamsFromRange(sig, from, to); + dbc()->addSignal(msg_id, sig); + dbcMsgChanged(msg->sigs.size() - 1); } } void DetailWidget::resizeSignal(const Signal *sig, int from, int to) { - assert(sig != nullptr); Signal s = *sig; - s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from);; - s.size = to - from + 1; - if (s.is_little_endian) { - s.lsb = s.start_bit; - s.msb = s.start_bit + s.size - 1; - } else { - s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); - s.msb = s.start_bit; - } - dbc()->updateSignal(msg_id, s.name.c_str(), s); - dbcMsgChanged(); + updateSigSizeParamsFromRange(s, from, to); + saveSignal(sig, s); } -void DetailWidget::saveSignal() { - SignalEdit *sig_form = qobject_cast(QObject::sender()); - auto s = sig_form->form->getSignal(); - dbc()->updateSignal(msg_id, sig_form->sig_name, s); +void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) { + auto msg = dbc()->msg(msg_id); + if (new_sig.name != sig->name) { + auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return s.name == new_sig.name; }); + if (it != msg->sigs.end()) { + QString warning_str = tr("There is already a signal with the same name '%1'").arg(new_sig.name.c_str()); + QMessageBox::warning(this, tr("Failed to save signal"), warning_str); + return; + } + } + + auto [start, end] = getSignalRange(&new_sig); + if (start < 0 || end >= msg->size * 8) { + QString warning_str = tr("Signal size [%1] exceed limit").arg(new_sig.size); + QMessageBox::warning(this, tr("Failed to save signal"), warning_str); + return; + } + + dbc()->updateSignal(msg_id, sig->name.c_str(), new_sig); // update binary view and history log - binary_view->setMessage(msg_id); - history_log->setMessage(msg_id); + dbcMsgChanged(); } -void DetailWidget::removeSignal() { - SignalEdit *sig_form = qobject_cast(QObject::sender()); - QString text = tr("Are you sure you want to remove signal '%1'").arg(sig_form->sig_name); +void DetailWidget::removeSignal(const Signal *sig) { + QString text = tr("Are you sure you want to remove signal '%1'").arg(sig->name.c_str()); if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove signal"), text)) { - dbc()->removeSignal(msg_id, sig_form->sig_name); + dbc()->removeSignal(msg_id, sig->name.c_str()); dbcMsgChanged(); } } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 02bbb2a9e..5924cdd43 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -32,7 +32,7 @@ class DetailWidget : public QWidget { public: DetailWidget(QWidget *parent); void setMessage(const QString &message_id); - void dbcMsgChanged(); + void dbcMsgChanged(int show_form_idx = -1); signals: void showChart(const QString &msg_id, const Signal *sig); @@ -41,8 +41,8 @@ signals: private: void addSignal(int start_bit, int to); void resizeSignal(const Signal *sig, int from, int to); - void saveSignal(); - void removeSignal(); + void saveSignal(const Signal *sig, const Signal &new_sig); + void removeSignal(const Signal *sig); void editMsg(); void showForm(); void updateState(); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d0e171c86..65e7bb1af 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -14,9 +14,6 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const } MainWindow::MainWindow() : QWidget() { - main_win = this; - qInstallMessageHandler(qLogMessageHandler); - QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(11, 11, 11, 5); main_layout->setSpacing(0); @@ -88,6 +85,9 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); + + main_win = this; + qInstallMessageHandler(qLogMessageHandler); } void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) { diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index d5dccf0e6..3926cda01 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -11,7 +12,7 @@ // SignalForm -SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start_bit), QWidget(parent) { +SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { QFormLayout *form_layout = new QFormLayout(this); name = new QLineEdit(sig.name.c_str()); @@ -59,30 +60,9 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start form_layout->addRow(tr("Value descriptions"), val_desc); } -Signal SignalForm::getSignal() { - // TODO: Check if the size is valid, and no duplicate name - Signal sig = {}; - sig.start_bit = start_bit; - sig.name = name->text().toStdString(); - sig.size = size->text().toInt(); - sig.offset = offset->text().toDouble(); - sig.factor = factor->text().toDouble(); - sig.is_signed = sign->currentIndex() == 0; - sig.is_little_endian = endianness->currentIndex() == 0; - if (sig.is_little_endian) { - sig.lsb = sig.start_bit; - sig.msb = sig.start_bit + sig.size - 1; - } else { - sig.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(sig.start_bit) + sig.size - 1); - sig.msb = sig.start_bit; - } - return sig; -} - // SignalEdit -SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent) - : sig(&sig), form_idx(index), sig_name(sig.name.c_str()), QWidget(parent) { +SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent) : msg_id(msg_id), sig(sig), form_idx(index), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); @@ -93,7 +73,7 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid title_layout->addWidget(icon); title = new ElidedLabel(this); title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - title->setText(QString("%1. %2").arg(index + 1).arg(sig_name)); + title->setText(QString("%1. %2").arg(index + 1).arg(sig->name.c_str())); title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); title_layout->addWidget(title, 1); @@ -113,7 +93,7 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid // signal form form_container = new QWidget(this); QVBoxLayout *v_layout = new QVBoxLayout(form_container); - form = new SignalForm(sig, this); + form = new SignalForm(*sig, this); v_layout->addWidget(form); QHBoxLayout *h = new QHBoxLayout(); @@ -133,20 +113,34 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid hline->setFrameShadow(QFrame::Sunken); main_layout->addWidget(hline); - QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); + QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); }); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); - QObject::connect(save_btn, &QPushButton::clicked, [=]() { - QString new_name = form->getSignal().name.c_str(); - title->setText(QString("%1. %2").arg(index + 1).arg(new_name)); - emit save(); - sig_name = new_name; - }); - QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id, s = &sig]() { - SignalFindDlg dlg(msg_id, s, this); + QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal); + QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id]() { + SignalFindDlg dlg(msg_id, this->sig, this); dlg.exec(); }); } +void SignalEdit::saveSignal() { + Signal s = *sig; + s.name = form->name->text().toStdString(); + s.size = form->size->text().toInt(); + s.offset = form->offset->text().toDouble(); + s.factor = form->factor->text().toDouble(); + s.is_signed = form->sign->currentIndex() == 0; + s.is_little_endian = form->endianness->currentIndex() == 0; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } + title->setText(QString("%1. %2").arg(form_idx + 1).arg(form->name->text())); + emit save(this->sig, s); +} + void SignalEdit::setFormVisible(bool visible) { form_container->setVisible(visible); icon->setText(visible ? "▼" : ">"); @@ -167,27 +161,7 @@ void SignalEdit::leaveEvent(QEvent *event) { QWidget::leaveEvent(event); } -// AddSignalDialog - -AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Add signal to %1").arg(dbc()->msg(id)->name.c_str())); - QVBoxLayout *main_layout = new QVBoxLayout(this); - - Signal sig = { - .name = "untitled", - .start_bit = bigEndianBitIndex(start_bit), - .is_little_endian = false, - .size = size, - }; - form = new SignalForm(sig, this); - main_layout->addWidget(form); - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox); - setFixedWidth(parent->width() * 0.9); - - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); - connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); -} +// SignalFindDlg SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Find signal values")); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 1213b3ec5..472453d4b 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -15,48 +15,41 @@ class SignalForm : public QWidget { public: SignalForm(const Signal &sig, QWidget *parent); - Signal getSignal(); QLineEdit *name, *unit, *comment, *val_desc; QSpinBox *size, *offset; QDoubleSpinBox *factor, *min_val, *max_val; QComboBox *sign, *endianness; - int start_bit = 0; }; class SignalEdit : public QWidget { Q_OBJECT public: - SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent = nullptr); + SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent = nullptr); void setFormVisible(bool show); void signalHovered(const Signal *sig); inline bool isFormVisible() const { return form_container->isVisible(); } - QString sig_name; - SignalForm *form; - int form_idx = 0; - const Signal *sig = nullptr; signals: void highlight(const Signal *sig); void showChart(); void showFormClicked(); - void remove(); - void save(); + void remove(const Signal *sig); + void save(const Signal *sig, const Signal &new_sig); protected: void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; + void saveSignal(); + SignalForm *form; ElidedLabel *title; QWidget *form_container; QLabel *icon; -}; - -class AddSignalDialog : public QDialog { -public: - AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent); - SignalForm *form; + int form_idx = 0; + QString msg_id; + const Signal *sig = nullptr; }; class SignalFindDlg : public QDialog { From 64f89beb0d8d594e10876b2df11cfdba42b8c2c1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:39:06 +0800 Subject: [PATCH 04/68] Cabana: delete all selected cells when shrinking signal (#26211) --- tools/cabana/binaryview.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 915ec8bb8..ed5f243f0 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -86,7 +86,8 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) { if (auto sig = getResizingSignal()) { auto [sig_from, sig_to] = getSignalRange(sig); if (from >= sig_from && to <= sig_to) { // reduce size - emit(from == sig_from ? resizeSignal(sig, to, sig_to) : resizeSignal(sig, sig_from, from)); + emit(from == sig_from ? resizeSignal(sig, std::min(to + 1, sig_to), sig_to) + : resizeSignal(sig, sig_from, std::max(from - 1, sig_from))); } else { // increase size emit resizeSignal(sig, std::min(from, sig_from), std::max(to, sig_to)); } From 0844662f845130bb536d7c8cad093fffbdefd761 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:39:38 +0800 Subject: [PATCH 05/68] Cabana: use deque::resize() instead of pop_back in loop (#26209) use resize instead of pop_front in loop --- tools/cabana/canmessages.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index d88f34801..d2141c363 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -71,8 +71,8 @@ void CANMessages::process(QHash> *messages) { msgs = std::move(new_msgs); } else { msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end())); - while (msgs.size() >= settings.can_msg_log_size) { - msgs.pop_back(); + if (msgs.size() > settings.can_msg_log_size) { + msgs.resize(settings.can_msg_log_size); } } } From 062267f4696c304b6ed0824a3b1046fecdd07e04 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:57:32 +0800 Subject: [PATCH 06/68] replay: reduce test running time (#26160) --- tools/replay/tests/test_replay.cc | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 5b61b6b6f..30e3c811e 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -197,8 +197,8 @@ void TestReplay::test_seek() { stream_thread_ = new QThread(this); QEventLoop loop; std::thread thread = std::thread([&]() { - for (int i = 0; i < 50; ++i) { - testSeekTo(random_int(0, 3 * 60)); + for (int i = 0; i < 10; ++i) { + testSeekTo(random_int(0, 1 * 60)); } loop.quit(); }); @@ -207,8 +207,7 @@ void TestReplay::test_seek() { } TEST_CASE("Replay") { - auto flag = GENERATE(REPLAY_FLAG_NO_FILE_CACHE, REPLAY_FLAG_NONE); - TestReplay replay(DEMO_ROUTE, flag); + TestReplay replay(DEMO_ROUTE); REQUIRE(replay.load()); replay.test_seek(); } From 60b666fe3b24495b8a6c51dc016988049803bc2d Mon Sep 17 00:00:00 2001 From: Oxygen Date: Mon, 24 Oct 2022 06:25:50 +0800 Subject: [PATCH 07/68] Add #include in cabana (#26208) * Add #include * fix import order Co-authored-by: Cameron Clough --- tools/cabana/messageswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index c289f54fc..9b831ad18 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include #include From 20dced4edcbebfcf496800fb236f0d6f2be26665 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 06:28:25 +0800 Subject: [PATCH 08/68] Cabana: Added ability to highlight and resize overlapped signals (#26210) --- tools/cabana/binaryview.cc | 22 +++++++++++++--------- tools/cabana/binaryview.h | 3 ++- 2 files changed, 15 insertions(+), 10 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index ed5f243f0..5d191d2ca 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -70,9 +70,10 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { void BinaryView::mouseMoveEvent(QMouseEvent *event) { if (auto index = indexAt(event->pos()); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); - highlight(item->sig); - item->sig ? QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect()) - : QToolTip::hideText(); + const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); + highlight(sig); + sig ? QToolTip::showText(event->globalPos(), sig->name.c_str(), this, rect()) + : QToolTip::hideText(); } QTableView::mouseMoveEvent(event); } @@ -119,11 +120,13 @@ void BinaryView::updateState() { const Signal *BinaryView::getResizingSignal() const { if (anchor_index.isValid()) { auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); - if (item && item->sig) { + if (item && item->sigs.size() > 0) { int archor_pos = anchor_index.row() * 8 + anchor_index.column(); - auto [sig_from, sig_to] = getSignalRange(item->sig); - if (archor_pos == sig_from || archor_pos == sig_to) - return item->sig; + for (auto s : item->sigs) { + auto [sig_from, sig_to] = getSignalRange(s); + if (archor_pos == sig_from || archor_pos == sig_to) + return s; + } } } return nullptr; @@ -157,7 +160,7 @@ void BinaryViewModel::setMessage(const QString &message_id) { sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; } items[idx].bg_color = getColor(i); - items[idx].sig = &dbc_msg->sigs[i]; + items[idx].sigs.push_back(&dbc_msg->sigs[i]); } } } @@ -235,7 +238,8 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op BinaryView *bin_view = (BinaryView *)parent(); painter->save(); - bool hover = item->sig && bin_view->hoveredSignal() == item->sig; + bool hover = std::find_if(item->sigs.begin(), item->sigs.end(), [=](auto s) { return s == bin_view->hoveredSignal(); }) != + item->sigs.end(); // background QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color; if (option.state & QStyle::State_Selected) { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 8c1a58201..e57033b79 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -38,7 +39,7 @@ public: bool is_msb = false; bool is_lsb = false; QString val = "0"; - const Signal *sig = nullptr; + QList sigs; }; private: From 1be5cecfa256c16ae8ec9f71bbcd1a57220bf282 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 23 Oct 2022 15:49:32 -0700 Subject: [PATCH 09/68] add poetry-dotenv-plugin (#26216) --- update_requirements.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/update_requirements.sh b/update_requirements.sh index 0967e2dc6..8511a0a4d 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -60,6 +60,7 @@ if [ -d "./xx" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ]; then RUN="" else echo "PYTHONPATH=${PWD}" > .env + poetry self add poetry-dotenv-plugin@^0.1.0 RUN="poetry run" fi From c00afb51be233cb507f18021cf5a44eea32e237e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 24 Oct 2022 10:58:00 -0700 Subject: [PATCH 10/68] Multilang: remove locations (#26223) remove locations from langs not in UI --- selfdrive/ui/translations/main_ar.ts | 391 +++++++-------------------- selfdrive/ui/translations/main_nl.ts | 391 +++++++-------------------- selfdrive/ui/translations/main_pl.ts | 391 +++++++-------------------- selfdrive/ui/translations/main_th.ts | 391 +++++++-------------------- 4 files changed, 408 insertions(+), 1156 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index a94d2fbc0..3c47e6e8e 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -4,17 +4,14 @@ AbstractAlert - Close أغلق - Snooze Update تأخير التحديث - Reboot and Update إعادة التشغيل والتحديث @@ -22,67 +19,84 @@ AdvancedNetworking - Back خلف - Enable Tethering تمكين الربط - Tethering Password كلمة مرور للربط - - EDIT تعديل - Enter new tethering password أدخل كلمة مرور جديدة للربط - IP Address عنوان IP - Enable Roaming تمكين التجوال - APN Setting إعداد APN - Enter APN أدخل APN - leave blank for automatic configuration اتركه فارغا للتكوين التلقائي + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + الأعلى + + + SPEED + سرعة + + + LIMIT + حد + ConfirmationDialog - - Ok موافق - Cancel إلغاء @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. يجب عليك قبول الشروط والأحكام من أجل استخدام openpilot. - Back خلف - Decline, uninstall %1 رفض ، قم بإلغاء تثبيت %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID معرف دونجل - N/A غير متاح - Serial التسلسلي - Driver Camera كاميرا السائق - PREVIEW لمح - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة معطلة) - Reset Calibration إعادة ضبط المعايرة - RESET إعادة تعيين - Are you sure you want to reset calibration? هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟ - Review Training Guide مراجعة دليل التدريب - REVIEW مراجعة - Review the rules, features, and limitations of openpilot راجع القواعد والميزات والقيود الخاصة بـ openpilot - Are you sure you want to review the training guide? هل أنت متأكد أنك تريد مراجعة دليل التدريب؟ - Regulatory تنظيمية - VIEW عرض - Change Language تغيير اللغة - CHANGE تغيير - Select a language اختر لغة - Reboot اعادة التشغيل - Power Off أطفاء - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. يتطلب openpilot أن يتم تركيب الجهاز في حدود 4 درجات يسارًا أو يمينًا و 5 درجات لأعلى أو 8 درجات لأسفل. يقوم برنامج openpilot بالمعايرة بشكل مستمر ، ونادراً ما تكون إعادة الضبط مطلوبة. - Your device is pointed %1° %2 and %3° %4. جهازك يشير %1° %2 و %3° %4. - down لأسفل - up إلى أعلى - left إلى اليسار - right إلى اليمين - Are you sure you want to reboot? هل أنت متأكد أنك تريد إعادة التشغيل؟ - Disengage to Reboot فك الارتباط لإعادة التشغيل - Are you sure you want to power off? هل أنت متأكد أنك تريد إيقاف التشغيل؟ - Disengage to Power Off فك الارتباط لإيقاف التشغيل @@ -261,32 +242,26 @@ DriveStats - Drives أرقام القيادة - Hours ساعات - ALL TIME في كل وقت - PAST WEEK الأسبوع الماضي - KM كم - Miles اميال @@ -294,7 +269,6 @@ DriverViewScene - camera starting بدء تشغيل الكاميرا @@ -302,12 +276,10 @@ InputDialog - Cancel إلغاء - Need at least %n character(s)! تحتاج على الأقل %n حرف! @@ -322,22 +294,18 @@ Installer - Installing... جارٍ التثبيت ... - Receiving objects: استقبال الكائنات: - Resolving deltas: حل دلتا: - Updating files: جارٍ تحديث الملفات: @@ -345,27 +313,22 @@ MapETA - eta eta - min دق - hr سع - km كم - mi مل @@ -373,22 +336,18 @@ MapInstructions - km كم - m م - mi مل - ft قد @@ -396,48 +355,40 @@ MapPanel - Current Destination الوجهة الحالية - CLEAR مسح - Recent Destinations الوجهات الأخيرة - Try the Navigation Beta جرب التنقل التجريبي - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai احصل على الاتجاهات خطوة بخطوة معروضة والمزيد باستخدام comma الاشتراك الرئيسي. اشترك الآن: https://connect.comma.ai - No home location set لم يتم تعيين موقع المنزل - No work location set لم يتم تعيين موقع العمل - no recent destinations لا توجد وجهات حديثة @@ -445,12 +396,10 @@ location set MapWindow - Map Loading تحميل الخريطة - Waiting for GPS في انتظار GPS @@ -458,12 +407,10 @@ location set MultiOptionDialog - Select اختر - Cancel إلغاء @@ -471,72 +418,33 @@ location set Networking - Advanced متقدم - Enter password أدخل كلمة المرور - - for "%1" ل "%1" - Wrong password كلمة مرور خاطئة - - AnnotatedCameraWidget - - - km/h - km/h - - - - mph - mph - - - - - MAX - الأعلى - - - - - SPEED - سرعة - - - - - LIMIT - حد - - OffroadHome - UPDATE تحديث - ALERTS تنبيهات - ALERT تنبيه @@ -544,22 +452,18 @@ location set PairingPopup - Pair your device to your comma account قم بإقران جهازك بحساب comma الخاص بك - Go to https://connect.comma.ai on your phone اذهب إلى https://connect.comma.ai من هاتفك - Click "add new device" and scan the QR code on the right انقر على "إضافة جهاز جديد" وامسح رمز الاستجابة السريعة على اليمين - Bookmark connect.comma.ai to your home screen to use it like an app ضع إشارة مرجعية على connect.comma.ai على شاشتك الرئيسية لاستخدامه مثل أي تطبيق @@ -567,32 +471,26 @@ location set PrimeAdWidget - Upgrade Now قم بالترقية الآن - Become a comma prime member at connect.comma.ai كن عضوًا comme prime في connect.comma.ai - PRIME FEATURES: ميزات PRIME: - Remote access الوصول عن بعد - 1 year of storage سنة واحدة من التخزين - Developer perks امتيازات المطور @@ -600,22 +498,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ مشترك - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA POINTS @@ -623,27 +517,22 @@ location set QObject - Reboot اعادة التشغيل - Exit أغلق - dashcam dashcam - openpilot openpilot - %n minute(s) ago منذ %n دقيقة @@ -655,7 +544,6 @@ location set - %n hour(s) ago منذ %n ساعة @@ -667,7 +555,6 @@ location set - %n day(s) ago منذ %n يوم @@ -682,47 +569,38 @@ location set Reset - Reset failed. Reboot to try again. فشل إعادة التعيين. أعد التشغيل للمحاولة مرة أخرى. - Are you sure you want to reset your device? هل أنت متأكد أنك تريد إعادة ضبط جهازك؟ - Resetting device... جارٍ إعادة ضبط الجهاز ... - System Reset إعادة تعيين النظام - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. تم تشغيل إعادة تعيين النظام. اضغط على تأكيد لمسح كل المحتوى والإعدادات. اضغط على إلغاء لاستئناف التمهيد. - Cancel إلغاء - Reboot اعادة التشغيل - Confirm تأكيد - Unable to mount data partition. Press confirm to reset your device. تعذر تحميل قسم البيانات. اضغط على تأكيد لإعادة ضبط جهازك. @@ -730,7 +608,6 @@ location set RichTextDialog - Ok موافق @@ -738,33 +615,26 @@ location set SettingsWindow - × x - Device جهاز - - Network شبكة الاتصال - Toggles التبديل - Software برمجة - Navigation ملاحة @@ -772,105 +642,82 @@ location set Setup - WARNING: Low Voltage تحذير: الجهد المنخفض - Power your device in a car with a harness or proceed at your own risk. قم بتشغيل جهازك في سيارة باستخدام أداة تثبيت أو المضي قدمًا على مسؤوليتك الخاصة. - Power off اطفئ الجهاز - - - Continue أكمل - Getting Started ابدء - Before we get on the road, let’s finish installation and cover some details. قبل أن ننطلق على الطريق ، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل. - Connect to Wi-Fi اتصل بشبكة Wi-Fi - - Back خلف - Continue without Wi-Fi استمر بدون Wi-Fi - Waiting for internet في انتظار الاتصال بالإنترنت - Choose Software to Install اختر البرنامج المراد تثبيته - Dashcam Dashcam - Custom Software برامج مخصصة - Enter URL إدخال عنوان الموقع - for Custom Software للبرامج المخصصة - Downloading... جارى التحميل... - Download Failed فشل التنزيل - Ensure the entered URL is valid, and the device’s internet connection is good. تأكد من أن عنوان موقع الويب الذي تم إدخاله صالح ، وأن اتصال الجهاز بالإنترنت جيد. - Reboot device إعادة تشغيل الجهاز - Start over ابدأ من جديد @@ -878,17 +725,14 @@ location set SetupWidget - Finish Setup إنهاء الإعداد - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. قم بإقران جهازك بفاصلة connect (connect.comma.ai) واطلب عرض comma prime الخاص بك. - Pair device إقران الجهاز @@ -896,106 +740,82 @@ location set Sidebar - - CONNECT الاتصال - OFFLINE غير متصل - - ONLINE متصل - ERROR خطأ - - - TEMP درجة الحرارة - HIGH عالي - GOOD جيد - OK موافق - VEHICLE مركبة - NO لا - PANDA PANDA - GPS GPS - SEARCH بحث - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -1003,138 +823,141 @@ location set SoftwarePanel - Git Branch - Git Branch + Git Branch - Git Commit - Git Commit + Git Commit - OS Version - إصدار نظام التشغيل + إصدار نظام التشغيل - Version - إصدار + إصدار - Last Update Check - التحقق من آخر تحديث + التحقق من آخر تحديث - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة. + آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة. - Check for Update - فحص التحديثات + فحص التحديثات - CHECKING - تدقيق + تدقيق - Switch Branch - تبديل الفرع + تبديل الفرع - ENTER - أدخل + أدخل - - The new branch will be pulled the next time the updater runs. - سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث. + سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث. - Enter branch name - أدخل اسم الفرع + أدخل اسم الفرع - UNINSTALL الغاء التثبيت - Uninstall %1 الغاء التثبيت %1 - Are you sure you want to uninstall? هل أنت متأكد أنك تريد إلغاء التثبيت؟ - failed to fetch update - فشل في جلب التحديث + فشل في جلب التحديث - - CHECK تأكد الان + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys SSH Keys - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. تحذير: هذا يمنح SSH الوصول إلى جميع المفاتيح العامة في إعدادات GitHub. لا تدخل أبدًا اسم مستخدم GitHub بخلاف اسم المستخدم الخاص بك. لن يطلب منك موظف comma أبدًا إضافة اسم مستخدم GitHub الخاص به. - - ADD أضف - Enter your GitHub username أدخل اسم مستخدم GitHub الخاص بك - LOADING جار التحميل - REMOVE نزع - Username '%1' has no keys on GitHub لا يحتوي اسم المستخدم '%1' على مفاتيح على GitHub - Request timed out انتهت مهلة الطلب - Username '%1' doesn't exist on GitHub اسم المستخدم '%1' غير موجود على GitHub @@ -1142,7 +965,6 @@ location set SshToggle - Enable SSH تفعيل SSH @@ -1150,22 +972,18 @@ location set TermsPage - Terms & Conditions البنود و الظروف - Decline انحدار - Scroll to accept قم بالتمرير للقبول - Agree موافق @@ -1173,125 +991,125 @@ location set TogglesPanel - Enable openpilot تمكين openpilot - 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. استخدم نظام الطيار المفتوح للتحكم التكيفي في ثبات السرعة والحفاظ على مساعدة السائق. انتباهك مطلوب في جميع الأوقات لاستخدام هذه الميزة. يسري تغيير هذا الإعداد عند إيقاف تشغيل السيارة. - Enable Lane Departure Warnings قم بتمكين تحذيرات مغادرة حارة السير - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). تلقي تنبيهات للتوجه مرة أخرى إلى الحارة عندما تنجرف سيارتك فوق خط المسار المكتشف دون تنشيط إشارة الانعطاف أثناء القيادة لمسافة تزيد عن 31 ميلاً في الساعة (50 كم / ساعة). - Use Metric System استخدم النظام المتري - Display speed in km/h instead of mph. عرض السرعة بالكيلو متر في الساعة بدلاً من ميل في الساعة. - Record and Upload Driver Camera تسجيل وتحميل كاميرا السائق - Upload data from the driver facing camera and help improve the driver monitoring algorithm. قم بتحميل البيانات من الكاميرا المواجهة للسائق وساعد في تحسين خوارزمية مراقبة السائق. - Disengage On Accelerator Pedal فك الارتباط على دواسة التسريع - When enabled, pressing the accelerator pedal will disengage openpilot. عند التمكين ، سيؤدي الضغط على دواسة الوقود إلى فصل الطيار المفتوح. - Show ETA in 24h Format إظهار الوقت المقدر للوصول بتنسيق 24 ساعة - Use 24h format instead of am/pm استخدم تنسيق 24 ساعة بدلاً من صباحًا / مساءً - Show Map on Left Side of UI إظهار الخريطة على الجانب الأيسر من واجهة المستخدم - Show map on left side when in split screen view. إظهار الخريطة على الجانب الأيسر عندما تكون في طريقة عرض الشاشة المنقسمة. - openpilot Longitudinal Control - openpilot التحكم الطولي + openpilot التحكم الطولي - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB! + سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required مطلوب التحديث - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. مطلوب تحديث نظام التشغيل. قم بتوصيل جهازك بشبكة Wi-Fi للحصول على أسرع تجربة تحديث. حجم التنزيل 1 غيغابايت تقريبًا. - Connect to Wi-Fi اتصل بشبكة Wi-Fi - Install ثبيت - Back خلف - Loading... جار التحميل... - Reboot اعادة التشغيل - Update failed فشل التحديث @@ -1299,23 +1117,18 @@ location set WifiUI - - Scanning for networks... جارٍ البحث عن شبكات ... - CONNECTING... جارٍ الاتصال ... - FORGET نزع - Forget Wi-Fi Network "%1"? نزع شبكة اWi-Fi "%1"? diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts index 21bb66d35..24d2031f3 100644 --- a/selfdrive/ui/translations/main_nl.ts +++ b/selfdrive/ui/translations/main_nl.ts @@ -4,17 +4,14 @@ AbstractAlert - Close Sluit - Snooze Update Update uitstellen - Reboot and Update Opnieuw Opstarten en Updaten @@ -22,67 +19,84 @@ AdvancedNetworking - Back Terug - Enable Tethering Tethering Inschakelen - Tethering Password Tethering Wachtwoord - - EDIT AANPASSEN - Enter new tethering password Voer nieuw tethering wachtwoord in - IP Address IP Adres - Enable Roaming Roaming Inschakelen - APN Setting APN Instelling - Enter APN Voer APN in - leave blank for automatic configuration laat leeg voor automatische configuratie + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + km/u + + + mph + mph + + + MAX + MAX + + + SPEED + SPEED + + + LIMIT + LIMIT + ConfirmationDialog - - Ok Ok - Cancel Annuleren @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. U moet de Algemene Voorwaarden accepteren om openpilot te gebruiken. - Back Terug - Decline, uninstall %1 Afwijzen, verwijder %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID Dongle ID - N/A Nvt - Serial Serienummer - Driver Camera Bestuurders Camera - PREVIEW BEKIJKEN - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) Bekijk de naar de bestuurder gerichte camera om ervoor te zorgen dat het monitoren van de bestuurder goed zicht heeft. (Voertuig moet uitgschakeld zijn) - Reset Calibration Kalibratie Resetten - RESET RESET - Are you sure you want to reset calibration? Weet u zeker dat u de kalibratie wilt resetten? - Review Training Guide Doorloop de Training Opnieuw - REVIEW BEKIJKEN - Review the rules, features, and limitations of openpilot Bekijk de regels, functies en beperkingen van openpilot - Are you sure you want to review the training guide? Weet u zeker dat u de training opnieuw wilt doorlopen? - Regulatory Regelgeving - VIEW BEKIJKEN - Change Language Taal Wijzigen - CHANGE WIJZIGEN - Select a language Selecteer een taal - Reboot Opnieuw Opstarten - Power Off Uitschakelen - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot vereist dat het apparaat binnen 4° links of rechts en binnen 5° omhoog of 8° omlaag wordt gemonteerd. openpilot kalibreert continu, resetten is zelden nodig. - Your device is pointed %1° %2 and %3° %4. Uw apparaat is gericht op %1° %2 en %3° %4. - down omlaag - up omhoog - left links - right rechts - Are you sure you want to reboot? Weet u zeker dat u opnieuw wilt opstarten? - Disengage to Reboot Deactiveer openpilot om opnieuw op te starten - Are you sure you want to power off? Weet u zeker dat u wilt uitschakelen? - Disengage to Power Off Deactiveer openpilot om uit te schakelen @@ -261,32 +242,26 @@ DriveStats - Drives Ritten - Hours Uren - ALL TIME TOTAAL - PAST WEEK AFGELOPEN WEEK - KM Km - Miles Mijl @@ -294,7 +269,6 @@ DriverViewScene - camera starting Camera wordt gestart @@ -302,12 +276,10 @@ InputDialog - Cancel Annuleren - Need at least %n character(s)! Heeft minstens %n karakter nodig! @@ -318,22 +290,18 @@ Installer - Installing... Installeren... - Receiving objects: Objecten ontvangen: - Resolving deltas: Deltas verwerken: - Updating files: Bestanden bijwerken: @@ -341,27 +309,22 @@ MapETA - eta eta - min min - hr uur - km km - mi mi @@ -369,22 +332,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -392,48 +351,40 @@ MapPanel - Current Destination Huidige Bestemming - CLEAR LEEGMAKEN - Recent Destinations Recente Bestemmingen - Try the Navigation Beta Probeer de Navigatie Bèta - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai Krijg stapsgewijze routebeschrijving en meer met een comma prime abonnement. Meld u nu aan: https://connect.comma.ai - No home location set Geen thuislocatie ingesteld - No work location set Geen werklocatie ingesteld - no recent destinations geen recente bestemmingen @@ -441,12 +392,10 @@ ingesteld MapWindow - Map Loading Kaart wordt geladen - Waiting for GPS Wachten op GPS @@ -454,12 +403,10 @@ ingesteld MultiOptionDialog - Select Selecteer - Cancel Annuleren @@ -467,72 +414,33 @@ ingesteld Networking - Advanced Geavanceerd - Enter password Voer wachtwoord in - - for "%1" voor "%1" - Wrong password Verkeerd wachtwoord - - AnnotatedCameraWidget - - - km/h - km/u - - - - mph - mph - - - - - MAX - MAX - - - - - SPEED - SPEED - - - - - LIMIT - LIMIT - - OffroadHome - UPDATE UPDATE - ALERTS WAARSCHUWINGEN - ALERT WAARSCHUWING @@ -540,22 +448,18 @@ ingesteld PairingPopup - Pair your device to your comma account Koppel uw apparaat aan uw comma-account - Go to https://connect.comma.ai on your phone Ga naar https://connect.comma.ai op uw telefoon - Click "add new device" and scan the QR code on the right Klik op "add new device" en scan de QR-code aan de rechterkant - Bookmark connect.comma.ai to your home screen to use it like an app Voeg connect.comma.ai toe op uw startscherm om het als een app te gebruiken @@ -563,32 +467,26 @@ ingesteld PrimeAdWidget - Upgrade Now Upgrade nu - Become a comma prime member at connect.comma.ai Word een comma prime lid op connect.comma.ai - PRIME FEATURES: PRIME BEVAT: - Remote access Toegang op afstand - 1 year of storage 1 jaar lang opslag - Developer perks Voordelen voor ontwikkelaars @@ -596,22 +494,18 @@ ingesteld PrimeUserWidget - ✓ SUBSCRIBED ✓ GEABONNEERD - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA PUNTEN @@ -619,27 +513,22 @@ ingesteld QObject - Reboot Opnieuw Opstarten - Exit Afsluiten - dashcam dashcam - openpilot openpilot - %n minute(s) ago %n minuut geleden @@ -647,7 +536,6 @@ ingesteld - %n hour(s) ago %n uur geleden @@ -655,7 +543,6 @@ ingesteld - %n day(s) ago %n dag geleden @@ -666,47 +553,38 @@ ingesteld Reset - Reset failed. Reboot to try again. Opnieuw instellen mislukt. Start opnieuw op om opnieuw te proberen. - Are you sure you want to reset your device? Weet u zeker dat u uw apparaat opnieuw wilt instellen? - Resetting device... Apparaat opnieuw instellen... - System Reset Systeemreset - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. Systeemreset geactiveerd. Druk op bevestigen om alle inhoud en instellingen te wissen. Druk op Annuleren om het opstarten te hervatten. - Cancel Annuleren - Reboot