diff --git a/cereal/log.capnp b/cereal/log.capnp index 8fd22c9283..7325181743 100644 --- a/cereal/log.capnp +++ b/cereal/log.capnp @@ -493,7 +493,6 @@ struct DeviceState @0xa4d8b5af2aa492eb { gpuTempC @27 :List(Float32); dspTempC @49 :Float32; memoryTempC @28 :Float32; - nvmeTempC @35 :List(Float32); modemTempC @36 :List(Float32); pmicTempC @39 :List(Float32); intakeTempC @46 :Float32; @@ -569,6 +568,7 @@ struct DeviceState @0xa4d8b5af2aa492eb { chargingDisabledDEPRECATED @18 :Bool; usbOnlineDEPRECATED @12 :Bool; ambientTempCDEPRECATED @30 :Float32; + nvmeTempCDEPRECATED @35 :List(Float32); } struct PandaState @0xa7649e2575e4591e { diff --git a/common/params.h b/common/params.h index d726a6185f..e132f6875b 100644 --- a/common/params.h +++ b/common/params.h @@ -16,6 +16,7 @@ enum ParamKeyType { CLEAR_ON_OFFROAD_TRANSITION = 0x10, DONT_LOG = 0x20, DEVELOPMENT_ONLY = 0x40, + CLEAR_ON_IGNITION_ON = 0x80, ALL = 0xFFFFFFFF }; diff --git a/common/params_keys.h b/common/params_keys.h index f6dc835bf5..ac2631dc31 100644 --- a/common/params_keys.h +++ b/common/params_keys.h @@ -34,6 +34,7 @@ inline static std::unordered_map keys = { {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, + {"DriverTooDistracted", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, @@ -81,7 +82,6 @@ inline static std::unordered_map keys = { {"NetworkMetered", PERSISTENT}, {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START}, @@ -92,7 +92,7 @@ inline static std::unordered_map keys = { {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START}, {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START}, - {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START}, + {"Offroad_UnregisteredHardware", CLEAR_ON_MANAGER_START}, {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START}, {"OnroadCycleRequested", CLEAR_ON_MANAGER_START}, {"OpenpilotEnabledToggle", PERSISTENT}, diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 2d11ab649d..0c8e04d2ed 100644 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -11,6 +11,7 @@ cdef extern from "common/params.h": CLEAR_ON_ONROAD_TRANSITION CLEAR_ON_OFFROAD_TRANSITION DEVELOPMENT_ONLY + CLEAR_ON_IGNITION_ON ALL cdef cppclass c_Params "Params": diff --git a/docs/CARS.md b/docs/CARS.md index e8ccdf7bb1..266ffd3870 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -157,7 +157,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|Niro EV (with HDA II) 2025[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai R connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|Niro EV (without HDA II) 2023-25[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| -|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| +|Kia|Niro Hybrid 2018|Smart Cruise Control (SCC)|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Hyundai C connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| |Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 comma 3X
- 1 comma power v3
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
||| diff --git a/opendbc_repo b/opendbc_repo index 0783099ac8..aa08e499ba 160000 --- a/opendbc_repo +++ b/opendbc_repo @@ -1 +1 @@ -Subproject commit 0783099ac84b9e45a67bd5025137a696f968e4a2 +Subproject commit aa08e499ba98d1342bd81270fb83b0c02c6c39e6 diff --git a/pyproject.toml b/pyproject.toml index 25d0c455f0..1b2433e340 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -26,7 +26,7 @@ dependencies = [ "pycapnp", "Cython", "setuptools", - "numpy >=2.0, <2.2", # Linting issues with mypy in 2.2 + "numpy >=2.0", # body / webrtcd "aiohttp", @@ -42,7 +42,6 @@ dependencies = [ # modeld "onnx >= 1.14.0", - "llvmlite", # logging "pyzmq", @@ -121,7 +120,7 @@ dev = [ tools = [ "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')", - "rerun-sdk >= 0.18", + #"rerun-sdk >= 0.18", # this is pretty big, so only enable once we use it ] [project.urls] @@ -177,9 +176,6 @@ skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, . [tool.mypy] python_version = "3.11" -plugins = [ - "numpy.typing.mypy_plugin", -] exclude = [ "cereal/", "msgq/", @@ -262,6 +258,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!" "unittest".msg = "Use pytest" "pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure" +"time.time".msg = "Use time.monotonic" [tool.ruff.format] quote-style = "preserve" diff --git a/selfdrive/debug/car/fw_versions.py b/selfdrive/debug/car/fw_versions.py index 03d066cdcb..6ae10d2fb2 100755 --- a/selfdrive/debug/car/fw_versions.py +++ b/selfdrive/debug/car/fw_versions.py @@ -47,15 +47,15 @@ if __name__ == "__main__": num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates) - t = time.time() + t = time.monotonic() print("Getting vin...") set_obd_multiplexing(True) vin_rx_addr, vin_rx_bus, vin = get_vin(*can_callbacks, (0, 1)) print(f'RX: {hex(vin_rx_addr)}, BUS: {vin_rx_bus}, VIN: {vin}') - print(f"Getting VIN took {time.time() - t:.3f} s") + print(f"Getting VIN took {time.monotonic() - t:.3f} s") print() - t = time.time() + t = time.monotonic() fw_vers = get_fw_versions(*can_callbacks, set_obd_multiplexing, query_brand=args.brand, extra=extra, num_pandas=num_pandas, progress=True) _, candidates = match_fw_to_car(fw_vers, vin) @@ -71,4 +71,4 @@ if __name__ == "__main__": print() print("Possible matches:", candidates) - print(f"Getting fw took {time.time() - t:.3f} s") + print(f"Getting fw took {time.monotonic() - t:.3f} s") diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py index 234dfea3cc..397e9f35f5 100755 --- a/selfdrive/debug/cpu_usage_stat.py +++ b/selfdrive/debug/cpu_usage_stat.py @@ -37,8 +37,6 @@ monitored_proc_names = [ cpu_time_names = ['user', 'system', 'children_user', 'children_system'] -timer = getattr(time, 'monotonic', time.time) - def get_arg_parser(): parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) @@ -72,7 +70,7 @@ if __name__ == "__main__": print('Add monitored proc:', k) stats[k] = {'cpu_samples': defaultdict(list), 'min': defaultdict(lambda: None), 'max': defaultdict(lambda: None), 'avg': defaultdict(float), 'last_cpu_times': None, 'last_sys_time': None} - stats[k]['last_sys_time'] = timer() + stats[k]['last_sys_time'] = time.monotonic() stats[k]['last_cpu_times'] = p.cpu_times() monitored_procs.append(p) i = 0 @@ -80,7 +78,7 @@ if __name__ == "__main__": while True: for p in monitored_procs: k = ' '.join(p.cmdline()) - cur_sys_time = timer() + cur_sys_time = time.monotonic() cur_cpu_times = p.cpu_times() cpu_times = np.subtract(cur_cpu_times, stats[k]['last_cpu_times']) / (cur_sys_time - stats[k]['last_sys_time']) stats[k]['last_sys_time'] = cur_sys_time diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx index 2fb716997d..2582a9f1f5 100644 --- a/selfdrive/modeld/models/driving_policy.onnx +++ b/selfdrive/modeld/models/driving_policy.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:1741cad23f6f451782b5db6182218749ee12072e393d57eac36d8d5c55d9358a -size 15583374 +oid sha256:cddefa5dbe21c60858f0d321d12d1ed4b126d05a7563f651bdf021674be63d64 +size 15701037 diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx index fe636fb682..6cdca2f93c 100644 --- a/selfdrive/modeld/models/driving_vision.onnx +++ b/selfdrive/modeld/models/driving_vision.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3d2bd82ba42341dba1bda5426e45c4c646db604c9ac422156eaa2b9ef26194f9 -size 46265993 +oid sha256:afee02876ed51f21883e731990a252fd57afda6a78700c41fbf22d8cb288b4b5 +size 46147818 diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py index 783572d436..d5a5dc1bb4 100644 --- a/selfdrive/modeld/parse_model_outputs.py +++ b/selfdrive/modeld/parse_model_outputs.py @@ -90,22 +90,22 @@ class Parser: self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,)) self.parse_mdn('lane_lines', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_LANE_LINES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) self.parse_mdn('road_edges', outs, in_N=0, out_N=0, out_shape=(ModelConstants.NUM_ROAD_EDGES,ModelConstants.IDX_N,ModelConstants.LANE_LINES_WIDTH)) - self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, - out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) - for k in ['lead_prob', 'lane_lines_prob']: - self.parse_binary_crossentropy(k, outs) + self.parse_binary_crossentropy('lane_lines_prob', outs) self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(ModelConstants.DESIRE_PRED_LEN,ModelConstants.DESIRE_PRED_WIDTH)) self.parse_binary_crossentropy('meta', outs) return outs def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: self.parse_mdn('plan', outs, in_N=ModelConstants.PLAN_MHP_N, out_N=ModelConstants.PLAN_MHP_SELECTION, - out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) + out_shape=(ModelConstants.IDX_N,ModelConstants.PLAN_WIDTH)) if 'lat_planner_solution' in outs: self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(ModelConstants.IDX_N,ModelConstants.LAT_PLANNER_SOLUTION_WIDTH)) if 'desired_curvature' in outs: self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(ModelConstants.DESIRED_CURV_WIDTH,)) self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,)) + self.parse_binary_crossentropy('lead_prob', outs) + self.parse_mdn('lead', outs, in_N=ModelConstants.LEAD_MHP_N, out_N=ModelConstants.LEAD_MHP_SELECTION, + out_shape=(ModelConstants.LEAD_TRAJ_LEN,ModelConstants.LEAD_WIDTH)) return outs def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]: diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py index 337be3a2ae..e451dd9145 100644 --- a/selfdrive/monitoring/helpers.py +++ b/selfdrive/monitoring/helpers.py @@ -6,6 +6,7 @@ import cereal.messaging as messaging from openpilot.selfdrive.selfdrived.events import Events from openpilot.common.realtime import DT_DMON from openpilot.common.filter_simple import FirstOrderFilter +from openpilot.common.params import Params from openpilot.common.stat_live import RunningStatFilter from openpilot.common.transformations.camera import DEVICE_CAMERAS @@ -159,6 +160,9 @@ class DriverMonitoring: self.threshold_pre = self.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME self.threshold_prompt = self.