From 0b79ba8acb99f6c1dc3957a985229e3d5a15892b Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Sat, 19 Nov 2022 19:20:41 -0300 Subject: [PATCH 001/201] Multilang: Update pt-BR translations (#26549) * update pt-BR translations * fix some cutoff texts * update pt-BR translation --- selfdrive/ui/translations/main_pt-BR.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 4a698947f1..105d6f77f0 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -285,11 +285,11 @@ ExperimentalModeButton EXPERIMENTAL MODE ON - + MODO EXPERIMENTAL ATIVADO CHILL MODE ON - + MODO CHILL ATIVADO @@ -1019,15 +1019,15 @@ trabalho definido On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. - + Neste carro o penpilot por padrão utiliza o ACC nativo do veículo ao invés de controlar longitudinalmente. Ative isto para mudar para o controle longitudinal do openpilot. Ativar o Modo Experimental é recomendado quando em uso do controle longitudinal experimental do openpilot. Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - + O Modo Experimental está atualmente indisponível para este carro, já que o ACC original do carro é usado para controle longitudinal. Enable experimental longitudinal control to allow experimental mode. - + Ative o controle longitudinal experimental para permitir o modo experimental. openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: @@ -1039,15 +1039,15 @@ trabalho definido Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. - + Deixe o modelo de IA controlar o acelerador e os freios. O openpilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade alfa; erros devem ser esperados. New Driving Visualization - + Nova Visualização de Condução The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - + A visualização da direção fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será exibido no canto superior direito. From c3822bdddadab3c24e9275ea5037cff96456f2fb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 19 Nov 2022 14:43:20 -0800 Subject: [PATCH 002/201] bump to 0.9.1 --- RELEASES.md | 5 +++++ common/version.h | 2 +- 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index e15286c5f0..97c92dfa47 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,3 +1,8 @@ +Version 0.9.1 (2022-12-XX) +======================== +* New driving model + + Version 0.9.0 (2022-11-21) ======================== * New driving model diff --git a/common/version.h b/common/version.h index 74a56a7c1b..7b5764785a 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.9.0" +#define COMMA_VERSION "0.9.1" From 649663e06d43a6d1b05fe83120391f3bd2401b8f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 19 Nov 2022 14:45:34 -0800 Subject: [PATCH 003/201] body: add can fingerprint (#26548) --- selfdrive/car/body/values.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 66f1b947a8..418835a3e9 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -26,6 +26,12 @@ CAR_INFO: Dict[str, CarInfo] = { CAR.BODY: CarInfo("comma body", package="All"), } +FINGERPRINTS = { + CAR.BODY: [{ + 513: 8, 516: 8, 514: 3, 515: 4, + }], +} + FW_QUERY_CONFIG = FwQueryConfig( requests=[ Request( From 5b8aed2ebf80ba0875ed21b8130a6ab7451e5740 Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Sun, 20 Nov 2022 11:44:04 -0800 Subject: [PATCH 004/201] body: fix UDS reqests (#26552) * bump body * add new fw version --- body | 2 +- selfdrive/car/body/values.py | 7 +++++-- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/body b/body index 04aeb30ce0..dc780f858c 160000 --- a/body +++ b/body @@ -1 +1 @@ -Subproject commit 04aeb30ce0bb14759989cd374158233877e1e151 +Subproject commit dc780f858c1ef641471d09b72569e199e3e10acb diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 418835a3e9..548039bc70 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -46,10 +46,13 @@ FW_VERSIONS = { CAR.BODY: { (Ecu.engine, 0x720, None): [ b'0.0.01', - b'02/27/2022' + b'02/27/2022', + b'0.3.00a', ], + # git hash of the firmware used (Ecu.debug, 0x721, None): [ - b'166bd860' # git hash of the firmware used + b'166bd860', + b'dc780f85', ], }, } From 17b1839e0a358302e049f37f5c843532fb9c7f26 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 21 Nov 2022 05:23:59 +0800 Subject: [PATCH 005/201] Cabana: faster align charts, visual glitches removed. (#26543) * faster adjust chart margins * delay adjust * update foreground after set margins * set display range on create * fix init display_range * common function updateDisplayRange * set min max to 0 if no values * fix axis y * use mapToValue * cleanup * get minmax from series * cleanup * cleanup eventsMerged * cleanup include --- tools/cabana/chartswidget.cc | 119 ++++++++++++++++------------------- tools/cabana/chartswidget.h | 2 +- 2 files changed, 54 insertions(+), 67 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 5a129b5f61..bc1f1e2a38 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -54,13 +54,25 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { void ChartsWidget::eventsMerged() { if (auto events = can->events(); events && !events->empty()) { - auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; }); - event_range.first = it == events->end() ? 0 : (*it)->mono_time / (double)1e9 - can->routeStartTime(); - event_range.second = it == events->end() ? 0 : events->back()->mono_time / (double)1e9 - can->routeStartTime(); - if (display_range.first == 0 && event_range.second == 0) { - display_range.first = event_range.first; - display_range.second = std::min(event_range.first + settings.max_chart_x_range, event_range.second); - } + event_range.first = (events->front()->mono_time / (double)1e9) - can->routeStartTime(); + event_range.second = (events->back()->mono_time / (double)1e9) - can->routeStartTime(); + updateDisplayRange(); + } +} + +void ChartsWidget::updateDisplayRange() { + auto prev_range = display_range; + double current_sec = can->currentSec(); + if (current_sec < display_range.first || current_sec >= (display_range.second - 5)) { + // reached the end, or seeked to a timestamp out of range. + display_range.first = current_sec - 5; + } + display_range.first = std::max(display_range.first, event_range.first); + display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second); + if (prev_range != display_range) { + QFutureSynchronizer future_synchronizer; + for (auto c : charts) + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::setEventsRange, display_range)); } } @@ -79,24 +91,10 @@ void ChartsWidget::zoomReset() { void ChartsWidget::updateState() { if (charts.isEmpty()) return; - const double current_sec = can->currentSec(); - if (is_zoomed) { - if (current_sec < zoomed_range.first || current_sec >= zoomed_range.second) { - can->seekTo(zoomed_range.first); - } - } else { - auto prev_range = display_range; - if (current_sec < display_range.first || current_sec >= (display_range.second - 5)) { - // line marker reached the end, or seeked to a timestamp out of range. - display_range.first = current_sec - 5; - } - display_range.first = std::max(display_range.first, event_range.first); - display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second); - if (prev_range != display_range) { - QFutureSynchronizer future_synchronizer; - for (auto c : charts) - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::setEventsRange, display_range)); - } + if (!is_zoomed) { + updateDisplayRange(); + } else if (can->currentSec() < zoomed_range.first || can->currentSec() >= zoomed_range.second) { + can->seekTo(zoomed_range.first); } const auto &range = is_zoomed ? zoomed_range : display_range; @@ -122,15 +120,14 @@ ChartView *ChartsWidget::findChart(const QString &id, const Signal *sig) { } void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bool merge) { - if (!show) { - if (ChartView *chart = findChart(id, sig)) { - chart->removeSeries(id, sig); - } - } else { + setUpdatesEnabled(false); + if (show) { ChartView *chart = merge && charts.size() > 0 ? charts.back() : nullptr; if (!chart) { chart = new ChartView(this); chart->setEventsRange(display_range); + auto range = is_zoomed ? zoomed_range : display_range; + chart->setDisplayRange(range.first, range.second); QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); @@ -140,9 +137,11 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo } chart->addSeries(id, sig); emit chartOpened(id, sig); - updateState(); + } else if (ChartView *chart = findChart(id, sig)) { + chart->removeSeries(id, sig); } updateToolBar(); + setUpdatesEnabled(true); } void ChartsWidget::removeChart(ChartView *chart) { @@ -175,8 +174,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { chart->addAxis(axis_y, Qt::AlignLeft); chart->legend()->setShowToolTips(true); chart->layout()->setContentsMargins(0, 0, 0, 0); - // top margin for title - chart->setMargins({0, 11, 0, 0}); + chart->setMargins(QMargins(20, 11, 11, 11)); track_line = new QGraphicsLineItem(chart); track_line->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); @@ -200,21 +198,12 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { setRubberBand(QChartView::HorizontalRubberBand); updateFromSettings(); - QTimer *timer = new QTimer(this); - timer->setInterval(100); - timer->setSingleShot(true); - timer->callOnTimeout(this, &ChartView::adjustChartMargins); - QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved); QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved); QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated); QObject::connect(&settings, &Settings::changed, this, &ChartView::updateFromSettings); QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); - QObject::connect(chart, &QChart::plotAreaChanged, [=](const QRectF &plotArea) { - // use a singleshot timer to avoid recursion call. - timer->start(); - }); } ChartView::~ChartView() { @@ -300,7 +289,6 @@ void ChartView::updateTitle() { void ChartView::updateFromSettings() { setFixedHeight(settings.chart_height); chart()->setTheme(settings.chart_theme == 0 ? QChart::ChartThemeLight : QChart::QChart::ChartThemeDark); - auto color = chart()->titleBrush().color(); } void ChartView::setEventsRange(const std::pair &range) { @@ -320,18 +308,19 @@ void ChartView::setDisplayRange(double min, double max) { void ChartView::adjustChartMargins() { // TODO: Remove hardcoded aligned_pos const int aligned_pos = 60; - if (chart()->plotArea().left() != aligned_pos) { + if ((int)chart()->plotArea().left() != aligned_pos) { const float left_margin = chart()->margins().left() + aligned_pos - chart()->plotArea().left(); - chart()->setMargins(QMargins(left_margin, 11, 0, 0)); + chart()->setMargins(QMargins(left_margin, 11, 11, 11)); + scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } } void ChartView::updateSeries(const Signal *sig) { auto events = can->events(); - if (!events) return; + if (!events || sigs.isEmpty()) return; - for (int i = 0; i < sigs.size(); ++i) { - if (auto &s = sigs[i]; !sig || s.sig == sig) { + for (auto &s : sigs) { + if (!sig || s.sig == sig) { s.vals.clear(); s.vals.reserve((events_range.second - events_range.first) * 1000); // [n]seconds * 1000hz s.min_y = std::numeric_limits::max(); @@ -357,9 +346,7 @@ void ChartView::updateSeries(const Signal *sig) { } } } - - QLineSeries *series = (QLineSeries *)chart()->series()[i]; - series->replace(s.vals); + s.series->replace(s.vals); } } updateAxisY(); @@ -367,6 +354,8 @@ void ChartView::updateSeries(const Signal *sig) { // auto zoom on yaxis void ChartView::updateAxisY() { + if (sigs.isEmpty()) return; + double min_y = std::numeric_limits::max(); double max_y = std::numeric_limits::lowest(); if (events_range == std::pair{axis_x->min(), axis_x->max()}) { @@ -376,17 +365,16 @@ void ChartView::updateAxisY() { } } else { for (auto &s : sigs) { - auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - if (begin == s.vals.end()) - return; - - auto end = std::upper_bound(s.vals.begin(), s.vals.end(), axis_x->max(), [](double x, auto &p) { return x < p.x(); }); - const auto [min, max] = std::minmax_element(begin, end, [](auto &p1, auto &p2) { return p1.y() < p2.y(); }); - if (min->y() < min_y) min_y = min->y(); - if (max->y() > max_y) max_y = max->y(); + for (int i = 0; i < s.series->count(); ++i) { + double y = s.series->at(i).y(); + if (y < min_y) min_y = y; + if (y > max_y) max_y = y; + } } } + if (min_y == std::numeric_limits::max()) min_y = 0; + if (max_y == std::numeric_limits::lowest()) max_y = 0; if (max_y == min_y) { axis_y->setRange(min_y - 1, max_y + 1); } else { @@ -394,6 +382,8 @@ void ChartView::updateAxisY() { axis_y->setRange(min_y - range * 0.05, max_y + range * 0.05); axis_y->applyNiceNumbers(); } + + QTimer::singleShot(0, this, &ChartView::adjustChartMargins); } void ChartView::leaveEvent(QEvent *event) { @@ -406,9 +396,8 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { rubber->hide(); QRectF rect = rubber->geometry().normalized(); - rect.translate(-chart()->plotArea().topLeft()); - double min = axis_x->min() + (rect.left() / chart()->plotArea().width()) * (axis_x->max() - axis_x->min()); - double max = axis_x->min() + (rect.right() / chart()->plotArea().width()) * (axis_x->max() - axis_x->min()); + double min = chart()->mapToValue(rect.topLeft()).x(); + double max = chart()->mapToValue(rect.bottomRight()).x(); if (rubber->width() <= 0) { // no rubber dragged, seek to mouse position can->seekTo(min); @@ -431,8 +420,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { const auto plot_area = chart()->plotArea(); if (!is_zooming && plot_area.contains(ev->pos())) { - double x = std::clamp((double)ev->pos().x(), plot_area.left(), plot_area.right() - 1); - double sec = axis_x->min() + (axis_x->max() - axis_x->min()) * (x - plot_area.left()) / plot_area.width(); + double sec = chart()->mapToValue(ev->pos()).x(); QStringList text_list; QPointF pos = plot_area.bottomRight(); double tm = 0.0; @@ -467,8 +455,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { } void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { - qreal x = chart()->plotArea().left() + - chart()->plotArea().width() * (can->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); + qreal x = chart()->mapToPosition(QPointF{can->currentSec(), 0}).x(); painter->setPen(QPen(chart()->titleBrush().color(), 2)); painter->drawLine(QPointF{x, chart()->plotArea().top() - 2}, QPointF{x, chart()->plotArea().bottom() + 2}); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 8f0af95b1a..c8e5a1040c 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -5,7 +5,6 @@ #include #include #include -#include #include #include #include @@ -93,6 +92,7 @@ signals: private: void eventsMerged(); void updateState(); + void updateDisplayRange(); void zoomIn(double min, double max); void zoomReset(); void updateToolBar(); From de443d30b37aa5d8b15c94749399d836155bcf60 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 22 Nov 2022 02:47:36 +0800 Subject: [PATCH 006/201] Cabana: 'edit-find' icon is not avaible on some platforms (#26561) Fixed edit-find icon is not avaible on some platforms --- tools/cabana/signaledit.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 93b7aa88f7..5d627a49da 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -95,7 +95,7 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa plot_btn->setAutoRaise(true); title_layout->addWidget(plot_btn); auto seek_btn = new QToolButton(this); - seek_btn->setIcon(QIcon::fromTheme("edit-find")); + seek_btn->setText("🔍"); seek_btn->setAutoRaise(true); seek_btn->setToolTip(tr("Find signal values")); title_layout->addWidget(seek_btn); From 89eeb72dbdb82258fdd26d7260f0c6455a371bf1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 22 Nov 2022 02:47:47 +0800 Subject: [PATCH 007/201] Cabana: update chart and video position (after a click) in pause mode (#26560) update chart and video position (after a click) in pause mode --- tools/cabana/canmessages.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 3bcaae4bbd..a8e881c5fe 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -124,6 +124,7 @@ const std::deque CANMessages::messages(const QString &id) { void CANMessages::seekTo(double ts) { replay->seekTo(std::max(double(0), ts), false); counters_begin_sec = 0; + emit updated(); } void CANMessages::settingChanged() { From 2b4b0cc67f59c896caf32fd937ad6ebf0f7ae640 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 22 Nov 2022 02:47:58 +0800 Subject: [PATCH 008/201] Replay: fixed the freq of video and events are unstable after changing the replay speed (#26559) fix freq is unstable after changing the replay speed --- tools/replay/replay.cc | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 1337a4ef2c..1464a6cf57 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -358,6 +358,7 @@ void Replay::publishFrame(const Event *e) { void Replay::stream() { cereal::Event::Which cur_which = cereal::Event::Which::INIT_DATA; + double prev_replay_speed = 1.0; std::unique_lock lk(stream_lock_); while (true) { @@ -397,10 +398,11 @@ void Replay::stream() { long rtime = nanos_since_boot() - loop_start_ts; long behind_ns = etime - rtime; // if behind_ns is greater than 1 second, it means that an invalid segemnt is skipped by seeking/replaying - if (behind_ns >= 1 * 1e9) { - // reset start times + if (behind_ns >= 1 * 1e9 || speed_ != prev_replay_speed) { + // reset event start times evt_start_ts = cur_mono_time_; loop_start_ts = nanos_since_boot(); + prev_replay_speed = speed_; } else if (behind_ns > 0 && !hasFlag(REPLAY_FLAG_FULL_SPEED)) { precise_nano_sleep(behind_ns); } From 7b46928fc9cda9e5200d72c15253f60981eedc74 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 22 Nov 2022 02:48:08 +0800 Subject: [PATCH 009/201] Cabana: fix auto zoom y-axis for multiple line series (#26558) auto zoom y-axis for multiple series --- tools/cabana/chartswidget.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index bc1f1e2a38..3029d9db89 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -365,10 +365,10 @@ void ChartView::updateAxisY() { } } else { for (auto &s : sigs) { - for (int i = 0; i < s.series->count(); ++i) { - double y = s.series->at(i).y(); - if (y < min_y) min_y = y; - if (y > max_y) max_y = y; + auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); + for (auto it = begin; it != s.vals.end() && it->x() <= axis_x->max(); ++it) { + if (it->y() < min_y) min_y = it->y(); + if (it->y() > max_y) max_y = it->y(); } } } From efbfbc062280063b1cde744a97ecde5abb711784 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 22 Nov 2022 02:48:19 +0800 Subject: [PATCH 010/201] Cabana: display dashes if no value available (#26557) show dot if no value --- tools/cabana/chartswidget.cc | 45 ++++++++++++++++++------------------ 1 file changed, 23 insertions(+), 22 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 3029d9db89..5d530a8c8a 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -420,34 +420,35 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { const auto plot_area = chart()->plotArea(); if (!is_zooming && plot_area.contains(ev->pos())) { - double sec = chart()->mapToValue(ev->pos()).x(); QStringList text_list; - QPointF pos = plot_area.bottomRight(); - double tm = 0.0; - + QPointF pos = {}; + const double sec = chart()->mapToValue(ev->pos()).x(); for (auto &s : sigs) { - auto value = std::upper_bound(s.vals.begin(), s.vals.end(), sec, [](double x, auto &p) { return x < p.x(); }); - if (value != s.vals.end()) { - text_list.push_back(QString(" %1 : %2 ").arg(sigs.size() > 1 ? s.sig->name.c_str() : "Value").arg(value->y())); - tm = value->x(); - auto y_pos = chart()->mapToPosition(*value); - if (y_pos.y() < pos.y()) pos = y_pos; + QString value = "--"; + // use reverse iterator to find last item <= sec. + auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; }); + if (it != s.vals.rend() && it->x() >= axis_x->min()) { + value = QString::number(it->y()); + auto value_pos = chart()->mapToPosition(*it); + if (value_pos.x() > pos.x()) pos = value_pos; } + text_list.push_back(QString(" %1 : %2 ").arg(sigs.size() > 1 ? s.sig->name.c_str() : "Value").arg(value)); } + if (pos.x() == 0) pos = ev->pos(); - if (!text_list.isEmpty()) { - value_text->setHtml("
 Time: " + - QString::number(tm, 'f', 3) + " 
" + text_list.join("
") + "
"); - track_line->setLine(pos.x(), plot_area.top(), pos.x(), plot_area.bottom()); - int text_x = pos.x() + 8; - QRectF text_rect = value_text->boundingRect(); - if ((text_x + text_rect.width()) > plot_area.right()) { - text_x = pos.x() - text_rect.width() - 8; - } - value_text->setPos(text_x, pos.y() - text_rect.height() / 2); - track_ellipse->setRect(pos.x() - 5, pos.y() - 5, 10, 10); + QString time = QString::number(chart()->mapToValue(pos).x(), 'f', 3); + value_text->setHtml(QString("
 Time: %1  
%2
") + .arg(time).arg(text_list.join("
"))); + + QRectF text_rect = value_text->boundingRect(); + int text_x = pos.x() + 8; + if ((text_x + text_rect.width()) > plot_area.right()) { + text_x = pos.x() - text_rect.width() - 8; } - item_group->setVisible(!text_list.isEmpty()); + value_text->setPos(text_x, pos.y() - text_rect.height() / 2); + track_line->setLine(pos.x(), plot_area.top(), pos.x(), plot_area.bottom()); + track_ellipse->setRect(pos.x() - 5, pos.y() - 5, 10, 10); + item_group->setVisible(true); } else { item_group->setVisible(false); } From 96c9b8c50e0413ba92e7729e1820884d88598989 Mon Sep 17 00:00:00 2001 From: protonchang <2095341+protonchang@users.noreply.github.com> Date: Tue, 22 Nov 2022 02:48:30 +0800 Subject: [PATCH 011/201] Update CHT translations (#26537) * Add missing translations * Fix some CHS -> CHT wording --- selfdrive/ui/translations/main_zh-CHT.ts | 30 ++++++++++++------------ 1 file changed, 15 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 46fb5578a3..0379e926c4 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -113,7 +113,7 @@ Decline, uninstall %1 - 拒絕並卸載 %1 + 拒絕並解除安裝 %1 @@ -132,7 +132,7 @@ Driver Camera - 駕駛員攝像頭 + 駕駛員監控鏡頭 PREVIEW @@ -285,11 +285,11 @@ ExperimentalModeButton EXPERIMENTAL MODE ON - + 實驗模式 ON CHILL MODE ON - + 輕鬆模式 ON @@ -859,15 +859,15 @@ location set UNINSTALL - 卸載 + 解除安裝 Uninstall %1 - 卸載 %1 + 解除安裝 %1 Are you sure you want to uninstall? - 您確定您要卸載嗎？ + 您確定您要解除安裝嗎？ CHECK @@ -875,7 +875,7 @@ location set Uninstall - 卸載 + 解除安裝 @@ -1015,19 +1015,19 @@ location set On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. - + 在本車輛中，openpilot預設將使用原車內建的ACC系統，而非openpilot縱向控制。開啟此開關來啟用openpilot縱向控制，使用此選項時建議一併啟用實驗模式。 Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - + 因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。 Enable experimental longitudinal control to allow experimental mode. - + 啟用實驗性縱向控制以使用實驗模式。 openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: - openpilot 默認以 <b>輕鬆模式</b> 駕駛。 實驗模式啟用了尚未準備好進入輕鬆模式的 <b>alpha 級功能</b>。實驗功能如下： + openpilot 預設以 <b>輕鬆模式</b> 駕駛。 實驗模式啟用了尚未準備好進入輕鬆模式的 <b>alpha 級功能</b>。實驗功能如下： 🌮 End-to-End Longitudinal Control 🌮 @@ -1035,15 +1035,15 @@ location set Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. - + 讓駕駛模型來控制油門及煞車。openpilot將會模擬人類的駕駛行為，包含在看見紅燈及停止標示時停車。由於車速將由駕駛模型決定，因此您設定的時速將成為速度上限。本功能仍在早期實驗階段，請預期模型有犯錯的可能性。 New Driving Visualization - + 新的駕駛視覺介面 The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - + 低速行駛時，將會切換成路側廣角鏡頭，以完整顯示轉彎路徑，右上角將出現實驗模式圖案。 From 5b8f0db3e5dea3b7fcc90250ee7aefb8fa00555b Mon Sep 17 00:00:00 2001 From: ambientocclusion <1399123+ambientocclusion@users.noreply.github.com> Date: Mon, 21 Nov 2022 15:23:02 -0800 Subject: [PATCH 012/201] Multilang: add missing Japanese translations (#26556) * Add missing Japanese translations * Update some words --- selfdrive/ui/translations/main_ja.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index ebf40cc5c5..8226dd59f9 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -285,11 +285,11 @@ ExperimentalModeButton EXPERIMENTAL MODE ON - + 実験モード CHILL MODE ON - + チルモード @@ -1015,15 +1015,15 @@ location set On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. - + openpilotはこの車の場合、車に内蔵されているACCを標準で利用します。この機能を有効にすることで実験段階のopenpilotによるアクセル制御を利用できます。実験モードと合わせて利用することをお勧めします。 Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - + この車のACCがアクセル制御を行うため、実験モードを利用することができません。 Enable experimental longitudinal control to allow experimental mode. - + 実験段階のopenpilotによるアクセル制御を有効にしてください。 openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: @@ -1035,15 +1035,15 @@ location set Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. - + openpilotにアクセルとブレーキを任せます。openpilotは赤信号や一時停止サインでの停止を含み、人間と同じように考えて運転を行います。openpilotが運転速度を決定するため、あなたが設定する速度は上限速度になります。この機能は実験段階のため、openpilotの運転ミスに常に備えて注意してください。 New Driving Visualization - + 新しい運転画面 The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. - + 新しい運転画面では、低速時に広角カメラの映像を表示することで、曲がる際の道路の視覚を向上します。実験段階を表すマークが右上に表示されます。 From ded66e6307825d9327c12145e1bc6acd2e835346 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 21 Nov 2022 15:25:23 -0800 Subject: [PATCH 013/201] long_mpc: fix e2e source condition (#26546) * fix long_mpc source param * rm print * add back space for formatting --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 6b79813117..79a9ec4f0c 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -352,7 +352,7 @@ class LongitudinalMpc: x_and_cruise = np.column_stack([x, cruise_target]) x = np.min(x_and_cruise, axis=1) - self.source = 'e2e' if x_and_cruise[0,0] < x_and_cruise[0,1] else 'cruise' + self.source = 'e2e' if x_and_cruise[1,0] < x_and_cruise[1,1] else 'cruise' else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner update') From 5402e02785ce2dffa404acf888fcc36d3df133fa Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Mon, 21 Nov 2022 20:28:34 -0300 Subject: [PATCH 014/201] Lexus UX Hybrid 2020 Fingerprint (#26551) Lexus UX 2020 Fingerprint alex.takeda@gmail.com --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index ba26c7e03b..b4b3ac4131 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -821,6 +821,7 @@ FW_VERSIONS = { b'\x01896637621000\x00\x00\x00\x00', b'\x01896637624000\x00\x00\x00\x00', b'\x01896637626000\x00\x00\x00\x00', + b'\x01896637639000\x00\x00\x00\x00', b'\x01896637648000\x00\x00\x00\x00', b'\x01896637643000\x00\x00\x00\x00', b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', From 62ad278829bbe7e6756f4bb3c44386e9c85d731c Mon Sep 17 00:00:00 2001 From: martinl Date: Tue, 22 Nov 2022 01:34:20 +0200 Subject: [PATCH 015/201] Add FPv2: 2022 Subaru Outback Wilderness (#26540) Add FPv2: 2022 Outback Wilderness / @valtou --- selfdrive/car/subaru/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 7a1e9a8a3d..9975e495dd 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -461,6 +461,7 @@ FW_VERSIONS = { b'\xa1 \x08\x02', b'\xa1 \x06\x02', b'\xa1 \x08\x00', + b'\xa1 "\t\x00', ], (Ecu.eps, 0x746, None): [ b'\x9b\xc0\x10\x00', @@ -482,6 +483,7 @@ FW_VERSIONS = { b'\xe2"`p\x07', b'\xf1\x82\xe2,\xa0@\x07', b'\xbc"`q\x07', + b'\xe3,\xa0@\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xa5\xfe\xf7@\x00', From 548888d6341a4f44ea2e4154fb8c820c3fc38e4e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Nov 2022 15:59:42 -0800 Subject: [PATCH 016/201] docs: update Toyota DSU footnote (#26568) --- docs/CARS.md | 4 ++-- selfdrive/car/docs_definitions.py | 7 +++---- 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 59b8145556..a0d22a3d27 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -225,8 +225,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. Using openpilot longitudinal may disable Automatic Emergency Braking (AEB).
-2When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
+1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
+2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
3Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
5openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 8e057a1563..6ec9ac5c40 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -73,12 +73,11 @@ CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only"], default class CommonFootnote(Enum): EXP_LONG_AVAIL = CarFootnote( - "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `master-ci`. " + - "Using openpilot longitudinal may disable Automatic Emergency Braking (AEB).", + "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. ", Column.LONGITUDINAL, docs_only=True) EXP_LONG_DSU = CarFootnote( - "When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " + - "stock Adaptive Cruise Control (ACC). NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).", + "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " + + "stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).", Column.LONGITUDINAL) From 94aa39bdd406400ab48765d8b50f08e03ecf9eb8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Nov 2022 16:18:51 -0800 Subject: [PATCH 017/201] enable experimental longitudinal control on devel (#26544) --- selfdrive/controls/controlsd.py | 4 ++-- system/version.py | 6 +++++- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index a18bec83a8..a395f85580 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -12,7 +12,7 @@ import cereal.messaging as messaging from common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE from system.swaglog import cloudlog -from system.version import is_tested_branch, get_short_branch +from system.version import is_release_branch, get_short_branch from selfdrive.boardd.boardd import can_list_to_can_capnp from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET @@ -132,7 +132,7 @@ class Controls: safety_config.safetyModel = car.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] - if is_tested_branch(): + if is_release_branch(): self.CP.experimentalLongitudinalAvailable = False # Write CarParams for radard diff --git a/system/version.py b/system/version.py index f0817b3a9f..6031531556 100644 --- a/system/version.py +++ b/system/version.py @@ -7,7 +7,8 @@ from functools import lru_cache from common.basedir import BASEDIR from system.swaglog import cloudlog -TESTED_BRANCHES = ['devel', 'release3-staging', 'dashcam3-staging', 'release3', 'dashcam3'] +RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3'] +TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging'] training_version: bytes = b"0.2.0" terms_version: bytes = b"2" @@ -96,6 +97,9 @@ def is_comma_remote() -> bool: def is_tested_branch() -> bool: return get_short_branch() in TESTED_BRANCHES +@cache +def is_release_branch() -> bool: + return get_short_branch() in RELEASE_BRANCHES @cache def is_dirty() -> bool: From be3d6527adb3f58500e7c9f2d689b4821c233791 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Mon, 21 Nov 2022 18:22:01 -0600 Subject: [PATCH 018/201] Add missing HIGHLANDERH_TSS2 ABS & engine f/w (#26534) `@shakir07#1323` 2020 Highlander Hybrid DongleID/route ce56baaf82559131|2022-11-16--23-54-01 --- selfdrive/car/toyota/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index b4b3ac4131..cf37a3c2f2 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1015,6 +1015,7 @@ FW_VERSIONS = { b'\x01F15264873500\x00\x00\x00\x00', b'\x01F152648C6300\x00\x00\x00\x00', b'\x01F152648J4000\x00\x00\x00\x00', + b'\x01F152648J5000\x00\x00\x00\x00', b'\x01F152648J6000\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ @@ -1022,6 +1023,7 @@ FW_VERSIONS = { b'\x01896630EA1000\x00\x00\x00\x00', b'\x01896630EE4000\x00\x00\x00\x00', b'\x01896630EE4100\x00\x00\x00\x00', + b'\x01896630EE5000\x00\x00\x00\x00', b'\x01896630EE6000\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', From 23a7a987f6ab75ebee4dd856ba0a0c179b2f90b0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 21 Nov 2022 17:05:13 -0800 Subject: [PATCH 019/201] controlsd: add test around cruise speed gas pressed behavior (#26486) * test * test * debug * test * test * test * clean up * clean up * add test * stash * clean up * clean up * clean up * assert equal --- selfdrive/controls/lib/drive_helpers.py | 4 +-- selfdrive/controls/tests/test_cruise_speed.py | 26 ++++++++++++++++++- 2 files changed, 27 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index bdbdb7023a..f0dc2e9467 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -12,6 +12,7 @@ V_CRUISE_MAX = 145 # kph V_CRUISE_MIN = 8 # kph V_CRUISE_ENABLE_MIN = 40 # kph V_CRUISE_INITIAL = 255 # kph +IMPERIAL_INCREMENT = 1.6 # should be CV.MPH_TO_KPH, but this causes rounding errors MIN_SPEED = 1.0 LAT_MPC_N = 16 @@ -73,8 +74,7 @@ class VCruiseHelper: long_press = False button_type = None - # should be CV.MPH_TO_KPH, but this causes rounding errors - v_cruise_delta = 1. if is_metric else 1.6 + v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT for b in CS.buttonEvents: if b.type.raw in self.button_timers and not b.pressed: diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index 3d6f55931e..a635198ceb 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -3,7 +3,7 @@ import numpy as np from parameterized import parameterized_class import unittest -from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN +from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN, IMPERIAL_INCREMENT from cereal import car from common.conversions import Conversions as CV from common.params import Params @@ -110,6 +110,30 @@ class TestVCruiseHelper(unittest.TestCase): should_equal = standstill or pressed self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + def test_set_gas_pressed(self): + """ + Asserts pressing set while enabled with gas pressed sets + the speed to the maximum of vEgo and current cruise speed. + """ + + for v_ego in np.linspace(0, 100, 101): + self.reset_cruise_speed_state() + self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS) + + # first decrement speed, then perform gas pressed logic + expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT + expected_v_cruise_kph = max(expected_v_cruise_kph, v_ego * CV.MS_TO_KPH) # clip to min of vEgo + expected_v_cruise_kph = float(np.clip(round(expected_v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)) + + CS = car.CarState(vEgo=float(v_ego), gasPressed=True, cruiseState={"available": True}) + CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=False)] + self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) + + # TODO: fix skipping first run due to enabled on rising edge exception + if v_ego == 0.0: + continue + self.assertEqual(expected_v_cruise_kph, self.v_cruise_helper.v_cruise_kph) + def test_initialize_v_cruise(self): """ Asserts allowed cruise speeds on enabling with SET. From 4478241bea02cb673983aa6b97428702a54dd1c2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Nov 2022 17:17:36 -0800 Subject: [PATCH 020/201] spi goes on boardd core --- panda | 2 +- system/hardware/tici/hardware.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/panda b/panda index 5dc5cd8e20..2e90b6f308 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5dc5cd8e20668dfb15d35b175fccbfd3f7b63b09 +Subproject commit 2e90b6f308dc09bf1734f6cb5cc990cb8149486d diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index e2fd20c1be..b5f5e00410 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -416,6 +416,7 @@ class Tici(HardwareBase): # *** IRQ config *** affine_irq(5, 565) # kgsl-3d0 + affine_irq(4, 126) # SPI goes on boardd core affine_irq(4, 740) # xhci-hcd:usb1 goes on the boardd core affine_irq(4, 1069) # xhci-hcd:usb3 goes on the boardd core for irq in range(237, 246): From 1367f84425b5fbdb3ecf8452b134b641998e404a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 21 Nov 2022 18:01:08 -0800 Subject: [PATCH 021/201] Car docs: add a make-specific init function (#26565) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * add a hook function for makes to implement custom docs logic * don't need this * use the pre-defined list for honda's harnesses * one line 😎 * Update selfdrive/car/docs_definitions.py * i didn't know you didn't need a pass! * don't change docs order --- selfdrive/car/docs.py | 1 + selfdrive/car/docs_definitions.py | 3 ++ selfdrive/car/gm/values.py | 21 +++++++----- selfdrive/car/honda/values.py | 52 +++++++++++++++++------------- selfdrive/car/volkswagen/values.py | 20 ++++++------ 5 files changed, 57 insertions(+), 40 deletions(-) diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 58afed27eb..03313e2ff6 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -40,6 +40,7 @@ def get_all_car_info() -> List[CarInfo]: for _car_info in car_info: if not hasattr(_car_info, "row"): + _car_info.init_make(CP) _car_info.init(CP, footnotes) all_car_info.append(_car_info) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 6ec9ac5c40..7cf44514d6 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -172,6 +172,9 @@ class CarInfo: return self + def init_make(self, CP: car.CarParams): + """CarInfo subclasses can add make-specific logic for harness selection, footnotes, etc.""" + def get_detail_sentence(self, CP): if not CP.notCar: sentence_builder = "openpilot upgrades your {car_model} with automated lane centering{alc} and adaptive cruise control{acc}." diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 35f87307d6..0a8cdc6dbb 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -1,5 +1,5 @@ from collections import defaultdict -from dataclasses import dataclass, field +from dataclasses import dataclass from enum import Enum from typing import Dict, List, Union @@ -84,8 +84,13 @@ class Footnote(Enum): @dataclass class GMCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC)" - harness: Enum = Harness.obd_ii - footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II]) + + def init_make(self, CP: car.CarParams): + if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera: + self.harness = Harness.gm + else: + self.harness = Harness.obd_ii + self.footnotes.append(Footnote.OBD_II) CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { @@ -96,13 +101,13 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), - CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23", footnotes=[], harness=Harness.gm), - CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm), + CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23"), + CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"), CAR.SILVERADO: [ - GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm), - GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE", footnotes=[], harness=Harness.gm), + GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"), + GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"), ], - CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", footnotes=[], harness=Harness.gm), + CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"), } diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 2510f2e1ff..151c2140f5 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -106,40 +106,46 @@ class Footnote(Enum): class HondaCarInfo(CarInfo): package: str = "Honda Sensing" + def init_make(self, CP: car.CarParams): + if CP.carFingerprint in HONDA_BOSCH: + self.harness = Harness.bosch_b if CP.carFingerprint in HONDA_BOSCH_RADARLESS else Harness.bosch_a + else: + self.harness = Harness.nidec + CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", 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), + HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), + HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), ], - 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", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"), + CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ - 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", min_steer_speed=12. * 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), + HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform CAR.CIVIC_2022: [ - HondaCarInfo("Honda Civic 2022", "All", harness=Harness.bosch_b), - HondaCarInfo("Honda Civic Hatchback 2022", "All", harness=Harness.bosch_b), + HondaCarInfo("Honda Civic 2022", "All"), + HondaCarInfo("Honda Civic Hatchback 2022", "All"), ], - 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", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), - CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), + CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), 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", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a), - CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS, 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", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), - CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", harness=Harness.nidec), + CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"), CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey - 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.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", min_steer_speed=12. * CV.MPH_TO_MS, 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.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), } FW_QUERY_CONFIG = FwQueryConfig( diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index cb2343e08f..f24448adbc 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,5 +1,5 @@ from collections import defaultdict, namedtuple -from dataclasses import dataclass, field +from dataclasses import dataclass from enum import Enum from typing import Dict, List, Union @@ -165,7 +165,9 @@ class Footnote(Enum): class VWCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC) & Lane Assist" harness: Enum = Harness.j533 - footnotes: List[Enum] = field(default_factory=lambda: [Footnote.VW_EXP_LONG]) + + def init_make(self, CP: car.CarParams): + self.footnotes.insert(0, Footnote.VW_EXP_LONG) CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { @@ -197,28 +199,28 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Jetta GLI 2021-22"), ], CAR.PASSAT_MK8: [ - VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.PASSAT]), + VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]), VWCarInfo("Volkswagen Passat Alltrack 2015-22"), VWCarInfo("Volkswagen Passat GTE 2015-22"), ], CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"), CAR.POLO_MK6: [ - VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]), - VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]), + VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_MQB_A0]), + VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]), ], CAR.SHARAN_MK2: [ VWCarInfo("Volkswagen Sharan 2018-22"), VWCarInfo("SEAT Alhambra 2018-20"), ], CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"), - CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]), + CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22"), CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"), CAR.TRANSPORTER_T61: [ VWCarInfo("Volkswagen Caravelle 2020"), VWCarInfo("Volkswagen California 2021"), ], - CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]), + CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_MQB_A0]), CAR.AUDI_A3_MK3: [ VWCarInfo("Audi A3 2014-19"), VWCarInfo("Audi A3 Sportback e-tron 2017-18"), @@ -229,10 +231,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"), CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), - CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0, Footnote.KAMIQ]), + CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"), - CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]), + CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ VWCarInfo("Škoda Octavia 2015, 2018-19"), From c0c94b4961e8e32c3f8dbcfed2b7d91c28000085 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Nov 2022 20:32:23 -0800 Subject: [PATCH 022/201] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 2e90b6f308..c075050d5d 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2e90b6f308dc09bf1734f6cb5cc990cb8149486d +Subproject commit c075050d5df70570cfadd8c0d7507f25fe67d247 From 8ee07def5c8b21c479b9f342ba490887237b2d0f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Nov 2022 21:18:35 -0800 Subject: [PATCH 023/201] jenkins: set hostname on startup --- selfdrive/test/setup_device_ci.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index 02c7d76637..9e06b98662 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -29,6 +29,7 @@ sudo abctl --set_success # patch sshd config sudo mount -o rw,remount / +echo tici-$(cat /proc/cmdline | sed -e 's/^.*androidboot.serialno=//' -e 's/ .*$//') | sudo tee /etc/hostname sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config sudo systemctl daemon-reload sudo systemctl restart ssh From e9dcabcef73aaffeee8eaaeab29d48e8277d98a6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Nov 2022 23:13:41 -0800 Subject: [PATCH 024/201] boardd: end peripheral panda discrimination --- selfdrive/boardd/boardd.cc | 3 --- selfdrive/boardd/panda.cc | 3 ++- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 5496902252..1f1249194d 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -528,9 +528,6 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) { cnt++; sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update? - // Other pandas don't have fan/IR to control - if (panda->hw_type != cereal::PandaState::PandaType::UNO && panda->hw_type != cereal::PandaState::PandaType::DOS) continue; - if (sm.updated("deviceState") && !no_fan_control) { // Fan speed uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired(); diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index deccee3e76..b82de593c8 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -24,7 +24,8 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { (hw_type != cereal::PandaState::PandaType::GREY_PANDA)); has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) || - (hw_type == cereal::PandaState::PandaType::DOS); + (hw_type == cereal::PandaState::PandaType::DOS) || + (hw_type == cereal::PandaState::PandaType::TRES); return; } From 65fa87a96965000986e76604ac868891e35a86bc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 21 Nov 2022 23:43:24 -0800 Subject: [PATCH 025/201] cleanup panda types everywhere (#26574) * cleanup panda types everywhere * one more --- selfdrive/controls/controlsd.py | 11 ++-- selfdrive/controls/lib/events.py | 3 +- selfdrive/debug/test_fw_query_on_routes.py | 2 +- selfdrive/thermald/power_monitoring.py | 9 ++- .../thermald/tests/test_power_monitoring.py | 63 +++++++------------ selfdrive/thermald/thermald.py | 3 +- 6 files changed, 34 insertions(+), 57 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index a395f85580..7b95b3b29c 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -275,12 +275,11 @@ class Controls: # self.events.add(EventName.highCpuUsage) # Alert if fan isn't spinning for 5 seconds - if self.sm['peripheralState'].pandaType == PandaType.dos: - if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: - if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: - self.events.add(EventName.fanMalfunction) - else: - self.last_functional_fan_frame = self.sm.frame + if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: + if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: + self.events.add(EventName.fanMalfunction) + else: + self.last_functional_fan_frame = self.sm.frame # Handle calibration status cal_status = self.sm['liveCalibration'].calStatus diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index a761cceecb..1ed2ffa865 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -250,10 +250,9 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert: - gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos) return Alert( "Poor GPS reception", - "Hardware malfunctioning if sky is visible" if gps_integrated else "Check GPS antenna placement", + "Hardware malfunctioning if sky is visible", AlertStatus.normal, AlertSize.mid, Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 595e25e8c3..ba7d96dba0 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -68,7 +68,7 @@ if __name__ == "__main__": CP = None for msg in lr: if msg.which() == "pandaStates": - if msg.pandaStates[0].pandaType not in ('uno', 'blackPanda', 'dos'): + if msg.pandaStates[0].pandaType in ('unknown', 'whitePanda', 'greyPanda', 'pedal'): print("wrong panda type") break diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 7834569088..e62f0f97c3 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -1,7 +1,6 @@ import threading from typing import Optional -from cereal import log from common.params import Params, put_nonblocking from common.realtime import sec_since_boot from system.hardware import HARDWARE @@ -39,12 +38,12 @@ class PowerMonitoring: self.car_battery_capacity_uWh = max((CAR_BATTERY_CAPACITY_uWh / 10), int(car_battery_capacity_uWh)) # Calculation tick - def calculate(self, peripheralState, ignition): + def calculate(self, voltage: Optional[int], ignition: bool): try: now = sec_since_boot() # If peripheralState is None, we're probably not in a car, so we don't care - if peripheralState is None or peripheralState.pandaType == log.PandaState.PandaType.unknown: + if voltage is None: with self.integration_lock: self.last_measurement_time = None self.next_pulsed_measurement_time = None @@ -52,8 +51,8 @@ class PowerMonitoring: return # Low-pass battery voltage - self.car_voltage_instant_mV = peripheralState.voltage - self.car_voltage_mV = ((peripheralState.voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K))) + self.car_voltage_instant_mV = voltage + self.car_voltage_mV = ((voltage * CAR_VOLTAGE_LOW_PASS_K) + (self.car_voltage_mV * (1 - CAR_VOLTAGE_LOW_PASS_K))) statlog.gauge("car_voltage", self.car_voltage_mV / 1e3) # Cap the car battery power and save it in a param every 10-ish seconds diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index 5d7463d455..4a5def7740 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -1,10 +1,7 @@ #!/usr/bin/env python3 import unittest from unittest.mock import patch -from parameterized import parameterized -from cereal import log -import cereal.messaging as messaging from common.params import Params params = Params() @@ -21,7 +18,8 @@ with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot): CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING TEST_DURATION_S = 50 -ALL_PANDA_TYPES = [(log.PandaState.PandaType.dos,)] +GOOD_VOLTAGE = 12 * 1e3 +VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3 def pm_patch(name, value, constant=False): if constant: @@ -34,12 +32,6 @@ class TestPowerMonitoring(unittest.TestCase): params.remove("CarBatteryCapacity") params.remove("DisablePowerDown") - def mock_peripheralState(self, hw_type, car_voltage=12): - ps = messaging.new_message('peripheralState').peripheralState - ps.pandaType = hw_type - ps.voltage = car_voltage * 1e3 - return ps - # Test to see that it doesn't do anything when pandaState is None def test_pandaState_present(self): pm = PowerMonitoring() @@ -49,75 +41,68 @@ class TestPowerMonitoring(unittest.TestCase): self.assertEqual(pm.get_car_battery_capacity(), (CAR_BATTERY_CAPACITY_uWh / 10)) # Test to see that it doesn't integrate offroad when ignition is True - @parameterized.expand(ALL_PANDA_TYPES) - def test_offroad_ignition(self, hw_type): + def test_offroad_ignition(self): pm = PowerMonitoring() for _ in range(10): - pm.calculate(self.mock_peripheralState(hw_type), True) + pm.calculate(GOOD_VOLTAGE, True) self.assertEqual(pm.get_power_used(), 0) # Test to see that it integrates with discharging battery - @parameterized.expand(ALL_PANDA_TYPES) - def test_offroad_integration_discharging(self, hw_type): + def test_offroad_integration_discharging(self): POWER_DRAW = 4 with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() for _ in range(TEST_DURATION_S + 1): - pm.calculate(self.mock_peripheralState(hw_type), False) + pm.calculate(GOOD_VOLTAGE, False) expected_power_usage = ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) self.assertLess(abs(pm.get_power_used() - expected_power_usage), 10) # Test to check positive integration of car_battery_capacity - @parameterized.expand(ALL_PANDA_TYPES) - def test_car_battery_integration_onroad(self, hw_type): + def test_car_battery_integration_onroad(self): POWER_DRAW = 4 with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = 0 for _ in range(TEST_DURATION_S + 1): - pm.calculate(self.mock_peripheralState(hw_type), True) + pm.calculate(GOOD_VOLTAGE, True) expected_capacity = ((TEST_DURATION_S/3600) * CAR_CHARGING_RATE_W * 1e6) self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10) # Test to check positive integration upper limit - @parameterized.expand(ALL_PANDA_TYPES) - def test_car_battery_integration_upper_limit(self, hw_type): + def test_car_battery_integration_upper_limit(self): POWER_DRAW = 4 with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh - 1000 for _ in range(TEST_DURATION_S + 1): - pm.calculate(self.mock_peripheralState(hw_type), True) + pm.calculate(GOOD_VOLTAGE, True) estimated_capacity = CAR_BATTERY_CAPACITY_uWh + (CAR_CHARGING_RATE_W / 3600 * 1e6) self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10) # Test to check negative integration of car_battery_capacity - @parameterized.expand(ALL_PANDA_TYPES) - def test_car_battery_integration_offroad(self, hw_type): + def test_car_battery_integration_offroad(self): POWER_DRAW = 4 with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh for _ in range(TEST_DURATION_S + 1): - pm.calculate(self.mock_peripheralState(hw_type), False) + pm.calculate(GOOD_VOLTAGE, False) expected_capacity = CAR_BATTERY_CAPACITY_uWh - ((TEST_DURATION_S/3600) * POWER_DRAW * 1e6) self.assertLess(abs(pm.get_car_battery_capacity() - expected_capacity), 10) # Test to check negative integration lower limit - @parameterized.expand(ALL_PANDA_TYPES) - def test_car_battery_integration_lower_limit(self, hw_type): + def test_car_battery_integration_lower_limit(self): POWER_DRAW = 4 with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = 1000 for _ in range(TEST_DURATION_S + 1): - pm.calculate(self.mock_peripheralState(hw_type), False) + pm.calculate(GOOD_VOLTAGE, False) estimated_capacity = 0 - ((1/3600) * POWER_DRAW * 1e6) self.assertLess(abs(pm.get_car_battery_capacity() - estimated_capacity), 10) # Test to check policy of stopping charging after MAX_TIME_OFFROAD_S - @parameterized.expand(ALL_PANDA_TYPES) - def test_max_time_offroad(self, hw_type): + def test_max_time_offroad(self): MOCKED_MAX_OFFROAD_TIME = 3600 POWER_DRAW = 0 # To stop shutting down for other reasons with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): @@ -125,25 +110,22 @@ class TestPowerMonitoring(unittest.TestCase): pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh start_time = ssb ignition = False - peripheralState = self.mock_peripheralState(hw_type) while ssb <= start_time + MOCKED_MAX_OFFROAD_TIME: - pm.calculate(peripheralState, ignition) + pm.calculate(GOOD_VOLTAGE, ignition) if (ssb - start_time) % 1000 == 0 and ssb < start_time + MOCKED_MAX_OFFROAD_TIME: self.assertFalse(pm.should_shutdown(ignition, True, start_time, False)) self.assertTrue(pm.should_shutdown(ignition, True, start_time, False)) # Test to check policy of stopping charging when the car voltage is too low - @parameterized.expand(ALL_PANDA_TYPES) - def test_car_voltage(self, hw_type): + def test_car_voltage(self): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 100 with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh ignition = False - peripheralState = self.mock_peripheralState(hw_type, car_voltage=(VBATT_PAUSE_CHARGING - 1)) for i in range(TEST_TIME): - pm.calculate(peripheralState, ignition) + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) if i % 10 == 0: self.assertEqual(pm.should_shutdown(ignition, True, ssb, True), (pm.car_voltage_mV < VBATT_PAUSE_CHARGING*1e3)) self.assertTrue(pm.should_shutdown(ignition, True, ssb, True)) @@ -157,9 +139,8 @@ class TestPowerMonitoring(unittest.TestCase): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh ignition = False - peripheralState = self.mock_peripheralState(log.PandaState.PandaType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1)) for i in range(TEST_TIME): - pm.calculate(peripheralState, ignition) + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) if i % 10 == 0: self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) @@ -172,9 +153,8 @@ class TestPowerMonitoring(unittest.TestCase): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh ignition = True - peripheralState = self.mock_peripheralState(log.PandaState.PandaType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1)) for i in range(TEST_TIME): - pm.calculate(peripheralState, ignition) + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) if i % 10 == 0: self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) self.assertFalse(pm.should_shutdown(ignition, True, ssb, False)) @@ -188,9 +168,8 @@ class TestPowerMonitoring(unittest.TestCase): pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh ignition = False - peripheralState = self.mock_peripheralState(log.PandaState.PandaType.uno, car_voltage=(VBATT_PAUSE_CHARGING - 1)) for i in range(TEST_TIME): - pm.calculate(peripheralState, ignition) + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) if i % 10 == 0: self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 89b81f06ec..eedeff31f1 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -347,7 +347,8 @@ def thermald_thread(end_event, hw_queue): off_ts = sec_since_boot() # Offroad power monitoring - power_monitor.calculate(peripheralState, onroad_conditions["ignition"]) + voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage + power_monitor.calculate(voltage, onroad_conditions["ignition"]) msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used() msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity()) current_power_draw = HARDWARE.get_current_power_draw() From ceb94f1bcd7eae99977e132fd596db353e4e11b4 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 22 Nov 2022 11:41:22 -0800 Subject: [PATCH 026/201] Revert "Albert Einstein Model" (#26576) Revert "Albert Einstein Model (#26456)" This reverts commit 34c80a6fbdf8780ad0b75f497c226cf1d9de0ddb. --- selfdrive/modeld/models/supercombo.onnx | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index c0db988cf6..8805b3dce8 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c73998c9f428380dd2282b451de6011469b717498ae83578cbf7aa95948910f7 +oid sha256:db746e3753de84367595fedd089c2bd41b06bd401ea28e085663533d0e63d74b size 45962473 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index cdd6ed7a6b..f541b6a6d5 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -ca02aa240e629920ad88a6510213cb0a153af92b +30efb4238327d723e17a3bda7e7c19c18f8a3b18 From 7361d1a11b21cc6482ed9ba8e5505b88081b66f6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 22 Nov 2022 11:46:28 -0800 Subject: [PATCH 027/201] process replay: support old routes with no peripheralState --- selfdrive/controls/controlsd.