Opnieuw Opstarten - Confirm Bevestigen - Unable to mount data partition. Press confirm to reset your device. Kan gegevenspartitie niet koppelen. Druk op bevestigen om uw apparaat te resetten. @@ -714,7 +592,6 @@ ingesteld RichTextDialog - Ok Ok @@ -722,33 +599,26 @@ ingesteld SettingsWindow - × × - Device Apparaat - - Network Netwerk - Toggles Opties - Software Software - Navigation Navigatie @@ -756,105 +626,82 @@ ingesteld Setup - WARNING: Low Voltage WAARCHUWING: Lage Spanning - Power your device in a car with a harness or proceed at your own risk. Voorzie uw apparaat van stroom in een auto met een harnas (car harness) of ga op eigen risico verder. - Power off Uitschakelen - - - Continue Doorgaan - Getting Started Aan de slag - Before we get on the road, let’s finish installation and cover some details. Laten we, voordat we op pad gaan, de installatie afronden en enkele details bespreken. - Connect to Wi-Fi Maak verbinding met Wi-Fi - - Back Terug - Continue without Wi-Fi Doorgaan zonder Wi-Fi - Waiting for internet Wachten op internet - Choose Software to Install Kies Software om te Installeren - Dashcam Dashcam - Custom Software Andere Software - Enter URL Voer URL in - for Custom Software voor Andere Software - Downloading... Downloaden... - Download Failed Downloaden Mislukt - Ensure the entered URL is valid, and the device’s internet connection is good. Zorg ervoor dat de ingevoerde URL geldig is en dat de internetverbinding van het apparaat goed is. - Reboot device Apparaat opnieuw opstarten - Start over Begin opnieuw @@ -862,17 +709,14 @@ ingesteld SetupWidget - Finish Setup Installatie voltooien - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Koppel uw apparaat met comma connect (connect.comma.ai) en claim uw comma prime-aanbieding. - Pair device Apparaat koppelen @@ -880,106 +724,82 @@ ingesteld Sidebar - - CONNECT VERBINDING - OFFLINE OFFLINE - - ONLINE ONLINE - ERROR FOUT - - - TEMP TEMP - HIGH HOOG - GOOD GOED - OK OK - VEHICLE VOERTUIG - NO GEEN - PANDA PANDA - GPS GPS - SEARCH ZOEKEN - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE 4G - 5G 5G @@ -987,138 +807,141 @@ ingesteld SoftwarePanel - Git Branch - Git Branch + Git Branch - Git Commit - Git Commit + Git Commit - OS Version - OS Versie + OS Versie - Version - Versie + Versie - Last Update Check - Laatste Updatecontrole + Laatste Updatecontrole - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - De laatste keer dat openpilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld. + De laatste keer dat openpilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld. - Check for Update - Controleer op Updates + Controleer op Updates - CHECKING - CONTROLEER + CONTROLEER - Switch Branch - Branch Verwisselen + Branch Verwisselen - ENTER - INVOEREN + INVOEREN - - The new branch will be pulled the next time the updater runs. - Tijdens de volgende update wordt de nieuwe branch opgehaald. + Tijdens de volgende update wordt de nieuwe branch opgehaald. - Enter branch name - Voer branch naam in + Voer branch naam in - Uninstall %1 Verwijder %1 - UNINSTALL VERWIJDER - Are you sure you want to uninstall? Weet u zeker dat u de installatie ongedaan wilt maken? - failed to fetch update - ophalen van update mislukt + ophalen van update mislukt - - CHECK CONTROLEER + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys SSH Sleutels - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. Waarschuwing: dit geeft SSH toegang tot alle openbare sleutels in uw GitHub-instellingen. Voer nooit een andere GitHub-gebruikersnaam in dan die van uzelf. Een medewerker van comma zal u NOOIT vragen om zijn GitHub-gebruikersnaam toe te voegen. - - ADD TOEVOEGEN - Enter your GitHub username Voer uw GitHub gebruikersnaam in - LOADING LADEN - REMOVE VERWIJDEREN - Username '%1' has no keys on GitHub Gebruikersnaam '%1' heeft geen SSH sleutels op GitHub - Request timed out Time-out van aanvraag - Username '%1' doesn't exist on GitHub Gebruikersnaam '%1' bestaat niet op GitHub @@ -1126,7 +949,6 @@ ingesteld SshToggle - Enable SSH SSH Inschakelen @@ -1134,22 +956,18 @@ ingesteld TermsPage - Terms & Conditions Algemene Voorwaarden - Decline Afwijzen - Scroll to accept Scroll om te accepteren - Agree Akkoord @@ -1157,125 +975,125 @@ ingesteld TogglesPanel - Enable openpilot openpilot Inschakelen - 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. Gebruik het openpilot-systeem voor adaptieve cruisecontrol en rijstrookassistentie. Uw aandacht is te allen tijde vereist om deze functie te gebruiken. Het wijzigen van deze instelling wordt van kracht wanneer de auto wordt uitgeschakeld. - Enable Lane Departure Warnings Waarschuwingen bij Verlaten Rijstrook Inschakelen - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). Ontvang waarschuwingen om terug naar de rijstrook te sturen wanneer uw voertuig over een gedetecteerde rijstrookstreep drijft zonder dat de richtingaanwijzer wordt geactiveerd terwijl u harder rijdt dan 50 km/u (31 mph). - Use Metric System Gebruik Metrisch Systeem - Display speed in km/h instead of mph. Geef snelheid weer in km/u in plaats van mph. - Record and Upload Driver Camera Opnemen en Uploaden van de Bestuurders Camera - Upload data from the driver facing camera and help improve the driver monitoring algorithm. Upload gegevens van de bestuurders camera en help het algoritme voor het monitoren van de bestuurder te verbeteren. - Disengage On Accelerator Pedal Deactiveren Met Gaspedaal - When enabled, pressing the accelerator pedal will disengage openpilot. Indien ingeschakeld, zal het indrukken van het gaspedaal openpilot deactiveren. - Show ETA in 24h Format Toon verwachte aankomsttijd in 24-uurs formaat - Use 24h format instead of am/pm Gebruik 24-uurs formaat in plaats van AM en PM - Show Map on Left Side of UI Toon kaart aan linkerkant van het scherm - Show map on left side when in split screen view. Toon kaart links in gesplitste schermweergave. - openpilot Longitudinal Control - openpilot Longitudinale Controle + openpilot Longitudinale Controle - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld! + openpilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required Update Vereist - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. Een update van het besturingssysteem is vereist. Verbind je apparaat met Wi-Fi voor de snelste update-ervaring. De downloadgrootte is ongeveer 1 GB. - Connect to Wi-Fi Maak verbinding met Wi-Fi - Install Installeer - Back Terug - Loading... Aan het laden... - Reboot Opnieuw Opstarten - Update failed Update mislukt @@ -1283,23 +1101,18 @@ ingesteld WifiUI - - Scanning for networks... Scannen naar netwerken... - CONNECTING... VERBINDEN... - FORGET VERGETEN - Forget Wi-Fi Network "%1"? Vergeet Wi-Fi Netwerk "%1"? diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts index 92902d04a..bdce18137 100644 --- a/selfdrive/ui/translations/main_pl.ts +++ b/selfdrive/ui/translations/main_pl.ts @@ -4,17 +4,14 @@ AbstractAlert - Close Zamknij - Snooze Update Zaktualizuj później - Reboot and Update Uruchom ponownie i zaktualizuj @@ -22,67 +19,84 @@ AdvancedNetworking - Back Wróć - Enable Tethering Włącz hotspot osobisty - Tethering Password Hasło do hotspotu - - EDIT EDYTUJ - Enter new tethering password Wprowadź nowe hasło do hotspotu - IP Address Adres IP - Enable Roaming Włącz roaming danych - APN Setting Ustawienia APN - Enter APN Wprowadź APN - leave blank for automatic configuration Pozostaw puste, aby użyć domyślnej konfiguracji + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + MAX + + + SPEED + PRĘDKOŚĆ + + + LIMIT + OGRANICZENIE + ConfirmationDialog - - Ok Ok - Cancel Anuluj @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. Aby korzystać z openpilota musisz zaakceptować regulamin. - Back Wróć - Decline, uninstall %1 Odrzuć, odinstaluj %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID ID adaptera - N/A N/A - Serial Numer seryjny - Driver Camera Kamera kierowcy - PREVIEW PODGLĄD - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) Wyświetl podgląd z kamery skierowanej na kierowcę, aby upewnić się, że monitoring kierowcy ma dobry zakres widzenia. (pojazd musi być wyłączony) - Reset Calibration Zresetuj kalibrację - RESET ZRESETUJ - Are you sure you want to reset calibration? Czy na pewno chcesz zresetować kalibrację? - Review Training Guide Zapoznaj się z samouczkiem - REVIEW ZAPOZNAJ SIĘ - Review the rules, features, and limitations of openpilot Zapoznaj się z zasadami, funkcjami i ograniczeniami openpilota - Are you sure you want to review the training guide? Czy na pewno chcesz się zapoznać z samouczkiem? - Regulatory Regulacja - VIEW WIDOK - Change Language Zmień język - CHANGE ZMIEŃ - Select a language Wybierz język - Reboot Uruchom ponownie - Power Off Wyłącz - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot wymaga, aby urządzenie było zamontowane z maksymalnym odchyłem 4° poziomo, 5° w górę oraz 8° w dół. openpilot jest ciągle kalibrowany, rzadko konieczne jest resetowania urządzenia. - Your device is pointed %1° %2 and %3° %4. Twoje urządzenie jest skierowane %1° %2 oraz %3° %4. - down w dół - up w górę - left w lewo - right w prawo - Are you sure you want to reboot? Czy na pewno chcesz uruchomić ponownie urządzenie? - Disengage to Reboot Aby uruchomić ponownie, odłącz sterowanie - Are you sure you want to power off? Czy na pewno chcesz wyłączyć urządzenie? - Disengage to Power Off Aby wyłączyć urządzenie, odłącz sterowanie @@ -261,32 +242,26 @@ DriveStats - Drives Przejazdy - Hours Godziny - ALL TIME CAŁKOWICIE - PAST WEEK OSTATNI TYDZIEŃ - KM KM - Miles Mile @@ -294,7 +269,6 @@ DriverViewScene - camera starting uruchamianie kamery @@ -302,12 +276,10 @@ InputDialog - Cancel Anuluj - Need at least %n character(s)! Wpisana wartość powinna składać się przynajmniej z %n znaku! @@ -319,22 +291,18 @@ Installer - Installing... Instalowanie... - Receiving objects: Odbieranie obiektów: - Resolving deltas: Rozwiązywanie różnic: - Updating files: Aktualizacja plików: @@ -342,27 +310,22 @@ MapETA - eta przewidywany czas - min min - hr godz - km km - mi mi @@ -370,22 +333,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -393,48 +352,40 @@ MapPanel - Current Destination Miejsce docelowe - CLEAR WYCZYŚĆ - Recent Destinations Ostatnie miejsca docelowe - Try the Navigation Beta Wypróbuj nawigację w wersji beta - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai Odblokuj nawigację zakręt po zakęcie i wiele więcej subskrybując comma prime. Zarejestruj się teraz: https://connect.comma.ai - No home location set Lokalizacja domu nie została ustawiona - No work location set Miejsce pracy nie zostało ustawione - no recent destinations brak ostatnich miejsc docelowych @@ -442,12 +393,10 @@ nie zostało ustawione MapWindow - Map Loading Ładowanie Mapy - Waiting for GPS Oczekiwanie na sygnał GPS @@ -455,12 +404,10 @@ nie zostało ustawione MultiOptionDialog - Select Wybierz - Cancel Anuluj @@ -468,72 +415,33 @@ nie zostało ustawione Networking - Advanced Zaawansowane - Enter password Wprowadź hasło - - for "%1" do "%1" - Wrong password Niepoprawne hasło - - AnnotatedCameraWidget - - - km/h - km/h - - - - mph - mph - - - - - MAX - MAX - - - - - SPEED - PRĘDKOŚĆ - - - - - LIMIT - OGRANICZENIE - - OffroadHome - UPDATE UAKTUALNIJ - ALERTS ALERTY - ALERT ALERT @@ -541,22 +449,18 @@ nie zostało ustawione PairingPopup - Pair your device to your comma account Sparuj swoje urzadzenie ze swoim kontem comma - Go to https://connect.comma.ai on your phone Wejdź na stronę https://connect.comma.ai na swoim telefonie - Click "add new device" and scan the QR code on the right Kliknij "add new device" i zeskanuj kod QR znajdujący się po prawej stronie - Bookmark connect.comma.ai to your home screen to use it like an app Dodaj connect.comma.ai do zakładek na swoim ekranie początkowym, aby korzystać z niej jak z aplikacji @@ -564,32 +468,26 @@ nie zostało ustawione PrimeAdWidget - Upgrade Now Uaktualnij teraz - Become a comma prime member at connect.comma.ai Zostań członkiem comma prime na connect.comma.ai - PRIME FEATURES: FUNKCJE PRIME: - Remote access Zdalny dostęp - 1 year of storage 1 rok przechowywania danych - Developer perks Udogodnienia dla programistów @@ -597,22 +495,18 @@ nie zostało ustawione PrimeUserWidget - ✓ SUBSCRIBED ✓ ZASUBSKRYBOWANO - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA POINTS @@ -620,27 +514,22 @@ nie zostało ustawione QObject - Reboot Uruchom Ponownie - Exit Wyjdź - dashcam wideorejestrator - openpilot openpilot - %n minute(s) ago %n minutę temu @@ -649,7 +538,6 @@ nie zostało ustawione - %n hour(s) ago % godzinę temu @@ -658,7 +546,6 @@ nie zostało ustawione - %n day(s) ago %n dzień temu @@ -670,47 +557,38 @@ nie zostało ustawione Reset - Reset failed. Reboot to try again. Wymazywanie zakończone niepowodzeniem. Aby spróbować ponownie, uruchom ponownie urządzenie. - Are you sure you want to reset your device? Czy na pewno chcesz wymazać urządzenie? - Resetting device... Wymazywanie urządzenia... - System Reset Przywróć do ustawień fabrycznych - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. Przywracanie do ustawień fabrycznych. Wciśnij potwierdź, aby usunąć wszystkie dane oraz ustawienia. Wciśnij anuluj, aby wznowić uruchamianie. - Cancel Anuluj - Reboot Uruchom ponownie - Confirm Potwiedź - Unable to mount data partition. Press confirm to reset your device. Partycja nie została zamontowana poprawnie. Wciśnij potwierdź, aby uruchomić ponownie urządzenie. @@ -718,7 +596,6 @@ nie zostało ustawione RichTextDialog - Ok Ok @@ -726,33 +603,26 @@ nie zostało ustawione SettingsWindow - × x - Device Urządzenie - - Network Sieć - Toggles Przełączniki - Software Oprogramowanie - Navigation Nawigacja @@ -760,105 +630,82 @@ nie zostało ustawione Setup - WARNING: Low Voltage OSTRZEŻENIE: Niskie Napięcie - Power your device in a car with a harness or proceed at your own risk. Podłącz swoje urządzenie do zasilania poprzez podłączenienie go do pojazdu lub kontynuuj na własną odpowiedzialność. - Power off Wyłącz - - - Continue Kontynuuj - Getting Started Zacznij - Before we get on the road, let’s finish installation and cover some details. Zanim ruszysz w drogę, dokończ instalację i podaj kilka szczegółów. - Connect to Wi-Fi Połącz z Wi-Fi - - Back Wróć - Continue without Wi-Fi Kontynuuj bez połączenia z Wif-Fi - Waiting for internet Oczekiwanie na połączenie sieciowe - Choose Software to Install Wybierz oprogramowanie do instalacji - Dashcam Wideorejestrator - Custom Software Własne oprogramowanie - Enter URL Wprowadź adres URL - for Custom Software do własnego oprogramowania - Downloading... Pobieranie... - Download Failed Pobieranie nie powiodło się - Ensure the entered URL is valid, and the device’s internet connection is good. Upewnij się, że wpisany adres URL jest poprawny, a połączenie internetowe działa poprawnie. - Reboot device Uruchom ponownie - Start over Zacznij od początku @@ -866,17 +713,14 @@ nie zostało ustawione SetupWidget - Finish Setup Zakończ konfigurację - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Sparuj swoje urządzenie z comma connect (connect.comma.ai) i wybierz swoją ofertę comma prime. - Pair device Sparuj urządzenie @@ -884,106 +728,82 @@ nie zostało ustawione Sidebar - - CONNECT POŁĄCZENIE - OFFLINE OFFLINE - - ONLINE ONLINE - ERROR BŁĄD - - - TEMP TEMP - HIGH WYSOKA - GOOD DOBRA - OK OK - VEHICLE POJAZD - NO BRAK - PANDA PANDA - GPS GPS - SEARCH SZUKAJ - -- -- - Wi-Fi Wi-FI - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -991,138 +811,141 @@ nie zostało ustawione SoftwarePanel - Git Branch - Gałąź Git + Gałąź Git - Git Commit - Git commit + Git commit - OS Version - Wersja systemu + Wersja systemu - Version - Wersja + Wersja - Last Update Check - Ostatnie sprawdzenie aktualizacji + Ostatnie sprawdzenie aktualizacji - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - Ostatni raz kiedy openpilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony. + Ostatni raz kiedy openpilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony. - Check for Update - Sprawdź uaktualnienia + Sprawdź uaktualnienia - CHECKING - SPRAWDZANIE + SPRAWDZANIE - Switch Branch - Zmień gąłąź + Zmień gąłąź - ENTER - WPROWADŹ + WPROWADŹ - - The new branch will be pulled the next time the updater runs. - Nowa gałąź będzie pobrana przy następnym uruchomieniu aktualizatora. + Nowa gałąź będzie pobrana przy następnym uruchomieniu aktualizatora. - Enter branch name - Wprowadź nazwę gałęzi + Wprowadź nazwę gałęzi - Uninstall %1 Odinstaluj %1 - UNINSTALL ODINSTALUJ - Are you sure you want to uninstall? Czy na pewno chcesz odinstalować? - failed to fetch update - pobieranie aktualizacji zakończone niepowodzeniem + pobieranie aktualizacji zakończone niepowodzeniem - - CHECK SPRAWDŹ + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys Klucze SSH - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. Ostrzeżenie: To spowoduje przekazanie dostępu do wszystkich Twoich publicznych kuczy z ustawień GitHuba. Nigdy nie wprowadzaj nazwy użytkownika innej niż swoja. Pracownik comma NIGDY nie poprosi o dodanie swojej nazwy uzytkownika. - - ADD DODAJ - Enter your GitHub username Wpisz swoją nazwę użytkownika GitHub - LOADING ŁADOWANIE - REMOVE USUŃ - Username '%1' has no keys on GitHub Użytkownik '%1' nie posiada żadnych kluczy na GitHubie - Request timed out Limit czasu rządania - Username '%1' doesn't exist on GitHub Użytkownik '%1' nie istnieje na GitHubie @@ -1130,7 +953,6 @@ nie zostało ustawione SshToggle - Enable SSH Włącz SSH @@ -1138,22 +960,18 @@ nie zostało ustawione TermsPage - Terms & Conditions Regulamin - Decline Odrzuć - Scroll to accept Przewiń w dół, aby zaakceptować - Agree Zaakceptuj @@ -1161,125 +979,125 @@ nie zostało ustawione TogglesPanel - Enable openpilot Włącz openpilota - 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. Użyj openpilota do zachowania bezpiecznego odstępu między pojazdami i do asystowania w utrzymywaniu pasa ruchu. Twoja pełna uwaga jest wymagana przez cały czas korzystania z tej funkcji. Ustawienie to może być wdrożone wyłącznie wtedy, gdy pojazd jest wyłączony. - Enable Lane Departure Warnings Włącz ostrzeganie przed zmianą pasa ruchu - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). Otrzymuj alerty o powrocie na właściwy pas, kiedy Twój pojazd przekroczy linię bez włączonego kierunkowskazu jadąc powyżej 50 km/h (31 mph). - Use Metric System Korzystaj z systemu metrycznego - Display speed in km/h instead of mph. Wyświetl prędkość w km/h zamiast mph. - Record and Upload Driver Camera Nagraj i prześlij nagranie z kamery kierowcy - Upload data from the driver facing camera and help improve the driver monitoring algorithm. Prześlij dane z kamery skierowanej na kierowcę i pomóż poprawiać algorytm monitorowania kierowcy. - Disengage On Accelerator Pedal Odłącz poprzez naciśnięcie gazu - When enabled, pressing the accelerator pedal will disengage openpilot. Po włączeniu, naciśnięcie na pedał gazu odłączy openpilota. - Show ETA in 24h Format Pokaż oczekiwany czas dojazdu w formacie 24-godzinnym - Use 24h format instead of am/pm Korzystaj z formatu 24-godzinnego zamiast 12-godzinnego - Show Map on Left Side of UI Pokaż mapę po lewej stronie ekranu - Show map on left side when in split screen view. Pokaż mapę po lewej stronie kiedy ekran jest podzielony. - openpilot Longitudinal Control - Kontrola wzdłużna openpilota + Kontrola wzdłużna openpilota - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB! + openpilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required Wymagana Aktualizacja - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. Wymagana aktualizacja systemu operacyjnego. Aby przyspieszyć proces aktualizacji połącz swoje urzeądzenie do Wi-Fi. Rozmiar pobieranej paczki wynosi około 1GB. - Connect to Wi-Fi Połącz się z Wi-Fi - Install Zainstaluj - Back Wróć - Loading... Ładowanie... - Reboot Uruchom ponownie - Update failed Aktualizacja nie powiodła się @@ -1287,23 +1105,18 @@ nie zostało ustawione WifiUI - - Scanning for networks... Wyszukiwanie sieci... - CONNECTING... ŁĄCZENIE... - FORGET ZAPOMNIJ - Forget Wi-Fi Network "%1"? Czy chcesz zapomnieć sieć "%1"? diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index d502c3fce..5a8bf861d 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -4,17 +4,14 @@ AbstractAlert - Close ปิด - Snooze Update เลื่อนการอัปเดต - Reboot and Update รีบูตและอัปเดต @@ -22,67 +19,84 @@ AdvancedNetworking - Back ย้อนกลับ - Enable Tethering ปล่อยฮอตสปอต - Tethering Password รหัสผ่านฮอตสปอต - - EDIT แก้ไข - Enter new tethering password ป้อนรหัสผ่านฮอตสปอตใหม่ - IP Address หมายเลขไอพี - Enable Roaming เปิดใช้งานโรมมิ่ง - APN Setting ตั้งค่า APN - Enter APN ป้อนค่า APN - leave blank for automatic configuration เว้นว่างเพื่อตั้งค่าอัตโนมัติ + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + กม./ชม. + + + mph + ไมล์/ชม. + + + MAX + สูงสุด + + + SPEED + ความเร็ว + + + LIMIT + จำกัด + ConfirmationDialog - - Ok ตกลง - Cancel ยกเลิก @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. คุณต้องยอมรับเงื่อนไขและข้อตกลง เพื่อใช้งาน openpilot - Back ย้อนกลับ - Decline, uninstall %1 ปฏิเสธ และถอนการติดตั้ง %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID Dongle ID - N/A ไม่มี - Serial ซีเรียล - Driver Camera กล้องฝั่งคนขับ - PREVIEW แสดงภาพ - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) ดูภาพตัวอย่างกล้องที่หันเข้าหาคนขับเพื่อให้แน่ใจว่าการตรวจสอบคนขับมีทัศนวิสัยที่ดี (รถต้องดับเครื่องยนต์) - Reset Calibration รีเซ็ตการคาลิเบรท - RESET รีเซ็ต - Are you sure you want to reset calibration? คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตการคาลิเบรท? - Review Training Guide ทบทวนคู่มือการใช้งาน - REVIEW ทบทวน - Review the rules, features, and limitations of openpilot ตรวจสอบกฎ คุณสมบัติ และข้อจำกัดของ openpilot - Are you sure you want to review the training guide? คุณแน่ใจหรือไม่ว่าต้องการทบทวนคู่มือการใช้งาน? - Regulatory ระเบียบข้อบังคับ - VIEW ดู - Change Language เปลี่ยนภาษา - CHANGE เปลี่ยน - Select a language เลือกภาษา - Reboot รีบูต - Power Off ปิดเครื่อง - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 8° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท - Your device is pointed %1° %2 and %3° %4. อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3° - down ด้านล่าง - up ด้านบน - left ด้านซ้าย - right ด้านขวา - Are you sure you want to reboot? คุณแน่ใจหรือไม่ว่าต้องการรีบูต? - Disengage to Reboot ยกเลิกระบบช่วยขับเพื่อรีบูต - Are you sure you want to power off? คุณแน่ใจหรือไม่ว่าต้องการปิดเครื่อง? - Disengage to Power Off ยกเลิกระบบช่วยขับเพื่อปิดเครื่อง @@ -261,32 +242,26 @@ DriveStats - Drives การขับขี่ - Hours ชั่วโมง - ALL TIME ทั้งหมด - PAST WEEK สัปดาห์ที่ผ่านมา - KM กิโลเมตร - Miles ไมล์ @@ -294,7 +269,6 @@ DriverViewScene - camera starting กำลังเปิดกล้อง @@ -302,12 +276,10 @@ InputDialog - Cancel ยกเลิก - Need at least %n character(s)! ต้องการอย่างน้อย %n ตัวอักษร! @@ -317,22 +289,18 @@ Installer - Installing... กำลังติดตั้ง... - Receiving objects: กำลังรับข้อมูล: - Resolving deltas: การแก้ไขเดลต้า: - Updating files: กำลังอัปเดตไฟล์: @@ -340,27 +308,22 @@ MapETA - eta eta - min นาที - hr ชม. - km กม. - mi ไมล์ @@ -368,22 +331,18 @@ MapInstructions - km กม. - m ม. - mi ไมล์ - ft ฟุต @@ -391,48 +350,40 @@ MapPanel - Current Destination ปลายทางปัจจุบัน - CLEAR ล้างข้อมูล - Recent Destinations ปลายทางล่าสุด - Try the Navigation Beta ลองใช้ระบบนำทาง (เบต้า) - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai รับการแสดงเส้นทางแบบเลี้ยวต่อเลี้ยว และอื่นๆ ด้วยการสมัครบริการ comma prime สมัครเลย: https://connect.comma.ai - No home location set ยังไม่ได้กำหนด ตำแหน่งของบ้าน - No work location set ยังไม่ได้กำหนด ตำแหน่งของที่ทำงาน - no recent destinations ไม่พบปลายทางล่าสุด @@ -440,12 +391,10 @@ location set MapWindow - Map Loading กำลังโหลดแผนที่ - Waiting for GPS กำลังรอสัญญาณ GPS @@ -453,12 +402,10 @@ location set MultiOptionDialog - Select เลือก - Cancel ยกเลิก @@ -466,72 +413,33 @@ location set Networking - Advanced ขั้นสูง - Enter password ใส่รหัสผ่าน - - for "%1" สำหรับ "%1" - Wrong password รหัสผ่านผิด - - AnnotatedCameraWidget - - - km/h - กม./ชม. - - - - mph - ไมล์/ชม. - - - - - MAX - สูงสุด - - - - - SPEED - ความเร็ว - - - - - LIMIT - จำกัด - - OffroadHome - UPDATE อัปเดต - ALERTS การแจ้งเตือน - ALERT การแจ้งเตือน @@ -539,22 +447,18 @@ location set PairingPopup - Pair your device to your comma account จับคู่อุปกรณ์ของคุณกับบัญชี comma ของคุณ - Go to https://connect.comma.ai on your phone ไปที่ https://connect.comma.ai ด้วยโทรศัพท์ของคุณ - Click "add new device" and scan the QR code on the right กดที่ "add new device" และสแกนคิวอาร์โค้ดทางด้านขวา - Bookmark connect.comma.ai to your home screen to use it like an app จดจำ connect.comma.ai โดยการเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็นแอปพลิเคชัน @@ -562,32 +466,26 @@ location set PrimeAdWidget - Upgrade Now อัพเกรดเดี๋ยวนี้ - Become a comma prime member at connect.comma.ai สมัครสมาชิก comma prime ได้ที่ connect.comma.ai - PRIME FEATURES: คุณสมบัติของ PRIME: - Remote access การเข้าถึงระยะไกล - 1 year of storage จัดเก็บข้อมูลนาน 1 ปี - Developer perks สิทธิพิเศษสำหรับนักพัฒนา @@ -595,22 +493,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ สมัครสำเร็จ - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS คะแนน COMMA @@ -618,41 +512,34 @@ location set QObject - Reboot รีบูต - Exit ปิด - dashcam กล้องติดรถยนต์ - openpilot openpilot - %n minute(s) ago %n นาทีที่แล้ว - %n hour(s) ago %n ชั่วโมงที่แล้ว - %n day(s) ago %n วันที่แล้ว @@ -662,47 +549,38 @@ location set Reset - Reset failed. Reboot to try again. การรีเซ็ตล้มเหลว รีบูตเพื่อลองอีกครั้ง - Are you sure you want to reset your device? คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์? - Resetting device... กำลังรีเซ็ตอุปกรณ์... - System Reset รีเซ็ตระบบ - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ - Cancel ยกเลิก - Reboot รีบูต - Confirm ยืนยัน - Unable to mount data partition. Press confirm to reset your device. ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ @@ -710,7 +588,6 @@ location set RichTextDialog - Ok ตกลง @@ -718,33 +595,26 @@ location set SettingsWindow - × × - Device อุปกรณ์ - - Network เครือข่าย - Toggles ตัวเลือก - Software ซอฟต์แวร์ - Navigation การนำทาง @@ -752,105 +622,82 @@ location set Setup - WARNING: Low Voltage คำเตือน: แรงดันแบตเตอรี่ต่ำ - Power your device in a car with a harness or proceed at your own risk. โปรดต่ออุปกรณ์ของคุณเข้ากับสายควบคุมในรถยนต์ หรือดำเนินการด้วยความเสี่ยงของคุณเอง - Power off ปิดเครื่อง - - - Continue ดำเนินการต่อ - Getting Started เริ่มกันเลย - Before we get on the road, let’s finish installation and cover some details. ก่อนออกเดินทาง เรามาทำการติดตั้งซอฟต์แวร์ และตรวจสอบการตั้งค่า - Connect to Wi-Fi เชื่อมต่อ Wi-Fi - - Back ย้อนกลับ - Continue without Wi-Fi ดำเนินการต่อโดยไม่ใช้ Wi-Fi - Waiting for internet กำลังรอสัญญาณอินเตอร์เน็ต - Choose Software to Install เลือกซอฟต์แวร์ที่จะติดตั้ง - Dashcam กล้องติดรถยนต์ - Custom Software ซอฟต์แวร์ที่กำหนดเอง - Enter URL ป้อน URL - for Custom Software สำหรับซอฟต์แวร์ที่กำหนดเอง - Downloading... กำลังดาวน์โหลด... - Download Failed ดาวน์โหลดล้มเหลว - Ensure the entered URL is valid, and the device’s internet connection is good. ตรวจสอบให้แน่ใจว่า URL ที่ป้อนนั้นถูกต้อง และอุปกรณ์เชื่อมต่ออินเทอร์เน็ตอยู่ - Reboot device รีบูตอุปกรณ์ - Start over เริ่มต้นใหม่ @@ -858,17 +705,14 @@ location set SetupWidget - Finish Setup ตั้งค่าเสร็จสิ้น - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ - Pair device จับคู่อุปกรณ์ @@ -876,106 +720,82 @@ location set Sidebar - - CONNECT เชื่อมต่อ - OFFLINE ออฟไลน์ - - ONLINE ออนไลน์ - ERROR เกิดข้อผิดพลาด - - - TEMP อุณหภูมิ - HIGH สูง - GOOD ดี - OK พอใช้ - VEHICLE รถยนต์ - NO ไม่พบ - PANDA PANDA - GPS จีพีเอส - SEARCH ค้นหา - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -983,138 +803,141 @@ location set SoftwarePanel - Git Branch - Git Branch + Git Branch - Git Commit - Git Commit + Git Commit - OS Version - เวอร์ชันระบบปฏิบัติการ + เวอร์ชันระบบปฏิบัติการ - Version - เวอร์ชั่น + เวอร์ชั่น - Last Update Check - ตรวจสอบการอัปเดตล่าสุด + ตรวจสอบการอัปเดตล่าสุด - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น + ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น - Check for Update - ตรวจสอบการอัปเดต + ตรวจสอบการอัปเดต - CHECKING - กำลังตรวจสอบ + กำลังตรวจสอบ - Switch Branch - เปลี่ยน Branch + เปลี่ยน Branch - ENTER - เปลี่ยน + เปลี่ยน - - The new branch will be pulled the next time the updater runs. - Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน + Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน - Enter branch name - ใส่ชื่อ Branch + ใส่ชื่อ Branch - Uninstall %1 ถอนการติดตั้ง %1 - UNINSTALL ถอนการติดตั้ง - Are you sure you want to uninstall? คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง? - failed to fetch update - โหลดข้อมูลอัปเดตไม่สำเร็จ + โหลดข้อมูลอัปเดตไม่สำเร็จ - - CHECK ตรวจสอบ + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys คีย์ SSH - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. คำเตือน: สิ่งนี้ให้สิทธิ์ SSH เข้าถึงคีย์สาธารณะทั้งหมดใน GitHub ของคุณ อย่าป้อนชื่อผู้ใช้ GitHub อื่นนอกเหนือจากของคุณเอง พนักงาน comma จะไม่ขอให้คุณเพิ่มชื่อผู้ใช้ GitHub ของพวกเขา - - ADD เพิ่ม - Enter your GitHub username ป้อนชื่อผู้ใช้ GitHub ของคุณ - LOADING กำลังโหลด - REMOVE ลบ - Username '%1' has no keys on GitHub ชื่อผู้ใช้ '%1' ไม่มีคีย์บน GitHub - Request timed out ตรวจสอบไม่สำเร็จ เนื่องจากใช้เวลามากเกินไป - Username '%1' doesn't exist on GitHub ไม่พบชื่อผู้ใช้ '%1' บน GitHub @@ -1122,7 +945,6 @@ location set SshToggle - Enable SSH เปิดใช้งาน SSH @@ -1130,22 +952,18 @@ location set TermsPage - Terms & Conditions ข้อตกลงและเงื่อนไข - Decline ปฏิเสธ - Scroll to accept เลื่อนเพื่อตอบรับข้อตกลง - Agree ยอมรับ @@ -1153,125 +971,125 @@ location set TogglesPanel - Enable openpilot เปิดใช้งาน openpilot - 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. ใช้ระบบ openpilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์ - Enable Lane Departure Warnings เปิดใช้งานการเตือนการออกนอกเลน - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). รับการแจ้งเตือนให้เลี้ยวกลับเข้าเลนเมื่อรถของคุณตรวจพบการข้ามช่องจราจรโดยไม่เปิดสัญญาณไฟเลี้ยวในขณะขับขี่ที่ความเร็วเกิน 31 ไมล์ต่อชั่วโมง (50 กม./ชม) - Use Metric System ใช้ระบบเมตริก - Display speed in km/h instead of mph. แสดงความเร็วเป็น กม./ชม. แทน ไมล์/ชั่วโมง - Record and Upload Driver Camera บันทึกและอัปโหลดภาพจากกล้องคนขับ - Upload data from the driver facing camera and help improve the driver monitoring algorithm. อัปโหลดข้อมูลจากกล้องที่หันหน้าไปทางคนขับ และช่วยปรับปรุงอัลกอริธึมการตรวจสอบผู้ขับขี่ - Disengage On Accelerator Pedal ยกเลิกระบบช่วยขับเมื่อเหยียบคันเร่ง - When enabled, pressing the accelerator pedal will disengage openpilot. เมื่อเปิดใช้งาน การกดแป้นคันเร่งจะเป็นการยกเลิกระบบช่วยขับโดย openpilot - Show ETA in 24h Format แสดงเวลา ETA ในรูปแบบ 24 ชั่วโมง - Use 24h format instead of am/pm ใช้รูปแบบเวลา 24 ชั่วโมง แทน am/pm - Show Map on Left Side of UI แสดงแผนที่ที่ด้านซ้ายของหน้าจอ - Show map on left side when in split screen view. แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ - openpilot Longitudinal Control - openpilot การควบคุมการเร่งและลดความเร็ว + openpilot การควบคุมการเร่งและลดความเร็ว - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB! + openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required จำเป็นต้องอัปเดต - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. จำเป็นต้องมีการอัปเดตระบบปฏิบัติการ เชื่อมต่ออุปกรณ์ของคุณกับ Wi-Fi เพื่อประสบการณ์การอัปเดตที่เร็วที่สุด ขนาดดาวน์โหลดประมาณ 1GB - Connect to Wi-Fi เชื่อมต่อกับ Wi-Fi - Install ติดตั้ง - Back ย้อนกลับ - Loading... กำลังโหลด... - Reboot รีบูต - Update failed การอัปเดตล้มเหลว @@ -1279,23 +1097,18 @@ location set WifiUI - - Scanning for networks... กำลังสแกนหาเครือข่าย... - CONNECTING... กำลังเชื่อมต่อ... - FORGET เลิกใช้ - Forget Wi-Fi Network "%1"? เลิกใช้เครือข่าย Wi-Fi "%1"? From 686506f4003964e230550e100d6a841c2ff5d3ac Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 25 Oct 2022 02:46:07 +0800 Subject: [PATCH 11/68] cabana: stable FPS (#26120) * stable FPS * fix --- tools/cabana/canmessages.cc | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index d2141c363..1b46bd9da 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -87,7 +87,7 @@ void CANMessages::process(QHash> *messages) { } bool CANMessages::eventFilter(const Event *event) { - static double prev_update_sec = 0; + static double prev_update_ts = 0; // drop packets when the GUI thread is calling seekTo. to make sure the current_sec is accurate. if (!seeking && event->which == cereal::Event::Which::CAN) { if (!received_msgs) { @@ -121,8 +121,9 @@ bool CANMessages::eventFilter(const Event *event) { } } - if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / settings.fps) { - prev_update_sec = current_sec; + double ts = millis_since_boot(); + if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { + prev_update_ts = ts; // use pointer to avoid data copy in queued connection. emit received(received_msgs.release()); } From 87e0a5dd1a0f58ce119d652808df8888e85ced2a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 25 Oct 2022 02:46:40 +0800 Subject: [PATCH 12/68] Cabana: display overlapping bits warning (#26219) display overlapping bits warning --- tools/cabana/binaryview.cc | 14 ++++++++++++++ tools/cabana/binaryview.h | 2 ++ tools/cabana/detailwidget.cc | 21 ++++++++++++++++----- 3 files changed, 32 insertions(+), 5 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 5d191d2ca..26fecd8c3 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -132,6 +132,20 @@ const Signal *BinaryView::getResizingSignal() const { return nullptr; } +QSet BinaryView::getOverlappingSignals() const { + QSet overlapping; + for (int i = 0; i < model->rowCount(); ++i) { + for (int j = 0; j < model->columnCount() - 1; ++j) { + auto item = (const BinaryViewModel::Item *)model->index(i, j).internalPointer(); + if (item && item->sigs.size() > 1) { + for (auto s : item->sigs) + overlapping.insert(s); + } + } + } + return overlapping; +} + // BinaryViewModel void BinaryViewModel::setMessage(const QString &message_id) { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index e57033b79..0f58e9ed2 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -59,6 +60,7 @@ public: void updateState(); void highlight(const Signal *sig); const Signal *hoveredSignal() const { return hovered_sig; } + QSet getOverlappingSignals() const; signals: void signalHovered(const Signal *sig); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 443b33b52..7290e4e6f 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -49,7 +49,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); QLabel *warning_icon = new QLabel(this); warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning)); - warning_hlayout->addWidget(warning_icon); + warning_hlayout->addWidget(warning_icon, 0, Qt::AlignTop); warning_label = new QLabel(this); warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); warning_widget->hide(); @@ -107,6 +107,8 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { if (msg_id.isEmpty()) return; warning_widget->hide(); + QStringList warnings; + clearLayout(signals_container->layout()); QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { @@ -124,16 +126,25 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { } } msg_name = msg->name.c_str(); - if (msg->size != can->lastMessage(msg_id).dat.size()) { - warning_label->setText(tr("Message size (%1) is incorrect!").arg(msg->size)); - warning_widget->show(); - } + if (msg->size != can->lastMessage(msg_id).dat.size()) + warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } edit_btn->setVisible(true); name_label->setText(msg_name); binary_view->setMessage(msg_id); history_log->setMessage(msg_id); + + // Check overlapping bits + if (auto overlapping = binary_view->getOverlappingSignals(); !overlapping.isEmpty()) { + for (auto s : overlapping) + warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); + } + + if (!warnings.isEmpty()) { + warning_label->setText(warnings.join('\n')); + warning_widget->show(); + } } void DetailWidget::updateState() { From 3df83a7809d60cb25122881aadbcbe050374d7c7 Mon Sep 17 00:00:00 2001 From: d3v1n11 <115375208+d3v1n11@users.noreply.github.com> Date: Mon, 24 Oct 2022 14:57:13 -0500 Subject: [PATCH 13/68] Hyundai: add 2020 Palisade FW versions (#26085) * Update values.py * Remove unknown versions Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1eed03923..96c420177 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -791,6 +791,7 @@ FW_VERSIONS = { }, CAR.PALISADE: { (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', @@ -804,6 +805,7 @@ FW_VERSIONS = { b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350', b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', @@ -818,6 +820,7 @@ FW_VERSIONS = { ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', @@ -834,6 +837,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', From 92b458c70990572dfefcf29e78c04bac822be56e Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Mon, 24 Oct 2022 21:40:01 -0400 Subject: [PATCH 14/68] HKG: Add FW and Remove from dashcamOnly for 2019 Elantra GT i30 (#25951) * HKG: Add FW for 2019 Elantra GT i30 * Add test route * remove can fp * revert that * actually shares the same platform with the ceed * marketed as Elantra i30 * stash * Revert "stash" This reverts commit 03b164c9dbad53ff22a961d7a93848b8c91d1722. * add car infos * gen docs * combine with elantra * legacy again * update docs Co-authored-by: Adeeb Shihadeh Co-authored-by: Shane Smiskol --- docs/CARS.md | 4 ++- selfdrive/car/hyundai/interface.py | 4 +-- selfdrive/car/hyundai/values.py | 42 +++++++++++++---------- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/torque_data/substitute.yaml | 1 - 5 files changed, 30 insertions(+), 23 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a03da5ca6..13ac13fe6 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 209 Supported Cars +# 211 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -55,8 +55,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| +|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| |Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index b1fa8d9e1..114d124a3 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} + ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } if candidate in CANFD_CAR: # detect HDA2 with ADAS Driving ECU @@ -75,7 +75,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.6 * 1.15 tire_stiffness_factor = 0.63 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): + elif candidate == CAR.ELANTRA: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 96c420177..29d0cb3dc 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -34,7 +34,7 @@ class CarControllerParams: # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. - elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, + elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV, CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO): self.STEER_MAX = 255 @@ -54,7 +54,6 @@ class CAR: ELANTRA = "HYUNDAI ELANTRA 2017" ELANTRA_2021 = "HYUNDAI ELANTRA 2021" ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021" - ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT" HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016" IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019" IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022" @@ -108,13 +107,13 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { - CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), - CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_GT_I30: [ + CAR.ELANTRA: [ + HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e), HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e), ], + CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness @@ -199,15 +198,6 @@ FINGERPRINTS = { CAR.ELANTRA: [{ 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], - CAR.ELANTRA_GT_I30: [{ - 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1193: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1952: 8, 1960: 8, 1988: 8, 2000: 8, 2001: 8, 2005: 8, 2008: 8, 2009: 8, 2013: 8, 2017: 8, 2025: 8 - }, - { - 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8 - }, - { - 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1960: 8, 1990: 8, 1998: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], CAR.HYUNDAI_GENESIS: [{ 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 }, @@ -1214,6 +1204,23 @@ FW_VERSIONS = { b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', ], }, + CAR.ELANTRA: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', + ], + }, CAR.ELANTRA_2021: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', @@ -1394,12 +1401,12 @@ CHECKSUM = { FEATURES = { # which message has the gear - "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, + "use_cluster_gears": {CAR.ELANTRA, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 - "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, + "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, } CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN} @@ -1419,7 +1426,6 @@ DBC = { CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 8c4efe306..326d80b82 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -23,7 +23,6 @@ non_tested_cars = [ GM.MALIBU, GM.EQUINOX, GM.BOLT_EV, - HYUNDAI.ELANTRA_GT_I30, HYUNDAI.GENESIS_G90, HYUNDAI.KIA_OPTIMA_H, ] @@ -119,6 +118,7 @@ routes = [ CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), + CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA), # 2019 Elantra GT CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021), CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index f5e3d1d61..acd752600 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -26,7 +26,6 @@ KIA SELTOS 2021: HYUNDAI SONATA 2020 KIA NIRO HYBRID 2019: KIA NIRO EV 2020 KIA NIRO HYBRID 2021: KIA NIRO EV 2020 HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 -HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019 HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 From e9fcef99e1edace1d4950c9ac58de0b535926709 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 24 Oct 2022 19:08:20 -0700 Subject: [PATCH 15/68] FPv2 tests: test all addrs map to one ECU (#26151) * add test * fix mapping --- selfdrive/car/honda/values.py | 10 +++++----- selfdrive/car/tests/test_fw_fingerprint.py | 11 +++++++++++ 2 files changed, 16 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 638008934..e0810e0bb 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -446,7 +446,7 @@ FW_VERSIONS = { b'78109-TED-Q510\x00\x00', b'78109-TEG-A310\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TBA-A020\x00\x00', b'36161-TBA-A030\x00\x00', b'36161-TBA-A040\x00\x00', @@ -964,7 +964,7 @@ FW_VERSIONS = { b'77959-THR-A110\x00\x00', b'77959-THR-X010\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-THR-A020\x00\x00', b'36161-THR-A030\x00\x00', b'36161-THR-A110\x00\x00', @@ -1068,7 +1068,7 @@ FW_VERSIONS = { b'39990-TG7-A070\x00\x00', b'39990-TGS-A230\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TG7-A310\x00\x00', b'36161-TG7-A520\x00\x00', b'36161-TG7-A630\x00\x00', @@ -1176,7 +1176,7 @@ FW_VERSIONS = { b'57114-TX5-A220\x00\x00', b'57114-TX4-A220\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TX5-A030\x00\x00', b'36161-TX4-A030\x00\x00', ], @@ -1273,7 +1273,7 @@ FW_VERSIONS = { b'39990-T6Z-A030\x00\x00', b'39990-T6Z-A050\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-T6Z-A020\x00\x00', b'36161-T6Z-A310\x00\x00', b'36161-T6Z-A420\x00\x00', diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index b9926301f..2e4310385 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import random import unittest +from collections import defaultdict from parameterized import parameterized from cereal import car @@ -44,6 +45,16 @@ class TestFwFingerprint(unittest.TestCase): duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") + def test_all_addrs_map_to_one_ecu(self): + for brand, cars in VERSIONS.items(): + addr_to_ecu = defaultdict(set) + for ecus in cars.values(): + for ecu_type, addr, sub_addr in ecus.keys(): + addr_to_ecu[(addr, sub_addr)].add(ecu_type) + ecus_for_addr = addr_to_ecu[(addr, sub_addr)] + ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr]) + self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})") + def test_data_collection_ecus(self): # Asserts no extra ECUs are in the fingerprinting database for brand, config in FW_QUERY_CONFIGS.items(): From a22ce68699ef4d6714a2921f19ed7d793ea619a5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 24 Oct 2022 19:37:18 -0700 Subject: [PATCH 16/68] jenkins: disable camerad while new box is built --- Jenkinsfile | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index b9b9eda66..85b488046 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -137,6 +137,7 @@ pipeline { } } + /* stage('camerad') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { @@ -147,6 +148,7 @@ pipeline { ]) } } + */ stage('replay') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } From 506a150e735e72b5af53d800260a65a821b95949 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 24 Oct 2022 19:37:52 -0700 Subject: [PATCH 17/68] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 38133307b..1d25fc3f2 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 38133307b2e6036e76684b39878e79212e545e06 +Subproject commit 1d25fc3f202d5ddeee97848480323e9b14f9bdfa From 15595fc8599f0ddf1e72ed02422e9f6d266db1f6 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 24 Oct 2022 20:17:05 -0700 Subject: [PATCH 18/68] Calibrationd: Calibrate wide from device (#26204) * Use calibrator to stabilize wide transform * Need array * Needs init * Needs to be arr * publish mshg * Check size * Update ref * fix calibration param read when no wide calib * need self! --- selfdrive/locationd/calibrationd.py | 34 +++++++++++++++++++++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 31 insertions(+), 5 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 9e6536f9b..4e996bc3b 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -31,6 +31,7 @@ INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration INPUTS_WANTED = 50 # We want a little bit more than we need for stability MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) +WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) # These values are needed to accommodate biggest modelframe PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657]) @@ -67,6 +68,7 @@ class Calibrator: calibration_params = params.get("CalibrationParams") self.wide_camera = params.get_bool('WideCameraOnly') rpy_init = RPY_INIT + wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT valid_blocks = 0 if param_put and calibration_params: @@ -74,24 +76,34 @@ class Calibrator: msg = log.Event.from_bytes(calibration_params) rpy_init = np.array(msg.liveCalibration.rpyCalib) valid_blocks = msg.liveCalibration.validBlocks + wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) except Exception: cloudlog.exception("Error reading cached CalibrationParams") - self.reset(rpy_init, valid_blocks) + self.reset(rpy_init, valid_blocks, wide_from_device_euler) self.update_status() - def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, smooth_from: Optional[np.ndarray] = None) -> None: + def reset(self, rpy_init: np.ndarray = RPY_INIT, + valid_blocks: int = 0, + wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, + smooth_from: Optional[np.ndarray] = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: self.rpy = rpy_init.copy() + if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3: + self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() + else: + self.wide_from_device_euler = wide_from_device_euler_init.copy() + if not np.isfinite(valid_blocks) or valid_blocks < 0: self.valid_blocks = 0 else: self.valid_blocks = valid_blocks self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) + self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1)) self.idx = 0 self.block_idx = 0 @@ -113,6 +125,7 @@ class Calibrator: def update_status(self) -> None: valid_idxs = self.get_valid_idxs() if valid_idxs: + self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0) rpys = self.rpys[valid_idxs] self.rpy = np.mean(rpys, axis=0) max_rpy_calib = np.array(np.max(rpys, axis=0)) @@ -146,7 +159,10 @@ class Calibrator: else: return self.rpy - def handle_cam_odom(self, trans: List[float], rot: List[float], trans_std: List[float]) -> Optional[np.ndarray]: + def handle_cam_odom(self, trans: List[float], + rot: List[float], + wide_from_device_euler: List[float], + trans_std: List[float]) -> Optional[np.ndarray]: self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) @@ -165,7 +181,15 @@ class Calibrator: new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy))) new_rpy = sanity_clip(new_rpy) - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) + if len(wide_from_device_euler) == 3: + new_wide_from_device_euler = np.array(wide_from_device_euler) + else: + new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT + + self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) + self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + + (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) self.idx = (self.idx + 1) % BLOCK_SIZE if self.idx == 0: self.block_idx += 1 @@ -187,6 +211,7 @@ class Calibrator: liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() + liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED @@ -223,6 +248,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, + sm['cameraOdometry'].wideFromDeviceEuler, sm['cameraOdometry'].transStd) if DEBUG and new_rpy is not None: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 230e81d94..d03b897f9 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f5a352666728344ca5065bb44c47c1f5650b4243 +a5c77655fba5563e8128fb655f69b1bbd02198aa From 27e315e58f5273da79803ad95737fc15483fef21 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 25 Oct 2022 00:12:49 -0700 Subject: [PATCH 19/68] GM: reduce LKAS faults while inactive (#26196) * send at 10hz when inactive * try to make it fine to switch rates * fix rate * todododo * fine if we skip, we usually send too early * clean up * this may be required, 50Hz is not really needed to sync/initialize * preserves previous behavior (not sure if this makes sense) * Revert "preserves previous behavior (not sure if this makes sense)" This reverts commit 3b297bca72307b5cba09bec4e2cd8e0f2761af42. * Revert "this may be required, 50Hz is not really needed to sync/initialize" This reverts commit a6b4693814214d3f508db922f3b371c402a13995. * rm com * Update ref_commit * gate behind GM Cam * common logic * bet * update refs --- selfdrive/car/gm/carcontroller.py | 16 ++++++++++++---- selfdrive/car/gm/values.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 15 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index b56b3bfca..a75eb89f2 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -22,6 +22,7 @@ class CarController: self.apply_gas = 0 self.apply_brake = 0 self.frame = 0 + self.last_steer_frame = 0 self.last_button_frame = 0 self.cancel_counter = 0 @@ -46,15 +47,21 @@ class CarController: # Send CAN commands. can_sends = [] - # Steering (50Hz) + # Steering (Active: 50Hz, inactive: 10Hz) + # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked + init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera + steer_step = self.params.INACTIVE_STEER_STEP + if CC.latActive or init_lka_counter: + steer_step = self.params.ACTIVE_STEER_STEP + # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the # next Panda loopback confirmation in the current CS frame. if CS.loopback_lka_steering_cmd_updated: self.lka_steering_cmd_counter += 1 self.sent_lka_steering_cmd = True - elif (self.frame % self.params.STEER_STEP) == 0: - # Initialize ASCMLKASteeringCmd counter using the camera - if not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera: + elif (self.frame - self.last_steer_frame) >= steer_step: + # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus + if init_lka_counter: self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1 if CC.latActive: @@ -63,6 +70,7 @@ class CarController: else: apply_steer = 0 + self.last_steer_frame = self.frame self.apply_steer_last = apply_steer idx = self.lka_steering_cmd_counter % 4 can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive)) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index f8f9e7f04..85e291aaf 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -11,7 +11,8 @@ Ecu = car.CarParams.Ecu class CarControllerParams: STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output - STEER_STEP = 2 # Control frames per command (50hz) + ACTIVE_STEER_STEP = 2 # Active control frames per command (50hz) + INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz) STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness STEER_DELTA_DOWN = 17 STEER_DRIVER_ALLOWANCE = 50 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d03b897f9..604abd666 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a5c77655fba5563e8128fb655f69b1bbd02198aa +9d042d06f61c8f48e8c7a4e30001630c14712272 \ No newline at end of file From bc7fc481d57cbdfb8c727a38ba5a32e856315df0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 11:33:02 -0700 Subject: [PATCH 20/68] pj: update thermal layout + layout test (#26224) --- tools/plotjuggler/layouts/thermal_debug.xml | 93 +++++++++++---------- tools/plotjuggler/test_plotjuggler.py | 22 ++++- 2 files changed, 68 insertions(+), 47 deletions(-) diff --git a/tools/plotjuggler/layouts/thermal_debug.xml b/tools/plotjuggler/layouts/thermal_debug.xml index cebda8175..c10b78f1c 100644 --- a/tools/plotjuggler/layouts/thermal_debug.xml +++ b/tools/plotjuggler/layouts/thermal_debug.xml @@ -1,82 +1,83 @@ - + - + - - + + - - - - - - - - + + + + + + + + - - + + - - - - + + + + - - + + - + - + - - + + - + - - + + - + + - - + + - + - + - - + + - - - - + + + + - - + + - - - - + + + + @@ -92,8 +93,8 @@ - - + + diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index edaec9c80..8fc032042 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import os +import glob import signal import subprocess import time @@ -9,12 +10,14 @@ from common.basedir import BASEDIR from common.timeout import Timeout from tools.plotjuggler.juggle import install +PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") + class TestPlotJuggler(unittest.TestCase): def test_demo(self): install() - pj = os.path.join(BASEDIR, "tools/plotjuggler/juggle.py") + pj = os.path.join(PJ_DIR, "juggle.py") p = subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', stderr=subprocess.PIPE, shell=True, start_new_session=True) @@ -29,5 +32,22 @@ class TestPlotJuggler(unittest.TestCase): self.assertEqual(p.poll(), None) os.killpg(os.getpgid(p.pid), signal.SIGTERM) + # TODO: also test that layouts successfully load + def test_layouts(self): + bad_strings = ( + # if a previously loaded file is defined, + # PJ will throw a warning when loading the layout + "fileInfo", + "previouslyLoaded_Datafiles", + ) + for fn in glob.glob(os.path.join(PJ_DIR, "layouts/*")): + name = os.path.basename(fn) + with self.subTest(layout=name): + with open(fn) as f: + layout = f.read() + violations = [s for s in bad_strings if s in layout] + assert len(violations) == 0, f"These should be stripped out of the layout: {str(violations)}" + + if __name__ == "__main__": unittest.main() From 6d30b1ee8314539f66eee000ac7a13ac7ccb506c Mon Sep 17 00:00:00 2001 From: Rewat S <76684800+taperec@users.noreply.github.com> Date: Wed, 26 Oct 2022 02:50:50 +0700 Subject: [PATCH 21/68] Multilang: add missing Thai translations (#26234) --- selfdrive/ui/translations/main_th.ts | 92 +++++----------------------- 1 file changed, 16 insertions(+), 76 deletions(-) diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 5a8bf861d..95880e69c 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -60,11 +60,11 @@ Cellular Metered - + ลดการส่งข้อมูลผ่านเซลลูล่าร์ Prevent large data uploads when on a metered connection - + ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์ @@ -802,54 +802,6 @@ location set SoftwarePanel - - Git Branch - Git Branch - - - Git Commit - Git Commit - - - OS Version - เวอร์ชันระบบปฏิบัติการ - - - Version - เวอร์ชั่น - - - Last Update Check - ตรวจสอบการอัปเดตล่าสุด - - - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น - - - Check for Update - ตรวจสอบการอัปเดต - - - CHECKING - กำลังตรวจสอบ - - - Switch Branch - เปลี่ยน Branch - - - ENTER - เปลี่ยน - - - The new branch will be pulled the next time the updater runs. - Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน - - - Enter branch name - ใส่ชื่อ Branch - Uninstall %1 ถอนการติดตั้ง %1 @@ -862,45 +814,41 @@ location set Are you sure you want to uninstall? คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง? - - failed to fetch update - โหลดข้อมูลอัปเดตไม่สำเร็จ - CHECK ตรวจสอบ Updates are only downloaded while the car is off. - + ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น Current Version - + เวอร์ชั่นปัจจุบัน Download - + ดาวน์โหลด Install Update - + ติดตั้งตัวอัปเดต INSTALL - + ติดตั้ง Target Branch - + Branch ที่เลือก SELECT - + เลือก Select a branch - + เลือก Branch @@ -1026,37 +974,29 @@ location set Show map on left side when in split screen view. แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ - - openpilot Longitudinal Control - openpilot การควบคุมการเร่งและลดความเร็ว - - - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB! - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - + 🌮 ควบคุมเร่ง/เบรคแบบ End-to-end (อยู่ขั้นพัฒนา) 🌮 Experimental openpilot longitudinal control - + ทดลองใช้ระบบควบคุมการเร่ง/เบรคโดย openpilot <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - + <b>คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในขั้นทดลอง และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</b> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + ให้ openpilot ควบคุมการเร่ง/เบรคแบบ end-to-end โดย openpilot จะขับอย่างที่มนุษย์คิด ระบบยังอยู่ในขั้นทดลอง openpilot longitudinal control is not currently available for this car. - + ขณะนี้ยังไม่มีระบบควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ Enable experimental longitudinal control to enable this. - + เปิดใช้งานระบบควบคุมการเร่ง/เบรคขั้นทดลอง เพื่อเปิดใช้งานสิ่งนี้ From 339253bc05179530e47509e548c482495fbc6e82 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 13:51:23 -0700 Subject: [PATCH 22/68] Hyundai: CAN-FD blindspot signals (#26229) * Hyundai: CAN-FD blindspot signals * fix that * update refs --- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 12 ++++++++++++ selfdrive/car/hyundai/interface.py | 9 +++++++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 21 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 7bd94e3ff..a95b0ae8a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 7bd94e3ff4a2890eb69118f0dfadb64f9d32d618 +Subproject commit a95b0ae8a5244a9d6311bf72aa2a7d63d41b4a9f diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index e27432e23..ec2b3059a 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -187,6 +187,9 @@ class CarState(CarStateBase): ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], cp.vl["BLINKERS"]["RIGHT_LAMP"]) + if self.CP.enableBsm: + ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 + ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 ret.cruiseState.available = True self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1 @@ -450,6 +453,15 @@ class CarState(CarStateBase): ("DOORS_SEATBELTS", 4), ] + if CP.enableBsm: + signals += [ + ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), + ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), + ] + checks += [ + ("BLINDSPOTS_REAR_CORNERS", 20), + ] + if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl: signals += [ ("CRUISE_STATUS", "CRUISE_INFO"), diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 114d124a3..147c76600 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -311,6 +311,13 @@ class CarInterface(CarInterfaceBase): ret.vEgoStarting = 0.1 ret.startAccel = 2.0 + # *** feature detection *** + if candidate in CANFD_CAR: + bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4 + ret.enableBsm = 0x1e5 in fingerprint[bus] + else: + ret.enableBsm = 0x58b in fingerprint[0] + # *** panda safety config *** if candidate in CANFD_CAR: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), @@ -321,8 +328,6 @@ class CarInterface(CarInterfaceBase): if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS else: - ret.enableBsm = 0x58b in fingerprint[0] - if candidate in LEGACY_SAFETY_MODE_CAR: # these cars require a special panda safety mode due to missing counters and checksums in the messages ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 604abd666..44eed1849 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9d042d06f61c8f48e8c7a4e30001630c14712272 \ No newline at end of file +68457035e9223fcbd70bd40966d5a1d9fe4f1567 \ No newline at end of file From 4639862baecfc8ed708827580f441a34731ba137 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 15:21:43 -0700 Subject: [PATCH 23/68] UI: show git commit date (#26240) * show version description while offroad * ui fixups * parse date * cleanup --- selfdrive/ui/qt/home.cc | 16 +++++----------- selfdrive/ui/qt/home.h | 6 +++++- selfdrive/ui/qt/offroad/software_settings.cc | 4 ++-- selfdrive/ui/qt/util.cc | 4 ---- selfdrive/ui/qt/util.h | 1 - selfdrive/ui/qt/widgets/controls.cc | 4 ++-- selfdrive/ui/qt/widgets/controls.h | 2 +- selfdrive/ui/qt/widgets/scrollview.cc | 2 ++ selfdrive/updated.py | 14 +++++++++++--- 9 files changed, 28 insertions(+), 25 deletions(-) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 78bc6aab4..3fe00e6ed 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -1,11 +1,9 @@ #include "selfdrive/ui/qt/home.h" -#include #include #include #include -#include "common/params.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/drive_stats.h" #include "selfdrive/ui/qt/widgets/prime.h" @@ -109,22 +107,20 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { header_layout->setContentsMargins(15, 15, 15, 0); header_layout->setSpacing(16); - date = new QLabel(); - header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft); - update_notif = new QPushButton(tr("UPDATE")); update_notif->setVisible(false); update_notif->setStyleSheet("background-color: #364DEF;"); QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); }); - header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignRight); + header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); alert_notif = new QPushButton(); alert_notif->setVisible(false); alert_notif->setStyleSheet("background-color: #E22C2C;"); QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); }); - header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignRight); + header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); - header_layout->addWidget(new QLabel(getBrandVersion()), 0, Qt::AlignHCenter | Qt::AlignRight); + version = new ElidedLabel(); + header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight); main_layout->addLayout(header_layout); @@ -184,9 +180,7 @@ void OffroadHome::hideEvent(QHideEvent *event) { } void OffroadHome::refresh() { - QString locale_name = QString(uiState()->language).replace("main_", ""); - QString dateString = QLocale(locale_name).toString(QDateTime::currentDateTime(), "dddd, MMMM d"); - date->setText(dateString); + version->setText(getBrand() + " " + QString::fromStdString(params.get("UpdaterCurrentDescription"))); bool updateAvailable = update_widget->refresh(); int alerts = alerts_widget->refresh(); diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h index 94f133010..6636da56e 100644 --- a/selfdrive/ui/qt/home.h +++ b/selfdrive/ui/qt/home.h @@ -7,10 +7,12 @@ #include #include +#include "common/params.h" #include "selfdrive/ui/qt/offroad/driverview.h" #include "selfdrive/ui/qt/body.h" #include "selfdrive/ui/qt/onroad.h" #include "selfdrive/ui/qt/sidebar.h" +#include "selfdrive/ui/qt/widgets/controls.h" #include "selfdrive/ui/qt/widgets/offroad_alerts.h" #include "selfdrive/ui/ui.h" @@ -25,8 +27,10 @@ private: void hideEvent(QHideEvent *event) override; void refresh(); + Params params; + QTimer* timer; - QLabel* date; + ElidedLabel* version; QStackedLayout* center_layout; UpdateAlert *update_widget; OffroadAlert* alerts_widget; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index 4f048241c..e08a02a4d 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -145,11 +145,11 @@ void SoftwarePanel::updateLabels() { targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch"))); // current + new versions - versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")).left(40)); + versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription"))); versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes"))); installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable")); - installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")).left(35)); + installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription"))); installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes"))); update(); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index c5697c104..59903e337 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -21,10 +21,6 @@ QString getBrand() { return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot"); } -QString getBrandVersion() { - return getBrand() + " v" + getVersion().left(14).trimmed(); -} - QString getUserAgent() { return "openpilot-" + getVersion(); } diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 209f05196..61a27a866 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -11,7 +11,6 @@ QString getVersion(); QString getBrand(); -QString getBrandVersion(); QString getUserAgent(); std::optional getDongleId(); QMap getSupportedLanguages(); diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index a1ebf57b0..d3b77935d 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -41,7 +41,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons hlayout->addWidget(title_label); // value next to control button - value = new QLabel(); + value = new ElidedLabel(); value->setAlignment(Qt::AlignRight | Qt::AlignVCenter); value->setStyleSheet("color: #aaaaaa"); hlayout->addWidget(value); @@ -70,7 +70,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons } void AbstractControl::hideEvent(QHideEvent *e) { - if(description != nullptr) { + if (description != nullptr) { description->hide(); } } diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index c42716828..f11f9baf5 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -65,7 +65,7 @@ protected: QPushButton *title_label; private: - QLabel *value; + ElidedLabel *value; QLabel *description = nullptr; }; diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc index bd4309d8d..553659301 100644 --- a/selfdrive/ui/qt/widgets/scrollview.cc +++ b/selfdrive/ui/qt/widgets/scrollview.cc @@ -3,6 +3,8 @@ #include #include +// TODO: disable horizontal scrolling and resize + ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) { setWidget(w); setWidgetResizable(true); diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 57f957cff..c261a92a8 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -280,17 +280,25 @@ class Updater: # Write out current and new version info def get_description(basedir: str) -> str: + if not os.path.exists(basedir): + return "" + version = "" branch = "" commit = "" + commit_date = "" try: branch = self.get_branch(basedir) - commit = self.get_commit_hash(basedir) + commit = self.get_commit_hash(basedir)[:7] with open(os.path.join(basedir, "common", "version.h")) as f: version = f.read().split('"')[1] + + commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip() + dt = datetime.datetime.fromtimestamp(int(commit_unix_ts)) + commit_date = dt.strftime("%b %d") except Exception: - pass - return f"{version} / {branch} / {commit[:7]}" + cloudlog.exception("updater.get_description") + return f"{version} / {branch} / {commit} / {commit_date}" self.params.put("UpdaterCurrentDescription", get_description(BASEDIR)) self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR)) self.params.put("UpdaterNewDescription", get_description(FINALIZED)) From 1be4150089a4ac9281879ddfaccd0f9447c14f3d Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Tue, 25 Oct 2022 17:32:49 -0500 Subject: [PATCH 24/68] Mazda: Add CX-5 2023 to supported cars (#26182) * Mazda: Add CX-5 2023 to supported cars Signed-off-by: Jafar Al-Gharaibeh * add missing cam fw Signed-off-by: Jafar Al-Gharaibeh Co-authored-by: Adeeb Shihadeh --- selfdrive/car/mazda/values.