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL / self.settings._DISTRACTED_TIME + self.params = Params() + self.too_distracted = self.params.get_bool("DriverTooDistracted") + self._reset_awareness() self._set_timers(active_monitoring=True) self._reset_events() @@ -309,6 +313,11 @@ class DriverMonitoring: if self.terminal_alert_cnt >= self.settings._MAX_TERMINAL_ALERTS or \ self.terminal_time >= self.settings._MAX_TERMINAL_DURATION or \ self.always_on and self.awareness <= self.threshold_prompt: + if not self.too_distracted: + self.params.put_bool_nonblocking("DriverTooDistracted", True) + self.too_distracted = True + + if self.too_distracted: self.current_events.add(EventName.tooDistracted) always_on_valid = self.always_on and not wrong_gear diff --git a/selfdrive/pandad/panda_safety.cc b/selfdrive/pandad/panda_safety.cc index 0a14894677..b089503417 100644 --- a/selfdrive/pandad/panda_safety.cc +++ b/selfdrive/pandad/panda_safety.cc @@ -2,9 +2,7 @@ #include "cereal/messaging/messaging.h" #include "common/swaglog.h" -void PandaSafety::configureSafetyMode() { - bool is_onroad = params_.getBool("IsOnroad"); - +void PandaSafety::configureSafetyMode(bool is_onroad) { if (is_onroad && !safety_configured_) { updateMultiplexingMode(); diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc index 1666c6229f..b0b9ab755a 100644 --- a/selfdrive/pandad/pandad.cc +++ b/selfdrive/pandad/pandad.cc @@ -188,7 +188,7 @@ void fill_panda_can_state(cereal::PandaState::PandaCanState::Builder &cs, const cs.setCanCoreResetCnt(can_health.can_core_reset_cnt); } -std::optional send_panda_states(PubMaster *pm, const std::vector &pandas, bool spoofing_started) { +std::optional send_panda_states(PubMaster *pm, const std::vector &pandas, bool is_onroad, bool spoofing_started) { bool ignition_local = false; const uint32_t pandas_cnt = pandas.size(); @@ -255,8 +255,9 @@ std::optional send_panda_states(PubMaster *pm, const std::vector panda->set_power_saving(power_save_desired); } - // set safety mode to NO_OUTPUT when car is off. ELM327 is an alternative if we want to leverage athenad/connect - if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) { + // set safety mode to NO_OUTPUT when car is off or we're not onroad. ELM327 is an alternative if we want to leverage athenad/connect + bool should_close_relay = !ignition_local || !is_onroad; + if (should_close_relay && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) { panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT); } @@ -323,14 +324,14 @@ void send_peripheral_state(Panda *panda, PubMaster *pm) { pm->send("peripheralState", msg); } -void process_panda_state(std::vector &pandas, PubMaster *pm, bool engaged, bool spoofing_started) { +void process_panda_state(std::vector &pandas, PubMaster *pm, bool engaged, bool is_onroad, bool spoofing_started) { std::vector connected_serials; for (Panda *p : pandas) { connected_serials.push_back(p->hw_serial()); } { - auto ignition_opt = send_panda_states(pm, pandas, spoofing_started); + auto ignition_opt = send_panda_states(pm, pandas, is_onroad, spoofing_started); if (!ignition_opt) { LOGE("Failed to get ignition_opt"); return; @@ -423,12 +424,14 @@ void pandad_run(std::vector &pandas) { // Start the CAN send thread std::thread send_thread(can_send_thread, pandas, fake_send); + Params params; RateKeeper rk("pandad", 100); SubMaster sm({"selfdriveState"}); PubMaster pm({"can", "pandaStates", "peripheralState"}); PandaSafety panda_safety(pandas); Panda *peripheral_panda = pandas[0]; bool engaged = false; + bool is_onroad = false; // Main loop: receive CAN data and process states while (!do_exit && check_all_connected(pandas)) { @@ -443,8 +446,9 @@ void pandad_run(std::vector &pandas) { if (rk.frame() % 10 == 0) { sm.update(0); engaged = sm.allAliveAndValid({"selfdriveState"}) && sm["selfdriveState"].getSelfdriveState().getEnabled(); - process_panda_state(pandas, &pm, engaged, spoofing_started); - panda_safety.configureSafetyMode(); + is_onroad = params.getBool("IsOnroad"); + process_panda_state(pandas, &pm, engaged, is_onroad, spoofing_started); + panda_safety.configureSafetyMode(is_onroad); } // Send out peripheralState at 2Hz @@ -469,7 +473,6 @@ void pandad_run(std::vector &pandas) { } // Close relay on exit to prevent a fault - const bool is_onroad = Params().getBool("IsOnroad"); if (is_onroad && !engaged) { for (auto &p : pandas) { if (p->connected()) { diff --git a/selfdrive/pandad/pandad.h b/selfdrive/pandad/pandad.h index dedd8ae79a..637807e074 100644 --- a/selfdrive/pandad/pandad.h +++ b/selfdrive/pandad/pandad.h @@ -11,7 +11,7 @@ void pandad_main_thread(std::vector serials); class PandaSafety { public: PandaSafety(const std::vector &pandas) : pandas_(pandas) {} - void configureSafetyMode(); + void configureSafetyMode(bool is_onroad); private: void updateMultiplexingMode(); diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json index 95f4e7377a..d4cdc82ccc 100644 --- a/selfdrive/selfdrived/alerts_offroad.json +++ b/selfdrive/selfdrived/alerts_offroad.json @@ -25,18 +25,14 @@ "text": "An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install.", "severity": 0 }, - "Offroad_UnofficialHardware": { - "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.", + "Offroad_UnregisteredHardware": { + "text": "Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support.", "severity": 1 }, "Offroad_StorageMissing": { "text": "NVMe drive not mounted.", "severity": 1 }, - "Offroad_BadNvme": { - "text": "Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.", - "severity": 1 - }, "Offroad_CarUnrecognized": { "text": "openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.", "severity": 0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 6c0237f733..74c5ef5945 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fe65c5a2dd24dc0bd92b1f319c6eae64d7e8a54d \ No newline at end of file +e5e76533f9c3986d32aed1c7b4b6bb1e5fe08c30 \ No newline at end of file diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index e845e7906b..9d59e2bd48 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -65,14 +65,10 @@ if GetOption('extras'): qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs) - # setup and factory resetter - qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs) + # setup qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj], LIBS=qt_libs + ['curl', 'common']) - # build updater UI - qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs) - if arch != "Darwin": # build installers raylib_env = env.Clone() diff --git a/selfdrive/ui/layouts/home.py b/selfdrive/ui/layouts/home.py index 8030d36778..ceff940b79 100644 --- a/selfdrive/ui/layouts/home.py +++ b/selfdrive/ui/layouts/home.py @@ -67,7 +67,7 @@ class HomeLayout(Widget): self.current_state = state def _render(self, rect: rl.Rectangle): - current_time = time.time() + current_time = time.monotonic() if current_time - self.last_refresh >= REFRESH_INTERVAL: self._refresh() self.last_refresh = current_time diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py index aae90bc07d..82d499716d 100644 --- a/selfdrive/ui/layouts/sidebar.py +++ b/selfdrive/ui/layouts/sidebar.py @@ -12,6 +12,7 @@ SIDEBAR_WIDTH = 300 METRIC_HEIGHT = 126 METRIC_WIDTH = 240 METRIC_MARGIN = 30 +FONT_SIZE = 35 SETTINGS_BTN = rl.Rectangle(50, 35, 200, 117) HOME_BTN = rl.Rectangle(60, 860, 180, 180) @@ -175,7 +176,7 @@ class Sidebar(Widget): # Network type text text_y = rect.y + 247 text_pos = rl.Vector2(rect.x + 58, text_y) - rl.draw_text_ex(self._font_regular, self._net_type, text_pos, 35, 0, Colors.WHITE) + rl.draw_text_ex(self._font_regular, self._net_type, text_pos, FONT_SIZE, 0, Colors.WHITE) def _draw_metrics(self, rect: rl.Rectangle): metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)] @@ -194,11 +195,14 @@ class Sidebar(Widget): # Draw border rl.draw_rectangle_rounded_lines_ex(metric_rect, 0.15, 10, 2, Colors.METRIC_BORDER) - # Draw text - text = f"{metric.label}\n{metric.value}" - text_size = measure_text_cached(self._font_bold, text, 35) - text_pos = rl.Vector2( - metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2, - metric_rect.y + (metric_rect.height - text_size.y) / 2 - ) - rl.draw_text_ex(self._font_bold, text, text_pos, 35, 0, Colors.WHITE) + # Draw label and value + labels = [metric.label, metric.value] + text_y = metric_rect.y + (metric_rect.height / 2 - len(labels) * FONT_SIZE) + for text in labels: + text_size = measure_text_cached(self._font_bold, text, FONT_SIZE) + text_y += text_size.y + text_pos = rl.Vector2( + metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2, + text_y + ) + rl.draw_text_ex(self._font_bold, text, text_pos, FONT_SIZE, 0, Colors.WHITE) diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py index 66d5807dd2..cc2c6b4fe7 100644 --- a/selfdrive/ui/onroad/cameraview.py +++ b/selfdrive/ui/onroad/cameraview.py @@ -179,6 +179,9 @@ class CameraView(Widget): transform = self._calc_frame_matrix(rect) src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height)) + # Flip driver camera horizontally + if self._stream_type == VisionStreamType.VISION_STREAM_DRIVER: + src_rect.width = -src_rect.width # Calculate scale scale_x = rect.width * transform[0, 0] # zx diff --git a/selfdrive/ui/onroad/exp_button.py b/selfdrive/ui/onroad/exp_button.py index c5fa1fff14..e6748e4e09 100644 --- a/selfdrive/ui/onroad/exp_button.py +++ b/selfdrive/ui/onroad/exp_button.py @@ -41,7 +41,7 @@ class ExpButton(Widget): # Hold new state temporarily self._held_mode = new_mode - self._hold_end_time = time.time() + self._hold_duration + self._hold_end_time = time.monotonic() + self._hold_duration return True return False @@ -58,7 +58,7 @@ class ExpButton(Widget): rl.draw_texture(texture, center_x - texture.width // 2, center_y - texture.height // 2, self._white_color) def _held_or_actual_mode(self): - now = time.time() + now = time.monotonic() if self._hold_end_time and now < self._hold_end_time: return self._held_mode diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc deleted file mode 100644 index 82fd5a7820..0000000000 --- a/selfdrive/ui/qt/setup/reset.cc +++ /dev/null @@ -1,141 +0,0 @@ -#include -#include -#include -#include -#include -#include - -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/setup/reset.h" - -#define NVME "/dev/nvme0n1" -#define USERDATA "/dev/disk/by-partlabel/userdata" - -void Reset::doErase() { - // best effort to wipe nvme - std::system("sudo umount " NVME); - std::system("yes | sudo mkfs.ext4 " NVME); - - int rm = std::system("sudo rm -rf /data/*"); - std::system("sudo umount " USERDATA); - int fmt = std::system("yes | sudo mkfs.ext4 " USERDATA); - - if (rm == 0 || fmt == 0) { - std::system("sudo reboot"); - } - body->setText(tr("Reset failed. Reboot to try again.")); - rebootBtn->show(); -} - -void Reset::startReset() { - body->setText(tr("Resetting device...