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Merge remote-tracking branch 'upstream/master' into sportage-2023-port

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# Conflicts:
#	panda
pull/26342/head^2
Jason Wen 3 years ago
parent 063e6f79c4 972951f5f4
commit 073cbc7d6c
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GPG Key ID: 6AAEBEBBB33E2AD2
8 changed files with 37 additions and 24 deletions
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  1. 2
      panda
  2. 4
      selfdrive/car/gm/carstate.py
  3. 33
      selfdrive/car/honda/values.py
  4. 2
      selfdrive/car/tests/test_models.py
  5. 3
      tools/cabana/canmessages.cc
  6. 3
      tools/cabana/canmessages.h
  7. 13
      tools/cabana/mainwin.cc
  8. 1
      tools/cabana/videowidget.cc

2
panda

@ -1 +1 @@
Subproject commit 84393a7ff6e7752f90ab4bf6f66818683a8634b1 Subproject commit b95a65df58fea89b42b7c6b4fc85289b93a0bdb2

4
selfdrive/car/gm/carstate.py
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@ -8,6 +8,7 @@ from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
TransmissionType = car.CarParams.TransmissionType TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation NetworkLocation = car.CarParams.NetworkLocation
STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
class CarState(CarStateBase): class CarState(CarStateBase):
@ -39,7 +40,8 @@ class CarState(CarStateBase):
) )
ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.vEgoRaw < 0.01 # sample rear wheel speeds, standstill=True if ECM allows engagement with brake
ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1: if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
ret.gearShifter = self.parse_gear_shifter("T") ret.gearShifter = self.parse_gear_shifter("T")

33
selfdrive/car/honda/values.py
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@ -105,7 +105,6 @@ class Footnote(Enum):
@dataclass @dataclass
class HondaCarInfo(CarInfo): class HondaCarInfo(CarInfo):
package: str = "Honda Sensing" package: str = "Honda Sensing"
min_steer_speed: float = 12. * CV.MPH_TO_MS
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
@ -114,31 +113,31 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
], ],
CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"),
CAR.CIVIC_BOSCH: [ CAR.CIVIC_BOSCH: [
HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a), HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
], ],
CAR.CIVIC_BOSCH_DIESEL: None, # same platform CAR.CIVIC_BOSCH_DIESEL: None, # same platform
CAR.CIVIC_2022: [ CAR.CIVIC_2022: [
HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), HondaCarInfo("Honda Civic 2022", "All", harness=Harness.bosch_b),
HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), HondaCarInfo("Honda Civic Hatchback 2022", "All", harness=Harness.bosch_b),
], ],
CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec), CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec), CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a), CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring
CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a), CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec), CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec), CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec), CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec), CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", harness=Harness.nidec),
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec), CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec), CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec), CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec), CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec),
CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
} }

2
selfdrive/car/tests/test_models.py
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@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase):
checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev()
checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available
if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"): if self.CP.carName not in ("hyundai", "volkswagen", "body"):
# TODO: fix standstill mismatches for other makes # TODO: fix standstill mismatches for other makes
checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()

3
tools/cabana/canmessages.cc
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@ -26,7 +26,8 @@ static bool event_filter(const Event *e, void *opaque) {
} }
bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); routeName = route;
replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->setSegmentCacheLimit(settings.cached_segment_limit);
replay->installEventFilter(event_filter, this); replay->installEventFilter(event_filter, this);
QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged); QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged);

3
tools/cabana/canmessages.h
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@ -44,6 +44,8 @@ public:
bool eventFilter(const Event *event); bool eventFilter(const Event *event);
inline std::pair<double, double> range() const { return {begin_sec, end_sec}; } inline std::pair<double, double> range() const { return {begin_sec, end_sec}; }
inline QString route() const { return routeName; }
inline QString carFingerprint() const { return replay->carFingerprint().c_str(); }
inline double totalSeconds() const { return replay->totalSeconds(); } inline double totalSeconds() const { return replay->totalSeconds(); }
inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; }
inline double currentSec() const { return current_sec; } inline double currentSec() const { return current_sec; }
@ -80,6 +82,7 @@ protected:
double event_begin_sec = 0; double event_begin_sec = 0;
double event_end_sec = 0; double event_end_sec = 0;
bool is_zoomed = false; bool is_zoomed = false;
QString routeName;
Replay *replay = nullptr; Replay *replay = nullptr;
}; };

13
tools/cabana/mainwin.cc
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@ -30,8 +30,16 @@ MainWindow::MainWindow() : QWidget() {
right_container->setFixedWidth(640); right_container->setFixedWidth(640);
r_layout = new QVBoxLayout(right_container); r_layout = new QVBoxLayout(right_container);
QHBoxLayout *right_hlayout = new QHBoxLayout();
QLabel *fingerprint_label = new QLabel(this);
right_hlayout->addWidget(fingerprint_label);
// TODO: click to select another route.
right_hlayout->addWidget(new QLabel(can->route()));
QPushButton *settings_btn = new QPushButton("Settings"); QPushButton *settings_btn = new QPushButton("Settings");
r_layout->addWidget(settings_btn, 0, Qt::AlignRight); right_hlayout->addWidget(settings_btn, 0, Qt::AlignRight);
r_layout->addLayout(right_hlayout);
video_widget = new VideoWidget(this); video_widget = new VideoWidget(this);
r_layout->addWidget(video_widget, 0, Qt::AlignTop); r_layout->addWidget(video_widget, 0, Qt::AlignTop);
@ -45,10 +53,10 @@ MainWindow::MainWindow() : QWidget() {
QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart);
QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption);
QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); });
} }
void MainWindow::dockCharts(bool dock) { void MainWindow::dockCharts(bool dock) {
charts_widget->setUpdatesEnabled(false);
if (dock && floating_window) { if (dock && floating_window) {
floating_window->removeEventFilter(charts_widget); floating_window->removeEventFilter(charts_widget);
r_layout->addWidget(charts_widget); r_layout->addWidget(charts_widget);
@ -62,7 +70,6 @@ void MainWindow::dockCharts(bool dock) {
floating_window->setMinimumSize(QGuiApplication::primaryScreen()->size() / 2); floating_window->setMinimumSize(QGuiApplication::primaryScreen()->size() / 2);
floating_window->showMaximized(); floating_window->showMaximized();
} }
charts_widget->setUpdatesEnabled(true);
} }
void MainWindow::closeEvent(QCloseEvent *event) { void MainWindow::closeEvent(QCloseEvent *event) {

1
tools/cabana/videowidget.cc
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@ -15,6 +15,7 @@ inline QString formatTime(int seconds) {
VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
QVBoxLayout *main_layout = new QVBoxLayout(this); QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->setContentsMargins(0, 0, 0, 0);
// TODO: figure out why the CameraWidget crashed occasionally. // TODO: figure out why the CameraWidget crashed occasionally.
cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this); cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this);

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