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 921dc7a63..129273efe 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -43,7 +43,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"), CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"), CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"), - CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"), + CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"), } @@ -89,6 +89,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x706, None): [ b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', From 9091e737c8fea44158570e6e15668e30d518d4d3 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Tue, 25 Oct 2022 15:51:39 -0700 Subject: [PATCH 25/68] controlsd: update is_metric live (#26228) * fix speed increment if units changed while driving * don't recreate params Co-authored-by: Adeeb Shihadeh --- selfdrive/controls/controlsd.py | 40 +++++++++++++++++---------------- 1 file changed, 21 insertions(+), 19 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index cbc54eadb..5172cc404 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -82,13 +82,13 @@ class Controls: self.log_sock = messaging.sub_sock('androidLog') - params = Params() + self.params = Params() self.sm = sm if self.sm is None: ignore = ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] - if params.get_bool('WideCameraOnly'): + if self.params.get_bool('WideCameraOnly'): ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', @@ -105,22 +105,22 @@ class Controls: else: self.CI, self.CP = CI, CI.CP - self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) + self.joystick_mode = self.params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) # set alternative experiences from parameters - self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator") + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - if self.CP.dashcamOnly and params.get_bool("DashcamOverride"): + if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"): self.CP.dashcamOnly = False # read params - self.is_metric = params.get_bool("IsMetric") - self.is_ldw_enabled = params.get_bool("IsLdwEnabled") - openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle") - passive = params.get_bool("Passive") or not openpilot_enabled_toggle + self.is_metric = self.params.get_bool("IsMetric") + self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") + openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") + passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle # detect sound card presence and ensure successful init sounds_available = HARDWARE.get_sound_card_online() @@ -139,15 +139,15 @@ class Controls: # Write CarParams for radard cp_bytes = self.CP.to_bytes() - params.put("CarParams", cp_bytes) + self.params.put("CarParams", cp_bytes) put_nonblocking("CarParamsCache", cp_bytes) put_nonblocking("CarParamsPersistent", cp_bytes) # cleanup old params if not self.CP.experimentalLongitudinalAvailable: - params.remove("ExperimentalLongitudinalEnabled") + self.params.remove("ExperimentalLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: - params.remove("EndToEndLong") + self.params.remove("EndToEndLong") self.CC = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() @@ -583,9 +583,9 @@ class Controls: """Given the state, this function returns a CarControl packet""" # Update VehicleModel - params = self.sm['liveParameters'] - x = max(params.stiffnessFactor, 0.1) - sr = max(params.steerRatio, 0.1) + lp = self.sm['liveParameters'] + x = max(lp.stiffnessFactor, 0.1) + sr = max(lp.steerRatio, 0.1) self.VM.update_params(x, sr) # Update Torque Params @@ -628,7 +628,7 @@ class Controls: lat_plan.psis, lat_plan.curvatures, lat_plan.curvatureRates) - actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params, + actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.last_actuators, self.steer_limited, self.desired_curvature, self.desired_curvature_rate, self.sm['liveLocationKalman']) else: @@ -768,10 +768,10 @@ class Controls: (self.state == State.softDisabling) # Curvature & Steering angle - params = self.sm['liveParameters'] + lp = self.sm['liveParameters'] - steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg) - curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, params.roll) + steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) + curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) # controlsState dat = messaging.new_message('controlsState') @@ -856,6 +856,8 @@ class Controls: start_time = sec_since_boot() self.prof.checkpoint("Ratekeeper", ignore=True) + self.is_metric = self.params.get_bool("IsMetric") + # Sample data from sockets and get a carState CS = self.data_sample() cloudlog.timestamp("Data sampled") From 87e26b09c17ba029b2054c256acae1c2413a3bd1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 15:57:29 -0700 Subject: [PATCH 26/68] update car docs --- docs/CARS.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index 13ac13fe6..2df2b96e2 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -122,7 +122,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Lexus|RX Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| +|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| |Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B| |Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| From f6bab0cd678e3020c7b0e2257309df69f83de0f0 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 25 Oct 2022 16:09:36 -0700 Subject: [PATCH 27/68] [torqued] Extend to all Toyota and Hyundai cars (#26238) * extend to toyota and hyundai * remove all pid control in hyundai * remove indi tunes * remove toyota lat tunes * release notes * rm tunes.py Co-authored-by: Adeeb Shihadeh --- RELEASES.md | 1 + selfdrive/car/hyundai/interface.py | 94 +------------------------- selfdrive/car/toyota/interface.py | 38 ++++------- selfdrive/car/toyota/tunes.py | 102 ----------------------------- 4 files changed, 15 insertions(+), 220 deletions(-) delete mode 100644 selfdrive/car/toyota/tunes.py diff --git a/RELEASES.md b/RELEASES.md index b42425958..744168c8f 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -6,6 +6,7 @@ Version 0.8.17 (2022-XX-XX) * New end-to-end distracted trigger * Self-tuning torque lateral controller parameters * Parameters learned live for each car +* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models * UI updates * Multi-language in navigation * Matched speeds shown on car's dash diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 147c76600..6a1d741de 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -45,141 +45,92 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1. + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]] elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SONATA_LF: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 tire_stiffness_factor = 0.63 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ELANTRA: - ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.ELANTRA_2021: ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ELANTRA_HEV_2021: ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.HYUNDAI_GENESIS: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [3.5] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [2.0] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG ret.wheelbase = 2.6 ret.steerRatio = 13.42 # Spec tire_stiffness_factor = 0.385 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): - ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.IONIQ_PHEV_2019: ret.mass = 1550. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs ret.wheelbase = 2.7 ret.steerRatio = 13.73 - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [2.5] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [3.5] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.VELOSTER: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 * 1.15 tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.TUCSON: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3520. * CV.LB_TO_KG ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 tire_stiffness_factor = 0.385 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.TUCSON_HYBRID_4TH_GEN: ret.mass = 1680. + STD_CARGO_KG # average of all 3 trims ret.wheelbase = 2.756 ret.steerRatio = 16. tire_stiffness_factor = 0.385 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Kia elif candidate == CAR.KIA_SORENTO: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021): - ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1737. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec tire_stiffness_factor = 0.385 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate == CAR.KIA_NIRO_PHEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_SELTOS: @@ -187,15 +138,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.63 ret.steerRatio = 14.56 tire_stiffness_factor = 1 - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [4.] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [3.] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H): ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 @@ -203,92 +145,58 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.5 if candidate == CAR.KIA_OPTIMA_G4: ret.minSteerSpeed = 32 * CV.MPH_TO_MS - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_STINGER: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_FORTE: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_CEED: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1450. + STD_CARGO_KG ret.wheelbase = 2.65 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kf = 0.00005 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_K5_2021: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3228. * CV.LB_TO_KG ret.wheelbase = 2.85 ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_EV6: ret.mass = 2055 + STD_CARGO_KG ret.wheelbase = 2.9 ret.steerRatio = 16. tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.IONIQ_5: ret.mass = 2012 + STD_CARGO_KG ret.wheelbase = 3.0 ret.steerRatio = 16. tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only ret.wheelbase = 2.756 ret.steerRatio = 13.6 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Genesis elif candidate == CAR.GENESIS_G70: - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [2.5] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [3.5] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.56 elif candidate == CAR.GENESIS_G70_2020: - ret.lateralTuning.pid.kf = 0. - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]] ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 12.9 elif candidate == CAR.GENESIS_G80: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate == CAR.GENESIS_G90: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] # *** longitudinal control *** if candidate in CANFD_CAR: diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 28912645a..0d5acbfff 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,6 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda -from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -74,7 +73,6 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.035 tire_stiffness_factor = 0.5533 ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.CHR, CAR.CHRH): stop_and_go = True @@ -82,7 +80,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_F) elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): stop_and_go = True @@ -90,8 +87,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): stop_and_go = True @@ -99,7 +94,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): # starting from 2019, all Avalon variants have stop and go @@ -109,7 +103,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - set_lat_tune(ret.lateralTuning, LatTunes.PID_H) elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): stop_and_go = True @@ -117,14 +110,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid - set_lat_tune(ret.lateralTuning, LatTunes.PID_D) - - # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. - # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 - for fw in car_fw: - if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): - set_lat_tune(ret.lateralTuning, LatTunes.PID_I) - break elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): stop_and_go = True @@ -139,7 +124,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.SIENNA: stop_and_go = True @@ -147,14 +131,12 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_J) elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC): ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_L) elif candidate == CAR.LEXUS_CTH: stop_and_go = True @@ -162,7 +144,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 18.6 tire_stiffness_factor = 0.517 ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - set_lat_tune(ret.lateralTuning, LatTunes.PID_M) elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2): stop_and_go = True @@ -170,7 +151,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.PRIUS_TSS2: stop_and_go = True @@ -178,7 +158,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.4 # True steerRatio from older prius tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_N) elif candidate == CAR.MIRAI: stop_and_go = True @@ -186,7 +165,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.8 tire_stiffness_factor = 0.8 ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): stop_and_go = True @@ -194,7 +172,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.2 tire_stiffness_factor = 0.444 ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_J) ret.centerToFront = ret.wheelbase * 0.44 @@ -230,12 +207,23 @@ class CarInterface(CarInterfaceBase): # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED + tune = ret.longitudinalTuning if candidate in TSS2_CAR or ret.enableGasInterceptor: - set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) + tune.deadzoneBP = [0., 8.05] + tune.deadzoneV = [.0, .14] + tune.kpBP = [0., 5., 20.] + tune.kpV = [1.3, 1.0, 0.7] + tune.kiBP = [0., 5., 12., 20., 27.] + tune.kiV = [.35, .23, .20, .17, .1] if candidate in TSS2_CAR: ret.stoppingDecelRate = 0.3 # reach stopping target smoothly else: - set_long_tune(ret.longitudinalTuning, LongTunes.TSS) + tune.deadzoneBP = [0., 9.] + tune.deadzoneV = [.0, .15] + tune.kpBP = [0., 5., 35.] + tune.kiBP = [0., 35.] + tune.kpV = [3.6, 2.4, 1.5] + tune.kiV = [0.54, 0.36] return ret diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py deleted file mode 100644 index b73ab4c8c..000000000 --- a/selfdrive/car/toyota/tunes.py +++ /dev/null @@ -1,102 +0,0 @@ -#!/usr/bin/env python3 -from enum import Enum - -class LongTunes(Enum): - TSS2 = 0 - TSS = 1 - -class LatTunes(Enum): - INDI_PRIUS = 0 - LQR_RAV4 = 1 - PID_A = 2 - PID_B = 3 - PID_C = 4 - PID_D = 5 - PID_E = 6 - PID_F = 7 - PID_G = 8 - PID_I = 9 - PID_H = 10 - PID_J = 11 - PID_K = 12 - PID_L = 13 - PID_M = 14 - PID_N = 15 - - -###### LONG ###### -def set_long_tune(tune, name): - # Improved longitudinal tune - if name == LongTunes.TSS2: - tune.deadzoneBP = [0., 8.05] - tune.deadzoneV = [.0, .14] - tune.kpBP = [0., 5., 20.] - tune.kpV = [1.3, 1.0, 0.7] - tune.kiBP = [0., 5., 12., 20., 27.] - tune.kiV = [.35, .23, .20, .17, .1] - # Default longitudinal tune - elif name == LongTunes.TSS: - tune.deadzoneBP = [0., 9.] - tune.deadzoneV = [.0, .15] - tune.kpBP = [0., 5., 35.] - tune.kiBP = [0., 35.] - tune.kpV = [3.6, 2.4, 1.5] - tune.kiV = [0.54, 0.36] - else: - raise NotImplementedError('This longitudinal tune does not exist') - - -###### LAT ###### -def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True): - if 'PID' in str(name): - tune.init('pid') - tune.pid.kiBP = [0.0] - tune.pid.kpBP = [0.0] - if name == LatTunes.PID_A: - tune.pid.kpV = [0.2] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00003 - elif name == LatTunes.PID_C: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.1] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_D: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.1] - tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_F: - tune.pid.kpV = [0.723] - tune.pid.kiV = [0.0428] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_G: - tune.pid.kpV = [0.18] - tune.pid.kiV = [0.015] - tune.pid.kf = 0.00012 - elif name == LatTunes.PID_H: - tune.pid.kpV = [0.17] - tune.pid.kiV = [0.03] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_I: - tune.pid.kpV = [0.15] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00004 - elif name == LatTunes.PID_J: - tune.pid.kpV = [0.19] - tune.pid.kiV = [0.02] - tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_L: - tune.pid.kpV = [0.3] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_M: - tune.pid.kpV = [0.3] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00007 - elif name == LatTunes.PID_N: - tune.pid.kpV = [0.35] - tune.pid.kiV = [0.15] - tune.pid.kf = 0.00007818594 - else: - raise NotImplementedError('This PID tune does not exist') - else: - raise NotImplementedError('This lateral tune does not exist') From dcde942d9fb05575dcc70f0b24f9c3c6b7c220ab Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 25 Oct 2022 16:53:24 -0700 Subject: [PATCH 28/68] Long control: add a_change cost in e2e mode (#26237) Add e2e cost --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 2aab4b71a..49eb5988e 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -253,7 +253,8 @@ class LongitudinalMpc: cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] elif self.mode == 'blended': - cost_weights = [0., 0.1, 0.2, 5.0, 0.0, 1.0] + a_change_cost = 40.0 if prev_accel_constraint else 0 + cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0] else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') From 45b16570cfca88cef9f9cb82e6376527de786188 Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Tue, 25 Oct 2022 22:43:57 -0700 Subject: [PATCH 29/68] bump panda (#26244) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 2db69bc94..bd8d2481d 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2db69bc94120a3c10f39cdedc9d83315f9ba801e +Subproject commit bd8d2481dd071df62263e093b2e332a2a404dc87 From 2b7290a14261ca0a745f4cd537de7cc9d11ccb12 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 26 Oct 2022 00:20:30 -0700 Subject: [PATCH 30/68] Model trained with more long noise (#26241) * d8501d20-bb59-4193-aa82-82b2737dedd6/449 d37d320d-7d78-479a-9be2-d58c75284307/700 * Update model ref --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 21602ea70..49a1c3a3b 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9c119aa811a929b3a442dbe8e462a9d88e8bfb9f5809a4e737687fb7380d7e05 -size 45922882 +oid sha256:a41d42f92913e6cc3909e505b1220b16d31f7cfca5f8a4e82109577b4151b645 +size 45922983 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index b5fd11fee..5843a1e17 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -46cb9c522e942d8b25deac90ffdee89efff60ce9 +d2f1711fd58d4f2c25b81bd332270da60ff9636d From b3e0a8c4e05f0c657d63d4825d50d43877b72768 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 26 Oct 2022 14:26:41 -0400 Subject: [PATCH 31/68] Hyundai: Add FW for 2022 Tucson Hybrid (#26239) * Hyundai: Add FW for 2022 Tucson Hybrid * Duplicated FW * Add cornerRadar FW (in a non-HDA too?) * Update selfdrive/car/hyundai/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 29d0cb3dc..98cb72293 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1379,6 +1379,7 @@ FW_VERSIONS = { CAR.TUCSON_HYBRID_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', From 03ebc3bff57627843bde8b5ea758a54e8b96cb4e Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 26 Oct 2022 11:45:21 -0700 Subject: [PATCH 32/68] [torqued] Update offline values (#26243) * update offline vals * update refs --- selfdrive/car/torque_data/params.yaml | 6 +++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 160f60548..60b1662ce 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -35,7 +35,7 @@ HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.12070193418239 HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] -HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728] +HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185] JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003] @@ -67,8 +67,8 @@ TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234] TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756] TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076] TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652] -TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317] -TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526] +TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514] +TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352] TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796] TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457] TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 44eed1849..ba0f30e5c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -68457035e9223fcbd70bd40966d5a1d9fe4f1567 \ No newline at end of file +8f2919ba4d8509432e93ff0a44f951254c1ff3fe \ No newline at end of file From d549e1899dbc7f28e0f27db51d875b30caa12ab0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 27 Oct 2022 03:59:16 +0800 Subject: [PATCH 33/68] Cabana: use QLineEdit for double value (#26247) --- tools/cabana/signaledit.cc | 22 +++++++++++++--------- tools/cabana/signaledit.h | 5 ++--- 2 files changed, 15 insertions(+), 12 deletions(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 3926cda01..1bb5e9e53 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,6 +1,7 @@ #include "tools/cabana/signaledit.h" #include +#include #include #include #include @@ -36,13 +37,16 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { sign->setCurrentIndex(sig.is_signed ? 0 : 1); form_layout->addRow(tr("sign"), sign); - factor = new QDoubleSpinBox(); - factor->setDecimals(3); - factor->setValue(sig.factor); + auto double_validator = new QDoubleValidator(this); + + factor = new QLineEdit(); + factor->setValidator(double_validator); + factor->setText(QString::number(sig.factor)); form_layout->addRow(tr("Factor"), factor); - offset = new QSpinBox(); - offset->setValue(sig.offset); + offset = new QLineEdit(); + offset->setValidator(double_validator); + offset->setText(QString::number(sig.offset)); form_layout->addRow(tr("Offset"), offset); // TODO: parse the following parameters in opendbc @@ -50,11 +54,11 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { form_layout->addRow(tr("Unit"), unit); comment = new QLineEdit(); form_layout->addRow(tr("Comment"), comment); - min_val = new QDoubleSpinBox(); - factor->setDecimals(3); + min_val = new QLineEdit(); + min_val->setValidator(double_validator); form_layout->addRow(tr("Minimum value"), min_val); - max_val = new QDoubleSpinBox(); - factor->setDecimals(3); + max_val = new QLineEdit(); + max_val->setValidator(double_validator); form_layout->addRow(tr("Maximum value"), max_val); val_desc = new QLineEdit(); form_layout->addRow(tr("Value descriptions"), val_desc); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 472453d4b..71719852f 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -16,9 +16,8 @@ class SignalForm : public QWidget { public: SignalForm(const Signal &sig, QWidget *parent); - QLineEdit *name, *unit, *comment, *val_desc; - QSpinBox *size, *offset; - QDoubleSpinBox *factor, *min_val, *max_val; + QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val; + QSpinBox *size; QComboBox *sign, *endianness; }; From 728d96924924dd8d4e899ccaba0ed6bcc4a23417 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 27 Oct 2022 03:59:37 +0800 Subject: [PATCH 34/68] Cabana: limit X-axis range from settings (#26213) * limit X-axis range from settings * continue * update range if events merged * update line series by range * cleanup removeChart * cleanup updateAxisy --- tools/cabana/canmessages.cc | 83 ++++-------- tools/cabana/canmessages.h | 33 ++--- tools/cabana/chartswidget.cc | 256 +++++++++++++++++++---------------- tools/cabana/chartswidget.h | 28 +++- tools/cabana/historylog.cc | 5 +- tools/cabana/historylog.h | 1 + tools/cabana/mainwin.cc | 1 + tools/cabana/settings.cc | 15 +- tools/cabana/settings.h | 2 + tools/cabana/videowidget.cc | 5 +- tools/cabana/videowidget.h | 2 +- 11 files changed, 217 insertions(+), 214 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 1b46bd9da..3ffc29916 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -28,7 +28,7 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->installEventFilter(event_filter, this); - QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged); + QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged); if (replay->load()) { replay->start(); return true; @@ -63,41 +63,26 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si return ret; } -void CANMessages::process(QHash> *messages) { +void CANMessages::process(QHash *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { - auto &msgs = can_msgs[it.key()]; - const auto &new_msgs = it.value(); - if (new_msgs.size() == settings.can_msg_log_size || msgs.empty()) { - msgs = std::move(new_msgs); - } else { - msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end())); - if (msgs.size() > settings.can_msg_log_size) { - msgs.resize(settings.can_msg_log_size); - } - } + can_msgs[it.key()] = it.value(); } delete messages; - - if (current_sec < begin_sec || current_sec > end_sec) { - // loop replay in selected range. - seekTo(begin_sec); - } else { - emit updated(); - } + emit updated(); } bool CANMessages::eventFilter(const Event *event) { + static std::unique_ptr> new_msgs; static double prev_update_ts = 0; - // drop packets when the GUI thread is calling seekTo. to make sure the current_sec is accurate. - if (!seeking && event->which == cereal::Event::Which::CAN) { - if (!received_msgs) { - received_msgs.reset(new QHash>); - received_msgs->reserve(1000); + + if (event->which == cereal::Event::Which::CAN) { + if (!new_msgs) { + new_msgs.reset(new QHash); + new_msgs->reserve(1000); } - current_sec = (event->mono_time - replay->routeStartTime()) / (double)1e9; - if (counters_begin_sec > current_sec) { - // clear counters + double current_sec = replay->currentSeconds(); + if (counters_begin_sec == 0) { counters.clear(); counters_begin_sec = current_sec; } @@ -105,8 +90,10 @@ bool CANMessages::eventFilter(const Event *event) { auto can_events = event->event.getCan(); for (const auto &c : can_events) { QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16); - auto &list = (*received_msgs)[id]; - while (list.size() >= settings.can_msg_log_size) { + + std::lock_guard lk(lock); + auto &list = received_msgs[id]; + while (list.size() > settings.can_msg_log_size) { list.pop_back(); } CanData &data = list.emplace_front(); @@ -119,49 +106,27 @@ bool CANMessages::eventFilter(const Event *event) { if (double delta = (current_sec - counters_begin_sec); delta > 0) { data.freq = count / delta; } + (*new_msgs)[id] = data; } double ts = millis_since_boot(); if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { prev_update_ts = ts; // use pointer to avoid data copy in queued connection. - emit received(received_msgs.release()); + emit received(new_msgs.release()); } } return true; } -void CANMessages::seekTo(double ts) { - seeking = true; - replay->seekTo(ts, false); - seeking = false; +const std::deque CANMessages::messages(const QString &id) { + std::lock_guard lk(lock); + return received_msgs[id]; } -void CANMessages::setRange(double min, double max) { - if (begin_sec != min || end_sec != max) { - begin_sec = min; - end_sec = max; - is_zoomed = begin_sec != event_begin_sec || end_sec != event_end_sec; - emit rangeChanged(min, max); - } -} - -void CANMessages::segmentsMerged() { - auto events = replay->events(); - if (!events || events->empty()) return; - - auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; }); - event_begin_sec = it == events->end() ? 0 : ((*it)->mono_time - replay->routeStartTime()) / (double)1e9; - event_end_sec = double(events->back()->mono_time - replay->routeStartTime()) / 1e9; - if (!is_zoomed) { - begin_sec = event_begin_sec; - end_sec = event_end_sec; - } - emit eventsMerged(); -} - -void CANMessages::resetRange() { - setRange(event_begin_sec, event_end_sec); +void CANMessages::seekTo(double ts) { + replay->seekTo(ts, false); + counters_begin_sec = 0; } void CANMessages::settingChanged() { diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index d1bb1b73b..5fbccdbe1 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -2,7 +2,7 @@ #include #include -#include +#include #include #include @@ -29,20 +29,16 @@ public: ~CANMessages(); bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam); void seekTo(double ts); - void resetRange(); - void setRange(double min, double max); QList findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count); bool eventFilter(const Event *event); - inline std::pair range() const { return {begin_sec, end_sec}; } inline QString route() const { return routeName; } inline QString carFingerprint() const { return replay->carFingerprint().c_str(); } inline double totalSeconds() const { return replay->totalSeconds(); } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } - inline double currentSec() const { return current_sec; } - inline bool isZoomed() const { return is_zoomed; } - inline const std::deque &messages(const QString &id) { return can_msgs[id]; } - inline const CanData &lastMessage(const QString &id) { return can_msgs[id].front(); } + inline double currentSec() const { return replay->currentSeconds(); } + const std::deque messages(const QString &id); + inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; } inline const std::vector *events() const { return replay->events(); } inline void setSpeed(float speed) { replay->setSpeed(speed); } @@ -52,32 +48,23 @@ public: signals: void eventsMerged(); - void rangeChanged(double min, double max); void updated(); - void received(QHash> *); + void received(QHash *); public: - QMap> can_msgs; - std::unique_ptr>> received_msgs = nullptr; + QMap can_msgs; protected: - void process(QHash> *); - void segmentsMerged(); + void process(QHash *); void settingChanged(); - std::atomic current_sec = 0.; - std::atomic seeking = false; - - double begin_sec = 0; - double end_sec = 0; - double event_begin_sec = 0; - double event_end_sec = 0; - bool is_zoomed = false; QString routeName; Replay *replay = nullptr; - double counters_begin_sec = std::numeric_limits::max(); + std::mutex lock; + std::atomic counters_begin_sec = 0; QHash counters; + QHash> received_msgs; }; inline QString toHex(const QByteArray &dat) { diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index f0bef36f4..ea44a4033 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -1,6 +1,7 @@ #include "tools/cabana/chartswidget.h" #include +#include #include #include #include @@ -57,47 +58,85 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { removeAll(nullptr); }); QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeAll); - QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const Signal *sig) { - for (auto chart : charts) { - if (chart->signal == sig) { - chart->chart_view->updateSeries(); - } - } - }); - QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &id) { - for (auto chart : charts) { - if (chart->id == id) - chart->updateTitle(); + QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartsWidget::signalUpdated); + QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &msg_id) { + for (auto c : charts) { + if (c->id == msg_id) c->updateTitle(); } }); - - QObject::connect(can, &CANMessages::rangeChanged, [this]() { updateTitleBar(); }); - QObject::connect(reset_zoom_btn, &QPushButton::clicked, can, &CANMessages::resetRange); + QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged); + QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState); QObject::connect(remove_all_btn, &QPushButton::clicked, [this]() { removeAll(); }); + QObject::connect(reset_zoom_btn, &QPushButton::clicked, this, &ChartsWidget::zoomReset); QObject::connect(dock_btn, &QPushButton::clicked, [this]() { emit dock(!docking); docking = !docking; updateTitleBar(); }); - QObject::connect(&settings, &Settings::changed, [this]() { - for (auto chart : charts) { - chart->setHeight(settings.chart_height); +} + +void ChartsWidget::eventsMerged() { + if (auto events = can->events(); events && !events->empty()) { + auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; }); + event_range.first = it == events->end() ? 0 : (*it)->mono_time / (double)1e9 - can->routeStartTime(); + event_range.second = it == events->end() ? 