\nThis may take up to a minute.")); - rejectBtn->hide(); - rebootBtn->hide(); - confirmBtn->hide(); -#ifdef __aarch64__ - QTimer::singleShot(100, this, &Reset::doErase); -#endif -} - -void Reset::confirm() { - const QString confirm_txt = tr("Are you sure you want to reset your device?"); - if (body->text() != confirm_txt) { - body->setText(confirm_txt); - } else { - startReset(); - } -} - -Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(45, 220, 45, 45); - main_layout->setSpacing(0); - - QLabel *title = new QLabel(tr("System Reset")); - title->setStyleSheet("font-size: 90px; font-weight: 600;"); - main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); - - main_layout->addSpacing(60); - - body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.")); - body->setWordWrap(true); - body->setStyleSheet("font-size: 80px; font-weight: light;"); - main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft); - - QHBoxLayout *blayout = new QHBoxLayout(); - main_layout->addLayout(blayout); - blayout->setSpacing(50); - - rejectBtn = new QPushButton(tr("Cancel")); - blayout->addWidget(rejectBtn); - QObject::connect(rejectBtn, &QPushButton::clicked, QCoreApplication::instance(), &QCoreApplication::quit); - - rebootBtn = new QPushButton(tr("Reboot")); - blayout->addWidget(rebootBtn); -#ifdef __aarch64__ - QObject::connect(rebootBtn, &QPushButton::clicked, [=]{ - std::system("sudo reboot"); - }); -#endif - - confirmBtn = new QPushButton(tr("Confirm")); - confirmBtn->setStyleSheet(R"( - QPushButton { - background-color: #465BEA; - } - QPushButton:pressed { - background-color: #3049F4; - } - )"); - blayout->addWidget(confirmBtn); - QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm); - - bool recover = mode == ResetMode::RECOVER; - rejectBtn->setVisible(!recover); - rebootBtn->setVisible(recover); - if (recover) { - body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.")); - } - - // automatically start if we're just finishing up an ABL reset - if (mode == ResetMode::FORMAT) { - startReset(); - } - - setStyleSheet(R"( - * { - font-family: Inter; - color: white; - background-color: black; - } - QLabel { - margin-left: 140; - } - QPushButton { - height: 160; - font-size: 55px; - font-weight: 400; - border-radius: 10px; - background-color: #333333; - } - QPushButton:pressed { - background-color: #444444; - } - )"); -} - -int main(int argc, char *argv[]) { - ResetMode mode = ResetMode::USER_RESET; - if (argc > 1) { - if (strcmp(argv[1], "--recover") == 0) { - mode = ResetMode::RECOVER; - } else if (strcmp(argv[1], "--format") == 0) { - mode = ResetMode::FORMAT; - } - } - - QApplication a(argc, argv); - Reset reset(mode); - setMainWindow(&reset); - return a.exec(); -} diff --git a/selfdrive/ui/qt/setup/reset.h b/selfdrive/ui/qt/setup/reset.h deleted file mode 100644 index 2e0784cdc9..0000000000 --- a/selfdrive/ui/qt/setup/reset.h +++ /dev/null @@ -1,27 +0,0 @@ -#include -#include -#include - -enum ResetMode { - USER_RESET, // user initiated a factory reset from openpilot - RECOVER, // userdata is corrupt for some reason, give a chance to recover - FORMAT, // finish up a factory reset from a tool that doesn't flash an empty partition to userdata -}; - -class Reset : public QWidget { - Q_OBJECT - -public: - explicit Reset(ResetMode mode, QWidget *parent = 0); - -private: - QLabel *body; - QPushButton *rejectBtn; - QPushButton *rebootBtn; - QPushButton *confirmBtn; - void doErase(); - void startReset(); - -private slots: - void confirm(); -}; diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc deleted file mode 100644 index ed47590aa3..0000000000 --- a/selfdrive/ui/qt/setup/updater.cc +++ /dev/null @@ -1,186 +0,0 @@ -#include -#include -#include - -#include "system/hardware/hw.h" -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/qt_window.h" -#include "selfdrive/ui/qt/setup/updater.h" -#include "selfdrive/ui/qt/network/networking.h" - -Updater::Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent) - : updater(updater_path), manifest(manifest_path), QStackedWidget(parent) { - - assert(updater.size()); - assert(manifest.size()); - - // initial prompt screen - prompt = new QWidget; - { - QVBoxLayout *layout = new QVBoxLayout(prompt); - layout->setContentsMargins(100, 250, 100, 100); - - QLabel *title = new QLabel(tr("Update Required")); - title->setStyleSheet("font-size: 80px; font-weight: bold;"); - layout->addWidget(title); - - layout->addSpacing(75); - - QLabel *desc = new QLabel(tr("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.")); - desc->setWordWrap(true); - desc->setStyleSheet("font-size: 65px;"); - layout->addWidget(desc); - - layout->addStretch(); - - QHBoxLayout *hlayout = new QHBoxLayout; - hlayout->setSpacing(30); - layout->addLayout(hlayout); - - QPushButton *connect = new QPushButton(tr("Connect to Wi-Fi")); - connect->setObjectName("navBtn"); - QObject::connect(connect, &QPushButton::clicked, [=]() { - setCurrentWidget(wifi); - }); - hlayout->addWidget(connect); - - QPushButton *install = new QPushButton(tr("Install")); - install->setObjectName("navBtn"); - install->setStyleSheet(R"( - QPushButton { - background-color: #465BEA; - } - QPushButton:pressed { - background-color: #3049F4; - } - )"); - QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate); - hlayout->addWidget(install); - } - - // wifi connection screen - wifi = new QWidget; - { - QVBoxLayout *layout = new QVBoxLayout(wifi); - layout->setContentsMargins(100, 100, 100, 100); - - Networking *networking = new Networking(this, false); - networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }"); - layout->addWidget(networking, 1); - - QPushButton *back = new QPushButton(tr("Back")); - back->setObjectName("navBtn"); - back->setStyleSheet("padding-left: 60px; padding-right: 60px;"); - QObject::connect(back, &QPushButton::clicked, [=]() { - setCurrentWidget(prompt); - }); - layout->addWidget(back, 0, Qt::AlignLeft); - } - - // progress screen - progress = new QWidget; - { - QVBoxLayout *layout = new QVBoxLayout(progress); - layout->setContentsMargins(150, 330, 150, 150); - layout->setSpacing(0); - - text = new QLabel(tr("Loading...")); - text->setStyleSheet("font-size: 90px; font-weight: 600;"); - layout->addWidget(text, 0, Qt::AlignTop); - - layout->addSpacing(100); - - bar = new QProgressBar(); - bar->setRange(0, 100); - bar->setTextVisible(false); - bar->setFixedHeight(72); - layout->addWidget(bar, 0, Qt::AlignTop); - - layout->addStretch(); - - reboot = new QPushButton(tr("Reboot")); - reboot->setObjectName("navBtn"); - reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;"); - QObject::connect(reboot, &QPushButton::clicked, [=]() { - Hardware::reboot(); - }); - layout->addWidget(reboot, 0, Qt::AlignLeft); - reboot->hide(); - - layout->addStretch(); - } - - addWidget(prompt); - addWidget(wifi); - addWidget(progress); - - setStyleSheet(R"( - * { - color: white; - outline: none; - font-family: Inter; - } - Updater { - color: white; - background-color: black; - } - QPushButton#navBtn { - height: 160; - font-size: 55px; - font-weight: 400; - border-radius: 10px; - background-color: #333333; - } - QPushButton#navBtn:pressed { - background-color: #444444; - } - QProgressBar { - border: none; - background-color: #292929; - } - QProgressBar::chunk { - background-color: #364DEF; - } - )"); -} - -void Updater::installUpdate() { - setCurrentWidget(progress); - QObject::connect(&proc, &QProcess::readyReadStandardOutput, this, &Updater::readProgress); - QObject::connect(&proc, QOverload::of(&QProcess::finished), this, &Updater::updateFinished); - proc.setProcessChannelMode(QProcess::ForwardedErrorChannel); - proc.start(updater, {"--swap", manifest}); -} - -void Updater::readProgress() { - auto lines = QString(proc.readAllStandardOutput()); - for (const QString &line : lines.trimmed().split("\n")) { - auto parts = line.split(":"); - if (parts.size() == 2) { - text->setText(parts[0]); - bar->setValue((int)parts[1].toDouble()); - } else { - qDebug() << line; - } - } - update(); -} - -void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) { - qDebug() << "finished with " << exitCode; - if (exitCode == 0) { - Hardware::reboot(); - } else { - text->setText(tr("Update failed")); - reboot->show(); - } -} - -int main(int argc, char *argv[]) { - initApp(argc, argv); - QApplication a(argc, argv); - Updater updater(argv[1], argv[2]); - setMainWindow(&updater); - a.installEventFilter(&updater); - return a.exec(); -} diff --git a/selfdrive/ui/qt/setup/updater.h b/selfdrive/ui/qt/setup/updater.h deleted file mode 100644 index ce46c0aabd..0000000000 --- a/selfdrive/ui/qt/setup/updater.h +++ /dev/null @@ -1,29 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -class Updater : public QStackedWidget { - Q_OBJECT - -public: - explicit Updater(const QString &updater_path, const QString &manifest_path, QWidget *parent = 0); - -private slots: - void installUpdate(); - void readProgress(); - void updateFinished(int exitCode, QProcess::ExitStatus exitStatus); - -private: - QProcess proc; - QString updater, manifest; - - QLabel *text; - QProgressBar *bar; - QPushButton *reboot; - QWidget *prompt, *wifi, *progress; -}; diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index f632c063d5..a29c1aeb0e 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -486,10 +486,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. يتم تنزيل تحديث لنظام تشغيل جهازك في الخلفية. سيطلَب منك التحديث عندما يصبح جاهزاً للتثبيت. - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - فشل تسجيل الجهاز. لن يقوم بالاتصال أو تحميل خوادم comma.ai، ولا تلقي الدعم من comma.ai. إذا كان هذا الجهاز نظامياً فيرجى زيارة الموقع https://comma.ai/support. - NVMe drive not mounted. محرك NVMe غير مثبَّت. @@ -506,6 +502,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. لقد اكتشف openpilot تغييراً في موقع تركيب الجهاز. تأكد من تثبيت الجهاز بشكل كامل في موقعه وتثبيته بإحكام على الزجاج الأمامي. + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + + OffroadHome diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 098906f824..141775b7d0 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -474,10 +474,6 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist. - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support. - NVMe drive not mounted. NVMe-Laufwerk nicht gemounted. @@ -498,6 +494,10 @@ Der Firehose-Modus ermöglicht es dir, deine Trainingsdaten-Uploads zu maximiere Device temperature too high. System cooling down before starting. Current internal component temperature: %1 Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1 + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + + OffroadHome diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts index 