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 7b95b3b29c..76f049ddd2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -275,11 +275,12 @@ class Controls: # self.events.add(EventName.highCpuUsage) # Alert if fan isn't spinning for 5 seconds - if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: - if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: - self.events.add(EventName.fanMalfunction) - else: - self.last_functional_fan_frame = self.sm.frame + if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: + if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50: + if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0: + self.events.add(EventName.fanMalfunction) + else: + self.last_functional_fan_frame = self.sm.frame # Handle calibration status cal_status = self.sm['liveCalibration'].calStatus From 4662f1e0be77d6636ef7e3f663fb839448d86af6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 23 Nov 2022 06:23:49 +0800 Subject: [PATCH 028/201] Cabana: auto theme, detect from system. (#26563) * auto theme * cleanup * get font color from ForegroundRole * fix label color * add padding for header * smaller warning icon * fix bg of binary view * hightlight after init --- tools/cabana/binaryview.cc | 29 ++++++++++++++++------------- tools/cabana/binaryview.h | 4 +++- tools/cabana/cabana.cc | 2 -- tools/cabana/chartswidget.cc | 4 +++- tools/cabana/chartswidget.h | 1 + tools/cabana/detailwidget.cc | 3 +-- tools/cabana/historylog.cc | 17 +++++++++++++++-- tools/cabana/historylog.h | 1 + tools/cabana/settings.cc | 8 -------- tools/cabana/settings.h | 2 -- tools/cabana/signaledit.cc | 2 +- 11 files changed, 41 insertions(+), 32 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index dae4591976..6a4f66dcd4 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -1,6 +1,5 @@ #include "tools/cabana/binaryview.h" -#include #include #include #include @@ -74,14 +73,18 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { event->accept(); } -void BinaryView::mouseMoveEvent(QMouseEvent *event) { - if (auto index = indexAt(event->pos()); index.isValid()) { +void BinaryView::highlightPosition(const QPoint &pos) { + if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); highlight(sig); - sig ? QToolTip::showText(event->globalPos(), sig->name.c_str(), this, rect()) + sig ? QToolTip::showText(pos, sig->name.c_str(), this, rect()) : QToolTip::hideText(); } +} + +void BinaryView::mouseMoveEvent(QMouseEvent *event) { + highlightPosition(event->globalPos()); QTableView::mouseMoveEvent(event); } @@ -116,6 +119,7 @@ void BinaryView::setMessage(const QString &message_id) { anchor_index = QModelIndex(); resize_sig = nullptr; hovered_sig = nullptr; + highlightPosition(QCursor::pos()); updateState(); } @@ -232,19 +236,18 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op BinaryView *bin_view = (BinaryView *)parent(); painter->save(); - // background - if (option.state & QStyle::State_Selected) { + if (index.column() == 8) { + painter->setFont(hex_font); + } else if (option.state & QStyle::State_Selected) { painter->fillRect(option.rect, selection_color); - } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) { + painter->setPen(QApplication::style()->standardPalette().color(QPalette::BrightText)); + } else if (!item->sigs.isEmpty() && (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig))) { painter->fillRect(option.rect, item->bg_color); + painter->setPen(item->sigs.contains(bin_view->hovered_sig) + ? QApplication::style()->standardPalette().color(QPalette::BrightText) + : Qt::black); } - // text - if (index.column() == 8) { // hex column - painter->setFont(hex_font); - } else if (option.state & QStyle::State_Selected || (!bin_view->resize_sig && item->sigs.contains(bin_view->hovered_sig))) { - painter->setPen(Qt::white); - } painter->drawText(option.rect, Qt::AlignCenter, item->val); if (item->is_msb || item->is_lsb) { painter->setFont(small_font); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 0ea111d917..c37b378e44 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -41,7 +42,7 @@ public: } struct Item { - QColor bg_color = QColor(Qt::white); + QColor bg_color = QApplication::style()->standardPalette().color(QPalette::Base); bool is_msb = false; bool is_lsb = false; QString val = "0"; @@ -79,6 +80,7 @@ private: void mouseMoveEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void leaveEvent(QEvent *event) override; + void highlightPosition(const QPoint &pt); QModelIndex anchor_index; BinaryViewModel *model; diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 1096487973..e7e3eb213b 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -1,6 +1,5 @@ #include #include -#include #include "selfdrive/ui/qt/util.h" #include "tools/cabana/mainwin.h" @@ -8,7 +7,6 @@ int main(int argc, char *argv[]) { initApp(argc, argv); QApplication app(argc, argv); - app.setStyle(QStyleFactory::create("Fusion")); QCommandLineParser cmd_parser; cmd_parser.addHelpOption(); diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 5d530a8c8a..6e1f2e110c 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -40,6 +40,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(charts_scroll); + use_dark_theme = palette().color(QPalette::WindowText).value() > palette().color(QPalette::Background).value(); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged); QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState); @@ -125,6 +127,7 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo ChartView *chart = merge && charts.size() > 0 ? charts.back() : nullptr; if (!chart) { chart = new ChartView(this); + chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); chart->setEventsRange(display_range); auto range = is_zoomed ? zoomed_range : display_range; chart->setDisplayRange(range.first, range.second); @@ -288,7 +291,6 @@ void ChartView::updateTitle() { void ChartView::updateFromSettings() { setFixedHeight(settings.chart_height); - chart()->setTheme(settings.chart_theme == 0 ? QChart::ChartThemeLight : QChart::QChart::ChartThemeDark); } void ChartView::setEventsRange(const std::pair &range) { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index c8e5a1040c..c3fa931e6e 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -112,4 +112,5 @@ private: std::pair event_range; std::pair display_range; std::pair zoomed_range; + bool use_dark_theme = false; }; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 52ae530a56..bf857bd596 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -25,7 +25,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart // tabbar tabbar = new QTabBar(this); tabbar->setTabsClosable(true); - tabbar->setDrawBase(false); tabbar->setUsesScrollButtons(true); tabbar->setAutoHide(true); tabbar->setContextMenuPolicy(Qt::CustomContextMenu); @@ -57,7 +56,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); warning_hlayout->setContentsMargins(0, 0, 0, 0); QLabel *warning_icon = new QLabel(this); - warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning)); + warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning).scaledToWidth(24, Qt::SmoothTransformation)); warning_hlayout->addWidget(warning_icon, 0, Qt::AlignTop); warning_label = new QLabel(this); warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 1b0898afbd..65fea3361e 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -1,6 +1,7 @@ #include "tools/cabana/historylog.h" #include +#include // HistoryLogModel @@ -44,6 +45,8 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i return has_signal ? QString::fromStdString(get_signal(dbc_msg, section - 1).name).replace('_', ' ') : "Data"; } else if (role == Qt::BackgroundRole && section > 0 && has_signal) { return QBrush(QColor(getColor(section - 1))); + } else if (role == Qt::ForegroundRole && section > 0 && has_signal) { + return QBrush(Qt::black); } } return {}; @@ -73,7 +76,18 @@ void HistoryLogModel::updateState() { QSize HeaderView::sectionSizeFromContents(int logicalIndex) const { const QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString(); const QRect rect = fontMetrics().boundingRect(QRect(0, 0, sectionSize(logicalIndex), 1000), defaultAlignment(), text); - return rect.size() + QSize{10, 5}; + return rect.size() + QSize{10, 6}; +} + +void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalIndex) const { + auto bg_role = model()->headerData(logicalIndex, Qt::Horizontal, Qt::BackgroundRole); + if (bg_role.isValid()) { + QPen pen(model()->headerData(logicalIndex, Qt::Horizontal, Qt::ForegroundRole).value(), 1); + painter->setPen(pen); + painter->fillRect(rect, bg_role.value()); + } + QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString(); + painter->drawText(rect.adjusted(5, 3, 5, 3), defaultAlignment(), text); } // HistoryLog @@ -88,7 +102,6 @@ HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { verticalHeader()->setVisible(false); setFrameShape(QFrame::NoFrame); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); - setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); } int HistoryLog::sizeHintForColumn(int column) const { diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 21be8fc129..dfe037c13f 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -10,6 +10,7 @@ class HeaderView : public QHeaderView { public: HeaderView(Qt::Orientation orientation, QWidget *parent = nullptr) : QHeaderView(orientation, parent) {} QSize sectionSizeFromContents(int logicalIndex) const override; + void paintSection(QPainter *painter, const QRect &rect, int logicalIndex) const; }; class HistoryLogModel : public QAbstractTableModel { diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index be806aa705..c90830973b 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -18,7 +18,6 @@ void Settings::save() { s.setValue("log_size", can_msg_log_size); s.setValue("cached_segment", cached_segment_limit); s.setValue("chart_height", chart_height); - s.setValue("chart_theme", chart_theme); s.setValue("max_chart_x_range", max_chart_x_range); s.setValue("last_dir", last_dir); s.setValue("splitter_state", splitter_state); @@ -30,7 +29,6 @@ void Settings::load() { can_msg_log_size = s.value("log_size", 50).toInt(); cached_segment_limit = s.value("cached_segment", 3).toInt(); chart_height = s.value("chart_height", 200).toInt(); - chart_theme = s.value("chart_theme", 0).toInt(); max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); last_dir = s.value("last_dir", QDir::homePath()).toString(); splitter_state = s.value("splitter_state").toByteArray(); @@ -72,11 +70,6 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { chart_height->setValue(settings.chart_height); form_layout->addRow(tr("Chart height"), chart_height); - chart_theme = new QComboBox(); - chart_theme->addItems({"Light", "Dark"}); - chart_theme->setCurrentIndex(settings.chart_theme == 1 ? 1 : 0); - form_layout->addRow(tr("Chart theme"), chart_theme); - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); form_layout->addRow(buttonBox); @@ -90,7 +83,6 @@ void SettingsDlg::save() { settings.can_msg_log_size = log_size->value(); settings.cached_segment_limit = cached_segment->value(); settings.chart_height = chart_height->value(); - settings.chart_theme = chart_theme->currentIndex(); settings.max_chart_x_range = max_chart_x_range->value() * 60; settings.save(); accept(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 624a1ce33d..ee6541798d 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -17,7 +17,6 @@ public: int can_msg_log_size = 50; int cached_segment_limit = 3; int chart_height = 200; - int chart_theme = 0; int max_chart_x_range = 3 * 60; // 3 minutes QString last_dir; QByteArray splitter_state; @@ -36,7 +35,6 @@ public: QSpinBox *log_size ; QSpinBox *cached_segment; QSpinBox *chart_height; - QComboBox *chart_theme; QSpinBox *max_chart_x_range; }; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 5d627a49da..254b11efaa 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -137,7 +137,7 @@ void SignalEdit::setSignal(const QString &message_id, const Signal *signal) { updateForm(msg_id == message_id && form->isVisible()); msg_id = message_id; color_label->setText(QString::number(form_idx + 1)); - color_label->setStyleSheet(QString("background-color:%1").arg(getColor(form_idx))); + color_label->setStyleSheet(QString("color:black; background-color:%2").arg(getColor(form_idx))); title->setText(sig->name.c_str()); show(); } From 9fdbe9f397b79f33c0653f4e9dd3b1cbb2e92273 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Nov 2022 15:18:10 -0800 Subject: [PATCH 029/201] GM Cam: log when cruise not adaptive (#26581) * bump opendbc * log when nonAdaptive * Update ref_commit --- opendbc | 2 +- selfdrive/car/gm/carstate.py | 4 ++++ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index 296f190000..871e054d9a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 296f190000a2e71408e207ba21a2257cc853ec15 +Subproject commit 871e054d9a94629d92c22fe89cae71af5b0d3823 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index df1b4b2866..de0fd2eed6 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -100,6 +100,9 @@ class CarState(CarStateBase): if self.CP.networkLocation == NetworkLocation.fwdCamera: ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0 + # openpilot controls nonAdaptive when not pcmCruise + if self.CP.pcmCruise: + ret.cruiseState.nonAdaptive = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCCruiseState"] not in (2, 3) return ret @@ -112,6 +115,7 @@ class CarState(CarStateBase): ("AEBCmdActive", "AEBCmd"), ("RollingCounter", "ASCMLKASteeringCmd"), ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"), + ("ACCCruiseState", "ASCMActiveCruiseControlStatus"), ] checks += [ ("AEBCmd", 10), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4aa9d60ab5..770b4e40f7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -959e63af52d9efdb62156cab4b773f88b154fd75 +ff508a46616a1a3d66e8d1154d123ffd11025003 From 636ff5979fc19fe0a965fbceae214694c97c1e3d Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 22 Nov 2022 19:18:42 -0500 Subject: [PATCH 030/201] VW MQB: Redundant brake pressed signals (#26401) * VW MQB: Redundant brake pressed signals * retry CI * update refs * update refs Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/car/volkswagen/carstate.py | 11 +++++++---- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/panda b/panda index c075050d5d..e4c4253964 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c075050d5df70570cfadd8c0d7507f25fe67d247 +Subproject commit e4c4253964a25ff980520b70ea9f50aede4a1db6 diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index def14ab019..7d0a3d4dca 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -62,7 +62,9 @@ class CarState(CarStateBase): ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0 ret.gasPressed = ret.gas > 0 ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects - ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) + brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"]) + brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"]) + ret.brakePressed = brake_pedal_pressed or brake_pressure_detected ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well # Update gear and/or clutch position data. @@ -268,8 +270,9 @@ class CarState(CarStateBase): ("Comfort_Signal_Right", "Blinkmodi_02"), # Right turn signal including comfort blink interval ("AB_Gurtschloss_FA", "Airbag_02"), # Seatbelt status, driver ("AB_Gurtschloss_BF", "Airbag_02"), # Seatbelt status, passenger - ("ESP_Fahrer_bremst", "ESP_05"), # Brake pedal pressed - ("ESP_Bremsdruck", "ESP_05"), # Brake pressure applied + ("ESP_Fahrer_bremst", "ESP_05"), # Driver applied brake pressure over threshold + ("MO_Fahrer_bremst", "Motor_14"), # Brake pedal switch + ("ESP_Bremsdruck", "ESP_05"), # Brake pressure ("MO_Fahrpedalrohwert_01", "Motor_20"), # Accelerator pedal value ("EPS_Lenkmoment", "LH_EPS_03"), # Absolute driver torque input ("EPS_VZ_Lenkmoment", "LH_EPS_03"), # Driver torque input sign @@ -304,6 +307,7 @@ class CarState(CarStateBase): ("ESP_02", 50), # From J104 ABS/ESP controller ("GRA_ACC_01", 33), # From J533 CAN gateway (via LIN from steering wheel controls) ("Gateway_72", 10), # From J533 CAN gateway (aggregated data) + ("Motor_14", 10), # From J623 Engine control module ("Airbag_02", 5), # From J234 Airbag control module ("Kombi_01", 2), # From J285 Instrument cluster ("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active) @@ -318,7 +322,6 @@ class CarState(CarStateBase): elif CP.transmissionType == TransmissionType.manual: signals += [("MO_Kuppl_schalter", "Motor_14"), # Clutch switch ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")] # Reverse light from BCM - checks.append(("Motor_14", 10)) # From J623 Engine control module if CP.networkLocation == NetworkLocation.fwdCamera: # Radars are here on CANBUS.pt diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 770b4e40f7..d4520d2935 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ff508a46616a1a3d66e8d1154d123ffd11025003 +08ca448a6dcfc1edc4f9fedb2ea94ad6b2b69aa2 \ No newline at end of file From c1e7bed061424387aaf5a91eaa43e96752995cd0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 22 Nov 2022 20:20:58 -0800 Subject: [PATCH 031/201] Navd map renderer: update to larger image (#26580) * rerender 512 * rerender 512 * Removed unnecessary code * rgb -> grayscale * Add constants Co-authored-by: mitchellgoffpc --- selfdrive/navd/map_renderer.cc | 41 +++++++++++++--------------------- selfdrive/navd/map_renderer.py | 3 ++- 2 files changed, 17 insertions(+), 27 deletions(-) diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index daf89b2636..247b69c4c5 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -11,33 +11,18 @@ #include "selfdrive/ui/qt/maps/map_helpers.h" const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear -const int RENDER_HEIGHT = 512, RENDER_WIDTH = 512; -const int HEIGHT = 256, WIDTH = 256; +const int HEIGHT = 512, WIDTH = 512; const int NUM_VIPC_BUFFERS = 4; const int EARTH_CIRCUMFERENCE_METERS = 40075000; const int PIXELS_PER_TILE = 256; -float get_meters_per_pixel(float lat, float zoom) { - float num_tiles = pow(2, zoom+1); - float meters_per_tile = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / num_tiles; - return meters_per_tile / PIXELS_PER_TILE; -} - float get_zoom_level_for_scale(float lat, float meters_per_pixel) { float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE; float num_tiles = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / meters_per_tile; return log2(num_tiles) - 1; } -void downsample(uint8_t *src, uint8_t *dst) { - for (int r = 0; r < HEIGHT; r++) { - for (int c = 0; c < WIDTH; c++) { - dst[r*WIDTH + c] = src[(r*2*RENDER_WIDTH + c*2) * 3]; - } - } -} - MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) { QSurfaceFormat fmt; @@ -59,7 +44,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set gl_functions->initializeOpenGLFunctions(); QOpenGLFramebufferObjectFormat fbo_format; - fbo.reset(new QOpenGLFramebufferObject(RENDER_WIDTH, RENDER_HEIGHT, fbo_format)); + fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format)); std::string style = util::read_file(STYLE_PATH); m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1)); @@ -69,7 +54,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set m_map->resize(fbo->size()); m_map->setFramebufferObject(fbo->handle(), fbo->size()); - gl_functions->glViewport(0, 0, RENDER_WIDTH, RENDER_HEIGHT); + gl_functions->glViewport(0, 0, WIDTH, HEIGHT); if (online) { vipc_server.reset(new VisionIpcServer("navd")); @@ -114,9 +99,9 @@ void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) { return; } - // Choose a zoom level that matches the scale of zoom level 13 at latitude 80deg - float scale_lat80 = get_meters_per_pixel(80, 13); - float zoom = get_zoom_level_for_scale(position.first, scale_lat80); + // Choose a scale that ensures above 13 zoom level up to and above 75deg of lat + float meters_per_pixel = 2; + float zoom = get_zoom_level_for_scale(position.first, meters_per_pixel); m_map->setCoordinate(position); m_map->setBearing(bearing); @@ -150,13 +135,15 @@ void MapRenderer::sendVipc() { .timestamp_eof = ts, }; - assert(cap.sizeInBytes() >= buf->len*4); + assert(cap.sizeInBytes() >= buf->len); uint8_t* dst = (uint8_t*)buf->addr; uint8_t* src = cap.bits(); - // 2x downsample + rgb to grayscale + // RGB to greyscale memset(dst, 128, buf->len); - downsample(src, dst); + for (int i = 0; i < WIDTH * HEIGHT; i++) { + dst[i] = src[i * 3]; + } vipc_server->send(buf, &extra); @@ -187,8 +174,10 @@ uint8_t* MapRenderer::getImage() { uint8_t* src = cap.bits(); uint8_t* dst = new uint8_t[WIDTH * HEIGHT]; - // 2x downsample + rgb to grayscale - downsample(src, dst); + // RGB to greyscale + for (int i = 0; i < WIDTH * HEIGHT; i++) { + dst[i] = src[i * 3]; + } return dst; } diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py index 9000622928..868307bb63 100755 --- a/selfdrive/navd/map_renderer.py +++ b/selfdrive/navd/map_renderer.py @@ -9,7 +9,8 @@ from cffi import FFI from common.ffi_wrapper import suffix from common.basedir import BASEDIR -HEIGHT = WIDTH = 256 +HEIGHT = WIDTH = SIZE = 512 +METERS_PER_PIXEL = 2 def get_ffi(): From 13cdddc6c806c963b65c477d409329ea717c7e11 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Nov 2022 22:28:11 -0800 Subject: [PATCH 032/201] Toyota: whitelist FW queries (#26584) whitelist toyota --- selfdrive/car/toyota/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index cf37a3c2f2..6d6c03df71 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -209,16 +209,19 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST], [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps], bus=0, ), Request( [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST], [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine], bus=0, ), Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps], bus=0, ), ], From 059e4f5730618812221b080c69f83fb36b68c5a7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 22 Nov 2022 23:43:23 -0800 Subject: [PATCH 033/201] Toyota: always log cruise standstill (#26586) these cars def are in cruise standstill, no sense to not log --- selfdrive/car/toyota/carstate.py | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 8efb2c79e3..dbbb8a6f04 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -6,7 +6,7 @@ from common.realtime import DT_CTRL from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR +from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR class CarState(CarStateBase): @@ -120,12 +120,7 @@ class CarState(CarStateBase): self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2 self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] - if self.CP.carFingerprint in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor: - # ignore standstill in hybrid vehicles, since pcm allows to restart without - # receiving any special command. Also if interceptor is detected - ret.cruiseState.standstill = False - else: - ret.cruiseState.standstill = self.pcm_acc_status == 7 + ret.cruiseState.standstill = self.pcm_acc_status == 7 ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"]) ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6) From 6dec92df439183ff15155654e558b37ffa861631 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 24 Nov 2022 01:48:24 +0800 Subject: [PATCH 034/201] Cabana: fixed form glitches (#26587) fix visual glitches --- tools/cabana/detailwidget.cc | 15 ++++++--------- tools/cabana/detailwidget.h | 1 - tools/cabana/signaledit.cc | 2 +- tools/cabana/signaledit.h | 5 ++--- 4 files changed, 9 insertions(+), 14 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index bf857bd596..c20e2b672e 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -153,10 +153,10 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { for (auto sig : msg->getSignals()) { SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr; if (!form) { - form = new SignalEdit(i); + form = new SignalEdit(i, this); QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); - QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showFormClicked); + QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); QObject::connect(form, &SignalEdit::showChart, charts, &ChartsWidget::showChart); @@ -196,16 +196,13 @@ void DetailWidget::updateState(const QHash * msgs) { history_log->updateState(); } -void DetailWidget::showFormClicked() { - auto s = qobject_cast(sender()); - showForm(s->sig); -} - void DetailWidget::showForm(const Signal *sig) { setUpdatesEnabled(false); for (auto f : signal_list) { - f->updateForm(f->sig == sig && !f->isFormVisible()); - if (f->sig == sig) scroll->ensureWidgetVisible(f); + f->updateForm(f->sig == sig && !f->form->isVisible()); + if (f->sig == sig && f->form->isVisible()) { + QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); }); + } } setUpdatesEnabled(true); } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 41fa0edd41..75409fa706 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -29,7 +29,6 @@ public: private: void showForm(const Signal *sig); - void showFormClicked(); void updateChartState(const QString &id, const Signal *sig, bool opened); void showTabBarContextMenu(const QPoint &pt); void addSignal(int start_bit, int size, bool little_endian); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 254b11efaa..85476c2302 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -122,7 +122,7 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa save_timer->setSingleShot(true); save_timer->callOnTimeout(this, &SignalEdit::saveSignal); - QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); + QObject::connect(title, &ElidedLabel::clicked, [this]() { emit showFormClicked(sig); }); QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) { emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); }); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index f035797e72..205be4bb78 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -36,8 +36,8 @@ public: void setChartOpened(bool opened); void signalHovered(const Signal *sig); void updateForm(bool show); - inline bool isFormVisible() const { return form->isVisible(); } const Signal *sig = nullptr; + SignalForm *form = nullptr; QString msg_id; signals: @@ -45,14 +45,13 @@ signals: void showChart(const QString &name, const Signal *sig, bool show, bool merge); void remove(const Signal *sig); void save(const Signal *sig, const Signal &new_sig); - void showFormClicked(); + void showFormClicked(const Signal *sig); protected: void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; void saveSignal(); - SignalForm *form = nullptr; ElidedLabel *title; QLabel *color_label; QLabel *icon; From 2153bfe27a99b2ecd36ff91fcd10c3e71d952bbe Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 23 Nov 2022 13:08:04 -0800 Subject: [PATCH 035/201] camerad: minor ae improvement to OX (#26566) --- system/camerad/cameras/camera_qcom2.cc | 6 +++++- system/camerad/cameras/camera_qcom2.h | 1 + 2 files changed, 6 insertions(+), 1 deletion(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 2ee06e372a..df5b9e8bf0 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -96,10 +96,12 @@ const uint32_t ox03c10_analog_gains_reg[] = { const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x +const int ANALOG_GAIN_COST_DELTA_AR0231 = 0; const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0; const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x11; // 2.5x const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36; +const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1; const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms @@ -532,6 +534,7 @@ void CameraState::camera_set_parameters() { analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_AR0231; analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231; analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231; + analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_AR0231; for (int i=0; i<=analog_gain_max_idx; i++) { sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; } @@ -548,6 +551,7 @@ void CameraState::camera_set_parameters() { analog_gain_min_idx = ANALOG_GAIN_MIN_IDX_OX03C10; analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10; analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10; + analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_OX03C10; for (int i=0; i<=analog_gain_max_idx; i++) { sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; } @@ -1110,7 +1114,7 @@ void CameraState::set_camera_exposure(float grey_frac) { // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev); // Small penalty on changing gain - score += std::abs(g - gain_idx) * (score + 1.0) / 10.0; + score += ((1 - analog_gain_cost_delta) + analog_gain_cost_delta * (g - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * std::abs(g - gain_idx) * (score + 1.0) / 10.0; if (score < best_ev_score) { new_t = t; diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 1e25e605c5..150ea0a1c0 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -41,6 +41,7 @@ public: int analog_gain_min_idx; int analog_gain_max_idx; int analog_gain_rec_idx; + int analog_gain_cost_delta; float cur_ev[3]; float min_ev, max_ev; From b15018387c774b9f470e88f22b96861d62917656 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 23 Nov 2022 14:03:15 -0800 Subject: [PATCH 036/201] tuning: measure steering accuracy for existing routes (#25722) * support parsing route logs * optionally use cached data * support segment or route names * get control type from log --- tools/tuning/measure_steering_accuracy.py | 153 +++++++++++++--------- 1 file changed, 89 insertions(+), 64 deletions(-) diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index 7abfb6358a..4819be770f 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -8,24 +8,13 @@ import signal from collections import defaultdict import cereal.messaging as messaging +from tools.lib.logreader import logreader_from_route_or_segment def sigint_handler(signal, frame): - print("handler!") exit(0) signal.signal(signal.SIGINT, sigint_handler) -if __name__ == "__main__": - - parser = argparse.ArgumentParser(description='Sniff a communication socket') - parser.add_argument('control_type', help="[pid|indi|lqr|angle]") - parser.add_argument('--addr', default='127.0.0.1', help="IP address for optional ZMQ listener, default to msgq") - parser.add_argument('--group', default='all', help="speed group to display, [crawl|slow|medium|fast|veryfast|germany|all], default to all") - args = parser.parse_args() - - if args.addr != "127.0.0.1": - os.environ["ZMQ"] = "1" - messaging.context = messaging.Context() - +class SteeringAccuracyTool: all_groups = {"germany": (45, "45 - up m/s // 162 - up km/h // 101 - up mph"), "veryfast": (35, "35 - 45 m/s // 126 - 162 km/h // 78 - 101 mph"), "fast": (25, "25 - 35 m/s // 90 - 126 km/h // 56 - 78 mph"), @@ -33,39 +22,28 @@ if __name__ == "__main__": "slow": (5, " 5 - 15 m/s // 18 - 54 km/h // 11 - 34 mph"), "crawl": (0, " 0 - 5 m/s // 0 - 18 km/h // 0 - 11 mph")} - if args.group == "all": - display_groups = all_groups.keys() - elif args.group in all_groups.keys(): - display_groups = [args.group] - else: - raise ValueError("invalid speed group, see help") - - speed_group_stats = {} - for group in all_groups: - speed_group_stats[group] = defaultdict(lambda: {'err': 0, "cnt": 0, "=": 0, "+": 0, "-": 0, "steer": 0, "limited": 0, "saturated": 0, "dpp": 0}) - - carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True) - sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'lateralPlan'], addr=args.addr) - time.sleep(1) # Make sure all submaster data is available before going further - - msg_cnt = 0 - cnt = 0 - total_error = 0 - - while messaging.recv_one(carControl): - sm.update() - msg_cnt += 1 - - if args.control_type == "pid": - control_state = sm['controlsState'].lateralControlState.pidState - elif args.control_type == "indi": - control_state = sm['controlsState'].lateralControlState.indiState - elif args.control_type == "lqr": - control_state = sm['controlsState'].lateralControlState.lqrState - elif args.control_type == "angle": - control_state = sm['controlsState'].lateralControlState.angleState + def __init__(self, args): + self.msg_cnt = 0 + self.cnt = 0 + self.total_error = 0 + + if args.group == "all": + self.display_groups = self.all_groups.keys() + elif args.group in self.all_groups.keys(): + self.display_groups = [args.group] else: - raise ValueError("invalid lateral control type, see help") + raise ValueError("invalid speed group, see help") + + self.speed_group_stats = {} + for group in self.all_groups: + self.speed_group_stats[group] = defaultdict(lambda: {'err': 0, "cnt": 0, "=": 0, "+": 0, "-": 0, "steer": 0, "limited": 0, "saturated": 0, "dpp": 0}) + + def update(self, sm): + self.msg_cnt += 1 + + lateralControlState = sm['controlsState'].lateralControlState + control_type = list(lateralControlState.to_dict().keys())[0] + control_state = lateralControlState.__getattr__(control_type) v_ego = sm['carState'].vEgo active = sm['controlsState'].active @@ -77,10 +55,10 @@ if __name__ == "__main__": d_path_points = sm['lateralPlan'].dPathPoints # must be engaged, not at standstill, not overriding steering, and not changing lanes if active and not standstill and not overriding and not changing_lanes: - cnt += 1 + self.cnt += 1 # wait 5 seconds after engage / standstill / override / lane change - if cnt >= 500: + if self.cnt >= 500: actual_angle = control_state.steeringAngleDeg desired_angle = control_state.steeringAngleDesiredDeg @@ -91,41 +69,88 @@ if __name__ == "__main__": angle_error = round(angle_error, 2) angle_abs = int(abs(round(desired_angle, 0))) - for group, group_props in all_groups.items(): + for group, group_props in self.all_groups.items(): if v_ego > group_props[0]: # collect stats - speed_group_stats[group][angle_abs]["cnt"] += 1 - speed_group_stats[group][angle_abs]["err"] += angle_error - speed_group_stats[group][angle_abs]["steer"] += abs(steer) + self.speed_group_stats[group][angle_abs]["cnt"] += 1 + self.speed_group_stats[group][angle_abs]["err"] += angle_error + self.speed_group_stats[group][angle_abs]["steer"] += abs(steer) if len(d_path_points): - speed_group_stats[group][angle_abs]["dpp"] += abs(d_path_points[0]) + self.speed_group_stats[group][angle_abs]["dpp"] += abs(d_path_points[0]) if steer_limited: - speed_group_stats[group][angle_abs]["limited"] += 1 + self.speed_group_stats[group][angle_abs]["limited"] += 1 if control_state.saturated: - speed_group_stats[group][angle_abs]["saturated"] += 1 + self.speed_group_stats[group][angle_abs]["saturated"] += 1 if actual_angle == desired_angle: - speed_group_stats[group][angle_abs]["="] += 1 + self.speed_group_stats[group][angle_abs]["="] += 1 else: if desired_angle == 0.: overshoot = True else: overshoot = desired_angle < actual_angle if desired_angle > 0. else desired_angle > actual_angle - speed_group_stats[group][angle_abs]["+" if overshoot else "-"] += 1 + self.speed_group_stats[group][angle_abs]["+" if overshoot else "-"] += 1 break else: - cnt = 0 + self.cnt = 0 - if msg_cnt % 100 == 0: + if self.msg_cnt % 100 == 0: print(chr(27) + "[2J") - if cnt != 0: + if self.cnt != 0: print("COLLECTING ...\n") else: print("DISABLED (not active, standstill, steering override, or lane change)\n") - for group in display_groups: - if len(speed_group_stats[group]) > 0: - print(f"speed group: {group:10s} {all_groups[group][1]:>96s}") + for group in self.display_groups: + if len(self.speed_group_stats[group]) > 0: + print(f"speed group: {group:10s} {self.all_groups[group][1]:>96s}") print(f" {'-'*118}") - for k in sorted(speed_group_stats[group].keys()): - v = speed_group_stats[group][k] + for k in sorted(self.speed_group_stats[group].keys()): + v = self.speed_group_stats[group][k] print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') print("") + + +if __name__ == "__main__": + + parser = argparse.ArgumentParser(description='Steering accuracy measurement tool') + parser.add_argument('--route', help="route name") + parser.add_argument('--addr', default='127.0.0.1', help="IP address for optional ZMQ listener, default to msgq") + parser.add_argument('--group', default='all', help="speed group to display, [crawl|slow|medium|fast|veryfast|germany|all], default to all") + parser.add_argument('--cache', default=False, action='store_true', help="use cached data, default to False") + args = parser.parse_args() + + if args.cache: + os.environ['FILEREADER_CACHE'] = '1' + + tool = SteeringAccuracyTool(args) + + if args.route is not None: + print(f"loading {args.route}...") + lr = logreader_from_route_or_segment(args.route, sort_by_time=True) + + sm = {} + for msg in lr: + if msg.which() == 'carState': + sm['carState'] = msg.carState + elif msg.which() == 'carControl': + sm['carControl'] = msg.carControl + elif msg.which() == 'controlsState': + sm['controlsState'] = msg.controlsState + elif msg.which() == 'lateralPlan': + sm['lateralPlan'] = msg.lateralPlan + + if msg.which() == 'carControl' and 'carState' in sm and 'controlsState' in sm and 'lateralPlan' in sm: + tool.update(sm) + + else: + if args.addr != "127.0.0.1": + os.environ["ZMQ"] = "1" + messaging.context = messaging.Context() + + carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True) + sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'lateralPlan'], addr=args.addr) + time.sleep(1) # Make sure all submaster data is available before going further + + print("waiting for messages...") + while messaging.recv_one(carControl): + sm.update() + tool.update(sm) From a19b5b91d2bcc0cd405599193828b9e9e187c52e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 24 Nov 2022 19:17:36 -0700 Subject: [PATCH 037/201] longcontrol: ignore cruise standstill if interceptor (#26597) * ignore standstill * cmt * standstill * rm cmt * flip --- selfdrive/controls/lib/longcontrol.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 92a4f1f99b..545a4c43ff 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -10,12 +10,14 @@ LongCtrlState = car.CarControl.Actuators.LongControlState def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, v_target_1sec, brake_pressed, cruise_standstill): + # Ignore cruise standstill if car has a gas interceptor + cruise_standstill = cruise_standstill and not CP.enableGasInterceptor accelerating = v_target_1sec > v_target planned_stop = (v_target < CP.vEgoStopping and v_target_1sec < CP.vEgoStopping and not accelerating) stay_stopped = (v_ego < CP.vEgoStopping and - (brake_pressed or cruise_standstill)) + (brake_pressed or cruise_standstill)) stopping_condition = planned_stop or stay_stopped starting_condition = (v_target_1sec > CP.vEgoStarting and From 1efc8b9c78880778f4f604058c639ebdb2e12ff5 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Fri, 25 Nov 2022 13:20:20 +0100 Subject: [PATCH 038/201] Fix Tesla cancel button definition (#26596) misinterpreted the dbc --- selfdrive/car/tesla/values.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index e28666c625..750fe885e8 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -99,8 +99,8 @@ BUTTONS = [ Button(car.CarState.ButtonEvent.Type.rightBlinker, "STW_ACTN_RQ", "TurnIndLvr_Stat", [2]), Button(car.CarState.ButtonEvent.Type.accelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [4, 16]), Button(car.CarState.ButtonEvent.Type.decelCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [8, 32]), - Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]), - Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]), + Button(car.CarState.ButtonEvent.Type.cancel, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [1]), + Button(car.CarState.ButtonEvent.Type.resumeCruise, "STW_ACTN_RQ", "SpdCtrlLvr_Stat", [2]), ] class CarControllerParams: From 3253b8590002fa5f56e003add3f5f47a21870873 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 25 Nov 2022 17:00:58 -0700 Subject: [PATCH 039/201] Toyota: alert when in standstill (#26585) * add resume required alert * possibly need this (pressing resume with brake held does nothing) * better text (has both meanings) * try this * Revert "try this" This reverts commit 5b2991929b62f5bcd9bfa0767d709b5fe83b094b. * no alert with interceptor * check long --- selfdrive/car/toyota/interface.py | 23 +++++++++++++---------- selfdrive/controls/lib/events.py | 2 +- 2 files changed, 14 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 3f4edb36d2..0139c692c1 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -247,16 +247,19 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret) - if self.CS.low_speed_lockout and self.CP.openpilotLongitudinalControl: - events.add(EventName.lowSpeedLockout) - if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl: - events.add(EventName.belowEngageSpeed) - if c.actuators.accel > 0.3: - # some margin on the actuator to not false trigger cancellation while stopping - events.add(EventName.speedTooLow) - if ret.vEgo < 0.001: - # while in standstill, send a user alert - events.add(EventName.manualRestart) + if self.CP.openpilotLongitudinalControl: + if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor: + events.add(EventName.resumeRequired) + if self.CS.low_speed_lockout: + events.add(EventName.lowSpeedLockout) + if ret.vEgo < self.CP.minEnableSpeed: + events.add(EventName.belowEngageSpeed) + if c.actuators.accel > 0.3: + # some margin on the actuator to not false trigger cancellation while stopping + events.add(EventName.speedTooLow) + if ret.vEgo < 0.001: + # while in standstill, send a user alert + events.add(EventName.manualRestart) ret.events = events.to_msg() diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 1ed2ffa865..ad10b8f0bd 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -501,7 +501,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.resumeRequired: { ET.WARNING: Alert( "STOPPED", - "Press Resume to Go", + "Press Resume to Exit Standstill", AlertStatus.userPrompt, AlertSize.mid, Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), }, From 38cd262de3436a3a239210c6e8c71933e6a79871 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 28 Nov 2022 17:55:09 -0500 Subject: [PATCH 040/201] VW MQB: Add FW for 2022 Volkswagen Arteon (#26603) --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index f24448adbc..5423f09658 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -280,12 +280,14 @@ FW_VERSIONS = { CAR.ARTEON_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x873G0906259F \xf1\x890004', + b'\xf1\x873G0906259N \xf1\x890004', b'\xf1\x873G0906259P \xf1\x890001', b'\xf1\x875NA907115H \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158L \xf1\x893611', b'\xf1\x870GC300011L \xf1\x891401', + b'\xf1\x870GC300014M \xf1\x892802', b'\xf1\x870GC300040P \xf1\x891401', ], (Ecu.srs, 0x715, None): [ @@ -297,8 +299,10 @@ FW_VERSIONS = { b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800', + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x875Q0907572J \xf1\x890654', ], From 82158c8378a34ab0d82566d1149e1769e877c4ac Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 28 Nov 2022 17:55:57 -0500 Subject: [PATCH 041/201] VW PQ: Fix cruise fault detection, cleanup (#26588) --- selfdrive/car/volkswagen/carstate.py | 31 ++++++++++++++-------------- 1 file changed, 16 insertions(+), 15 deletions(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 7d0a3d4dca..c82dc08007 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -222,10 +222,11 @@ class CarState(CarStateBase): # Update ACC radar status. self.acc_type = 0 # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) - ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"]) + ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2) if self.CP.pcmCruise: ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7) - # TODO: update opendbc with PQ TSK state for OP long accFaulted + else: + ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3 # Update ACC setpoint. When the setpoint reads as 255, the driver has not # yet established an ACC setpoint, so treat it as zero. @@ -485,15 +486,15 @@ class MqbExtraSignals: # Additional signal and message lists for optional or bus-portable controllers fwd_radar_signals = [ ("ACC_Wunschgeschw_02", "ACC_02"), # ACC set speed - ("ACC_Typ", "ACC_06"), # Basic vs F2S vs SNG + ("ACC_Typ", "ACC_06"), # Basic vs FtS vs SnG ("AWV2_Freigabe", "ACC_10"), # FCW brake jerk release ("ANB_Teilbremsung_Freigabe", "ACC_10"), # AEB partial braking release ("ANB_Zielbremsung_Freigabe", "ACC_10"), # AEB target braking release ] fwd_radar_checks = [ - ("ACC_06", 50), # From J428 ACC radar control module - ("ACC_10", 50), # From J428 ACC radar control module - ("ACC_02", 17), # From J428 ACC radar control module + ("ACC_06", 50), # From J428 ACC radar control module + ("ACC_10", 50), # From J428 ACC radar control module + ("ACC_02", 17), # From J428 ACC radar control module ] bsm_radar_signals = [ ("SWA_Infostufe_SWA_li", "SWA_01"), # Blind spot object info, left @@ -502,24 +503,24 @@ class MqbExtraSignals: ("SWA_Warnung_SWA_re", "SWA_01"), # Blind spot object warning, right ] bsm_radar_checks = [ - ("SWA_01", 20), # From J1086 Lane Change Assist + ("SWA_01", 20), # From J1086 Lane Change Assist ] class PqExtraSignals: # Additional signal and message lists for optional or bus-portable controllers fwd_radar_signals = [ - ("ACA_StaACC", "ACC_GRA_Anziege", 0), # ACC drivetrain coordinator status - ("ACA_V_Wunsch", "ACC_GRA_Anziege", 0), # ACC set speed + ("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status + ("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed ] fwd_radar_checks = [ - ("ACC_GRA_Anziege", 25), # From J428 ACC radar control module + ("ACC_GRA_Anziege", 25), # From J428 ACC radar control module ] bsm_radar_signals = [ - ("SWA_Infostufe_SWA_li", "SWA_1", 0), # Blind spot object info, left - ("SWA_Warnung_SWA_li", "SWA_1", 0), # Blind spot object warning, left - ("SWA_Infostufe_SWA_re", "SWA_1", 0), # Blind spot object info, right - ("SWA_Warnung_SWA_re", "SWA_1", 0), # Blind spot object warning, right + ("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left + ("SWA_Warnung_SWA_li", "SWA_1"), # Blind spot object warning, left + ("SWA_Infostufe_SWA_re", "SWA_1"), # Blind spot object info, right + ("SWA_Warnung_SWA_re", "SWA_1"), # Blind spot object warning, right ] bsm_radar_checks = [ - ("SWA_1", 20), # From J1086 Lane Change Assist + ("SWA_1", 20), # From J1086 Lane Change Assist ] From 08b49e5671c04aaa17d8b56e2351d1bd14195dae Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 28 Nov 2022 15:00:37 -0800 Subject: [PATCH 042/201] IsoTpParallelQuery: log errors in qlogs (#26609) log these in qlogs --- selfdrive/car/isotp_parallel_query.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 4b4bdcc0ca..d9c658a14c 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -137,17 +137,17 @@ class IsoTpParallelQuery: else: response_timeouts[tx_addr] = 0 request_done[tx_addr] = True - cloudlog.warning(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}") + cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}") cur_time = time.monotonic() if cur_time - max(response_timeouts.values()) > 0: for tx_addr in msgs: if request_counter[tx_addr] > 0 and not request_done[tx_addr]: - cloudlog.warning(f"iso-tp query timeout after receiving response: {tx_addr}") + cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}") break if cur_time - start_time > total_timeout: - cloudlog.warning("iso-tp query timeout while receiving data") + cloudlog.error("iso-tp query timeout while receiving data") break return results From 909a884dc5d2aaaff270e86d2707b51037c87bc4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 29 Nov 2022 07:43:27 +0800 Subject: [PATCH 043/201] Cabana: fix segfault in dragging zoom (#26598) fix segfault --- tools/cabana/chartswidget.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 6e1f2e110c..a3faab0a20 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -398,8 +398,8 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { rubber->hide(); QRectF rect = rubber->geometry().normalized(); - double min = chart()->mapToValue(rect.topLeft()).x(); - double max = chart()->mapToValue(rect.bottomRight()).x(); + double min = std::floor(chart()->mapToValue(rect.topLeft()).x() * 10.0) / 10.0; + double max = std::floor(chart()->mapToValue(rect.bottomRight()).x() * 10.0) / 10.0; if (rubber->width() <= 0) { // no rubber dragged, seek to mouse position can->seekTo(min); From 12ecc7b4bc42f70d73729367c32d200cca5afcc3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 28 Nov 2022 16:01:54 -0800 Subject: [PATCH 044/201] Hyundai: remove custom accel limit function for default values (#26611) * Update interface.py * Update interface.py --- selfdrive/car/hyundai/interface.py | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 8738aabd17..3ecf5289ff 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV -from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -17,10 +17,6 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu class CarInterface(CarInterfaceBase): - @staticmethod - def get_pid_accel_limits(CP, current_speed, cruise_speed): - return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX - @staticmethod def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value ret = CarInterfaceBase.get_std_params(candidate, fingerprint) From a48ec655ac4983145bc93c712ecabac75b886e11 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 29 Nov 2022 01:13:54 +0100 Subject: [PATCH 045/201] CI: gps test hackrf support (#26364) * first ignore * init gps test * make LimeGPS git clone * revert ignore * . * remove prebuilt bins * gps test v1 * add static signal gen script * update readme * remove LD_PRELOAD by using rpath, update values after testing * . * remove LD_PRELOAD * . * fix README * . * . * . * gps test v1 * cleanUp * init * update fuzzy tests * . * finalize qcom gps tests * . * . * . * add downloader * finalize unit tests * . * . * inc limeGPS startup time * tmp * loosen init time * . * . * . * add ublox warmstart test * . * improve location tests * . * . * . * . * . * . * . * . * last cleanUp * . * . * add hackrf support * hackrf support * . * . * . * . * . * . Co-authored-by: Kurt Nistelberger --- tools/gpstest/.gitignore | 4 +- tools/gpstest/patches/hackrf.patch | 44 +++++++++++ tools/gpstest/setup_hackrf.sh | 21 +++++ tools/gpstest/simulate_gps_signal.py | 110 +++++++++++++++++++-------- 4 files changed, 145 insertions(+), 34 deletions(-) create mode 100644 tools/gpstest/patches/hackrf.patch create mode 100755 tools/gpstest/setup_hackrf.sh diff --git a/tools/gpstest/.gitignore b/tools/gpstest/.gitignore index f11597286e..992088ef34 100644 --- a/tools/gpstest/.gitignore +++ b/tools/gpstest/.gitignore @@ -1,2 +1,4 @@ LimeGPS/ -LimeSuite/ \ No newline at end of file +LimeSuite/ +hackrf/ +gps-sdr-sim/ diff --git a/tools/gpstest/patches/hackrf.patch b/tools/gpstest/patches/hackrf.patch new file mode 100644 index 0000000000..afc9ac437b --- /dev/null +++ b/tools/gpstest/patches/hackrf.patch @@ -0,0 +1,44 @@ +diff --git a/host/hackrf-tools/src/CMakeLists.txt b/host/hackrf-tools/src/CMakeLists.txt +index 7115151c..a51388ba 100644 +--- a/host/hackrf-tools/src/CMakeLists.txt ++++ b/host/hackrf-tools/src/CMakeLists.txt +@@ -23,20 +23,20 @@ + + set(INSTALL_DEFAULT_BINDIR "bin" CACHE STRING "Appended to CMAKE_INSTALL_PREFIX") + +-find_package(FFTW REQUIRED) +-include_directories(${FFTW_INCLUDES}) +-get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY) +-link_directories(${FFTW_LIBRARY_DIRS}) ++#find_package(FFTW REQUIRED) ++#include_directories(${FFTW_INCLUDES}) ++#get_filename_component(FFTW_LIBRARY_DIRS ${FFTW_LIBRARIES} DIRECTORY) ++#link_directories(${FFTW_LIBRARY_DIRS}) + + SET(TOOLS + hackrf_transfer +- hackrf_spiflash +- hackrf_cpldjtag ++ #hackrf_spiflash ++ #hackrf_cpldjtag + hackrf_info +- hackrf_debug +- hackrf_clock +- hackrf_sweep +- hackrf_operacake ++ #hackrf_debug ++ #hackrf_clock ++ #hackrf_sweep ++ #hackrf_operacake + ) + + if(MSVC) +@@ -45,7 +45,7 @@ if(MSVC) + ) + LIST(APPEND TOOLS_LINK_LIBS ${FFTW_LIBRARIES}) + else() +- LIST(APPEND TOOLS_LINK_LIBS m fftw3f) ++ LIST(APPEND TOOLS_LINK_LIBS m)# fftw3f) + endif() + + if(NOT libhackrf_SOURCE_DIR) diff --git a/tools/gpstest/setup_hackrf.sh b/tools/gpstest/setup_hackrf.sh new file mode 100755 index 0000000000..e504ec9447 --- /dev/null +++ b/tools/gpstest/setup_hackrf.sh @@ -0,0 +1,21 @@ +#!