0 : events->back()->mono_time / (double)1e9 - can->routeStartTime(); + if (display_range.first == 0 && event_range.second == 0) { + display_range.first = event_range.first; + display_range.second = std::min(event_range.first + settings.max_chart_x_range, event_range.second); } - }); + } +} + +void ChartsWidget::zoomIn(double min, double max) { + zoomed_range = {min, max}; + is_zoomed = zoomed_range != display_range; + updateTitleBar(); + emit rangeChanged(min, max, is_zoomed); + updateState(); +} + +void ChartsWidget::zoomReset() { + zoomIn(display_range.first, display_range.second); +} + +void ChartsWidget::updateState() { + if (charts.isEmpty()) return; + + const double current_sec = can->currentSec(); + if (is_zoomed) { + if (current_sec < zoomed_range.first || current_sec >= zoomed_range.second) { + can->seekTo(zoomed_range.first); + } + } else { + auto prev_range = display_range; + if (current_sec < display_range.first || current_sec >= (display_range.second - 5)) { + // line marker reached the end, or seeked to a timestamp out of range. + display_range.first = current_sec - 5; + } + display_range.first = std::max(display_range.first, event_range.first); + display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second); + if (prev_range != display_range) { + for (auto c : charts) + c->chart_view->updateSeries(display_range); + } + } + + const auto &range = is_zoomed ? zoomed_range : display_range; + for (auto c : charts) { + c->chart_view->setRange(range.first, range.second); + c->chart_view->updateLineMarker(current_sec); + } } void ChartsWidget::updateTitleBar() { title_bar->setVisible(!charts.isEmpty()); if (charts.isEmpty()) return; - // show select range - range_label->setVisible(can->isZoomed()); - reset_zoom_btn->setEnabled(can->isZoomed()); - if (can->isZoomed()) { - auto [min, max] = can->range(); - range_label->setText(tr("%1 - %2").arg(min, 0, 'f', 2).arg(max, 0, 'f', 2)); + range_label->setVisible(is_zoomed); + reset_zoom_btn->setEnabled(is_zoomed); + if (is_zoomed) { + range_label->setText(tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2)); } - title_label->setText(tr("Charts (%1)").arg(charts.size())); dock_btn->setText(docking ? "⬈" : "⬋"); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); @@ -107,23 +146,19 @@ void ChartsWidget::addChart(const QString &id, const Signal *sig) { auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); if (it == charts.end()) { auto chart = new ChartWidget(id, sig, this); - QObject::connect(chart, &ChartWidget::remove, this, &ChartsWidget::removeChart); + chart->chart_view->updateSeries(display_range); + QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(chart); });; + QObject::connect(chart->chart_view, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); + QObject::connect(chart->chart_view, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); charts_layout->insertWidget(0, chart); charts.push_back(chart); } updateTitleBar(); } -void ChartsWidget::removeChart(const QString &msg_id, const Signal *sig) { - QMutableListIterator it(charts); - while (it.hasNext()) { - auto c = it.next(); - if (c->id == msg_id && c->signal == sig) { - c->deleteLater(); - it.remove(); - break; - } - } +void ChartsWidget::removeChart(ChartWidget *chart) { + charts.removeOne(chart); + chart->deleteLater(); updateTitleBar(); } @@ -139,6 +174,17 @@ void ChartsWidget::removeAll(const Signal *sig) { updateTitleBar(); } +void ChartsWidget::signalUpdated(const Signal *sig) { + for (auto c : charts) { + if (c->signal == sig) { + c->updateTitle(); + c->chart_view->updateSeries(display_range); + c->chart_view->setRange(display_range.first, display_range.second, true); + } + } +} + + bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { if (obj != this && event->type() == QEvent::Close) { emit dock_btn->clicked(); @@ -156,17 +202,19 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) QWidget *header = new QWidget(this); header->setStyleSheet("background-color:white"); - QHBoxLayout *header_layout = new QHBoxLayout(header); + QGridLayout *header_layout = new QGridLayout(header); header_layout->setContentsMargins(11, 11, 11, 0); - title = new QLabel(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); - header_layout->addWidget(title); - header_layout->addStretch(); + msg_name_label = new QLabel(this); + msg_name_label->setTextFormat(Qt::RichText); + header_layout->addWidget(msg_name_label, 0, 0, Qt::AlignLeft); + sig_name_label = new QLabel(this); + sig_name_label->setStyleSheet("font-weight:bold"); + header_layout->addWidget(sig_name_label, 0, 1, Qt::AlignCenter); //, 0, Qt::AlignCenter); QPushButton *remove_btn = new QPushButton("✖", this); - remove_btn->setFixedSize(30, 30); + remove_btn->setFixedSize(20, 20); remove_btn->setToolTip(tr("Remove chart")); - QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); - header_layout->addWidget(remove_btn); + header_layout->addWidget(remove_btn, 0, 2, Qt::AlignRight); main_layout->addWidget(header); chart_view = new ChartView(id, sig, this); @@ -175,10 +223,15 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) main_layout->addStretch(); setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); + updateTitle(); + + QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); + QObject::connect(&settings, &Settings::changed, [this]() { chart_view->setFixedHeight(settings.chart_height); }); } void ChartWidget::updateTitle() { - title->setText(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); + msg_name_label->setText(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); + sig_name_label->setText(signal->name.c_str()); } // ChartView @@ -186,15 +239,10 @@ void ChartWidget::updateTitle() { ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) : id(id), signal(sig), QChartView(nullptr, parent) { QLineSeries *series = new QLineSeries(); - series->setUseOpenGL(true); QChart *chart = new QChart(); - chart->setTitle(sig->name.c_str()); chart->addSeries(series); chart->createDefaultAxes(); chart->legend()->hide(); - QFont font; - font.setBold(true); - chart->setTitleFont(font); chart->setMargins({0, 0, 0, 0}); chart->layout()->setContentsMargins(0, 0, 0, 0); @@ -220,16 +268,18 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) timer->setSingleShot(true); timer->callOnTimeout(this, &ChartView::adjustChartMargins); - QObject::connect(can, &CANMessages::updated, this, &ChartView::updateState); - QObject::connect(can, &CANMessages::rangeChanged, this, &ChartView::rangeChanged); - QObject::connect(can, &CANMessages::eventsMerged, this, &ChartView::updateSeries); - QObject::connect(dynamic_cast(chart->axisX()), &QValueAxis::rangeChanged, can, &CANMessages::setRange); QObject::connect(chart, &QChart::plotAreaChanged, [=](const QRectF &plotArea) { // use a singleshot timer to avoid recursion call. timer->start(); }); +} - updateSeries(); +void ChartView::setRange(double min, double max, bool force_update) { + auto axis_x = dynamic_cast(chart()->axisX()); + if (force_update || (min != axis_x->min() || max != axis_x->max())) { + axis_x->setRange(min, max); + updateAxisY(); + } } void ChartView::adjustChartMargins() { @@ -241,18 +291,17 @@ void ChartView::adjustChartMargins() { } } -void ChartWidget::setHeight(int height) { - chart_view->setFixedHeight(height); -} - -void ChartView::updateState() { +void ChartView::updateLineMarker(double current_sec) { auto axis_x = dynamic_cast(chart()->axisX()); - int x = chart()->plotArea().left() + chart()->plotArea().width() * (can->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); - line_marker->setLine(x, 0, x, height()); + int x = chart()->plotArea().left() + + chart()->plotArea().width() * (current_sec - axis_x->min()) / (axis_x->max() - axis_x->min()); + if (int(line_marker->line().x1()) != x) { + line_marker->setLine(x, 0, x, height()); + chart()->update(); + } } -void ChartView::updateSeries() { - chart()->setTitle(signal->name.c_str()); +void ChartView::updateSeries(const std::pair &range) { auto events = can->events(); if (!events) return; @@ -261,15 +310,18 @@ void ChartView::updateSeries() { uint32_t address = l[1].toUInt(nullptr, 16); vals.clear(); - vals.reserve(3 * 60 * 100); - uint64_t route_start_time = can->routeStartTime(); - for (auto &evt : *events) { - if (evt->which == cereal::Event::Which::CAN) { - for (auto c : evt->event.getCan()) { + vals.reserve((range.second - range.first) * 100); // [n]minutes * 100hz + double route_start_time = can->routeStartTime(); + Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + range.first) * 1e9); + auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); + double end_ns = (route_start_time + range.second) * 1e9; + for (auto it = begin; it != events->end() && (*it)->mono_time <= end_ns; ++it) { + if ((*it)->which == cereal::Event::Which::CAN) { + for (auto c : (*it)->event.getCan()) { if (bus == c.getSrc() && address == c.getAddress()) { auto dat = c.getDat(); double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *signal); - double ts = (evt->mono_time / (double)1e9) - route_start_time; // seconds + double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds vals.push_back({ts, value}); } } @@ -277,40 +329,20 @@ void ChartView::updateSeries() { } QLineSeries *series = (QLineSeries *)chart()->series()[0]; series->replace(vals); - series->setPointLabelsColor(Qt::black); - auto [begin, end] = can->range(); - chart()->axisX()->setRange(begin, end); - updateAxisY(); -} - -void ChartView::rangeChanged(qreal min, qreal max) { - auto axis_x = dynamic_cast(chart()->axisX()); - if (axis_x->min() != min || axis_x->max() != max) { - axis_x->setRange(min, max); - } - updateAxisY(); } // auto zoom on yaxis void ChartView::updateAxisY() { const auto axis_x = dynamic_cast(chart()->axisX()); const auto axis_y = dynamic_cast(chart()->axisY()); - // vals is a sorted list auto begin = std::lower_bound(vals.begin(), vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); if (begin == vals.end()) return; auto end = std::upper_bound(vals.begin(), vals.end(), axis_x->max(), [](double x, auto &p) { return x < p.x(); }); const auto [min, max] = std::minmax_element(begin, end, [](auto &p1, auto &p2) { return p1.y() < p2.y(); }); - if (min->y() == max->y()) { - if (max->y() < 0) { - axis_y->setRange(max->y(), 0); - } else { - axis_y->setRange(0, max->y() == 0 ? 1 : max->y()); - } - } else { - axis_y->setRange(min->y(), max->y()); - } + (min->y() == max->y()) ? axis_y->setRange(min->y() - 1, max->y() + 1) + : axis_y->setRange(min->y(), max->y()); } void ChartView::enterEvent(QEvent *event) { @@ -328,39 +360,35 @@ void ChartView::leaveEvent(QEvent *event) { void ChartView::mouseReleaseEvent(QMouseEvent *event) { auto rubber = findChild(); if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { - auto [begin, end] = can->range(); + rubber->hide(); + QRectF rect = rubber->geometry().normalized(); + rect.translate(-chart()->plotArea().topLeft()); + const auto axis_x = dynamic_cast(chart()->axisX()); + double min = axis_x->min() + (rect.left() / chart()->plotArea().width()) * (axis_x->max() - axis_x->min()); + double max = axis_x->min() + (rect.right() / chart()->plotArea().width()) * (axis_x->max() - axis_x->min()); if (rubber->width() <= 0) { - double seek_to = begin + ((event->pos().x() - chart()->plotArea().x()) / chart()->plotArea().width()) * (end - begin); - can->seekTo(seek_to); - } else if (((double)rubber->width() / chart()->plotArea().width()) * (end - begin) < 0.5) { - // don't zoom if selected range is less than 0.5s - rubber->hide(); - event->accept(); - return; + // no rubber dragged, seek to mouse position + can->seekTo(min); + } else if ((max - min) >= 0.5) { + // zoom in if selected range is greater than 0.5s + emit zoomIn(min, max); } } else if (event->button() == Qt::RightButton) { - // reset zoom - if (can->isZoomed()) { - can->resetRange(); - event->accept(); - return; - } + emit zoomReset(); } - QChartView::mouseReleaseEvent(event); - line_marker->setVisible(true); + event->accept(); } void ChartView::mouseMoveEvent(QMouseEvent *ev) { auto rubber = findChild(); - bool show = !(rubber && rubber->isVisible()); - - if (show) { + bool dragging = rubber && rubber->isVisible(); + if (!dragging) { const auto plot_area = chart()->plotArea(); float x = std::clamp((float)ev->pos().x(), (float)plot_area.left(), (float)plot_area.right()); track_line->setLine(x, plot_area.top(), x, plot_area.bottom()); - auto [begin, end] = can->range(); - double sec = begin + ((x - plot_area.x()) / plot_area.width()) * (end - begin); + auto axis_x = dynamic_cast(chart()->axisX()); + double sec = axis_x->min() + ((x - plot_area.x()) / plot_area.width()) * (axis_x->max() - axis_x->min()); auto value = std::lower_bound(vals.begin(), vals.end(), sec, [](auto &p, double x) { return p.x() < x; }); value_text->setPos(x + 6, plot_area.bottom() - 25); if (value != vals.end()) { @@ -369,9 +397,5 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { value_text->setText("(--, --)"); } } - - value_text->setVisible(show); - track_line->setVisible(show); - line_marker->setVisible(show); QChartView::mouseMoveEvent(ev); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 5adbdfcd0..a7c6f4bbd 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -20,7 +20,13 @@ class ChartView : public QChartView { public: ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr); - void updateSeries(); + void updateSeries(const std::pair &range); + void setRange(double min, double max, bool force_update = false); + void updateLineMarker(double current_sec); + +signals: + void zoomIn(double min, double max); + void zoomReset(); private: void mouseReleaseEvent(QMouseEvent *event) override; @@ -29,9 +35,7 @@ private: void leaveEvent(QEvent *event) override; void adjustChartMargins(); - void rangeChanged(qreal min, qreal max); void updateAxisY(); - void updateState(); QGraphicsLineItem *track_line; QGraphicsSimpleTextItem *value_text; @@ -47,7 +51,6 @@ Q_OBJECT public: ChartWidget(const QString &id, const Signal *sig, QWidget *parent); void updateTitle(); - void setHeight(int height); signals: void remove(const QString &msg_id, const Signal *sig); @@ -55,7 +58,8 @@ signals: public: QString id; const Signal *signal; - QLabel *title; + QLabel *msg_name_label; + QLabel *sig_name_label; ChartView *chart_view = nullptr; }; @@ -65,16 +69,21 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); void addChart(const QString &id, const Signal *sig); - void removeChart(const QString &id, const Signal *sig); + void removeChart(ChartWidget *chart); signals: void dock(bool floating); + void rangeChanged(double min, double max, bool is_zommed); private: + void eventsMerged(); void updateState(); + void zoomIn(double min, double max); + void zoomReset(); + void signalUpdated(const Signal *sig); void updateTitleBar(); void removeAll(const Signal *sig = nullptr); - bool eventFilter(QObject *obj, QEvent *event); + bool eventFilter(QObject *obj, QEvent *event) override; QWidget *title_bar; QLabel *title_label; @@ -85,4 +94,9 @@ private: QPushButton *remove_all_btn; QVBoxLayout *charts_layout; QList charts; + + bool is_zoomed = false; + std::pair event_range; + std::pair display_range; + std::pair zoomed_range; }; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index a20845f15..8136d0577 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -7,7 +7,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); if (role == Qt::DisplayRole) { - const auto &m = can->messages(msg_id)[index.row()]; + const auto &m = messages[index.row()]; if (index.column() == 0) { return QString::number(m.ts, 'f', 2); } @@ -49,7 +49,8 @@ void HistoryLogModel::updateState() { if (msg_id.isEmpty()) return; int prev_row_count = row_count; - row_count = can->messages(msg_id).size(); + messages = can->messages(msg_id); + row_count = messages.size(); int delta = row_count - prev_row_count; if (delta > 0) { beginInsertRows({}, prev_row_count, row_count - 1); diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index bc6d1f937..d39bcf9f1 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -22,6 +22,7 @@ private: int row_count = 0; int column_count = 2; const Msg *dbc_msg = nullptr; + std::deque messages; }; class HistoryLog : public QWidget { diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 65e7bb1af..30c7e5e0a 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -83,6 +83,7 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); + QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 0b36f25fb..6e9d7f17c 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -17,6 +17,7 @@ void Settings::save() { s.setValue("log_size", can_msg_log_size); s.setValue("cached_segment", cached_segment_limit); s.setValue("chart_height", chart_height); + s.setValue("max_chart_x_range", max_chart_x_range); emit changed(); } @@ -26,6 +27,7 @@ void Settings::load() { can_msg_log_size = s.value("log_size", 100).toInt(); cached_segment_limit = s.value("cached_segment", 3).toInt(); chart_height = s.value("chart_height", 200).toInt(); + max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); } // SettingsDlg @@ -45,19 +47,25 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { log_size->setRange(50, 500); log_size->setSingleStep(10); log_size->setValue(settings.can_msg_log_size); - form_layout->addRow(tr("Log size"), log_size); + form_layout->addRow(tr("Signal history log size"), log_size); cached_segment = new QSpinBox(this); cached_segment->setRange(3, 60); cached_segment->setSingleStep(1); cached_segment->setValue(settings.cached_segment_limit); - form_layout->addRow(tr("Cached segments limit"), cached_segment); + form_layout->addRow(tr("Cached segments limit(minute)"), cached_segment); + + max_chart_x_range = new QSpinBox(this); + max_chart_x_range->setRange(1, 60); + max_chart_x_range->setSingleStep(1); + max_chart_x_range->setValue(settings.max_chart_x_range / 60); + form_layout->addRow(tr("Chart's max X-axis range(minute)"), max_chart_x_range); chart_height = new QSpinBox(this); chart_height->setRange(100, 500); chart_height->setSingleStep(10); chart_height->setValue(settings.chart_height); - form_layout->addRow(tr("Chart height"), chart_height); + form_layout->addRow(tr("Chart's height"), chart_height); main_layout->addLayout(form_layout); @@ -74,6 +82,7 @@ void SettingsDlg::save() { settings.can_msg_log_size = log_size->value(); settings.cached_segment_limit = cached_segment->value(); settings.chart_height = chart_height->value(); + settings.max_chart_x_range = max_chart_x_range->value() * 60; settings.save(); accept(); } diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 22542fc04..fa97c4914 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -15,6 +15,7 @@ public: int can_msg_log_size = 100; int cached_segment_limit = 3; int chart_height = 200; + int max_chart_x_range = 3 * 60; // 3 minutes signals: void changed(); @@ -30,6 +31,7 @@ public: QSpinBox *log_size ; QSpinBox *cached_segment; QSpinBox *chart_height; + QSpinBox *max_chart_x_range; }; extern Settings settings; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 78965e3e8..7180d5ac0 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -57,7 +57,6 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); - QObject::connect(can, &CANMessages::rangeChanged, this, &VideoWidget::rangeChanged); QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); @@ -70,8 +69,8 @@ void VideoWidget::pause(bool pause) { can->pause(pause); } -void VideoWidget::rangeChanged(double min, double max) { - if (!can->isZoomed()) { +void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { + if (!is_zoomed) { min = 0; max = can->totalSeconds(); } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index d6d036c46..51dae4c76 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -26,9 +26,9 @@ class VideoWidget : public QWidget { public: VideoWidget(QWidget *parnet = nullptr); + void rangeChanged(double min, double max, bool is_zommed); protected: - void rangeChanged(double min, double max); void updateState(); void pause(bool pause); From 16b7d726b3ff404e4c8df8a3045ff75bbaf63719 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 13:33:12 -0700 Subject: [PATCH 35/68] quectel no sim GPS support (#26227) * add no sim gps support * address comments * remove xtra assistance enabling Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/rawgps/rawgpsd.py | 29 ++++++++++++++++++++++------- 1 file changed, 22 insertions(+), 7 deletions(-) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index 5a6827a75..fa23a161c 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -87,16 +87,24 @@ def try_setup_logs(diag, log_types): else: raise Exception(f"setup logs failed, {log_types=}") -def mmcli(cmd: str) -> None: +def at_cmd(cmd: str) -> None: for _ in range(5): try: - subprocess.check_call(f"mmcli -m any --timeout 30 {cmd}", shell=True) + subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True) break except subprocess.CalledProcessError: cloudlog.exception("rawgps.mmcli_command_failed") else: raise Exception(f"failed to execute mmcli command {cmd=}") + +def gps_enabled() -> bool: + try: + p = subprocess.check_output("mmcli -m any --command=\"AT+QGPS?\"", shell=True) + return b"QGPS: 1" in p + except subprocess.CalledProcessError as exc: + raise Exception("failed to execute QGPS mmcli command") from exc + def setup_quectel(diag: ModemDiag): # enable OEMDRE in the NV # TODO: it has to reboot for this to take effect @@ -108,11 +116,16 @@ def setup_quectel(diag: ModemDiag): setup_logs(diag, LOG_TYPES) + if gps_enabled(): + at_cmd("AT+QGPSEND") + # disable DPO power savings for more accuracy - mmcli("--command='AT+QGPSCFG=\"dpoenable\",0'") + at_cmd("AT+QGPSCFG=\"dpoenable\",0") # don't automatically turn on GNSS on powerup - mmcli("--command='AT+QGPSCFG=\"autogps\",0'") - mmcli("--location-enable-gps-raw --location-enable-gps-nmea") + at_cmd("AT+QGPSCFG=\"autogps\",0") + + at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") + at_cmd("AT+QGPS=1") # enable OEMDRE mode DIAG_SUBSYS_CMD_F = 75 @@ -134,7 +147,9 @@ def setup_quectel(diag: ModemDiag): )) def teardown_quectel(diag): - mmcli("--location-disable-gps-raw --location-disable-gps-nmea") + at_cmd("AT+QGPSCFG=\"outport\",\"none\"") + if gps_enabled(): + at_cmd("AT+QGPSEND") try_setup_logs(diag, []) @@ -156,7 +171,7 @@ def main() -> NoReturn: # wait for ModemManager to come up cloudlog.warning("waiting for modem to come up") while True: - ret = subprocess.call("mmcli -m any --timeout 10 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True) + ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True) if ret == 0: break time.sleep(0.1) From 9c9281458510f4e34ee5434138086075cf0c8838 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 13:37:11 -0700 Subject: [PATCH 36/68] Improve GPS tests, add qcom tests (#26060) * first ignore * init gps test * make LimeGPS git clone * gps test v1 * add static signal gen script * remove LD_PRELOAD by using rpath, update values after testing * cleanUp * update fuzzy tests * finalize qcom gps tests * add downloader * finalize unit tests * inc limeGPS startup time * loosen init time * add ublox warmstart test * improve location tests Co-authored-by: Kurt Nistelberger --- tools/gpstest/fuzzy_testing.py | 19 +++-- tools/gpstest/remote_checker.py | 18 ++-- tools/gpstest/run_static_gps_signal.py | 83 ------------------- tools/gpstest/run_unittest.sh | 16 ++++ tools/gpstest/simulate_gps_signal.py | 102 +++++++++++++++++++++++ tools/gpstest/test_gps.py | 101 +++++++++++++++++------ tools/gpstest/test_gps_qcom.py | 109 +++++++++++++++++++++++++ 7 files changed, 327 insertions(+), 121 deletions(-) delete mode 100755 tools/gpstest/run_static_gps_signal.py create mode 100755 tools/gpstest/run_unittest.sh create mode 100755 tools/gpstest/simulate_gps_signal.py create mode 100644 tools/gpstest/test_gps_qcom.py diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py index 216e7d0dd..df6691c55 100755 --- a/tools/gpstest/fuzzy_testing.py +++ b/tools/gpstest/fuzzy_testing.py @@ -66,7 +66,7 @@ def get_continuous_coords(lat, lon) -> Tuple[int, int]: return round(lat, 5), round(lon, 5) rc_p: Any = None -def exec_remote_checker(lat, lon, duration): +def exec_remote_checker(lat, lon, duration, ip_addr): global rc_p # TODO: good enough for testing remote_cmd = "export PYTHONPATH=/data/pythonpath:/data/pythonpath/pyextra && " @@ -74,8 +74,8 @@ def exec_remote_checker(lat, lon, duration): remote_cmd += f"timeout {duration} /usr/local/pyenv/shims/python tools/gpstest/remote_checker.py " remote_cmd += f"{lat} {lon}" - ssh_cmd = ['ssh', '-i', '/home/batman/openpilot/xx/phone/key/id_rsa', - 'comma@192.168.60.130'] + ssh_cmd = ["ssh", "-i", "/home/batman/openpilot/xx/phone/key/id_rsa", + f"comma@{ip_addr}"] ssh_cmd += [remote_cmd] rc_p = sp.Popen(ssh_cmd, stdout=sp.PIPE) @@ -84,8 +84,9 @@ def exec_remote_checker(lat, lon, duration): print(f"Checker Result: {rc_output.strip().decode('utf-8')}") -def run_remote_checker(spoof_proc, lat, lon, duration) -> bool: - checker_thread = threading.Thread(target=exec_remote_checker, args=(lat, lon, duration)) +def run_remote_checker(spoof_proc, lat, lon, duration, ip_addr) -> bool: + checker_thread = threading.Thread(target=exec_remote_checker, + args=(lat, lon, duration, ip_addr)) checker_thread.start() tcnt = 0 @@ -107,8 +108,12 @@ def run_remote_checker(spoof_proc, lat, lon, duration) -> bool: def main(): + if len(sys.argv) < 2: + print(f"usage: {sys.argv[0]} [-c]") + ip_addr = sys.argv[1] + continuous_mode = False - if len(sys.argv) == 2 and sys.argv[1] == '-c': + if len(sys.argv) == 3 and sys.argv[2] == '-c': print("Continuous Mode!") continuous_mode = True @@ -123,7 +128,7 @@ def main(): start_time = time.monotonic() # remote checker runs blocking - if not run_remote_checker(spoof_proc, lat, lon, duration): + if not run_remote_checker(spoof_proc, lat, lon, duration, ip_addr): # location could not be matched by ublox module pass diff --git a/tools/gpstest/remote_checker.py b/tools/gpstest/remote_checker.py index 84f6c0c3d..a649a105c 100644 --- a/tools/gpstest/remote_checker.py +++ b/tools/gpstest/remote_checker.py @@ -3,6 +3,7 @@ import sys import time from typing import List +from common.params import Params import cereal.messaging as messaging from selfdrive.manager.process_config import managed_processes @@ -12,30 +13,35 @@ procs: List[str] = []#"ubloxd", "pigeond"] def main(): - if len(sys.argv) < 3: + if len(sys.argv) != 4: print("args: ") return - sol_lat = float(sys.argv[1]) - sol_lon = float(sys.argv[2]) + quectel_mod = Params().get_bool("UbloxAvailable") + sol_lat = float(sys.argv[2]) + sol_lon = float(sys.argv[3]) for p in procs: managed_processes[p].start() time.sleep(0.5) # give time to startup - gps_sock = messaging.sub_sock('gpsLocationExternal', timeout=0.1) + socket = 'gpsLocation' if quectel_mod else 'gpsLocationExternal' + gps_sock = messaging.sub_sock(socket, timeout=0.1) # analyze until the location changed while True: events = messaging.drain_sock(gps_sock) for e in events: - lat = e.gpsLocationExternal.latitude - lon = e.gpsLocationExternal.longitude + loc = e.gpsLocation if quectel_mod else e.gpsLocationExternal + lat = loc.latitude + lon = loc.longitude if abs(lat - sol_lat) < DELTA and abs(lon - sol_lon) < DELTA: print("MATCH") return + time.sleep(0.1) + for p in procs: if not managed_processes[p].proc.is_alive(): print(f"ERROR: '{p}' died") diff --git a/tools/gpstest/run_static_gps_signal.py b/tools/gpstest/run_static_gps_signal.py deleted file mode 100755 index 3787038f1..000000000 --- a/tools/gpstest/run_static_gps_signal.py +++ /dev/null @@ -1,83 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import random -import datetime as dt -import subprocess as sp -from typing import Tuple - -from laika.downloader import download_nav -from laika.gps_time import GPSTime -from laika.helpers import ConstellationId - -cache_dir = '/tmp/gpstest/' - - -def download_rinex(): - # TODO: check if there is a better way to get the full brdc file for LimeGPS - gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) - utc_time = dt.datetime.utcnow() - dt.timedelta(1) - gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) - return download_nav(gps_time, cache_dir, ConstellationId.GPS) - - -def get_random_coords(lat, lon) -> Tuple[int, int]: - # jump around the world - # max values, lat: -90 to 90, lon: -180 to 180 - - lat_add = random.random()*20 + 10 - lon_add = random.random()*20 + 20 - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - return round(lat, 5), round(lon, 5) - - -def check_availability() -> bool: - cmd = ["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"] - output = sp.check_output(cmd) - - if output.strip() == b"": - return False - - print(f"Device: {output.strip().decode('utf-8')}") - return True - - -def main(): - if not os.path.exists('LimeGPS'): - print("LimeGPS not found run 'setup.sh' first") - return - - if not os.path.exists('LimeSuite'): - print("LimeSuite not found run 'setup.sh' first") - return - - if not check_availability(): - print("No limeSDR device found!") - return - - rinex_file = download_rinex() - lat, lon = get_random_coords(47.2020, 15.7403) - - if len(sys.argv) == 3: - lat = float(sys.argv[1]) - lon = float(sys.argv[2]) - - try: - print(f"starting LimeGPS, Location: {lat},{lon}") - cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},100"] - sp.check_output(cmd, stderr=sp.PIPE) - except KeyboardInterrupt: - print("stopping LimeGPS") - except Exception as e: - out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member - if "Device is busy." in out_stderr: - print("GPS simulation is already running, Device is busy!") - return - - print(f"LimeGPS crashed: {str(e)}") - print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member - -if __name__ == "__main__": - main() diff --git a/tools/gpstest/run_unittest.sh b/tools/gpstest/run_unittest.sh new file mode 100755 index 000000000..d284fa74e --- /dev/null +++ b/tools/gpstest/run_unittest.sh @@ -0,0 +1,16 @@ +#!/bin/bash + +# NOTE: can only run inside limeGPS test box! + +# run limeGPS with random static location +timeout 300 ./simulate_gps_signal.py & +gps_PID=$? + +echo "starting limeGPS..." +sleep 10 + +# run unit tests (skipped when module not present) +python -m unittest test_gps.py +python -m unittest test_gps_qcom.py + +kill $gps_PID diff --git a/tools/gpstest/simulate_gps_signal.py b/tools/gpstest/simulate_gps_signal.py new file mode 100755 index 000000000..f1e5ad202 --- /dev/null +++ b/tools/gpstest/simulate_gps_signal.py @@ -0,0 +1,102 @@ +#!/usr/bin/env python3 +import os +import random +import argparse +import datetime as dt +import subprocess as sp +from typing import Tuple + +from laika.downloader import download_nav +from laika.gps_time import GPSTime +from laika.helpers import ConstellationId + +cache_dir = '/tmp/gpstest/' + + +def download_rinex(): + # TODO: check if there is a better way to get the full brdc file for LimeGPS + gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) + utc_time = dt.datetime.utcnow() - dt.timedelta(1) + gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) + return download_nav(gps_time, cache_dir, ConstellationId.GPS) + +def get_coords(lat, lon, s1, s2, o1=0, o2=0) -> Tuple[int, int]: + lat_add = random.random()*s1 + o1 + lon_add = random.random()*s2 + o2 + + lat = ((lat + lat_add + 90) % 180) - 90 + lon = ((lon + lon_add + 180) % 360) - 180 + return round(lat, 5), round(lon, 5) + +def get_continuous_coords(lat, lon) -> Tuple[int, int]: + # continuously move around the world + return get_coords(lat, lon, 0.01, 0.01) + +def get_random_coords(lat, lon) -> Tuple[int, int]: + # jump around the world + return get_coords(lat, lon, 20, 20, 10, 20) + +def check_availability() -> bool: + cmd = ["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"] + output = sp.check_output(cmd) + + if output.strip() == b"": + return False + + print(f"Device: {output.strip().decode('utf-8')}") + return True + +def main(lat, lon, jump_sim, contin_sim): + if not os.path.exists('LimeGPS'): + print("LimeGPS not found run 'setup.sh' first") + return + + if not os.path.exists('LimeSuite'): + print("LimeSuite not found run 'setup.sh' first") + return + + if not check_availability(): + print("No limeSDR device found!") + return + + rinex_file = download_rinex() + + if lat == 0 and lon == 0: + lat, lon = get_random_coords(47.2020, 15.7403) + + timeout = None + if jump_sim: + timeout = 30 + + while True: + try: + print(f"starting LimeGPS, Location: {lat},{lon}") + cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},100"] + sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) + except KeyboardInterrupt: + print("stopping LimeGPS") + return + except sp.TimeoutExpired: + print("LimeGPS timeout reached!") + except Exception as e: + out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member + if "Device is busy." in out_stderr: + print("GPS simulation is already running, Device is busy!") + return + + print(f"LimeGPS crashed: {str(e)}") + print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member + + if contin_sim: + lat, lon = get_continuous_coords(lat, lon) + else: + lat, lon = get_random_coords(lat, lon) + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.") + parser.add_argument("lat", type=float, nargs='?', default=0) + parser.add_argument("lon", type=float, nargs='?', default=0) + parser.add_argument("--jump", action="store_true", help="signal that jumps around the world") + parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world") + args = parser.parse_args() + main(args.lat, args.lon, args.jump, args.contin) diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index f5e19372f..b5d0cdd25 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -2,8 +2,8 @@ import time import unittest import struct -import numpy as np +from common.params import Params import cereal.messaging as messaging import selfdrive.sensord.pigeond as pd from system.hardware import TICI @@ -22,7 +22,20 @@ def read_events(service, duration_sec): return events -def verify_ubloxgnss_data(socket: messaging.SubSocket): +def create_backup(pigeon): + # controlled GNSS stop + pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74") + + # store almanac in flash + pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC") + try: + if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK): + assert False, "Could not store almanac" + except TimeoutError: + pass + + +def verify_ubloxgnss_data(socket: messaging.SubSocket, max_time: int): start_time = 0 end_time = 0 events = messaging.drain_sock(socket) @@ -42,7 +55,7 @@ def verify_ubloxgnss_data(socket: messaging.SubSocket): assert end_time != 0, "no ublox measurements received!" ttfm = (end_time - start_time)/1e9 - assert ttfm < 35, f"Time to first measurement > 35s, {ttfm}" + assert ttfm < max_time, f"Time to first measurement > {max_time}s, {ttfm}" # check for satellite count in measurements sat_count = [] @@ -52,42 +65,31 @@ def verify_ubloxgnss_data(socket: messaging.SubSocket): sat_count.append(event.ubloxGnss.measurementReport.numMeas) num_sat = int(sum(sat_count)/len(sat_count)) - assert num_sat > 8, f"Not enough satellites {num_sat} (TestBox setup!)" + assert num_sat > 5, f"Not enough satellites {num_sat} (TestBox setup!)" -def verify_gps_location(socket: messaging.SubSocket): - buf_lon = [0]*10 - buf_lat = [0]*10 - buf_i = 0 +def verify_gps_location(socket: messaging.SubSocket, max_time: int): events = messaging.drain_sock(socket) assert len(events) != 0, "no gpsLocationExternal measurements" start_time = events[0].logMonoTime end_time = 0 for event in events: - buf_lon[buf_i % 10] = event.gpsLocationExternal.longitude - buf_lat[buf_i % 10] = event.gpsLocationExternal.latitude - buf_i += 1 - - if buf_i < 9: - continue + gps_valid = event.gpsLocationExternal.flags % 2 - if any([lat == 0 or lon == 0 for lat,lon in zip(buf_lat, buf_lon)]): - continue - - if np.std(buf_lon) < 1e-5 and np.std(buf_lat) < 1e-5: + if gps_valid: end_time = event.logMonoTime break assert end_time != 0, "GPS location never converged!" ttfl = (end_time - start_time)/1e9 - assert ttfl < 40, f"Time to first location > 40s, {ttfl}" + assert ttfl < max_time, f"Time to first location > {max_time}s, {ttfl}" hacc = events[-1].gpsLocationExternal.accuracy vacc = events[-1].gpsLocationExternal.verticalAccuracy - assert hacc < 15, f"Horizontal accuracy too high, {hacc}" - assert vacc < 43, f"Vertical accuracy too high, {vacc}" + assert hacc < 20, f"Horizontal accuracy too high, {hacc}" + assert vacc < 45, f"Vertical accuracy too high, {vacc}" def verify_time_to_first_fix(pigeon): @@ -111,11 +113,16 @@ class TestGPS(unittest.TestCase): if not TICI: raise unittest.SkipTest + ublox_available = Params().get_bool("UbloxAvailable") + if not ublox_available: + raise unittest.SkipTest + + def tearDown(self): pd.set_power(False) @with_processes(['ubloxd']) - def test_ublox_reset(self): + def test_a_ublox_reset(self): pigeon, pm = pd.create_pigeon() pd.init_baudrate(pigeon) @@ -127,14 +134,58 @@ class TestGPS(unittest.TestCase): gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) # receive some messages (restart after cold start takes up to 30seconds) - pd.run_receiving(pigeon, pm, 40) + pd.run_receiving(pigeon, pm, 60) + + # store almanac for next test + create_backup(pigeon) - verify_ubloxgnss_data(ugs) - verify_gps_location(gle) + verify_ubloxgnss_data(ugs, 60) + verify_gps_location(gle, 60) # skip for now, this might hang for a while #verify_time_to_first_fix(pigeon) + @with_processes(['ubloxd']) + def test_b_ublox_almanac(self): + pigeon, pm = pd.create_pigeon() + pd.init_baudrate(pigeon) + + # device cold start + pigeon.