1879268009..3bcb07d926 100644 --- a/selfdrive/ui/translations/main_es.ts +++ b/selfdrive/ui/translations/main_es.ts @@ -84,27 +84,27 @@ Prevent large data uploads when on a metered cellular connection - + Evite cargas de grandes cantidades de datos cuando utilice una conexión celular medida default - + por defecto metered - + medido unmetered - + sin medidor Wi-Fi Network Metered - + Red Wi-Fi medida Prevent large data uploads when on a metered Wi-Fi connection - + Evite cargas de grandes cantidades de datos cuando esté en una conexión Wi-Fi medida @@ -304,35 +304,39 @@ Disengage to Reset Calibration - + Desactivar para restablecer la calibración openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. - + openpilot requiere que el dispositivo esté montado dentro de los 4° hacia la izquierda o la derecha y dentro de los 5° hacia arriba o 9° hacia abajo. openpilot is continuously calibrating, resetting is rarely required. Resetting calibration will restart openpilot if the car is powered on. - + Openpilot se calibra continuamente, por lo que rara vez es necesario reiniciarlo. Restablecer la calibración reiniciará Openpilot si el automóvil está encendido. Steering lag calibration is %1% complete. - + + +La calibración del retraso de dirección está %1% completada. Steering lag calibration is complete. - + + +La calibración del retraso de la dirección está completa. Steering torque response calibration is %1% complete. - + La calibración de la respuesta del par de dirección está %1% completada. Steering torque response calibration is complete. - + La calibración de la respuesta del par de dirección está completa. @@ -388,7 +392,7 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para Firehose Mode - + Modo manguera contra incendios @@ -478,10 +482,6 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse. - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - El dispositivo no pudo registrarse. No se conectará ni subirá datos a los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support. - NVMe drive not mounted. Unidad NVMe no montada. @@ -498,6 +498,10 @@ El Modo Firehose te permite maximizar las subidas de datos de entrenamiento para openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas. + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + + OffroadHome @@ -813,13 +817,15 @@ Esto puede tardar un minuto. WARNING: Custom Software - + ADVERTENCIA: Software personalizado Use caution when installing third-party software. Third-party software has not been tested by comma, and may cause damage to your device and/or vehicle. If you'd like to proceed, use https://flash.comma.ai to restore your device to a factory state later. - + Tenga cuidado al instalar software de terceros. El software de terceros no ha sido probado por comma y puede causar daños a su dispositivo y/o vehículo. + +Si desea continuar, utilice https://flash.comma.ai para restaurar su dispositivo a un estado de fábrica más tarde. @@ -1160,19 +1166,19 @@ If you'd like to proceed, use https://flash.comma.ai to restore your device Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. - + Utilice el sistema openpilot para el control de crucero adaptativo y la asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Changing this setting will restart openpilot if the car is powered on. - + Cambiar esta configuración reiniciará Openpilot si el automóvil está encendido. Record and Upload Microphone Audio - + Grabar y cargar audio de micrófono Record and store microphone audio while driving. The audio will be included in the dashcam video in comma connect. - + Graba y almacena el audio del micrófono mientras conduces. El audio se incluirá en el video de la cámara del tablero en comma connect. diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 5148fce5f7..497c638dc4 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -476,10 +476,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Une mise à jour du système d'exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu'elle sera prête à être installée. - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - L'appareil n'a pas réussi à s'enregistrer. Il ne se connectera pas aux serveurs de comma.ai, n'enverra rien et ne recevra aucune assistance de comma.ai. S'il s'agit d'un appareil officiel, visitez https://comma.ai/support. - NVMe drive not mounted. Le disque NVMe n'est pas monté. @@ -496,6 +492,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. openpilot a détecté un changement dans la position de montage de l'appareil. Assurez-vous que l'appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise. + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + + OffroadHome diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index c48b7bade6..ebac9967ee 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -476,10 +476,6 @@ Firehoseモードを有効にすると学習データを最大限アップロー An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. オペレーティングシステムがバックグラウンドでダウンロードされています。インストールの準備が整うと更新を促されます。 - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - 登録に失敗しました。このデバイスはcomma.aiのサーバーに接続したりデータをアップロードしたりできません。またcomma.aiのサポートも受けられません。公式デバイスである場合は https://comma.ai/support に問い合わせて下さい。 - NVMe drive not mounted. SSDドライブ(NVMe)がマウントされていません。 @@ -500,6 +496,10 @@ Firehoseモードを有効にすると学習データを最大限アップロー Device temperature too high. System cooling down before starting. Current internal component temperature: %1 デバイスの温度が高すぎるためシステム起動前の冷却中です。現在のデバイス内部温度: %1 + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + + OffroadHome diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 9f45ca6971..1265f940a2 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -476,10 +476,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. 백그라운드에서 운영 체제에 대한 업데이트가 다운로드되고 있습니다. 설치가 준비되면 업데이트 메시지가 표시됩니다. - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - 장치를 등록하지 못했습니다. comma.ai 서버에 연결하거나 데이터를 업로드하지 않으며 comma.ai에서 지원을 받지 않습니다. 공식 장치인 경우 https://comma.ai/support 에 방문하여 문의하세요. - NVMe drive not mounted. NVMe 드라이브가 마운트되지 않았습니다. @@ -500,6 +496,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Device temperature too high. System cooling down before starting. Current internal component temperature: %1 장치 온도가 너무 높습니다. 시작하기 전에 시스템을 냉각하고 있습니다. 현재 내부 구성 요소 온도: %1 + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + + OffroadHome diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 0417b406a2..e3a0fd4616 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -478,10 +478,6 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar. - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - Falha ao registrar o dispositivo. Ele não se conectará ou fará upload para os servidores comma.ai e não receberá suporte da comma.ai. Se este for um dispositivo oficial, visite https://comma.ai/support. - NVMe drive not mounted. Unidade NVMe não montada. @@ -502,6 +498,10 @@ O Modo Firehose permite maximizar o envio de dados de treinamento para melhorar Device temperature too high. System cooling down before starting. Current internal component temperature: %1 Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1 + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + O dispositivo não conseguiu se registrar no backend da comma.ai. Ele não se conecta nem faz upload para os servidores da comma.ai e não recebe suporte da comma.ai. Se este for um dispositivo adquirido em comma.ai/shop, abra um ticket em https://comma.ai/support. + OffroadHome diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 88f46303d6..fa56243efe 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -476,10 +476,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. กำลังดาวน์โหลดอัปเดทสำหรับระบบปฏิบัติการอยู่เบื้องหลัง คุณจะได้รับการแจ้งเตือนเมื่อระบบพร้อมสำหรับการติดตั้ง - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - ไม่สามารถลงทะเบียนอุปกรณ์ได้ อุปกรณ์จะไม่สามารถเชื่อมต่อหรืออัปโหลดไปยังเซิร์ฟเวอร์ของ comma.ai ได้และจะไม่ได้รับการสนับสนุนจาก comma.ai ถ้านี่คืออุปกรณ์อย่างเป็นทางการ กรุณาติดต่อ https://comma.ai/support - NVMe drive not mounted. ไม่ได้ติดตั้งไดร์ฟ NVMe @@ -496,6 +492,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. openpilot ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + + OffroadHome diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index eb3d8e1c39..f896511b24 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -473,10 +473,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - - NVMe drive not mounted. @@ -493,6 +489,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield. + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + + OffroadHome diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index d9ec242e59..0e293cf162 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -476,10 +476,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. 一个针对您设备的操作系统更新正在后台下载中。当更新准备好安装时，您将收到提示进行更新。 - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - 设备注册失败。它将无法连接或上传至 comma.ai 服务器，并且无法获得 comma.ai 的支持。如果这是一个官方设备，请访问 https://comma.ai/support。 - NVMe drive not mounted. NVMe固态硬盘未被挂载。 @@ -500,6 +496,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Device temperature too high. System cooling down before starting. Current internal component temperature: %1 设备温度过高。系统正在冷却中，等冷却完毕后才会启动。目前内部组件温度：%1 + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + 设备未能注册到 comma.ai 后端。该设备将无法连接或上传数据到 comma.ai 服务器，也无法获得 comma.ai 的支持。如果该设备是在 comma.ai/shop 购买的，请访问 https://comma.ai/support 提交工单。 + OffroadHome diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 9530f8920d..696d480087 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -476,10 +476,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp An update to your device's operating system is downloading in the background. You will be prompted to update when it's ready to install. 一個有關操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。 - - Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support. - 裝置註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方裝置，請訪問 https://comma.ai/support 。 - NVMe drive not mounted. NVMe 固態硬碟未被掛載。 @@ -500,6 +496,10 @@ Firehose Mode allows you to maximize your training data uploads to improve openp Device temperature too high. System cooling down before starting. Current internal component temperature: %1 裝置溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1 + + Device failed to register with the comma.ai backend. It will not connect or upload to comma.ai servers, and receives no support from comma.ai. If this is a device purchased at comma.ai/shop, open a ticket at https://comma.ai/support. + 裝置註冊 comma.ai 後端失敗。