/bin/bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +cd $DIR + +if [ ! -d gps-sdr-sim ]; then + git clone https://github.com/osqzss/gps-sdr-sim.git + cd gps-sdr-sim + make + cd .. +fi + +if [ ! -d hackrf ]; then + git clone https://github.com/greatscottgadgets/hackrf.git + cd hackrf/host + git apply ../../patches/hackrf.patch + cmake . + make +fi + diff --git a/tools/gpstest/simulate_gps_signal.py b/tools/gpstest/simulate_gps_signal.py index f1e5ad2028..a6aca1c404 100755 --- a/tools/gpstest/simulate_gps_signal.py +++ b/tools/gpstest/simulate_gps_signal.py @@ -36,38 +36,7 @@ def get_random_coords(lat, lon) -> Tuple[int, int]: # jump around the world return get_coords(lat, lon, 20, 20, 10, 20) -def check_availability() -> bool: - cmd = ["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"] - output = sp.check_output(cmd) - - if output.strip() == b"": - return False - - print(f"Device: {output.strip().decode('utf-8')}") - return True - -def main(lat, lon, jump_sim, contin_sim): - if not os.path.exists('LimeGPS'): - print("LimeGPS not found run 'setup.sh' first") - return - - if not os.path.exists('LimeSuite'): - print("LimeSuite not found run 'setup.sh' first") - return - - if not check_availability(): - print("No limeSDR device found!") - return - - rinex_file = download_rinex() - - if lat == 0 and lon == 0: - lat, lon = get_random_coords(47.2020, 15.7403) - - timeout = None - if jump_sim: - timeout = 30 - +def run_limeSDR_loop(lat, lon, contin_sim, rinex_file, timeout): while True: try: print(f"starting LimeGPS, Location: {lat},{lon}") @@ -86,17 +55,92 @@ def main(lat, lon, jump_sim, contin_sim): print(f"LimeGPS crashed: {str(e)}") print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member + return if contin_sim: lat, lon = get_continuous_coords(lat, lon) else: lat, lon = get_random_coords(lat, lon) +def run_hackRF_loop(lat, lon, rinex_file, timeout): + + if timeout is not None: + print("no jump mode for hackrf!") + return + + try: + print(f"starting gps-sdr-sim, Location: {lat},{lon}") + # create 30second file and replay with hackrf endless + cmd = ["gps-sdr-sim/gps-sdr-sim", "-e", rinex_file, "-l", f"{lat},{lon},100", "-d", "30"] + sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) + # created in current working directory + except Exception: + print("Failed to generate gpssim.bin") + + try: + print("starting hackrf_transfer") + # create 30second file and replay with hackrf endless + cmd = ["hackrf/host/hackrf-tools/src/hackrf_transfer", "-t", "gpssim.bin", + "-f", "1575420000", "-s", "2600000", "-a", "1", "-R"] + sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) + except KeyboardInterrupt: + print("stopping hackrf_transfer") + return + except Exception as e: + print(f"hackrf_transfer crashed:{str(e)}") + + +def main(lat, lon, jump_sim, contin_sim, hackrf_mode): + + if hackrf_mode: + if not os.path.exists('hackrf'): + print("hackrf not found run 'setup_hackrf.sh' first") + return + + if not os.path.exists('gps-sdr-sim'): + print("gps-sdr-sim not found run 'setup_hackrf.sh' first") + return + + output = sp.check_output(["hackrf/host/hackrf-tools/src/hackrf_info"]) + if output.strip() == b"" or b"No HackRF boards found." in output: + print("No HackRF boards found!") + return + + else: + if not os.path.exists('LimeGPS'): + print("LimeGPS not found run 'setup.sh' first") + return + + if not os.path.exists('LimeSuite'): + print("LimeSuite not found run 'setup.sh' first") + return + + output = sp.check_output(["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"]) + if output.strip() == b"": + print("No LimeSDR device found!") + return + print(f"Device: {output.strip().decode('utf-8')}") + + if lat == 0 and lon == 0: + lat, lon = get_random_coords(47.2020, 15.7403) + + rinex_file = download_rinex() + + timeout = None + if jump_sim: + timeout = 30 + + if not hackrf_mode: + run_limeSDR_loop(lat, lon, contin_sim, rinex_file, timeout) + else: + run_hackRF_loop(lat, lon, rinex_file, timeout) + if __name__ == "__main__": parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.") parser.add_argument("lat", type=float, nargs='?', default=0) parser.add_argument("lon", type=float, nargs='?', default=0) parser.add_argument("--jump", action="store_true", help="signal that jumps around the world") parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world") + parser.add_argument("--hackrf", action="store_true", help="hackrf mode (DEFAULT: LimeSDR)") args = parser.parse_args() - main(args.lat, args.lon, args.jump, args.contin) + main(args.lat, args.lon, args.jump, args.contin, args.hackrf) From 7b1122e831f0219c2f4c660cca6f45c1e8a3162a Mon Sep 17 00:00:00 2001 From: Scott Leibrand Date: Tue, 29 Nov 2022 00:38:18 -0800 Subject: [PATCH 046/201] One-word grammar fix to docs/INTEGRATION.md (#26621) Grammar fix --- docs/INTEGRATION.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/INTEGRATION.md b/docs/INTEGRATION.md index 97b72e39d3..ba6291c1e3 100644 --- a/docs/INTEGRATION.md +++ b/docs/INTEGRATION.md @@ -8,4 +8,4 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR * Stock ACC is replaced by openpilot ACC. * openpilot FCW operates in addition to stock FCW. -openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning. +openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning. From b18dfef8a6fdd1b38be316193f704b380e8f0dd2 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Tue, 29 Nov 2022 03:03:02 -0600 Subject: [PATCH 047/201] Add missing RAV4_TSS2 ABS f/w (#26617) `@IDJ#0879` 2019 Toyota RAV4 (ICE) DongleID/route e7cd4ae3bee72b52|2022-11-29--14-33-40 --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 6d6c03df71..4f2ab478c7 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1326,6 +1326,7 @@ FW_VERSIONS = { b'\x01F15260R302\x00\x00\x00\x00\x00\x00', b'\x01F152642551\x00\x00\x00\x00\x00\x00', b'\x01F152642561\x00\x00\x00\x00\x00\x00', + b'\x01F152642601\x00\x00\x00\x00\x00\x00', b'\x01F152642700\x00\x00\x00\x00\x00\x00', b'\x01F152642701\x00\x00\x00\x00\x00\x00', b'\x01F152642710\x00\x00\x00\x00\x00\x00', From 67fb3441463976d016a6ca0499abdc8691238f2d Mon Sep 17 00:00:00 2001 From: James <91348155+FrogAi@users.noreply.github.com> Date: Tue, 29 Nov 2022 02:05:38 -0700 Subject: [PATCH 048/201] Fixed typo in CARLA README.md (#26615) --- tools/sim/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/sim/README.md b/tools/sim/README.md index 40603f3f71..69a89aefab 100644 --- a/tools/sim/README.md +++ b/tools/sim/README.md @@ -6,7 +6,7 @@ openpilot implements a [bridge](bridge.py) that allows it to run in the [CARLA s ## System Requirements openpilot doesn't have any extreme hardware requirements, however CARLA requires an NVIDIA graphics card and is very resource-intensive and may not run smoothly on your system. -For this case, we have a the simulator in low quality by default. +For this case, we have the simulator in low quality by default. You can also check out the [CARLA python documentation](https://carla.readthedocs.io/en/latest/python_api/) to find more parameters to tune that might increase performance on your system. From b2fd699c21656d6cc7959c3ecd900b5a08456950 Mon Sep 17 00:00:00 2001 From: uppercaseVar <33802760+uppercaseVar@users.noreply.github.com> Date: Tue, 29 Nov 2022 01:08:58 -0800 Subject: [PATCH 049/201] Add ECU fw for 2016 Golf GTI (#26591) Added ECU for 2016 Golf GTI --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 5423f09658..c96f6decbf 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -377,6 +377,7 @@ FW_VERSIONS = { b'\xf1\x870EA906016Q \xf1\x895993', b'\xf1\x870EA906016S \xf1\x897207', b'\xf1\x875G0906259 \xf1\x890007', + b'\xf1\x875G0906259D \xf1\x890002', b'\xf1\x875G0906259J \xf1\x890002', b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259N \xf1\x890003', @@ -412,6 +413,7 @@ FW_VERSIONS = { b'\xf1\x870D9300012 \xf1\x895045', b'\xf1\x870D9300014M \xf1\x895004', b'\xf1\x870D9300014Q \xf1\x895006', + b'\xf1\x870D9300020J \xf1\x894902', b'\xf1\x870D9300020Q \xf1\x895201', b'\xf1\x870D9300020S \xf1\x895201', b'\xf1\x870D9300040A \xf1\x893613', @@ -459,6 +461,7 @@ FW_VERSIONS = { b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0', b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1', b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A01613A1', b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1', From f64e69eb11e1b9efc5fb3f9b893d1e42a9809d0f Mon Sep 17 00:00:00 2001 From: Andrew Date: Tue, 29 Nov 2022 01:13:43 -0800 Subject: [PATCH 050/201] Hyundai: add more Kia K5 FW (#26590) * add some values * consistent , * Update selfdrive/car/hyundai/values.py * Update selfdrive/car/hyundai/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index ecba7b7494..16ff68f08a 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1021,11 +1021,13 @@ FW_VERSIONS = { b'\xf1\x8799110L2000\xf1\000DL3_ SCC FHCUP 1.00 1.03 99110-L2000 ', b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP 1.00 1.03 99110-L2100 ', + b'\xf1\x00DL3_ SCC F-CUP 1.00 1.03 99110-L2100 ', ], (Ecu.eps, 0x7D4, None): [ b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101', b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102', + b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101', ], (Ecu.fwdCamera, 0x7C4, None): [ b'\xf1\x00DL3 MFC AT USA LHD 1.00 1.03 99210-L3000 200915', @@ -1036,6 +1038,7 @@ FW_VERSIONS = { b'\xf1\x8758910-L3200\xf1\000DL ESC \006 101 \004\002 58910-L3200', b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800', b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600', + b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800', ], (Ecu.engine, 0x7E0, None): [ b'\xf1\x87391212MKT0', @@ -1048,6 +1051,7 @@ FW_VERSIONS = { b'\xf1\x87SALFEA6046104GK2wvwgeTeFg\x88\x96xwwwwffvfe?\xfd\xff\x86fo\xff\x97A\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL2T16NB1ia\x0b\xb8', b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 WDL3T25XXX730NS2b\x1f\xb8%', + b'\xf1\x00bcsh8p54 U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18', ], }, CAR.KONA_EV: { From b4da592a3ca9bfda7766ecb5021a8ce17dfd6abe Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 29 Nov 2022 01:54:59 -0800 Subject: [PATCH 051/201] mock: remove steering angle (#26614) * fix yaw rate in mock interface * clean that up * revert * clean up --- selfdrive/car/mock/interface.py | 27 ++++----------------------- 1 file changed, 4 insertions(+), 23 deletions(-) diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index a3194cd79e..2be1bcb4a3 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -1,31 +1,22 @@ #!/usr/bin/env python3 -import math from cereal import car -from common.conversions import Conversions as CV from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase -# mocked car interface to work with chffrplus -TS = 0.01 # 100Hz -YAW_FR = 0.2 # ~0.8s time constant on yaw rate filter -# low pass gain -LPG = 2 * math.pi * YAW_FR * TS / (1 + 2 * math.pi * YAW_FR * TS) - +# mocked car interface to work with chffrplus class CarInterface(CarInterfaceBase): def __init__(self, CP, CarController, CarState): super().__init__(CP, CarController, CarState) cloudlog.debug("Using Mock Car Interface") - self.sm = messaging.SubMaster(['gyroscope', 'gpsLocation', 'gpsLocationExternal']) + self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal']) self.speed = 0. self.prev_speed = 0. - self.yaw_rate = 0. - self.yaw_rate_meas = 0. @staticmethod def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): @@ -45,11 +36,6 @@ class CarInterface(CarInterfaceBase): # returns a car.CarState def _update(self, c): self.sm.update(0) - - # get basic data from phone and gps since CAN isn't connected - if self.sm.updated['gyroscope']: - self.yaw_rate_meas = -self.sm['gyroscope'].gyroUncalibrated.v[0] - gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation' if self.sm.updated[gps_sock]: self.prev_speed = self.speed @@ -61,10 +47,9 @@ class CarInterface(CarInterfaceBase): # speeds ret.vEgo = self.speed ret.vEgoRaw = self.speed - a = self.speed - self.prev_speed - ret.aEgo = a - ret.brakePressed = a < -0.5 + ret.aEgo = self.speed - self.prev_speed + ret.brakePressed = ret.aEgo < -0.5 ret.standstill = self.speed < 0.01 ret.wheelSpeeds.fl = self.speed @@ -72,10 +57,6 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeeds.rl = self.speed ret.wheelSpeeds.rr = self.speed - self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate - curvature = self.yaw_rate / max(self.speed, 1.) - ret.steeringAngleDeg = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG - return ret def apply(self, c): From 0706b03e8cf41f7d51c9a42f01bda2084bfe3be6 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 29 Nov 2022 10:47:13 -0800 Subject: [PATCH 052/201] [controlsd] Toyota Prius 2017 (#26455) * increase lag on prius * better offline values computation * split prius ecu more, set deadzone to 0 * add deadzone back * replace deadzone with slack * reduce deadzone to 0.2 * update refs --- selfdrive/car/interfaces.py | 4 ++-- selfdrive/car/torque_data/params.yaml | 3 ++- selfdrive/car/toyota/interface.py | 4 ++-- selfdrive/controls/lib/drive_helpers.py | 6 ++++++ selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 13 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 8e8872a539..820e429cc4 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -11,7 +11,7 @@ from common.kalman.simple_kalman import KF1D from common.numpy_fast import interp from common.realtime import DT_CTRL from selfdrive.car import apply_hysteresis, gen_empty_fingerprint -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_deadzone +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_slack from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel @@ -109,7 +109,7 @@ class CarInterfaceBase(ABC): def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation): # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) friction_interp = interp( - apply_deadzone(lateral_accel_error, lateral_accel_deadzone), + apply_slack(lateral_accel_error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-torque_params.friction, torque_params.friction] ) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index a9023b4edc..b4dbaf8564 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -77,7 +77,8 @@ TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054 TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600] TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993] TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565] -TOYOTA PRIUS 2017: [1.746445, 1.5023147650693636, 0.151515] +TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515] +TOYOTA PRIUS 2017 x060: [1.746445, 1.5023147650693636, 0.17] TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968] TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975] TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 0139c692c1..7ee5ac0d0e 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -42,7 +42,8 @@ class CarInterface(CarInterfaceBase): # Only give steer angle deadzone to for bad angle sensor prius for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': - steering_angle_deadzone_deg = 1.0 + steering_angle_deadzone_deg = 0.2 + ret.steerActuatorDelay = 0.25 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) elif candidate == CAR.PRIUS_V: @@ -51,7 +52,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.4 tire_stiffness_factor = 0.5533 ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index f0dc2e9467..acef4bee8e 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -149,6 +149,12 @@ def apply_deadzone(error, deadzone): return error +def apply_slack(error, deadzone): + if (error > - deadzone) and (error < deadzone): + error = 0. + return error + + def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d4520d2935..71da0dff44 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -08ca448a6dcfc1edc4f9fedb2ea94ad6b2b69aa2 \ No newline at end of file +ddfaab44ae64a0d064b847e81080993b51b6b423 \ No newline at end of file From 44e9ea23bd6900d9d43216855bbc68704e4358ba Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 29 Nov 2022 14:15:16 -0500 Subject: [PATCH 053/201] VW PQ: Follow-to-Stop support (#26616) --- selfdrive/car/volkswagen/carstate.py | 4 +++- selfdrive/car/volkswagen/interface.py | 1 - selfdrive/car/volkswagen/pqcan.py | 1 + 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index c82dc08007..263edbfc9d 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -220,7 +220,7 @@ class CarState(CarStateBase): ret.stockAeb = False # Update ACC radar status. - self.acc_type = 0 # TODO: this is ACC "basic" with nonzero min speed, support FtS (1) later + self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"] ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2) if self.CP.pcmCruise: @@ -509,10 +509,12 @@ class MqbExtraSignals: class PqExtraSignals: # Additional signal and message lists for optional or bus-portable controllers fwd_radar_signals = [ + ("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ) ("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status ("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed ] fwd_radar_checks = [ + ("ACC_System", 50), # From J428 ACC radar control module ("ACC_GRA_Anziege", 25), # From J428 ACC radar control module ] bsm_radar_signals = [ diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 816e7fcf34..e0bb917960 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -137,7 +137,6 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.SHARAN_MK2: ret.mass = 1639 + STD_CARGO_KG ret.wheelbase = 2.92 - ret.minEnableSpeed = 30 * CV.KPH_TO_MS ret.minSteerSpeed = 50 * CV.KPH_TO_MS ret.steerActuatorDelay = 0.2 diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 0bcbf6abb3..6beb90c092 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -66,6 +66,7 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, "ACS_Sta_ADR": acc_control, "ACS_StSt_Info": acc_control != 1, "ACS_Typ_ACC": acc_type, + "ACS_Anhaltewunsch": acc_type == 1 and stopping, "ACS_Sollbeschl": accel if acc_control == 1 else 3.01, "ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27, "ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08, From f9bb024a464f8714a1edc7190985fcb612415eec Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 30 Nov 2022 03:42:56 +0800 Subject: [PATCH 054/201] Cabana: execute generate_dbc_json.py after building (#26620) * use env.command to generete json after build * Update tools/cabana/SConscript Co-authored-by: Shane Smiskol --- tools/cabana/SConscript | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 3ff4862800..52fe9e346d 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -17,10 +17,13 @@ cabana_env = qt_env.Clone() prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json') cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', 'canmessages.cc', 'commands.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('_cabana', ['cabana.cc', cabana_lib], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('test'): cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) + +def generate_dbc_json(target, source, env): + env.Execute('tools/cabana/generate_dbc_json.py --out tools/cabana/car_fingerprint_to_dbc.json') +cabana_env.Command('generate_dbc_json', [], generate_dbc_json) From 860f441e2f122173c5034656aeed5706fd41e38f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 29 Nov 2022 11:49:13 -0800 Subject: [PATCH 055/201] Car interface: set common params after port (#26613) * remove pylint exception, _get_params takes no defaults * clean up * mock uses it too * unused * unused * fix that * bump * Update selfdrive/car/interfaces.py --- selfdrive/car/body/interface.py | 9 ++------- selfdrive/car/chrysler/interface.py | 10 ++-------- selfdrive/car/ford/interface.py | 14 +++----------- selfdrive/car/gm/interface.py | 9 ++------- selfdrive/car/honda/interface.py | 9 ++------- selfdrive/car/hyundai/interface.py | 10 ++-------- selfdrive/car/interfaces.py | 26 ++++++++++++++++++++++---- selfdrive/car/mazda/interface.py | 10 ++-------- selfdrive/car/mock/interface.py | 6 ++---- selfdrive/car/nissan/interface.py | 10 ++-------- selfdrive/car/subaru/interface.py | 10 ++-------- selfdrive/car/tesla/interface.py | 6 ++---- selfdrive/car/toyota/interface.py | 10 ++-------- selfdrive/car/volkswagen/interface.py | 11 +++-------- 14 files changed, 50 insertions(+), 100 deletions(-) diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index ae7ab89aab..638134be7f 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -2,16 +2,13 @@ import math from cereal import car from common.realtime import DT_CTRL -from selfdrive.car import scale_rot_inertia, scale_tire_stiffness, get_safety_config +from selfdrive.car import scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.body.values import SPEED_FROM_RPM class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=None, car_fw=None, experimental_long=False): - - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) - + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.notCar = True ret.carName = "body" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)] @@ -31,8 +28,6 @@ class CarInterface(CarInterfaceBase): ret.openpilotLongitudinalControl = True ret.steerControlType = car.CarParams.SteerControlType.angle - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) return ret diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 245e10650c..9b5e5a5ce5 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,21 +1,18 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT from selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "chrysler" - ret.dashcamOnly = candidate in RAM_HD ret.radarOffCan = DBC[candidate]['radar'] is None - ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.4 @@ -76,9 +73,6 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.44 - # starting with reasonable value for civic and scaling by mass and wheelbase - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 4943db076f..913c3c926d 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from cereal import car from common.conversions import Conversions as CV -from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter from selfdrive.car.interfaces import CarInterfaceBase @@ -10,12 +10,7 @@ CarParams = car.CarParams class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): - if car_fw is None: - car_fw = [] - - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) - + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "ford" ret.dashcamOnly = True ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)] @@ -24,7 +19,6 @@ class CarInterface(CarInterfaceBase): ret.steerControlType = CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.4 ret.steerLimitTimer = 1.0 - tire_stiffness_factor = 1.0 if candidate == CAR.ESCAPE_MK4: ret.wheelbase = 2.71 @@ -60,10 +54,8 @@ class CarInterface(CarInterfaceBase): ret.minSteerSpeed = 0. ret.autoResumeSng = ret.minEnableSpeed == -1. - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) ret.centerToFront = ret.wheelbase * 0.44 - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, - tire_stiffness_factor=tire_stiffness_factor) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) return ret def _update(self, c): diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index eb5ab7329a..7d38c60900 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -4,7 +4,7 @@ from math import fabs from panda import Panda from common.conversions import Conversions as CV -from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR from selfdrive.car.interfaces import CarInterfaceBase @@ -44,8 +44,7 @@ class CarInterface(CarInterfaceBase): return CarInterfaceBase.get_steer_feedforward_default @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.autoResumeSng = False @@ -195,10 +194,6 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - # TODO: get actual value, for now starting with reasonable value for - # civic and scaling by mass and wheelbase - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index e397f02838..990238ae5d 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -4,7 +4,7 @@ from panda import Panda from common.conversions import Conversions as CV from common.numpy_fast import interp from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS -from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_event, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu @@ -29,8 +29,7 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "honda" if candidate in HONDA_BOSCH: @@ -291,10 +290,6 @@ class CarInterface(CarInterfaceBase): stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS - # TODO: get actual value, for now starting with reasonable value for - # civic and scaling by mass and wheelbase - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 3ecf5289ff..c1fe8be4c2 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -4,7 +4,7 @@ from panda import Panda from common.conversions import Conversions as CV from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR -from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu @@ -18,9 +18,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) - + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "hyundai" ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None @@ -267,10 +265,6 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.4 - # TODO: get actual value, for now starting with reasonable value for - # civic and scaling by mass and wheelbase - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 820e429cc4..e03f1cfada 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -10,7 +10,7 @@ from common.conversions import Conversions as CV from common.kalman.simple_kalman import KF1D from common.numpy_fast import interp from common.realtime import DT_CTRL -from selfdrive.car import apply_hysteresis, gen_empty_fingerprint +from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_slack from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel @@ -87,10 +87,28 @@ class CarInterfaceBase(ABC): def get_pid_accel_limits(CP, current_speed, cruise_speed): return ACCEL_MIN, ACCEL_MAX + @classmethod + def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False): + if fingerprint is None: + fingerprint = gen_empty_fingerprint() + + if car_fw is None: + car_fw = list() + + ret = CarInterfaceBase.get_std_params(candidate) + ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long) + + # Set common params using fields set by the car interface + # TODO: get actual value, for now starting with reasonable value for + # civic and scaling by mass and wheelbase + ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + + return ret + @staticmethod @abstractmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): - pass + def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool): + raise NotImplementedError @staticmethod def init(CP, logcan, sendcan): @@ -121,7 +139,7 @@ class CarInterfaceBase(ABC): # returns a set of default params to avoid repetition in car specific params @staticmethod - def get_std_params(candidate, fingerprint): + def get_std_params(candidate): ret = car.CarParams.new_message() ret.carFingerprint = candidate diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 7c42431e33..fdd2439ff9 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -2,7 +2,7 @@ from cereal import car from common.conversions import Conversions as CV from selfdrive.car.mazda.values import CAR, LKAS_LIMITS -from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase ButtonType = car.CarState.ButtonEvent.Type @@ -11,9 +11,7 @@ EventName = car.CarEvent.EventName class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) - + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "mazda" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] ret.radarOffCan = True @@ -48,10 +46,6 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.41 - # TODO: get actual value, for now starting with reasonable value for - # civic and scaling by mass and wheelbase - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 2be1bcb4a3..3ac487dbb7 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -2,7 +2,7 @@ from cereal import car from system.swaglog import cloudlog import cereal.messaging as messaging -from selfdrive.car import gen_empty_fingerprint, get_safety_config +from selfdrive.car import get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -19,12 +19,10 @@ class CarInterface(CarInterfaceBase): self.prev_speed = 0. @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "mock" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)] ret.mass = 1700. - ret.rotationalInertia = 2500. ret.wheelbase = 2.70 ret.centerToFront = ret.wheelbase * 0.5 ret.steerRatio = 13. # reasonable diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index e095ceb461..194d7f06ae 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.nissan.values import CAR @@ -8,9 +8,7 @@ from selfdrive.car.nissan.values import CAR class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): - - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "nissan" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)] ret.autoResumeSng = False @@ -38,10 +36,6 @@ class CarInterface(CarInterfaceBase): ret.steerControlType = car.CarParams.SteerControlType.angle ret.radarOffCan = True - # TODO: get actual value, for now starting with reasonable value for - # civic and scaling by mass and wheelbase - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index a920c02534..7dba8eaf23 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS @@ -9,9 +9,7 @@ from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) - + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "subaru" ret.radarOffCan = True ret.dashcamOnly = candidate in PREGLOBAL_CARS @@ -103,10 +101,6 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"unknown car: {candidate}") - # TODO: get actual value, for now starting with reasonable value for - # civic and scaling by mass and wheelbase - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 2eb29efb41..6573f4e4d9 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -2,14 +2,13 @@ from cereal import car from panda import Panda from selfdrive.car.tesla.values import CANBUS, CAR -from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config +from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "tesla" # There is no safe way to do steer blending with user torque, @@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"Unsupported car: {candidate}") - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) return ret diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 7ee5ac0d0e..d3835d175b 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -3,7 +3,7 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR -from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase EventName = car.CarEvent.EventName @@ -15,9 +15,7 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], experimental_long=False): # pylint: disable=dangerous-default-value - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) - + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "toyota" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] @@ -190,10 +188,6 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.44 - # TODO: get actual value, for now starting with reasonable value for - # civic and scaling by mass and wheelbase - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index e0bb917960..997cdfcfc1 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -1,8 +1,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV -from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, \ - gen_empty_fingerprint, get_safety_config +from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter @@ -22,8 +21,7 @@ class CarInterface(CarInterfaceBase): self.cp_ext = self.cp_cam @staticmethod - def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): - ret = CarInterfaceBase.get_std_params(candidate, fingerprint) + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "volkswagen" ret.radarOffCan = True @@ -74,7 +72,6 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.4 ret.steerRatio = 15.6 # Let the params learner figure this out - tire_stiffness_factor = 1.0 # Let the params learner figure this out ret.lateralTuning.pid.kpBP = [0.] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kf = 0.00006 @@ -213,10 +210,8 @@ class CarInterface(CarInterfaceBase): raise ValueError(f"unsupported car {candidate}") ret.autoResumeSng = ret.minEnableSpeed == -1 - ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) ret.centerToFront = ret.wheelbase * 0.45 - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, - tire_stiffness_factor=tire_stiffness_factor) + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) return ret # returns a car.CarState From 3a4f19f0ee454a9c8d7c55d66e794ef20c4b4f01 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 29 Nov 2022 12:46:08 -0800 Subject: [PATCH 056/201] [controlsd] Refactor apply_deadzone in Lateral Torque Control (#26626) rename apply_slack to apply_center_deadzone, remove unused prius offline values --- selfdrive/car/interfaces.py | 4 ++-- selfdrive/car/torque_data/params.yaml | 1 - selfdrive/controls/lib/drive_helpers.py | 2 +- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e03f1cfada..e062e783e5 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -11,7 +11,7 @@ from common.kalman.simple_kalman import KF1D from common.numpy_fast import interp from common.realtime import DT_CTRL from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_slack +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel @@ -127,7 +127,7 @@ class CarInterfaceBase(ABC): def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation): # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) friction_interp = interp( - apply_slack(lateral_accel_error, lateral_accel_deadzone), + apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-torque_params.friction, torque_params.friction] ) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index b4dbaf8564..124cf3d3b9 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -78,7 +78,6 @@ TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600] TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993] TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565] TOYOTA PRIUS 2017: [1.60, 1.5023147650693636, 0.151515] -TOYOTA PRIUS 2017 x060: [1.746445, 1.5023147650693636, 0.17] TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968] TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975] TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822] diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index acef4bee8e..3d5ec8ac1d 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -149,7 +149,7 @@ def apply_deadzone(error, deadzone): return error -def apply_slack(error, deadzone): +def apply_center_deadzone(error, deadzone): if (error > - deadzone) and (error < deadzone): error = 0. return error From 712b9014d708ce77e87e2d1bb4dfe2d7665a8414 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 29 Nov 2022 12:50:27 -0800 Subject: [PATCH 057/201] Car interface: set tire stiffness in common function (#26625) * common stiffness * GM uses factors --- selfdrive/car/body/interface.py | 4 +--- selfdrive/car/chrysler/interface.py | 7 +------ selfdrive/car/ford/interface.py | 3 +-- selfdrive/car/interfaces.py | 8 +++++++- selfdrive/car/nissan/interface.py | 12 ++++-------- selfdrive/car/subaru/interface.py | 6 +----- selfdrive/car/tesla/interface.py | 4 +--- selfdrive/car/tests/test_car_interfaces.py | 2 ++ selfdrive/car/volkswagen/interface.py | 3 +-- 9 files changed, 19 insertions(+), 30 deletions(-) diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 638134be7f..bc5b36e2ee 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -2,7 +2,7 @@ import math from cereal import car from common.realtime import DT_CTRL -from selfdrive.car import scale_tire_stiffness, get_safety_config +from selfdrive.car import get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.body.values import SPEED_FROM_RPM @@ -28,8 +28,6 @@ class CarInterface(CarInterfaceBase): ret.openpilotLongitudinalControl = True ret.steerControlType = car.CarParams.SteerControlType.angle - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) - return ret def _update(self, c): diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 9b5e5a5ce5..5e8fe3c44e 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config +from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT from selfdrive.car.interfaces import CarInterfaceBase @@ -72,11 +72,6 @@ class CarInterface(CarInterfaceBase): raise ValueError(f"Unsupported car: {candidate}") ret.centerToFront = ret.wheelbase * 0.44 - - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by - # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) - ret.enableBsm = 720 in fingerprint[0] return ret diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 913c3c926d..f3d77bc05a 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from cereal import car from common.conversions import Conversions as CV -from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config +from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter from selfdrive.car.interfaces import CarInterfaceBase @@ -55,7 +55,6 @@ class CarInterface(CarInterfaceBase): ret.autoResumeSng = ret.minEnableSpeed == -1. ret.centerToFront = ret.wheelbase * 0.44 - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) return ret def _update(self, c): diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e062e783e5..0458178ee3 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -10,7 +10,7 @@ from common.conversions import Conversions as CV from common.kalman.simple_kalman import KF1D from common.numpy_fast import interp from common.realtime import DT_CTRL -from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia +from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel @@ -103,6 +103,12 @@ class CarInterfaceBase(ABC): # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) + # TODO: some car interfaces set stiffness factor + if ret.tireStiffnessFront == 0 or ret.tireStiffnessRear == 0: + # TODO: start from empirically derived lateral slip stiffness for the civic and scale by + # mass and CG position, so all cars will have approximately similar dyn behaviors + ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) + return ret @staticmethod diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 194d7f06ae..386e859089 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 from cereal import car -from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config +from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.nissan.values import CAR @@ -18,6 +18,9 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 ret.steerRatio = 17 + ret.steerControlType = car.CarParams.SteerControlType.angle + ret.radarOffCan = True + if candidate in (CAR.ROGUE, CAR.XTRAIL): ret.mass = 1610 + STD_CARGO_KG ret.wheelbase = 2.705 @@ -33,13 +36,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.824 ret.centerToFront = ret.wheelbase * 0.44 - ret.steerControlType = car.CarParams.SteerControlType.angle - ret.radarOffCan = True - - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by - # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) - return ret # returns a car.CarState diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 7dba8eaf23..22468801ec 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config +from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS @@ -101,10 +101,6 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"unknown car: {candidate}") - # TODO: start from empirically derived lateral slip stiffness for the civic and scale by - # mass and CG position, so all cars will have approximately similar dyn behaviors - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) - return ret # returns a car.CarState diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 6573f4e4d9..49e06d8923 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from selfdrive.car.tesla.values import CANBUS, CAR -from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config +from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -50,8 +50,6 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"Unsupported car: {candidate}") - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) - return ret def _update(self, c): diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index 8d22173671..48d85584b3 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -31,6 +31,8 @@ class TestCarInterfaces(unittest.TestCase): assert car_interface self.assertGreater(car_params.mass, 1) + self.assertGreater(car_params.wheelbase, 0) + self.assertGreater(car_params.centerToFront, 0) self.assertGreater(car_params.maxLateralAccel, 0) if car_params.steerControlType != car.CarParams.SteerControlType.angle: diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 997cdfcfc1..d90a36ed3e 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -1,7 +1,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV -from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config +from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter @@ -211,7 +211,6 @@ class CarInterface(CarInterfaceBase): ret.autoResumeSng = ret.minEnableSpeed == -1 ret.centerToFront = ret.wheelbase * 0.45 - ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) return ret # returns a car.CarState From 8ad8d4e1c2887bcd22ab7048960ed6a1a7f8e3f6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 29 Nov 2022 13:11:03 -0800 Subject: [PATCH 058/201] controls: preEnabled doesn't consider noEntry (#26627) preEnabled doesn't consider noEntry --- selfdrive/controls/controlsd.py | 5 +---- selfdrive/controls/tests/test_state_machine.py | 6 +++--- 2 files changed, 4 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 76f049ddd2..d99357fbb6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -518,10 +518,7 @@ class Controls: # PRE ENABLING elif self.state == State.preEnabled: - if self.events.any(ET.NO_ENTRY): - self.state = State.disabled - self.current_alert_types.append(ET.NO_ENTRY) - elif not self.events.any(ET.PRE_ENABLE): + if not self.events.any(ET.PRE_ENABLE): self.state = State.enabled else: self.current_alert_types.append(ET.PRE_ENABLE) diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index 36535dfdaf..8f263a98e7 100755 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -79,7 +79,7 @@ class TestStateMachine(unittest.TestCase): self.assertEqual(self.controlsd.state, State.disabled) def test_no_entry(self): - # disabled with enable events + # Make sure noEntry keeps us disabled for et in ENABLE_EVENT_TYPES: self.controlsd.events.add(make_event([ET.NO_ENTRY, et])) self.controlsd.state_transition(self.CS) @@ -87,11 +87,11 @@ class TestStateMachine(unittest.TestCase): self.controlsd.events.clear() def test_no_entry_pre_enable(self): - # preEnabled with preEnabled event + # preEnabled with noEntry event self.controlsd.state = State.preEnabled self.controlsd.events.add(make_event([ET.NO_ENTRY, ET.PRE_ENABLE])) self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, State.disabled) + self.assertEqual(self.controlsd.state, State.preEnabled) def test_maintain_states(self): # Given current state's event type, we should maintain state From c3e3047080cdcfd5fbe275534fdf6980903aebdf Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 29 Nov 2022 16:05:46 -0800 Subject: [PATCH 059/201] boardd: cleanup defs from panda (#26628) * more stuff * bump pnada --- panda | 2 +- selfdrive/boardd/panda.cc | 9 ++++++--- selfdrive/boardd/panda.h | 12 ++++-------- selfdrive/boardd/tests/test_boardd_usbprotocol.cc | 2 -- 4 files changed, 11 insertions(+), 14 deletions(-) diff --git a/panda b/panda index e4c4253964..80dac4cd94 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e4c4253964a25ff980520b70ea9f50aede4a1db6 +Subproject commit 80dac4cd94de8711304b2695b4d348d2152a8e3e diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index b82de593c8..788cdf5cf1 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -6,7 +6,6 @@ #include #include "cereal/messaging/messaging.h" -#include "panda/board/dlc_to_len.h" #include "common/swaglog.h" #include "common/util.h" @@ -255,8 +254,12 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector &o canData.busTime = 0; canData.address = header.addr; canData.src = header.bus + bus_offset; - if (header.rejected) { canData.src += CANPACKET_REJECTED; } - if (header.returned) { canData.src += CANPACKET_RETURNED; } + if (header.rejected) { + canData.src += CAN_REJECTED_BUS_OFFSET; + } + if (header.returned) { + canData.src += CAN_RETURNED_BUS_OFFSET; + } const uint8_t data_len = dlc_to_len[header.data_len_code]; canData.dat.assign((char *)&recv_buf[pos + CANPACKET_HEAD_SIZE], data_len); diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 5b3cbb9a3e..b20d8f0afa 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -11,20 +11,16 @@ #include "cereal/gen/cpp/car.capnp.h" #include "cereal/gen/cpp/log.capnp.h" #include "panda/board/health.h" +#include "panda/board/can_definitions.h" #include "selfdrive/boardd/panda_comms.h" - -#define PANDA_CAN_CNT 3 -#define PANDA_BUS_CNT 4 - #define USB_TX_SOFT_LIMIT (0x100U) #define USBPACKET_MAX_SIZE (0x40) #define RECV_SIZE (0x4000U) -#define CANPACKET_HEAD_SIZE 5U -#define CANPACKET_MAX_SIZE 72U -#define CANPACKET_REJECTED (0xC0U) -#define CANPACKET_RETURNED (0x80U) + +#define CAN_REJECTED_BUS_OFFSET 0xC0U +#define CAN_RETURNED_BUS_OFFSET 0x80U struct __attribute__((packed)) can_header { uint8_t reserved : 1; diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc index 6a13cbd71f..c7d14fb0ef 100644 --- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc +++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc @@ -6,8 +6,6 @@ #include "cereal/messaging/messaging.h" #include "selfdrive/boardd/panda.h" -const unsigned char dlc_to_len[] = {0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U}; - int random_int(int min, int max) { std::random_device dev; std::mt19937 rng(dev()); From dbe512d167a51f02fe276e17a8794de2137d0e14 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 29 Nov 2022 17:34:10 -0800 Subject: [PATCH 060/201] controlsd: preEnable on brake at a standstill (#26273) * pre-enable on brake at standstill * test by getting rid of noTarget * Update events.py * rename * stash what we got so far * cmt * not sure if best way to fix, but enabled with current states defs is fine * no noEntry in preEnabled * bumpcereal * uncomment * Update ref_commit Co-authored-by: Adeeb Shihadeh --- cereal | 2 +- selfdrive/controls/controlsd.py | 5 ++++- selfdrive/controls/lib/events.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 8 insertions(+), 5 deletions(-) diff --git a/cereal b/cereal index 3bae09cf65..7f55399fde 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3bae09cf6527674d7eda3a9956242aad94a8f3d2 +Subproject commit 7f55399fde0b6a70c1bf7df4f86b90b0060e31ac diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index d99357fbb6..e5c981aa6b 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -249,6 +249,9 @@ class Controls: (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): self.events.add(EventName.pedalPressed) + if CS.brakePressed and CS.standstill: + self.events.add(EventName.preEnableStandstill) + if CS.gasPressed: self.events.add(EventName.gasPressedOverride) @@ -579,7 +582,7 @@ class Controls: # Check which actuators can be enabled CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \ CS.vEgo > self.CP.minSteerSpeed and not CS.standstill - CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl + CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl actuators = CC.actuators actuators.longControlState = self.LoC.long_control_state diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index ad10b8f0bd..5d5000ff54 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -615,9 +615,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { visual_alert=VisualAlert.brakePressed), }, - EventName.pedalPressedPreEnable: { + EventName.preEnableStandstill: { ET.PRE_ENABLE: Alert( - "Release Pedal to Engage", + "Release Brake to Engage", "", AlertStatus.normal, AlertSize.small, Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1, creation_delay=1.), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 71da0dff44..4641299458 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ddfaab44ae64a0d064b847e81080993b51b6b423 \ No newline at end of file +f17412941a0e8229eea308c33189a5bdb1a17ae8 From 41610fe8ae7019264f09fbbb5db64e48b45b7ca0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 29 Nov 2022 23:12:58 -0800 Subject: [PATCH 061/201] controls: remove noTarget event (#26632) remove noTarget alert --- selfdrive/controls/controlsd.py | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index e5c981aa6b..342ecc52fe 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -420,16 +420,6 @@ class Controls: if self.sm['liveLocationKalman'].excessiveResets: self.events.add(EventName.localizerMalfunction) - # Only allow engagement with brake pressed when stopped behind another stopped car - speeds = self.sm['longitudinalPlan'].speeds - if len(speeds) > 1: - v_future = speeds[-1] - else: - v_future = 100.0 - if CS.brakePressed and v_future >= self.CP.vEgoStarting \ - and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3: - self.events.add(EventName.noTarget) - def data_sample(self): """Receive data from sockets and update carState""" From bea73943733a2a38a8cacd7de25d78b067460f2b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Nov 2022 00:08:55 -0800 Subject: [PATCH 062/201] bump panda (#26637) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 80dac4cd94..e8bd1df511 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 80dac4cd94de8711304b2695b4d348d2152a8e3e +Subproject commit e8bd1df5119e457ed2162ea36777bf47a99527f2 From 5409895ab2668284df7b688ce513fa0ef1e57be2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Nov 2022 02:32:47 -0800 Subject: [PATCH 063/201] Deprecate noTarget event (#26638) deprecate notarget --- cereal | 2 +- selfdrive/controls/lib/events.py | 9 --------- 2 files changed, 1 insertion(+), 10 deletions(-) diff --git a/cereal b/cereal index 7f55399fde..19a0c46b71 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 7f55399fde0b6a70c1bf7df4f86b90b0060e31ac +Subproject commit 19a0c46b71150a8dabc5644eb24f261feee45b9c diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 5d5000ff54..5578a83a23 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -916,15 +916,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Harness Relay Malfunction"), }, - EventName.noTarget: { - ET.IMMEDIATE_DISABLE: Alert( - "openpilot Canceled", - "No close lead car", - AlertStatus.normal, AlertSize.mid, - Priority.HIGH, VisualAlert.none, AudibleAlert.disengage, 3.), - ET.NO_ENTRY: NoEntryAlert("No Close Lead Car"), - }, - EventName.speedTooLow: { ET.IMMEDIATE_DISABLE: Alert( "openpilot Canceled", From 2b916044f5e7e6466709bd45301765d0b7599eec Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 1 Dec 2022 04:40:36 +0800 Subject: [PATCH 064/201] Cabana: sort signals by address in logs view (#26639) cleanup --- tools/cabana/historylog.cc | 48 +++++++++++++++++--------------------- tools/cabana/historylog.h | 13 ++++------- 2 files changed, 25 insertions(+), 36 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 65fea3361e..5457555db4 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -5,20 +5,15 @@ // HistoryLogModel -inline const Signal &get_signal(const DBCMsg *m, int index) { - return std::next(m->sigs.begin(), index)->second; -} - QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { - bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); if (role == Qt::DisplayRole) { const auto &m = messages[index.row()]; if (index.column() == 0) { return QString::number(m.ts, 'f', 2); } - return has_signal ? QString::number(get_raw_value((uint8_t *)m.dat.begin(), m.dat.size(), get_signal(dbc_msg, index.column() - 1))) - : toHex(m.dat); - } else if (role == Qt::FontRole && index.column() == 1 && !has_signal) { + return !sigs.empty() ? QString::number(get_raw_value((uint8_t *)m.dat.data(), m.dat.size(), *sigs[index.column() - 1])) + : toHex(m.dat); + } else if (role == Qt::FontRole && index.column() == 1 && sigs.empty()) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); } return {}; @@ -27,25 +22,25 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { void HistoryLogModel::setMessage(const QString &message_id) { beginResetModel(); msg_id = message_id; - dbc_msg = dbc()->msg(message_id); - column_count = (dbc_msg && !dbc_msg->sigs.empty() ? dbc_msg->sigs.size() : 1) + 1; - row_count = 0; + sigs.clear(); + messages.clear(); + if (auto dbc_msg = dbc()->msg(message_id)) { + sigs = dbc_msg->getSignals(); + } endResetModel(); - updateState(); } QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Horizontal) { - bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); if (role == Qt::DisplayRole || role == Qt::ToolTipRole) { if (section == 0) { return "Time"; } - return has_signal ? QString::fromStdString(get_signal(dbc_msg, section - 1).name).replace('_', ' ') : "Data"; - } else if (role == Qt::BackgroundRole && section > 0 && has_signal) { + return !sigs.empty() ? QString::fromStdString(sigs[section - 1]->name).replace('_', ' ') : "Data"; + } else if (role == Qt::BackgroundRole && section > 0 && !sigs.empty()) { return QBrush(QColor(getColor(section - 1))); - } else if (role == Qt::ForegroundRole && section > 0 && has_signal) { + } else if (role == Qt::ForegroundRole && section > 0 && !sigs.empty()) { return QBrush(Qt::black); } } @@ -53,21 +48,20 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i } void HistoryLogModel::updateState() { - if (msg_id.isEmpty()) return; - - int prev_row_count = row_count; - messages = can->messages(msg_id); - row_count = messages.size(); - int delta = row_count - prev_row_count; + int prev_row_count = messages.size(); + if (!msg_id.isEmpty()) { + messages = can->messages(msg_id); + } + int delta = messages.size() - prev_row_count; if (delta > 0) { - beginInsertRows({}, prev_row_count, row_count - 1); + beginInsertRows({}, prev_row_count, messages.size() - 1); endInsertRows(); } else if (delta < 0) { - beginRemoveRows({}, row_count, prev_row_count - 1); + beginRemoveRows({}, messages.size(), prev_row_count - 1); endRemoveRows(); } - if (row_count > 0) { - emit dataChanged(index(0, 0), index(row_count - 1, column_count - 1), {Qt::DisplayRole}); + if (!messages.empty()) { + emit dataChanged(index(0, 0), index(rowCount() - 1, columnCount() - 1), {Qt::DisplayRole}); } } @@ -106,5 +100,5 @@ HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { int HistoryLog::sizeHintForColumn(int column) const { // sizeHintForColumn is only called for column 0 (ResizeToContents) - return itemDelegate()->sizeHint(viewOptions(), model->index(0, 0)).width() + 1; // +1 for grid + return itemDelegate()->sizeHint(viewOptions(), model->index(0, 0)).width() + 5; } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index dfe037c13f..9ca6f427c7 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -14,32 +14,27 @@ public: }; class HistoryLogModel : public QAbstractTableModel { - Q_OBJECT - public: HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {} void setMessage(const QString &message_id); void updateState(); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; - int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } + int rowCount(const QModelIndex &parent = QModelIndex()) const override { return messages.size(); } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return std::max(1ul, sigs.size()) + 1; } private: QString msg_id; - int row_count = 0; - int column_count = 2; - const DBCMsg *dbc_msg = nullptr; std::deque messages; + std::vector sigs; }; class HistoryLog : public QTableView { - Q_OBJECT - public: HistoryLog(QWidget *parent); void setMessage(const QString &message_id) { model->setMessage(message_id); } void updateState() { model->updateState(); } + private: int sizeHintForColumn(int column) const override; HistoryLogModel *model; From 553da4ef30b709d754fb89b5519ce182a9ace3e2 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 30 Nov 2022 13:00:36 -0800 Subject: [PATCH 065/201] DM: no reset on steer if distracted (#26567) * only for attentive fast resets * oops wheeltouch * update test --- selfdrive/monitoring/driver_monitor.py | 15 ++++++++++----- selfdrive/monitoring/test_monitoring.py | 8 +++++--- 2 files changed, 15 insertions(+), 8 deletions(-) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index e3f6a5094d..a2cddc2462 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -156,6 +156,11 @@ class DriverStatus(): self._set_timers(active_monitoring=True) + def _reset_awareness(self): + self.awareness = 1. + self.awareness_active = 1. + self.awareness_passive = 1. + def _set_timers(self, active_monitoring): if self.active_monitoring_mode and self.awareness <= self.threshold_prompt: if active_monitoring: @@ -289,17 +294,17 @@ class DriverStatus(): self.hi_stds = 0 def update_events(self, events, driver_engaged, ctrl_active, standstill): - if (driver_engaged and self.awareness > 0) or not ctrl_active: - # reset only when on disengagement if red reached - self.awareness = 1. - self.awareness_active = 1. - self.awareness_passive = 1. + if (driver_engaged and self.awareness > 0 and not self.active_monitoring_mode) or not ctrl_active: # reset only when on disengagement if red reached + self._reset_awareness() return driver_attentive = self.driver_distraction_filter.x < 0.37 awareness_prev = self.awareness if (driver_attentive and self.face_detected and self.pose.low_std and self.awareness > 0): + if driver_engaged: + self._reset_awareness() + return # only restore awareness when paying attention and alert is not red self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.) if self.awareness == 1.: diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py index 43b5e7747e..f72b4a3aaa 100755 --- a/selfdrive/monitoring/test_monitoring.py +++ b/selfdrive/monitoring/test_monitoring.py @@ -101,11 +101,12 @@ class TestMonitoring(unittest.TestCase): ((TEST_TIMESPAN-10-d_status.settings._AWARENESS_TIME)/2))/DT_DMON)].names[0], EventName.driverUnresponsive) # engaged, down to orange, driver pays attention, back to normal; then down to orange, driver touches wheel - # - should have short orange recovery time and no green afterwards; should recover rightaway on wheel touch + # - should have short orange recovery time and no green afterwards; wheel touch only recovers when paying attention def test_normal_driver(self): ds_vector = [msg_DISTRACTED] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \ [msg_ATTENTIVE] * int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON) + \ - [msg_DISTRACTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*2/DT_DMON)) + [msg_DISTRACTED] * int((DISTRACTED_SECONDS_TO_ORANGE+2)/DT_DMON) + \ + [msg_ATTENTIVE] * (int(TEST_TIMESPAN/DT_DMON)-int((DISTRACTED_SECONDS_TO_ORANGE*3+2)/DT_DMON)) interaction_vector = [car_interaction_NOT_DETECTED] * int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON) + \ [car_interaction_DETECTED] * (int(TEST_TIMESPAN/DT_DMON)-int(DISTRACTED_SECONDS_TO_ORANGE*3/DT_DMON)) events, _ = self._run_seq(ds_vector, interaction_vector, always_true, always_false) @@ -113,7 +114,8 @@ class TestMonitoring(unittest.TestCase): self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted) self.assertEqual(len(events[int(DISTRACTED_SECONDS_TO_ORANGE*1.5/DT_DMON)]), 0) self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3-0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted) - self.assertEqual(len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)]), 0) + self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+0.1)/DT_DMON)].names[0], EventName.promptDriverDistracted) + self.assertEqual(len(events[int((DISTRACTED_SECONDS_TO_ORANGE*3+2.5)/DT_DMON)]), 0) # engaged, down to orange, driver dodges camera, then comes back still distracted, down to red, \ # driver dodges, and then touches wheel to no avail, disengages and reengages From cb4fef580c8c71744b9b5b91be17f73b6fcdd097 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 30 Nov 2022 13:11:50 -0800 Subject: [PATCH 066/201] Update RELEASES.md --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 97c92dfa47..e1051acd9a 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,7 +1,7 @@ Version 0.9.1 (2022-12-XX) ======================== * New driving model - +* Removed driver monitoring timer resetting on interaction if face detected and distracted Version 0.9.0 (2022-11-21) ======================== From 821d8ff12f3b9c9c9ba852dd7160f5a72d3d761d Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 30 Nov 2022 15:11:26 -0800 Subject: [PATCH 067/201] tools: pyenv setup fix (#26601) * setup pyenv immediately * sudo * fix --- tools/ubuntu_setup.sh | 18 ++++++++++++++---- update_requirements.sh | 9 +++++++-- 2 files changed, 21 insertions(+), 6 deletions(-) diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 7e021bcc23..403437bfb3 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -4,13 +4,23 @@ set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" ROOT="$(cd $DIR/../ && pwd)" +SUDO="" # NOTE: this is used in a docker build, so do not run any scripts here. +# Use sudo if not root +if [[ ! $(id -u) -eq 0 ]]; then + if [[ -z $(which sudo) ]]; then + echo "Please install sudo or run as root" + exit 1 + fi + SUDO="sudo" +fi + # Install packages present in all supported versions of Ubuntu function install_ubuntu_common_requirements() { - sudo apt-get update - sudo apt-get install -y --no-install-recommends \ + $SUDO apt-get update + $SUDO apt-get install -y --no-install-recommends \ autoconf \ build-essential \ ca-certificates \ @@ -74,7 +84,7 @@ function install_ubuntu_common_requirements() { function install_ubuntu_jammy_requirements() { install_ubuntu_common_requirements - sudo apt-get install -y --no-install-recommends \ + $SUDO apt-get install -y --no-install-recommends \ qtbase5-dev \ qtchooser \ qt5-qmake \ @@ -86,7 +96,7 @@ function install_ubuntu_jammy_requirements() { function install_ubuntu_focal_requirements() { install_ubuntu_common_requirements - sudo apt-get install -y --no-install-recommends \ + $SUDO apt-get install -y --no-install-recommends \ libavresample-dev \ qt5-default \ python-dev diff --git a/update_requirements.sh b/update_requirements.sh index 8511a0a4d6..9195799ca3 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -1,4 +1,4 @@ -#!