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d") + time.sleep(1) # wait for cold start + pd.init_baudrate(pigeon) + + # clear configuration + pigeon.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x00\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\x5b") + + # restoring almanac backup + pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60") + status = pigeon.wait_for_backup_restore_status() + assert status == 2, "Could not restore almanac backup" + + pd.initialize_pigeon(pigeon) + + ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) + gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) + + pd.run_receiving(pigeon, pm, 15) + verify_ubloxgnss_data(ugs, 15) + verify_gps_location(gle, 20) + + + @with_processes(['ubloxd']) + def test_c_ublox_startup(self): + pigeon, pm = pd.create_pigeon() + pd.init_baudrate(pigeon) + pd.initialize_pigeon(pigeon) + + ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) + gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) + pd.run_receiving(pigeon, pm, 10) + verify_ubloxgnss_data(ugs, 10) + verify_gps_location(gle, 10) + + if __name__ == "__main__": unittest.main() \ No newline at end of file diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py new file mode 100644 index 000000000..0909316c5 --- /dev/null +++ b/tools/gpstest/test_gps_qcom.py @@ -0,0 +1,109 @@ +#!/usr/bin/env python3 +import time +import unittest +import subprocess as sp + +from common.params import Params +from system.hardware import TICI +import cereal.messaging as messaging +from selfdrive.manager.process_config import managed_processes + + +def exec_mmcli(cmd): + cmd = "mmcli -m 0 " + cmd + p = sp.Popen(cmd, shell=True, stdout=sp.PIPE, stderr=sp.PIPE) + return p.communicate() + + +def wait_for_location(socket, timeout): + while True: + events = messaging.drain_sock(socket) + for event in events: + if event.gpsLocation.flags % 2: + return False + + timeout -= 1 + if timeout <= 0: + return True + + time.sleep(0.1) + continue + + +class TestGPS(unittest.TestCase): + @classmethod + def setUpClass(cls): + if not TICI: + raise unittest.SkipTest + + ublox_available = Params().get_bool("UbloxAvailable") + if ublox_available: + raise unittest.SkipTest + + @unittest.skip("Skip cold start test due to time") + def test_quectel_cold_start(self): + # delete assistance data to enforce cold start for GNSS + # testing shows that this takes up to 20min + + # invalidate supl setting, cannot be reset + _, err = exec_mmcli("--location-set-supl-server=unittest:1") + + _, err = exec_mmcli("--command='AT+QGPSDEL=0'") + assert len(err) == 0, f"GPSDEL failed: {err}" + + managed_processes['rawgpsd'].start() + start_time = time.monotonic() + glo = messaging.sub_sock("gpsLocation", timeout=0.1) + + timeout = 10*60*25 # 25 minute + timedout = wait_for_location(glo, timeout) + managed_processes['rawgpsd'].stop() + + assert timedout is False, "Waiting for location timed out (25min)!" + + duration = time.monotonic() - start_time + assert duration < 50, f"Received GPS location {duration}!" + + + def test_a_quectel_cold_start_AGPS(self): + _, err = exec_mmcli("--command='AT+QGPSDEL=0'") + assert len(err) == 0, f"GPSDEL failed: {err}" + + # setup AGPS + exec_mmcli("--location-set-supl-server=supl.google.com:7276") + + managed_processes['rawgpsd'].start() + start_time = time.monotonic() + glo = messaging.sub_sock("gpsLocation", timeout=0.1) + + timeout = 10*60*3 # 3 minute + timedout = wait_for_location(glo, timeout) + managed_processes['rawgpsd'].stop() + + assert timedout is False, "Waiting for location timed out (3min)!" + + duration = time.monotonic() - start_time + assert duration < 60, f"Received GPS location {duration}!" + + + def test_b_quectel_startup(self): + + # setup AGPS + exec_mmcli("--location-set-supl-server=supl.google.com:7276") + + managed_processes['rawgpsd'].start() + start_time = time.monotonic() + glo = messaging.sub_sock("gpsLocation", timeout=0.1) + + timeout = 10*60*3 # 3 minute + timedout = wait_for_location(glo, timeout) + managed_processes['rawgpsd'].stop() + + assert timedout is False, "Waiting for location timed out (3min)!" + + duration = time.monotonic() - start_time + assert duration < 60, f"Received GPS location {duration}!" + + +if __name__ == "__main__": + unittest.main() From b80f2efdf29fb5095ea2fa258ec7695730467515 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 26 Oct 2022 14:53:01 -0700 Subject: [PATCH 37/68] No fcw when standstill (#26252) --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 018136e6f..457065d3b 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -133,7 +133,7 @@ class LongitudinalPlanner: # TODO counter is only needed because radar is glitchy, remove once radar is gone # TODO write fcw in e2e_long mode - self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 + self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 and not sm['carState'].standstill if self.fcw: cloudlog.info("FCW triggered") From 9e3e49a81f265eefbee32e7d96dbbae3f4b393f1 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 15:11:45 -0700 Subject: [PATCH 38/68] readd camerad tests --- Jenkinsfile | 2 -- 1 file changed, 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 85b488046..b9b9eda66 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -137,7 +137,6 @@ pipeline { } } - /* stage('camerad') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { @@ -148,7 +147,6 @@ pipeline { ]) } } - */ stage('replay') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } From 6b6162d2c822c717cd62312f51113180c21b5664 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 27 Oct 2022 10:47:32 +0800 Subject: [PATCH 39/68] UI: support switching streams in CameraView (#26248) --- selfdrive/ui/qt/widgets/cameraview.cc | 35 ++++++++++++++++++--------- selfdrive/ui/qt/widgets/cameraview.h | 7 ++++-- 2 files changed, 28 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 200257235..4f4649777 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -96,8 +96,8 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); - connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); - connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived); + QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); + QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); } CameraWidget::~CameraWidget() { @@ -162,13 +162,13 @@ void CameraWidget::initializeGL() { } void CameraWidget::showEvent(QShowEvent *event) { - frames.clear(); if (!vipc_thread) { vipc_thread = new QThread(); connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); vipc_thread->start(); } + clearFrames(); } void CameraWidget::hideEvent(QHideEvent *event) { @@ -178,6 +178,7 @@ void CameraWidget::hideEvent(QHideEvent *event) { vipc_thread->wait(); vipc_thread = nullptr; } + clearFrames(); } void CameraWidget::updateFrameMat() { @@ -233,6 +234,7 @@ void CameraWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); + std::lock_guard lk(frame_lock); if (frames.empty()) return; int frame_idx = frames.size() - 1; @@ -249,14 +251,14 @@ void CameraWidget::paintGL() { qDebug() << "Skipped frame" << frames[frame_idx].first; } prev_frame_id = frames[frame_idx].first; + VisionBuf *frame = frames[frame_idx].second; + assert(frame != nullptr); glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); glUseProgram(program->programId()); glPixelStorei(GL_UNPACK_ALIGNMENT, 1); - VisionBuf *frame = frames[frame_idx].second; - #ifdef QCOM2 glActiveTexture(GL_TEXTURE0); glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]); @@ -288,7 +290,6 @@ void CameraWidget::paintGL() { void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { makeCurrent(); - frames.clear(); stream_width = vipc_client->buffers[0].width; stream_height = vipc_client->buffers[0].height; stream_stride = vipc_client->buffers[0].stride; @@ -339,11 +340,7 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { updateFrameMat(); } -void CameraWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { - frames.push_back(std::make_pair(frame_id, buf)); - while (frames.size() > FRAME_BUFFER_SIZE) { - frames.pop_front(); - } +void CameraWidget::vipcFrameReceived() { update(); } @@ -354,11 +351,13 @@ void CameraWidget::vipcThread() { while (!QThread::currentThread()->isInterruptionRequested()) { if (!vipc_client || cur_stream_type != stream_type) { + clearFrames(); cur_stream_type = stream_type; vipc_client.reset(new VisionIpcClient(stream_name, cur_stream_type, false)); } if (!vipc_client->connected) { + clearFrames(); if (!vipc_client->connect(false)) { QThread::msleep(100); continue; @@ -367,7 +366,14 @@ void CameraWidget::vipcThread() { } if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) { - emit vipcThreadFrameReceived(buf, meta_main.frame_id); + { + std::lock_guard lk(frame_lock); + frames.push_back(std::make_pair(meta_main.frame_id, buf)); + while (frames.size() > FRAME_BUFFER_SIZE) { + frames.pop_front(); + } + } + emit vipcThreadFrameReceived(); } } @@ -378,3 +384,8 @@ void CameraWidget::vipcThread() { egl_images.clear(); #endif } + +void CameraWidget::clearFrames() { + std::lock_guard lk(frame_lock); + frames.clear(); +} diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 9bcad935c..ef828f8ff 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -37,7 +38,7 @@ public: signals: void clicked(); void vipcThreadConnected(VisionIpcClient *); - void vipcThreadFrameReceived(VisionBuf *, quint32); + void vipcThreadFrameReceived(); protected: void paintGL() override; @@ -49,6 +50,7 @@ protected: virtual void updateFrameMat(); void updateCalibration(const mat3 &calib); void vipcThread(); + void clearFrames(); bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; @@ -76,11 +78,12 @@ protected: mat3 calibration = DEFAULT_CALIBRATION; mat3 intrinsic_matrix = fcam_intrinsic_matrix; + std::mutex frame_lock; std::deque> frames; uint32_t draw_frame_id = 0; uint32_t prev_frame_id = 0; protected slots: void vipcConnected(VisionIpcClient *vipc_client); - void vipcFrameReceived(VisionBuf *vipc_client, uint32_t frame_id); + void vipcFrameReceived(); }; From 69b0aa94fa7364265af05936e3e85e94a3c13861 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 26 Oct 2022 20:17:28 -0700 Subject: [PATCH 40/68] Toyota: add missing RAV4 2022 engine FW (#26249) Update values.py --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 819b85d75..07c33d017 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1367,6 +1367,7 @@ FW_VERSIONS = { b'\x01896634AA1000\x00\x00\x00\x00', b'\x01896634A88000\x00\x00\x00\x00', b'\x01896634A89000\x00\x00\x00\x00', + b'\x01896634A89100\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F0R01100\x00\x00\x00\x00', From 5b455f1d318939470b99ab81d2e20d247db2715d Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 20:22:46 -0700 Subject: [PATCH 41/68] finalize gps tests (#26255) * finalize gps test before adding to ci Co-authored-by: Kurt Nistelberger --- tools/gpstest/run_unittest.sh | 4 ++-- tools/gpstest/test_gps.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/gpstest/run_unittest.sh b/tools/gpstest/run_unittest.sh index d284fa74e..9f93fdfc9 100755 --- a/tools/gpstest/run_unittest.sh +++ b/tools/gpstest/run_unittest.sh @@ -3,8 +3,8 @@ # NOTE: can only run inside limeGPS test box! # run limeGPS with random static location -timeout 300 ./simulate_gps_signal.py & -gps_PID=$? +timeout 300 ./simulate_gps_signal.py 32.7518 -117.1962 & +gps_PID=$(ps -aux | grep -m 1 "timeout 300" | cut -d ' ' -f 7) echo "starting limeGPS..." sleep 10 diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index b5d0cdd25..8bc5dc89a 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -65,7 +65,7 @@ def verify_ubloxgnss_data(socket: messaging.SubSocket, max_time: int): sat_count.append(event.ubloxGnss.measurementReport.numMeas) num_sat = int(sum(sat_count)/len(sat_count)) - assert num_sat > 5, f"Not enough satellites {num_sat} (TestBox setup!)" + assert num_sat >= 5, f"Not enough satellites {num_sat} (TestBox setup!)" def verify_gps_location(socket: messaging.SubSocket, max_time: int): @@ -188,4 +188,4 @@ class TestGPS(unittest.TestCase): if __name__ == "__main__": - unittest.main() \ No newline at end of file + unittest.main() From 5e717c12f11151ca064c6829b75616c0776d0059 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 27 Oct 2022 13:14:26 +0800 Subject: [PATCH 42/68] Cabana:: remove a fixed TODO (#26257) remove a fixed TODO --- tools/cabana/videowidget.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 7180d5ac0..9a28f71bb 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -17,7 +17,6 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); - // TODO: figure out why the CameraWidget crashed occasionally. cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this); cam_widget->setFixedSize(parent->width(), parent->width() / 1.596); main_layout->addWidget(cam_widget); From 7c1bb03497f28ad7e014d7df7262f4cfcd2fc738 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 28 Oct 2022 03:57:22 +0800 Subject: [PATCH 43/68] Cabana: set fixed height for statusbar (#26264) --- tools/cabana/mainwin.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 30c7e5e0a..f127e5f52 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -23,6 +23,7 @@ MainWindow::MainWindow() : QWidget() { main_layout->addLayout(h_layout); QSplitter *splitter = new QSplitter(Qt::Horizontal, this); + splitter->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); messages_widget = new MessagesWidget(this); splitter->addWidget(messages_widget); @@ -58,6 +59,7 @@ MainWindow::MainWindow() : QWidget() { // status bar status_bar = new QStatusBar(this); + status_bar->setFixedHeight(20); status_bar->setContentsMargins(0, 0, 0, 0); status_bar->setSizeGripEnabled(true); progress_bar = new QProgressBar(); From f04ca9ff3dc1af71a66c2d1d75364938e898ed10 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 28 Oct 2022 03:58:25 +0800 Subject: [PATCH 44/68] Cabana: fix dbc opened twice on startup (#26265) --- tools/cabana/messageswidget.cc | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 9b831ad18..4975061cc 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -85,10 +85,12 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { } void MessagesWidget::loadDBCFromName(const QString &name) { - dbc()->open(name); - dbc_combo->setCurrentText(name); - // refresh model - model->updateState(); + if (name != dbc()->name()) { + dbc()->open(name); + dbc_combo->setCurrentText(name); + // re-sort model to refresh column 'Name' + model->updateState(true); + } } void MessagesWidget::loadDBCFromPaste() { From d67965901895432375584d95103ee1afc14f5554 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 28 Oct 2022 04:59:52 +0800 Subject: [PATCH 45/68] Cabana: fix marker z-index (#26254) --- tools/cabana/chartswidget.cc | 3 +++ 1 file changed, 3 insertions(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index ea44a4033..c7846de06 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -247,10 +247,13 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) chart->layout()->setContentsMargins(0, 0, 0, 0); track_line = new QGraphicsLineItem(chart); + track_line->setZValue(chart->zValue() + 10); track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine)); value_text = new QGraphicsSimpleTextItem(chart); + value_text->setZValue(chart->zValue() + 10); value_text->setBrush(Qt::gray); line_marker = new QGraphicsLineItem(chart); + line_marker->setZValue(chart->zValue() + 10); line_marker->setPen(QPen(Qt::black, 2)); setChart(chart); From fbafde6f1c46b50c219c3ec3121b94ee0848a7be Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 27 Oct 2022 14:04:02 -0700 Subject: [PATCH 46/68] Ford FW batch (#26251) * add Ford Explorer 2022 fw VIN: 1FM5K8GC7NGA85105 8e1bab39e558e773|2022-09-16--02-38-57 * add Ford Escape Titanium PHEV 2021 fw VIN: 1FMCU0LZXMUA80767 f8eaaccd2a90aef8|2022-09-30--15-42-38--0 * add Ford Escape 2020 fw VIN: 1FMCU9DZ9LUA82589 26b2cace68e36212|2022-10-05--18-55-54--0 --- selfdrive/car/ford/values.py | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 7b3140fbb..5114f8d06 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -61,10 +61,10 @@ class FordCarInfo(CarInfo): CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR.ESCAPE_MK4: [ - FordCarInfo("Ford Escape 2020"), - FordCarInfo("Ford Kuga EU", "Driver Assistance Pack"), + FordCarInfo("Ford Escape 2020-21"), + FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"), ], - CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-21"), + CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-22"), CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"), } @@ -87,31 +87,41 @@ FW_QUERY_CONFIG = FwQueryConfig( FW_VERSIONS = { CAR.ESCAPE_MK4: { (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x706, None): [ b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7E0, None): [ + b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ + b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.EXPLORER_MK6: { (Ecu.eps, 0x730, None): [ b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -123,10 +133,12 @@ FW_VERSIONS = { (Ecu.engine, 0x7E0, None): [ b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.FOCUS_MK4: { From 995c74a994345de3d22c84cd1404aaf4cf8b7e82 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 27 Oct 2022 14:36:47 -0700 Subject: [PATCH 47/68] process replay: test Bolt EUV (camera-ACC platform) (#26270) ADD BOLT TO PROCESS REPLAY --- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index ba0f30e5c..a3ca4163d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -8f2919ba4d8509432e93ff0a44f951254c1ff3fe \ No newline at end of file +fbafde6f1c46b50c219c3ec3121b94ee0848a7be \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index cecabd8a3..5c754d931 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -24,10 +24,11 @@ source_segments = [ ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) - ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA + ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA_2018_HYBRID ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"), # CHRYSLER.RAM_1500 ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT + ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 @@ -50,6 +51,7 @@ segments = [ ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"), ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"), ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"), + ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"), ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"), ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"), From ba570b963f18d96ac181882b1f4e1678b992f665 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 28 Oct 2022 05:48:40 +0800 Subject: [PATCH 48/68] Cabana: change the chart theme in setting (#26220) * change the chart theme in setting * change title colors * cleanup --- tools/cabana/chartswidget.cc | 27 ++++++++++++++++++++------- tools/cabana/chartswidget.h | 5 ++++- tools/cabana/settings.cc | 8 ++++++++ tools/cabana/settings.h | 3 +++ 4 files changed, 35 insertions(+), 8 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index c7846de06..3f1dd890c 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -200,33 +200,31 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) main_layout->setSpacing(0); main_layout->setContentsMargins(0, 0, 0, 0); - QWidget *header = new QWidget(this); - header->setStyleSheet("background-color:white"); + header = new QWidget(this); QGridLayout *header_layout = new QGridLayout(header); header_layout->setContentsMargins(11, 11, 11, 0); msg_name_label = new QLabel(this); msg_name_label->setTextFormat(Qt::RichText); header_layout->addWidget(msg_name_label, 0, 0, Qt::AlignLeft); sig_name_label = new QLabel(this); - sig_name_label->setStyleSheet("font-weight:bold"); header_layout->addWidget(sig_name_label, 0, 1, Qt::AlignCenter); //, 0, Qt::AlignCenter); - QPushButton *remove_btn = new QPushButton("✖", this); + remove_btn = new QPushButton("✖", this); remove_btn->setFixedSize(20, 20); remove_btn->setToolTip(tr("Remove chart")); header_layout->addWidget(remove_btn, 0, 2, Qt::AlignRight); main_layout->addWidget(header); chart_view = new ChartView(id, sig, this); - chart_view->setFixedHeight(settings.chart_height); main_layout->addWidget(chart_view); main_layout->addStretch(); setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); updateTitle(); + updateFromSettings(); QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); - QObject::connect(&settings, &Settings::changed, [this]() { chart_view->setFixedHeight(settings.chart_height); }); + QObject::connect(&settings, &Settings::changed, this, &ChartWidget::updateFromSettings); } void ChartWidget::updateTitle() { @@ -234,12 +232,22 @@ void ChartWidget::updateTitle() { sig_name_label->setText(signal->name.c_str()); } +void ChartWidget::updateFromSettings() { + header->setStyleSheet(settings.chart_theme == 0 ? "background-color:white" : "background-color:#23242c"); + QString color_style = settings.chart_theme == 0 ? "color:black" : "color:white"; + sig_name_label->setStyleSheet("font-weight:bold;" + color_style); + msg_name_label->setStyleSheet(color_style); + remove_btn->setStyleSheet(color_style); + chart_view->updateFromSettings(); +} + // ChartView ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) : id(id), signal(sig), QChartView(nullptr, parent) { QLineSeries *series = new QLineSeries(); QChart *chart = new QChart(); + chart->setBackgroundRoundness(0); chart->addSeries(series); chart->createDefaultAxes(); chart->legend()->hide(); @@ -254,7 +262,6 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) value_text->setBrush(Qt::gray); line_marker = new QGraphicsLineItem(chart); line_marker->setZValue(chart->zValue() + 10); - line_marker->setPen(QPen(Qt::black, 2)); setChart(chart); @@ -277,6 +284,12 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) }); } +void ChartView::updateFromSettings() { + setFixedHeight(settings.chart_height); + chart()->setTheme(settings.chart_theme == 0 ? QChart::ChartThemeLight : QChart::QChart::ChartThemeDark); + line_marker->setPen(QPen(settings.chart_theme == 0 ? Qt::black : Qt::white, 2)); +} + void ChartView::setRange(double min, double max, bool force_update) { auto axis_x = dynamic_cast(chart()->axisX()); if (force_update || (min != axis_x->min() || max != axis_x->max())) { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index a7c6f4bbd..897ed62c2 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -23,6 +23,7 @@ public: void updateSeries(const std::pair &range); void setRange(double min, double max, bool force_update = false); void updateLineMarker(double current_sec); + void updateFromSettings(); signals: void zoomIn(double min, double max); @@ -34,7 +35,6 @@ private: void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; void adjustChartMargins(); - void updateAxisY(); QGraphicsLineItem *track_line; @@ -51,6 +51,7 @@ Q_OBJECT public: ChartWidget(const QString &id, const Signal *sig, QWidget *parent); void updateTitle(); + void updateFromSettings(); signals: void remove(const QString &msg_id, const Signal *sig); @@ -58,8 +59,10 @@ signals: public: QString id; const Signal *signal; + QWidget *header; QLabel *msg_name_label; QLabel *sig_name_label; + QPushButton *remove_btn; ChartView *chart_view = nullptr; }; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 6e9d7f17c..93bc05f20 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -17,6 +17,7 @@ void Settings::save() { s.setValue("log_size", can_msg_log_size); s.setValue("cached_segment", cached_segment_limit); s.setValue("chart_height", chart_height); + s.setValue("chart_theme", chart_theme); s.setValue("max_chart_x_range", max_chart_x_range); emit changed(); } @@ -27,6 +28,7 @@ void Settings::load() { can_msg_log_size = s.value("log_size", 100).toInt(); cached_segment_limit = s.value("cached_segment", 3).toInt(); chart_height = s.value("chart_height", 200).toInt(); + chart_theme = s.value("chart_theme", 0).toInt(); max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); } @@ -67,6 +69,11 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { chart_height->setValue(settings.chart_height); form_layout->addRow(tr("Chart's height"), chart_height); + chart_theme = new QComboBox(); + chart_theme->addItems({"Light", "Dark"}); + chart_theme->setCurrentIndex(settings.chart_theme == 1 ? 1 : 0); + form_layout->addRow(tr("Chart theme"), chart_theme); + main_layout->addLayout(form_layout); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); @@ -82,6 +89,7 @@ void SettingsDlg::save() { settings.can_msg_log_size = log_size->value(); settings.cached_segment_limit = cached_segment->value(); settings.chart_height = chart_height->value(); + settings.chart_theme = chart_theme->currentIndex(); settings.max_chart_x_range = max_chart_x_range->value() * 60; settings.save(); accept(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index fa97c4914..88eeebc72 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -15,6 +16,7 @@ public: int can_msg_log_size = 100; int cached_segment_limit = 3; int chart_height = 200; + int chart_theme = 0; int max_chart_x_range = 3 * 60; // 3 minutes signals: @@ -31,6 +33,7 @@ public: QSpinBox *log_size ; QSpinBox *cached_segment; QSpinBox *chart_height; + QComboBox *chart_theme; QSpinBox *max_chart_x_range; }; From b158c016cbd58a84e57124f49c657dbba8beb19e Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 27 Oct 2022 16:34:11 -0700 Subject: [PATCH 49/68] [torqued] Update offline values (#26261) * add qlog mode to torqued * update offline valujes from qlogs * resollve comments * update refs * resolve comments --- selfdrive/car/torque_data/override.yaml | 1 - selfdrive/car/torque_data/params.yaml | 29 ++++++++++++------------ selfdrive/locationd/torqued.py | 23 ++++++++++++++----- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 33 insertions(+), 22 deletions(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 13a0dae7a..460b9a909 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -21,7 +21,6 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars -KIA EV6 2022: [3.5, 3.0, 0.0] RAM 1500 5TH GEN: [2.0, 2.0, 0.0] RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 60b1662ce..5c828fa66 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -39,17 +39,18 @@ HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.0781366561692759 HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185] JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003] +KIA EV6 2022: [3.2, 3.0, 0.05] KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716] KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558] KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202] -LEXUS ES 2019: [2.0203086922726112, 2.134803912579666, 0.12757526789308554] -LEXUS ES HYBRID 2019: [2.392442298703042, 1.863360677810788, 0.17690002108856212] +LEXUS ES 2019: [1.935835, 2.134803912579666, 0.093439] +LEXUS ES HYBRID 2019: [2.135678, 1.863360677810788, 0.109627] LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838] LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017] LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142] -LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.2093316728710659] +LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.164117] LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893] LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114] MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] @@ -62,31 +63,31 @@ TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492] TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193] TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] -TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.13519250664782062] -TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234] -TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756] -TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076] +TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.105192506] +TOYOTA CAMRY 2021: [2.446083, 2.3476510120007434, 0.121615] +TOYOTA CAMRY HYBRID 2018: [1.996333, 1.7996193116697359, 0.112565] +TOYOTA CAMRY HYBRID 2021: [2.263582, 2.3901492458927986, 0.115257] TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652] TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514] TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352] TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796] TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457] -TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918] -TOYOTA HIGHLANDER HYBRID 2020: [2.103373061114133, 2.104015182965606, 0.14447040132184993] +TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600] +TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993] TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565] -TOYOTA PRIUS 2017: [2.0183401513314294, 1.5023147650693636, 0.20856908464957724] -TOYOTA PRIUS TSS2 2021: [2.327639738920072, 1.9104337425537743, 0.2030762265549664] +TOYOTA PRIUS 2017: [1.746445, 1.5023147650693636, 0.151515] +TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968] TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975] -TOYOTA RAV4 2019: [2.5038362866776835, 2.0993589721530252, 0.1552425356342368] +TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822] TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918] TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198] TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632] TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137] TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774] -TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.1565442715453653] +TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.112174] TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736] -TOYOTA SIENNA 2018: [1.8660896232147548, 1.3208264576110418, 0.18799149615227198] +TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456] VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032] VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 66af23459..42dff6008 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -16,7 +16,9 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 MIN_POINTS_TOTAL = 4000 +MIN_POINTS_TOTAL_QLOG = 800 FIT_POINTS_TOTAL = 2000 +FIT_POINTS_TOTAL_QLOG = 800 MIN_VEL = 15 # m/s FRICTION_FACTOR = 1.5 # ~85% of data coverage FACTOR_SANITY = 0.3 @@ -26,7 +28,7 @@ MIN_FILTER_DECAY = 50 MAX_FILTER_DECAY = 250 LAT_ACC_THRESHOLD = 1 STEER_BUCKET_BOUNDS = [(-0.5, -0.3), (-0.3, -0.2), (-0.2, -0.1), (-0.1, 0), (0, 0.1), (0.1, 0.2), (0.2, 0.3), (0.3, 0.5)] -MIN_BUCKET_POINTS = [100, 300, 500, 500, 500, 500, 300, 100] +MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) MAX_RESETS = 5.0 MAX_INVALID_THRESHOLD = 10 MIN_ENGAGE_BUFFER = 2 # secs @@ -58,10 +60,11 @@ class NPQueue: class PointBuckets: - def __init__(self, x_bounds, min_points): + def __init__(self, x_bounds, min_points, min_points_total): self.x_bounds = x_bounds self.buckets = {bounds: NPQueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds} self.buckets_min_points = {bounds: min_point for bounds, min_point in zip(x_bounds, min_points)} + self.min_points_total = min_points_total def bucket_lengths(self): return [len(v) for v in self.buckets.values()] @@ -70,7 +73,7 @@ class PointBuckets: return sum(self.bucket_lengths()) def is_valid(self): - return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= MIN_POINTS_TOTAL) + return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= self.min_points_total) def add_point(self, x, y): for bound_min, bound_max in self.x_bounds: @@ -90,9 +93,17 @@ class PointBuckets: class TorqueEstimator: - def __init__(self, CP): + def __init__(self, CP, decimated=False): self.hist_len = int(HISTORY / DT_MDL) self.lag = CP.steerActuatorDelay + .2 # from controlsd + if decimated: + self.min_bucket_points = MIN_BUCKET_POINTS / 10 + self.min_points_total = MIN_POINTS_TOTAL_QLOG + self.fit_points = FIT_POINTS_TOTAL_QLOG + else: + self.min_bucket_points = MIN_BUCKET_POINTS + self.min_points_total = MIN_POINTS_TOTAL + self.fit_points = FIT_POINTS_TOTAL self.offline_friction = 0.0 self.offline_latAccelFactor = 0.0 @@ -157,10 +168,10 @@ class TorqueEstimator: self.invalid_values_tracker = 0.0 self.decay = MIN_FILTER_DECAY self.raw_points = defaultdict(lambda: deque(maxlen=self.hist_len)) - self.filtered_points = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=MIN_BUCKET_POINTS) + self.filtered_points = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=self.min_bucket_points, min_points_total=self.min_points_total) def estimate_params(self): - points = self.filtered_points.get_points(FIT_POINTS_TOTAL) + points = self.filtered_points.get_points(self.fit_points) # total least square solution as both x and y are noisy observations # this is empirically the slope of the hysteresis parallelogram as opposed to the line through the diagonals try: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a3ca4163d..fad9f5e59 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fbafde6f1c46b50c219c3ec3121b94ee0848a7be \ No newline at end of file +f4ea2499a95e198914fd275a8380178e8ff65a31 \ No newline at end of file From c2326a421993534c49aea1efa78e31a6bfa0625c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 27 Oct 2022 16:44:22 -0700 Subject: [PATCH 50/68] process replay: support experimental long (#26233) Support experimental long --- selfdrive/test/process_replay/process_replay.