此裝置將無法連線或上傳資料至 comma.ai 伺服器，也無法獲得 comma.ai 的支援。若此裝置購自 comma.ai/shop，請至 https://comma.ai/support 建立支援請求。 + OffroadHome diff --git a/selfdrive/ui/widgets/pairing_dialog.py b/selfdrive/ui/widgets/pairing_dialog.py index 2cb1499499..c48b2c65de 100644 --- a/selfdrive/ui/widgets/pairing_dialog.py +++ b/selfdrive/ui/widgets/pairing_dialog.py @@ -55,7 +55,7 @@ class PairingDialog: self.qr_texture = None def _check_qr_refresh(self) -> None: - current_time = time.time() + current_time = time.monotonic() if current_time - self.last_qr_generation >= self.QR_REFRESH_INTERVAL: self._generate_qr_code() self.last_qr_generation = current_time diff --git a/system/athena/athenad.py b/system/athena/athenad.py index 5df7eec3f0..adf2b1afa6 100755 --- a/system/athena/athenad.py +++ b/system/athena/athenad.py @@ -426,7 +426,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo path=path, url=file.url, headers=file.headers, - created_at=int(time.time() * 1000), + created_at=int(time.time() * 1000), # noqa: TID251 id=None, allow_cellular=file.allow_cellular, priority=file.priority, @@ -580,7 +580,7 @@ def takeSnapshot() -> str | dict[str, str] | None: def get_logs_to_send_sorted() -> list[str]: # TODO: scan once then use inotify to detect file creation/deletion - curr_time = int(time.time()) + curr_time = int(time.time()) # noqa: TID251 logs = [] for log_entry in os.listdir(Paths.swaglog_root()): log_path = os.path.join(Paths.swaglog_root(), log_entry) @@ -617,7 +617,7 @@ def log_handler(end_event: threading.Event) -> None: log_entry = log_files.pop() # newest log file cloudlog.debug(f"athena.log_handler.forward_request {log_entry}") try: - curr_time = int(time.time()) + curr_time = int(time.time()) # noqa: TID251 log_path = os.path.join(Paths.swaglog_root(), log_entry) setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder)) with open(log_path) as f: diff --git a/system/athena/registration.py b/system/athena/registration.py index 964fbff51e..14c42a3e0f 100755 --- a/system/athena/registration.py +++ b/system/athena/registration.py @@ -97,7 +97,7 @@ def register(show_spinner=False) -> str | None: if dongle_id: params.put("DongleId", dongle_id) - set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC) + set_offroad_alert("Offroad_UnregisteredHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC) return dongle_id diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py index e559e0c05c..8fe095bc42 100644 --- a/system/athena/tests/test_athenad.py +++ b/system/athena/tests/test_athenad.py @@ -91,8 +91,8 @@ class TestAthenadMethods: @staticmethod def _wait_for_upload(): - now = time.time() - while time.time() - now < 5: + now = time.monotonic() + while time.monotonic() - now < 5: if athenad.upload_queue.qsize() == 0: break @@ -190,11 +190,11 @@ class TestAthenadMethods: fn = self._create_file('qlog', data=os.urandom(10000 * 1024)) upload_fn = fn + ('.zst' if compress else '') - item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') + item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') # noqa: TID251 with pytest.raises(requests.exceptions.ConnectionError): athenad._do_upload(item) - item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='') + item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='') # noqa: TID251 resp = athenad._do_upload(item) assert resp.status_code == 201 @@ -226,7 +226,7 @@ class TestAthenadMethods: @with_upload_handler def test_upload_handler(self, host): fn = self._create_file('qlog.zst') - item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) + item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) # noqa: TID251 athenad.upload_queue.put_nowait(item) self._wait_for_upload() @@ -242,7 +242,7 @@ class TestAthenadMethods: mock_put = mocker.patch('openpilot.system.athena.athenad.UPLOAD_SESS.put') mock_put.return_value.__enter__.return_value.status_code = status fn = self._create_file('qlog.zst') - item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) + item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) # noqa: TID251 athenad.upload_queue.put_nowait(item) self._wait_for_upload() @@ -257,7 +257,7 @@ class TestAthenadMethods: def test_upload_handler_timeout(self): """When an upload times out or fails to connect it should be placed back in the queue""" fn = self._create_file('qlog.zst') - item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) + item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) # noqa: TID251 item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT) athenad.upload_queue.put_nowait(item_no_retry) @@ -278,7 +278,7 @@ class TestAthenadMethods: @with_upload_handler def test_cancel_upload(self): item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={}, - created_at=int(time.time()*1000), id='id', allow_cellular=True) + created_at=int(time.time()*1000), id='id', allow_cellular=True) # noqa: TID251 athenad.upload_queue.put_nowait(item) dispatcher["cancelUpload"](item.id) @@ -312,7 +312,7 @@ class TestAthenadMethods: @with_upload_handler def test_list_upload_queue_current(self, host: str): fn = self._create_file('qlog.zst') - item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) + item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) # noqa: TID251 athenad.upload_queue.put_nowait(item) self._wait_for_upload() @@ -331,7 +331,7 @@ class TestAthenadMethods: path=fp, url=f"http://localhost:44444/{fn}", headers={}, - created_at=int(time.time()*1000), + created_at=int(time.time()*1000), # noqa: TID251 id='', allow_cellular=True, priority=i @@ -343,7 +343,7 @@ class TestAthenadMethods: def test_list_upload_queue(self): item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={}, - created_at=int(time.time()*1000), id='id', allow_cellular=True) + created_at=int(time.time()*1000), id='id', allow_cellular=True) # noqa: TID251 athenad.upload_queue.put_nowait(item) items = dispatcher["listUploadQueue"]() @@ -356,8 +356,8 @@ class TestAthenadMethods: assert len(items) == 0 def test_upload_queue_persistence(self): - item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1') - item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2') + item1 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id1') # noqa: TID251 + item2 = athenad.UploadItem(path="_", url="_", headers={}, created_at=int(time.time()), id='id2') # noqa: TID251 athenad.upload_queue.put_nowait(item1) athenad.upload_queue.put_nowait(item2) diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index ab76985972..1f3f97b082 100644 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -84,7 +84,10 @@ class TestCamerad: # logMonoTime > SOF assert np.all((ts[c]['t'] - ts[c]['timestampSof']/1e9) > 1e-7) - assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7) + + # logMonoTime > EOF, needs some tolerance since EOF is (SOF + readout time) but there is noise in the SOF timestamping (done via IRQ) + assert np.mean((ts[c]['t'] - ts[c]['timestampEof']/1e9) > 1e-7) > 0.7 # should be mostly logMonoTime > EOF + assert np.all((ts[c]['t'] - ts[c]['timestampEof']/1e9) > -0.10) # when EOF > logMonoTime, it should never be more than two frames def test_stress_test(self): os.environ['SPECTRA_ERROR_PROB'] = '0.008' diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py index f431c03410..b853b0f2f2 100644 --- a/system/camerad/test/test_exposure.py +++ b/system/camerad/test/test_exposure.py @@ -33,8 +33,8 @@ class TestCamerad: @with_processes(['camerad']) def test_camera_operation(self): passed = 0 - start = time.time() - while time.time() - start < TEST_TIME and passed < REPEAT: + start = time.monotonic() + while time.monotonic() - start < TEST_TIME and passed < REPEAT: rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState") wpic, _ = get_snapshots(frame="wideRoadCameraState") diff --git a/system/hardware/base.py b/system/hardware/base.py index 3506be5145..b457ea4e17 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -199,9 +199,6 @@ class HardwareBase(ABC): def get_modem_temperatures(self): pass - @abstractmethod - def get_nvme_temperatures(self): - pass @abstractmethod def initialize_hardware(self): diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py index 15a191adc4..a5b50a38de 100755 --- a/system/hardware/hardwared.py +++ b/system/hardware/hardwared.py @@ -19,13 +19,14 @@ from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.params import Params from openpilot.common.realtime import DT_HW from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert -from openpilot.system.hardware import HARDWARE, TICI, AGNOS +from openpilot.system.hardware import HARDWARE, TICI, AGNOS, PC from openpilot.system.loggerd.config import get_available_percent from openpilot.system.statsd import statlog from openpilot.common.swaglog import cloudlog from openpilot.system.hardware.power_monitoring import PowerMonitoring from openpilot.system.hardware.fan_controller import TiciFanController from openpilot.system.version import terms_version, training_version +from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID ThermalStatus = log.DeviceState.ThermalStatus NetworkType = log.DeviceState.NetworkType @@ -38,7 +39,7 @@ ONROAD_CYCLE_TIME = 1 # seconds to wait offroad after requesting an onroad cycl ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp']) HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', - 'network_metered', 'nvme_temps', 'modem_temps']) + 'network_metered', 'modem_temps']) # List of thermal bands. We will stay within this region as long as we are within the bounds. # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict. @@ -141,7 +142,6 @@ def hw_state_thread(end_event, hw_queue): network_strength=HARDWARE.get_network_strength(network_type), network_stats={'wwanTx': tx, 'wwanRx': rx}, network_metered=HARDWARE.get_network_metered(network_type), - nvme_temps=HARDWARE.get_nvme_temperatures(), modem_temps=modem_temps, ) @@ -188,7 +188,6 @@ def hardware_thread(end_event, hw_queue) -> None: network_metered=False, network_strength=NetworkStrength.unknown, network_stats={'wwanTx': -1, 'wwanRx': -1}, - nvme_temps=[], modem_temps=[], ) @@ -267,7 +266,6 @@ def hardware_thread(end_event, hw_queue) -> None: if last_hw_state.network_info is not None: msg.deviceState.networkInfo = last_hw_state.network_info - msg.deviceState.nvmeTempC = last_hw_state.nvme_temps msg.deviceState.modemTempC = last_hw_state.modem_temps msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness() @@ -325,21 +323,17 @@ def hardware_thread(end_event, hw_queue) -> None: show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"] set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text) + # *** registration