/bin/bash +#!/usr/bin/env bash set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" @@ -22,8 +22,13 @@ if [ -z "\$PYENV_ROOT" ]; then eval "\$(pyenv virtualenv-init -)" fi EOF + + # setup now without restarting shell + export PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH + export PYENV_ROOT="$HOME/.pyenv" + eval "$(pyenv init -)" + eval "$(pyenv virtualenv-init -)" fi -source $RC_FILE export MAKEFLAGS="-j$(nproc)" From 02b5b6fe1f9f919f0cafea3efc6be2403a3f7139 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 30 Nov 2022 15:36:25 -0800 Subject: [PATCH 068/201] soundd: change system sound mixer volume (#26633) * test changing sound volume * create system/hardware/pc/hardware.h * soundd: use Hardware::set_volume * implement Hardware::set_volume using pactl * Revert "test changing sound volume" This reverts commit 4bbd870746ec86d1c9871a6175def96cf7f751a6. * don't run command in background * pactl: use default sink --- release/files_common | 1 + selfdrive/ui/soundd/sound.cc | 8 ++------ system/hardware/base.h | 1 + system/hardware/hw.h | 10 +--------- system/hardware/pc/hardware.h | 21 +++++++++++++++++++++ system/hardware/tici/hardware.h | 7 +++++++ 6 files changed, 33 insertions(+), 15 deletions(-) create mode 100644 system/hardware/pc/hardware.h diff --git a/release/files_common b/release/files_common index a294e1e5b5..2400c3c0dc 100644 --- a/release/files_common +++ b/release/files_common @@ -216,6 +216,7 @@ system/hardware/tici/amplifier.py system/hardware/tici/updater system/hardware/tici/iwlist.py system/hardware/pc/__init__.py +system/hardware/pc/hardware.h system/hardware/pc/hardware.py selfdrive/locationd/__init__.py diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index 6830450d8f..841bea3b8b 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -20,7 +20,6 @@ Sound::Sound(QObject *parent) : sm({"carState", "controlsState", "deviceState"}) QObject::connect(s, &QSoundEffect::statusChanged, [=]() { assert(s->status() != QSoundEffect::Error); }); - s->setVolume(Hardware::MIN_VOLUME); s->setSource(QUrl::fromLocalFile("../../assets/sounds/" + fn)); sounds[alert] = {s, loops}; } @@ -49,12 +48,9 @@ void Sound::update() { // scale volume with speed if (sm.updated("carState")) { - float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 11.f, 20.f, 0.f, 1.0f); + float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 11.f, 20.f, 0.f, 1.f); volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale); - volume = util::map_val(volume, 0.f, 1.f, Hardware::MIN_VOLUME, Hardware::MAX_VOLUME); - for (auto &[s, loops] : sounds) { - s->setVolume(std::round(100 * volume) / 100); - } + Hardware::set_volume(volume); } setAlert(Alert::get(sm, started_frame)); diff --git a/system/hardware/base.h b/system/hardware/base.h index b70948d482..f6e0b42d73 100644 --- a/system/hardware/base.h +++ b/system/hardware/base.h @@ -20,6 +20,7 @@ public: static void poweroff() {} static void set_brightness(int percent) {} static void set_display_power(bool on) {} + static void set_volume(float volume) {} static bool get_ssh_enabled() { return false; } static void set_ssh_enabled(bool enabled) {} diff --git a/system/hardware/hw.h b/system/hardware/hw.h index f50e94abe1..5599e79186 100644 --- a/system/hardware/hw.h +++ b/system/hardware/hw.h @@ -7,15 +7,7 @@ #include "system/hardware/tici/hardware.h" #define Hardware HardwareTici #else -class HardwarePC : public HardwareNone { -public: - static std::string get_os_version() { return "openpilot for PC"; } - static std::string get_name() { return "pc"; }; - static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }; - static bool PC() { return true; } - static bool TICI() { return util::getenv("TICI", 0) == 1; } - static bool AGNOS() { return util::getenv("TICI", 0) == 1; } -}; +#include "system/hardware/pc/hardware.h" #define Hardware HardwarePC #endif diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h new file mode 100644 index 0000000000..529b4bfe9d --- /dev/null +++ b/system/hardware/pc/hardware.h @@ -0,0 +1,21 @@ +#pragma once + +#include "system/hardware/base.h" + +class HardwarePC : public HardwareNone { +public: + static std::string get_os_version() { return "openpilot for PC"; } + static std::string get_name() { return "pc"; }; + static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }; + static bool PC() { return true; } + static bool TICI() { return util::getenv("TICI", 0) == 1; } + static bool AGNOS() { return util::getenv("TICI", 0) == 1; } + + static void set_volume(float volume) { + volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME); + + char volume_str[6]; + snprintf(volume_str, sizeof(volume_str), "%.3f", volume); + std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str()); + } +}; diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index dcccb9f3d1..02becb76e4 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -38,6 +38,13 @@ public: bl_power_control.close(); } }; + static void set_volume(float volume) { + volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME); + + char volume_str[6]; + snprintf(volume_str, sizeof(volume_str), "%.3f", volume); + std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str()); + } static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }; static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }; From 01dac5d06bcd518e6c2daab8c41979b0553b73a6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Nov 2022 20:27:55 -0800 Subject: [PATCH 069/201] Build panda/SConscript (#26646) * panda/SConscript * think this is right? * bump panda * fix test_models * use a filter * bump panda to mater * more aesthetic ordering * alphabetical :( * alphabetical :( --- SConstruct | 9 +++------ panda | 2 +- selfdrive/car/tests/test_models.py | 18 +++++++----------- 3 files changed, 11 insertions(+), 18 deletions(-) diff --git a/SConstruct b/SConstruct index 033e10a1f0..54b008004e 100644 --- a/SConstruct +++ b/SConstruct @@ -300,7 +300,7 @@ if arch == "Darwin": else: qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip() qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip() - + qt_env['QTDIR'] = qt_install_prefix qt_dirs = [ f"{qt_install_headers}", @@ -409,10 +409,10 @@ if arch != "Darwin": # build submodules SConscript([ - 'cereal/SConscript', 'body/board/SConscript', - 'panda/board/SConscript', + 'cereal/SConscript', 'opendbc/can/SConscript', + 'panda/SConscript', ]) SConscript(['third_party/SConscript']) @@ -442,9 +442,6 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'): Export('opendbc') SConscript(['tools/cabana/SConscript']) -if GetOption('test'): - SConscript('panda/tests/safety/SConscript') - external_sconscript = GetOption('external_sconscript') if external_sconscript: SConscript([external_sconscript]) diff --git a/panda b/panda index e8bd1df511..2ae7b9a4d5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e8bd1df5119e457ed2162ea36777bf47a99527f2 +Subproject commit 2ae7b9a4d59101c0a1a9015feb3e835763db5686 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 56530dd738..641c109316 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -9,7 +9,6 @@ from parameterized import parameterized_class from cereal import log, car from common.realtime import DT_CTRL -from selfdrive.boardd.boardd import can_capnp_to_can_list from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.car_helpers import interfaces from selfdrive.car.gm.values import CAR as GM @@ -20,8 +19,7 @@ from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader from tools.lib.route import Route -from panda.tests.safety import libpandasafety_py -from panda.tests.safety.common import package_can_msg +from panda.tests.libpanda import libpanda_py PandaType = log.PandaState.PandaType @@ -118,7 +116,7 @@ class TestCarModelBase(unittest.TestCase): assert self.CI # TODO: check safetyModel is in release panda build - self.safety = libpandasafety_py.libpandasafety + self.safety = libpanda_py.libpanda cfg = self.CP.safetyConfigs[-1] set_status = self.safety.set_safety_hooks(cfg.safetyModel.raw, cfg.safetyParam) @@ -192,7 +190,7 @@ class TestCarModelBase(unittest.TestCase): if msg.src >= 64: continue - to_send = package_can_msg([msg.address, 0, msg.dat, msg.src % 4]) + to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) if self.safety.safety_rx_hook(to_send) != 1: failed_addrs[hex(msg.address)] += 1 @@ -215,8 +213,8 @@ class TestCarModelBase(unittest.TestCase): # warm up pass, as initial states may be different for can in self.can_msgs[:300]: self.CI.update(CC, (can.as_builder().to_bytes(), )) - for msg in can_capnp_to_can_list(can.can, src_filter=range(64)): - to_send = package_can_msg(msg) + for msg in filter(lambda m: m.src in range(64), can.can): + to_send = libpanda_py.make_CANPacket(msg.address, msg.src, msg.dat) self.safety.safety_rx_hook(to_send) controls_allowed_prev = False @@ -224,10 +222,8 @@ class TestCarModelBase(unittest.TestCase): checks = defaultdict(lambda: 0) for idx, can in enumerate(self.can_msgs): CS = self.CI.update(CC, (can.as_builder().to_bytes(), )) - for msg in can_capnp_to_can_list(can.can, src_filter=range(64)): - msg = list(msg) - msg[3] %= 4 - to_send = package_can_msg(msg) + for msg in filter(lambda m: m.src in range(64), can.can): + to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat) ret = self.safety.safety_rx_hook(to_send) self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}") From 997b2e11aef4ccc801a075dea13ed4aa9a5de27c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 30 Nov 2022 20:36:19 -0800 Subject: [PATCH 070/201] Honda Nidec: put max PCM gas into CarControllerParams (#26645) * limit gas * bump panda * not sure why it was represented like this --- selfdrive/car/honda/carcontroller.py | 6 +++--- selfdrive/car/honda/values.py | 1 + 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 790dce1810..66a1485dc6 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -189,14 +189,14 @@ class CarController: clip(CS.out.vEgo + 0.0, 0.0, 100.0), clip(CS.out.vEgo + 5.0, 0.0, 100.0)] pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V) - pcm_accel = int(1.0 * 0xc6) + pcm_accel = int(1.0 * self.params.NIDEC_GAS_MAX) else: pcm_speed_V = [0.0, clip(CS.out.vEgo - 2.0, 0.0, 100.0), clip(CS.out.vEgo + 2.0, 0.0, 100.0), clip(CS.out.vEgo + 5.0, 0.0, 100.0)] pcm_speed = interp(gas - brake, pcm_speed_BP, pcm_speed_V) - pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * 0xc6) + pcm_accel = int(clip((accel / 1.44) / max_accel, 0.0, 1.0) * self.params.NIDEC_GAS_MAX) if not self.CP.openpilotLongitudinalControl: if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message @@ -254,7 +254,7 @@ class CarController: self.speed = pcm_speed if not self.CP.enableGasInterceptor: - self.gas = pcm_accel / 0xc6 + self.gas = pcm_accel / self.params.NIDEC_GAS_MAX new_actuators = actuators.copy() new_actuators.speed = self.speed diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 151c2140f5..f32e7bef2f 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -27,6 +27,7 @@ class CarControllerParams: NIDEC_MAX_ACCEL_V = [0.5, 2.4, 1.4, 0.6] NIDEC_MAX_ACCEL_BP = [0.0, 4.0, 10., 20.] + NIDEC_GAS_MAX = 198 # 0xc6 NIDEC_BRAKE_MAX = 1024 // 4 BOSCH_ACCEL_MIN = -3.5 # m/s^2 From 470fe9ce34eeccc8cb0ab27f7b8cee603904d5a1 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 30 Nov 2022 23:57:05 -0500 Subject: [PATCH 071/201] Hyundai: Add FW for 2022 Tucson Hybrid (#26647) --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 16ff68f08a..81cc4bb54f 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1421,6 +1421,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', From 3d2f6c1dc05c716acb40ed612719f7d0ba3d2a8f Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 30 Nov 2022 21:45:44 -0800 Subject: [PATCH 072/201] Fix OpenCL driver URL (#26650) --- Dockerfile.openpilot_base_cl | 2 +- tools/webcam/README.md | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Dockerfile.openpilot_base_cl b/Dockerfile.openpilot_base_cl index 7652b7e4e6..4c8ecfc78d 100644 --- a/Dockerfile.openpilot_base_cl +++ b/Dockerfile.openpilot_base_cl @@ -17,7 +17,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends\ # Intel OpenCL driver ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz -ARG INTEL_DRIVER_URL=http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532 +ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532 RUN mkdir -p /tmp/opencl-driver-intel WORKDIR /tmp/opencl-driver-intel RUN echo INTEL_DRIVER is $INTEL_DRIVER && \ diff --git a/tools/webcam/README.md b/tools/webcam/README.md index f896e19b86..237e07cdb6 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -18,7 +18,7 @@ git clone https://github.com/commaai/openpilot.git - Follow [this readme](https://github.com/commaai/openpilot/tree/master/tools) to install the requirements - Add line "export PYTHONPATH=$HOME/openpilot" to your ~/.bashrc - Install tensorflow 2.2 and nvidia drivers: nvidia-xxx/cuda10.0/cudnn7.6.5 -- Install [OpenCL Driver](http://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz) +- Install [OpenCL Driver](https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532/l_opencl_p_18.1.0.015.tgz) - Install [OpenCV4](https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/) (ignore the Python part) ## Build openpilot for webcam From 108ff15f5dc16f79a36a2d33397b36dba42d70cf Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 30 Nov 2022 21:56:03 -0800 Subject: [PATCH 073/201] micd: scale sound volume with ambient noise level (#26399) * test changing sound volume * test changing sound volume * create system/hardware/pc/hardware.h * implement Hardware::set_volume using pactl * soundd: use Hardware::set_volume * add sounddevice dependency * sounddevice example * simple micd * cleanup * remove this * fix process config * add to release files * hardware: get sound input device * no more offroad * debug * calculate volume from all measurements since last update * use microphone noise level to update sound volume * fix scale * mute microphone during alerts * log raw noise level * hardware: reduce tici min volume * improve scale * add package * clear measurements on muted * change default to min volume and respond quicker * fixes Co-authored-by: Shane Smiskol * logarithmic scaling * fix * respond quicker * fixes * tweak scaling * specify default device * Revert "hardware: get sound input device" This reverts commit 50f594f7a3bab005023482bc793147a8c8dae5d7. * tuning * forgot to update submaster * tuning * don't mute microphone, and clip measurement * remove submaster * fixes * tuning * implement Hardware::set_volume using pactl * Revert "test changing sound volume" This reverts commit 4bbd870746ec86d1c9871a6175def96cf7f751a6. * draft * draft * calculate sound pressure level in dB * fix setting * faster filter * start at initial value * don't run command in background * pactl: use default sink * use sound pressure db * tuning * bump up max volume threshold * update filter slower * fix divide by zero * bump cereal Co-authored-by: Shane Smiskol --- cereal | 2 +- poetry.lock | 32 +++++++++----- pyproject.toml | 1 + release/files_common | 1 + selfdrive/manager/process_config.py | 1 + selfdrive/ui/soundd/sound.cc | 6 +-- system/hardware/tici/hardware.h | 2 +- system/micd.py | 67 +++++++++++++++++++++++++++++ tools/ubuntu_setup.sh | 1 + 9 files changed, 98 insertions(+), 15 deletions(-) create mode 100755 system/micd.py diff --git a/cereal b/cereal index 19a0c46b71..dbc9846ac9 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 19a0c46b71150a8dabc5644eb24f261feee45b9c +Subproject commit dbc9846ac9c9e735ee2f4a281ce079cfff7ea285 diff --git a/poetry.lock b/poetry.lock index d79a3f035f..fbe0009a26 100644 --- a/poetry.lock +++ b/poetry.lock @@ -3696,6 +3696,20 @@ category = "dev" optional = false python-versions = "*" +[[package]] +name = "sounddevice" +version = "0.4.5" +description = "Play and Record Sound with Python" +category = "main" +optional = false +python-versions = ">=3.7" + +[package.dependencies] +CFFI = ">=1.0" + +[package.extras] +numpy = ["NumPy"] + [[package]] name = "soupsieve" version = "2.3.2.post1" @@ -4386,7 +4400,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "d2854112975a9d83a9540175b2d430487e40e0292d48a1ba6c591db60a08c136" +content-hash = "a41b1d669ec4f0a94abe12af8a9a7d709b2bb56e9c83aa87801cdf5d9af074f8" [metadata.files] adal = [ @@ -5392,7 +5406,6 @@ gevent = [ {file = "gevent-22.10.1-cp310-cp310-win_amd64.whl", hash = "sha256:d2ea4ce36c09355379bc038be2bd50118f97d2eb6381b7096de4d05aa4c3e241"}, {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3e73c9f71aa2a6795ecbec9b57282b002375e863e283558feb87b62840c8c1ac"}, {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5bc3758f0dc95007c1780d28a9fd2150416a79c50f308f62a674d78a845ea1b9"}, - 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if (sm.updated("carState")) { - float volume = util::map_val(sm["carState"].getCarState().getVEgo(), 11.f, 20.f, 0.f, 1.f); + if (sm.updated("microphone")) { + float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureDb(), 58.f, 77.f, 0.f, 1.f); volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale); Hardware::set_volume(volume); } diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 02becb76e4..d388f9c48a 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -10,7 +10,7 @@ class HardwareTici : public HardwareNone { public: static constexpr float MAX_VOLUME = 0.9; - static constexpr float MIN_VOLUME = 0.2; + static constexpr float MIN_VOLUME = 0.1; static bool TICI() { return true; } static bool AGNOS() { return true; } static std::string get_os_version() { diff --git a/system/micd.py b/system/micd.py new file mode 100755 index 0000000000..d2a5a2849f --- /dev/null +++ b/system/micd.py @@ -0,0 +1,67 @@ +#!/usr/bin/env python3 +import sounddevice as sd +import numpy as np + +from cereal import messaging +from common.filter_simple import FirstOrderFilter +from common.realtime import Ratekeeper +from system.swaglog import cloudlog + +RATE = 10 +DT_MIC = 1. / RATE +REFERENCE_SPL = 2 * 10 ** -5 # newtons/m^2 + + +class Mic: + def __init__(self, pm): + self.pm = pm + self.rk = Ratekeeper(RATE) + + self.measurements = np.empty(0) + self.spl_filter = FirstOrderFilter(0, 4, DT_MIC, initialized=False) + + def update(self): + # self.measurements contains amplitudes from -1 to 1 which we use to + # calculate an uncalibrated sound pressure level + if len(self.measurements) > 0: + # https://www.engineeringtoolbox.com/sound-pressure-d_711.html + sound_pressure = np.sqrt(np.mean(self.measurements ** 2)) # RMS of amplitudes + sound_pressure_level = 20 * np.log10(sound_pressure / REFERENCE_SPL) if sound_pressure > 0 else 0 # dB + self.spl_filter.update(sound_pressure_level) + else: + sound_pressure = 0 + sound_pressure_level = 0 + + self.measurements = np.empty(0) + + msg = messaging.new_message('microphone') + msg.microphone.soundPressure = float(sound_pressure) + msg.microphone.soundPressureDb = float(sound_pressure_level) + msg.microphone.filteredSoundPressureDb = float(self.spl_filter.x) + + self.pm.send('microphone', msg) + self.rk.keep_time() + + def callback(self, indata, frames, time, status): + self.measurements = np.concatenate((self.measurements, indata[:, 0])) + + def micd_thread(self, device=None): + if device is None: + device = "sysdefault" + + with sd.InputStream(device=device, channels=1, samplerate=44100, callback=self.callback) as stream: + cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}") + while True: + self.update() + + +def main(pm=None, sm=None): + if pm is None: + pm = messaging.PubMaster(['microphone']) + + mic = Mic(pm) + mic.micd_thread() + + +if __name__ == "__main__": + main() diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 403437bfb3..89d33a6127 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -56,6 +56,7 @@ function install_ubuntu_common_requirements() { libomp-dev \ libopencv-dev \ libpng16-16 \ + libportaudio2 \ libssl-dev \ libsqlite3-dev \ libusb-1.0-0-dev \ From 17e06bdc93c2fac37e72eec5ac569307023cfb29 Mon Sep 17 00:00:00 2001 From: royjr Date: Thu, 1 Dec 2022 01:21:48 -0500 Subject: [PATCH 074/201] Honda: Add missing modified firmware comment (#26648) Update values.py --- selfdrive/car/honda/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index f32e7bef2f..905c9f4b4f 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -243,7 +243,7 @@ FW_VERSIONS = { b'39990-TVA-A340\x00\x00', b'39990-TVA-X030\x00\x00', b'39990-TVA-X040\x00\x00', - b'39990-TVA,A150\x00\x00', + b'39990-TVA,A150\x00\x00', # modified firmware b'39990-TVE-H130\x00\x00', ], (Ecu.unknown, 0x18da3af1, None): [ From 996a6c06d4522100357e04fea0182d33dc6e7f23 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 30 Nov 2022 23:12:35 -0800 Subject: [PATCH 075/201] sim: disable micd (#26653) --- tools/sim/launch_openpilot.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index adabc40c2e..2100f05b67 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -6,7 +6,7 @@ export SIMULATION="1" export SKIP_FW_QUERY="1" export FINGERPRINT="HONDA CIVIC 2016" -export BLOCK="camerad,loggerd,encoderd" +export BLOCK="camerad,loggerd,encoderd,micd" if [[ "$CI" ]]; then # TODO: offscreen UI should work export BLOCK="${BLOCK},ui" From 50f4328b904cf4debd278834adcf83107a3d4e5c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 30 Nov 2022 23:16:48 -0800 Subject: [PATCH 076/201] Update RELEASES.md --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index e1051acd9a..1ae4a233be 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,6 @@ Version 0.9.1 (2022-12-XX) ======================== -* New driving model +* Adjust alert volume using ambient noise level * Removed driver monitoring timer resetting on interaction if face detected and distracted Version 0.9.0 (2022-11-21) From 9e0607806fcb5d1a5a00eb8ec0a0ef05fb6fd7f3 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 30 Nov 2022 23:27:02 -0800 Subject: [PATCH 077/201] [torqued] Set Hyundai Ioniq 5 2022 values (#26554) set ioniq values, different from ev6, from offline data --- selfdrive/car/torque_data/params.yaml | 1 + selfdrive/car/torque_data/substitute.yaml | 1 - 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 124cf3d3b9..7901972fc2 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -27,6 +27,7 @@ HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819] HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171] +HYUNDAI IONIQ 5 2022: [3.172929, 3.0, 0.096019] HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 77236e393e..df696bc0fc 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -29,7 +29,6 @@ HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019 HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 -HYUNDAI IONIQ 5 2022: KIA EV6 2022 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 From 92ddd3c57e03f2ba602b147790eed4bb7b97a24c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 1 Dec 2022 00:28:40 -0800 Subject: [PATCH 078/201] add new panda SConscript to release files --- release/files_common | 1 + 1 file changed, 1 insertion(+) diff --git a/release/files_common b/release/files_common index aa6c0ac55c..2f7f2d4d61 100644 --- a/release/files_common +++ b/release/files_common @@ -486,6 +486,7 @@ cereal/visionipc/*.pxd panda/.gitignore panda/__init__.py +panda/SConscript panda/board/** panda/certs/** panda/crypto/** From fee6f2efacf41d2bd964754d0e5e193e18e16f16 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Thu, 1 Dec 2022 18:12:16 +0100 Subject: [PATCH 079/201] Simple CAN chunks (#25373) * simple chunks * more sizeofs * fix unit tests * bump panda * bump panda * don't fail for too little data * bump panda * bump panda * bump panda Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/boardd/panda.cc | 55 +++++++++---------- .../boardd/tests/test_boardd_usbprotocol.cc | 19 +++---- 3 files changed, 36 insertions(+), 40 deletions(-) diff --git a/panda b/panda index 2ae7b9a4d5..288e14cde9 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2ae7b9a4d59101c0a1a9015feb3e835763db5686 +Subproject commit 288e14cde904a5755ebb32b0853631ac7fbf5968 diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 788cdf5cf1..db9bcbab51 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -169,22 +169,15 @@ static uint8_t len_to_dlc(uint8_t len) { } } -static void write_packet(uint8_t *dest, int *write_pos, const uint8_t *src, size_t size) { - for (int i = 0, &pos = *write_pos; i < size; ++i, ++pos) { - // Insert counter every 64 bytes (first byte of 64 bytes USB packet) - if (pos % USBPACKET_MAX_SIZE == 0) { - dest[pos] = pos / USBPACKET_MAX_SIZE; - pos++; - } - dest[pos] = src[i]; - } -} - void Panda::pack_can_buffer(const capnp::List::Reader &can_data_list, std::function write_func) { int32_t pos = 0; uint8_t send_buf[2 * USB_TX_SOFT_LIMIT]; + uint32_t magic = CAN_TRANSACTION_MAGIC; + memcpy(&send_buf[0], &magic, sizeof(uint32_t)); + pos += sizeof(uint32_t); + for (auto cmsg : can_data_list) { // check if the message is intended for this panda uint8_t bus = cmsg.getSrc(); @@ -202,16 +195,19 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data header.data_len_code = data_len_code; header.bus = bus - bus_offset; - write_packet(send_buf, &pos, (uint8_t *)&header, sizeof(can_header)); - write_packet(send_buf, &pos, (uint8_t *)can_data.begin(), can_data.size()); + memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header)); + pos += sizeof(can_header); + memcpy(&send_buf[pos], (uint8_t *)can_data.begin(), can_data.size()); + pos += can_data.size(); + if (pos >= USB_TX_SOFT_LIMIT) { write_func(send_buf, pos); - pos = 0; + pos = sizeof(uint32_t); } } // send remaining packets - if (pos > 0) write_func(send_buf, pos); + if (pos > sizeof(uint32_t)) write_func(send_buf, pos); } void Panda::can_send(capnp::List::Reader can_data_list) { @@ -235,20 +231,23 @@ bool Panda::can_receive(std::vector& out_vec) { bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector &out_vec) { recv_buf.clear(); - for (int i = 0; i < size; i += USBPACKET_MAX_SIZE) { - if (data[i] != i / USBPACKET_MAX_SIZE) { - LOGE("CAN: MALFORMED USB RECV PACKET"); - handle->comms_healthy = false; - return false; - } - int chunk_len = std::min(USBPACKET_MAX_SIZE, (size - i)); - recv_buf.insert(recv_buf.end(), &data[i + 1], &data[i + chunk_len]); + + if (size < sizeof(uint32_t)) { + return true; + } + + uint32_t magic; + memcpy(&magic, &data[0], sizeof(uint32_t)); + if (magic != CAN_TRANSACTION_MAGIC) { + LOGE("CAN: MALFORMED CAN RECV PACKET"); + handle->comms_healthy = false; + return false; } - int pos = 0; - while (pos < recv_buf.size()) { + int pos = sizeof(uint32_t); + while (pos < size) { can_header header; - memcpy(&header, &recv_buf[pos], CANPACKET_HEAD_SIZE); + memcpy(&header, &data[pos], sizeof(can_header)); can_frame &canData = out_vec.emplace_back(); canData.busTime = 0; @@ -262,9 +261,9 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector &o } const uint8_t data_len = dlc_to_len[header.data_len_code]; - canData.dat.assign((char *)&recv_buf[pos + CANPACKET_HEAD_SIZE], data_len); + canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len); - pos += CANPACKET_HEAD_SIZE + data_len; + pos += sizeof(can_header) + data_len; } return true; } diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc index c7d14fb0ef..cc3b4bce9a 100644 --- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc +++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc @@ -48,7 +48,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState can.setAddress(i); can.setSrc(random_int(0, 3) + bus_offset); can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size())); - total_pakets_size += CANPACKET_HEAD_SIZE + dat.size(); + total_pakets_size += sizeof(can_header) + dat.size(); } can_data_list = can_list.asReader(); @@ -58,14 +58,11 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState void PandaTest::test_can_send() { std::vector unpacked_data; this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) { - int size_left = size; - for (int i = 0, counter = 0; i < size; i += USBPACKET_MAX_SIZE, counter++) { - REQUIRE(chunk[i] == counter); - - const int len = std::min(USBPACKET_MAX_SIZE, size_left); - unpacked_data.insert(unpacked_data.end(), &chunk[i + 1], &chunk[i + len]); - size_left -= len; - } + uint32_t magic; + memcpy(&magic, &chunk[0], sizeof(uint32_t)); + + REQUIRE(magic == CAN_TRANSACTION_MAGIC); + unpacked_data.insert(unpacked_data.end(), &chunk[sizeof(uint32_t)], &chunk[size]); }); REQUIRE(unpacked_data.size() == total_pakets_size); @@ -73,9 +70,9 @@ void PandaTest::test_can_send() { INFO("test can message integrity"); for (int pos = 0, pckt_len = 0; pos < unpacked_data.size(); pos += pckt_len) { can_header header; - memcpy(&header, &unpacked_data[pos], CANPACKET_HEAD_SIZE); + memcpy(&header, &unpacked_data[pos], sizeof(can_header)); const uint8_t data_len = dlc_to_len[header.data_len_code]; - pckt_len = CANPACKET_HEAD_SIZE + data_len; + pckt_len = sizeof(can_header) + data_len; REQUIRE(header.addr == cnt); REQUIRE(test_data.find(data_len) != test_data.end()); From 74c0ac3deced5ac85b72ec1a4e51dae851cdb440 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 2 Dec 2022 01:17:02 +0800 Subject: [PATCH 080/201] Cabana: setSectionResizeMode to QHeaderView::Fixed (#26655) fixed header --- tools/cabana/binaryview.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 6a4f66dcd4..e655bf0c04 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -23,6 +23,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { setItemDelegate(delegate); horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); verticalHeader()->setSectionsClickable(false); + verticalHeader()->setSectionResizeMode(QHeaderView::Fixed); horizontalHeader()->hide(); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); From 92e985c583bfb23c569008157037e77b6080a6f6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 1 Dec 2022 11:56:25 -0800 Subject: [PATCH 081/201] voltage cleanup thermald (#26658) --- selfdrive/thermald/power_monitoring.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index e62f0f97c3..b748064d2b 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -18,6 +18,7 @@ VBATT_PAUSE_CHARGING = 11.0 # Lower limit on the LPF car battery volta VBATT_INSTANT_PAUSE_CHARGING = 7.0 # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss MAX_TIME_OFFROAD_S = 30*3600 MIN_ON_TIME_S = 3600 +VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 60 class PowerMonitoring: def __init__(self): @@ -114,8 +115,12 @@ class PowerMonitoring: now = sec_since_boot() should_shutdown = False - should_shutdown |= (now - offroad_timestamp) > MAX_TIME_OFFROAD_S - should_shutdown |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3)) and (self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3)) + offroad_time = (now - offroad_timestamp) + low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and + self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3) and + offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S) + should_shutdown |= offroad_time > MAX_TIME_OFFROAD_S + should_shutdown |= low_voltage_shutdown should_shutdown |= (self.car_battery_capacity_uWh <= 0) should_shutdown &= not ignition should_shutdown &= (not self.params.get_bool("DisablePowerDown")) From 86cd919a57be22fa0ccf324a8767999309df60e4 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 1 Dec 2022 12:52:06 -0800 Subject: [PATCH 082/201] micd: don't update filtered sound level if playing sound (#26652) * add is_sound_playing to hardware.py * micd: don't update filtered sound level if playing sound --- system/hardware/base.py | 4 ++++ system/hardware/pc/hardware.py | 4 ++++ system/hardware/tici/hardware.py | 3 +++ system/micd.py | 4 +++- 4 files changed, 14 insertions(+), 1 deletion(-) diff --git a/system/hardware/base.py b/system/hardware/base.py index 31df1babe0..16ed9621c1 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -43,6 +43,10 @@ class HardwareBase(ABC): def get_sound_card_online(self): pass + @abstractmethod + def is_sound_playing(self): + pass + @abstractmethod def get_imei(self, slot) -> str: pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 564f9e483a..2c83eb35f4 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -1,4 +1,5 @@ import random +import subprocess from cereal import log from system.hardware.base import HardwareBase, ThermalConfig @@ -17,6 +18,9 @@ class Pc(HardwareBase): def get_sound_card_online(self): return True + def is_sound_playing(self): + return "RUNNING" in subprocess.check_output(["pactl", "list", "short", "sinks"]).decode('utf8') + def reboot(self, reason=None): print("REBOOT!") diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index b5f5e00410..8371d6ef70 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -96,6 +96,9 @@ class Tici(HardwareBase): return (os.path.isfile('/proc/asound/card0/state') and open('/proc/asound/card0/state').read().strip() == 'ONLINE') + def is_sound_playing(self): + return "RUNNING" in subprocess.check_output(["pactl", "list", "short", "sinks"]).decode('utf8') + def reboot(self, reason=None): subprocess.check_output(["sudo", "reboot"]) diff --git a/system/micd.py b/system/micd.py index d2a5a2849f..27b6cb5f19 100755 --- a/system/micd.py +++ b/system/micd.py @@ -5,6 +5,7 @@ import numpy as np from cereal import messaging from common.filter_simple import FirstOrderFilter from common.realtime import Ratekeeper +from system.hardware import HARDWARE from system.swaglog import cloudlog RATE = 10 @@ -27,7 +28,8 @@ class Mic: # https://www.engineeringtoolbox.com/sound-pressure-d_711.html sound_pressure = np.sqrt(np.mean(self.measurements ** 2)) # RMS of amplitudes sound_pressure_level = 20 * np.log10(sound_pressure / REFERENCE_SPL) if sound_pressure > 0 else 0 # dB - self.spl_filter.update(sound_pressure_level) + if not HARDWARE.is_sound_playing(): + self.spl_filter.update(sound_pressure_level) else: sound_pressure = 0 sound_pressure_level = 0 From 7a9d96759d3a4db277edcce2d5e3ffda9c6823d5 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Thu, 1 Dec 2022 13:11:31 -0800 Subject: [PATCH 083/201] Revert "voltage cleanup thermald (#26658)" This reverts commit 92e985c583bfb23c569008157037e77b6080a6f6. --- selfdrive/thermald/power_monitoring.py | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index b748064d2b..e62f0f97c3 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -18,7 +18,6 @@ VBATT_PAUSE_CHARGING = 11.0 # Lower limit on the LPF car battery volta VBATT_INSTANT_PAUSE_CHARGING = 7.0 # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss MAX_TIME_OFFROAD_S = 30*3600 MIN_ON_TIME_S = 3600 -VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 60 class PowerMonitoring: def __init__(self): @@ -115,12 +114,8 @@ class PowerMonitoring: now = sec_since_boot() should_shutdown = False - offroad_time = (now - offroad_timestamp) - low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and - self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3) and - offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S) - should_shutdown |= offroad_time > MAX_TIME_OFFROAD_S - should_shutdown |= low_voltage_shutdown + should_shutdown |= (now - offroad_timestamp) > MAX_TIME_OFFROAD_S + should_shutdown |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3)) and (self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3)) should_shutdown |= (self.car_battery_capacity_uWh <= 0) should_shutdown &= not ignition should_shutdown &= (not self.params.get_bool("DisablePowerDown")) From 196caa095b1c028926e580bb9c671338d08d3fa6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 1 Dec 2022 13:57:11 -0800 Subject: [PATCH 084/201] thermald: add minimum offroad time to low voltage shutdown (#26660) * voltage cleanup thermald * Fix voltage shutdown test --- selfdrive/thermald/power_monitoring.py | 9 +++++++-- selfdrive/thermald/tests/test_power_monitoring.py | 10 +++++++--- 2 files changed, 14 insertions(+), 5 deletions(-) diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index e62f0f97c3..b748064d2b 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -18,6 +18,7 @@ VBATT_PAUSE_CHARGING = 11.0 # Lower limit on the LPF car battery volta VBATT_INSTANT_PAUSE_CHARGING = 7.0 # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss MAX_TIME_OFFROAD_S = 30*3600 MIN_ON_TIME_S = 3600 +VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 60 class PowerMonitoring: def __init__(self): @@ -114,8 +115,12 @@ class PowerMonitoring: now = sec_since_boot() should_shutdown = False - should_shutdown |= (now - offroad_timestamp) > MAX_TIME_OFFROAD_S - should_shutdown |= (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3)) and (self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3)) + offroad_time = (now - offroad_timestamp) + low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and + self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3) and + offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S) + should_shutdown |= offroad_time > MAX_TIME_OFFROAD_S + should_shutdown |= low_voltage_shutdown should_shutdown |= (self.car_battery_capacity_uWh <= 0) should_shutdown &= not ignition should_shutdown &= (not self.params.get_bool("DisablePowerDown")) diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index 4a5def7740..d41e92454b 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -120,15 +120,19 @@ class TestPowerMonitoring(unittest.TestCase): def test_car_voltage(self): POWER_DRAW = 0 # To stop shutting down for other reasons TEST_TIME = 100 - with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): + VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50 + with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh ignition = False + start_time = ssb for i in range(TEST_TIME): pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) if i % 10 == 0: - self.assertEqual(pm.should_shutdown(ignition, True, ssb, True), (pm.car_voltage_mV < VBATT_PAUSE_CHARGING*1e3)) - self.assertTrue(pm.should_shutdown(ignition, True, ssb, True)) + self.assertEqual(pm.should_shutdown(ignition, True, start_time, True), + (pm.car_voltage_mV < VBATT_PAUSE_CHARGING*1e3 and + (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)) + self.assertTrue(pm.should_shutdown(ignition, True, start_time, True)) # Test to check policy of not stopping charging when DisablePowerDown is set def test_disable_power_down(self): From 1adf106da69c7d73d465f41ad2836a562ca64f9c Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Thu, 1 Dec 2022 17:11:12 -0500 Subject: [PATCH 085/201] HKG: Car Port for Kia Sorento Plug-in Hybrid 2022 (#26635) * HKG: Car Port for Kia Sorento Plug-in Hybrid 2022 * Add torque params * Typo * This car has SCC on bus 4, needs radar disable to use openpilot longitudinal :/ * Need to check on bus 4 as well * Different unit signal * Unit signal cleanup * Add test route * Regenerate car docs * Different logic * 2023 should be the same * Fix 0x1a0 check race condition * Update RELEASES.md Co-authored-by: Adeeb Shihadeh --- RELEASES.md | 1 + docs/CARS.md | 3 ++- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 10 +++++++--- selfdrive/car/hyundai/interface.py | 4 ++++ selfdrive/car/hyundai/values.py | 17 ++++++++++++++--- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 8 files changed, 31 insertions(+), 8 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 1ae4a233be..7b51e6dff3 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,6 +2,7 @@ Version 0.9.1 (2022-12-XX) ======================== * Adjust alert volume using ambient noise level * Removed driver monitoring timer resetting on interaction if face detected and distracted +* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! Version 0.9.0 (2022-11-21) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index a0d22a3d27..f8455b25ea 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 215 Supported Cars +# 216 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -104,6 +104,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Seltos 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)](##)|Hyundai A| |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| +|Kia|Sorento Plug-in Hybrid 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| diff --git a/opendbc b/opendbc index 871e054d9a..18bff2369b 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 871e054d9a94629d92c22fe89cae71af5b0d3823 +Subproject commit 18bff2369b44ecb36638885c974aae1891616ae5 diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 2c309fa0df..dfb33f2eb4 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -6,7 +6,7 @@ from cereal import car from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 @@ -197,7 +197,9 @@ class CarState(CarStateBase): ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 ret.cruiseState.available = True - self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1 + cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" + distance_unit_msg = cruise_btn_msg if self.CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN else "CLUSTER_INFO" + self.is_metric = cp.vl[distance_unit_msg]["DISTANCE_UNIT"] != 1 if not self.CP.openpilotLongitudinalControl: speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp @@ -206,7 +208,6 @@ class CarState(CarStateBase): ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2) self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"]) - cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"]) self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"]) @@ -446,6 +447,9 @@ class CarState(CarStateBase): ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"), ] + if CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN: + signals.append(("DISTANCE_UNIT", cruise_btn_msg)) + checks = [ ("WHEEL_SPEEDS", 100), (gear_msg, 100), diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index c1fe8be4c2..cb4d9a9688 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -185,6 +185,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only ret.wheelbase = 2.756 ret.steerRatio = 13.6 + elif candidate == CAR.KIA_SORENTO_PHEV_4TH_GEN: + ret.mass = 4095.8 * CV.LB_TO_KG + STD_CARGO_KG # weight from EX and above trims, average of FWD and AWD versions (EX, X-Line EX AWD, SX, SX Pestige, X-Line SX Prestige AWD) + ret.wheelbase = 2.81 + ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications # Genesis elif candidate == CAR.GENESIS_G70: diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 81cc4bb54f..7ecb07e7d7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -93,6 +93,7 @@ class CAR: KIA_SELTOS = "KIA SELTOS 2021" KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN" KIA_SORENTO = "KIA SORENTO GT LINE 2018" + KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN" KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN" KIA_STINGER = "KIA STINGER GT2 2018" KIA_STINGER_2022 = "KIA STINGER 2022" @@ -180,6 +181,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], + CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n), CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k), @@ -1394,6 +1396,14 @@ FW_VERSIONS = { b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00' ], }, + CAR.KIA_SORENTO_PHEV_4TH_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00MQhe SCC FHCUP 1.00 1.06 99110-P4000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00MQ4HMFC AT USA LHD 1.00 1.11 99210-P2000 211217', + ] + }, CAR.KIA_EV6: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', @@ -1478,15 +1488,15 @@ FEATURES = { "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} # The radar does SCC on these cars when HDA I, rather than the camera -CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, } +CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } -HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN} # these cars use a different gas signal +HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} # these cars use a different gas signal EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5} # these cars require a special panda safety mode due to missing counters and checksums in the messages @@ -1543,4 +1553,5 @@ DBC = { CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None), + CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index cd61528439..da19e1f367 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -98,6 +98,7 @@ routes = [ CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN), CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), + CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN), CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2 CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 6ec782444c..1eda931e3e 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -34,6 +34,7 @@ HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.1] KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1] KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1] GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1] +KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From 30165134e8963e260245c1b6596ca3ae3cc08fea Mon Sep 17 00:00:00 2001 From: EdwardApollo <51210836+EdwardApollo@users.noreply.github.com> Date: Thu, 1 Dec 2022 17:18:32 -0500 Subject: [PATCH 086/201] Increase Minimum Offroad Battery Voltage (#26661) * Reduce Min Idle Battery Voltage and Idle Time Updated minimum offroad battery voltage to reduce wear on car batteries and updated max offroad time to reflect the increased power consumption at idle based on EPHOT hardware power draw (this may have changed). Most vehicles make use of lead acid batteries which during normal use shouldn't ever decrease below ~12V (sources give a range of 11.8-12V). Increasing this limit will prevent premature battery failure by preventing sulfation of the cells. * Voltage cutoff to 11.8V, max offroad to 30h Changed lower voltage limit to 11.8V, removed power usage comment entirely, reverted change to max offroad time to 30 hours * Added Offroad Shutdown conditional Added IsOffroad Shutdown conditional statement to prevent shutting down due to voltage floor. * LPF Gain: Tau = 45s Tau modified to 45s to result in a LPF gain of ~0.011. Assuming a dT of 0.5s: (0.5/45)/((0.5/45)+1) * Revert IsOffroad check Removed due to unnecessary redundancy. --- selfdrive/thermald/power_monitoring.