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9d37be4a5..bc55e33cb 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -456,6 +456,9 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = CP.carFingerprint + if CP.openpilotLongitudinalControl: + params.put_bool("ExperimentalLongitudinalEnabled", True) + def python_replay_process(cfg, lr, fingerprint=None): sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] From 26cb6d09e76baaf0862cdf061013247bb62a197c Mon Sep 17 00:00:00 2001 From: ambientocclusion <1399123+ambientocclusion@users.noreply.github.com> Date: Thu, 27 Oct 2022 17:04:09 -0700 Subject: [PATCH 51/68] Multilang: revise some Japanese translations (#25811) Revise some Japanese translations Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/main_ja.ts | 54 ++++++++++++++-------------- 1 file changed, 27 insertions(+), 27 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 314a6b833..a11333a54 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -56,7 +56,7 @@ leave blank for automatic configuration - 空白のままにして、自動設定にします + 自動で設定するには、空白のままにしてください。 Cellular Metered @@ -136,7 +136,7 @@ PREVIEW - 見る + プレビュー Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) @@ -156,7 +156,7 @@ Review Training Guide - 入門書を見る + 使い方の確認 REVIEW @@ -168,7 +168,7 @@ Are you sure you want to review the training guide? - 入門書を見てもよろしいですか？ + 使い方の確認をしますか？ Regulatory @@ -200,11 +200,11 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot は、左または右の4°以内、上の5°または下の8°以内にデバイスを取付ける必要があります。キャリブレーションを引き続きます、リセットはほとんど必要ありません。 + openpilotの本体は、左右4°以内、上5°、下8°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。 Your device is pointed %1° %2 and %3° %4. - このデバイスは%2の%1°、%4の%3°に向けます。 + このデバイスは%2 %1°、%4 %3°の向きに設置されています。 down @@ -309,7 +309,7 @@ MapETA eta - 予定到着時間 + 到着予定時間 min @@ -452,15 +452,15 @@ location set Go to https://connect.comma.ai on your phone - モバイルデバイスで「connect.comma.ai」にアクセスして + スマートフォンで「https://connect.comma.ai」にアクセスしてください。 Click "add new device" and scan the QR code on the right - 「新しいデバイスを追加」を押すと、右側のQRコードをスキャンしてください + 「新しいデバイスを追加」を押し、右側のQRコードをスキャンしてください。 Bookmark connect.comma.ai to your home screen to use it like an app - 「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます + 「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます。 @@ -608,7 +608,7 @@ location set Toggles - 切り替え + 機能設定 Software @@ -627,7 +627,7 @@ location set Power your device in a car with a harness or proceed at your own risk. - 自己責任でハーネスから電源を供給してください。 + 自己責任で実行を継続するか、ハーネスから電源を供給してください。 Power off @@ -643,7 +643,7 @@ location set Before we get on the road, let’s finish installation and cover some details. - その前に、インストールを完了し、いくつかの詳細を説明します。 + 道路に向かう前に、インストールを完了して使い方を確認しましょう。 Connect to Wi-Fi @@ -655,7 +655,7 @@ location set Continue without Wi-Fi - Wi-Fi に未接続で続行 + Wi-Fi に接続せずに続行 Waiting for internet @@ -663,7 +663,7 @@ location set Choose Software to Install - インストールするソフトウェアを選びます + インストールするソフトウェアを選択してください Dashcam @@ -710,7 +710,7 @@ location set Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - デバイスを comma connect (connect.comma.ai)でペアリングし comma prime 特典を申請してください。 + デバイスを comma connect (connect.comma.ai)でペアリングし、comma primeの特典を申請してください。 Pair device @@ -836,7 +836,7 @@ location set UNINSTALL - アンインストール + 実行 Uninstall %1 @@ -859,7 +859,7 @@ location set Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. - 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。コンマのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 + 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。commaのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 ADD @@ -871,7 +871,7 @@ location set LOADING - ローディング + 読み込み中 REMOVE @@ -924,7 +924,7 @@ location set 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. - アダプティブクルーズコントロールとレーンキーピングドライバーアシスト（openpilotシステム）。この機能を使用するには、常に注意が必要です。この設定を変更すると、車の電源が切れたときに有効になります。 + openpilotによるアダプティブクルーズコントロールとレーンキーピングドライバーアシストを利用します。この機能を利用する際は、常に前方への注意が必要です。この設定を変更すると、車の電源が切れた時に反映されます。 Enable Lane Departure Warnings @@ -932,11 +932,11 @@ location set Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). - 時速31マイル（50km）を超えるスピードで走行中、ウインカーを作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。 + 時速31マイル（50km）を超えるスピードで走行中、ウインカーを作動させずに検出された車線ライン上に車両が触れた場合、手動で車線内に戻るように警告を行います。 Use Metric System - メートル法を有効化 + メートル法を使用 Display speed in km/h instead of mph. @@ -952,7 +952,7 @@ location set 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 エンドツーエンドのアクセル制御 (超アルファ版) 🌮 + 🌮 エンドツーエンドのアクセル制御 (超α版) 🌮 Experimental openpilot longitudinal control @@ -976,11 +976,11 @@ location set Disengage On Accelerator Pedal - ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ + ｱｸｾﾙを踏むと openpilot を中断 When enabled, pressing the accelerator pedal will disengage openpilot. - 有効な場合は、アクセルを踏むと openpilot をキャンセルします。 + この機能を有効化すると、openpilotを利用中にアクセルを踏むとopenpilotによる運転サポートを中断します。 Show ETA in 24h Format @@ -1003,11 +1003,11 @@ location set Updater Update Required - 更新が必要です + アップデートが必要です An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. - ｵﾍﾟﾚｰﾃｨﾝｸﾞｼｽﾃﾑのアップデートが必要です。Wi-Fi に接続することで、最速のアップデートを体験できます。ダウンロードサイズは約 1GB です。 + ｵﾍﾟﾚｰﾃｨﾝｸﾞｼｽﾃﾑのアップデートが必要です。Wi-Fi に接続してアップデートする事をお勧めします。ダウンロードサイズは約 1GB です。 Connect to Wi-Fi From dbc30c053caacc689e1fafb5e92ff0fcac57db1d Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 27 Oct 2022 17:27:31 -0700 Subject: [PATCH 52/68] UI: fade into wide camera (#26203) * UI: fade into wide camera * handle routes with no wide calib * more cleanup Co-authored-by: Adeeb Shihadeh --- selfdrive/locationd/calibrationd.py | 7 +------ selfdrive/ui/qt/onroad.cc | 8 +++----- selfdrive/ui/qt/widgets/cameraview.cc | 11 ++++++++--- selfdrive/ui/ui.cc | 27 ++++++++++++++++++++++----- selfdrive/ui/ui.h | 4 +++- 5 files changed, 37 insertions(+), 20 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 4e996bc3b..1c68eb67b 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -66,7 +66,6 @@ class Calibrator: # Read saved calibration params = Params() calibration_params = params.get("CalibrationParams") - self.wide_camera = params.get_bool('WideCameraOnly') rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT valid_blocks = 0 @@ -166,10 +165,7 @@ class Calibrator: self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) - if self.wide_camera: - angle_std_threshold = 4*MAX_VEL_ANGLE_STD - else: - angle_std_threshold = MAX_VEL_ANGLE_STD + angle_std_threshold = MAX_VEL_ANGLE_STD certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or (self.valid_blocks < INPUTS_NEEDED)) if not (straight_and_fast and certain_if_calib): @@ -185,7 +181,6 @@ class Calibrator: new_wide_from_device_euler = np.array(wide_from_device_euler) else: new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 1f677fc92..346cb3ab9 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -100,10 +100,6 @@ void OnroadWindow::offroadTransition(bool offroad) { #endif alerts->updateAlert({}, bg); - - // update stream type - bool wide_cam = Params().getBool("WideCameraOnly"); - nvg->setStreamType(wide_cam ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); } void OnroadWindow::paintEvent(QPaintEvent *event) { @@ -232,8 +228,10 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); } + setStreamType(s.scene.wide_cam ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); if (s.scene.calibration_valid) { - CameraWidget::updateCalibration(s.scene.view_from_calib); + auto calib = s.scene.wide_cam ? s.scene.view_from_wide_calib : s.scene.view_from_calib; + CameraWidget::updateCalibration(calib); } else { CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 4f4649777..13225414d 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -188,12 +188,17 @@ void CameraWidget::updateFrameMat() { if (stream_type == VISION_STREAM_DRIVER) { frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } else { - intrinsic_matrix = (stream_type == VISION_STREAM_WIDE_ROAD) ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; - zoom = (stream_type == VISION_STREAM_WIDE_ROAD) ? 2.5 : 1.1; - // Project point at "infinity" to compute x and y offsets // to ensure this ends up in the middle of the screen + // for narrow come and a little lower for wide cam. // TODO: use proper perspective transform? + if (stream_type == VISION_STREAM_WIDE_ROAD) { + intrinsic_matrix = ecam_intrinsic_matrix; + zoom = 2.0; + } else { + intrinsic_matrix = fcam_intrinsic_matrix; + zoom = 1.1; + } const vec3 inf = {{1000., 0., 0.}}; const vec3 Ep = matvecmul3(calibration, inf); const vec3 Kep = matvecmul3(intrinsic_matrix, Ep); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 1a6027bf7..d1d72b4da 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -23,8 +23,8 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, const QRectF clip_region{-margin, -margin, s->fb_w + 2 * margin, s->fb_h + 2 * margin}; const vec3 pt = (vec3){{in_x, in_y, in_z}}; - const vec3 Ep = matvecmul3(s->scene.view_from_calib, pt); - const vec3 KEp = matvecmul3(s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep); + const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt); + const vec3 KEp = matvecmul3(s->scene.wide_cam ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep); // Project. QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]}); @@ -121,17 +121,23 @@ static void update_state(UIState *s) { if (sm.updated("liveCalibration")) { auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib(); + auto wfde_list = sm["liveCalibration"].getLiveCalibration().getWideFromDeviceEuler(); Eigen::Vector3d rpy; - rpy << rpy_list[0], rpy_list[1], rpy_list[2]; + Eigen::Vector3d wfde; + if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2]; + if (wfde_list.size() == 3) wfde << wfde_list[0], wfde_list[1], wfde_list[2]; Eigen::Matrix3d device_from_calib = euler2rot(rpy); + Eigen::Matrix3d wide_from_device = euler2rot(wfde); Eigen::Matrix3d view_from_device; view_from_device << 0,1,0, 0,0,1, 1,0,0; Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib; + Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib ; for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j); + scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j); } } scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1; @@ -167,6 +173,17 @@ static void update_state(UIState *s) { scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; + + if (sm.updated("carState")) { + float v_ego = sm["carState"].getCarState().getVEgo(); + // TODO: support replays without ecam by using fcam + // Wide or narrow cam dependent on speed + if ((v_ego < 10) || s->wide_cam_only) { + scene.wide_cam = true; + } else if (v_ego > 15) { + scene.wide_cam = false; + } + } } void ui_update_params(UIState *s) { @@ -197,7 +214,7 @@ void UIState::updateStatus() { if (scene.started) { status = STATUS_DISENGAGED; scene.started_frame = sm->frame; - wide_camera = Params().getBool("WideCameraOnly"); + wide_cam_only = Params().getBool("WideCameraOnly"); } started_prev = scene.started; emit offroadTransition(!scene.started); @@ -219,7 +236,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { }); Params params; - wide_camera = params.getBool("WideCameraOnly"); + wide_cam_only = params.getBool("WideCameraOnly"); prime_type = std::atoi(params.get("PrimeType").c_str()); language = QString::fromStdString(params.get("LanguageSetting")); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index f60c26b59..5a51dda8f 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -87,7 +87,9 @@ const QColor bg_colors [] = { typedef struct UIScene { bool calibration_valid = false; + bool wide_cam = true; mat3 view_from_calib = DEFAULT_CALIBRATION; + mat3 view_from_wide_calib = DEFAULT_CALIBRATION; cereal::PandaState::PandaType pandaType; // modelV2 @@ -130,7 +132,7 @@ public: QString language; QTransform car_space_transform; - bool wide_camera; + bool wide_cam_only; signals: void uiUpdate(const UIState &s); From f76a390daf677700fbce49253f93412dd44eee0d Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 27 Oct 2022 17:31:15 -0700 Subject: [PATCH 53/68] Eliminate toyota close radar glitches causing no resume (#26272) Eliminate toyota close radar glitches --- selfdrive/controls/lib/radar_helpers.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index bf788190c..4bb017926 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -151,7 +151,8 @@ class Cluster(): def potential_low_speed_lead(self, v_ego): # stop for stuff in front of you and low speed, even without model confirmation - return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and self.dRel < 25 + # Radar points closer than 0.75, are almost always glitches on toyota radars + return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and (0.75 < self.dRel < 25) def is_potential_fcw(self, model_prob): return model_prob > .9 From 6698cd48294e94fdb4e09e8943e6505efa29c5d5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 27 Oct 2022 20:53:15 -0700 Subject: [PATCH 54/68] controlsd: steer in old preEnable state (#26269) * controlsd: steer in old preEnable state * bump panda * bump panda * Update ref_commit Co-authored-by: Shane Smiskol --- panda | 2 +- selfdrive/controls/controlsd.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/panda b/panda index bd8d2481d..187fdee38 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit bd8d2481dd071df62263e093b2e332a2a404dc87 +Subproject commit 187fdee385e59a2a19f85760f529e8e381845dff diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 5172cc404..1adbba417 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -254,8 +254,7 @@ class Controls: self.events.add(EventName.pedalPressed) if CS.gasPressed: - self.events.add(EventName.pedalPressedPreEnable if self.disengage_on_accelerator else - EventName.gasPressedOverride) + self.events.add(EventName.gasPressedOverride) if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index fad9f5e59..c7d81c349 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f4ea2499a95e198914fd275a8380178e8ff65a31 \ No newline at end of file +e56c5a6ac5b87ee6083c9f92921e7198591f7b5d From 8de9bbaa73ea94b966b1161fb630bf3cac72c764 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 29 Oct 2022 01:55:05 +0800 Subject: [PATCH 55/68] Cabana: improve track line (#26231) * improve track line * show text label on the left if reach the right edge * cleanup * cleanup --- tools/cabana/chartswidget.cc | 42 ++++++++++++++++++++++-------------- tools/cabana/chartswidget.h | 6 ++++-- 2 files changed, 30 insertions(+), 18 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 3f1dd890c..a3cbaf5b3 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -147,7 +147,7 @@ void ChartsWidget::addChart(const QString &id, const Signal *sig) { if (it == charts.end()) { auto chart = new ChartWidget(id, sig, this); chart->chart_view->updateSeries(display_range); - QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(chart); });; + QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(chart); }); QObject::connect(chart->chart_view, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); QObject::connect(chart->chart_view, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); charts_layout->insertWidget(0, chart); @@ -184,7 +184,6 @@ void ChartsWidget::signalUpdated(const Signal *sig) { } } - bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { if (obj != this && event->type() == QEvent::Close) { emit dock_btn->clicked(); @@ -256,10 +255,12 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) track_line = new QGraphicsLineItem(chart); track_line->setZValue(chart->zValue() + 10); - track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine)); - value_text = new QGraphicsSimpleTextItem(chart); + track_line->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); + track_ellipse = new QGraphicsEllipseItem(chart); + track_ellipse->setZValue(chart->zValue() + 10); + track_ellipse->setBrush(Qt::darkGray); + value_text = new QGraphicsTextItem(chart); value_text->setZValue(chart->zValue() + 10); - value_text->setBrush(Qt::gray); line_marker = new QGraphicsLineItem(chart); line_marker->setZValue(chart->zValue() + 10); @@ -364,12 +365,14 @@ void ChartView::updateAxisY() { void ChartView::enterEvent(QEvent *event) { track_line->setVisible(true); value_text->setVisible(true); + track_ellipse->setVisible(true); QChartView::enterEvent(event); } void ChartView::leaveEvent(QEvent *event) { track_line->setVisible(false); value_text->setVisible(false); + track_ellipse->setVisible(false); QChartView::leaveEvent(event); } @@ -397,21 +400,28 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { void ChartView::mouseMoveEvent(QMouseEvent *ev) { auto rubber = findChild(); - bool dragging = rubber && rubber->isVisible(); - if (!dragging) { + bool is_zooming = rubber && rubber->isVisible(); + if (!is_zooming) { const auto plot_area = chart()->plotArea(); - float x = std::clamp((float)ev->pos().x(), (float)plot_area.left(), (float)plot_area.right()); - track_line->setLine(x, plot_area.top(), x, plot_area.bottom()); - auto axis_x = dynamic_cast(chart()->axisX()); - double sec = axis_x->min() + ((x - plot_area.x()) / plot_area.width()) * (axis_x->max() - axis_x->min()); - auto value = std::lower_bound(vals.begin(), vals.end(), sec, [](auto &p, double x) { return p.x() < x; }); - value_text->setPos(x + 6, plot_area.bottom() - 25); + double x = std::clamp((double)ev->pos().x(), plot_area.left(), plot_area.right()-1); + double sec = axis_x->min() + (axis_x->max() - axis_x->min()) * (x - plot_area.left()) / plot_area.width(); + auto value = std::upper_bound(vals.begin(), vals.end(), sec, [](double x, auto &p) { return x < p.x(); }); if (value != vals.end()) { - value_text->setText(QString("(%1, %2)").arg(value->x(), 0, 'f', 3).arg(value->y())); - } else { - value_text->setText("(--, --)"); + QPointF pos = chart()->mapToPosition((*value)); + track_line->setLine(pos.x(), plot_area.top(), pos.x(), plot_area.bottom()); + track_ellipse->setRect(pos.x() - 5, pos.y() - 5, 10, 10); + value_text->setHtml(tr("
%1, %2)
") + .arg(value->x(), 0, 'f', 3).arg(value->y())); + int text_x = pos.x() + 8; + if ((text_x + value_text->boundingRect().width()) > plot_area.right()) { + text_x = pos.x() - value_text->boundingRect().width() - 8; + } + value_text->setPos(text_x, pos.y() - 10); } + track_line->setVisible(value != vals.end()); + value_text->setVisible(value != vals.end()); + track_ellipse->setVisible(value != vals.end()); } QChartView::mouseMoveEvent(ev); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 897ed62c2..60081dd88 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -3,8 +3,9 @@ #include #include +#include #include -#include +#include #include #include #include @@ -38,7 +39,8 @@ private: void updateAxisY(); QGraphicsLineItem *track_line; - QGraphicsSimpleTextItem *value_text; + QGraphicsEllipseItem *track_ellipse; + QGraphicsTextItem *value_text; QGraphicsLineItem *line_marker; QList vals; QString id; From 8f70a84a417f848793f87d6c79c25f3ce15d5d38 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 28 Oct 2022 23:43:12 +0200 Subject: [PATCH 56/68] QuectelGPS: add supl server (#26259) add supl server Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/rawgps/rawgpsd.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index fa23a161c..1c6505166 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -124,6 +124,7 @@ def setup_quectel(diag: ModemDiag): # don't automatically turn on GNSS on powerup at_cmd("AT+QGPSCFG=\"autogps\",0") + at_cmd("AT+QGPSSUPLURL=\"supl.google.com:7275\"") at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") at_cmd("AT+QGPS=1") From 5ae213142459a64aac8a1654d1087346b17b87c1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 28 Oct 2022 17:26:25 -0700 Subject: [PATCH 57/68] bump opendbc (#26277) --- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/opendbc b/opendbc index a95b0ae8a..526e21da6 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit a95b0ae8a5244a9d6311bf72aa2a7d63d41b4a9f +Subproject commit 526e21da666aeeabcf2369c66903a5675fdf933b diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index ec2b3059a..2e4cb0d25 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -507,7 +507,6 @@ class CarState(CarStateBase): ("ZEROS_5", "CRUISE_INFO"), ("DISTANCE_SETTING", "CRUISE_INFO"), ("SET_SPEED", "CRUISE_INFO"), - ("NEW_SIGNAL_4", "CRUISE_INFO"), ] checks = [ From 602b90f518e9bc51dccdb75413ff86481dff277d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 29 Oct 2022 10:05:11 +0800 Subject: [PATCH 58/68] UI: reduce frame drops. (#26266) * reduce frame dropping * This mode will not draw the same frame twice * cleanup comment * use previous texture if update is not triggered by vipc thread and without new frame --- selfdrive/ui/qt/widgets/cameraview.cc | 32 ++++++++++----------------- selfdrive/ui/qt/widgets/cameraview.h | 1 - 2 files changed, 12 insertions(+), 21 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 13225414d..d7591633c 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -240,24 +240,13 @@ void CameraWidget::paintGL() { glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); std::lock_guard lk(frame_lock); - if (frames.empty()) return; - int frame_idx = frames.size() - 1; - - // Always draw latest frame until sync logic is more stable - // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { - // if (frames[frame_idx].first == draw_frame_id) break; - // } - - // Log duplicate/dropped frames - if (frames[frame_idx].first == prev_frame_id) { - qDebug() << "Drawing same frame twice" << frames[frame_idx].first; - } else if (frames[frame_idx].first != prev_frame_id + 1) { - qDebug() << "Skipped frame" << frames[frame_idx].first; + // use previous texture if update() is called without new frame. + VisionBuf *frame = nullptr; + if (!frames.empty()) { + frame = frames.front().second; + frames.pop_front(); } - prev_frame_id = frames[frame_idx].first; - VisionBuf *frame = frames[frame_idx].second; - assert(frame != nullptr); glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); @@ -266,19 +255,21 @@ void CameraWidget::paintGL() { #ifdef QCOM2 glActiveTexture(GL_TEXTURE0); - glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]); - assert(glGetError() == GL_NO_ERROR); + if (frame) { + glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]); + assert(glGetError() == GL_NO_ERROR); + } #else glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride); glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_2D, textures[0]); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y); + if (frame) glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y); assert(glGetError() == GL_NO_ERROR); glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2); glActiveTexture(GL_TEXTURE0 + 1); glBindTexture(GL_TEXTURE_2D, textures[1]); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv); + if (frame) glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv); assert(glGetError() == GL_NO_ERROR); #endif @@ -375,6 +366,7 @@ void CameraWidget::vipcThread() { std::lock_guard lk(frame_lock); frames.push_back(std::make_pair(meta_main.frame_id, buf)); while (frames.size() > FRAME_BUFFER_SIZE) { + qDebug() << "Skipped frame" << frames.front().first; frames.pop_front(); } } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index ef828f8ff..aff3abc83 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -81,7 +81,6 @@ protected: std::mutex frame_lock; std::deque> frames; uint32_t draw_frame_id = 0; - uint32_t prev_frame_id = 0; protected slots: void vipcConnected(VisionIpcClient *vipc_client); From a622e523b2251472aa59b80eee60cae9fcb1e024 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 29 Oct 2022 12:44:51 +0800 Subject: [PATCH 59/68] Cabana: add tab context menu for 'close other tabs' (#26279) close other tabs --- tools/cabana/detailwidget.cc | 41 ++++++++++++++++++++++++++++++------ tools/cabana/detailwidget.h | 2 +- 2 files changed, 35 insertions(+), 8 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 7290e4e6f..8839cdd50 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include @@ -22,6 +23,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { tabbar->setDrawBase(false); tabbar->setUsesScrollButtons(true); tabbar->setAutoHide(true); + tabbar->setContextMenuPolicy(Qt::CustomContextMenu); main_layout->addWidget(tabbar); // message title @@ -79,22 +81,47 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); }); - QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { setMessage(messages[index]); }); + QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu); + QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { + if (index != -1 && tabbar->tabText(index) != msg_id) { + setMessage(tabbar->tabText(index)); + } + }); QObject::connect(tabbar, &QTabBar::tabCloseRequested, [=](int index) { - messages.removeAt(index); + if (tabbar->currentIndex() == index) { + tabbar->setCurrentIndex(index == tabbar->count() - 1 ? index - 1 : index + 1); + } tabbar->removeTab(index); - setMessage(messages.isEmpty() ? "" : messages[0]); }); } +void DetailWidget::showTabBarContextMenu(const QPoint &pt) { + int index = tabbar->tabAt(pt); + if (index >= 0) { + QMenu menu(this); + menu.addAction(tr("Close Other Tabs")); + if (menu.exec(tabbar->mapToGlobal(pt))) { + for (int i = tabbar->count() - 1; i >= 0; --i) { + if (i != index) + tabbar->removeTab(i); + } + } + } +} + void DetailWidget::setMessage(const QString &message_id) { if (message_id.isEmpty()) return; - int index = messages.indexOf(message_id); + qWarning() << "setmessage" << message_id; + int index = -1; + for (int i = 0; i < tabbar->count(); ++i) { + if (tabbar->tabText(i) == message_id) { + index = i; + break; + } + } if (index == -1) { - messages.push_back(message_id); - tabbar->addTab(message_id); - index = tabbar->count() - 1; + index = tabbar->addTab(message_id); auto msg = dbc()->msg(message_id); tabbar->setTabToolTip(index, msg ? msg->name.c_str() : "untitled"); } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 5924cdd43..4ec74eca7 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -39,6 +39,7 @@ signals: void removeChart(const Signal *sig); private: + void showTabBarContextMenu(const QPoint &pt); void addSignal(int start_bit, int to); void resizeSignal(const Signal *sig, int from, int to); void saveSignal(const Signal *sig, const Signal &new_sig); @@ -53,7 +54,6 @@ private: QPushButton *edit_btn; QWidget *signals_container; QTabBar *tabbar; - QStringList messages; HistoryLog *history_log; BinaryView *binary_view; ScrollArea *scroll; From 5aa0d211f075681e18395d0fd7dd73d8cc44573c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 30 Oct 2022 03:01:08 +0800 Subject: [PATCH 60/68] Cabana: double click the title bar to move binview to a separate column (#26280) * double click to move binview to seperate column * cleanup * double click frame * continue * rename signal * add tooltip * fix layout * don't show last cell's bottom line * increase spliter handle size * cleanup * set resize mode to ResizeToContents * add a split button * cleanup layout&fix space * cleanup * remove hardcoded size * cleanup --- tools/cabana/binaryview.cc | 12 +++++---- tools/cabana/binaryview.h | 1 + tools/cabana/detailwidget.cc | 52 ++++++++++++++++++++++++++++-------- tools/cabana/detailwidget.h | 17 ++++++++++++ tools/cabana/mainwin.cc | 14 +++++----- tools/cabana/mainwin.h | 4 ++- 6 files changed, 75 insertions(+), 25 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 26fecd8c3..91353e972 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -20,13 +20,15 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { setItemDelegate(delegate); horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); horizontalHeader()->hide(); - verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); + verticalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setMouseTracking(true); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum); +} - QObject::connect(model, &QAbstractItemModel::modelReset, [this]() { - setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2); - }); +QSize BinaryView::sizeHint() const { + QSize sz = QTableView::sizeHint(); + return {sz.width(), model->rowCount() <= 8 ? ((CELL_HEIGHT + 1) * model->rowCount() + 2) : sz.height()}; } void BinaryView::highlight(const Signal *sig) { @@ -108,9 +110,9 @@ void BinaryView::leaveEvent(QEvent *event) { void BinaryView::setMessage(const QString &message_id) { msg_id = message_id; model->setMessage(message_id); - resizeRowsToContents(); clearSelection(); updateState(); + updateGeometry(); } void BinaryView::updateState() { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 0f58e9ed2..060a2eef7 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -61,6 +61,7 @@ public: void highlight(const Signal *sig); const Signal *hoveredSignal() const { return hovered_sig; } QSet getOverlappingSignals() const; + QSize sizeHint() const override; signals: void signalHovered(const Signal *sig); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 8839cdd50..69b420483 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -13,10 +13,18 @@ // DetailWidget DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout = new QHBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); - main_layout->setSpacing(0); + right_column = new QVBoxLayout(); + main_layout->addLayout(right_column); + + binary_view_container = new QWidget(this); + binary_view_container->setMinimumWidth(500); + binary_view_container->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred); + QVBoxLayout *bin_layout = new QVBoxLayout(binary_view_container); + bin_layout->setContentsMargins(0, 0, 0, 0); + bin_layout->setSpacing(0); // tabbar tabbar = new QTabBar(this); tabbar->setTabsClosable(true); @@ -24,14 +32,19 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { tabbar->setUsesScrollButtons(true); tabbar->setAutoHide(true); tabbar->setContextMenuPolicy(Qt::CustomContextMenu); - main_layout->addWidget(tabbar); + bin_layout->addWidget(tabbar); - // message title - QFrame *title_frame = new QFrame(); - main_layout->addWidget(title_frame); - QVBoxLayout *frame_layout = new QVBoxLayout(title_frame); + TitleFrame *title_frame = new TitleFrame(this); title_frame->setFrameShape(QFrame::StyledPanel); + title_frame->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); + QVBoxLayout *frame_layout = new QVBoxLayout(title_frame); + + // message title QHBoxLayout *title_layout = new QHBoxLayout(); + split_btn = new QPushButton("⬅", this); + split_btn->setFixedSize(20, 20); + split_btn->setToolTip(tr("Split to two columns")); + title_layout->addWidget(split_btn); title_layout->addWidget(new QLabel("time:")); time_label = new QLabel(this); time_label->setStyleSheet("font-weight:bold"); @@ -56,10 +69,12 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); warning_widget->hide(); frame_layout->addWidget(warning_widget); + bin_layout->addWidget(title_frame); // binary view binary_view = new BinaryView(this); - main_layout->addWidget(binary_view, 0, Qt::AlignTop); + bin_layout->addWidget(binary_view); + right_column->addWidget(binary_view_container); // signals signals_container = new QWidget(this); @@ -70,12 +85,14 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { scroll->setWidget(signals_container); scroll->setWidgetResizable(true); scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - main_layout->addWidget(scroll); + right_column->addWidget(scroll); // history log history_log = new HistoryLog(this); - main_layout->addWidget(history_log); + right_column->addWidget(history_log); + QObject::connect(split_btn, &QPushButton::clicked, this, &DetailWidget::moveBinaryView); + QObject::connect(title_frame, &TitleFrame::doubleClicked, this, &DetailWidget::moveBinaryView); QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg); QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); @@ -112,7 +129,6 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) { void DetailWidget::setMessage(const QString &message_id) { if (message_id.isEmpty()) return; - qWarning() << "setmessage" << message_id; int index = -1; for (int i = 0; i < tabbar->count(); ++i) { if (tabbar->tabText(i) == message_id) { @@ -182,6 +198,20 @@ void DetailWidget::updateState() { history_log->updateState(); } +void DetailWidget::moveBinaryView() { + if (binview_in_left_col) { + right_column->insertWidget(0, binary_view_container); + emit binaryViewMoved(true); + } else { + main_layout->insertWidget(0, binary_view_container); + emit binaryViewMoved(false); + } + split_btn->setText(binview_in_left_col ? "⬅" : "➡"); + split_btn->setToolTip(binview_in_left_col ? tr("Split to two columns") : tr("Move back")); + binary_view->updateGeometry(); + binview_in_left_col = !binview_in_left_col; +} + void DetailWidget::showForm() { SignalEdit *sender = qobject_cast(QObject::sender()); for (auto f : signals_container->findChildren()) { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 4ec74eca7..3f042bf2b 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -2,11 +2,21 @@ #include #include +#include #include "tools/cabana/binaryview.h" #include "tools/cabana/historylog.h" #include "tools/cabana/signaledit.h" +class TitleFrame : public QFrame { + Q_OBJECT +public: + TitleFrame(QWidget *parent) : QFrame(parent) {} + void mouseDoubleClickEvent(QMouseEvent *e) { emit doubleClicked(); } +signals: + void doubleClicked(); +}; + class EditMessageDialog : public QDialog { Q_OBJECT @@ -37,6 +47,7 @@ public: signals: void showChart(const QString &msg_id, const Signal *sig); void removeChart(const Signal *sig); + void binaryViewMoved(bool in); private: void showTabBarContextMenu(const QPoint &pt); @@ -47,6 +58,7 @@ private: void editMsg(); void showForm(); void updateState(); + void moveBinaryView(); QString msg_id; QLabel *name_label, *time_label, *warning_label; @@ -54,6 +66,11 @@ private: QPushButton *edit_btn; QWidget *signals_container; QTabBar *tabbar; + QHBoxLayout *main_layout; + QVBoxLayout *right_column; + bool binview_in_left_col = false; + QWidget *binary_view_container; + QPushButton *split_btn; HistoryLog *history_log; BinaryView *binary_view; ScrollArea *scroll; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index f127e5f52..71ec87355 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -3,14 +3,13 @@ #include #include #include -#include #include #include "tools/replay/util.h" static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { - if (main_win) main_win->showStatusMessage(msg); + if (main_win) emit main_win->showMessage(msg, 0); } MainWindow::MainWindow() : QWidget() { @@ -22,15 +21,14 @@ MainWindow::MainWindow() : QWidget() { h_layout->setContentsMargins(0, 0, 0, 0); main_layout->addLayout(h_layout); - QSplitter *splitter = new QSplitter(Qt::Horizontal, this); - splitter->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); + splitter = new QSplitter(Qt::Horizontal, this); + splitter->setHandleWidth(11); messages_widget = new MessagesWidget(this); splitter->addWidget(messages_widget); detail_widget = new DetailWidget(this); splitter->addWidget(detail_widget); - splitter->setSizes({100, 500}); h_layout->addWidget(splitter); // right widgets @@ -74,16 +72,17 @@ MainWindow::MainWindow() : QWidget() { qRegisterMetaType("ReplyMsgType"); installMessageHandler([this](ReplyMsgType type, const std::string msg) { // use queued connection to recv the log messages from replay. - emit logMessageFromReplay(QString::fromStdString(msg), 3000); + emit showMessage(QString::fromStdString(msg), 3000); }); installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) { emit updateProgressBar(cur, total, success); }); - QObject::connect(this, &MainWindow::logMessageFromReplay, status_bar, &QStatusBar::showMessage); + QObject::connect(this, &MainWindow::showMessage, status_bar, &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); + QObject::connect(detail_widget, &DetailWidget::binaryViewMoved, [this](bool in) { splitter->setSizes({in ? 