check *** + if not PC: + # we enforce this for our software, but you are welcome + # to make a different decision in your software + startup_conditions["registered_device"] = PC or (params.get("DongleId") != UNREGISTERED_DONGLE_ID) + # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there if TICI and HARDWARE.get_device_type() == "tici": if not os.path.isfile("/persist/comma/living-in-the-moment"): if not Path("/data/media").is_mount(): set_offroad_alert_if_changed("Offroad_StorageMissing", True) - else: - # check for bad NVMe - try: - with open("/sys/block/nvme0n1/device/model") as f: - model = f.read().strip() - if not model.startswith("Samsung SSD 980") and params.get("Offroad_BadNvme") is None: - set_offroad_alert_if_changed("Offroad_BadNvme", True) - cloudlog.event("Unsupported NVMe", model=model, error=True) - except Exception: - pass # Handle offroad/onroad transition should_start = all(onroad_conditions.values()) @@ -424,8 +418,6 @@ def hardware_thread(end_event, hw_queue) -> None: statlog.gauge("memory_temperature", msg.deviceState.memoryTempC) for i, temp in enumerate(msg.deviceState.pmicTempC): statlog.gauge(f"pmic{i}_temperature", temp) - for i, temp in enumerate(last_hw_state.nvme_temps): - statlog.gauge(f"nvme_temperature{i}", temp) for i, temp in enumerate(last_hw_state.modem_temps): statlog.gauge(f"modem_temperature{i}", temp) statlog.gauge("fan_speed_percent_desired", msg.deviceState.fanSpeedPercentDesired) diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 9a80f10bed..6c11896390 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -70,8 +70,6 @@ class Pc(HardwareBase): def get_modem_temperatures(self): return [] - def get_nvme_temperatures(self): - return [] def initialize_hardware(self): pass diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 20a23bd67e..35f9916c31 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -1,4 +1,3 @@ -import json import math import os import subprocess @@ -291,15 +290,6 @@ class Tici(HardwareBase): except Exception: return [] - def get_nvme_temperatures(self): - ret = [] - try: - out = subprocess.check_output("sudo smartctl -aj /dev/nvme0", shell=True) - dat = json.loads(out) - ret = list(map(int, dat["nvme_smart_health_information_log"]["temperature_sensors"])) - except Exception: - pass - return ret def get_current_power_draw(self): return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6) diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc index a7b1ae8244..1b87ce394f 100644 --- a/system/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -31,9 +31,6 @@ static kj::Array build_boot_log() { "[ -x \"$(command -v journalctl)\" ] && journalctl -o short-monotonic", }; - if (Hardware::TICI()) { - bootlog_commands.push_back("[ -e /dev/nvme0 ] && sudo nvme smart-log --output-format=json /dev/nvme0"); - } auto commands = boot.initCommands().initEntries(bootlog_commands.size()); for (int j = 0; j < bootlog_commands.size(); j++) { diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index 4e6946363f..091c2fb2dd 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -1,5 +1,3 @@ -#pragma clang diagnostic ignored "-Wdeprecated-declarations" - #include "system/loggerd/encoder/ffmpeg_encoder.h" #include @@ -119,8 +117,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) { ret = -1; } - AVPacket pkt; - av_init_packet(&pkt); + AVPacket pkt = {}; pkt.data = NULL; pkt.size = 0; while (ret >= 0) { diff --git a/system/loggerd/video_writer.cc b/system/loggerd/video_writer.cc index 68e870982f..1b47a8fceb 100644 --- a/system/loggerd/video_writer.cc +++ b/system/loggerd/video_writer.cc @@ -1,4 +1,3 @@ -#pragma clang diagnostic ignored "-Wdeprecated-declarations" #include #include "system/loggerd/video_writer.h" @@ -114,8 +113,7 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc // input timestamps are in microseconds AVRational in_timebase = {1, 1000000}; - AVPacket pkt; - av_init_packet(&pkt); + AVPacket pkt = {}; pkt.data = data; pkt.size = len; pkt.stream_index = this->out_stream->index; @@ -200,10 +198,23 @@ void VideoWriter::encode_and_write_audio_frame(AVFrame* frame) { audio_pts += audio_codec_ctx->frame_size; } +void VideoWriter::process_remaining_audio() { + // Process remaining audio samples by padding with silence + if (audio_buffer.size() > 0 && audio_buffer.size() < audio_codec_ctx->frame_size) { + audio_buffer.resize(audio_codec_ctx->frame_size, 0.0f); + + // Encode final frame + audio_frame->pts = audio_pts; + float *f_samples = reinterpret_cast(audio_frame->data[0]); + std::copy(audio_buffer.begin(), audio_buffer.end(), f_samples); + encode_and_write_audio_frame(audio_frame); + } +} VideoWriter::~VideoWriter() { if (this->remuxing) { if (this->audio_codec_ctx) { + process_remaining_audio(); encode_and_write_audio_frame(NULL); // flush encoder avcodec_free_context(&this->audio_codec_ctx); } diff --git a/system/loggerd/video_writer.h b/system/loggerd/video_writer.h index 25e6484d58..e973c5d811 100644 --- a/system/loggerd/video_writer.h +++ b/system/loggerd/video_writer.h @@ -21,6 +21,7 @@ public: private: void initialize_audio(int sample_rate); void encode_and_write_audio_frame(AVFrame* frame); + void process_remaining_audio(); std::string vid_path, lock_path; FILE *of = nullptr; diff --git a/system/manager/manager.py b/system/manager/manager.py index 89e5a472f2..01e02bf720 100755 --- a/system/manager/manager.py +++ b/system/manager/manager.py @@ -29,6 +29,7 @@ def manager_init() -> None: params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION) params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) + params.clear_all(ParamKeyType.CLEAR_ON_IGNITION_ON) if build_metadata.release_channel: params.clear_all(ParamKeyType.DEVELOPMENT_ONLY) @@ -126,13 +127,14 @@ def manager_thread() -> None: ignore.append("pandad") ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0] - sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState') + sm = messaging.SubMaster(['deviceState', 'carParams', 'pandaStates'], poll='deviceState') pm = messaging.PubMaster(['managerState']) write_onroad_params(False, params) ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore) started_prev = False + ignition_prev = False while True: sm.update(1000) @@ -144,11 +146,16 @@ def manager_thread() -> None: elif not started and started_prev: params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION) + ignition = any(ps.ignitionLine or ps.ignitionCan for ps in sm['pandaStates'] if ps.pandaType != log.PandaState.PandaType.unknown) + if ignition and not ignition_prev: + params.clear_all(ParamKeyType.CLEAR_ON_IGNITION_ON) + # update onroad params, which drives pandad's safety setter thread if started != started_prev: write_onroad_params(started, params) started_prev = started + ignition_prev = ignition ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore) diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py index 3a9e3585ba..819b17f113 100755 --- a/system/qcomgpsd/qcomgpsd.py +++ b/system/qcomgpsd/qcomgpsd.py @@ -286,7 +286,7 @@ def main() -> NoReturn: continue if DEBUG: - print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}") + print(f"{time.time():.4f}: got log: {log_type} len {len(log_payload)}") # noqa: TID251 if log_type == LOG_GNSS_OEMDRE_MEASUREMENT_REPORT: msg = messaging.new_message('qcomGnss', valid=True) diff --git a/tinygrad_repo b/tinygrad_repo index 9a573a1d99..c0c695dd89 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 9a573a1d99d53a85be3052a6db82eaf0ce9d84e9 +Subproject commit c0c695dd89305a054264f9365c3caa455fd16ed8 diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index c8e6093b86..91edfafe00 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -29,7 +29,8 @@ cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcans 'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'utils/export.cc', 'utils/util.cc', 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', - 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', + 'cameraview.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('extras'): diff --git a/tools/cabana/cameraview.cc b/tools/cabana/cameraview.cc new file mode 100644 index 0000000000..13c838efd8 --- /dev/null +++ b/tools/cabana/cameraview.cc @@ -0,0 +1,261 @@ +#include "tools/cabana/cameraview.h" + +#ifdef __APPLE__ +#include +#else +#include +#endif + +#include + +namespace { + +const char frame_vertex_shader[] = +#ifdef __APPLE__ + "#version 330 core\n" +#else + "#version 300 es\n" +#endif + "layout(location = 0) in vec4 aPosition;\n" + "layout(location = 1) in vec2 aTexCoord;\n" + "uniform mat4 uTransform;\n" + "out vec2 vTexCoord;\n" + "void main() {\n" + " gl_Position = uTransform * aPosition;\n" + " vTexCoord = aTexCoord;\n" + "}\n"; + +const char frame_fragment_shader[] = +#ifdef __APPLE__ + "#version 330 core\n" +#else + "#version 300 es\n" + "precision mediump float;\n" +#endif + "uniform sampler2D uTextureY;\n" + "uniform sampler2D uTextureUV;\n" + "in vec2 vTexCoord;\n" + "out vec4 colorOut;\n" + "void main() {\n" + " float y = texture(uTextureY, vTexCoord).r;\n" + " vec2 uv = texture(uTextureUV, vTexCoord).rg - 0.5;\n" + " float r = y + 1.402 * uv.y;\n" + " float g = y - 0.344 * uv.x - 0.714 * uv.y;\n" + " float b = y + 1.772 * uv.x;\n" + " colorOut = vec4(r, g, b, 1.0);\n" + "}\n"; + +} // namespace + +CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, QWidget* parent) : + stream_name(stream_name), active_stream_type(type), requested_stream_type(type), QOpenGLWidget(parent) { + setAttribute(Qt::WA_OpaquePaintEvent); + qRegisterMetaType>("availableStreams"); + QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); + QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); + QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); + QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &CameraWidget::stopVipcThread); +} + +CameraWidget::~CameraWidget() { + makeCurrent(); + stopVipcThread(); + if (isValid()) { + glDeleteVertexArrays(1, &frame_vao); + glDeleteBuffers(1, &frame_vbo); + glDeleteBuffers(1, &frame_ibo); + glDeleteTextures(2, textures); + shader_program_.reset(); + } + doneCurrent(); +} + +void CameraWidget::initializeGL() { + initializeOpenGLFunctions(); + + shader_program_ = std::make_unique(context()); + shader_program_->addShaderFromSourceCode(QOpenGLShader::Vertex, frame_vertex_shader); + shader_program_->addShaderFromSourceCode(QOpenGLShader::Fragment, frame_fragment_shader); + shader_program_->link(); + + GLint frame_pos_loc = shader_program_->attributeLocation("aPosition"); + GLint frame_texcoord_loc = shader_program_->attributeLocation("aTexCoord"); + + auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f); + const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3}; + const float frame_coords[4][4] = { + {-1.0, -1.0, x2, y1}, // bl + {-1.0, 1.0, x2, y2}, // tl + { 1.0, 1.0, x1, y2}, // tr + { 1.0, -1.0, x1, y1}, // br + }; + + glGenVertexArrays(1, &frame_vao); + glBindVertexArray(frame_vao); + glGenBuffers(1, &frame_vbo); + glBindBuffer(GL_ARRAY_BUFFER, frame_vbo); + glBufferData(GL_ARRAY_BUFFER, sizeof(frame_coords), frame_coords, GL_STATIC_DRAW); + glEnableVertexAttribArray(frame_pos_loc); + glVertexAttribPointer(frame_pos_loc, 2, GL_FLOAT, GL_FALSE, + sizeof(frame_coords[0]), (const void *)0); + glEnableVertexAttribArray(frame_texcoord_loc); + glVertexAttribPointer(frame_texcoord_loc, 2, GL_FLOAT, GL_FALSE, + sizeof(frame_coords[0]), (const void *)(sizeof(float) * 2)); + glGenBuffers(1, &frame_ibo); + glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, frame_ibo); + glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(frame_indicies), frame_indicies, GL_STATIC_DRAW); + glBindBuffer(GL_ARRAY_BUFFER, 0); + glBindVertexArray(0); + + glGenTextures(2, textures); + + shader_program_->bind(); + shader_program_->setUniformValue("uTextureY", 0); + shader_program_->setUniformValue("uTextureUV", 1); + shader_program_->release(); +} + +void CameraWidget::showEvent(QShowEvent *event) { + if (!vipc_thread) { + clearFrames(); + vipc_thread = new QThread(); + connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); + connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); + vipc_thread->start(); + } +} + +void CameraWidget::stopVipcThread() { + makeCurrent(); + if (vipc_thread) { + vipc_thread->requestInterruption(); + vipc_thread->quit(); + vipc_thread->wait(); + vipc_thread = nullptr; + } +} + +void CameraWidget::availableStreamsUpdated(std::set streams) { + available_streams = streams; +} + +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 (!current_frame_) return; + + // Scale for aspect ratio + float widget_ratio = (float)width() / height(); + float frame_ratio = (float)stream_width / stream_height; + float scale_x = std::min(frame_ratio / widget_ratio, 1.0f); + float scale_y = std::min(widget_ratio / frame_ratio, 1.0f); + + glViewport(0, 0, width() * devicePixelRatio(), height() * devicePixelRatio()); + + shader_program_->bind(); + QMatrix4x4 transform; + transform.scale(scale_x, scale_y, 1.0f); + shader_program_->setUniformValue("uTransform", transform); + + glPixelStorei(GL_UNPACK_ALIGNMENT, 1); + + 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, current_frame_->y); + + glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2); + glActiveTexture(GL_TEXTURE1); + glBindTexture(GL_TEXTURE_2D, textures[1]); + glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, current_frame_->uv); + + glBindVertexArray(frame_vao); + glDrawElements(GL_TRIANGLES, 6, GL_UNSIGNED_BYTE, nullptr); + glBindVertexArray(0); + + // Reset both texture units + glActiveTexture(GL_TEXTURE1); + glBindTexture(GL_TEXTURE_2D, 0); + glActiveTexture(GL_TEXTURE0); + glBindTexture(GL_TEXTURE_2D, 0); + glPixelStorei(GL_UNPACK_ALIGNMENT, 4); + glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); + + shader_program_->release(); +} + +void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { + makeCurrent(); + stream_width = vipc_client->buffers[0].width; + stream_height = vipc_client->buffers[0].height; + stream_stride = vipc_client->buffers[0].stride; + + glBindTexture(GL_TEXTURE_2D, textures[0]); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); + glTexImage2D(GL_TEXTURE_2D, 0, GL_R8, stream_width, stream_height, 0, GL_RED, GL_UNSIGNED_BYTE, nullptr); + assert(glGetError() == GL_NO_ERROR); + + glBindTexture(GL_TEXTURE_2D, textures[1]); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); + glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); + glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr); + assert(glGetError() == GL_NO_ERROR); +} + +void CameraWidget::vipcFrameReceived() { + update(); +} + +void CameraWidget::vipcThread() { + VisionStreamType cur_stream = requested_stream_type; + std::unique_ptr vipc_client; + VisionIpcBufExtra frame_meta = {}; + + while (!QThread::currentThread()->isInterruptionRequested()) { + if (!vipc_client || cur_stream != requested_stream_type) { + clearFrames(); + qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; + cur_stream = requested_stream_type; + vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false)); + } + active_stream_type = cur_stream; + + if (!vipc_client->connected) { + clearFrames(); + auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); + if (streams.empty()) { + QThread::msleep(100); + continue; + } + emit vipcAvailableStreamsUpdated(streams); + + if (!vipc_client->connect(false)) { + QThread::msleep(100); + continue; + } + emit vipcThreadConnected(vipc_client.get()); + } + + if (VisionBuf *buf = vipc_client->recv(&frame_meta, 100)) { + { + std::lock_guard lk(frame_lock); + current_frame_ = buf; + frame_meta_ = frame_meta; + } + emit vipcThreadFrameReceived(); + } + } +} + +void CameraWidget::clearFrames() { + std::lock_guard lk(frame_lock); + current_frame_ = nullptr; + available_streams.clear(); +} diff --git a/tools/cabana/cameraview.h b/tools/cabana/cameraview.h new file mode 100644 index 0000000000..930b13d82c --- /dev/null +++ b/tools/cabana/cameraview.h @@ -0,0 +1,64 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +#include "msgq/visionipc/visionipc_client.h" + +class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { + Q_OBJECT + +public: + using QOpenGLWidget::QOpenGLWidget; + explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, QWidget* parent = nullptr); + ~CameraWidget(); + void setStreamType(VisionStreamType type) { requested_stream_type = type; } + VisionStreamType getStreamType() { return active_stream_type; } + void stopVipcThread(); + +signals: + void clicked(); + void vipcThreadConnected(VisionIpcClient *); + void vipcThreadFrameReceived(); + void vipcAvailableStreamsUpdated(std::set); + +protected: + void paintGL() override; + void initializeGL() override; + void showEvent(QShowEvent *event) override; + void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } + void vipcThread(); + void clearFrames(); + + GLuint frame_vao, frame_vbo, frame_ibo; + GLuint textures[2]; + std::unique_ptr shader_program_; + QColor bg = Qt::black; + + std::string stream_name; + int stream_width = 0; + int stream_height = 0; + int stream_stride = 0; + std::atomic active_stream_type; + std::atomic requested_stream_type; + std::set available_streams; + QThread *vipc_thread = nullptr; + std::recursive_mutex frame_lock; + VisionBuf* current_frame_ = nullptr; + VisionIpcBufExtra frame_meta_ = {}; + +protected slots: + void vipcConnected(VisionIpcClient *vipc_client); + void vipcFrameReceived(); + void availableStreamsUpdated(std::set streams); +}; + +Q_DECLARE_METATYPE(std::set); diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index 09f86a095a..91435cd5ac 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -4,51 +4,97 @@ #include #include -void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) { - points.clear(); - double value = 0; - auto [first, last] = can->eventsInRange(msg_id, std::make_pair(last_msg_ts -range, last_msg_ts)); +void Sparkline::update(const cabana::Signal *sig, CanEventIter first, CanEventIter last, int range, QSize size) { + if (first == last || size.isEmpty()) { + pixmap = QPixmap(); + return; + } + + points_.clear(); + min_val = std::numeric_limits::max(); + max_val = std::numeric_limits::lowest(); + points_.reserve(std::distance(first, last)); + + uint64_t start_time = (*first)->mono_time; + double value = 0.0; for (auto it = first; it != last; ++it) { if (sig->getValue((*it)->dat, (*it)->size, &value)) { - points.emplace_back(((*it)->mono_time - (*first)->mono_time) / 1e9, value); + min_val = std::min(min_val, value); + max_val = std::max(max_val, value); + points_.emplace_back(((*it)->mono_time - start_time) / 1e9, value); } } - if (points.empty() || size.isEmpty()) { + if (points_.empty()) { pixmap = QPixmap(); return; } - const auto [min, max] = std::minmax_element(points.begin(), points.end(), - [](auto &l, auto &r) { return l.y() < r.y(); }); - min_val = min->y() == max->y() ? min->y() - 1 : min->y(); - max_val = min->y() == max->y() ? max->y() + 1 : max->y(); - freq_ = points.size() / std::max(points.back().x() - points.front().x(), 1.0); + freq_ = points_.size() / std::max(points_.back().x() - points_.front().x(), 1.0); render(sig->color, range, size); } void Sparkline::render(const QColor &color, int range, QSize size) { + // Adjust for flat lines + bool is_flat_line = min_val == max_val; + if (is_flat_line) { + min_val -= 1.0; + max_val += 1.0; + } + + // Calculate scaling const double xscale = (size.width() - 1) / (double)range; const double yscale = (size.height() - 3) / (max_val - min_val); - for (auto &v : points) { - v = QPoint(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale); + bool draw_individual_points = (points_.back().x() * xscale / points_.size()) > 8.0; + + // Transform or downsample points + render_points_.reserve(points_.size()); + render_points_.clear(); + if (draw_individual_points) { + for (const auto &p : points_) { + render_points_.emplace_back(p.x() * xscale, 1.0 + (max_val - p.y()) * yscale); + } + } else if (is_flat_line) { + double y = size.height() / 2.0; + render_points_.emplace_back(0.0, y); + render_points_.emplace_back(points_.back().x() * xscale, y); + } else { + double prev_y = points_.front().y(); + render_points_.emplace_back(points_.front().x() * xscale, 1.0 + (max_val - prev_y) * yscale); + bool in_flat = false; + + for (size_t i = 1; i < points_.size(); ++i) { + const auto &p = points_[i]; + double y = p.y(); + if (std::abs(y - prev_y) < 1e-6) { + in_flat = true; + } else { + if (in_flat) render_points_.emplace_back(points_[i - 1].x() * xscale, 1.0 + (max_val - prev_y) * yscale); + render_points_.emplace_back(p.x() * xscale, 1.0 + (max_val - y) * yscale); + in_flat = false; + } + prev_y = y; + } + if (in_flat) render_points_.emplace_back(points_.back().x() * xscale, 1.0 + (max_val - prev_y) * yscale); } + // Render to pixmap qreal dpr = qApp->devicePixelRatio(); - size *= dpr; - if (size != pixmap.size()) { - pixmap = QPixmap(size); + const QSize pixmap_size = size * dpr; + if (pixmap.size() != pixmap_size) { + pixmap = QPixmap(pixmap_size); } pixmap.setDevicePixelRatio(dpr); pixmap.fill(Qt::transparent); QPainter painter(&pixmap); - painter.setRenderHint(QPainter::Antialiasing, points.size() < 500); + painter.setRenderHint(QPainter::Antialiasing, render_points_.size() <= 500); painter.setPen(color); - painter.drawPolyline(points.data(), points.size()); + painter.drawPolyline(render_points_.data(), render_points_.size()); + painter.setPen(QPen(color, 3)); - if ((points.back().x() - points.front().x()) / points.size() > 8) { - painter.drawPoints(points.data(), points.size()); + if (draw_individual_points) { + painter.drawPoints(render_points_.data(), render_points_.size()); } else { - painter.drawPoint(points.back()); + painter.drawPoint(render_points_.back()); } } diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h index 806f0a61eb..7f30047d0d 100644 --- a/tools/cabana/chart/sparkline.h +++ b/tools/cabana/chart/sparkline.h @@ -9,7 +9,7 @@ class Sparkline { public: - void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size); + void update(const cabana::Signal *sig, CanEventIter first, CanEventIter last, int range, QSize size); inline double freq() const { return freq_; } bool isEmpty() const { return pixmap.isNull(); } @@ -20,6 +20,7 @@ public: private: void render(const QColor &color, int range, QSize size); - std::vector points; + std::vector points_; + std::vector render_points_; double freq_ = 0; }; diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 9fe70c3ee8..35537d75e3 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -634,11 +634,12 @@ void SignalView::updateState(const std::set *msgs) { QSize size(available_width - value_width, delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2); + auto [first, last] = can->eventsInRange(model->msg_id, std::make_pair(last_msg.ts -settings.sparkline_range, last_msg.ts)); QFutureSynchronizer synchronizer; for (int i = first_visible.row(); i <= last_visible.row(); ++i) { auto item = model->getItem(model->index(i, 1)); synchronizer.addFuture(QtConcurrent::run( - &item->sparkline, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size)); + &item->sparkline, &Sparkline::update, item->sig, first, last, settings.sparkline_range, size)); } synchronizer.waitForFinished(); } diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 3d715b0319..b817ae1208 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -261,14 +261,23 @@ void Slider::paintEvent(QPaintEvent *ev) { QStyleOptionSlider opt; initStyleOption(&opt); - QRect r = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderGroove, this); - p.fillRect(r, timeline_colors[(int)TimelineType::None]); + QRect handle_rect = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderHandle, this); + QRect groove_rect = style()->subControlRect(QStyle::CC_Slider, &opt, QStyle::SC_SliderGroove, this); + + // Adjust groove height to match handle height + int handle_height = handle_rect.height(); + groove_rect.setHeight(handle_height * 0.5); + groove_rect.moveCenter(QPoint(groove_rect.center().x(), rect().center().y())); + + p.fillRect(groove_rect, timeline_colors[(int)TimelineType::None]); double min = minimum() / factor; double max = maximum() / factor; auto fillRange = [&](double begin, double end, const QColor &color) { if (begin > max || end < min) return; + + QRect r = groove_rect; r.setLeft(((std::max(min, begin) - min) / (max - min)) * width()); r.setRight(((std::min(max, end) - min) / (max - min)) * width()); p.fillRect(r, color); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 6f756448c0..6da0023123 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -11,7 +11,7 @@ #include #include -#include "selfdrive/ui/qt/widgets/cameraview.h" +#include "tools/cabana/cameraview.h" #include "tools/cabana/utils/util.h" #include "tools/replay/logreader.h" #include "tools/cabana/streams/replaystream.h" diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index 8c773f9dfe..b25b8b0cb7 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -62,7 +62,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False): print("waiting for iframe") continue time_q.append(time.monotonic()) - network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6 + network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6 # noqa: TID251 frame_latency = ((evta.idx.timestampEof/1e9) - (evta.idx.timestampSof/1e9))*1000 process_latency = ((evt.logMonoTime/1e9) - (evta.idx.timestampEof/1e9))*1000 diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py index fe9c350a9b..88496ae4d5 100644 --- a/tools/lib/comma_car_segments.py +++ b/tools/lib/comma_car_segments.py @@ -86,5 +86,5 @@ def get_repo_url(path): return get_repo_raw_url(path) -def get_url(route, segment, file="rlog.bz2"): +def get_url(route, segment, file="rlog.zst"): return get_repo_url(f"segments/{route.replace('|', '/')}/{segment}/{file}") diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index 8f7f723c28..30ce1f80fe 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -56,6 +56,7 @@ def decompress_video_data(rawdat, w, h, pix_fmt="rgb24", vid_fmt='hevc') -> np.n "-"] dat = subprocess.check_output(args, input=rawdat) + ret: np.ndarray if pix_fmt == "rgb24": ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3) elif pix_fmt in ["nv12", "yuv420p"]: diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py index b2a11dc77b..204726363d 100644 --- a/tools/lib/url_file.py +++ b/tools/lib/url_file.py @@ -131,13 +131,13 @@ class URLFile: download_range = True if self._debug: - t1 = time.time() + t1 = time.monotonic() response = self._request('GET', self._url, headers=headers) ret = response.data if self._debug: - t2 = time.time() + t2 = time.monotonic() if t2 - t1 > 0.1: print(f"get {self._url} {headers!r} {t2 - t1:.3f} slow") diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index 690645aca9..ed88626be3 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -80,7 +80,13 @@ bool FrameReader::loadFromFile(CameraType type, const std::string &file, bool no } input_ctx->probesize = 10 * 1024 * 1024; // 10MB - decoder_ = decoder_manager.acquire(type, input_ctx->streams[0]->codecpar, !no_hw_decoder); + video_stream_idx_ = av_find_best_stream(input_ctx, AVMEDIA_TYPE_VIDEO, -1, -1, NULL, 0); + if (video_stream_idx_ < 0) { + rError("No video stream found in file"); + return false; + } + + decoder_ = decoder_manager.acquire(type, input_ctx->streams[video_stream_idx_]->codecpar, !no_hw_decoder); if (!decoder_) { return false; } @@ -90,7 +96,9 @@ bool FrameReader::loadFromFile(CameraType type, const std::string &file, bool no AVPacket pkt; packets_info.reserve(60 * 20); // 20fps, one minute while (!(abort && *abort) && av_read_frame(input_ctx, &pkt) == 0) { - packets_info.emplace_back(PacketInfo{.flags = pkt.flags, .pos = pkt.pos}); + if (pkt.stream_index == video_stream_idx_) { + packets_info.emplace_back(PacketInfo{.flags = pkt.flags, .pos = pkt.pos}); + } av_packet_unref(&pkt); } avio_seek(input_ctx->pb, 0, SEEK_SET); @@ -168,17 +176,17 @@ bool VideoDecoder::initHardwareDecoder(AVHWDeviceType hw_device_type) { } bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) { - int from_idx = idx; + int current_idx = idx; if (idx != reader->prev_idx + 1) { // seeking to the nearest key frame for (int i = idx; i >= 0; --i) { if (reader->packets_info[i].flags & AV_PKT_FLAG_KEY) { - from_idx = i; + current_idx = i; break; } } - auto pos = reader->packets_info[from_idx].pos; + auto pos = reader->packets_info[current_idx].pos; int ret = avformat_seek_file(reader->input_ctx, 0, pos, pos, pos, AVSEEK_FLAG_BYTE); if (ret < 0) { rError("Failed to seek to byte position %lld: %d", pos, AVERROR(ret)); @@ -188,18 +196,27 @@ bool VideoDecoder::decode(FrameReader *reader, int idx, VisionBuf *buf) { } reader->prev_idx = idx; - bool result = false; AVPacket pkt; - for (int i = from_idx; i <= idx; ++i) { - if (av_read_frame(reader->input_ctx, &pkt) == 0) { - AVFrame *f = decodeFrame(&pkt); - if (f && i == idx) { - result = copyBuffer(f, buf); - } + while (av_read_frame(reader->input_ctx, &pkt) >= 0) { + // Skip non-video packets + if (pkt.stream_index != reader->video_stream_idx_) { av_packet_unref(&pkt); + continue; + } + + AVFrame *frame = decodeFrame(&pkt); + av_packet_unref(&pkt); + if (!frame) { + rError("Failed to decode frame at index %d", current_idx); + return false; + } + + if (current_idx++ == idx) { + return copyBuffer(frame, buf); } } - return result; + rError("Failed to find frame at index %d", idx); + return false; } AVFrame *VideoDecoder::decodeFrame(AVPacket *pkt) { diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index 03ea5be8b2..a15847e311 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -28,6 +28,7 @@ public: VideoDecoder *decoder_ = nullptr; AVFormatContext *input_ctx = nullptr; + int video_stream_idx_ = -1; int prev_idx = -1; struct PacketInfo { int flags; diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py index 6ddc1b298a..e5a7a3ffde 100755 --- a/tools/replay/unlog_ci_segment.py +++ b/tools/replay/unlog_ci_segment.py @@ -42,7 +42,7 @@ def replay(route, segment, loop): msg = msgs[i].as_builder() next_msg = msgs[i + 1] - start_time = time.time() + start_time = time.monotonic() w = msg.which() if w == 'roadCameraState': @@ -63,7 +63,7 @@ def replay(route, segment, loop): socks[w] = None lag += (next_msg.logMonoTime - msg.logMonoTime) / 1e9 - lag -= time.time() - start_time + lag -= time.monotonic() - start_time dt = max(lag, 0.0) lag -= dt diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py index e78f984736..a8374a00cd 100644 --- a/tools/sim/lib/simulated_sensors.py +++ b/tools/sim/lib/simulated_sensors.py @@ -53,7 +53,7 @@ class SimulatedSensors: for _ in range(10): dat = messaging.new_message('gpsLocationExternal', valid=True) dat.gpsLocationExternal = { - "unixTimestampMillis": int(time.time() * 1000), + "unixTimestampMillis": int(time.time() * 1000), # noqa: TID251 "flags": 1, # valid fix "horizontalAccuracy": 1.0, "verticalAccuracy": 1.0, @@ -109,7 +109,7 @@ class SimulatedSensors: self.camerad.cam_send_yuv_wide_road(yuv) def update(self, simulator_state: 'SimulatorState', world: 'World'): - now = time.time() + now = time.monotonic() self.send_imu_message(simulator_state) self.send_gps_message(simulator_state) diff --git a/uv.lock b/uv.lock index 7cd67d7959..11b0d07e88 100644 --- a/uv.lock +++ b/uv.lock @@ -21,7 +21,7 @@ wheels = [ [[package]] name = "aiohttp" -version = "3.12.13" +version = "3.12.14" source = { registry = 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