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index b748064d2b..85e9510eb7 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -7,14 +7,13 @@ from system.hardware import HARDWARE from system.swaglog import cloudlog from selfdrive.statsd import statlog -CAR_VOLTAGE_LOW_PASS_K = 0.091 # LPF gain for 5s tau (dt/tau / (dt/tau + 1)) +CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1)) -# A C2 uses about 1W while idling, and 30h seens like a good shutoff for most cars # While driving, a battery charges completely in about 30-60 minutes CAR_BATTERY_CAPACITY_uWh = 30e6 CAR_CHARGING_RATE_W = 45 -VBATT_PAUSE_CHARGING = 11.0 # Lower limit on the LPF car battery voltage +VBATT_PAUSE_CHARGING = 11.8 # Lower limit on the LPF car battery voltage VBATT_INSTANT_PAUSE_CHARGING = 7.0 # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss MAX_TIME_OFFROAD_S = 30*3600 MIN_ON_TIME_S = 3600 From c210640b7cc42b18efd27ce4f0bd7c7328674ade Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 1 Dec 2022 14:21:57 -0800 Subject: [PATCH 087/201] bump opendbc --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 18bff2369b..3737675445 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 18bff2369b44ecb36638885c974aae1891616ae5 +Subproject commit 373767544559718d74bff58dd23890eea1d38a29 From 753c3d5897d46f9c070f9267d7385b3578185b2e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 1 Dec 2022 15:32:59 -0800 Subject: [PATCH 088/201] jenkins: move test_manager to common devices (#26663) --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index c34d253585..e8323bca7d 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -115,7 +115,6 @@ pipeline { ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"], ["build openpilot", "cd selfdrive/manager && ./build.py"], ["check dirty", "release/check-dirty.sh"], - ["test manager", "python selfdrive/manager/test/test_manager.py"], ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"], ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"], ]) @@ -141,6 +140,7 @@ pipeline { ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"], + ["test manager", "python selfdrive/manager/test/test_manager.py"], ]) } } From dad438158ec60df10dc7e4b4fb8f225af190defd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 1 Dec 2022 20:14:10 -0800 Subject: [PATCH 089/201] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 288e14cde9..616450c525 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 288e14cde904a5755ebb32b0853631ac7fbf5968 +Subproject commit 616450c525a7c1ef508f70f30e29547a606139aa From 1f4554b0c030cfc2623d7c7db413e9c61dabaef4 Mon Sep 17 00:00:00 2001 From: Vybhav Date: Thu, 1 Dec 2022 22:03:15 -0800 Subject: [PATCH 090/201] Toyota: Add FW for 2023 Toyota Camry Hybrid (#26654) * Toyota: Add FW for 2023 Toyota Camry Hybrid Toyota: Updating CAR_INFO list to show 2023 for Camry * Update CARS.md for 2023 Toyota Camry * remove duplicate fw, sort alphabetically Co-authored-by: Vybhav Achar Bhargav Co-authored-by: Vybhav Achar Bhargav Co-authored-by: Cameron Clough --- docs/CARS.md | 2 +- selfdrive/car/toyota/values.py | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index f8455b25ea..df0dda742c 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -166,7 +166,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|Camry 2018-20|All|Stock|0 mph[5](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Camry 2021-22|All|openpilot|0 mph[5](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 4f2ab478c7..e112ebdb80 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -113,7 +113,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]), - CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"), + CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"), CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"), CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"), CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"), @@ -551,10 +551,12 @@ FW_VERSIONS = { (Ecu.abs, 0x7b0, None): [ b'F152633D00\x00\x00\x00\x00\x00\x00', b'F152633D60\x00\x00\x00\x00\x00\x00', + b'F152633310\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x018966306Q6000\x00\x00\x00\x00', b'\x018966306Q7000\x00\x00\x00\x00', + b'\x018966306V1000\x00\x00\x00\x00', b'\x01896633T20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 15): [ @@ -565,6 +567,7 @@ FW_VERSIONS = { b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.CHR: { From d087fab2c0af6baf104591dade313311aeed1e4b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 2 Dec 2022 00:11:29 -0800 Subject: [PATCH 091/201] micd: apply A-weighting to the sound pressure level (#26668) * record * record * draft * some clean up * some clean up * wishful tuning * log pressure level (db) for debugging * fix * tuning * ignore complex to real warning * remove this * Update selfdrive/ui/soundd/sound.cc * Update system/micd.py * remove warning supp * bump cereal to master Co-authored-by: Cameron Clough --- cereal | 2 +- selfdrive/ui/soundd/sound.cc | 2 +- system/micd.py | 62 ++++++++++++++++++++++++++++-------- 3 files changed, 51 insertions(+), 15 deletions(-) diff --git a/cereal b/cereal index dbc9846ac9..7765176413 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit dbc9846ac9c9e735ee2f4a281ce079cfff7ea285 +Subproject commit 7765176413c0bb14143fe2469d5390ea0ea61a1e diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index 3deb6ceca0..73d65eb1f7 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -48,7 +48,7 @@ void Sound::update() { // scale volume with speed if (sm.updated("microphone")) { - float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureDb(), 58.f, 77.f, 0.f, 1.f); + float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 55.f, 0.f, 1.f); volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale); Hardware::set_volume(volume); } diff --git a/system/micd.py b/system/micd.py index 27b6cb5f19..150dcb9cbe 100755 --- a/system/micd.py +++ b/system/micd.py @@ -10,7 +10,35 @@ from system.swaglog import cloudlog RATE = 10 DT_MIC = 1. / RATE -REFERENCE_SPL = 2 * 10 ** -5 # newtons/m^2 +REFERENCE_SPL = 2e-5 # newtons/m^2 +SAMPLE_RATE = 44100 + + +def calculate_spl(measurements): + # https://www.engineeringtoolbox.com/sound-pressure-d_711.html + sound_pressure = np.sqrt(np.mean(measurements ** 2)) # RMS of amplitudes + if sound_pressure > 0: + sound_pressure_level = 20 * np.log10(sound_pressure / REFERENCE_SPL) # dB + else: + sound_pressure_level = 0 + return sound_pressure, sound_pressure_level + + +def apply_a_weighting(measurements: np.ndarray) -> np.ndarray: + # Generate a Hanning window of the same length as the audio measurements + hanning_window = np.hanning(len(measurements)) + measurements_windowed = measurements * hanning_window + + # Calculate the frequency axis for the signal + freqs = np.fft.fftfreq(measurements_windowed.size, d=1 / SAMPLE_RATE) + + # Calculate the A-weighting filter + # https://en.wikipedia.org/wiki/A-weighting + A = 12194 ** 2 * freqs ** 4 / ((freqs ** 2 + 20.6 ** 2) * (freqs ** 2 + 12194 ** 2) * np.sqrt((freqs ** 2 + 107.7 ** 2) * (freqs ** 2 + 737.9 ** 2))) + A /= np.max(A) # Normalize the filter + + # Apply the A-weighting filter to the signal + return np.abs(np.fft.ifft(np.fft.fft(measurements_windowed) * A)) class Mic: @@ -19,27 +47,35 @@ class Mic: self.rk = Ratekeeper(RATE) self.measurements = np.empty(0) - self.spl_filter = FirstOrderFilter(0, 4, DT_MIC, initialized=False) + self.spl_filter_weighted = FirstOrderFilter(0, 2.5, DT_MIC, initialized=False) def update(self): - # self.measurements contains amplitudes from -1 to 1 which we use to - # calculate an uncalibrated sound pressure level + """ + Using amplitude measurements, calculate an uncalibrated sound pressure and sound pressure level. + Then apply A-weighting to the raw amplitudes and run the same calculations again. + + Logged A-weighted equivalents are rough approximations of the human-perceived loudness. + """ + if len(self.measurements) > 0: - # https://www.engineeringtoolbox.com/sound-pressure-d_711.html - sound_pressure = np.sqrt(np.mean(self.measurements ** 2)) # RMS of amplitudes - sound_pressure_level = 20 * np.log10(sound_pressure / REFERENCE_SPL) if sound_pressure > 0 else 0 # dB + sound_pressure, _ = calculate_spl(self.measurements) + measurements_weighted = apply_a_weighting(self.measurements) + sound_pressure_weighted, sound_pressure_level_weighted = calculate_spl(measurements_weighted) if not HARDWARE.is_sound_playing(): - self.spl_filter.update(sound_pressure_level) + self.spl_filter_weighted.update(sound_pressure_level_weighted) else: sound_pressure = 0 - sound_pressure_level = 0 + sound_pressure_weighted = 0 + sound_pressure_level_weighted = 0 self.measurements = np.empty(0) msg = messaging.new_message('microphone') msg.microphone.soundPressure = float(sound_pressure) - msg.microphone.soundPressureDb = float(sound_pressure_level) - msg.microphone.filteredSoundPressureDb = float(self.spl_filter.x) + msg.microphone.soundPressureWeighted = float(sound_pressure_weighted) + + msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted) + msg.microphone.filteredSoundPressureWeightedDb = float(self.spl_filter_weighted.x) self.pm.send('microphone', msg) self.rk.keep_time() @@ -51,13 +87,13 @@ class Mic: if device is None: device = "sysdefault" - with sd.InputStream(device=device, channels=1, samplerate=44100, callback=self.callback) as stream: + with sd.InputStream(device=device, channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream: cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}") while True: self.update() -def main(pm=None, sm=None): +def main(pm=None): if pm is None: pm = messaging.PubMaster(['microphone']) From de061eacbe772b1a9be73d4a3864fad6e05037ac Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 2 Dec 2022 02:23:51 -0800 Subject: [PATCH 092/201] soundd: lower max volume breakpoint (#26673) * revert tune * remove hanning window * retune from hanning window * add hanning back * update once reached 4096 * Revert "update once reached 4096" This reverts commit 0898cbeec736916ffaee5e963df048b48636ece5. --- selfdrive/ui/soundd/sound.cc | 2 +- system/micd.py | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index 73d65eb1f7..f039511ff8 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -48,7 +48,7 @@ void Sound::update() { // scale volume with speed if (sm.updated("microphone")) { - float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 55.f, 0.f, 1.f); + float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 52.f, 0.f, 1.f); volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale); Hardware::set_volume(volume); } diff --git a/system/micd.py b/system/micd.py index 150dcb9cbe..57700e5927 100755 --- a/system/micd.py +++ b/system/micd.py @@ -26,8 +26,7 @@ def calculate_spl(measurements): def apply_a_weighting(measurements: np.ndarray) -> np.ndarray: # Generate a Hanning window of the same length as the audio measurements - hanning_window = np.hanning(len(measurements)) - measurements_windowed = measurements * hanning_window + measurements_windowed = measurements * np.hanning(len(measurements)) # Calculate the frequency axis for the signal freqs = np.fft.fftfreq(measurements_windowed.size, d=1 / SAMPLE_RATE) From 9cc06e9ea658b74bf1504fa35c6c8729fb1f550f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 2 Dec 2022 11:51:25 -0800 Subject: [PATCH 093/201] boardd: misc spi fixes (#26670) --- selfdrive/boardd/panda.cc | 4 +--- selfdrive/boardd/panda.h | 1 - selfdrive/boardd/panda_comms.h | 3 --- selfdrive/boardd/spi.cc | 25 +++++++++++++++++-------- 4 files changed, 18 insertions(+), 15 deletions(-) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index db9bcbab51..3e447c830e 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -230,8 +230,6 @@ bool Panda::can_receive(std::vector& out_vec) { } bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector &out_vec) { - recv_buf.clear(); - if (size < sizeof(uint32_t)) { return true; } @@ -239,7 +237,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector &o uint32_t magic; memcpy(&magic, &data[0], sizeof(uint32_t)); if (magic != CAN_TRANSACTION_MAGIC) { - LOGE("CAN: MALFORMED CAN RECV PACKET"); + LOGE("CAN recv: buffer didn't start with magic"); handle->comms_healthy = false; return false; } diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index b20d8f0afa..75fec57a3e 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -43,7 +43,6 @@ struct can_frame { class Panda { private: std::unique_ptr handle; - std::vector recv_buf; public: Panda(std::string serial="", uint32_t bus_offset=0); diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index f42eadc5b2..bd262dfa0e 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -13,8 +13,6 @@ #define TIMEOUT 0 #define SPI_BUF_SIZE 1024 -const bool PANDA_NO_RETRY = getenv("PANDA_NO_RETRY"); - // comms base class class PandaCommsHandle { @@ -52,7 +50,6 @@ public: private: libusb_context *ctx = NULL; libusb_device_handle *dev_handle = NULL; - std::vector recv_buf; void handle_usb_issue(int err, const char func[]); }; diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 2803f58db0..717b6ce820 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -6,6 +6,7 @@ #include #include "common/util.h" +#include "common/timing.h" #include "common/swaglog.h" #include "panda/board/comms_definitions.h" #include "selfdrive/boardd/panda_comms.h" @@ -24,6 +25,9 @@ struct __attribute__((packed)) spi_header { uint16_t max_rx_len; }; +const int SPI_MAX_RETRIES = 5; +const int SPI_ACK_TIMEOUT = 50; // milliseconds + PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { LOGD("opening SPI panda: %s", serial.c_str()); @@ -109,7 +113,7 @@ int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) { std::lock_guard lk(hw_lock); - const int xfer_size = 0x40; + const int xfer_size = 0x40 * 15; int ret = 0; uint16_t length = (tx_data != NULL) ? tx_len : rx_len; @@ -119,7 +123,8 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t int len = std::min(xfer_size, tx_len - (xfer_size * i)); d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0); } else { - d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), xfer_size); + uint16_t to_read = std::min(xfer_size, rx_len - ret); + d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read); } if (d < 0) { @@ -137,15 +142,11 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t return ret; } - - std::vector PandaSpiHandle::list() { // TODO: list all pandas available over SPI return {}; } - - void add_checksum(uint8_t *data, int data_len) { data[data_len] = SPI_CHECKSUM_START; for (int i=0; i < data_len; i++) { @@ -165,17 +166,19 @@ bool check_checksum(uint8_t *data, int data_len) { int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { int ret; + int count = SPI_MAX_RETRIES; std::lock_guard lk(hw_lock); do { // TODO: handle error ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len); - } while (ret < 0 && connected && !PANDA_NO_RETRY); + count--; + } while (ret < 0 && connected && count > 0); return ret; } int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { - // TODO: add timeout? + double start_millis = millis_since_boot(); while (true) { int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); if (ret < 0) { @@ -189,6 +192,12 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { LOGW("SPI: got NACK"); return -1; } + + // handle timeout + if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) { + LOGE("SPI: timed out waiting for ACK"); + return -1; + } } return 0; From bb8a38a0508c764c8340e7b16968b06a8367ab7a Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Fri, 2 Dec 2022 13:14:30 -0800 Subject: [PATCH 094/201] navmodeld (#26665) * Added navmodeld * New nav model: 7c306685-5476-4bd4-ab65-105b01b6bca8/300, feats only * little cleanup * Remove NAV flag * Moved to_kj_array_ptr to commonmodel.h * Switch from decimation to last_frame_id check * add to release files Co-authored-by: Adeeb Shihadeh --- .gitignore | 1 + release/files_common | 10 +++- selfdrive/manager/process_config.py | 3 +- selfdrive/modeld/SConscript | 5 ++ selfdrive/modeld/models/commonmodel.h | 6 +++ selfdrive/modeld/models/driving.cc | 5 -- selfdrive/modeld/models/nav.cc | 66 +++++++++++++++++++++++ selfdrive/modeld/models/nav.h | 73 ++++++++++++++++++++++++++ selfdrive/modeld/models/navmodel.onnx | 3 ++ selfdrive/modeld/models/navmodel_q.dlc | 3 ++ selfdrive/modeld/navmodeld | 12 +++++ selfdrive/modeld/navmodeld.cc | 60 +++++++++++++++++++++ 12 files changed, 240 insertions(+), 7 deletions(-) create mode 100644 selfdrive/modeld/models/nav.cc create mode 100644 selfdrive/modeld/models/nav.h create mode 100644 selfdrive/modeld/models/navmodel.onnx create mode 100644 selfdrive/modeld/models/navmodel_q.dlc create mode 100755 selfdrive/modeld/navmodeld create mode 100644 selfdrive/modeld/navmodeld.cc diff --git a/.gitignore b/.gitignore index 31cef94222..2b283d3b11 100644 --- a/.gitignore +++ b/.gitignore @@ -52,6 +52,7 @@ selfdrive/sensord/_sensord system/camerad/camerad system/camerad/test/ae_gray_test selfdrive/modeld/_modeld +selfdrive/modeld/_navmodeld selfdrive/modeld/_dmonitoringmodeld /src/ diff --git a/release/files_common b/release/files_common index 2f7f2d4d61..297a7a808e 100644 --- a/release/files_common +++ b/release/files_common @@ -350,20 +350,28 @@ selfdrive/manager/test/test_manager.py selfdrive/modeld/__init__.py selfdrive/modeld/SConscript selfdrive/modeld/modeld.cc +selfdrive/modeld/navmodeld.cc selfdrive/modeld/dmonitoringmodeld.cc selfdrive/modeld/constants.py selfdrive/modeld/modeld +selfdrive/modeld/navmodeld selfdrive/modeld/dmonitoringmodeld selfdrive/modeld/models/commonmodel.cc selfdrive/modeld/models/commonmodel.h + selfdrive/modeld/models/driving.cc selfdrive/modeld/models/driving.h +selfdrive/modeld/models/supercombo.onnx + selfdrive/modeld/models/dmonitoring.cc selfdrive/modeld/models/dmonitoring.h -selfdrive/modeld/models/supercombo.onnx selfdrive/modeld/models/dmonitoring_model_q.dlc +selfdrive/modeld/models/nav.cc +selfdrive/modeld/models/nav.h +selfdrive/modeld/models/navmodel_q.dlc + selfdrive/modeld/transforms/loadyuv.cc selfdrive/modeld/transforms/loadyuv.h selfdrive/modeld/transforms/loadyuv.cl diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 50c19610ed..c03e995497 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -32,7 +32,8 @@ procs = [ NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), - # NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"]), + NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False), + NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC), NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=(not PC or WEBCAM)), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index f1a8d71881..82338e456b 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -112,3 +112,8 @@ llenv.Program('_modeld', [ "modeld.cc", "models/driving.cc", ]+common_model, LIBS=libs + transformations) + +lenv.Program('_navmodeld', [ + "navmodeld.cc", + "models/nav.cc", + ]+common_model, LIBS=libs + transformations) \ No newline at end of file diff --git a/selfdrive/modeld/models/commonmodel.h b/selfdrive/modeld/models/commonmodel.h index 40c82a8c21..1a079da055 100644 --- a/selfdrive/modeld/models/commonmodel.h +++ b/selfdrive/modeld/models/commonmodel.h @@ -13,6 +13,7 @@ #endif #include "common/mat.h" +#include "cereal/messaging/messaging.h" #include "selfdrive/modeld/transforms/loadyuv.h" #include "selfdrive/modeld/transforms/transform.h" @@ -21,6 +22,11 @@ const bool send_raw_pred = getenv("SEND_RAW_PRED") != NULL; void softmax(const float* input, float* output, size_t len); float sigmoid(float input); +template +constexpr const kj::ArrayPtr to_kj_array_ptr(const std::array &arr) { + return kj::ArrayPtr(arr.data(), arr.size()); +} + class ModelFrame { public: ModelFrame(cl_device_id device_id, cl_context context); diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 4015731c42..9cb216ff19 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -22,11 +22,6 @@ std::array prev_brake_3ms2_probs = {0,0,0}; // #define DUMP_YUV -template -constexpr const kj::ArrayPtr to_kj_array_ptr(const std::array &arr) { - return kj::ArrayPtr(arr.data(), arr.size()); -} - void model_init(ModelState* s, cl_device_id device_id, cl_context context) { s->frame = new ModelFrame(device_id, context); s->wide_frame = new ModelFrame(device_id, context); diff --git a/selfdrive/modeld/models/nav.cc b/selfdrive/modeld/models/nav.cc new file mode 100644 index 0000000000..dae87c7ce5 --- /dev/null +++ b/selfdrive/modeld/models/nav.cc @@ -0,0 +1,66 @@ +#include "selfdrive/modeld/models/nav.h" + +#include +#include + +#include "common/mat.h" +#include "common/modeldata.h" +#include "common/timing.h" + + +void navmodel_init(NavModelState* s) { +#ifdef USE_ONNX_MODEL + s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); +#else + s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); +#endif +} + +NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) { + memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE); + + double t1 = millis_since_boot(); + s->m->addImage((float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float)); + s->m->execute(); + double t2 = millis_since_boot(); + + NavModelResult *model_res = (NavModelResult*)&s->output; + model_res->dsp_execution_time = (t2 - t1) / 1000.; + return model_res; +} + +void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan &plan) { + std::array pos_x, pos_y; + std::array pos_x_std, pos_y_std; + + for (int i=0; im; +} diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h new file mode 100644 index 0000000000..b469f75987 --- /dev/null +++ b/selfdrive/modeld/models/nav.h @@ -0,0 +1,73 @@ +#pragma once + +#include "cereal/messaging/messaging.h" +#include "cereal/visionipc/visionipc_client.h" +#include "common/util.h" +#include "common/modeldata.h" +#include "selfdrive/modeld/models/commonmodel.h" +#include "selfdrive/modeld/runners/run.h" + +constexpr int NAV_INPUT_SIZE = 256*256; +constexpr int NAV_FEATURE_LEN = 64; +constexpr int NAV_DESIRE_LEN = 32; +constexpr int NAV_PLAN_MHP_N = 5; + +struct NavModelOutputXY { + float x; + float y; +}; +static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2); + +struct NavModelOutputPlan { + std::array mean; + std::array std; + float prob; +}; +static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2 + sizeof(float)); + +struct NavModelOutputPlans { + std::array predictions; + + constexpr const NavModelOutputPlan &get_best_prediction() const { + int max_idx = 0; + for (int i = 1; i < predictions.size(); i++) { + if (predictions[i].prob > predictions[max_idx].prob) { + max_idx = i; + } + } + return predictions[max_idx]; + } +}; +static_assert(sizeof(NavModelOutputPlans) == sizeof(NavModelOutputPlan)*NAV_PLAN_MHP_N); + +struct NavModelOutputDesirePrediction { + std::array values; +}; +static_assert(sizeof(NavModelOutputDesirePrediction) == sizeof(float)*NAV_DESIRE_LEN); + +struct NavModelOutputFeatures { + std::array values; +}; +static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN); + +struct NavModelResult { + const NavModelOutputPlans plans; + const NavModelOutputDesirePrediction desire_pred; + const NavModelOutputFeatures features; + float dsp_execution_time; +}; +static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlans) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float)); + +constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float); +constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1; + +struct NavModelState { + RunModel *m; + uint8_t net_input_buf[NAV_INPUT_SIZE]; + float output[NAV_OUTPUT_SIZE]; +}; + +void navmodel_init(NavModelState* s); +NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf); +void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &model_res, float execution_time); +void navmodel_free(NavModelState* s); diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx new file mode 100644 index 0000000000..60dd8c0e7f --- /dev/null +++ b/selfdrive/modeld/models/navmodel.onnx @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eab4b986e14d7d842d6d5487011c329d356fb56995b2ae7dc7188aefe6df9d97 +size 12285002 diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc new file mode 100644 index 0000000000..7d9b36ed4d --- /dev/null +++ b/selfdrive/modeld/models/navmodel_q.dlc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:83d53efc40053b02fe7d3da4ef6213a4a5a1ae4d1bd49c121b9beb6a54ea1148 +size 3154868 diff --git a/selfdrive/modeld/navmodeld b/selfdrive/modeld/navmodeld new file mode 100755 index 0000000000..079afd9677 --- /dev/null +++ b/selfdrive/modeld/navmodeld @@ -0,0 +1,12 @@ +#!/bin/sh + +DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" +cd $DIR + +if [ -f /TICI ]; then + export LD_LIBRARY_PATH="/usr/lib/aarch64-linux-gnu:/data/pythonpath/third_party/snpe/larch64:$LD_LIBRARY_PATH" + export ADSP_LIBRARY_PATH="/data/pythonpath/third_party/snpe/dsp/" +else + export LD_LIBRARY_PATH="$DIR/../../third_party/snpe/x86_64-linux-clang:$DIR/../../openpilot/third_party/snpe/x86_64:$LD_LIBRARY_PATH" +fi +exec ./_navmodeld diff --git a/selfdrive/modeld/navmodeld.cc b/selfdrive/modeld/navmodeld.cc new file mode 100644 index 0000000000..57ef7cf0e0 --- /dev/null +++ b/selfdrive/modeld/navmodeld.cc @@ -0,0 +1,60 @@ +#include +#include + +#include +#include + +#include "cereal/visionipc/visionipc_client.h" +#include "common/swaglog.h" +#include "common/util.h" +#include "selfdrive/modeld/models/nav.h" + +ExitHandler do_exit; + +void run_model(NavModelState &model, VisionIpcClient &vipc_client) { + PubMaster pm({"navModel"}); + + double last_ts = 0; + uint32_t last_frame_id = 0; + VisionIpcBufExtra extra = {}; + + while (!do_exit) { + VisionBuf *buf = vipc_client.recv(&extra); + if (buf == nullptr) continue; + if (extra.frame_id < last_frame_id + 10) continue; // Run at 2Hz + + double t1 = millis_since_boot(); + NavModelResult *model_res = navmodel_eval_frame(&model, buf); + double t2 = millis_since_boot(); + + // send navmodel packet + navmodel_publish(pm, extra.frame_id, *model_res, (t2 - t1) / 1000.0); + + //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts); + last_ts = t1; + last_frame_id = extra.frame_id; + } +} + +int main(int argc, char **argv) { + setpriority(PRIO_PROCESS, 0, -15); + + // init the models + NavModelState model; + navmodel_init(&model); + LOGW("models loaded, navmodeld starting"); + + VisionIpcClient vipc_client = VisionIpcClient("navd", VISION_STREAM_MAP, true); + while (!do_exit && !vipc_client.connect(false)) { + util::sleep_for(100); + } + + // run the models + if (vipc_client.connected) { + LOGW("connected with buffer size: %d", vipc_client.buffers[0].len); + run_model(model, vipc_client); + } + + navmodel_free(&model); + return 0; +} From daea877c07a51d82903880e9464eace38ef9a95d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 3 Dec 2022 05:15:14 +0800 Subject: [PATCH 095/201] Cabana: add shortcuts (#26528) add shortcuts --- tools/cabana/detailwidget.cc | 4 ++-- tools/cabana/mainwin.cc | 11 ++++++++++- tools/cabana/mainwin.h | 1 + 3 files changed, 13 insertions(+), 3 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index c20e2b672e..5035bf49b4 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -85,9 +85,9 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart tab_widget = new QTabWidget(this); tab_widget->setTabPosition(QTabWidget::South); - tab_widget->addTab(scroll, "Msg"); + tab_widget->addTab(scroll, "&Msg"); history_log = new HistoryLog(this); - tab_widget->addTab(history_log, "Logs"); + tab_widget->addTab(history_log, "&Logs"); main_layout->addWidget(tab_widget); QObject::connect(binary_view, &BinaryView::signalClicked, this, &DetailWidget::showForm); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 324323ac44..6a298bc228 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -11,6 +11,7 @@ #include #include #include +#include #include #include #include @@ -82,6 +83,7 @@ MainWindow::MainWindow() : QMainWindow() { setCentralWidget(central_widget); createActions(); createStatusBar(); + createShortcuts(); qRegisterMetaType("uint64_t"); qRegisterMetaType("ReplyMsgType"); @@ -156,6 +158,12 @@ void MainWindow::createStatusBar() { statusBar()->addPermanentWidget(progress_bar); } +void MainWindow::createShortcuts() { + auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut); + QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); }); + // TODO: add more shortcuts here. +} + void MainWindow::loadDBCFromName(const QString &name) { if (name != dbc()->name()) dbc()->open(name); @@ -225,7 +233,8 @@ void MainWindow::dockCharts(bool dock) { floating_window->deleteLater(); floating_window = nullptr; } else if (!dock && !floating_window) { - floating_window = new QWidget(nullptr); + floating_window = new QWidget(this); + floating_window->setWindowFlags(Qt::Window); floating_window->setWindowTitle("Charts - Cabana"); floating_window->setLayout(new QVBoxLayout()); floating_window->layout()->addWidget(charts_widget); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index bb9280c3ea..5d377c44ca 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -35,6 +35,7 @@ signals: protected: void createActions(); void createStatusBar(); + void createShortcuts(); void closeEvent(QCloseEvent *event) override; void updateDownloadProgress(uint64_t cur, uint64_t total, bool success); void setOption(); From 59ed74ae4a7a51fcfa673393947b755d7b29c323 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 3 Dec 2022 05:15:32 +0800 Subject: [PATCH 096/201] Cabanba: new dialog to manage chart series (#26675) * New dialog to manage chart series * connect to signal currentIndexChanged * cleanup use cbegin/cend --- tools/cabana/chartswidget.cc | 133 ++++++++++++++++++++++++++++++++++- tools/cabana/chartswidget.h | 23 ++++++ tools/cabana/dbcmanager.h | 1 + 3 files changed, 156 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index a3faab0a20..79b40133a5 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -196,6 +196,14 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { close_btn_proxy->setWidget(remove_btn); close_btn_proxy->setZValue(chart->zValue() + 11); + QToolButton *manage_btn = new QToolButton(); + manage_btn->setText("🔧"); + manage_btn->setAutoRaise(true); + manage_btn->setToolTip(tr("Manage series")); + manage_btn_proxy = new QGraphicsProxyWidget(chart); + manage_btn_proxy->setWidget(manage_btn); + manage_btn_proxy->setZValue(chart->zValue() + 11); + setChart(chart); setRenderHint(QPainter::Antialiasing); setRubberBand(QChartView::HorizontalRubberBand); @@ -207,6 +215,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated); QObject::connect(&settings, &Settings::changed, this, &ChartView::updateFromSettings); QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); + QObject::connect(manage_btn, &QToolButton::clicked, this, &ChartView::manageSeries); } ChartView::~ChartView() { @@ -278,9 +287,41 @@ void ChartView::msgRemoved(uint32_t address) { } } +void ChartView::manageSeries() { + SeriesSelector dlg(this); + for (auto &s : sigs) { + dlg.addSeries(s.msg_id, msgName(s.msg_id), QString::fromStdString(s.sig->name)); + } + + int ret = dlg.exec(); + if (ret == QDialog::Accepted) { + QList series_list = dlg.series(); + if (series_list.isEmpty()) { + emit remove(); + } else { + for (auto &s : series_list) { + if (auto m = dbc()->msg(s[0])) { + auto it = m->sigs.find(s[2]); + if (it != m->sigs.end() && !hasSeries(s[0], &(it->second))) { + addSeries(s[0], &(it->second)); + } + } + } + for (auto it = sigs.begin(); it != sigs.end(); /**/) { + bool exists = std::any_of(series_list.cbegin(), series_list.cend(), [&](auto &s) { + return s[0] == it->msg_id && s[2] == it->sig->name.c_str(); + }); + it = exists ? ++it : removeSeries(it); + } + } + } +} + void ChartView::resizeEvent(QResizeEvent *event) { QChartView::resizeEvent(event); - close_btn_proxy->setPos(event->size().width() - close_btn_proxy->size().width() - 11, 8); + int x = event->size().width() - close_btn_proxy->size().width() - 11; + close_btn_proxy->setPos(x, 8); + manage_btn_proxy->setPos(x - manage_btn_proxy->size().width() - 5, 8); } void ChartView::updateTitle() { @@ -462,3 +503,93 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { painter->setPen(QPen(chart()->titleBrush().color(), 2)); painter->drawLine(QPointF{x, chart()->plotArea().top() - 2}, QPointF{x, chart()->plotArea().bottom() + 2}); } + +// SeriesSelector + +SeriesSelector::SeriesSelector(QWidget *parent) { + setWindowTitle(tr("Manage Chart Series")); + QHBoxLayout *contents_layout = new QHBoxLayout(); + + QVBoxLayout *left_layout = new QVBoxLayout(); + left_layout->addWidget(new QLabel(tr("Select Signals:"))); + msgs_combo = new QComboBox(this); + left_layout->addWidget(msgs_combo); + sig_list = new QListWidget(this); + sig_list->setSortingEnabled(true); + sig_list->setToolTip(tr("Double click on an item to add signal to chart")); + left_layout->addWidget(sig_list); + + QVBoxLayout *right_layout = new QVBoxLayout(); + right_layout->addWidget(new QLabel(tr("Chart Signals:"))); + chart_series = new QListWidget(this); + chart_series->setSortingEnabled(true); + chart_series->setToolTip(tr("Double click on an item to remove signal from chart")); + right_layout->addWidget(chart_series); + contents_layout->addLayout(left_layout); + contents_layout->addLayout(right_layout); + + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addLayout(contents_layout); + main_layout->addWidget(buttonBox); + + for (auto it = can->can_msgs.cbegin(); it != can->can_msgs.cend(); ++it) { + if (auto m = dbc()->msg(it.key())) { + msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key()), it.key()); + } + } + msgs_combo->model()->sort(0); + + QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); + QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); + QObject::connect(msgs_combo, SIGNAL(currentIndexChanged(int)), SLOT(msgSelected(int))); + QObject::connect(sig_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::addSignal); + QObject::connect(chart_series, &QListWidget::itemDoubleClicked, [](QListWidgetItem *item) { delete item; }); + + if (int index = msgs_combo->currentIndex(); index >= 0) { + msgSelected(index); + } +} + +void SeriesSelector::msgSelected(int index) { + QString msg_id = msgs_combo->itemData(index).toString(); + sig_list->clear(); + if (auto m = dbc()->msg(msg_id)) { + for (auto &[name, s] : m->sigs) { + QStringList data({msg_id, m->name, name}); + QListWidgetItem *item = new QListWidgetItem(name, sig_list); + item->setData(Qt::UserRole, data); + sig_list->addItem(item); + } + } +} + +void SeriesSelector::addSignal(QListWidgetItem *item) { + QStringList data = item->data(Qt::UserRole).toStringList(); + addSeries(data[0], data[1], data[2]); +} + +void SeriesSelector::addSeries(const QString &id, const QString& msg_name, const QString &sig_name) { + QStringList data({id, msg_name, sig_name}); + for (int i = 0; i < chart_series->count(); ++i) { + if (chart_series->item(i)->data(Qt::UserRole).toStringList() == data) { + return; + } + } + QListWidgetItem *new_item = new QListWidgetItem(chart_series); + new_item->setData(Qt::UserRole, data); + chart_series->addItem(new_item); + QLabel *label = new QLabel(QString("%0 %1 %2").arg(data[2]).arg(data[1]).arg(data[0]), chart_series); + label->setContentsMargins(5, 0, 5, 0); + new_item->setSizeHint(label->sizeHint()); + chart_series->setItemWidget(new_item, label); +} + +QList SeriesSelector::series() { + QList ret; + for (int i = 0; i < chart_series->count(); ++i) { + ret.push_back(chart_series->item(i)->data(Qt::UserRole).toStringList()); + } + return ret; +} diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index c3fa931e6e..3e3277c5b8 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -1,6 +1,9 @@ #pragma once +#include +#include #include +#include #include #include #include @@ -50,6 +53,7 @@ private slots: void msgUpdated(uint32_t address); void signalUpdated(const Signal *sig); void signalRemoved(const Signal *sig); + void manageSeries(); private: QList::iterator removeSeries(const QList::iterator &it); @@ -70,6 +74,7 @@ private: QGraphicsEllipseItem *track_ellipse; QGraphicsTextItem *value_text; QGraphicsProxyWidget *close_btn_proxy; + QGraphicsProxyWidget *manage_btn_proxy; std::pair events_range = {0, 0}; QList sigs; }; @@ -114,3 +119,21 @@ private: std::pair zoomed_range; bool use_dark_theme = false; }; + +class SeriesSelector : public QDialog { + Q_OBJECT + +public: + SeriesSelector(QWidget *parent); + void addSeries(const QString &id, const QString& msg_name, const QString &sig_name); + QList series(); + +private slots: + void msgSelected(int index); + void addSignal(QListWidgetItem *item); + +private: + QComboBox *msgs_combo; + QListWidget *sig_list; + QListWidget *chart_series; +}; diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 4e0bc91069..c7675121bb 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -28,6 +28,7 @@ public: static std::pair parseId(const QString &id); inline static std::vector allDBCNames() { return get_dbc_names(); } + inline std::map &allMsgs() { return msgs; } inline QString name() const { return dbc ? dbc->name.c_str() : ""; } void updateMsg(const QString &id, const QString &name, uint32_t size); From c0d545523e48464acdd6a356d505e0e81266582d Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Fri, 2 Dec 2022 15:36:48 -0600 Subject: [PATCH 097/201] Add missing COROLLA_TSS2 EPS, ABS, and engine f/w (#26669) * Add missing COROLLA_TSS2 EPS, ABS, and engine f/w. `@Yin#7979` 2020 Lexus UX 200 DongleID/route ced26c79125dd3e3|2022-12-02--06-03-06 * revert Co-authored-by: Cameron Clough --- selfdrive/car/toyota/values.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index e112ebdb80..98e1f0e99d 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -551,12 +551,10 @@ FW_VERSIONS = { (Ecu.abs, 0x7b0, None): [ b'F152633D00\x00\x00\x00\x00\x00\x00', b'F152633D60\x00\x00\x00\x00\x00\x00', - b'F152633310\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x018966306Q6000\x00\x00\x00\x00', b'\x018966306Q7000\x00\x00\x00\x00', - b'\x018966306V1000\x00\x00\x00\x00', b'\x01896633T20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 15): [ @@ -567,7 +565,6 @@ FW_VERSIONS = { b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', - b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.CHR: { @@ -748,6 +745,7 @@ FW_VERSIONS = { b'\x018966312S7000\x00\x00\x00\x00', b'\x018966312W3000\x00\x00\x00\x00', b'\x018966312W9000\x00\x00\x00\x00', + b'\x01896637644000\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\x0230A10000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -775,6 +773,7 @@ FW_VERSIONS = { b'\x018965B1255000\x00\x00\x00\x00', b'8965B12361\x00\x00\x00\x00\x00\x00', b'8965B16011\x00\x00\x00\x00\x00\x00', + b'8965B76012\x00\x00\x00\x00\x00\x00', b'\x018965B12510\x00\x00\x00\x00\x00\x00', b'\x018965B1256000\x00\x00\x00\x00', ], @@ -800,6 +799,7 @@ FW_VERSIONS = { b'\x01F152612862\x00\x00\x00\x00\x00\x00', b'\x01F152612B91\x00\x00\x00\x00\x00\x00', b'\x01F15260A070\x00\x00\x00\x00\x00\x00', + b'\x01F152676250\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301100\x00\x00\x00\x00', From 060b69ee2f5148140ec696cbc950b83f700fd671 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 2 Dec 2022 15:25:34 -0800 Subject: [PATCH 098/201] micd: revert check playing sound (high cpu usage) (#26672) * don't use hardware * check micd proc * use pactl package * cleanup * Revert "cleanup" This reverts commit baf9887e2d3e7dce8c24a93e970bb5a2d3609d50. * Revert "use pactl package" This reverts commit 0c1f3a4b865e44052affa57323ae4a21d274d6e3. * Revert "micd: don't update filtered sound level if playing sound (#26652)" This reverts commit 86cd919a57be22fa0ccf324a8767999309df60e4. * Revert "check micd proc" This reverts commit 9ebbe2aa42bdfd2f7f8bf226978a518d984fb154. Co-authored-by: Cameron Clough --- system/hardware/base.py | 4 ---- system/hardware/pc/hardware.py | 4 ---- system/hardware/tici/hardware.py | 3 --- system/micd.py | 4 +--- 4 files changed, 1 insertion(+), 14 deletions(-) diff --git a/system/hardware/base.py b/system/hardware/base.py index 16ed9621c1..31df1babe0 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -43,10 +43,6 @@ class HardwareBase(ABC): def get_sound_card_online(self): pass - @abstractmethod - def is_sound_playing(self): - pass - @abstractmethod def get_imei(self, slot) -> str: pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index 2c83eb35f4..564f9e483a 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -1,5 +1,4 @@ import random -import subprocess from cereal import log from system.hardware.base import HardwareBase, ThermalConfig @@ -18,9 +17,6 @@ class Pc(HardwareBase): def get_sound_card_online(self): return True - def is_sound_playing(self): - return "RUNNING" in subprocess.check_output(["pactl", "list", "short", "sinks"]).decode('utf8') - def reboot(self, reason=None): print("REBOOT!") diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 8371d6ef70..b5f5e00410 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -96,9 +96,6 @@ class Tici(HardwareBase): return (os.path.isfile('/proc/asound/card0/state') and open('/proc/asound/card0/state').read().strip() == 'ONLINE') - def is_sound_playing(self): - return "RUNNING" in subprocess.check_output(["pactl", "list", "short", "sinks"]).decode('utf8') - def reboot(self, reason=None): subprocess.check_output(["sudo", "reboot"]) diff --git a/system/micd.py b/system/micd.py index 57700e5927..d0c661ee0d 100755 --- a/system/micd.py +++ b/system/micd.py @@ -5,7 +5,6 @@ import numpy as np from cereal import messaging from common.filter_simple import FirstOrderFilter from common.realtime import Ratekeeper -from system.hardware import HARDWARE from system.swaglog import cloudlog RATE = 10 @@ -60,8 +59,7 @@ class Mic: sound_pressure, _ = calculate_spl(self.measurements) measurements_weighted = apply_a_weighting(self.measurements) sound_pressure_weighted, sound_pressure_level_weighted = calculate_spl(measurements_weighted) - if not HARDWARE.is_sound_playing(): - self.spl_filter_weighted.update(sound_pressure_level_weighted) + self.spl_filter_weighted.update(sound_pressure_level_weighted) else: sound_pressure = 0 sound_pressure_weighted = 0 From 10085d1e3f61b472c4f25cd3e98d5ee83b40d4eb Mon Sep 17 00:00:00 2001 From: martinl Date: Sat, 3 Dec 2022 01:35:44 +0200 Subject: [PATCH 099/201] Subaru: add missing fw values for 2023 Crosstrek Limited (#26678) * Add FPv2: 2023 Crosstrek Limited / @JWynegar * update docs Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/subaru/values.py | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index df0dda742c..79e176d4d4 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -138,7 +138,7 @@ A supported vehicle is one that just works when you install a comma three. All s |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 9975e495dd..6ac2637fa2 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -63,7 +63,7 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { ], CAR.IMPREZA_2020: [ SubaruCarInfo("Subaru Impreza 2020-22"), - SubaruCarInfo("Subaru Crosstrek 2020-21"), + SubaruCarInfo("Subaru Crosstrek 2020-23"), SubaruCarInfo("Subaru XV 2020-21"), ], CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"), @@ -235,12 +235,14 @@ FW_VERSIONS = { b'\x9a\xc0\000\000', b'\n\xc0\004\000', b'\x9a\xc0\x04\x00', + b'\n\xc0\x04\x01', ], (Ecu.fwdCamera, 0x787, None): [ b'\000\000eb\037@ \"', b'\000\000e\x8f\037@ )', b'\x00\x00eq\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', + b'\x00\x00e\x8f\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xca!ap\a', @@ -250,6 +252,7 @@ FW_VERSIONS = { b'\xcc!fp\a', b'\xca!f@\x07', b'\xca!fp\x07', + b'\xf3"f@\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe6\xf5\004\000\000', @@ -258,6 +261,7 @@ FW_VERSIONS = { b'\xe7\xf5D0\000', b'\xf1\x00\xd7\x10@', b'\xe6\xf5D0\x00', + b'\xe9\xf6F0\x00', ], }, CAR.FORESTER: { From 20dba2f33d870d81347ff7045911797a286c9128 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 2 Dec 2022 18:38:04 -0800 Subject: [PATCH 100/201] Micd: update sound levels in callback (#26674) * update once reached 4096 * update once reached 4096 * reduce * debug & cmt * fix * fifo again * fix * clean that up * update filter on demand Co-authored-by: Cameron Clough --- system/micd.py | 50 +++++++++++++++++++++++++++----------------------- 1 file changed, 27 insertions(+), 23 deletions(-) diff --git a/system/micd.py b/system/micd.py index d0c661ee0d..a56140e3b9 100755 --- a/system/micd.py +++ b/system/micd.py @@ -8,9 +8,10 @@ from common.realtime import Ratekeeper from system.swaglog import cloudlog RATE = 10 -DT_MIC = 1. / RATE +FFT_SAMPLES = 4096 REFERENCE_SPL = 2e-5 # newtons/m^2 SAMPLE_RATE = 44100 +FILTER_DT = 1. / (SAMPLE_RATE / FFT_SAMPLES) def calculate_spl(measurements): @@ -45,41 +46,44 @@ class Mic: self.rk = Ratekeeper(RATE) self.measurements = np.empty(0) - self.spl_filter_weighted = FirstOrderFilter(0, 2.5, DT_MIC, initialized=False) - def update(self): - """ - Using amplitude measurements, calculate an uncalibrated sound pressure and sound pressure level. - Then apply A-weighting to the raw amplitudes and run the same calculations again. - - Logged A-weighted equivalents are rough approximations of the human-perceived loudness. - """ + self.sound_pressure = 0 + self.sound_pressure_weighted = 0 + self.sound_pressure_level_weighted = 0 - if len(self.measurements) > 0: - sound_pressure, _ = calculate_spl(self.measurements) - measurements_weighted = apply_a_weighting(self.measurements) - sound_pressure_weighted, sound_pressure_level_weighted = calculate_spl(measurements_weighted) - self.spl_filter_weighted.update(sound_pressure_level_weighted) - else: - sound_pressure = 0 - sound_pressure_weighted = 0 - sound_pressure_level_weighted = 0 - - self.measurements = np.empty(0) + self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False) + def update(self): msg = messaging.new_message('microphone') - msg.microphone.soundPressure = float(sound_pressure) - msg.microphone.soundPressureWeighted = float(sound_pressure_weighted) + msg.microphone.soundPressure = float(self.sound_pressure) + msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted) - msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted) + msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted) msg.microphone.filteredSoundPressureWeightedDb = float(self.spl_filter_weighted.x) self.pm.send('microphone', msg) self.rk.keep_time() def callback(self, indata, frames, time, status): + """ + Using amplitude measurements, calculate an uncalibrated sound pressure and sound pressure level. + Then apply A-weighting to the raw amplitudes and run the same calculations again. + + Logged A-weighted equivalents are rough approximations of the human-perceived loudness. + """ + self.measurements = np.concatenate((self.measurements, indata[:, 0])) + while self.measurements.size >= FFT_SAMPLES: + measurements = self.measurements[:FFT_SAMPLES] + + self.sound_pressure, _ = calculate_spl(measurements) + measurements_weighted = apply_a_weighting(measurements) + self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted) + self.spl_filter_weighted.update(self.sound_pressure_level_weighted) + + self.measurements = self.measurements[FFT_SAMPLES:] + def micd_thread(self, device=None): if device is None: device = "sysdefault" From 92296ce55d7e910c809658ad8f7eeaab6ded875c Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Sat, 3 Dec 2022 11:53:50 +0900 Subject: [PATCH 101/201] remove unused space (#26680) --- selfdrive/ui/qt/onroad.cc | 2 +- selfdrive/ui/ui.cc | 3 +-- selfdrive/ui/ui.h | 5 ++--- 3 files changed, 4 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 50f891dd56..fed59ef123 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -204,7 +204,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { v_ego_cluster_seen = true; } float cur_speed = cs_alive ? std::max(0.0, v_ego) : 0.0; - cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; + cur_speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH; auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign(); float speed_limit = nav_alive ? sm["navInstruction"].getNavInstruction().getSpeedLimit() : 0.0; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 2d4533afe1..c62d737481 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -55,9 +55,8 @@ void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, con } void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line, - float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) { + float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) { const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); - QPolygonF left_points, right_points; left_points.reserve(max_idx + 1); right_points.reserve(max_idx + 1); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index d6f5c3e2e0..9e1c54948b 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -20,7 +20,7 @@ const int bdr_s = 30; const int header_h = 420; const int footer_h = 280; -const int UI_FREQ = 20; // Hz +const int UI_FREQ = 20; // Hz typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; @@ -78,7 +78,7 @@ typedef enum UIStatus { } UIStatus; const QColor bg_colors [] = { - [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8), + [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8), [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1), [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1), [STATUS_WARNING] = QColor(0xDA, 0x6F, 0x25, 0xf1), @@ -152,7 +152,6 @@ private: UIState *uiState(); // device management class - class Device : public QObject { Q_OBJECT From ea857b0f71c5bb981b209ac35e63fcbdb1ecf5d4 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 2 Dec 2022 22:26:04 -0500 Subject: [PATCH 102/201] VW MQB: Engage at standstill with OP longitudinal (#26656) * VW MQB: Allow engage at standstill * retry CI * Update selfdrive/car/volkswagen/interface.py Co-authored-by: Shane Smiskol * Revert "Update selfdrive/car/volkswagen/interface.py" This reverts commit 14c7412bf74b23ae88c05cad40aafd4605a63c29. Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index d90a36ed3e..da0ce25afa 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -230,7 +230,7 @@ class CarInterface(CarInterfaceBase): events.add(EventName.belowSteerSpeed) if self.CS.CP.openpilotLongitudinalControl: - if ret.vEgo < self.CP.minEnableSpeed + 2.: + if ret.vEgo < self.CP.minEnableSpeed + 0.5: events.add(EventName.belowEngageSpeed) if c.enabled and ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.speedTooLow) From 3e2a49c6e5a526c7af5667ea7bd62f91b20ab0a9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 2 Dec 2022 22:09:42 -0800 Subject: [PATCH 103/201] GM: add Bolt EV test route (#26681) * bolt ev! * releases * it's a trim --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/gm/interface.py | 4 ++-- selfdrive/car/gm/values.py | 11 ++++++----- selfdrive/car/tests/routes.py | 2 +- 5 files changed, 12 insertions(+), 9 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 7b51e6dff3..c41b3ed0f7 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,6 +3,7 @@ Version 0.9.1 (2022-12-XX) * Adjust alert volume using ambient noise level * Removed driver monitoring timer resetting on interaction if face detected and distracted * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! +* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler! Version 0.9.0 (2022-11-21) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 79e176d4d4..30411adc23 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 216 Supported Cars +# 217 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -19,6 +19,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 7d38c60900..195df36a7f 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -97,7 +97,7 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV} + ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. # Some GMs need some tolerance above 10 kph to avoid a fault @@ -170,7 +170,7 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.000045 tire_stiffness_factor = 1.0 - elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV): + elif candidate == CAR.BOLT_EUV: ret.mass = 1669. + STD_CARGO_KG ret.wheelbase = 2.63779 ret.steerRatio = 16.8 diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 0a8cdc6dbb..84fa36a994 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -68,7 +68,6 @@ class CAR: ACADIA = "GMC ACADIA DENALI 2018" BUICK_REGAL = "BUICK REGAL ESSENCE 2018" ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" - BOLT_EV = "CHEVROLET BOLT EV 2022" BOLT_EUV = "CHEVROLET BOLT EUV 2022" SILVERADO = "CHEVROLET SILVERADO 1500 2020" EQUINOX = "CHEVROLET EQUINOX 2019" @@ -101,8 +100,10 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), - CAR.BOLT_EV: GMCarInfo("Chevrolet Bolt EV 2022-23"), - CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"), + CAR.BOLT_EUV: [ + GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"), + GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), + ], CAR.SILVERADO: [ GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"), GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"), @@ -193,9 +194,9 @@ FINGERPRINTS = { DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) -EV_CAR = {CAR.VOLT, CAR.BOLT_EV, CAR.BOLT_EUV} +EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness) -CAMERA_ACC_CAR = {CAR.BOLT_EV, CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX} +CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX} STEER_THRESHOLD = 1.0 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index da19e1f367..a20616de43 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -22,7 +22,6 @@ non_tested_cars = [ GM.HOLDEN_ASTRA, GM.MALIBU, GM.EQUINOX, - GM.BOLT_EV, HYUNDAI.GENESIS_G90, HYUNDAI.KIA_OPTIMA_H, HONDA.ODYSSEY_CHN, @@ -51,6 +50,7 @@ routes = [ CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV), CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT), CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1), + CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14), # Bolt EV CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO), CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G), From 122c3143589418b74dd6b658607ac5c8d43fb4af Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 2 Dec 2022 23:46:26 -0800 Subject: [PATCH 104/201] Hyundai: setup alt steering limits (#26685) * Hyundai: setup alt steering limits * value * bump panda --- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 3 --- selfdrive/car/hyundai/interface.py | 4 ++++ selfdrive/car/hyundai/values.py | 8 ++++++++ 4 files changed, 13 insertions(+), 4 deletions(-) diff --git a/panda b/panda index 616450c525..4edd1a6021 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 616450c525a7c1ef508f70f30e29547a606139aa +Subproject commit 4edd1a602131ec2f09a604a4bd28e7d00e334458 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index e5fdbfd57a..3f128b1598 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -60,9 +60,6 @@ class CarController: # steering torque steer = actuators.steer - if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): - # these cars have significantly more torque than most HKG; limit to 70% of max - steer = clip(steer, -0.7, 0.7) new_steer = int(round(steer * self.params.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index cb4d9a9688..7b157d048b 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -267,6 +267,10 @@ class CarInterface(CarInterfaceBase): elif candidate in EV_CAR: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS + if candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): + ret.flags |= HyundaiFlags.ALT_LIMITS.value + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_ALT_LIMITS + ret.centerToFront = ret.wheelbase * 0.4 # TODO: start from empirically derived lateral slip stiffness for the civic and scale by diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 7ecb07e7d7..e5f180a510 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -39,6 +39,12 @@ class CarControllerParams: CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO): self.STEER_MAX = 255 + # these cars have significantly more torque than most HKG; limit to 70% of max + elif CP.flags & HyundaiFlags.ALT_LIMITS: + self.STEER_MAX = 270 + self.STEER_DELTA_UP = 2 + self.STEER_DELTA_DOWN = 3 + # Default for most HKG else: self.STEER_MAX = 384 @@ -50,6 +56,8 @@ class HyundaiFlags(IntFlag): CANFD_ALT_GEARS = 4 CANFD_CAMERA_SCC = 8 + ALT_LIMITS = 16 + class CAR: # Hyundai From d3a66015ad99c54b03bc3693857fbea825122208 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 3 Dec 2022 02:05:24 -0800 Subject: [PATCH 105/201] Toyota: log EPS fault from LKA cmd message drop out (#26687) * log additional faults * bump opendbc --- opendbc | 2 +- selfdrive/car/toyota/carstate.py | 8 +++++--- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 3737675445..94fff4782b 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 373767544559718d74bff58dd23890eea1d38a29 +Subproject commit 94fff4782be263efad10032a612b3c96a120c0b7 diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index dbbb8a6f04..250c6b65ae 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -85,10 +85,12 @@ class CarState(CarStateBase): ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale # we could use the override bit from dbc, but it's triggered at too high torque values ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD - # steer rate fault, goes to 21 or 25 for 1 frame, then 9 for ~2 seconds - ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 21, 25) + # steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds + # lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds + ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25) # 17 is a fault from a prolonged high torque delta between cmd and user - ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17 + # 3 is a fault from the lka command message not being received by the EPS + ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17) if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0 From 5b10deba2ed2a70524d47435640f37655fc593bd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 3 Dec 2022 03:02:57 -0800 Subject: [PATCH 106/201] Toyota: log ACC faults (#26682) * add acc faulted * use faster signal * bump * we know PCM_CRUISE_SM is not what we want --- selfdrive/car/toyota/carstate.