100 : 0, 500}); }); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); @@ -103,7 +102,6 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe } } - void MainWindow::dockCharts(bool dock) { if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 63f704dcc..b77744ba9 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include "tools/cabana/chartswidget.h" @@ -17,7 +18,7 @@ public: void showStatusMessage(const QString &msg, int timeout = 0) { status_bar->showMessage(msg, timeout); } signals: - void logMessageFromReplay(const QString &msg, int timeout); + void showMessage(const QString &msg, int timeout); void updateProgressBar(uint64_t cur, uint64_t total, bool success); protected: @@ -29,6 +30,7 @@ protected: MessagesWidget *messages_widget; DetailWidget *detail_widget; ChartsWidget *charts_widget; + QSplitter *splitter; QWidget *floating_window = nullptr; QVBoxLayout *r_layout; QProgressBar *progress_bar; From 9377448888c181674fdc1b1aa8c3bc485156d3d2 Mon Sep 17 00:00:00 2001 From: Rohit Bernard <43088347+RohitBernard@users.noreply.github.com> Date: Sat, 29 Oct 2022 13:20:37 -0700 Subject: [PATCH 61/68] sim: Converting RGB frames to NV12 format in OpenCL (#26169) * convert carla rgb frames to nv12 * code cleanup * move kernel Co-authored-by: Adeeb Shihadeh --- tools/sim/bridge.py | 5 +- .../rgb_to_yuv.cl => tools/sim/rgb_to_nv12.cl | 46 ++++++++----------- 2 files changed, 21 insertions(+), 30 deletions(-) rename system/camerad/transforms/rgb_to_yuv.cl => tools/sim/rgb_to_nv12.cl (75%) diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index a105ed751..f72927ba9 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -82,11 +82,10 @@ class Camerad: self.queue = cl.CommandQueue(self.ctx) cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG " - # TODO: move rgb_to_yuv.cl to local dir once the frame stream camera is removed - kernel_fn = os.path.join(BASEDIR, "system", "camerad", "transforms", "rgb_to_yuv.cl") + kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl") with open(kernel_fn) as f: prg = cl.Program(self.ctx, f.read()).build(cl_arg) - self.krnl = prg.rgb_to_yuv + self.krnl = prg.rgb_to_nv12 self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4 self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4 diff --git a/system/camerad/transforms/rgb_to_yuv.cl b/tools/sim/rgb_to_nv12.cl similarity index 75% rename from system/camerad/transforms/rgb_to_yuv.cl rename to tools/sim/rgb_to_nv12.cl index 60dbdb4d5..54816d5d7 100644 --- a/system/camerad/transforms/rgb_to_yuv.cl +++ b/tools/sim/rgb_to_nv12.cl @@ -29,23 +29,21 @@ inline void convert_4_ys(__global uchar * out_yuv, int yi, const uchar8 rgbs1, c vstore4(yy, 0, out_yuv + yi); } -inline void convert_uv(__global uchar * out_yuv, int ui, int vi, +inline void convert_uv(__global uchar * out_yuv, int uvi, const uchar8 rgbs1, const uchar8 rgbs2) { // U & V: average of 2x2 pixels square const short ab = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3); const short ag = AVERAGE(rgbs1.s1, rgbs1.s4, rgbs2.s1, rgbs2.s4); const short ar = AVERAGE(rgbs1.s2, rgbs1.s5, rgbs2.s2, rgbs2.s5); #ifdef CL_DEBUG - if(ui >= RGB_SIZE + RGB_SIZE / 4) - printf("U overflow, %d >= %d\n", ui, RGB_SIZE + RGB_SIZE / 4); - if(vi >= RGB_SIZE + RGB_SIZE / 2) - printf("V overflow, %d >= %d\n", vi, RGB_SIZE + RGB_SIZE / 2); + if(uvi >= RGB_SIZE + RGB_SIZE / 2) + printf("UV overflow, %d >= %d\n", uvi, RGB_SIZE + RGB_SIZE / 2); #endif - out_yuv[ui] = RGB_TO_U(ar, ag, ab); - out_yuv[vi] = RGB_TO_V(ar, ag, ab); + out_yuv[uvi] = RGB_TO_U(ar, ag, ab); + out_yuv[uvi+1] = RGB_TO_V(ar, ag, ab); } -inline void convert_2_uvs(__global uchar * out_yuv, int ui, int vi, +inline void convert_2_uvs(__global uchar * out_yuv, int uvi, const uchar8 rgbs1, const uchar8 rgbs2, const uchar8 rgbs3, const uchar8 rgbs4) { // U & V: average of 2x2 pixels square const short ab1 = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3); @@ -54,25 +52,20 @@ inline void convert_2_uvs(__global uchar * out_yuv, int ui, int vi, const short ab2 = AVERAGE(rgbs1.s6, rgbs3.s1, rgbs2.s6, rgbs4.s1); const short ag2 = AVERAGE(rgbs1.s7, rgbs3.s2, rgbs2.s7, rgbs4.s2); const short ar2 = AVERAGE(rgbs3.s0, rgbs3.s3, rgbs4.s0, rgbs4.s3); - uchar2 u2 = (uchar2)( + uchar4 uv = (uchar4)( RGB_TO_U(ar1, ag1, ab1), - RGB_TO_U(ar2, ag2, ab2) - ); - uchar2 v2 = (uchar2)( RGB_TO_V(ar1, ag1, ab1), + RGB_TO_U(ar2, ag2, ab2), RGB_TO_V(ar2, ag2, ab2) ); #ifdef CL_DEBUG1 - if(ui > RGB_SIZE + RGB_SIZE / 4 - 2) - printf("U 2 overflow, %d >= %d\n", ui, RGB_SIZE + RGB_SIZE / 4 - 2); - if(vi > RGB_SIZE + RGB_SIZE / 2 - 2) - printf("V 2 overflow, %d >= %d\n", vi, RGB_SIZE + RGB_SIZE / 2 - 2); + if(uvi > RGB_SIZE + RGB_SIZE / 2 - 4) + printf("UV2 overflow, %d >= %d\n", uvi, RGB_SIZE + RGB_SIZE / 2 - 2); #endif - vstore2(u2, 0, out_yuv + ui); - vstore2(v2, 0, out_yuv + vi); + vstore4(uv, 0, out_yuv + uvi); } -__kernel void rgb_to_yuv(__global uchar const * const rgb, +__kernel void rgb_to_nv12(__global uchar const * const rgb, __global uchar * out_yuv) { const int dx = get_global_id(0); @@ -81,8 +74,7 @@ __kernel void rgb_to_yuv(__global uchar const * const rgb, const int row = mul24(dy, 4); // Current row in rgb image const int bgri_start = mad24(row, RGB_STRIDE, mul24(col, 3)); // Start offset of rgb data being converted const int yi_start = mad24(row, WIDTH, col); // Start offset in the target yuv buffer - int ui = mad24(row / 2, UV_WIDTH, RGB_SIZE + col / 2); - int vi = mad24(row / 2 , UV_WIDTH, RGB_SIZE + UV_WIDTH * UV_HEIGHT + col / 2); + int uvi = mad24(row / 2, WIDTH, RGB_SIZE + col); int num_col = min(WIDTH - col, 4); int num_row = min(HEIGHT - row, 4); if(num_row == 4) { @@ -99,15 +91,15 @@ __kernel void rgb_to_yuv(__global uchar const * const rgb, convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1); convert_4_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0, rgbs2_1); convert_4_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0, rgbs3_1); - convert_2_uvs(out_yuv, ui, vi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); - convert_2_uvs(out_yuv, ui + UV_WIDTH, vi + UV_WIDTH, rgbs2_0, rgbs3_0, rgbs2_1, rgbs3_1); + convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); + convert_2_uvs(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0, rgbs2_1, rgbs3_1); } else if(num_col == 2) { convert_2_ys(out_yuv, yi_start, rgbs0_0); convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0); convert_2_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0); convert_2_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0); - convert_uv(out_yuv, ui, vi, rgbs0_0, rgbs1_0); - convert_uv(out_yuv, ui + UV_WIDTH, vi + UV_WIDTH, rgbs2_0, rgbs3_0); + convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0); + convert_uv(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0); } } else { const uchar8 rgbs0_0 = vload8(0, rgb + bgri_start); @@ -117,11 +109,11 @@ __kernel void rgb_to_yuv(__global uchar const * const rgb, if(num_col == 4) { convert_4_ys(out_yuv, yi_start, rgbs0_0, rgbs0_1); convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1); - convert_2_uvs(out_yuv, ui, vi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); + convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); } else if(num_col == 2) { convert_2_ys(out_yuv, yi_start, rgbs0_0); convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0); - convert_uv(out_yuv, ui, vi, rgbs0_0, rgbs1_0); + convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0); } } } From 5de54c35a9017454982c1deda973a8519968d854 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 29 Oct 2022 13:28:14 -0700 Subject: [PATCH 62/68] cabana: fix settings titles --- tools/cabana/settings.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 93bc05f20..17299ebca 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -55,19 +55,19 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { cached_segment->setRange(3, 60); cached_segment->setSingleStep(1); cached_segment->setValue(settings.cached_segment_limit); - form_layout->addRow(tr("Cached segments limit(minute)"), cached_segment); + form_layout->addRow(tr("Cached segments limit"), cached_segment); max_chart_x_range = new QSpinBox(this); max_chart_x_range->setRange(1, 60); max_chart_x_range->setSingleStep(1); max_chart_x_range->setValue(settings.max_chart_x_range / 60); - form_layout->addRow(tr("Chart's max X-axis range(minute)"), max_chart_x_range); + form_layout->addRow(tr("Chart range (minutes)"), max_chart_x_range); chart_height = new QSpinBox(this); chart_height->setRange(100, 500); chart_height->setSingleStep(10); chart_height->setValue(settings.chart_height); - form_layout->addRow(tr("Chart's height"), chart_height); + form_layout->addRow(tr("Chart height"), chart_height); chart_theme = new QComboBox(); chart_theme->addItems({"Light", "Dark"}); From 80b088c332808439ea9cfe23557fae5a86fb075c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 30 Oct 2022 22:31:12 +0800 Subject: [PATCH 63/68] Cabana: add save DBC dialog (#26282) * export DBC to text edit * added saveAs & Copy To Clipboard * cleanup * cleanup include * add test case * rename variable * fix precision --- .github/workflows/selfdrive_tests.yaml | 1 + tools/cabana/.gitignore | 2 +- tools/cabana/SConscript | 6 ++- tools/cabana/dbcmanager.cc | 21 +++++++- tools/cabana/dbcmanager.h | 4 +- tools/cabana/messageswidget.cc | 67 ++++++++++++++++++++++---- tools/cabana/messageswidget.h | 11 +++++ tools/cabana/tests/test_cabana | 4 ++ tools/cabana/tests/test_cabana.cc | 35 ++++++++++++++ tools/cabana/tests/test_runner.cc | 10 ++++ 10 files changed, 146 insertions(+), 15 deletions(-) create mode 100755 tools/cabana/tests/test_cabana create mode 100644 tools/cabana/tests/test_cabana.cc create mode 100644 tools/cabana/tests/test_runner.cc diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index e921cd3d0..598f2c592 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -232,6 +232,7 @@ jobs: ./selfdrive/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ ./tools/replay/tests/test_replay && \ + ./tools/cabana/tests/test_cabana && \ ./system/camerad/test/ae_gray_test && \ coverage xml" - name: "Upload coverage to Codecov" diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore index d7a552eab..73879ab05 100644 --- a/tools/cabana/.gitignore +++ b/tools/cabana/.gitignore @@ -4,4 +4,4 @@ moc_* _cabana settings car_fingerprint_to_dbc.json - +tests/_test_cabana diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 4e4e11dbd..b7321e1f8 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -18,5 +18,9 @@ cabana_env = qt_env.Clone() prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' cabana_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json') -cabana_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', 'canmessages.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_env.Program('_cabana', ['cabana.cc', cabana_lib], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + +if GetOption('test'): + cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index c3fbab034..479b14afe 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -28,8 +28,25 @@ void DBCManager::open(const QString &name, const QString &content) { emit DBCFileChanged(); } -void save(const QString &dbc_file_name) { - // TODO: save DBC to file +QString DBCManager::generateDBC() { + if (!dbc) return {}; + + QString dbc_string; + for (auto &m : dbc->msgs) { + dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(m.address).arg(m.name.c_str()).arg(m.size); + for (auto &sig : m.sigs) { + dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [0|0] \"\" XXX\n") + .arg(sig.name.c_str()) + .arg(sig.start_bit) + .arg(sig.size) + .arg(sig.is_little_endian ? '1' : '0') + .arg(sig.is_signed ? '-' : '+') + .arg(sig.factor, 0, 'g', 20) + .arg(sig.offset); + } + dbc_string += "\n"; + } + return dbc_string; } void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) { diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 9e64c4ed5..913445d44 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -13,8 +13,7 @@ public: void open(const QString &dbc_file_name); void open(const QString &name, const QString &content); - void save(const QString &dbc_file_name); - + QString generateDBC(); void addSignal(const QString &id, const Signal &sig); void updateSignal(const QString &id, const QString &sig_name, const Signal &sig); void removeSignal(const QString &id, const QString &sig_name); @@ -24,6 +23,7 @@ public: inline QString name() const { return dbc_name; } void updateMsg(const QString &id, const QString &name, uint32_t size); + inline const DBC *getDBC() const { return dbc; } inline const Msg *msg(const QString &id) const { return msg(addressFromId(id)); } inline const Msg *msg(uint32_t address) const { auto it = msg_map.find(address); diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 4975061cc..4d97bba58 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -3,6 +3,8 @@ #include #include #include +#include +#include #include #include #include @@ -69,9 +71,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &CANMessages::updated, [this]() { model->updateState(); }); QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadDBCFromPaste); - QObject::connect(save_btn, &QPushButton::clicked, [=]() { - // TODO: save DBC to file - }); + QObject::connect(save_btn, &QPushButton::clicked, this, &MessagesWidget::saveDBC); QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { if (current.isValid()) { emit msgSelectionChanged(current.data(Qt::UserRole).toString()); @@ -79,7 +79,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { }); QFile json_file("./car_fingerprint_to_dbc.json"); - if(json_file.open(QIODevice::ReadOnly)) { + if (json_file.open(QIODevice::ReadOnly)) { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); } } @@ -103,14 +103,20 @@ void MessagesWidget::loadDBCFromPaste() { void MessagesWidget::loadDBCFromFingerprint() { auto fingerprint = can->carFingerprint(); - if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) { + if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) { auto dbc_name = fingerprint_to_dbc[fingerprint]; - if (dbc_name != QJsonValue::Undefined) { + if (dbc_name != QJsonValue::Undefined) { loadDBCFromName(dbc_name.toString()); } } } +void MessagesWidget::saveDBC() { + SaveDBCDialog dlg(this); + dlg.dbc_edit->setText(dbc()->generateDBC()); + dlg.exec(); +} + // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { @@ -224,6 +230,8 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { } } +// LoadDBCDialog + LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); dbc_edit = new QTextEdit(this); @@ -233,7 +241,48 @@ LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) { auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); main_layout->addWidget(buttonBox); - setFixedWidth(640); - connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); + setMinimumSize({640, 480}); + QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); + QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} + +// SaveDBCDialog + +SaveDBCDialog::SaveDBCDialog(QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Save DBC")); + QVBoxLayout *main_layout = new QVBoxLayout(this); + dbc_edit = new QTextEdit(this); + dbc_edit->setAcceptRichText(false); + main_layout->addWidget(dbc_edit); + + QPushButton *copy_to_clipboard = new QPushButton(tr("Copy To Clipboard"), this); + QPushButton *save_as = new QPushButton(tr("Save As"), this); + + QHBoxLayout *btn_layout = new QHBoxLayout(); + btn_layout->addStretch(); + btn_layout->addWidget(copy_to_clipboard); + btn_layout->addWidget(save_as); + main_layout->addLayout(btn_layout); + setMinimumSize({640, 480}); + + QObject::connect(copy_to_clipboard, &QPushButton::clicked, this, &SaveDBCDialog::copytoClipboard); + QObject::connect(save_as, &QPushButton::clicked, this, &SaveDBCDialog::saveAs); +} + +void SaveDBCDialog::copytoClipboard() { + dbc_edit->selectAll(); + dbc_edit->copy(); + QDialog::accept(); +} + +void SaveDBCDialog::saveAs() { + QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"), + QDir::homePath() + "/untitled.dbc", tr("DBC (*.dbc)")); + if (!file_name.isEmpty()) { + QFile file(file_name); + if (file.open(QIODevice::WriteOnly)) { + file.write(dbc_edit->toPlainText().toUtf8()); + } + QDialog::accept(); + } } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index fcd4939da..a3d4d860b 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -17,6 +17,16 @@ public: QTextEdit *dbc_edit; }; +class SaveDBCDialog : public QDialog { + Q_OBJECT + +public: + SaveDBCDialog(QWidget *parent); + void copytoClipboard(); + void saveAs(); + QTextEdit *dbc_edit; +}; + class MessageListModel : public QAbstractTableModel { Q_OBJECT @@ -52,6 +62,7 @@ public slots: void loadDBCFromName(const QString &name); void loadDBCFromFingerprint(); void loadDBCFromPaste(); + void saveDBC(); signals: void msgSelectionChanged(const QString &message_id); diff --git a/tools/cabana/tests/test_cabana b/tools/cabana/tests/test_cabana new file mode 100755 index 000000000..bac242fbd --- /dev/null +++ b/tools/cabana/tests/test_cabana @@ -0,0 +1,4 @@ +#!/bin/sh +cd "$(dirname "$0")" +export LD_LIBRARY_PATH="../../../opendbc/can:$LD_LIBRARY_PATH" +exec ./_test_cabana "$1" diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc new file mode 100644 index 000000000..d0aa2cbb4 --- /dev/null +++ b/tools/cabana/tests/test_cabana.cc @@ -0,0 +1,35 @@ + +#include "catch2/catch.hpp" +#include "tools/cabana/dbcmanager.h" + +TEST_CASE("DBCManager::generateDBC") { + DBCManager dbc_origin(nullptr); + dbc_origin.open("toyota_new_mc_pt_generated"); + QString dbc_string = dbc_origin.generateDBC(); + + DBCManager dbc_from_generated(nullptr); + dbc_from_generated.open("", dbc_string); + + auto dbc = dbc_origin.getDBC(); + auto new_dbc = dbc_from_generated.getDBC(); + REQUIRE(dbc->msgs.size() == new_dbc->msgs.size()); + for (int i = 0; i < dbc->msgs.size(); ++i) { + REQUIRE(dbc->msgs[i].name == new_dbc->msgs[i].name); + REQUIRE(dbc->msgs[i].address == new_dbc->msgs[i].address); + REQUIRE(dbc->msgs[i].size == new_dbc->msgs[i].size); + REQUIRE(dbc->msgs[i].sigs.size() == new_dbc->msgs[i].sigs.size()); + auto &sig = dbc->msgs[i].sigs; + auto &new_sig = new_dbc->msgs[i].sigs; + for (int j = 0; j < sig.size(); ++j) { + REQUIRE(sig[j].name == new_sig[j].name); + REQUIRE(sig[j].start_bit == new_sig[j].start_bit); + REQUIRE(sig[j].msb == new_sig[j].msb); + REQUIRE(sig[j].lsb == new_sig[j].lsb); + REQUIRE(sig[j].size == new_sig[j].size); + REQUIRE(sig[j].is_signed == new_sig[j].is_signed); + REQUIRE(sig[j].factor == new_sig[j].factor); + REQUIRE(sig[j].offset == new_sig[j].offset); + REQUIRE(sig[j].is_little_endian == new_sig[j].is_little_endian); + } + } +} diff --git a/tools/cabana/tests/test_runner.cc b/tools/cabana/tests/test_runner.cc new file mode 100644 index 000000000..b20ac86c6 --- /dev/null +++ b/tools/cabana/tests/test_runner.cc @@ -0,0 +1,10 @@ +#define CATCH_CONFIG_RUNNER +#include "catch2/catch.hpp" +#include + +int main(int argc, char **argv) { + // unit tests for Qt + QCoreApplication app(argc, argv); + const int res = Catch::Session().run(argc, argv); + return (res < 0xff ? res : 0xff); +} From 9c7e3759441f0dff1200f7946e77f06c6a101c26 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 30 Oct 2022 22:31:43 +0800 Subject: [PATCH 64/68] Cabana: sync button state with chart (#26285) sync button state with charts --- tools/cabana/chartswidget.cc | 14 ++++++++++++-- tools/cabana/chartswidget.h | 5 ++++- tools/cabana/detailwidget.cc | 14 ++++++++++++-- tools/cabana/detailwidget.h | 7 ++++--- tools/cabana/mainwin.cc | 5 ++--- tools/cabana/signaledit.cc | 18 ++++++++++++------ tools/cabana/signaledit.h | 7 +++++-- 7 files changed, 51 insertions(+), 19 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index a3cbaf5b3..21fd71b8e 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -142,9 +142,11 @@ void ChartsWidget::updateTitleBar() { dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); } -void ChartsWidget::addChart(const QString &id, const Signal *sig) { +void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show) { auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); - if (it == charts.end()) { + if (it != charts.end()) { + if (!show) removeChart((*it)); + } else if (show) { auto chart = new ChartWidget(id, sig, this); chart->chart_view->updateSeries(display_range); QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(chart); }); @@ -152,14 +154,21 @@ void ChartsWidget::addChart(const QString &id, const Signal *sig) { QObject::connect(chart->chart_view, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); charts_layout->insertWidget(0, chart); charts.push_back(chart); + emit chartOpened(chart->id, chart->signal); } updateTitleBar(); } +bool ChartsWidget::isChartOpened(const QString &id, const Signal *sig) { + auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); + return it != charts.end(); +} + void ChartsWidget::removeChart(ChartWidget *chart) { charts.removeOne(chart); chart->deleteLater(); updateTitleBar(); + emit chartClosed(chart->id, chart->signal); } void ChartsWidget::removeAll(const Signal *sig) { @@ -168,6 +177,7 @@ void ChartsWidget::removeAll(const Signal *sig) { auto c = it.next(); if (sig == nullptr || c->signal == sig) { c->deleteLater(); + emit chartClosed(c->id, c->signal); it.remove(); } } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 60081dd88..602d50ca0 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -73,12 +73,15 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); - void addChart(const QString &id, const Signal *sig); + void showChart(const QString &id, const Signal *sig, bool show); void removeChart(ChartWidget *chart); + bool isChartOpened(const QString &id, const Signal *sig); signals: void dock(bool floating); void rangeChanged(double min, double max, bool is_zommed); + void chartOpened(const QString &id, const Signal *sig); + void chartClosed(const QString &id, const Signal *sig); private: void eventsMerged(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 69b420483..59e5b5f29 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -12,7 +12,7 @@ // DetailWidget -DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { +DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { main_layout = new QHBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); @@ -110,6 +110,8 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { } tabbar->removeTab(index); }); + QObject::connect(charts, &ChartsWidget::chartOpened, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, true); }); + QObject::connect(charts, &ChartsWidget::chartClosed, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, false); }); } void DetailWidget::showTabBarContextMenu(const QPoint &pt) { @@ -157,13 +159,14 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { if (auto msg = dbc()->msg(msg_id)) { for (int i = 0; i < msg->sigs.size(); ++i) { auto form = new SignalEdit(i, msg_id, &(msg->sigs[i])); + form->setChartOpened(charts->isChartOpened(msg_id, &(msg->sigs[i]))); signals_container->layout()->addWidget(form); - QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]]() { emit showChart(msg_id, sig); }); QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); + QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]](bool show) { charts->showChart(msg_id, sig, show); }); if (i == show_form_idx) { QTimer::singleShot(0, [=]() { emit form->showFormClicked(); }); } @@ -222,6 +225,13 @@ void DetailWidget::showForm() { } } +void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) { + if (id == msg_id) { + for (auto f : signals_container->findChildren()) + if (f->sig == sig) f->setChartOpened(opened); + } +} + void DetailWidget::editMsg() { auto msg = dbc()->msg(msg_id); QString name = msg ? msg->name.c_str() : "untitled"; diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 3f042bf2b..656aacb10 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -5,6 +5,7 @@ #include #include "tools/cabana/binaryview.h" +#include "tools/cabana/chartswidget.h" #include "tools/cabana/historylog.h" #include "tools/cabana/signaledit.h" @@ -40,16 +41,15 @@ class DetailWidget : public QWidget { Q_OBJECT public: - DetailWidget(QWidget *parent); + DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const QString &message_id); void dbcMsgChanged(int show_form_idx = -1); signals: - void showChart(const QString &msg_id, const Signal *sig); - void removeChart(const Signal *sig); void binaryViewMoved(bool in); private: + void updateChartState(const QString &id, const Signal *sig, bool opened); void showTabBarContextMenu(const QPoint &pt); void addSignal(int start_bit, int to); void resizeSignal(const Signal *sig, int from, int to); @@ -74,4 +74,5 @@ private: HistoryLog *history_log; BinaryView *binary_view; ScrollArea *scroll; + ChartsWidget *charts; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 71ec87355..c2baca4d2 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -26,7 +26,8 @@ MainWindow::MainWindow() : QWidget() { messages_widget = new MessagesWidget(this); splitter->addWidget(messages_widget); - detail_widget = new DetailWidget(this); + charts_widget = new ChartsWidget(this); + detail_widget = new DetailWidget(charts_widget, this); splitter->addWidget(detail_widget); h_layout->addWidget(splitter); @@ -50,7 +51,6 @@ MainWindow::MainWindow() : QWidget() { video_widget = new VideoWidget(this); r_layout->addWidget(video_widget, 0, Qt::AlignTop); - charts_widget = new ChartsWidget(this); r_layout->addWidget(charts_widget); h_layout->addWidget(right_container); @@ -81,7 +81,6 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(this, &MainWindow::showMessage, status_bar, &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); - QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(detail_widget, &DetailWidget::binaryViewMoved, [this](bool in) { splitter->setSizes({in ? 100 : 0, 500}); }); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 1bb5e9e53..ef0a85eba 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -82,15 +82,14 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWid title_layout->addWidget(title, 1); QPushButton *seek_btn = new QPushButton("⌕"); - seek_btn->setStyleSheet("font-weight:bold;font-size:20px"); + seek_btn->setStyleSheet("QPushButton{font-weight:bold;font-size:18px}"); seek_btn->setToolTip(tr("Find signal values")); - seek_btn->setFixedSize(20, 20); + seek_btn->setFixedSize(25, 25); title_layout->addWidget(seek_btn); - QPushButton *plot_btn = new QPushButton("📈"); - plot_btn->setToolTip(tr("Show Plot")); - plot_btn->setFixedSize(20, 20); - QObject::connect(plot_btn, &QPushButton::clicked, this, &SignalEdit::showChart); + plot_btn = new QPushButton(this); + plot_btn->setStyleSheet("QPushButton {font-size:18px}"); + plot_btn->setFixedSize(25, 25); title_layout->addWidget(plot_btn); main_layout->addLayout(title_layout); @@ -120,6 +119,7 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWid QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); }); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal); + QObject::connect(plot_btn, &QPushButton::clicked, [this]() { emit showChart(!chart_opened); }); QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id]() { SignalFindDlg dlg(msg_id, this->sig, this); dlg.exec(); @@ -145,6 +145,12 @@ void SignalEdit::saveSignal() { emit save(this->sig, s); } +void SignalEdit::setChartOpened(bool opened) { + plot_btn->setText(opened ? "☒" : "📈"); + plot_btn->setToolTip(opened ? tr("Close Plot") :tr("Show Plot")); + chart_opened = opened; +} + void SignalEdit::setFormVisible(bool visible) { form_container->setVisible(visible); icon->setText(visible ? "▼" : ">"); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 71719852f..e3d38d5b2 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -26,13 +26,15 @@ class SignalEdit : public QWidget { public: SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent = nullptr); + void setChartOpened(bool opened); void setFormVisible(bool show); void signalHovered(const Signal *sig); inline bool isFormVisible() const { return form_container->isVisible(); } + const Signal *sig = nullptr; signals: void highlight(const Signal *sig); - void showChart(); + void showChart(bool show); void showFormClicked(); void remove(const Signal *sig); void save(const Signal *sig, const Signal &new_sig); @@ -48,7 +50,8 @@ protected: QLabel *icon; int form_idx = 0; QString msg_id; - const Signal *sig = nullptr; + bool chart_opened = false; + QPushButton *plot_btn; }; class SignalFindDlg : public QDialog { From 6fed76695cbab39ffbaca2cd5e656e4c5a5badca Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 30 Oct 2022 23:53:02 +0800 Subject: [PATCH 65/68] Cabana: fix possible crash when removing tabs (#26283) fix dead loop --- tools/cabana/detailwidget.cc | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 59e5b5f29..57a391030 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -104,12 +104,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart setMessage(tabbar->tabText(index)); } }); - QObject::connect(tabbar, &QTabBar::tabCloseRequested, [=](int index) { - if (tabbar->currentIndex() == index) { - tabbar->setCurrentIndex(index == tabbar->count() - 1 ? index - 1 : index + 1); - } - tabbar->removeTab(index); - }); + QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab); QObject::connect(charts, &ChartsWidget::chartOpened, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, true); }); QObject::connect(charts, &ChartsWidget::chartClosed, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, false); }); } @@ -120,9 +115,14 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) { QMenu menu(this); menu.addAction(tr("Close Other Tabs")); if (menu.exec(tabbar->mapToGlobal(pt))) { - for (int i = tabbar->count() - 1; i >= 0; --i) { - if (i != index) - tabbar->removeTab(i); + tabbar->setCurrentIndex(index); + // remove all tabs before the one to keep + for (int i = 0; i < index; ++i) { + tabbar->removeTab(0); + } + // remove all tabs after the one to keep + while (tabbar->count() > 1) { + tabbar->removeTab(1); } } } From eecd6982059211491cb019dca5453dcde9cc1038 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sun, 30 Oct 2022 17:39:40 -0700 Subject: [PATCH 66/68] remove black connecting background --- selfdrive/ui/qt/offroad/networking.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 13697adfb..5b87d4797 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -256,7 +256,6 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) padding: 27px; padding-left: 43px; padding-right: 43px; - background-color: black; } #ssidLabel { font-size: 55px; From 0c03fb1be4f47facef1bcda9ad3cb97b98636286 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sun, 30 Oct 2022 17:43:15 -0700 Subject: [PATCH 67/68] Revert "remove black connecting background" This reverts commit eecd6982059211491cb019dca5453dcde9cc1038. --- selfdrive/ui/qt/offroad/networking.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 5b87d4797..13697adfb 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -256,6 +256,7 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) padding: 27px; padding-left: 43px; padding-right: 43px; + background-color: black; } #ssidLabel { font-size: 55px; From c3388d216c33111ae8bd16452016cf8908679c28 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Sun, 30 Oct 2022 23:55:48 -0700 Subject: [PATCH 68/68] Model trained with headlight augmentation (#26284) * d8501d20-bb59-4193-aa82-82b2737dedd6/449 ddfe2a22-fb0e-4ff0-a97f-0157b95eb44d/700 * update ref --- selfdrive/modeld/models/supercombo.onnx | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 49a1c3a3b..243223eab 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a41d42f92913e6cc3909e505b1220b16d31f7cfca5f8a4e82109577b4151b645 +oid sha256:dcfad22cecf37275d01a339d96174800c109e9a70f853fdef3e4ef62ed3f4bbe size 45922983 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 5843a1e17..d13ced3a5 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -d2f1711fd58d4f2c25b81bd332270da60ff9636d +49ea844254883ac61caa2ac425f453799aeb28a6