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 250c6b65ae..fec006fbb4 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -93,10 +93,12 @@ class CarState(CarStateBase): ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17) if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: + # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH ret.cruiseState.available = cp.vl["DSU_CRUISE"]["MAIN_ON"] != 0 ret.cruiseState.speed = cp.vl["DSU_CRUISE"]["SET_SPEED"] * CV.KPH_TO_MS cluster_set_speed = cp.vl["PCM_CRUISE_ALT"]["UI_SET_SPEED"] else: + ret.accFaulted = cp.vl["PCM_CRUISE_2"]["ACC_FAULTED"] != 0 ret.cruiseState.available = cp.vl["PCM_CRUISE_2"]["MAIN_ON"] != 0 ret.cruiseState.speed = cp.vl["PCM_CRUISE_2"]["SET_SPEED"] * CV.KPH_TO_MS cluster_set_speed = cp.vl["PCM_CRUISE_SM"]["UI_SET_SPEED"] @@ -205,6 +207,7 @@ class CarState(CarStateBase): else: signals.append(("MAIN_ON", "PCM_CRUISE_2")) signals.append(("SET_SPEED", "PCM_CRUISE_2")) + signals.append(("ACC_FAULTED", "PCM_CRUISE_2")) signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2")) checks.append(("PCM_CRUISE_2", 33)) From 7b0bfabb95ecb39487d311ba6ccc6b4c4e11ff08 Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Sat, 3 Dec 2022 23:31:31 +1100 Subject: [PATCH 107/201] Toyota: Don't Set Standstill Bit on TSS-P Prius (#26671) * Toyota: set TSS-P Prius as NO_STOP_TIMER_CAR * reflect in docs * also the PHV --- docs/CARS.md | 6 +++--- selfdrive/car/toyota/values.py | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 30411adc23..580e2ad461 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -179,10 +179,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 98e1f0e99d..04ffc79f4f 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -2053,4 +2053,4 @@ EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2 CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} # no resume button press required -NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} +NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} From 0ff703d82fd6d93f8d260d7aa40e24c5146a0775 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 5 Dec 2022 03:28:40 +0800 Subject: [PATCH 108/201] Replay: fix SEGFAULT in buildTimeline if segments are not continuous. (#26691) fix segfault in buildtimeline --- tools/replay/replay.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 1464a6cf57..339e688be1 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -123,9 +123,9 @@ void Replay::buildTimeline() { uint64_t alert_begin = 0; TimelineType alert_type = TimelineType::None; - for (int i = 0; i < segments_.size() && !exit_; ++i) { + for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) { LogReader log; - if (!log.load(route_->at(i).qlog.toStdString(), &exit_, + if (!log.load(route_->at(it->first).qlog.toStdString(), &exit_, {cereal::Event::Which::CONTROLS_STATE, cereal::Event::Which::USER_FLAG}, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; From f6496ce6702090747f2ee45f26a8ef91730cc9ef Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 5 Dec 2022 03:28:54 +0800 Subject: [PATCH 109/201] Cabana: show video thumbnail over slider (#26689) * show thumbnail * copy segments vector * cleanup cleanup mouseMoveEvent cleanup include * move lambda to memeber function * reduce lock time * private functions * split to small functions --- tools/cabana/canmessages.h | 3 +- tools/cabana/mainwin.cc | 2 +- tools/cabana/videowidget.cc | 62 +++++++++++++++++++++++++++++++++++++ tools/cabana/videowidget.h | 15 +++++++++ 4 files changed, 80 insertions(+), 2 deletions(-) diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 4cb0f403a0..1713778af7 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -31,7 +31,7 @@ public: QList findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count); bool eventFilter(const Event *event); - inline QString route() const { return replay->route()->name(); } + inline QString routeName() const { return replay->route()->name(); } inline QString carFingerprint() const { return replay->carFingerprint().c_str(); } inline double totalSeconds() const { return replay->totalSeconds(); } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } @@ -39,6 +39,7 @@ public: const std::deque messages(const QString &id); inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; } + inline const Route* route() const { return replay->route(); } inline const std::vector *events() const { return replay->events(); } inline void setSpeed(float speed) { replay->setSpeed(speed); } inline bool isPaused() const { return replay->isPaused(); } diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 6a298bc228..70297f9978 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -71,7 +71,7 @@ MainWindow::MainWindow() : QMainWindow() { right_hlayout->addWidget(fingerprint_label, 0, Qt::AlignLeft); // TODO: click to select another route. - right_hlayout->addWidget(new QLabel(can->route()), 0, Qt::AlignRight); + right_hlayout->addWidget(new QLabel(can->routeName()), 0, Qt::AlignRight); r_layout->addLayout(right_hlayout); video_widget = new VideoWidget(this); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index d85b23b7e6..3e64d907ec 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -1,13 +1,17 @@ #include "tools/cabana/videowidget.h" +#include #include #include #include #include #include +#include #include #include +#include #include +#include inline QString formatTime(int seconds) { return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); @@ -92,7 +96,50 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { timeline = can->getTimeline(); update(); }); + setMouseTracking(true); + QObject::connect(can, SIGNAL(streamStarted()), timer, SLOT(start())); + QObject::connect(can, &CANMessages::streamStarted, this, &Slider::streamStarted); +} + +void Slider::streamStarted() { + abort_load_thumbnail = true; + thumnail_future.waitForFinished(); + abort_load_thumbnail = false; + thumbnails.clear(); + thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails); +} + +void Slider::loadThumbnails() { + const auto segments = can->route()->segments(); + for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) { + std::string qlog = it->second.qlog.toStdString(); + if (!qlog.empty()) { + LogReader log; + if (log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL}, true, 0, 3)) { + for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) { + auto thumb = (*ev)->event.getThumbnail(); + QString str = getThumbnailString(thumb.getThumbnail()); + std::lock_guard lk(thumbnail_lock); + thumbnails[thumb.getTimestampEof()] = str; + } + } + } + } +} + +QString Slider::getThumbnailString(const capnp::Data::Reader &data) { + QPixmap thumb; + if (thumb.loadFromData(data.begin(), data.size(), "jpeg")) { + thumb = thumb.scaled({thumb.width()/3, thumb.height()/3}, Qt::KeepAspectRatio); + thumbnail_size = thumb.size(); + QByteArray bytes; + QBuffer buffer(&bytes); + buffer.open(QIODevice::WriteOnly); + thumb.save(&buffer, "png"); + return QString("").arg(QString(bytes.toBase64())); + } + return {}; } void Slider::sliderChange(QAbstractSlider::SliderChange change) { @@ -146,3 +193,18 @@ void Slider::mousePressEvent(QMouseEvent *e) { emit sliderReleased(); } } + +void Slider::mouseMoveEvent(QMouseEvent *e) { + QString thumb; + { + double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0; + std::lock_guard lk(thumbnail_lock); + auto it = thumbnails.lowerBound((seconds + can->routeStartTime()) * 1e9); + if (it != thumbnails.end()) { + thumb = it.value(); + } + } + QPoint pt = mapToGlobal({e->pos().x() - thumbnail_size.width() / 2, -thumbnail_size.height() - 30}); + QToolTip::showText(pt, thumb, this, rect()); + QSlider::mouseMoveEvent(e); +} diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 16f60b0b03..ea62081a91 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -1,5 +1,9 @@ #pragma once +#include +#include + +#include #include #include #include @@ -12,12 +16,23 @@ class Slider : public QSlider { public: Slider(QWidget *parent); + +private: void mousePressEvent(QMouseEvent *e) override; + void mouseMoveEvent(QMouseEvent *e) override; void sliderChange(QAbstractSlider::SliderChange change) override; void paintEvent(QPaintEvent *ev) override; + void streamStarted(); + void loadThumbnails(); + QString getThumbnailString(const capnp::Data::Reader &data); int slider_x = -1; std::vector> timeline; + std::mutex thumbnail_lock; + std::atomic abort_load_thumbnail = false; + QMap thumbnails; + QFuture thumnail_future; + QSize thumbnail_size = {}; }; class VideoWidget : public QWidget { From b513b832214f5427dd5d6c217f2e31b4bcecdfac Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 5 Dec 2022 03:30:31 +0800 Subject: [PATCH 110/201] Replay: remove wrong text in TIME (#26692) remove wrong time string --- tools/replay/consoleui.cc | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc index 5f165ac312..77357a2873 100644 --- a/tools/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -156,13 +156,13 @@ void ConsoleUI::timerEvent(QTimerEvent *ev) { } void ConsoleUI::updateStatus() { - auto write_item = [this](int y, int x, const char *key, const std::string &value, const char *unit, + auto write_item = [this](int y, int x, const char *key, const std::string &value, const std::string &unit, bool bold = false, Color color = Color::BrightWhite) { auto win = w[Win::CarState]; wmove(win, y, x); add_str(win, key); add_str(win, value.c_str(), color, bold); - add_str(win, unit); + add_str(win, unit.c_str()); }; static const std::pair status_text[] = { {"loading...", Color::Red}, @@ -177,9 +177,8 @@ void ConsoleUI::updateStatus() { } auto [status_str, status_color] = status_text[status]; write_item(0, 0, "STATUS: ", status_str, " ", false, status_color); - std::string suffix = util::string_format(" / %s [%d/%d] ", format_seconds(replay->totalSeconds()).c_str(), - replay->currentSeconds() / 60, replay->route()->segments().size()); - write_item(0, 25, "TIME: ", format_seconds(replay->currentSeconds()), suffix.c_str(), true); + std::string suffix = " / " + format_seconds(replay->totalSeconds()); + write_item(0, 25, "TIME: ", format_seconds(replay->currentSeconds()), suffix, true); auto p = sm["liveParameters"].getLiveParameters(); write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), " "); From 2976260b4f57953ac230f0d85349cf3d0ba23168 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 4 Dec 2022 11:33:58 -0800 Subject: [PATCH 111/201] Hyundai: update Kona lat accel factor --- selfdrive/car/torque_data/params.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 7901972fc2..c081359937 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -31,7 +31,7 @@ HYUNDAI IONIQ 5 2022: [3.172929, 3.0, 0.096019] HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] -HYUNDAI KONA ELECTRIC 2019: [4.398306735170212, 3.2961956260770484, 0.08651833437845884] +HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.08651833437845884] HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651] HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] From 0398f3ecf4c62e26768f3baa661ac27b9280955c Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Sun, 4 Dec 2022 14:46:52 -0800 Subject: [PATCH 112/201] Undo accidental revert of Toyota: Add FW for 2023 Toyota Camry Hybrid #26654 (#26699) Fix accidental revert of 1f4554b0c030cfc2623d7c7db413e9c61dabaef4 in c0d545523e48464acdd6a356d505e0e81266582d --- selfdrive/car/toyota/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 04ffc79f4f..c9e13e21a1 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -551,10 +551,12 @@ FW_VERSIONS = { (Ecu.abs, 0x7b0, None): [ b'F152633D00\x00\x00\x00\x00\x00\x00', b'F152633D60\x00\x00\x00\x00\x00\x00', + b'F152633310\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x018966306Q6000\x00\x00\x00\x00', b'\x018966306Q7000\x00\x00\x00\x00', + b'\x018966306V1000\x00\x00\x00\x00', b'\x01896633T20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 15): [ @@ -565,6 +567,7 @@ FW_VERSIONS = { b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', + b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.CHR: { From f84b1f2d9f772b1470eee99503b6dc1d0c813957 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 6 Dec 2022 05:05:41 +0800 Subject: [PATCH 113/201] Sensord: remove unused pm_mutex (#26705) remove unused mutex --- selfdrive/sensord/sensors_qcom2.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc index 2279cf2532..fc8dc8620b 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/selfdrive/sensord/sensors_qcom2.cc @@ -27,7 +27,6 @@ #define I2C_BUS_IMU 1 ExitHandler do_exit; -std::mutex pm_mutex; uint64_t init_ts = 0; void interrupt_loop(std::vector& sensors, From e6fcc2d6aa582f90fd3a2b2192616005f875fcb2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 5 Dec 2022 13:58:15 -0800 Subject: [PATCH 114/201] planner: read experimental mode from controlsState (#26553) read from controlsState --- selfdrive/controls/lib/longitudinal_planner.py | 16 ++-------------- 1 file changed, 2 insertions(+), 14 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index def0a1208a..a0f6318323 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -6,7 +6,6 @@ from common.numpy_fast import clip, interp import cereal.messaging as messaging from common.conversions import Conversions as CV from common.filter_simple import FirstOrderFilter -from common.params import Params from common.realtime import DT_MDL from selfdrive.modeld.constants import T_IDXS from selfdrive.controls.lib.longcontrol import LongCtrlState @@ -48,12 +47,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class LongitudinalPlanner: def __init__(self, CP, init_v=0.0, init_a=0.0): self.CP = CP - self.params = Params() - self.param_read_counter = 0 - self.mpc = LongitudinalMpc() - self.read_param() - self.fcw = False self.a_desired = init_a @@ -65,10 +59,6 @@ class LongitudinalPlanner: self.j_desired_trajectory = np.zeros(CONTROL_N) self.solverExecutionTime = 0.0 - def read_param(self): - e2e = self.params.get_bool('ExperimentalMode') and self.CP.openpilotLongitudinalControl - self.mpc.mode = 'blended' if e2e else 'acc' - @staticmethod def parse_model(model_msg, model_error): if (len(model_msg.position.x) == 33 and @@ -85,10 +75,8 @@ class LongitudinalPlanner: j = np.zeros(len(T_IDXS_MPC)) return x, v, a, j - def update(self, sm, read=True): - if self.param_read_counter % 50 == 0 and read: - self.read_param() - self.param_read_counter += 1 + def update(self, sm): + self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' v_ego = sm['carState'].vEgo v_cruise_kph = sm['controlsState'].vCruise From 2d0e29d60e1a74ef79de7e64af1495c94d262fcd Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 5 Dec 2022 16:59:36 -0500 Subject: [PATCH 115/201] VW MQB: Add FW for 2018 Volkswagen Atlas (#26702) --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index c96f6decbf..18a444bf7c 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -320,11 +320,13 @@ FW_VERSIONS = { b'\xf1\x8703H906026J \xf1\x899971', b'\xf1\x8703H906026S \xf1\x896693', b'\xf1\x8703H906026S \xf1\x899970', + b'\xf1\x873CN906259 \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158A \xf1\x893387', b'\xf1\x8709G927158DR\xf1\x893536', b'\xf1\x8709G927158DR\xf1\x893742', + b'\xf1\x8709G927158F \xf1\x893489', b'\xf1\x8709G927158FT\xf1\x893835', b'\xf1\x8709G927158GL\xf1\x893939', ], @@ -338,6 +340,7 @@ FW_VERSIONS = { (Ecu.eps, 0x712, None): [ b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\00571B60924A1', b'\xf1\x873QF909144B \xf1\x891582\xf1\x82\x0571B6G920A1', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6080105', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105', ], (Ecu.fwdRadar, 0x757, None): [ From 4d74e44ae14301aab27b833974bb90955d20d04e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 6 Dec 2022 07:12:36 +0800 Subject: [PATCH 116/201] Cabana: display dash instead of zero if no data (#26686) display dash instead of zero if no data --- tools/cabana/binaryview.cc | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index e655bf0c04..bc64edbfeb 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -181,15 +181,14 @@ void BinaryViewModel::updateState() { auto prev_items = items; const auto &binary = can->lastMessage(msg_id).dat; // data size may changed. - if (!dbc_msg && binary.size() != row_count) { - beginResetModel(); + if (binary.size() > row_count) { + beginInsertRows({}, row_count, binary.size() - 1); row_count = binary.size(); - items.clear(); items.resize(row_count * column_count); - endResetModel(); + endInsertRows(); } char hex[3] = {'\0'}; - for (int i = 0; i < std::min(binary.size(), row_count); ++i) { + for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < column_count - 1; ++j) { items[i * column_count + j].val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0'; } @@ -197,8 +196,13 @@ void BinaryViewModel::updateState() { hex[1] = toHex(binary[i] & 0xf); items[i * column_count + 8].val = hex; } + for (int i = binary.size(); i < row_count; ++i) { + for (int j = 0; j < column_count; ++j) { + items[i * column_count + j].val = "-"; + } + } - for (int i = 0; i < items.size(); ++i) { + for (int i = 0; i < row_count; ++i) { if (i >= prev_items.size() || prev_items[i].val != items[i].val) { auto idx = index(i / column_count, i % column_count); emit dataChanged(idx, idx); From be0c2dbbf9ea3ae2c94a057b22e972f405f7e67f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 5 Dec 2022 15:23:00 -0800 Subject: [PATCH 117/201] Longitudinal planner: fix tests (#26707) fix tests --- selfdrive/test/longitudinal_maneuvers/plant.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index c3af1eee03..0d3336134f 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -4,6 +4,7 @@ import numpy as np from cereal import log import cereal.messaging as messaging +from common.params import Params from common.realtime import Ratekeeper, DT_MDL from selfdrive.controls.lib.longcontrol import LongCtrlState from selfdrive.modeld.constants import T_IDXS @@ -17,6 +18,7 @@ class Plant: def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0, enabled=True, only_lead2=False, only_radar=False): self.rate = 1. / DT_MDL + self.params = Params() if not Plant.messaging_initialized: Plant.radar = messaging.pub_sock('radarState') @@ -109,6 +111,7 @@ class Plant: control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off control.controlsState.vCruise = float(v_cruise * 3.6) + control.controlsState.experimentalMode = self.params.get_bool("ExperimentalMode") car_state.carState.vEgo = float(self.speed) car_state.carState.standstill = self.speed < 0.01 From 973ecdc0c9c719a255b39dad69923be0e2ede1a5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 5 Dec 2022 15:24:54 -0800 Subject: [PATCH 118/201] Hyundai: Tucson 2023 support (#26427) * Hardcode fingerprint * no skipping * rev * the SE does not have SCC https://cdn.dealereprocess.org/cdn/brochures/hyundai/2022-tucson.pdf * revert * adjust weight * add versions for 2023 * update docs * fingerprint properly * add package for 2022 but comment out * updatedocs * update route * bump * bump! * 2022 * Update selfdrive/car/tests/routes.py --- RELEASES.md | 1 + docs/CARS.md | 4 +++- selfdrive/car/hyundai/interface.py | 4 ++-- selfdrive/car/hyundai/values.py | 22 ++++++++++++++++++---- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + 6 files changed, 26 insertions(+), 7 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index c41b3ed0f7..44fc5e715e 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -4,6 +4,7 @@ Version 0.9.1 (2022-12-XX) * Removed driver monitoring timer resetting on interaction if face detected and distracted * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler! +* Hyundai Tucson 2022-23 support Version 0.9.0 (2022-11-21) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 580e2ad461..141e910fa5 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 217 Supported Cars +# 219 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -83,6 +83,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Sonata 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| +|Hyundai|Tucson 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Tucson Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 7b157d048b..b9f6b8fc58 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -114,8 +114,8 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 tire_stiffness_factor = 0.385 - elif candidate == CAR.TUCSON_HYBRID_4TH_GEN: - ret.mass = 1680. + STD_CARGO_KG # average of all 3 trims + elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN): + ret.mass = 1630. + STD_CARGO_KG # average ret.wheelbase = 2.756 ret.steerRatio = 16. tire_stiffness_factor = 0.385 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index e5f180a510..74c881e2b6 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -86,6 +86,7 @@ class CAR: VELOSTER = "HYUNDAI VELOSTER 2019" SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021" IONIQ_5 = "HYUNDAI IONIQ 5 2022" + TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN" TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN" SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN" @@ -157,11 +158,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a), CAR.IONIQ_5: [ - HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23" , "Highway Driving Assist", harness=Harness.hyundai_k), + HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_k), HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q), ], + CAR.TUCSON_4TH_GEN: [ + HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n), + HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n), + ], CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), - CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n), + CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", harness=Harness.hyundai_n), # Kia CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), @@ -184,7 +189,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Optima Hybrid 2019"), ], CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), - CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", "Smart Cruise Control (SCC)", harness=Harness.hyundai_n), + CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n), CAR.KIA_SORENTO: [ HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), @@ -1435,6 +1440,14 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', ], }, + CAR.TUCSON_4TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', + ], + }, CAR.TUCSON_HYBRID_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', @@ -1496,7 +1509,7 @@ FEATURES = { "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} @@ -1555,6 +1568,7 @@ DBC = { CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None), CAR.KIA_EV6: dbc_dict('hyundai_canfd', None), CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), + CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index a20616de43..89b895864a 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -96,6 +96,7 @@ routes = [ CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), + CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN), # 2023 CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN), CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index df696bc0fc..aeb2e6f280 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -35,6 +35,7 @@ HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 +HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022 KIA STINGER 2022: KIA STINGER GT2 2018 GENESIS G90 2017: GENESIS G70 2018 From a311d936d094b294d22a9ee034380400ec532e91 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 5 Dec 2022 15:27:35 -0800 Subject: [PATCH 119/201] releases: fix car port sorting --- RELEASES.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 44fc5e715e..211e63a755 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,9 +2,9 @@ Version 0.9.1 (2022-12-XX) ======================== * Adjust alert volume using ambient noise level * Removed driver monitoring timer resetting on interaction if face detected and distracted -* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler! * Hyundai Tucson 2022-23 support +* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! Version 0.9.0 (2022-11-21) ======================== From e598438a97b9ae6c4d5d921cd094efe1f40320b4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 6 Dec 2022 07:30:43 +0800 Subject: [PATCH 120/201] Cabana: show welcome widget if no msg selected (#26703) * show a blank widget if no msg selected * smaller font * rename to WelcomeWidget --- tools/cabana/detailwidget.cc | 37 ++++++++++++++++++++++++++++++++++-- tools/cabana/detailwidget.h | 7 +++++++ 2 files changed, 42 insertions(+), 2 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 5035bf49b4..cd1057f7e1 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -16,9 +16,9 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { undo_stack = new QUndoStack(this); - setMinimumWidth(500); - QVBoxLayout *main_layout = new QVBoxLayout(this); + QWidget *main_widget = new QWidget(this); + QVBoxLayout *main_layout = new QVBoxLayout(main_widget); main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0); @@ -90,6 +90,10 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart tab_widget->addTab(history_log, "&Logs"); main_layout->addWidget(tab_widget); + stacked_layout = new QStackedLayout(this); + stacked_layout->addWidget(new WelcomeWidget(this)); + stacked_layout->addWidget(main_widget); + QObject::connect(binary_view, &BinaryView::signalClicked, this, &DetailWidget::showForm); QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); @@ -136,6 +140,7 @@ void DetailWidget::setMessage(const QString &message_id) { tabbar->setCurrentIndex(index); dbcMsgChanged(); scroll->verticalScrollBar()->setValue(0); + stacked_layout->setCurrentIndex(1); } void DetailWidget::dbcMsgChanged(int show_form_idx) { @@ -302,3 +307,31 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); } + +// WelcomeWidget + +WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addStretch(0); + QLabel *logo = new QLabel("CABANA"); + logo->setAlignment(Qt::AlignCenter); + logo->setStyleSheet("font-size:50px;font-weight:bold;"); + main_layout->addWidget(logo); + + auto newShortcutRow = [](const QString &title, const QString &key) { + QHBoxLayout *hlayout = new QHBoxLayout(); + auto btn = new QToolButton(); + btn->setText(key); + btn->setEnabled(false); + hlayout->addWidget(new QLabel(title), 0, Qt::AlignRight); + hlayout->addWidget(btn, 0, Qt::AlignLeft); + return hlayout; + }; + + main_layout->addLayout(newShortcutRow("Pause", "Space")); + main_layout->addLayout(newShortcutRow("Help", "Alt + H")); + main_layout->addStretch(0); + + setStyleSheet("QLabel{color:darkGray;}"); +} + diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 75409fa706..91127c9b74 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -18,6 +19,11 @@ public: QSpinBox *size_spin; }; +class WelcomeWidget : public QWidget { +public: + WelcomeWidget(QWidget *parent); +}; + class DetailWidget : public QWidget { Q_OBJECT @@ -51,5 +57,6 @@ private: BinaryView *binary_view; QScrollArea *scroll; ChartsWidget *charts; + QStackedLayout *stacked_layout; QList signal_list; }; From 9ea72b655035ee9f96c60c3268049bba6b8b9e1a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 5 Dec 2022 17:34:57 -0800 Subject: [PATCH 121/201] Longitudinal tests: clean up (#26708) * refactor test_cruise_speed.py * clean up long tests * and here --- selfdrive/controls/tests/test_cruise_speed.py | 8 +- .../controls/tests/test_following_distance.py | 9 +- .../test/longitudinal_maneuvers/maneuver.py | 4 +- .../test/longitudinal_maneuvers/plant.py | 7 +- .../test_longitudinal.py | 278 +++++++++--------- 5 files changed, 149 insertions(+), 157 deletions(-) diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index a635198ceb..cd1d31cf07 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -6,14 +6,13 @@ import unittest from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN, IMPERIAL_INCREMENT from cereal import car from common.conversions import Conversions as CV -from common.params import Params from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver ButtonEvent = car.CarState.ButtonEvent ButtonType = car.CarState.ButtonEvent.Type -def run_cruise_simulation(cruise, t_end=20.): +def run_cruise_simulation(cruise, e2e, t_end=20.): man = Maneuver( '', duration=t_end, @@ -23,6 +22,7 @@ def run_cruise_simulation(cruise, t_end=20.): cruise_values=[cruise], prob_lead_values=[0.0], breakpoints=[0.], + e2e=e2e, ) valid, output = man.evaluate() assert valid @@ -31,14 +31,12 @@ def run_cruise_simulation(cruise, t_end=20.): class TestCruiseSpeed(unittest.TestCase): def test_cruise_speed(self): - params = Params() for e2e in [False, True]: - params.put_bool("ExperimentalMode", e2e) for speed in np.arange(5, 40, 5): print(f'Testing {speed} m/s') cruise_speed = float(speed) - simulation_steady_state = run_cruise_simulation(cruise_speed) + simulation_steady_state = run_cruise_simulation(cruise_speed, e2e) self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s') diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index 0535caab84..5185867d2d 100644 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -1,12 +1,11 @@ #!/usr/bin/env python3 import unittest import numpy as np -from common.params import Params - from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver + def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): man = Maneuver( '', @@ -16,7 +15,7 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): initial_distance_lead=100, speed_lead_values=[v_lead], breakpoints=[0.], - e2e=e2e + e2e=e2e, ) valid, output = man.evaluate() assert valid @@ -25,13 +24,11 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False): class TestFollowingDistance(unittest.TestCase): def test_following_distance(self): - params = Params() for e2e in [False, True]: - params.put_bool("ExperimentalMode", e2e) for speed in np.arange(0, 40, 5): print(f'Testing {speed} m/s') v_lead = float(speed) - simulation_steady_state = run_following_distance_simulation(v_lead) + simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e) correct_steady_state = desired_follow_distance(v_lead, v_lead) err_ratio = 0.2 if e2e else 0.1 self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5)) diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index 071eaada12..65935f8979 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -2,7 +2,7 @@ import numpy as np from selfdrive.test.longitudinal_maneuvers.plant import Plant -class Maneuver(): +class Maneuver: def __init__(self, title, duration, **kwargs): # Was tempted to make a builder class self.distance_lead = kwargs.get("initial_distance_lead", 200.0) @@ -18,6 +18,7 @@ class Maneuver(): self.only_radar = kwargs.get("only_radar", False) self.ensure_start = kwargs.get("ensure_start", False) self.enabled = kwargs.get("enabled", True) + self.e2e = kwargs.get("e2e", False) self.duration = duration self.title = title @@ -30,6 +31,7 @@ class Maneuver(): enabled=self.enabled, only_lead2=self.only_lead2, only_radar=self.only_radar, + e2e=self.e2e, ) valid = True diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 0d3336134f..8e150d800c 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -4,7 +4,6 @@ import numpy as np from cereal import log import cereal.messaging as messaging -from common.params import Params from common.realtime import Ratekeeper, DT_MDL from selfdrive.controls.lib.longcontrol import LongCtrlState from selfdrive.modeld.constants import T_IDXS @@ -16,9 +15,8 @@ class Plant: messaging_initialized = False def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0, - enabled=True, only_lead2=False, only_radar=False): + enabled=True, only_lead2=False, only_radar=False, e2e=False): self.rate = 1. / DT_MDL - self.params = Params() if not Plant.messaging_initialized: Plant.radar = messaging.pub_sock('radarState') @@ -40,6 +38,7 @@ class Plant: self.enabled = enabled self.only_lead2 = only_lead2 self.only_radar = only_radar + self.e2e = e2e self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0) self.ts = 1. / self.rate @@ -111,7 +110,7 @@ class Plant: control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off control.controlsState.vCruise = float(v_cruise * 3.6) - control.controlsState.experimentalMode = self.params.get_bool("ExperimentalMode") + control.controlsState.experimentalMode = self.e2e car_state.carState.vEgo = float(self.speed) car_state.carState.standstill = self.speed < 0.01 diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index e859952445..686b35e456 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import os +from parameterized import parameterized import unittest from common.params import Params @@ -8,124 +9,137 @@ from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver # TODO: make new FCW tests -maneuvers = [ - Maneuver( - 'approach stopped car at 25m/s, initial distance: 120m', - duration=20., - initial_speed=25., - lead_relevancy=True, - initial_distance_lead=120., - speed_lead_values=[30., 0.], - breakpoints=[0., 1.], - ), - Maneuver( - 'approach stopped car at 20m/s, initial distance 90m', - duration=20., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=90., - speed_lead_values=[20., 0.], - breakpoints=[0., 1.], - ), - Maneuver( - 'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2', - duration=50., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=35., - speed_lead_values=[20., 20., 0.], - breakpoints=[0., 15., 35.0], - ), - Maneuver( - 'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2', - duration=50., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=35., - speed_lead_values=[20., 20., 0.], - breakpoints=[0., 15., 25.0], - ), - Maneuver( - 'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2', - duration=50., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=35., - speed_lead_values=[20., 20., 0.], - breakpoints=[0., 15., 21.66], - ), - Maneuver( - 'steady state following a car at 20m/s, then lead decel to 0mph at 3+m/s^2', - duration=40., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=35., - speed_lead_values=[20., 20., 0.], - prob_lead_values=[0., 1., 1.], - cruise_values=[20., 20., 20.], - breakpoints=[2., 2.01, 8.8], - ), - Maneuver( - "approach stopped car at 20m/s, with prob_lead_values", - duration=30., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=120., - speed_lead_values=[0.0, 0., 0.], - prob_lead_values=[0.0, 0., 1.], - cruise_values=[20., 20., 20.], - breakpoints=[0.0, 2., 2.01], - ), - Maneuver( - "approach slower cut-in car at 20m/s", - duration=20., - initial_speed=20., - lead_relevancy=True, - initial_distance_lead=50., - speed_lead_values=[15., 15.], - breakpoints=[1., 11.], - only_lead2=True, - ), - Maneuver( - "stay stopped behind radar override lead", - duration=20., - initial_speed=0., - lead_relevancy=True, - initial_distance_lead=10., - speed_lead_values=[0., 0.], - prob_lead_values=[0., 0.], - breakpoints=[1., 11.], - only_radar=True, - ), - Maneuver( - "NaN recovery", - duration=30., - initial_speed=15., - lead_relevancy=True, - initial_distance_lead=60., - speed_lead_values=[0., 0., 0.0], - breakpoints=[1., 1.01, 11.], - cruise_values=[float("nan"), 15., 15.], - ), - # controls relies on planner commanding to move for stock-ACC resume spamming - Maneuver( - "resume from a stop", - duration=20., - initial_speed=0., - lead_relevancy=True, - initial_distance_lead=STOP_DISTANCE, - speed_lead_values=[0., 0., 2.], - breakpoints=[1., 10., 15.], - ensure_start=True, - ), - Maneuver( - 'cruising at 25 m/s while disabled', - duration=20., - initial_speed=25., - lead_relevancy=False, - enabled=False, - ), -] +def create_maneuvers(e2e): + return [ + Maneuver( + 'approach stopped car at 25m/s, initial distance: 120m', + duration=20., + initial_speed=25., + lead_relevancy=True, + initial_distance_lead=120., + speed_lead_values=[30., 0.], + breakpoints=[0., 1.], + e2e=e2e, + ), + Maneuver( + 'approach stopped car at 20m/s, initial distance 90m', + duration=20., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=90., + speed_lead_values=[20., 0.], + breakpoints=[0., 1.], + e2e=e2e, + ), + Maneuver( + 'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2', + duration=50., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=35., + speed_lead_values=[20., 20., 0.], + breakpoints=[0., 15., 35.0], + e2e=e2e, + ), + Maneuver( + 'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2', + duration=50., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=35., + speed_lead_values=[20., 20., 0.], + breakpoints=[0., 15., 25.0], + e2e=e2e, + ), + Maneuver( + 'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2', + duration=50., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=35., + speed_lead_values=[20., 20., 0.], + breakpoints=[0., 15., 21.66], + e2e=e2e, + ), + Maneuver( + 'steady state following a car at 20m/s, then lead decel to 0mph at 3+m/s^2', + duration=40., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=35., + speed_lead_values=[20., 20., 0.], + prob_lead_values=[0., 1., 1.], + cruise_values=[20., 20., 20.], + breakpoints=[2., 2.01, 8.8], + e2e=e2e, + ), + Maneuver( + "approach stopped car at 20m/s, with prob_lead_values", + duration=30., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=120., + speed_lead_values=[0.0, 0., 0.], + prob_lead_values=[0.0, 0., 1.], + cruise_values=[20., 20., 20.], + breakpoints=[0.0, 2., 2.01], + e2e=e2e, + ), + Maneuver( + "approach slower cut-in car at 20m/s", + duration=20., + initial_speed=20., + lead_relevancy=True, + initial_distance_lead=50., + speed_lead_values=[15., 15.], + breakpoints=[1., 11.], + only_lead2=True, + e2e=e2e, + ), + Maneuver( + "stay stopped behind radar override lead", + duration=20., + initial_speed=0., + lead_relevancy=True, + initial_distance_lead=10., + speed_lead_values=[0., 0.], + prob_lead_values=[0., 0.], + breakpoints=[1., 11.], + only_radar=True, + e2e=e2e, + ), + Maneuver( + "NaN recovery", + duration=30., + initial_speed=15., + lead_relevancy=True, + initial_distance_lead=60., + speed_lead_values=[0., 0., 0.0], + breakpoints=[1., 1.01, 11.], + cruise_values=[float("nan"), 15., 15.], + e2e=e2e, + ), + # controls relies on planner commanding to move for stock-ACC resume spamming + Maneuver( + "resume from a stop", + duration=20., + initial_speed=0., + lead_relevancy=True, + initial_distance_lead=STOP_DISTANCE, + speed_lead_values=[0., 0., 2.], + breakpoints=[1., 10., 15.], + ensure_start=True, + e2e=e2e, + ), + Maneuver( + 'cruising at 25 m/s while disabled', + duration=20., + initial_speed=25., + lead_relevancy=False, + enabled=False, + e2e=e2e, + ), + ] class LongitudinalControl(unittest.TestCase): @@ -140,29 +154,11 @@ class LongitudinalControl(unittest.TestCase): params.put_bool("Passive", bool(os.getenv("PASSIVE"))) params.put_bool("OpenpilotEnabledToggle", True) - # hack - def test_longitudinal_setup(self): - pass - - -def run_maneuver_worker(k): - def run(self): - params = Params() - - man = maneuvers[k] - params.put_bool("ExperimentalMode", True) - print(man.title, ' in e2e mode') - valid, _ = man.evaluate() - self.assertTrue(valid, msg=man.title) - params.put_bool("ExperimentalMode", False) - print(man.title, ' in acc mode') - valid, _ = man.evaluate() - self.assertTrue(valid, msg=man.title) - return run - -for k in range(len(maneuvers)): - setattr(LongitudinalControl, f"test_longitudinal_maneuvers_{k+1}", - run_maneuver_worker(k)) + @parameterized.expand([(man,) for e2e in [True, False] for man in create_maneuvers(e2e)]) + def test_maneuver(self, maneuver): + print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode') + valid, _ = maneuver.evaluate() + self.assertTrue(valid, msg=maneuver.title) if __name__ == "__main__": From f36e8bc3c7316bd4aac38f8997b66d1649819fe9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 5 Dec 2022 17:35:19 -0800 Subject: [PATCH 122/201] Revert "Toyota: Don't Set Standstill Bit on TSS-P Prius" (#26709) Revert "Toyota: Don't Set Standstill Bit on TSS-P Prius (#26671)" This reverts commit 7b0bfabb95ecb39487d311ba6ccc6b4c4e11ff08. --- docs/CARS.md | 6 +++--- selfdrive/car/toyota/values.py | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 141e910fa5..4dccb30285 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -181,10 +181,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index c9e13e21a1..56bb2697c7 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -2056,4 +2056,4 @@ EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2 CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} # no resume button press required -NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} +NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_ESH} From 6e0893299ad435291782e40a92ddeb85b85f4b87 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 5 Dec 2022 17:41:32 -0800 Subject: [PATCH 123/201] navmodeld: only render necessary frames (#26698) --- selfdrive/modeld/navmodeld.cc | 1 - selfdrive/navd/map_renderer.cc | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/modeld/navmodeld.cc b/selfdrive/modeld/navmodeld.cc index 57ef7cf0e0..75f2c62ab3 100644 --- a/selfdrive/modeld/navmodeld.cc +++ b/selfdrive/modeld/navmodeld.cc @@ -21,7 +21,6 @@ void run_model(NavModelState &model, VisionIpcClient &vipc_client) { while (!do_exit) { VisionBuf *buf = vipc_client.recv(&extra); if (buf == nullptr) continue; - if (extra.frame_id < last_frame_id + 10) continue; // Run at 2Hz double t1 = millis_since_boot(); NavModelResult *model_res = navmodel_eval_frame(&model, buf); diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 247b69c4c5..6a19f45fed 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -79,7 +79,7 @@ void MapRenderer::msgUpdate() { auto orientation = location.getCalibratedOrientationNED(); bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid(); - if (localizer_valid) { + if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % 10) == 0) { updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2])); } } From ddae8ffc09261fe932c24192fccc6d8bceb1d088 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Mon, 5 Dec 2022 19:25:57 -0800 Subject: [PATCH 124/201] add onnx2torch dependency (#26710) * add onnx2torch dependency * sort Co-authored-by: Cameron Clough --- poetry.lock | 31 ++++++++++++++++++++++++++++++- pyproject.toml | 1 + 2 files changed, 31 insertions(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index fbe0009a26..39fb78cf2a 100644 --- a/poetry.lock +++ b/poetry.lock @@ -2439,6 +2439,20 @@ typing-extensions = ">=3.6.2.1" [package.extras] lint = ["clang-format (==13.0.0)", "flake8", "mypy (==0.782)", "types-protobuf (==3.18.4)"] +[[package]] +name = "onnx2torch" +version = "1.5.4" +description = 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"https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" } osmium = "^3.3.0" From 2d5e2d992aba4b5bcbc3f1f9017a4e84c37a4080 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 6 Dec 2022 01:03:59 -0800 Subject: [PATCH 125/201] Kia Sorento: fix dash speed matching (#26582) * exception for Sorento * comment --- selfdrive/car/hyundai/carstate.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index dfb33f2eb4..bd6b72f461 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -72,8 +72,10 @@ class CarState(CarStateBase): self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] self.cluster_speed_counter = 0 - # mimic how dash converts to imperial - if not self.is_metric: + # Mimic how dash converts to imperial. + # Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric + # TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this + if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,): self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH) ret.vEgoCluster = self.cluster_speed * speed_conv From 5661738372d8bd3a7d453a7262ac56e7f182b331 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 6 Dec 2022 15:00:11 -0800 Subject: [PATCH 126/201] Car docs: move shop footnotes into openpilot (#26715) move shop footnotes into openpilot --- docs/CARS.md | 131 +++++++++++++++--------------- selfdrive/car/docs_definitions.py | 2 +- selfdrive/car/hyundai/values.py | 15 +++- 3 files changed, 80 insertions(+), 68 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 4dccb30285..2c897a371c 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -11,12 +11,12 @@ A supported vehicle is one that just works when you install a comma three. All s |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| @@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Genesis|GV70 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| @@ -61,8 +61,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| |Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| -|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#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)](##)|Hyundai Q| +|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| @@ -74,7 +74,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O| |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| |Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Santa Cruz 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| +|Hyundai|Santa Cruz 2021-22[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D| |Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Santa Fe Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| @@ -83,16 +83,16 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Sonata 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| -|Hyundai|Tucson 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| +|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| +|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Tucson Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| +|Hyundai|Tucson Hybrid 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| -|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Kia|EV6 (with HDA II) 2022[5](#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)](##)|Hyundai P| +|Kia|EV6 (without HDA II) 2022[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| @@ -107,9 +107,9 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Seltos 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)](##)|Hyundai A| |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Kia|Sorento Plug-in Hybrid 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| -|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| +|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| +|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| +|Kia|Sportage Hybrid 2023[5](#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)](##)|Hyundai N| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| @@ -137,8 +137,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| |Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram| -|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| @@ -149,13 +149,13 @@ A supported vehicle is one that just works when you install a comma three. All s |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B| |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A| -|Škoda|Kamiq 2021[6](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[9](#footnotes)| -|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[9](#footnotes)| -|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| +|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| +|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| @@ -166,8 +166,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Camry 2018-20|All|Stock|0 mph[5](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Camry 2021-22|All|openpilot|0 mph[5](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| +|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Camry 2021-22|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| @@ -196,48 +196,49 @@ A supported vehicle is one that just works when you install a comma three. All s |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat 2015-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[9](#footnotes)| -|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[9](#footnotes)| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[9](#footnotes)| -|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[9](#footnotes)| -|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,8](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| +|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| +|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)| +|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| 1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
3Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-5openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-6Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-7Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-8Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-9Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
+5Requires a red panda and additional harness box. Also requires a USB-A to USB-C adapter and USB-A to USB-A cable.
+6openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
+7Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
+8Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
+9Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+10Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 7cf44514d6..03e9e721b5 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -68,7 +68,7 @@ class Harness(Enum): none = "None" -CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only"], defaults=(None, False)) +CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False)) class CommonFootnote(Enum): diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 74c881e2b6..0c5f80f7b4 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,12 +1,12 @@ -from enum import IntFlag from dataclasses import dataclass +from enum import Enum, IntFlag from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, Harness +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -117,10 +117,21 @@ class CAR: GENESIS_G90 = "GENESIS G90 2017" +class Footnote(Enum): + CANFD = CarFootnote( + "Requires a red panda and additional harness box. " + + "Also requires a USB-A to USB-C adapter and USB-A to USB-A cable.", + Column.MODEL, shop_footnote=True) + + @dataclass class HyundaiCarInfo(CarInfo): package: str = "Smart Cruise Control (SCC)" + def init_make(self, CP: car.CarParams): + if CP.carFingerprint in CANFD_CAR: + self.footnotes.insert(0, Footnote.CANFD) + CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: [ From 47977b2c0ed9f46d79e4a839ed8d83bace885504 Mon Sep 17 00:00:00 2001 From: alancyau <59986772+alancyau@users.noreply.github.com> Date: Tue, 6 Dec 2022 18:37:18 -0600 Subject: [PATCH 127/201] Mazda: Add support for 2023 CX9 in CARS.md (#26717) * Mazda: Add support for 2023 CX9 See https://github.com/commaai/openpilot/pull/26704 for the 2023 CX9 firmware. * update values Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 2 +- selfdrive/car/mazda/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 2c897a371c..9172377a4f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -131,7 +131,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| -|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B| |Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 129273efee..b417e821c7 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -42,7 +42,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"), CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"), CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"), - CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"), + CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"), CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"), } From 57ad0c94586d12df54d5ab4a65d0e47945a35065 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 7 Dec 2022 13:17:37 +0800 Subject: [PATCH 128/201] Cabana: support multiple instances (#26286) * multiple instance * new file qtuitl.h * Revert "new file qtuitl.h" This reverts commit 19ef28945e8647724bbfc6c8469a664a58c09f16. --- tools/cabana/cabana.cc | 22 +++++++++++++++++----- 1 file changed, 17 insertions(+), 5 deletions(-) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index e7e3eb213b..3e76a3e029 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -1,5 +1,7 @@ #include +#include #include +#include #include "selfdrive/ui/qt/util.h" #include "tools/cabana/mainwin.h" @@ -20,12 +22,22 @@ int main(int argc, char *argv[]) { cmd_parser.showHelp(); } + QString uuid = QUuid::createUuid().toString(QUuid::WithoutBraces); + QString msgq_path = "/dev/shm/" + uuid; + + QDir dir; + dir.mkdir(msgq_path); + setenv("OPENPILOT_PREFIX", qPrintable(uuid), 1); + + int ret = 0; const QString route = args.empty() ? DEMO_ROUTE : args.first(); CANMessages p(&app); - if (!p.loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) { - return 0; + if (p.loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) { + MainWindow w; + w.showMaximized(); + ret = app.exec(); } - MainWindow w; - w.showMaximized(); - return app.exec(); + + dir.rmdir(msgq_path); + return ret; } From cf3ced9d17b915632f1c3e820e1dee5218a9f5fb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 6 Dec 2022 23:32:58 -0800 Subject: [PATCH 129/201] Car docs: update CAN-FD footnote (#26718) * Update footnote * link to obd-c * update --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 9172377a4f..c92c0b2270 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -233,7 +233,7 @@ A supported vehicle is one that just works when you install a comma three. All s 2By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).
3Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
42019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-5Requires a red panda and additional harness box. Also requires a USB-A to USB-C adapter and USB-A to USB-A cable.
+5Requires a red panda, additional harness box, additional OBD-C cable, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle.
6openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
7Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
8Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0c5f80f7b4..1e9d0f7f62 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -119,8 +119,8 @@ class CAR: class Footnote(Enum): CANFD = CarFootnote( - "Requires a red panda and additional harness box. " + - "Also requires a USB-A to USB-C adapter and USB-A to USB-A cable.", + "Requires a red panda, additional harness box, " + + "additional OBD-C cable, USB-A to USB-A cable, and a USB-A to USB-C OTG dongle.", Column.MODEL, shop_footnote=True) From fa0bf404c879e41bc212e46df30f522b434ced44 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Wed, 7 Dec 2022 14:57:30 -0300 Subject: [PATCH 130/201] Update comment on sound.cc volume based(speed ->noise) (#26719) Update sound.cc --- selfdrive/ui/soundd/sound.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index f039511ff8..d07b6b6efd 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -46,7 +46,7 @@ void Sound::update() { return; } - // scale volume with speed + // scale volume using ambient noise level if (sm.updated("microphone")) { float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 52.f, 0.f, 1.f); volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale); From a7fb5da6e592cbc8750ae93b733da7d8b0f096aa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 7 Dec 2022 12:04:33 -0800 Subject: [PATCH 131/201] Chrysler: fix LKAS fault for 2017 Pacifica (#26711) * gate on FW * fix * reverse docs * fix * Revert "fix" This reverts commit a0f2558fba0adc59c70eb92ffb8bd815bf033979. Revert "reverse docs" This reverts commit 9a46c517dfa7182f2f30501de801e35f7e1004c4. Revert "fix" This reverts commit 7b4d4bd3d2c2216890ea1877d52fdfbd9cec3ed7. Revert "gate on FW" This reverts commit 296826e71323e63f8e57b8988e573cef33149022. * use a flag * fix * draft * clean up * clean up * more clear * comment * remove --- selfdrive/car/chrysler/carcontroller.py | 4 ++-- selfdrive/car/chrysler/interface.py | 22 ++++++++++++++-------- selfdrive/car/chrysler/values.py | 5 +++++ 3 files changed, 21 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 5a2d90c64c..879da88123 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker from common.realtime import DT_CTRL from selfdrive.car import apply_toyota_steer_torque_limits from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons -from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams +from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags class CarController: @@ -51,7 +51,7 @@ class CarController: lkas_control_bit = self.lkas_control_bit_prev if CS.out.vEgo > self.CP.minSteerSpeed: lkas_control_bit = True - elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019): + elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED: if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0): lkas_control_bit = False elif self.CP.carFingerprint in RAM_CARS: diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 5e8fe3c44e..2f058165ac 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from selfdrive.car import STD_CARGO_KG, get_safety_config -from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT +from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags from selfdrive.car.interfaces import CarInterfaceBase @@ -24,9 +24,12 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT ret.minSteerSpeed = 3.8 # m/s - if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019): - # TODO: allow 2019 cars to steer down to 13 m/s if already engaged. - ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged. + if candidate not in RAM_CARS: + # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed. + new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019) + new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw) + if new_eps_platform or new_eps_firmware: + ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value # Chrysler if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020): @@ -55,10 +58,9 @@ class CarInterface(CarInterfaceBase): ret.mass = 2493. + STD_CARGO_KG CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) ret.minSteerSpeed = 14.5 - if car_fw is not None: - for fw in car_fw: - if fw.ecu == 'eps' and fw.fwVersion[:8] in (b"68312176", b"68273275"): - ret.minSteerSpeed = 0. + for fw in car_fw: + if fw.ecu == 'eps' and fw.fwVersion.startswith((b"68312176", b"68273275")): + ret.minSteerSpeed = 0. elif candidate == CAR.RAM_HD: ret.steerActuatorDelay = 0.2 @@ -71,6 +73,10 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"Unsupported car: {candidate}") + if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED: + # TODO: allow these cars to steer down to 13 m/s if already engaged. + ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged. + ret.centerToFront = ret.wheelbase * 0.44 ret.enableBsm = 720 in fingerprint[0] diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 16530ed989..02261a0b63 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -1,3 +1,4 @@ +from enum import IntFlag from dataclasses import dataclass from enum import Enum from typing import Dict, List, Optional, Union @@ -11,6 +12,10 @@ from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu +class ChryslerFlags(IntFlag): + HIGHER_MIN_STEERING_SPEED = 1 + + class CAR: # Chrysler PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017" From b3fae2d11351bf93b1e4a3aec7257dd95cc03f4e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 7 Dec 2022 15:22:02 -0800 Subject: [PATCH 132/201] Kona: adjust friction (#26720) adjust friction (* 1/0.7) --- selfdrive/car/torque_data/params.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index c081359937..3b212c6507 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -31,7 +31,7 @@ HYUNDAI IONIQ 5 2022: [3.172929, 3.0, 0.096019] HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] -HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.08651833437845884] +HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548] HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651] HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] From 9c62513ffa5be7ee6a007ee4f6f421981039a046 Mon Sep 17 00:00:00 2001 From: alancyau <59986772+alancyau@users.noreply.github.com> Date: Wed, 7 Dec 2022 18:50:14 -0600 Subject: [PATCH 133/201] Mazda: Add 2023 CX9 fw (#26704) * Mazda: Add 2023 CX9 fw DongleID: 629c4aced073d15a Discord User: bsk#7841 * Attempt to steer below 28mph for CX9 * undo comment Co-authored-by: Shane Smiskol --- selfdrive/car/mazda/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index b417e821c7..e6e9b3aee8 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -283,6 +283,7 @@ FW_VERSIONS = { b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ + b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -299,6 +300,7 @@ FW_VERSIONS = { b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', From 1da6f6a6e213280979dcf64b4d3e90f291bda4a3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 7 Dec 2022 19:36:30 -0800 Subject: [PATCH 134/201] nav model replay (#26697) * nav model replay * set token * fix gh actions * update refs * fix pc --- .github/workflows/selfdrive_tests.yaml | 2 +- Jenkinsfile | 2 + selfdrive/navd/map_renderer.cc | 16 +++-- selfdrive/navd/map_renderer.h | 1 - selfdrive/test/process_replay/compare_logs.py | 40 ++++++----- selfdrive/test/process_replay/model_replay.py | 70 +++++++++++++++++-- .../process_replay/model_replay_ref_commit | 2 +- 7 files changed, 103 insertions(+), 30 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index f2cc51285d..7cc45d23b9 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -294,7 +294,7 @@ jobs: - name: Run model replay with ONNX timeout-minutes: 2 run: | - ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 coverage run selfdrive/test/process_replay/model_replay.py && \ + ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \ coverage xml" - name: Run unit tests timeout-minutes: 5 diff --git a/Jenkinsfile b/Jenkinsfile index e8323bca7d..f1d7f1e289 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -11,6 +11,7 @@ export SOURCE_DIR=${env.SOURCE_DIR} export GIT_BRANCH=${env.GIT_BRANCH} export GIT_COMMIT=${env.GIT_COMMIT} export AZURE_TOKEN='${env.AZURE_TOKEN}' +export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}' source ~/.bash_profile if [ -f /TICI ]; then @@ -47,6 +48,7 @@ pipeline { TEST_DIR = "/data/openpilot" SOURCE_DIR = "/data/openpilot_source/" AZURE_TOKEN = credentials('azure_token') + MAPBOX_TOKEN = credentials('mapbox_token') } options { timeout(time: 4, unit: 'HOURS') diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 6a19f45fed..a9c34b5bd5 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -4,10 +4,10 @@ #include #include #include -#include #include "common/util.h" #include "common/timing.h" +#include "common/swaglog.h" #include "selfdrive/ui/qt/maps/map_helpers.h" const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear @@ -56,22 +56,27 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set m_map->setFramebufferObject(fbo->handle(), fbo->size()); gl_functions->glViewport(0, 0, WIDTH, HEIGHT); + QObject::connect(m_map.data(), &QMapboxGL::mapLoadingFailed, [=](QMapboxGL::MapLoadingFailure err_code, const QString &reason) { + LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str()); + }); + if (online) { vipc_server.reset(new VisionIpcServer("navd")); vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT); vipc_server->start_listener(); pm.reset(new PubMaster({"navThumbnail"})); - sm.reset(new SubMaster({"liveLocationKalman", "navRoute"})); + sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}, {"liveLocationKalman"})); timer = new QTimer(this); + timer->setSingleShot(true); QObject::connect(timer, SIGNAL(timeout()), this, SLOT(msgUpdate())); - timer->start(50); + timer->start(0); } } void MapRenderer::msgUpdate() { - sm->update(0); + sm->update(1000); if (sm->updated("liveLocationKalman")) { auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman(); @@ -92,6 +97,9 @@ void MapRenderer::msgUpdate() { } updateRoute(route); } + + // schedule next update + timer->start(0); } void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) { diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 855dc91894..7f725c93fe 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -25,7 +25,6 @@ public: bool loaded(); ~MapRenderer(); - private: std::unique_ptr ctx; std::unique_ptr surface; diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index c14956b1b2..e5e21a6fef 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -2,6 +2,7 @@ import bz2 import sys import math +import capnp import numbers import dictdiffer from collections import Counter @@ -30,20 +31,23 @@ def remove_ignored_fields(msg, ignore): continue for k in keys[:-1]: - try: - attr = getattr(msg, k) - except AttributeError: - break - else: - v = getattr(attr, keys[-1]) - if isinstance(v, bool): - val = False - elif isinstance(v, numbers.Number): - val = 0 + # indexing into list + if k.isdigit(): + attr = attr[int(k)] else: - raise NotImplementedError('Error ignoring field') - setattr(attr, keys[-1], val) - return msg.as_reader() + attr = getattr(attr, k) + + v = getattr(attr, keys[-1]) + if isinstance(v, bool): + val = False + elif isinstance(v, numbers.Number): + val = 0 + elif isinstance(v, (list, capnp.lib.capnp._DynamicListBuilder)): + val = [] + else: + raise NotImplementedError(f"Unknown type: {type(v)}") + setattr(attr, keys[-1], val) + return msg def get_field_tolerance(diff_field, field_tolerances): @@ -79,12 +83,12 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non print(msg1, msg2) raise Exception("msgs not aligned between logs") - msg1_bytes = remove_ignored_fields(msg1, ignore_fields).as_builder().to_bytes() - msg2_bytes = remove_ignored_fields(msg2, ignore_fields).as_builder().to_bytes() + msg1 = remove_ignored_fields(msg1, ignore_fields) + msg2 = remove_ignored_fields(msg2, ignore_fields) - if msg1_bytes != msg2_bytes: - msg1_dict = msg1.to_dict(verbose=True) - msg2_dict = msg2.to_dict(verbose=True) + if msg1.to_bytes() != msg2.to_bytes(): + msg1_dict = msg1.as_reader().to_dict(verbose=True) + msg2_dict = msg2.as_reader().to_dict(verbose=True) dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index a63ec6489b..1f43bb791a 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -20,14 +20,17 @@ from system.version import get_commit from tools.lib.framereader import FrameReader from tools.lib.logreader import LogReader -TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" -SEGMENT = 0 +TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" +SEGMENT = 6 MAX_FRAMES = 100 if PC else 600 +NAV_FRAMES = 20 +NO_NAV = "NO_NAV" in os.environ # TODO: make map renderer work in CI SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER, "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD} + def get_log_fn(ref_commit, test_route): return f"{test_route}_model_tici_{ref_commit}.bz2" @@ -39,6 +42,47 @@ def replace_calib(msg, calib): return msg +def nav_model_replay(lr): + pm = messaging.PubMaster(['liveLocationKalman', 'navRoute']) + sock = messaging.sub_sock('navModel', conflate=False, timeout=1000) + + log_msgs = [] + try: + managed_processes['mapsd'].start() + managed_processes['navmodeld'].start() + + # setup position and route + nav = [m for m in lr if m.which() == 'navRoute'] + llk = [m for m in lr if m.which() == 'liveLocationKalman'] + assert len(nav) > 0 and len(llk) > 0 + + for _ in range(30): + for s in (llk, nav): + msg = s[0] + pm.send(msg.which(), msg.as_builder().to_bytes()) + if messaging.recv_one(sock) is not None: + break + else: + raise Exception("no navmodeld outputs") + + time.sleep(2) + messaging.drain_sock_raw(sock) + + # run replay + for _ in range(NAV_FRAMES): + # 2Hz decimation + for _ in range(10): + pm.send(llk[0].which(), llk[0].as_builder().to_bytes()) + time.sleep(0.1) + with Timeout(5, "timed out waiting for nav model outputs"): + log_msgs.append(messaging.recv_one_retry(sock)) + finally: + managed_processes['mapsd'].stop() + managed_processes['navmodeld'].stop() + + return log_msgs + + def model_replay(lr, frs): if not PC: spinner = Spinner() @@ -154,8 +198,10 @@ if __name__ == "__main__": 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True) } - # run replay + # run replays log_msgs = model_replay(lr, frs) + if not NO_NAV: + log_msgs += nav_model_replay(lr) # get diff failed = False @@ -164,15 +210,29 @@ if __name__ == "__main__": ref_commit = f.read().strip() log_fn = get_log_fn(ref_commit, TEST_ROUTE) try: - cmp_log = list(LogReader(BASE_URL + log_fn))[:2*MAX_FRAMES] + expected_msgs = 2*MAX_FRAMES + if not NO_NAV: + expected_msgs += NAV_FRAMES + cmp_log = list(LogReader(BASE_URL + log_fn))[:expected_msgs] ignore = [ 'logMonoTime', 'modelV2.frameDropPerc', 'modelV2.modelExecutionTime', 'driverStateV2.modelExecutionTime', - 'driverStateV2.dspExecutionTime' + 'driverStateV2.dspExecutionTime', + 'navModel.dspExecutionTime', + 'navModel.modelExecutionTime', ] + if PC: + ignore += [ + 'modelV2.laneLines.0.t', + 'modelV2.laneLines.1.t', + 'modelV2.laneLines.2.t', + 'modelV2.laneLines.3.t', + 'modelV2.roadEdges.0.t', + 'modelV2.roadEdges.1.t', + ] # TODO this tolerance is absurdly large tolerance = 2.0 if PC else None results: Any = {TEST_ROUTE: {}} diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index f541b6a6d5..b58cca1aaf 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -30efb4238327d723e17a3bda7e7c19c18f8a3b18 +4b2c6516cd460ee443b9006f01233168edf3d170 \ No newline at end of file From d64a5020b20cf32f2a9ce3a3ba2dd8547751ebc5 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 7 Dec 2022 22:15:58 -0800 Subject: [PATCH 135/201] soundd: tune volume to reach max at slightly higher noise level --- selfdrive/ui/soundd/sound.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc index d07b6b6efd..42fc9c4b1a 100644 --- a/selfdrive/ui/soundd/sound.cc +++ b/selfdrive/ui/soundd/sound.cc @@ -48,7 +48,7 @@ void Sound::update() { // scale volume using ambient noise level if (sm.updated("microphone")) { - float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 52.f, 0.f, 1.f); + float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 54.f, 0.f, 1.f); volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale); Hardware::set_volume(volume); } From 53023abd24f9aacea11da4dff07183f16557c9b4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 7 Dec 2022 22:21:05 -0800 Subject: [PATCH 136/201] jenkins: don't clog up build queue (#26724) * jenkins: don't clog up build queue * not real --- Jenkinsfile | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index f1d7f1e289..37621dde5c 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -51,7 +51,8 @@ pipeline { MAPBOX_TOKEN = credentials('mapbox_token') } options { - timeout(time: 4, unit: 'HOURS') + timeout(time: 3, unit: 'HOURS') + disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master') } stages { From d97336d5326190559d1ff0518daee273f270aaf8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 8 Dec 2022 03:01:57 -0800 Subject: [PATCH 137/201] LatControl: remove duplicate logic for saturation (#26725) this is already checked --- selfdrive/controls/controlsd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 342ecc52fe..3840d6e0de 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -625,7 +625,7 @@ class Controls: max_torque = abs(self.last_actuators.steer) > 0.99 if undershooting and turning and good_speed and max_torque: self.events.add(EventName.steerSaturated) - elif lac_log.active and not CS.steeringPressed and lac_log.saturated: + elif lac_log.active and lac_log.saturated: dpath_points = lat_plan.dPathPoints if len(dpath_points): # Check if we deviated from the path From 1c5c0e723cd3adc32c1cf398228d79601d2f25a2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 Dec 2022 03:06:38 +0800 Subject: [PATCH 138/201] CameraView: remove double semicolon (#26728) remove double semicolon --- selfdrive/ui/qt/widgets/cameraview.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 347cdb1dca..16aad13437 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -359,7 +359,7 @@ void CameraWidget::vipcThread() { if (!vipc_client || cur_stream != requested_stream_type) { clearFrames(); qDebug() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; - cur_stream = requested_stream_type;; + cur_stream = requested_stream_type; vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false)); } active_stream_type = cur_stream; From cf67ae6ac13944fd0236ac7ffa3151b8c2617229 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 Dec 2022 03:18:52 +0800 Subject: [PATCH 139/201] Cabana: fix build error on mac (#26730) fix build error on mac --- tools/cabana/dbcmanager.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index e7d3ead9c6..1b33c4cc42 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -111,7 +111,7 @@ DBCManager *dbc() { std::vector DBCMsg::getSignals() const { std::vector ret; - for (auto &[name, sig] : sigs) ret.push_back(&sig); + for (auto &[_, sig] : sigs) ret.push_back(&sig); std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); return ret; } From 7006230e0885d3da26c034517660f566c8dd37e9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 Dec 2022 03:19:57 +0800 Subject: [PATCH 140/201] Cabana: add `--ecam` flag to dispaly the wide road camera (#26727) --- tools/cabana/cabana | 2 +- tools/cabana/cabana.cc | 12 ++++++++++-- tools/cabana/canmessages.cc | 4 ++-- tools/cabana/canmessages.h | 3 ++- tools/cabana/videowidget.cc | 2 +- 5 files changed, 16 insertions(+), 7 deletions(-) diff --git a/tools/cabana/cabana b/tools/cabana/cabana index b29dd66e3d..14647b6a10 100755 --- a/tools/cabana/cabana +++ b/tools/cabana/cabana @@ -1,4 +1,4 @@ #!/bin/sh cd "$(dirname "$0")" export LD_LIBRARY_PATH="../../opendbc/can:$LD_LIBRARY_PATH" -exec ./_cabana "$1" +exec ./_cabana "$@" diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 3e76a3e029..5e9b255731 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -15,6 +15,7 @@ int main(int argc, char *argv[]) { cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai"); cmd_parser.addOption({"demo", "use a demo route instead of providing your own"}); cmd_parser.addOption({"qcam", "load qcamera"}); + cmd_parser.addOption({"ecam", "load wide road camera"}); cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"}); cmd_parser.process(app); const QStringList args = cmd_parser.positionalArguments(); @@ -29,10 +30,17 @@ int main(int argc, char *argv[]) { dir.mkdir(msgq_path); setenv("OPENPILOT_PREFIX", qPrintable(uuid), 1); - int ret = 0; const QString route = args.empty() ? DEMO_ROUTE : args.first(); + uint32_t replay_flags = REPLAY_FLAG_NONE; + if (cmd_parser.isSet("ecam")) { + replay_flags |= REPLAY_FLAG_ECAM; + } else if (cmd_parser.isSet("qcam")) { + replay_flags |= REPLAY_FLAG_QCAMERA; + } + CANMessages p(&app); - if (p.loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) { + int ret = 0; + if (p.loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { MainWindow w; w.showMaximized(); ret = app.exec(); diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index a8e881c5fe..9959ba7313 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -21,8 +21,8 @@ static bool event_filter(const Event *e, void *opaque) { return c->eventFilter(e); } -bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { - replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); +bool CANMessages::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { + replay = new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this); replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->installEventFilter(event_filter, this); QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged); diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 1713778af7..f9103aa96b 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -26,13 +26,14 @@ public: enum FindFlags{ EQ, LT, GT }; CANMessages(QObject *parent); ~CANMessages(); - bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam); + bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); void seekTo(double ts); QList findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count); bool eventFilter(const Event *event); inline QString routeName() const { return replay->route()->name(); } inline QString carFingerprint() const { return replay->carFingerprint().c_str(); } + inline VisionStreamType visionStreamType() const { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; } inline double totalSeconds() const { return replay->totalSeconds(); } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } inline double currentSec() const { return replay->currentSeconds(); } diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 3e64d907ec..6cd173b514 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -21,7 +21,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); - cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this); + cam_widget = new CameraWidget("camerad", can->visionStreamType(), false, this); cam_widget->setFixedSize(parent->width(), parent->width() / 1.596); main_layout->addWidget(cam_widget); From 6bea668e35408361fd8efa5bec641d2fe7cf94e8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 9 Dec 2022 03:54:22 +0800 Subject: [PATCH 141/201] Cabana: fix the binaryview is not updated correctly (#26731) --- tools/cabana/binaryview.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index bc64edbfeb..aa256b4ce1 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -202,7 +202,7 @@ void BinaryViewModel::updateState() { } } - for (int i = 0; i < row_count; ++i) { + for (int i = 0; i < row_count * column_count; ++i) { if (i >= prev_items.size() || prev_items[i].val != items[i].val) { auto idx = index(i / column_count, i % column_count); emit dataChanged(idx, idx); From 41667d020ac8eb8d518e9437de32d8d9d09b6b15 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 8 Dec 2022 16:26:41 -0800 Subject: [PATCH 142/201] Car controls: common angle limiting function (#26732) * common angle limiting function * save a line --- selfdrive/car/__init__.py | 13 ++++++++++++- selfdrive/car/nissan/carcontroller.py | 15 ++++----------- selfdrive/car/nissan/values.py | 7 +++---- selfdrive/car/tesla/carcontroller.py | 14 +++++--------- selfdrive/car/tesla/values.py | 7 +++---- 5 files changed, 27 insertions(+), 29 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 491c551b1b..c056f7ca3d 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,8 +1,9 @@ # functions common among cars import capnp +from collections import namedtuple from cereal import car -from common.numpy_fast import clip +from common.numpy_fast import clip, interp from typing import Dict # kg of standard extra cargo to count for drive, gas, etc... @@ -10,6 +11,7 @@ STD_CARGO_KG = 136. ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName +AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v']) def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float: @@ -111,6 +113,15 @@ def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torq return int(round(float(apply_torque))) +def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS): + # pick angle rate limits based on wind up/down + steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last) + rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN + + angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v) + return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim) + + def crc8_pedal(data): crc = 0xFF # standard init value poly = 0xD5 # standard crc8: x8+x7+x6+x4+x2+1 diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index dbc2b33c6b..ff13812398 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -1,6 +1,6 @@ from cereal import car -from common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker +from selfdrive.car import apply_std_steer_angle_limits from selfdrive.car.nissan import nissancan from selfdrive.car.nissan.values import CAR, CarControllerParams @@ -14,7 +14,7 @@ class CarController: self.frame = 0 self.lkas_max_torque = 0 - self.last_angle = 0 + self.apply_angle_last = 0 self.packer = CANPacker(dbc_name) @@ -28,18 +28,11 @@ class CarController: ### STEER ### lkas_hud_msg = CS.lkas_hud_msg lkas_hud_info_msg = CS.lkas_hud_info_msg - apply_angle = actuators.steeringAngleDeg - steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 if CC.latActive: # windup slower - if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle): - angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V) - else: - angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_VU) - - apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim) + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) # Max torque from driver before EPS will give up and not apply torque if not bool(CS.out.steeringPressed): @@ -57,7 +50,7 @@ class CarController: apply_angle = CS.out.steeringAngleDeg self.lkas_max_torque = 0 - self.last_angle = apply_angle + self.apply_angle_last = apply_angle if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd: can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg)) diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 09bd7ca838..a6ee27a4a3 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -4,7 +4,7 @@ from enum import Enum from cereal import car from panda.python import uds -from selfdrive.car import dbc_dict +from selfdrive.car import AngleRateLimit, dbc_dict from selfdrive.car.docs_definitions import CarInfo, Harness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -12,9 +12,8 @@ Ecu = car.CarParams.Ecu class CarControllerParams: - ANGLE_DELTA_BP = [0., 5., 15.] - ANGLE_DELTA_V = [5., .8, .15] # windup limit - ANGLE_DELTA_VU = [5., 3.5, 0.4] # unwind limit + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4]) LKAS_MAX_TORQUE = 1 # A value of 1 is easy to overpower STEER_THRESHOLD = 1.0 diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index cf43b8ef00..6e2869d1c2 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -1,5 +1,6 @@ -from common.numpy_fast import clip, interp +from common.numpy_fast import clip from opendbc.can.packer import CANPacker +from selfdrive.car import apply_std_steer_angle_limits from selfdrive.car.tesla.teslacan import TeslaCAN from selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams @@ -8,7 +9,7 @@ class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.frame = 0 - self.last_angle = 0 + self.apply_angle_last = 0 self.packer = CANPacker(dbc_name) self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt']) self.tesla_can = TeslaCAN(self.packer, self.pt_packer) @@ -24,20 +25,15 @@ class CarController: lkas_enabled = CC.latActive and not hands_on_fault if lkas_enabled: - apply_angle = actuators.steeringAngleDeg - # Angular rate limit based on speed - steer_up = self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle) - rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN - max_angle_diff = interp(CS.out.vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points) - apply_angle = clip(apply_angle, self.last_angle - max_angle_diff, self.last_angle + max_angle_diff) + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) # To not fault the EPS apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20) else: apply_angle = CS.out.steeringAngleDeg - self.last_angle = apply_angle + self.apply_angle_last = apply_angle can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame)) # Longitudinal control (in sync with stock message, about 40Hz) diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 750fe885e8..52f2aedf98 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -2,14 +2,13 @@ from collections import namedtuple from typing import Dict, List, Union from cereal import car -from selfdrive.car import dbc_dict +from selfdrive.car import AngleRateLimit, dbc_dict from selfdrive.car.docs_definitions import CarInfo from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) -AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points']) class CAR: @@ -104,8 +103,8 @@ BUTTONS = [ ] class CarControllerParams: - RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15]) - RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4]) + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4]) JERK_LIMIT_MAX = 8 JERK_LIMIT_MIN = -8 ACCEL_TO_SPEED_MULTIPLIER = 3 From e6182cb9aac7f7c9214e09db7af53c6128d54d08 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 8 Dec 2022 20:15:37 -0800 Subject: [PATCH 143/201] fix dependencies for macOS (#26684) * misc changes * sort and remove duplicates * only linux * upgrade to pip 22.3.1 --- poetry.lock | 6 +----- pyproject.toml | 14 +++++--------- update_requirements.sh | 2 +- 3 files changed, 7 insertions(+), 15 deletions(-) diff --git a/poetry.lock b/poetry.lock index 39fb78cf2a..6360f6f3ab 100644 --- a/poetry.lock +++ b/poetry.lock @@ -4414,7 +4414,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "331a7b700c17c618a4f0fa7d0ec3e5b585c1dc467f6f03261c3778f729058f55" +content-hash = "82e450801a9a1de9fd98615d7deb3d8f0aa5bd3ccf0cf8b258cd8f6e6e4c5309" [metadata.files] adal = [ @@ -5420,7 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"pycryptodome-3.15.0-cp35-abi3-win32.whl", hash = "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1"}, {file = "pycryptodome-3.15.0-cp35-abi3-win_amd64.whl", hash = "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9"}, {file = "pycryptodome-3.15.0-pp27-pypy_73-macosx_10_9_x86_64.whl", hash = "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f"}, diff --git a/pyproject.toml b/pyproject.toml index d26fc7ff1d..a20868d877 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -12,7 +12,7 @@ documentation = "https://docs.comma.ai" [tool.poetry.dependencies] python = "~3.8" atomicwrites = "^1.4.0" -casadi = { version = "==3.5.5", markers = "platform_system != 'Darwin'" } +casadi = { version = "==3.5.5", platform = "linux" } cffi = "^1.15.1" crcmod = "^1.7" cryptography = "^37.0.4" @@ -29,7 +29,7 @@ libusb1 = "^3.0.0" nose = "^1.3.7" numpy = "^1.23.0" onnx = "^1.12.0" -onnxruntime-gpu = { version = "^1.11.1", markers = "platform_system != 'Darwin'" } +onnxruntime-gpu = { version = "^1.11.1", platform = "linux" } pillow = "^9.2.0" poetry = "==1.2.2" protobuf = "==3.20.1" @@ -50,20 +50,20 @@ setproctitle = "^1.2.3" six = "^1.16.0" smbus2 = "^0.4.2" sounddevice = "^0.4.5" +spidev = { version = "^3.6", platform = "linux" } sympy = "^1.10.1" timezonefinder = "^6.0.1" tqdm = "^4.64.0" urllib3 = "^1.26.10" utm = "^0.7.0" websocket_client = "^1.3.3" -spidev = "^3.6" [tool.poetry.group.dev.dependencies] av = "^9.2.0" azure-storage-blob = "~2.1" breathe = "^4.34.0" -carla = "==0.9.13" +carla = { version = "==0.9.13", platform = "linux" } control = "^0.9.2" coverage = "^6.4.1" dictdiffer = "^0.9.0" @@ -81,7 +81,7 @@ mypy = "^0.961" myst-parser = "^0.18.0" natsort = "^8.1.0" numpy = "^1.23.0" -opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" } +opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" } pandas = "^1.4.3" parameterized = "^0.8.1" paramiko = "^2.11.0" @@ -119,7 +119,6 @@ azure-cli-core = "^2.38.0" azure-common = "^1.1.28" azure-core = "^1.24.2" azure-nspkg = "~3.0" -azure-storage-blob = "~2.1" azure-storage-common = "~2.1" azure-storage-nspkg = "~3.1" blosc = "==1.9.2" @@ -143,15 +142,12 @@ jupyter = "^1.0.0" jupyterlab = "^3.4.4" jupyterlab-vim = "^0.15.1" Markdown = "^3.4.1" -mpld3 = "^0.5.8" msgpack-python = "^0.5.6" networkx = "~2.3" nvidia-ml-py3 = "^7.352.0" onnx2torch = "^1.5.4" onnxoptimizer = "^0.3.1" -opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" } osmium = "^3.3.0" -pandas = "^1.4.3" pillow-avif-plugin = "^1.2.2" pipenv = "==2022.10.12" plotly = "^5.9.0" diff --git a/update_requirements.sh b/update_requirements.sh index 9195799ca3..e5dedea7a6 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -45,7 +45,7 @@ fi eval "$(pyenv init --path)" echo "update pip" -pip install pip==22.3 +pip install pip==22.3.1 pip install poetry==1.2.2 poetry config virtualenvs.prefer-active-python true --local From 08b7fa7c4432a5c59e7e733113ebbdcd84f6c152 Mon Sep 17 00:00:00 2001 From: Bin Zhu Date: Thu, 8 Dec 2022 22:33:48 -0600 Subject: [PATCH 144/201] Added old firmware version to support Lexus NX 2020 (#26679) Added old firmware version for Lexus NX 2020 --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 56bb2697c7..cda153e89f 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1659,6 +1659,7 @@ FW_VERSIONS = { b'\x018966378B2100\x00\x00\x00\x00', b'\x018966378B3000\x00\x00\x00\x00', b'\x018966378G3000\x00\x00\x00\x00', + b'\x018966378B2000\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'\x01F152678221\x00\x00\x00\x00\x00\x00', From c3b3c102323c6f00812a765702e96f9f47e1f4e7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 8 Dec 2022 20:57:11 -0800 Subject: [PATCH 145/201] nav: add mapRenderState (#26734) * nav: add mapRenderState * bump cereal * bump again --- cereal | 2 +- selfdrive/navd/map_renderer.cc | 17 +++++++++++++---- selfdrive/navd/map_renderer.h | 2 +- 3 files changed, 15 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index 7765176413..8825337204 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 7765176413c0bb14143fe2469d5390ea0ea61a1e +Subproject commit 88253372042197ac92776cddc35a29d0eb384a3e diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index a9c34b5bd5..904768d101 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -65,7 +65,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT); vipc_server->start_listener(); - pm.reset(new PubMaster({"navThumbnail"})); + pm.reset(new PubMaster({"navThumbnail", "mapRenderState"})); sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}, {"liveLocationKalman"})); timer = new QTimer(this); @@ -122,14 +122,16 @@ bool MapRenderer::loaded() { } void MapRenderer::update() { + double start_t = millis_since_boot(); gl_functions->glClear(GL_COLOR_BUFFER_BIT); m_map->render(); gl_functions->glFlush(); + double end_t = millis_since_boot(); - sendVipc(); + publish((end_t - start_t) / 1000.0); } -void MapRenderer::sendVipc() { +void MapRenderer::publish(const double render_time) { if (!vipc_server || !loaded()) { return; } @@ -139,7 +141,7 @@ void MapRenderer::sendVipc() { VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP); VisionIpcBufExtra extra = { .frame_id = frame_id, - .timestamp_sof = ts, + .timestamp_sof = sm->rcv_time("liveLocationKalman"), .timestamp_eof = ts, }; @@ -173,6 +175,13 @@ void MapRenderer::sendVipc() { pm->send("navThumbnail", msg); } + // Send state msg + MessageBuilder msg; + auto state = msg.initEvent().initMapRenderState(); + state.setLocationMonoTime(sm->rcv_time("liveLocationKalman")); + state.setRenderTime(render_time); + pm->send("mapRenderState", msg); + frame_id++; } diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 7f725c93fe..1c7024361d 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -34,7 +34,7 @@ private: std::unique_ptr vipc_server; std::unique_ptr pm; std::unique_ptr sm; - void sendVipc(); + void publish(const double render_time); QMapboxGLSettings m_settings; QScopedPointer m_map; From 3cc439ce98312bf558c553b8f9477503a9440e26 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 9 Dec 2022 00:00:45 -0500 Subject: [PATCH 146/201] VW MQB: Restore lead car indicator in instrument cluster (#26651) * VW MQB: Lead car indicator in ACC HUD * typo * do this cleanup in another PR --- selfdrive/car/volkswagen/carcontroller.py | 6 +++++- selfdrive/car/volkswagen/carstate.py | 6 ++++++ selfdrive/car/volkswagen/mqbcan.py | 4 ++-- selfdrive/car/volkswagen/pqcan.py | 4 ++-- 4 files changed, 15 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index fff5548671..f9ce2dc326 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -2,6 +2,7 @@ from cereal import car from opendbc.can.packer import CANPacker from common.numpy_fast import clip from common.conversions import Conversions as CV +from common.realtime import DT_CTRL from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.volkswagen import mqbcan, pqcan from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams @@ -88,10 +89,13 @@ class CarController: CS.out.steeringPressed, hud_alert, hud_control)) if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl: + lead_distance = 0 + if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor + lead_distance = 512 if CS.upscale_lead_car_signal else 8 acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) set_speed = hud_control.setSpeed * CV.MS_TO_KPH # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem? can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed, - hud_control.leadVisible)) + lead_distance)) # **** Stock ACC Button Controls **************************************** # diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 263edbfc9d..7ea9aa871b 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -13,6 +13,7 @@ class CarState(CarStateBase): self.CCP = CarControllerParams(CP) self.button_states = {button.event_type: False for button in self.CCP.BUTTONS} self.esp_hold_confirmation = False + self.upscale_lead_car_signal = False def create_button_events(self, pt_cp, buttons): button_events = [] @@ -141,6 +142,9 @@ class CarState(CarStateBase): # Additional safety checks performed in CarInterface. ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0 + # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently + self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"]) + return ret def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type): @@ -281,6 +285,7 @@ class CarState(CarStateBase): ("ESP_Tastung_passiv", "ESP_21"), # Stability control disabled ("ESP_Haltebestaetigung", "ESP_21"), # ESP hold confirmation ("KBI_Handbremse", "Kombi_01"), # Manual handbrake applied + ("KBI_Variante", "Kombi_03"), # Digital/full-screen instrument cluster installed ("TSK_Status", "TSK_06"), # ACC engagement status from drivetrain coordinator ("GRA_Hauptschalter", "GRA_ACC_01"), # ACC button, on/off ("GRA_Abbrechen", "GRA_ACC_01"), # ACC button, cancel @@ -312,6 +317,7 @@ class CarState(CarStateBase): ("Airbag_02", 5), # From J234 Airbag control module ("Kombi_01", 2), # From J285 Instrument cluster ("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active) + ("Kombi_03", 0), # From J285 instrument cluster (not present on older cars, 1Hz when present) ] if CP.transmissionType == TransmissionType.automatic: diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 25a710dbb8..30a51f6fe6 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -96,13 +96,13 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, return commands -def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible): +def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance): values = { "ACC_Status_Anzeige": acc_hud_status, "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36, "ACC_Gesetzte_Zeitluecke": 3, "ACC_Display_Prio": 3, - # TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling + "ACC_Abstandsindex": lead_distance, } return packer.make_can_msg("ACC_02", bus, values) diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 6beb90c092..130f107950 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -77,12 +77,12 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, return commands -def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible): +def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance): values = { "ACA_StaACC": acc_hud_status, "ACA_Zeitluecke": 2, "ACA_V_Wunsch": set_speed, - "ACA_gemZeitl": 8 if lead_visible else 0, + "ACA_gemZeitl": lead_distance, # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke # display/display-prio handling probably needed to stop confusing the instrument cluster # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint From 137beee5560a98ad043208cfbc2628646a12477c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Dec 2022 03:34:29 -0800 Subject: [PATCH 147/201] Toyota: don't log standstill for NO_STOP_TIMER_CAR (#26733) * don't log when no stop timer * updated comment * whoops * subtract tss2, their standstill is real --- selfdrive/car/toyota/carstate.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index fec006fbb4..3be748c4cf 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -6,7 +6,7 @@ from common.realtime import DT_CTRL from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR +from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR class CarState(CarStateBase): @@ -124,7 +124,9 @@ class CarState(CarStateBase): self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2 self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] - ret.cruiseState.standstill = self.pcm_acc_status == 7 + if self.CP.carFingerprint not in (NO_STOP_TIMER_CAR - TSS2_CAR): + # ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request + ret.cruiseState.standstill = self.pcm_acc_status == 7 ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"]) ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6) From 767261e61cd9e50cc93941792bc14c8932321150 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 10 Dec 2022 02:42:43 +0800 Subject: [PATCH 148/201] Cabana: fix header word wrap issue (#26737) --- tools/cabana/historylog.cc | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 5457555db4..ec9a0b011c 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -68,9 +68,11 @@ void HistoryLogModel::updateState() { // HeaderView QSize HeaderView::sectionSizeFromContents(int logicalIndex) const { + int default_size = qMax(100, rect().width() / model()->columnCount()); const QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString(); - const QRect rect = fontMetrics().boundingRect(QRect(0, 0, sectionSize(logicalIndex), 1000), defaultAlignment(), text); - return rect.size() + QSize{10, 6}; + const QRect rect = fontMetrics().boundingRect({0, 0, default_size, 2000}, defaultAlignment(), text); + QSize size = rect.size() + QSize{10, 6}; + return {qMax(size.width(), default_size), size.height()}; } void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalIndex) const { @@ -81,7 +83,7 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI painter->fillRect(rect, bg_role.value()); } QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString(); - painter->drawText(rect.adjusted(5, 3, 5, 3), defaultAlignment(), text); + painter->drawText(rect.adjusted(5, 3, -5, -3), defaultAlignment(), text); } // HistoryLog @@ -90,15 +92,13 @@ HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { model = new HistoryLogModel(this); setModel(model); setHorizontalHeader(new HeaderView(Qt::Horizontal, this)); - horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); - horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents); + horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); verticalHeader()->setVisible(false); setFrameShape(QFrame::NoFrame); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); } int HistoryLog::sizeHintForColumn(int column) const { - // sizeHintForColumn is only called for column 0 (ResizeToContents) - return itemDelegate()->sizeHint(viewOptions(), model->index(0, 0)).width() + 5; + return -1; } From 54529aa7f8b663d38e3b2bedc84f80487238a86b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 9 Dec 2022 13:08:15 -0800 Subject: [PATCH 149/201] UI: add flag for showing map render (#26740) --- selfdrive/ui/qt/onroad.cc | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index fed59ef123..95ad813dff 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -31,6 +31,11 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { split->insertWidget(0, arCam); } + if (getenv("MAP_RENDER_VIEW")) { + CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this); + split->insertWidget(0, map_render); + } + stacked_layout->addWidget(split_wrapper); alerts = new OnroadAlerts(this); From 27dc9c0e79fc88acf88fff56ed119f4f2dc6105f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 9 Dec 2022 13:24:44 -0800 Subject: [PATCH 150/201] nav: add mapRenderState.frameId --- cereal | 2 +- selfdrive/navd/map_renderer.cc | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/cereal b/cereal index 8825337204..609491e539 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 88253372042197ac92776cddc35a29d0eb384a3e +Subproject commit 609491e539cfaf102b23ebb1415cc2d6787cc245 diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 904768d101..9305fdf75c 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -180,6 +180,7 @@ void MapRenderer::publish(const double render_time) { auto state = msg.initEvent().initMapRenderState(); state.setLocationMonoTime(sm->rcv_time("liveLocationKalman")); state.setRenderTime(render_time); + state.setFrameId(frame_id); pm->send("mapRenderState", msg); frame_id++; From 3ff37cca2183e524dbd2f82692b07de324f8bc59 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 9 Dec 2022 14:31:18 -0800 Subject: [PATCH 151/201] map renderer: retry when render fails (#26741) * map renderer: retry when render fails * cleanup --- selfdrive/navd/map_renderer.cc | 26 +++++++++++++++++++++----- 1 file changed, 21 insertions(+), 5 deletions(-) diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 9305fdf75c..047e1bd45d 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -56,6 +56,11 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set m_map->setFramebufferObject(fbo->handle(), fbo->size()); gl_functions->glViewport(0, 0, WIDTH, HEIGHT); + QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) { + // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116 + //LOGD("new state %d", change); + }); + QObject::connect(m_map.data(), &QMapboxGL::mapLoadingFailed, [=](QMapboxGL::MapLoadingFailure err_code, const QString &reason) { LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str()); }); @@ -86,6 +91,19 @@ void MapRenderer::msgUpdate() { bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid(); if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % 10) == 0) { updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2])); + + // TODO: use the static rendering mode + if (!loaded() && frame_id > 0) { + for (int i = 0; i < 5 && !loaded(); i++) { + LOGW("map render retry #%d, %d", i+1, m_map.isNull()); + QApplication::processEvents(QEventLoop::AllEvents, 100); + update(); + } + + if (!loaded()) { + LOGE("failed to render map after retry"); + } + } } } @@ -128,14 +146,12 @@ void MapRenderer::update() { gl_functions->glFlush(); double end_t = millis_since_boot(); - publish((end_t - start_t) / 1000.0); + if ((vipc_server != nullptr) && loaded()) { + publish((end_t - start_t) / 1000.0); + } } void MapRenderer::publish(const double render_time) { - if (!vipc_server || !loaded()) { - return; - } - QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor); uint64_t ts = nanos_since_boot(); VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP); From df6bd0f3924b0bca2b0c0af2b2745675fb27e668 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Dec 2022 18:43:45 -0800 Subject: [PATCH 152/201] cleanup: deprecate lqrState field (#26745) * first commit * clean up * bump cereal * revert angle controller * revert * clean up * revert * bump * bumptomaster --- cereal | 2 +- tools/replay/ui.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index 609491e539..eaf962bceb 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 609491e539cfaf102b23ebb1415cc2d6787cc245 +Subproject commit eaf962bcebee713d26008db30d95c6a713e9fc59 diff --git a/tools/replay/ui.py b/tools/replay/ui.py index bbcd49061e..43cbef5bd6 100755 --- a/tools/replay/ui.py +++ b/tools/replay/ui.py @@ -128,8 +128,8 @@ def ui_thread(addr): sm.update(0) w = sm['controlsState'].lateralControlState.which() - if w == 'lqrState': - angle_steers_k = sm['controlsState'].lateralControlState.lqrState.steeringAngleDeg + if w == 'lqrStateDEPRECATED': + angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg elif w == 'indiState': angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg else: From c1b3d696bc5bdd799a937f569c94e0834230c89e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Dec 2022 21:43:27 -0800 Subject: [PATCH 153/201] controlsd: set steer_limited for angle cars (#26748) * Set steer limited for angle cars * closer to torque threshold --- selfdrive/controls/controlsd.py | 8 ++++++-- selfdrive/controls/lib/latcontrol_angle.py | 2 +- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3840d6e0de..59b6b6c6a0 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -21,7 +21,7 @@ from selfdrive.controls.lib.latcontrol import LatControl from selfdrive.controls.lib.longcontrol import LongControl from selfdrive.controls.lib.latcontrol_pid import LatControlPID from selfdrive.controls.lib.latcontrol_indi import LatControlINDI -from selfdrive.controls.lib.latcontrol_angle import LatControlAngle +from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD from selfdrive.controls.lib.latcontrol_torque import LatControlTorque from selfdrive.controls.lib.events import Events, ET from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert @@ -722,7 +722,11 @@ class Controls: self.last_actuators, can_sends = self.CI.apply(CC) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) CC.actuatorsOutput = self.last_actuators - self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2 + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \ + STEER_ANGLE_SATURATION_THRESHOLD + else: + self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2 force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \ (self.state == State.softDisabling) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 0e5be4a977..1b74fd4186 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -19,7 +19,7 @@ class LatControlAngle(LatControl): angle_steers_des += params.angleOffsetDeg angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD - angle_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited) + angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False) angle_log.steeringAngleDeg = float(CS.steeringAngleDeg) angle_log.steeringAngleDesiredDeg = angle_steers_des return 0, float(angle_steers_des), angle_log From d5ffb90a048d9a6d727e723e3551d5333abddef7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Dec 2022 21:43:55 -0800 Subject: [PATCH 154/201] LatControlAngle: lower saturation check speed (#26749) lower speed for angle --- selfdrive/controls/lib/latcontrol.py | 3 ++- selfdrive/controls/lib/latcontrol_angle.py | 2 ++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py index 78b59fda59..cefbc1078c 100644 --- a/selfdrive/controls/lib/latcontrol.py +++ b/selfdrive/controls/lib/latcontrol.py @@ -11,6 +11,7 @@ class LatControl(ABC): self.sat_count_rate = 1.0 * DT_CTRL self.sat_limit = CP.steerLimitTimer self.sat_count = 0. + self.sat_check_min_speed = 10. # we define the steer torque scale as [-1.0...1.0] self.steer_max = 1.0 @@ -23,7 +24,7 @@ class LatControl(ABC): self.sat_count = 0. def _check_saturation(self, saturated, CS, steer_limited): - if saturated and CS.vEgo > 10. and not steer_limited and not CS.steeringPressed: + if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed: self.sat_count += self.sat_count_rate else: self.sat_count -= self.sat_count_rate diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index 1b74fd4186..e2b0c15fff 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -7,6 +7,8 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees class LatControlAngle(LatControl): + sat_check_min_speed = 5. + def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): angle_log = log.ControlsState.LateralAngleState.new_message() From f3a711953afea1fcebb4c10b1e2462c4032ac147 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 9 Dec 2022 22:56:32 -0800 Subject: [PATCH 155/201] navmodel: check images in replay test (#26747) * move position * log images * enable test * update refs * ignore Co-authored-by: Comma Device --- selfdrive/navd/map_renderer.cc | 30 +++++++---- selfdrive/navd/map_renderer.h | 1 + selfdrive/test/process_replay/compare_logs.py | 2 +- selfdrive/test/process_replay/model_replay.py | 50 +++++++++++-------- .../process_replay/model_replay_ref_commit | 2 +- 5 files changed, 52 insertions(+), 33 deletions(-) diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 047e1bd45d..0fed108045 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -17,6 +17,9 @@ const int NUM_VIPC_BUFFERS = 4; const int EARTH_CIRCUMFERENCE_METERS = 40075000; const int PIXELS_PER_TILE = 256; +const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE"); +const int LLK_DECIMATION = TEST_MODE ? 1 : 10; + float get_zoom_level_for_scale(float lat, float meters_per_pixel) { float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE; float num_tiles = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / meters_per_tile; @@ -89,7 +92,7 @@ void MapRenderer::msgUpdate() { auto orientation = location.getCalibratedOrientationNED(); bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid(); - if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % 10) == 0) { + if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) { updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2])); // TODO: use the static rendering mode @@ -151,6 +154,15 @@ void MapRenderer::update() { } } +void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array &buf) { + MessageBuilder msg; + auto thumbnaild = msg.initEvent().initNavThumbnail(); + thumbnaild.setFrameId(frame_id); + thumbnaild.setTimestampEof(ts); + thumbnaild.setThumbnail(buf); + pm->send("navThumbnail", msg); +} + void MapRenderer::publish(const double render_time) { QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor); uint64_t ts = nanos_since_boot(); @@ -173,7 +185,12 @@ void MapRenderer::publish(const double render_time) { vipc_server->send(buf, &extra); - if (frame_id % 100 == 0) { + // Send thumbnail + if (TEST_MODE) { + // Full image in thumbnails in test mode + kj::Array buffer_kj = kj::heapArray((const capnp::byte*)cap.bits(), cap.sizeInBytes()); + sendThumbnail(ts, buffer_kj); + } else if (frame_id % 100 == 0) { // Write jpeg into buffer QByteArray buffer_bytes; QBuffer buffer(&buffer_bytes); @@ -181,14 +198,7 @@ void MapRenderer::publish(const double render_time) { cap.save(&buffer, "JPG", 50); kj::Array buffer_kj = kj::heapArray((const capnp::byte*)buffer_bytes.constData(), buffer_bytes.size()); - - // Send thumbnail - MessageBuilder msg; - auto thumbnaild = msg.initEvent().initNavThumbnail(); - thumbnaild.setFrameId(frame_id); - thumbnaild.setTimestampEof(ts); - thumbnaild.setThumbnail(buffer_kj); - pm->send("navThumbnail", msg); + sendThumbnail(ts, buffer_kj); } // Send state msg diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 1c7024361d..0019030b6d 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -35,6 +35,7 @@ private: std::unique_ptr pm; std::unique_ptr sm; void publish(const double render_time); + void sendThumbnail(const uint64_t ts, const kj::Array &buf); QMapboxGLSettings m_settings; QScopedPointer m_map; diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index e5e21a6fef..c96e624421 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -80,7 +80,7 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non diff = [] for msg1, msg2 in zip(log1, log2): if msg1.which() != msg2.which(): - print(msg1, msg2) + print(msg1.which(), msg2.which()) raise Exception("msgs not aligned between logs") msg1 = remove_ignored_fields(msg1, ignore_fields) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 1f43bb791a..ce861b37e6 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -23,7 +23,7 @@ from tools.lib.logreader import LogReader TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" SEGMENT = 6 MAX_FRAMES = 100 if PC else 600 -NAV_FRAMES = 20 +NAV_FRAMES = 50 NO_NAV = "NO_NAV" in os.environ # TODO: make map renderer work in CI SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) @@ -43,39 +43,46 @@ def replace_calib(msg, calib): def nav_model_replay(lr): + sm = messaging.SubMaster(['navModel', 'navThumbnail']) pm = messaging.PubMaster(['liveLocationKalman', 'navRoute']) - sock = messaging.sub_sock('navModel', conflate=False, timeout=1000) + + nav = [m for m in lr if m.which() == 'navRoute'] + llk = [m for m in lr if m.which() == 'liveLocationKalman'] + assert len(nav) > 0 and len(llk) >= NAV_FRAMES log_msgs = [] try: + assert "MAPBOX_TOKEN" in os.environ + os.environ['MAP_RENDER_TEST_MODE'] = '1' managed_processes['mapsd'].start() managed_processes['navmodeld'].start() # setup position and route - nav = [m for m in lr if m.which() == 'navRoute'] - llk = [m for m in lr if m.which() == 'liveLocationKalman'] - assert len(nav) > 0 and len(llk) > 0 - - for _ in range(30): + for _ in range(10): for s in (llk, nav): - msg = s[0] - pm.send(msg.which(), msg.as_builder().to_bytes()) - if messaging.recv_one(sock) is not None: + pm.send(s[0].which(), s[0].as_builder().to_bytes()) + sm.update(1000) + if sm.updated['navModel']: break - else: - raise Exception("no navmodeld outputs") + time.sleep(1) + + if not sm.updated['navModel']: + raise Exception("no navmodeld outputs, failed to initialize") + # drain time.sleep(2) - messaging.drain_sock_raw(sock) + sm.update(0) # run replay - for _ in range(NAV_FRAMES): - # 2Hz decimation - for _ in range(10): - pm.send(llk[0].which(), llk[0].as_builder().to_bytes()) - time.sleep(0.1) - with Timeout(5, "timed out waiting for nav model outputs"): - log_msgs.append(messaging.recv_one_retry(sock)) + for n in range(NAV_FRAMES): + pm.send(llk[n].which(), llk[n].as_builder().to_bytes()) + m = messaging.recv_one(sm.sock['navThumbnail']) + assert m is not None, f"no navThumbnail, frame={n}" + log_msgs.append(m) + + m = messaging.recv_one(sm.sock['navModel']) + assert m is not None, f"no navModel response, frame={n}" + log_msgs.append(m) finally: managed_processes['mapsd'].stop() managed_processes['navmodeld'].stop() @@ -212,7 +219,7 @@ if __name__ == "__main__": try: expected_msgs = 2*MAX_FRAMES if not NO_NAV: - expected_msgs += NAV_FRAMES + expected_msgs += NAV_FRAMES*2 cmp_log = list(LogReader(BASE_URL + log_fn))[:expected_msgs] ignore = [ @@ -223,6 +230,7 @@ if __name__ == "__main__": 'driverStateV2.dspExecutionTime', 'navModel.dspExecutionTime', 'navModel.modelExecutionTime', + 'navThumbnail.timestampEof', ] if PC: ignore += [ diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index b58cca1aaf..4dcf0ecbb7 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -4b2c6516cd460ee443b9006f01233168edf3d170 \ No newline at end of file +30dfeed50ac562f99b0aad985bd6b0e6d8188fcb \ No newline at end of file From 84340f07abdef408f3fa29083af2f1a55cd3308e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Dec 2022 23:29:56 -0800 Subject: [PATCH 156/201] LatControlAngle: fix setting saturation check speed (#26752) set in init function --- selfdrive/controls/lib/latcontrol_angle.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py index e2b0c15fff..d692f80b4b 100644 --- a/selfdrive/controls/lib/latcontrol_angle.py +++ b/selfdrive/controls/lib/latcontrol_angle.py @@ -7,7 +7,9 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees class LatControlAngle(LatControl): - sat_check_min_speed = 5. + def __init__(self, CP, CI): + super().__init__(CP, CI) + self.sat_check_min_speed = 5. def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): angle_log = log.ControlsState.LateralAngleState.new_message() From 2545dd195efc164da9561ae9ae2115482eb9f931 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 9 Dec 2022 23:30:41 -0800 Subject: [PATCH 157/201] alert: smaller standstill alert (#26751) smaller standstill alert --- selfdrive/controls/lib/events.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 5578a83a23..9fbf565328 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -500,9 +500,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.resumeRequired: { ET.WARNING: Alert( - "STOPPED", "Press Resume to Exit Standstill", - AlertStatus.userPrompt, AlertSize.mid, + "", + AlertStatus.userPrompt, AlertSize.small, Priority.LOW, VisualAlert.none, AudibleAlert.none, .2), }, From 709f71d5e0bb886f2c7897b5e4831320bd739525 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Sat, 10 Dec 2022 02:35:10 -0500 Subject: [PATCH 158/201] HKG: Add FW for 2022 Kia Telluride (#26750) * HKG: Add FW for 2022 Kia Telluride * only short trans Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1e9d0f7f62..ac441219b2 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -845,6 +845,7 @@ FW_VERSIONS = { b'\xf1\x00LX2_ SCC FHCUP 1.00 1.04 99110-S8100 ', b'\xf1\x00LX2_ SCC FHCUP 1.00 1.05 99110-S8100 ', b'\xf1\x00ON__ FCA FHCUP 1.00 1.02 99110-S9100 ', + b'\xf1\x00ON__ FCA FHCUP 1.00 1.01 99110-S9110 ', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', @@ -858,6 +859,7 @@ FW_VERSIONS = { b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360', b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360', b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320', + b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -880,11 +882,13 @@ FW_VERSIONS = { b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 181105', b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 200720', b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.04 99211-S9100 211227', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', + b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde', b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', From f36a3664b056a3500b68f4b5d7955b13bc8d0e4c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 10 Dec 2022 02:03:40 -0800 Subject: [PATCH 159/201] CarController: log steer sent to the car (#26743) * log value sent to the car * rename * bump * Update ref_commit --- cereal | 2 +- selfdrive/car/body/carcontroller.py | 1 + selfdrive/car/chrysler/carcontroller.py | 1 + selfdrive/car/gm/carcontroller.py | 1 + selfdrive/car/honda/carcontroller.py | 1 + selfdrive/car/hyundai/carcontroller.py | 1 + selfdrive/car/mazda/carcontroller.py | 1 + selfdrive/car/subaru/carcontroller.py | 1 + selfdrive/car/toyota/carcontroller.py | 1 + selfdrive/car/volkswagen/carcontroller.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 11 files changed, 11 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index eaf962bceb..439429cad4 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit eaf962bcebee713d26008db30d95c6a713e9fc59 +Subproject commit 439429cad4d1e2ab874520cb5d4db8b8d978cbde diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py index 0d5d780bd3..00673a7e28 100644 --- a/selfdrive/car/body/carcontroller.py +++ b/selfdrive/car/body/carcontroller.py @@ -85,6 +85,7 @@ class CarController: new_actuators = CC.actuators.copy() new_actuators.accel = torque_l new_actuators.steer = torque_r + new_actuators.steerOutputCan = torque_r self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 879da88123..31cd01b654 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -78,5 +78,6 @@ class CarController: new_actuators = CC.actuators.copy() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX + new_actuators.steerOutputCan = self.apply_steer_last return new_actuators, can_sends diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index a6cd2f19b9..d380abf8e3 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -158,6 +158,7 @@ class CarController: new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX + new_actuators.steerOutputCan = self.apply_steer_last new_actuators.gas = self.apply_gas new_actuators.brake = self.apply_brake diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 66a1485dc6..ab944a30aa 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -262,6 +262,7 @@ class CarController: new_actuators.gas = self.gas new_actuators.brake = self.brake new_actuators.steer = self.last_steer + new_actuators.steerOutputCan = apply_steer self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 3f128b1598..2f95a29e7b 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -186,6 +186,7 @@ class CarController: new_actuators = actuators.copy() new_actuators.steer = apply_steer / self.params.STEER_MAX + new_actuators.steerOutputCan = apply_steer new_actuators.accel = accel self.frame += 1 diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 2add59ccb0..027822cc3f 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -59,6 +59,7 @@ class CarController: new_actuators = CC.actuators.copy() new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + new_actuators.steerOutputCan = apply_steer self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index b5429daef2..a56e63408e 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -87,6 +87,7 @@ class CarController: new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX + new_actuators.steerOutputCan = self.apply_steer_last self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 4ec9500171..1f469c72be 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -158,6 +158,7 @@ class CarController: new_actuators = actuators.copy() new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX + new_actuators.steerOutputCan = apply_steer new_actuators.accel = self.accel new_actuators.gas = self.gas diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index f9ce2dc326..628962de75 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -107,6 +107,7 @@ class CarController: new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX + new_actuators.steerOutputCan = self.apply_steer_last self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"] self.frame += 1 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4641299458..64f1c5d472 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f17412941a0e8229eea308c33189a5bdb1a17ae8 +9876d91c77d3f7611398c43c4d79237cadb01c9c From ba7a4747659a1340cfa7605a916466feb1405d05 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 10 Dec 2022 02:25:16 -0800 Subject: [PATCH 160/201] Toyota: lower stopping speed (#26274) * lower toyota stopping speed * order * Update selfdrive/car/toyota/interface.py * Update ref_commit --- selfdrive/car/toyota/interface.py | 2 ++ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index d3835d175b..8e180e2301 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -225,6 +225,8 @@ class CarInterface(CarInterfaceBase): tune.kiBP = [0., 5., 12., 20., 27.] tune.kiV = [.35, .23, .20, .17, .1] if candidate in TSS2_CAR: + ret.vEgoStopping = 0.25 + ret.vEgoStarting = 0.25 ret.stoppingDecelRate = 0.3 # reach stopping target smoothly else: tune.kpBP = [0., 5., 35.] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 64f1c5d472..57c5efd946 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9876d91c77d3f7611398c43c4d79237cadb01c9c +3523d88432d661ee0d1022e9a4774f3455c832b5 From 4b7b257fdcc7c027993e0d823997305e3f5de284 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 Dec 2022 05:09:07 +0800 Subject: [PATCH 161/201] Cabana: increase cell height of BinaryView and cleanup code (#26754) * setDefaultSectionSize * cleanup --- tools/cabana/binaryview.cc | 34 +++++++++++----------------------- tools/cabana/binaryview.h | 8 +------- 2 files changed, 12 insertions(+), 30 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index aa256b4ce1..b98c75d452 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -10,7 +10,7 @@ // BinaryView -const int CELL_HEIGHT = 26; +const int CELL_HEIGHT = 36; inline int get_bit_index(const QModelIndex &index, bool little_endian) { return index.row() * 8 + (little_endian ? 7 - index.column() : index.column()); @@ -24,14 +24,13 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); verticalHeader()->setSectionsClickable(false); verticalHeader()->setSectionResizeMode(QHeaderView::Fixed); + verticalHeader()->setDefaultSectionSize(CELL_HEIGHT); horizontalHeader()->hide(); - setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents); setFrameShape(QFrame::NoFrame); setShowGrid(false); - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum); setMouseTracking(true); + setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); } void BinaryView::highlight(const Signal *sig) { @@ -57,7 +56,7 @@ void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionF } void BinaryView::mousePressEvent(QMouseEvent *event) { - delegate->setSelectionColor(style()->standardPalette().color(QPalette::Active, QPalette::Highlight)); + delegate->selection_color = (palette().color(QPalette::Active, QPalette::Highlight)); if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) { anchor_index = index; auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); @@ -66,7 +65,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { if (bit_idx == s->lsb || bit_idx == s->msb) { anchor_index = model->bitIndex(bit_idx == s->lsb ? s->msb : s->lsb, true); resize_sig = s; - delegate->setSelectionColor(item->bg_color); + delegate->selection_color = item->bg_color; break; } } @@ -79,8 +78,7 @@ void BinaryView::highlightPosition(const QPoint &pos) { auto item = (BinaryViewModel::Item *)index.internalPointer(); const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); highlight(sig); - sig ? QToolTip::showText(pos, sig->name.c_str(), this, rect()) - : QToolTip::hideText(); + QToolTip::showText(pos, sig ? sig->name.c_str() : "", this, rect()); } } @@ -214,7 +212,7 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i if (orientation == Qt::Vertical) { switch (role) { case Qt::DisplayRole: return section; - case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT); + case Qt::SizeHintRole: return QSize(30, 0); case Qt::TextAlignmentRole: return Qt::AlignCenter; } } @@ -224,16 +222,9 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i // BinaryItemDelegate BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { - // cache fonts and color - small_font.setPointSize(6); + small_font.setPixelSize(8); hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); hex_font.setBold(true); - selection_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight); -} - -QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { - QSize sz = QStyledItemDelegate::sizeHint(option, index); - return {sz.width(), CELL_HEIGHT}; } void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -245,12 +236,10 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->setFont(hex_font); } else if (option.state & QStyle::State_Selected) { painter->fillRect(option.rect, selection_color); - painter->setPen(QApplication::style()->standardPalette().color(QPalette::BrightText)); + painter->setPen(option.palette.color(QPalette::BrightText)); } else if (!item->sigs.isEmpty() && (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig))) { painter->fillRect(option.rect, item->bg_color); - painter->setPen(item->sigs.contains(bin_view->hovered_sig) - ? QApplication::style()->standardPalette().color(QPalette::BrightText) - : Qt::black); + painter->setPen(item->sigs.contains(bin_view->hovered_sig) ? option.palette.color(QPalette::BrightText) : Qt::black); } painter->drawText(option.rect, Qt::AlignCenter, item->val); @@ -258,6 +247,5 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->setFont(small_font); painter->drawText(option.rect, Qt::AlignHCenter | Qt::AlignBottom, item->is_msb ? "MSB" : "LSB"); } - painter->restore(); } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index c37b378e44..e936efc658 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -9,22 +9,16 @@ #include "tools/cabana/dbcmanager.h" class BinaryItemDelegate : public QStyledItemDelegate { - Q_OBJECT - public: BinaryItemDelegate(QObject *parent); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; - QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override; void setSelectionColor(const QColor &color) { selection_color = color; } -private: QFont small_font, hex_font; QColor selection_color; }; class BinaryViewModel : public QAbstractTableModel { - Q_OBJECT - public: BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {} void setMessage(const QString &message_id); @@ -52,7 +46,7 @@ public: private: QString msg_id; - const DBCMsg *dbc_msg; + const DBCMsg *dbc_msg = nullptr; int row_count = 0; const int column_count = 9; }; From 9ffb7a751874ce829b01c23809615a955819b9a6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 11 Dec 2022 05:21:23 +0800 Subject: [PATCH 162/201] Cabana: add button to display all cached data in chart (#26575) * display all data btn * remove timer * update toolbar later * dont update axis y in updateSeries faster get_raw_value * faster update * optimize zoom y axis * cleanup * revert changes to get_raw_value * updateState in eventsMerge * cleanup: * cleanup --- tools/cabana/chartswidget.cc | 75 ++++++++++++++++++++++++++++-------- tools/cabana/chartswidget.h | 5 +++ 2 files changed, 64 insertions(+), 16 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 79b40133a5..0fb19681e9 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -3,7 +3,6 @@ #include #include #include -#include #include #include #include @@ -19,6 +18,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { title_label = new QLabel(); title_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); toolbar->addWidget(title_label); + show_all_values_btn = toolbar->addAction(""); toolbar->addWidget(range_label = new QLabel()); reset_zoom_btn = toolbar->addAction("⟲"); reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)")); @@ -26,7 +26,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { remove_all_btn->setToolTip(tr("Remove all charts")); dock_btn = toolbar->addAction(""); main_layout->addWidget(toolbar); - updateToolBar(); // charts QWidget *charts_container = new QWidget(this); @@ -37,14 +36,16 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { charts_scroll->setWidgetResizable(true); charts_scroll->setWidget(charts_container); charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - main_layout->addWidget(charts_scroll); + max_chart_range = settings.max_chart_x_range; use_dark_theme = palette().color(QPalette::WindowText).value() > palette().color(QPalette::Background).value(); + updateToolBar(); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged); QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState); + QObject::connect(show_all_values_btn, &QAction::triggered, this, &ChartsWidget::showAllData); QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll); QObject::connect(reset_zoom_btn, &QAction::triggered, this, &ChartsWidget::zoomReset); QObject::connect(dock_btn, &QAction::triggered, [this]() { @@ -58,7 +59,7 @@ void ChartsWidget::eventsMerged() { if (auto events = can->events(); events && !events->empty()) { event_range.first = (events->front()->mono_time / (double)1e9) - can->routeStartTime(); event_range.second = (events->back()->mono_time / (double)1e9) - can->routeStartTime(); - updateDisplayRange(); + updateState(); } } @@ -69,8 +70,8 @@ void ChartsWidget::updateDisplayRange() { // reached the end, or seeked to a timestamp out of range. display_range.first = current_sec - 5; } - display_range.first = std::max(display_range.first, event_range.first); - display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second); + display_range.first = std::floor(std::max(display_range.first, event_range.first) * 10.0) / 10.0; + display_range.second = std::floor(std::min(display_range.first + max_chart_range, event_range.second) * 10.0) / 10.0; if (prev_range != display_range) { QFutureSynchronizer future_synchronizer; for (auto c : charts) @@ -100,13 +101,29 @@ void ChartsWidget::updateState() { } const auto &range = is_zoomed ? zoomed_range : display_range; + setUpdatesEnabled(false); for (auto c : charts) { c->setDisplayRange(range.first, range.second); c->scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } + setUpdatesEnabled(true); +} + +void ChartsWidget::showAllData() { + bool switch_to_show_all = max_chart_range == settings.max_chart_x_range; + max_chart_range = switch_to_show_all ? settings.cached_segment_limit * 60 + : settings.max_chart_x_range; + max_chart_range = std::min(max_chart_range, (uint32_t)can->totalSeconds()); + updateToolBar(); + updateState(); } void ChartsWidget::updateToolBar() { + int min_range = std::min(settings.max_chart_x_range, (int)can->totalSeconds()); + bool displaying_all = max_chart_range != min_range; + show_all_values_btn->setText(tr("%1 minutes").arg(max_chart_range / 60)); + show_all_values_btn->setToolTip(tr("Click to display %1 data").arg(displaying_all ? tr("%1 minutes").arg(min_range / 60) : tr("ALL cached"))); + show_all_values_btn->setVisible(!is_zoomed); remove_all_btn->setEnabled(!charts.isEmpty()); reset_zoom_btn->setEnabled(is_zoomed); range_label->setText(is_zoomed ? tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : ""); @@ -232,6 +249,7 @@ void ChartView::addSeries(const QString &msg_id, const Signal *sig) { sigs.push_back({.msg_id = msg_id, .address = address, .source = source, .sig = sig, .series = series}); updateTitle(); updateSeries(sig); + updateAxisY(); } void ChartView::removeSeries(const QString &msg_id, const Signal *sig) { @@ -242,8 +260,7 @@ void ChartView::removeSeries(const QString &msg_id, const Signal *sig) { } bool ChartView::hasSeries(const QString &msg_id, const Signal *sig) const { - auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); - return it != sigs.end(); + return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); } QList::iterator ChartView::removeSeries(const QList::iterator &it) { @@ -261,11 +278,11 @@ QList::iterator ChartView::removeSeries(const QListreplace(s.vals); } } - updateAxisY(); } // auto zoom on yaxis @@ -422,11 +437,39 @@ void ChartView::updateAxisY() { axis_y->setRange(min_y - 1, max_y + 1); } else { double range = max_y - min_y; - axis_y->setRange(min_y - range * 0.05, max_y + range * 0.05); - axis_y->applyNiceNumbers(); + applyNiceNumbers(min_y - range * 0.05, max_y + range * 0.05); } - QTimer::singleShot(0, this, &ChartView::adjustChartMargins); + adjustChartMargins(); +} + +void ChartView::applyNiceNumbers(qreal min, qreal max) { + int tick_count = axis_y->tickCount(); + qreal range = niceNumber((max - min), true); // range with ceiling + qreal step = niceNumber(range / (tick_count - 1), false); + min = qFloor(min / step); + max = qCeil(max / step); + tick_count = int(max - min) + 1; + axis_y->setRange(min * step, max * step); + axis_y->setTickCount(tick_count); +} + +//nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n +qreal ChartView::niceNumber(qreal x, bool ceiling) { + qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x + qreal q = x / z; //q<10 && q>=1; + if (ceiling) { + if (q <= 1.0) q = 1; + else if (q <= 2.0) q = 2; + else if (q <= 5.0) q = 5; + else q = 10; + } else { + if (q < 1.5) q = 1; + else if (q < 3.0) q = 2; + else if (q < 7.0) q = 5; + else q = 10; + } + return q * z; } void ChartView::leaveEvent(QEvent *event) { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 3e3277c5b8..b3a4bcf2a0 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -66,6 +66,8 @@ private: void updateTitle(); void updateFromSettings(); void drawForeground(QPainter *painter, const QRectF &rect) override; + void applyNiceNumbers(qreal min, qreal max); + qreal niceNumber(qreal x, bool ceiling); QValueAxis *axis_x; QValueAxis *axis_y; @@ -102,17 +104,20 @@ private: void zoomReset(); void updateToolBar(); void removeAll(); + void showAllData(); bool eventFilter(QObject *obj, QEvent *event) override; ChartView *findChart(const QString &id, const Signal *sig); QLabel *title_label; QLabel *range_label; bool docking = true; + QAction *show_all_values_btn; QAction *dock_btn; QAction *reset_zoom_btn; QAction *remove_all_btn; QVBoxLayout *charts_layout; QList charts; + uint32_t max_chart_range = 0; bool is_zoomed = false; std::pair event_range; std::pair display_range; From c844680a70c371ad9cf15974662b9cb41d9c30bb Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Sun, 11 Dec 2022 14:01:49 -0800 Subject: [PATCH 163/201] Update measured torque values for EV6 and IONIQ 5 --- selfdrive/car/torque_data/params.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 3b212c6507..eb1a04cee6 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -27,7 +27,7 @@ HONDA PILOT 2017: [1.7262026201812795, 0.9470005614967523, 0.21351430733218763] HONDA RIDGELINE 2017: [1.4146525028237624, 0.7356572861629564, 0.23307177552211328] HYUNDAI ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819] HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171] -HYUNDAI IONIQ 5 2022: [3.172929, 3.0, 0.096019] +HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019] HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] @@ -42,7 +42,7 @@ HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488 HYUNDAI TUCSON HYBRID 4TH GEN: [2.035545, 2.035545, 0.110272] JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185] JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003] -KIA EV6 2022: [3.2, 3.0, 0.05] +KIA EV6 2022: [3.2, 2.093457, 0.05] KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716] KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558] From 7548160dcdc932d1dd433d88574332c4c02be8a4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 11 Dec 2022 14:19:07 -0800 Subject: [PATCH 164/201] update refs for max lat accel change --- selfdrive/test/process_replay/ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 57c5efd946..80385710a9 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3523d88432d661ee0d1022e9a4774f3455c832b5 +6681ca22053b019a65930e76a396535d0cddf39c \ No newline at end of file From c9b8f6457e8973adb37bb7168871b496cb76f43c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 11 Dec 2022 14:19:53 -0800 Subject: [PATCH 165/201] EV6 blinkers (#26618) * right blink * left blink * rm debug * just the support code * revert panda * behind flag --- opendbc | 2 +- selfdrive/car/hyundai/carcontroller.py | 9 +++++++++ selfdrive/car/hyundai/hyundaicanfd.py | 20 +++++++++++++++++++- selfdrive/car/hyundai/interface.py | 4 ++++ selfdrive/car/hyundai/values.py | 2 ++ 5 files changed, 35 insertions(+), 2 deletions(-) diff --git a/opendbc b/opendbc index 94fff4782b..1f8aa057bc 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 94fff4782be263efad10032a612b3c96a120c0b7 +Subproject commit 1f8aa057bc1c96fcf8a2b612a9897ce91e627381 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 2f95a29e7b..ebb67b0e2e 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -83,11 +83,16 @@ class CarController: # tester present - w/ no response (keeps relevant ECU disabled) if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl: + # for longitudinal control, either radar or ADAS driving ECU addr, bus = 0x7d0, 0 if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: addr, bus = 0x730, 5 can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus]) + # for blinkers + if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: + can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5]) + # >90 degree steering fault prevention # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE: @@ -118,6 +123,10 @@ class CarController: if self.frame % 5 == 0 and (not hda2 or hda2_long): can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled)) + # blinkers + if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: + can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, False, False)) + if self.CP.openpilotLongitudinalControl: if hda2: can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame)) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 8b53e7c378..c492e6a5ff 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,7 +1,6 @@ from common.numpy_fast import clip from selfdrive.car.hyundai.values import HyundaiFlags - def get_e_can_bus(CP): # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars # have a different harness than the HDA1 and non-HDA variants in order to split @@ -98,6 +97,25 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) +def create_spas_messages(packer, frame, left_blink, right_blink): + ret = [] + + values = { + } + ret.append(packer.make_can_msg("SPAS1", 5, values)) + + blink = 0 + if left_blink: + blink = 3 + elif right_blink: + blink = 4 + values = { + "BLINKER_CONTROL": blink, + } + ret.append(packer.make_can_msg("SPAS2", 5, values)) + + return ret + def create_adrv_messages(packer, frame): # messages needed to car happy after disabling diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index b9f6b8fc58..e271dc0e7d 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -287,6 +287,10 @@ class CarInterface(CarInterfaceBase): addr, bus = 0x730, 5 disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01') + # for blinkers + if CP.flags & HyundaiFlags.ENABLE_BLINKERS: + disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01') + def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index ac441219b2..41b6a58eca 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -58,6 +58,8 @@ class HyundaiFlags(IntFlag): ALT_LIMITS = 16 + ENABLE_BLINKERS = 32 + class CAR: # Hyundai From 4e3598c9f60e16bc48cbbb3152d74a5d89bebbea Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 12 Dec 2022 07:00:58 +0800 Subject: [PATCH 166/201] Cabana: use opengl to draw the line series. (#26761) --- tools/cabana/chartswidget.cc | 57 ++++++++++++++++-------------------- tools/cabana/chartswidget.h | 8 +---- 2 files changed, 26 insertions(+), 39 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 0fb19681e9..b177bb0b81 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -5,6 +5,7 @@ #include #include #include +#include #include // ChartsWidget @@ -196,15 +197,6 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { chart->layout()->setContentsMargins(0, 0, 0, 0); chart->setMargins(QMargins(20, 11, 11, 11)); - track_line = new QGraphicsLineItem(chart); - track_line->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); - track_ellipse = new QGraphicsEllipseItem(chart); - track_ellipse->setBrush(Qt::darkGray); - value_text = new QGraphicsTextItem(chart); - item_group = scene()->createItemGroup({track_line, track_ellipse, value_text}); - item_group->setZValue(chart->zValue() + 10); - - // title QToolButton *remove_btn = new QToolButton(); remove_btn->setText("X"); remove_btn->setAutoRaise(true); @@ -242,6 +234,7 @@ ChartView::~ChartView() { void ChartView::addSeries(const QString &msg_id, const Signal *sig) { QLineSeries *series = new QLineSeries(this); + series->setUseOpenGL(true); chart()->addSeries(series); series->attachAxis(axis_x); series->attachAxis(axis_y); @@ -454,7 +447,7 @@ void ChartView::applyNiceNumbers(qreal min, qreal max) { axis_y->setTickCount(tick_count); } -//nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n +// nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n qreal ChartView::niceNumber(qreal x, bool ceiling) { qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x qreal q = x / z; //q<10 && q>=1; @@ -473,7 +466,8 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) { } void ChartView::leaveEvent(QEvent *event) { - item_group->setVisible(false); + track_pt = {0, 0}; + scene()->update(); QChartView::leaveEvent(event); } @@ -504,10 +498,9 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { auto rubber = findChild(); bool is_zooming = rubber && rubber->isVisible(); const auto plot_area = chart()->plotArea(); - + track_pt = {0, 0}; if (!is_zooming && plot_area.contains(ev->pos())) { QStringList text_list; - QPointF pos = {}; const double sec = chart()->mapToValue(ev->pos()).x(); for (auto &s : sigs) { QString value = "--"; @@ -516,35 +509,35 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { if (it != s.vals.rend() && it->x() >= axis_x->min()) { value = QString::number(it->y()); auto value_pos = chart()->mapToPosition(*it); - if (value_pos.x() > pos.x()) pos = value_pos; + if (value_pos.x() > track_pt.x()) track_pt = value_pos; } text_list.push_back(QString(" %1 : %2 ").arg(sigs.size() > 1 ? s.sig->name.c_str() : "Value").arg(value)); } - if (pos.x() == 0) pos = ev->pos(); - - QString time = QString::number(chart()->mapToValue(pos).x(), 'f', 3); - value_text->setHtml(QString("
 Time: %1  
%2
") - .arg(time).arg(text_list.join("
"))); - - QRectF text_rect = value_text->boundingRect(); - int text_x = pos.x() + 8; - if ((text_x + text_rect.width()) > plot_area.right()) { - text_x = pos.x() - text_rect.width() - 8; - } - value_text->setPos(text_x, pos.y() - text_rect.height() / 2); - track_line->setLine(pos.x(), plot_area.top(), pos.x(), plot_area.bottom()); - track_ellipse->setRect(pos.x() - 5, pos.y() - 5, 10, 10); - item_group->setVisible(true); + if (track_pt.x() == 0) track_pt = ev->pos(); + QString text = QString("
 Time: %1  
%2
") + .arg(chart()->mapToValue(track_pt).x(), 0, 'f', 3) + .arg(text_list.join("
")); + QPoint pt((int)track_pt.x() + 20, plot_area.top() - 20); + QToolTip::showText(mapToGlobal(pt), text, this, plot_area.toRect()); + scene()->update(); } else { - item_group->setVisible(false); + QToolTip::hideText(); } QChartView::mouseMoveEvent(ev); } void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { qreal x = chart()->mapToPosition(QPointF{can->currentSec(), 0}).x(); + qreal y1 = chart()->plotArea().top() - 2; + qreal y2 = chart()->plotArea().bottom() + 2; painter->setPen(QPen(chart()->titleBrush().color(), 2)); - painter->drawLine(QPointF{x, chart()->plotArea().top() - 2}, QPointF{x, chart()->plotArea().bottom() + 2}); + painter->drawLine(QPointF{x, y1}, QPointF{x, y2}); + if (!track_pt.isNull()) { + painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); + painter->drawLine(QPointF{track_pt.x(), y1}, QPointF{track_pt.x(), y2}); + painter->setBrush(Qt::darkGray); + painter->drawEllipse(track_pt, 5, 5); + } } // SeriesSelector @@ -613,7 +606,7 @@ void SeriesSelector::addSignal(QListWidgetItem *item) { addSeries(data[0], data[1], data[2]); } -void SeriesSelector::addSeries(const QString &id, const QString& msg_name, const QString &sig_name) { +void SeriesSelector::addSeries(const QString &id, const QString &msg_name, const QString &sig_name) { QStringList data({id, msg_name, sig_name}); for (int i = 0; i < chart_series->count(); ++i) { if (chart_series->item(i)->data(Qt::UserRole).toStringList() == data) { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index b3a4bcf2a0..3f9cf877a9 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -4,10 +4,7 @@ #include #include #include -#include -#include #include -#include #include #include #include @@ -71,10 +68,7 @@ private: QValueAxis *axis_x; QValueAxis *axis_y; - QGraphicsItemGroup *item_group; - QGraphicsLineItem *track_line; - QGraphicsEllipseItem *track_ellipse; - QGraphicsTextItem *value_text; + QPointF track_pt; QGraphicsProxyWidget *close_btn_proxy; QGraphicsProxyWidget *manage_btn_proxy; std::pair events_range = {0, 0}; From 160c9ba1d24c8f5190708dd79bd2682fdadcd736 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 11 Dec 2022 15:25:36 -0800 Subject: [PATCH 167/201] Navmodel and driving style: update runner (#26762) * Navmodel and driving style: update runner * No driving style yet * thneedrunner without extra inputs * nav feature ref --- selfdrive/modeld/modeld.cc | 5 +++- selfdrive/modeld/models/driving.cc | 19 ++++++++++++++- selfdrive/modeld/models/driving.h | 10 +++++++- selfdrive/modeld/models/nav.cc | 12 +++++----- selfdrive/modeld/models/nav.h | 23 +++---------------- selfdrive/modeld/models/navmodel.onnx | 4 ++-- selfdrive/modeld/models/navmodel_q.dlc | 4 ++-- selfdrive/modeld/runners/onnxmodel.cc | 18 ++++++++++++++- selfdrive/modeld/runners/onnxmodel.h | 6 +++++ selfdrive/modeld/runners/runmodel.h | 2 ++ selfdrive/modeld/runners/snpemodel.cc | 10 ++++++++ selfdrive/modeld/runners/snpemodel.h | 6 +++++ selfdrive/modeld/runners/thneedmodel.cc | 8 +++++++ selfdrive/modeld/runners/thneedmodel.h | 4 ++++ selfdrive/navd/map_renderer.cc | 10 ++++---- .../process_replay/model_replay_ref_commit | 2 +- 16 files changed, 104 insertions(+), 39 deletions(-) diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index cfc71a0e27..0a8a8d6358 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -15,6 +15,7 @@ #include "common/util.h" #include "system/hardware/hw.h" #include "selfdrive/modeld/models/driving.h" +#include "selfdrive/modeld/models/nav.h" ExitHandler do_exit; @@ -72,6 +73,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl mat3 model_transform_main = {}; mat3 model_transform_extra = {}; bool live_calib_seen = false; + float driving_style[DRIVING_STYLE_LEN] = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0}; + float nav_features[NAV_FEATURE_LEN] = {0}; VisionBuf *buf_main = nullptr; VisionBuf *buf_extra = nullptr; @@ -151,7 +154,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl } double mt1 = millis_since_boot(); - ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, prepare_only); + ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, prepare_only); double mt2 = millis_since_boot(); float model_execution_time = (mt2 - mt1) / 1000.0; diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 9cb216ff19..ac101bfee7 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -46,10 +46,19 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) { #ifdef TRAFFIC_CONVENTION s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN); #endif + +#ifdef DRIVING_STYLE + s->m->addDrivingStyle(s->driving_style, DRIVING_STYLE_LEN); +#endif + +#ifdef NAV + s->m->addNavFeatures(s->nav_features, NAV_FEATURE_LEN); +#endif + } ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, - const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only) { + const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only) { #ifdef DESIRE std::memmove(&s->pulse_desire[0], &s->pulse_desire[DESIRE_LEN], sizeof(float) * DESIRE_LEN*HISTORY_BUFFER_LEN); if (desire_in != NULL) { @@ -67,6 +76,14 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, LOGT("Desire enqueued"); #endif +#ifdef NAV + std::memcpy(s->nav_features, nav_features, sizeof(float)*NAV_FEATURE_LEN); +#endif + +#ifdef DRIVING_STYLE + std::memcpy(s->driving_style, driving_style, sizeof(float)*DRIVING_STYLE_LEN); +#endif + int rhd_idx = is_rhd; s->traffic_convention[rhd_idx] = 1.0; s->traffic_convention[1-rhd_idx] = 0.0; diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index b23691a56a..5734c68cb9 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -14,6 +14,7 @@ #include "common/modeldata.h" #include "common/util.h" #include "selfdrive/modeld/models/commonmodel.h" +#include "selfdrive/modeld/models/nav.h" #include "selfdrive/modeld/runners/run.h" constexpr int FEATURE_LEN = 128; @@ -21,6 +22,7 @@ constexpr int HISTORY_BUFFER_LEN = 99; constexpr int DESIRE_LEN = 8; constexpr int DESIRE_PRED_LEN = 4; constexpr int TRAFFIC_CONVENTION_LEN = 2; +constexpr int DRIVING_STYLE_LEN = 12; constexpr int MODEL_FREQ = 20; constexpr int DISENGAGE_LEN = 5; @@ -259,11 +261,17 @@ struct ModelState { #ifdef TRAFFIC_CONVENTION float traffic_convention[TRAFFIC_CONVENTION_LEN] = {}; #endif +#ifdef DRIVING_STYLE + float driving_style[DRIVING_STYLE_LEN] = {}; +#endif +#ifdef NAV + float nav_features[NAV_FEATURE_LEN] = {}; +#endif }; void model_init(ModelState* s, cl_device_id device_id, cl_context context); ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide, - const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only); + const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only); void model_free(ModelState* s); void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop, const ModelOutput &net_outputs, uint64_t timestamp_eof, diff --git a/selfdrive/modeld/models/nav.cc b/selfdrive/modeld/models/nav.cc index dae87c7ce5..861795e172 100644 --- a/selfdrive/modeld/models/nav.cc +++ b/selfdrive/modeld/models/nav.cc @@ -9,11 +9,11 @@ void navmodel_init(NavModelState* s) { -#ifdef USE_ONNX_MODEL - s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); -#else - s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); -#endif + #ifdef USE_ONNX_MODEL + s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); + #else + s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true); + #endif } NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) { @@ -56,7 +56,7 @@ void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &mo framed.setDspExecutionTime(model_res.dsp_execution_time); framed.setFeatures(to_kj_array_ptr(model_res.features.values)); framed.setDesirePrediction(to_kj_array_ptr(model_res.desire_pred.values)); - fill_plan(framed, model_res.plans.get_best_prediction()); + fill_plan(framed, model_res.plan); pm.send("navModel", msg); } diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h index b469f75987..b2955ad2c5 100644 --- a/selfdrive/modeld/models/nav.h +++ b/selfdrive/modeld/models/nav.h @@ -10,7 +10,6 @@ constexpr int NAV_INPUT_SIZE = 256*256; constexpr int NAV_FEATURE_LEN = 64; constexpr int NAV_DESIRE_LEN = 32; -constexpr int NAV_PLAN_MHP_N = 5; struct NavModelOutputXY { float x; @@ -21,24 +20,8 @@ static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2); struct NavModelOutputPlan { std::array mean; std::array std; - float prob; }; -static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2 + sizeof(float)); - -struct NavModelOutputPlans { - std::array predictions; - - constexpr const NavModelOutputPlan &get_best_prediction() const { - int max_idx = 0; - for (int i = 1; i < predictions.size(); i++) { - if (predictions[i].prob > predictions[max_idx].prob) { - max_idx = i; - } - } - return predictions[max_idx]; - } -}; -static_assert(sizeof(NavModelOutputPlans) == sizeof(NavModelOutputPlan)*NAV_PLAN_MHP_N); +static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2); struct NavModelOutputDesirePrediction { std::array values; @@ -51,12 +34,12 @@ struct NavModelOutputFeatures { static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN); struct NavModelResult { - const NavModelOutputPlans plans; + const NavModelOutputPlan plan; const NavModelOutputDesirePrediction desire_pred; const NavModelOutputFeatures features; float dsp_execution_time; }; -static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlans) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float)); +static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlan) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float)); constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float); constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1; diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx index 60dd8c0e7f..397b8d90e2 100644 --- a/selfdrive/modeld/models/navmodel.onnx +++ b/selfdrive/modeld/models/navmodel.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:eab4b986e14d7d842d6d5487011c329d356fb56995b2ae7dc7188aefe6df9d97 -size 12285002 +oid sha256:9028b36a591763724e95205b48f37f09260b4434fb1f3c6f228db1710a401aa8 +size 12258591 diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc index 7d9b36ed4d..984cf0a553 100644 --- a/selfdrive/modeld/models/navmodel_q.dlc +++ b/selfdrive/modeld/models/navmodel_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:83d53efc40053b02fe7d3da4ef6213a4a5a1ae4d1bd49c121b9beb6a54ea1148 -size 3154868 +oid sha256:bc7ade56bb4f9525c84a46df22252ea1e321a0518cbcef8bdfc76ccd8ad10b41 +size 3154304 diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc index 447d90fd7e..5616a6c9c7 100644 --- a/selfdrive/modeld/runners/onnxmodel.cc +++ b/selfdrive/modeld/runners/onnxmodel.cc @@ -97,6 +97,16 @@ void ONNXModel::addDesire(float *state, int state_size) { desire_state_size = state_size; } +void ONNXModel::addNavFeatures(float *state, int state_size) { + nav_features_input_buf = state; + nav_features_size = state_size; +} + +void ONNXModel::addDrivingStyle(float *state, int state_size) { + driving_style_input_buf = state; + driving_style_size = state_size; +} + void ONNXModel::addTrafficConvention(float *state, int state_size) { traffic_convention_input_buf = state; traffic_convention_size = state_size; @@ -128,7 +138,13 @@ void ONNXModel::execute() { if (desire_input_buf != NULL) { pwrite(desire_input_buf, desire_state_size); } - if (traffic_convention_input_buf != NULL) { + if (nav_features_input_buf != NULL) { + pwrite(nav_features_input_buf, nav_features_size); + } + if (driving_style_input_buf != NULL) { + pwrite(driving_style_input_buf, driving_style_size); + } + if (traffic_convention_input_buf != NULL) { pwrite(traffic_convention_input_buf, traffic_convention_size); } if (calib_input_buf != NULL) { diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h index d5b7bfecf0..9990bf1b45 100644 --- a/selfdrive/modeld/runners/onnxmodel.h +++ b/selfdrive/modeld/runners/onnxmodel.h @@ -10,6 +10,8 @@ public: ~ONNXModel(); void addRecurrent(float *state, int state_size); void addDesire(float *state, int state_size); + void addNavFeatures(float *state, int state_size); + void addDrivingStyle(float *state, int state_size); void addTrafficConvention(float *state, int state_size); void addCalib(float *state, int state_size); void addImage(float *image_buf, int buf_size); @@ -25,6 +27,10 @@ private: int rnn_state_size; float *desire_input_buf = NULL; int desire_state_size; + float *nav_features_input_buf = NULL; + int nav_features_size; + float *driving_style_input_buf = NULL; + int driving_style_size; float *traffic_convention_input_buf = NULL; int traffic_convention_size; float *calib_input_buf = NULL; diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h index c607811401..673ddb50b5 100644 --- a/selfdrive/modeld/runners/runmodel.h +++ b/selfdrive/modeld/runners/runmodel.h @@ -5,6 +5,8 @@ public: virtual ~RunModel() {} virtual void addRecurrent(float *state, int state_size) {} virtual void addDesire(float *state, int state_size) {} + virtual void addNavFeatures(float *state, int state_size) {} + virtual void addDrivingStyle(float *state, int state_size) {} virtual void addTrafficConvention(float *state, int state_size) {} virtual void addCalib(float *state, int state_size) {} virtual void addImage(float *image_buf, int buf_size) {} diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc index ff4adcd8d3..609a7a6657 100644 --- a/selfdrive/modeld/runners/snpemodel.cc +++ b/selfdrive/modeld/runners/snpemodel.cc @@ -153,6 +153,16 @@ void SNPEModel::addDesire(float *state, int state_size) { desireBuffer = this->addExtra(state, state_size, 1); } +void SNPEModel::addNavFeatures(float *state, int state_size) { + navFeatures = state; + navFeaturesBuffer = this->addExtra(state, state_size, 1); +} + +void SNPEModel::addDrivingStyle(float *state, int state_size) { + drivingStyle = state; + drivingStyleBuffer = this->addExtra(state, state_size, 2); +} + void SNPEModel::addCalib(float *state, int state_size) { calib = state; calibBuffer = this->addExtra(state, state_size, 1); diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h index 08ae16c2b1..0d84d1d482 100644 --- a/selfdrive/modeld/runners/snpemodel.h +++ b/selfdrive/modeld/runners/snpemodel.h @@ -28,6 +28,8 @@ public: void addTrafficConvention(float *state, int state_size); void addCalib(float *state, int state_size); void addDesire(float *state, int state_size); + void addDrivingStyle(float *state, int state_size); + void addNavFeatures(float *state, int state_size); void addImage(float *image_buf, int buf_size); void addExtra(float *image_buf, int buf_size); void execute(); @@ -75,6 +77,10 @@ private: std::unique_ptr trafficConventionBuffer; float *desire; std::unique_ptr desireBuffer; + float *navFeatures; + std::unique_ptr navFeaturesBuffer; + float *drivingStyle; + std::unique_ptr drivingStyleBuffer; float *calib; std::unique_ptr calibBuffer; }; diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc index 67db01bb95..4fdd7ca466 100644 --- a/selfdrive/modeld/runners/thneedmodel.cc +++ b/selfdrive/modeld/runners/thneedmodel.cc @@ -24,6 +24,14 @@ void ThneedModel::addDesire(float *state, int state_size) { desire = state; } +void ThneedModel::addDrivingStyle(float *state, int state_size) { + drivingStyle = state; +} + +void ThneedModel::addNavFeatures(float *state, int state_size) { + navFeatures = state; +} + void ThneedModel::addImage(float *image_input_buf, int buf_size) { input = image_input_buf; } diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h index f3f34dc7f4..63712f1d00 100644 --- a/selfdrive/modeld/runners/thneedmodel.h +++ b/selfdrive/modeld/runners/thneedmodel.h @@ -9,6 +9,8 @@ public: void addRecurrent(float *state, int state_size); void addTrafficConvention(float *state, int state_size); void addDesire(float *state, int state_size); + void addNavFeatures(float *state, int state_size); + void addDrivingStyle(float *state, int state_size); void addImage(float *image_buf, int buf_size); void addExtra(float *image_buf, int buf_size); void execute(); @@ -26,6 +28,8 @@ private: // recurrent and desire float *recurrent; float *trafficConvention; + float *drivingStyle; float *desire; + float *navFeatures; }; diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 0fed108045..91f31d06dc 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -70,7 +70,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set if (online) { vipc_server.reset(new VisionIpcServer("navd")); - vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT); + vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH/2, HEIGHT/2); vipc_server->start_listener(); pm.reset(new PubMaster({"navThumbnail", "mapRenderState"})); @@ -177,10 +177,12 @@ void MapRenderer::publish(const double render_time) { uint8_t* dst = (uint8_t*)buf->addr; uint8_t* src = cap.bits(); - // RGB to greyscale + // RGB to greyscale and crop memset(dst, 128, buf->len); - for (int i = 0; i < WIDTH * HEIGHT; i++) { - dst[i] = src[i * 3]; + for (int r = 0; r < HEIGHT/2; r++) { + for (int c = 0; c < WIDTH/2; c++) { + dst[r*WIDTH/2 + c] = src[((HEIGHT/4 + r)*WIDTH + (c+WIDTH/4)) * 3]; + } } vipc_server->send(buf, &extra); diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 4dcf0ecbb7..aa204e0f8a 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -30dfeed50ac562f99b0aad985bd6b0e6d8188fcb \ No newline at end of file +4ff972367fdb9546be68ee0ba0d45cf4f839dae7 From fd91ab6469506ee2afe5db3c8b718433bc9317c6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Dec 2022 02:25:23 +0800 Subject: [PATCH 168/201] Cabana: fix "show plot" button state sync issue (#26769) --- tools/cabana/chartswidget.cc | 24 +++++++++++++----------- tools/cabana/chartswidget.h | 9 ++++----- tools/cabana/detailwidget.cc | 10 ++++------ tools/cabana/detailwidget.h | 2 +- 4 files changed, 22 insertions(+), 23 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index b177bb0b81..b0e6a2a164 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -152,12 +152,12 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); - QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::chartClosed); + QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged); + QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged); charts_layout->insertWidget(0, chart); charts.push_back(chart); } chart->addSeries(id, sig); - emit chartOpened(id, sig); } else if (ChartView *chart = findChart(id, sig)) { chart->removeSeries(id, sig); } @@ -169,11 +169,16 @@ void ChartsWidget::removeChart(ChartView *chart) { charts.removeOne(chart); chart->deleteLater(); updateToolBar(); + emit seriesChanged(); } void ChartsWidget::removeAll() { - for (auto c : charts.toVector()) - removeChart(c); + for (auto c : charts) { + c->deleteLater(); + } + charts.clear(); + updateToolBar(); + emit seriesChanged(); } bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { @@ -227,11 +232,6 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { QObject::connect(manage_btn, &QToolButton::clicked, this, &ChartView::manageSeries); } -ChartView::~ChartView() { - for (auto &s : sigs) - emit seriesRemoved(s.msg_id, s.sig); -} - void ChartView::addSeries(const QString &msg_id, const Signal *sig) { QLineSeries *series = new QLineSeries(this); series->setUseOpenGL(true); @@ -243,6 +243,7 @@ void ChartView::addSeries(const QString &msg_id, const Signal *sig) { updateTitle(); updateSeries(sig); updateAxisY(); + emit seriesAdded(msg_id, sig); } void ChartView::removeSeries(const QString &msg_id, const Signal *sig) { @@ -259,9 +260,10 @@ bool ChartView::hasSeries(const QString &msg_id, const Signal *sig) const { QList::iterator ChartView::removeSeries(const QList::iterator &it) { chart()->removeSeries(it->series); it->series->deleteLater(); - emit seriesRemoved(it->msg_id, it->sig); - + QString msg_id = it->msg_id; + const Signal *sig = it->sig; auto ret = sigs.erase(it); + emit seriesRemoved(msg_id, sig); if (!sigs.isEmpty()) { updateAxisY(); } else { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 3f9cf877a9..1799a25488 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -20,7 +20,6 @@ class ChartView : public QChartView { public: ChartView(QWidget *parent = nullptr); - ~ChartView(); void addSeries(const QString &msg_id, const Signal *sig); void removeSeries(const QString &msg_id, const Signal *sig); bool hasSeries(const QString &msg_id, const Signal *sig) const; @@ -41,6 +40,7 @@ public: signals: void seriesRemoved(const QString &id, const Signal *sig); + void seriesAdded(const QString &id, const Signal *sig); void zoomIn(double min, double max); void zoomReset(); void remove(); @@ -81,16 +81,15 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); void showChart(const QString &id, const Signal *sig, bool show, bool merge); - void removeChart(ChartView *chart); - inline bool isChartOpened(const QString &id, const Signal *sig) { return findChart(id, sig) != nullptr; } + inline bool hasSignal(const QString &id, const Signal *sig) { return findChart(id, sig) != nullptr; } signals: void dock(bool floating); void rangeChanged(double min, double max, bool is_zommed); - void chartOpened(const QString &id, const Signal *sig); - void chartClosed(const QString &id, const Signal *sig); + void seriesChanged(); private: + void removeChart(ChartView *chart); void eventsMerged(); void updateState(); void updateDisplayRange(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index cd1057f7e1..77302b7d38 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -107,8 +107,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart } }); QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab); - QObject::connect(charts, &ChartsWidget::chartOpened, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, true); }); - QObject::connect(charts, &ChartsWidget::chartClosed, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, false); }); + QObject::connect(charts, &ChartsWidget::seriesChanged, this, &DetailWidget::updateChartState); QObject::connect(undo_stack, &QUndoStack::indexChanged, [this]() { if (undo_stack->count() > 0) dbcMsgChanged(); @@ -169,7 +168,7 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { signal_list.push_back(form); } form->setSignal(msg_id, sig); - form->setChartOpened(charts->isChartOpened(msg_id, sig)); + form->setChartOpened(charts->hasSignal(msg_id, sig)); ++i; } if (msg->size != can->lastMessage(msg_id).dat.size()) @@ -212,9 +211,9 @@ void DetailWidget::showForm(const Signal *sig) { setUpdatesEnabled(true); } -void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) { +void DetailWidget::updateChartState() { for (auto f : signal_list) - if (f->msg_id == id && f->sig == sig) f->setChartOpened(opened); + f->setChartOpened(charts->hasSignal(f->msg_id, f->sig)); } void DetailWidget::editMsg() { @@ -334,4 +333,3 @@ WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) { setStyleSheet("QLabel{color:darkGray;}"); } - diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 91127c9b74..d90438cab2 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -35,7 +35,7 @@ public: private: void showForm(const Signal *sig); - void updateChartState(const QString &id, const Signal *sig, bool opened); + void updateChartState(); void showTabBarContextMenu(const QPoint &pt); void addSignal(int start_bit, int size, bool little_endian); void resizeSignal(const Signal *sig, int from, int to); From 881c15c2a62135f62cb58c7f317f36365b6e643c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Dec 2022 02:25:49 +0800 Subject: [PATCH 169/201] Replay: fix possible segfault on exit (#26768) --- tools/replay/replay.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 339e688be1..33541aeb74 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -51,9 +51,9 @@ void Replay::stop() { stream_thread_->wait(); stream_thread_ = nullptr; } - segments_.clear(); camera_server_.reset(nullptr); timeline_future.waitForFinished(); + segments_.clear(); rInfo("shutdown: done"); } From f9599529720e1168eedcfe3594c2ec2501aaf9dd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 12 Dec 2022 12:56:33 -0800 Subject: [PATCH 170/201] nav: build map renderer python lib by default (#26770) Co-authored-by: Comma Device --- selfdrive/navd/SConscript | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index b10684eef3..8a2c2a8a91 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -18,5 +18,4 @@ if arch in ['larch64', 'x86_64']: nav_src = ["main.cc", "map_renderer.cc"] qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11']) - if GetOption('extras'): - qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging']) + qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging']) From 151e0d8c39234f44e00ecf69fcd0cbe01b2b910c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 12 Dec 2022 14:03:09 -0800 Subject: [PATCH 171/201] controlsd: add blinkers to carControl (#26773) * controlsd: add blinkers to carControl * not actuators * update refs --- cereal | 2 +- selfdrive/car/hyundai/carcontroller.py | 2 +- selfdrive/controls/controlsd.py | 5 +++++ selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 8 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index 439429cad4..22b1431132 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 439429cad4d1e2ab874520cb5d4db8b8d978cbde +Subproject commit 22b1431132b038253a24ab3fbbe3af36ef93b95b diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index ebb67b0e2e..5582499f25 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -125,7 +125,7 @@ class CarController: # blinkers if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: - can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, False, False)) + can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker)) if self.CP.openpilotLongitudinalControl: if hda2: diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 59b6b6c6a0..36f0b559c2 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -577,6 +577,11 @@ class Controls: actuators = CC.actuators actuators.longControlState = self.LoC.long_control_state + # Enable blinkers while lane changing + if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off: + CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left + CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right + if CS.leftBlinker or CS.rightBlinker: self.last_blinker_frame = self.sm.frame diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 80385710a9..3f54203f97 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6681ca22053b019a65930e76a396535d0cddf39c \ No newline at end of file +99e9481d03e18a4dcd1eeebbfb24aca1ceb7e1e1 \ No newline at end of file From b1009c7f7d8bebd2d88867f52e792b39904dbff4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Dec 2022 06:44:04 +0800 Subject: [PATCH 172/201] ui: stop vipc thread before the DriverViewWindow is hidden (#26738) --- selfdrive/ui/qt/offroad/driverview.cc | 2 +- selfdrive/ui/qt/widgets/cameraview.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 1377bb3b23..2f366a9b38 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -22,6 +22,7 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { } void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { + cameraView->stopVipcThread(); emit done(); } @@ -35,7 +36,6 @@ void DriverViewScene::showEvent(QShowEvent* event) { } void DriverViewScene::hideEvent(QHideEvent* event) { - // TODO: stop vipc thread ? params.putBool("IsDriverViewEnabled", false); } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 7cc3847f99..f8b97be03e 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -35,6 +35,7 @@ public: void setFrameId(int frame_id) { draw_frame_id = frame_id; } void setStreamType(VisionStreamType type) { requested_stream_type = type; } VisionStreamType getStreamType() { return active_stream_type; } + void stopVipcThread(); signals: void clicked(); @@ -51,7 +52,6 @@ protected: void updateCalibration(const mat3 &calib); void vipcThread(); void clearFrames(); - void stopVipcThread(); bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; From 0d8254e95935f27d7c371ecc4c2d6c9ff8c204d0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Dec 2022 06:47:27 +0800 Subject: [PATCH 173/201] common: add new class OpenPilotPrefix (#26753) * new class OpenPilotPrefix * move random_string to util * rename file * style Co-authored-by: Adeeb Shihadeh --- common/prefix.h | 34 ++++++++++++++++++++++++++++++++++ common/util.cc | 13 +++++++++++++ common/util.h | 1 + release/files_common | 1 + tools/cabana/cabana.cc | 12 ++---------- 5 files changed, 51 insertions(+), 10 deletions(-) create mode 100644 common/prefix.h diff --git a/common/prefix.h b/common/prefix.h new file mode 100644 index 0000000000..f5abe14b2b --- /dev/null +++ b/common/prefix.h @@ -0,0 +1,34 @@ +#pragma once + +#include +#include + +#include "common/params.h" +#include "common/util.h" + +class OpenpilotPrefix { +public: + OpenpilotPrefix(std::string prefix = {}) { + if (prefix.empty()) { + prefix = util::random_string(15); + } + msgq_path = "/dev/shm/" + prefix; + bool ret = util::create_directories(msgq_path, 0777); + assert(ret); + setenv("OPENPILOT_PREFIX", prefix.c_str(), 1); + } + + ~OpenpilotPrefix() { + auto param_path = Params().getParamPath(); + if (util::file_exists(param_path)) { + std::string real_path = util::readlink(param_path); + system(util::string_format("rm %s -rf", real_path.c_str()).c_str()); + unlink(param_path.c_str()); + } + system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str()); + unsetenv("OPENPILOT_PREFIX"); + } + +private: + std::string msgq_path; +}; diff --git a/common/util.cc b/common/util.cc index 010fe8a11a..10dff6a9ea 100644 --- a/common/util.cc +++ b/common/util.cc @@ -10,6 +10,7 @@ #include #include #include +#include #include #ifdef __linux__ @@ -228,6 +229,18 @@ std::string hexdump(const uint8_t* in, const size_t size) { return ss.str(); } +std::string random_string(std::string::size_type length) { + const char* chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ"; + std::mt19937 rg{std::random_device{}()}; + std::uniform_int_distribution pick(0, sizeof(chrs) - 2); + std::string s; + s.reserve(length); + while (length--) { + s += chrs[pick(rg)]; + } + return s; +} + std::string dir_name(std::string const &path) { size_t pos = path.find_last_of("/"); if (pos == std::string::npos) return ""; diff --git a/common/util.h b/common/util.h index b46f7bde4a..028074384e 100644 --- a/common/util.h +++ b/common/util.h @@ -75,6 +75,7 @@ int getenv(const char* key, int default_val); float getenv(const char* key, float default_val); std::string hexdump(const uint8_t* in, const size_t size); +std::string random_string(std::string::size_type length); std::string dir_name(std::string const& path); // **** file fhelpers ***** diff --git a/release/files_common b/release/files_common index 297a7a808e..f438904118 100644 --- a/release/files_common +++ b/release/files_common @@ -146,6 +146,7 @@ selfdrive/debug/vw_mqb_config.py common/SConscript common/version.h +common/prefix.h common/swaglog.h common/swaglog.cc common/statlog.h diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 5e9b255731..51418e293f 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -1,8 +1,7 @@ #include -#include #include -#include +#include "common/prefix.h" #include "selfdrive/ui/qt/util.h" #include "tools/cabana/mainwin.h" @@ -23,12 +22,6 @@ int main(int argc, char *argv[]) { cmd_parser.showHelp(); } - QString uuid = QUuid::createUuid().toString(QUuid::WithoutBraces); - QString msgq_path = "/dev/shm/" + uuid; - - QDir dir; - dir.mkdir(msgq_path); - setenv("OPENPILOT_PREFIX", qPrintable(uuid), 1); const QString route = args.empty() ? DEMO_ROUTE : args.first(); uint32_t replay_flags = REPLAY_FLAG_NONE; @@ -38,6 +31,7 @@ int main(int argc, char *argv[]) { replay_flags |= REPLAY_FLAG_QCAMERA; } + OpenpilotPrefix op_prefix; CANMessages p(&app); int ret = 0; if (p.loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { @@ -45,7 +39,5 @@ int main(int argc, char *argv[]) { w.showMaximized(); ret = app.exec(); } - - dir.rmdir(msgq_path); return ret; } From f49520db0fd343ccca5975ee62d602d09f98d8b0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Dec 2022 06:47:45 +0800 Subject: [PATCH 174/201] Cabana: display all logs in log view (#26659) * fetch more * clear log in showevent * fix wrong time value * check list size * fix canmessages::process * cache all events * improve segment cache * cleanup --- tools/cabana/canmessages.cc | 33 ++++------------ tools/cabana/canmessages.h | 6 +-- tools/cabana/dbcmanager.cc | 1 + tools/cabana/historylog.cc | 75 ++++++++++++++++++++++++++++--------- tools/cabana/historylog.h | 20 ++++++++-- tools/cabana/settings.cc | 9 ----- tools/cabana/settings.h | 2 - tools/replay/replay.cc | 29 +++++++------- tools/replay/replay.h | 7 ++-- 9 files changed, 103 insertions(+), 79 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 9959ba7313..ded8be5fa3 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -1,7 +1,4 @@ #include "tools/cabana/canmessages.h" - -#include - #include "tools/cabana/dbcmanager.h" CANMessages *can = nullptr; @@ -25,6 +22,7 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, uint3 replay = new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this); replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->installEventFilter(event_filter, this); + QObject::connect(replay, &Replay::seekedTo, this, &CANMessages::seekedTo); QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged); QObject::connect(replay, &Replay::streamStarted, this, &CANMessages::streamStarted); if (replay->load()) { @@ -69,17 +67,13 @@ void CANMessages::process(QHash *messages) { } bool CANMessages::eventFilter(const Event *event) { - static std::unique_ptr> new_msgs; + static std::unique_ptr new_msgs = std::make_unique>(); static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { - if (!new_msgs) { - new_msgs.reset(new QHash); - new_msgs->reserve(1000); - } - double current_sec = replay->currentSeconds(); if (counters_begin_sec == 0 || counters_begin_sec >= current_sec) { + new_msgs->clear(); counters.clear(); counters_begin_sec = current_sec; } @@ -87,40 +81,29 @@ bool CANMessages::eventFilter(const Event *event) { auto can_events = event->event.getCan(); for (const auto &c : can_events) { QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16); - - std::lock_guard lk(lock); - auto &list = received_msgs[id]; - while (list.size() > settings.can_msg_log_size) { - list.pop_back(); - } - CanData &data = list.emplace_front(); + CanData &data = (*new_msgs)[id]; data.ts = current_sec; - data.dat.append((char *)c.getDat().begin(), c.getDat().size()); - + data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); data.count = ++counters[id]; if (double delta = (current_sec - counters_begin_sec); delta > 0) { data.freq = data.count / delta; } - (*new_msgs)[id] = data; } double ts = millis_since_boot(); - if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing) { + if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing && !new_msgs->isEmpty()) { // delay posting CAN message if UI thread is busy processing = true; prev_update_ts = ts; // use pointer to avoid data copy in queued connection. emit received(new_msgs.release()); + new_msgs.reset(new QHash); + new_msgs->reserve(100); } } return true; } -const std::deque CANMessages::messages(const QString &id) { - std::lock_guard lk(lock); - return received_msgs[id]; -} - void CANMessages::seekTo(double ts) { replay->seekTo(std::max(double(0), ts), false); counters_begin_sec = 0; diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index f9103aa96b..47f6008686 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -1,8 +1,6 @@ #pragma once #include -#include -#include #include #include @@ -37,7 +35,6 @@ public: inline double totalSeconds() const { return replay->totalSeconds(); } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } inline double currentSec() const { return replay->currentSeconds(); } - const std::deque messages(const QString &id); inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; } inline const Route* route() const { return replay->route(); } @@ -48,6 +45,7 @@ public: inline const std::vector> getTimeline() { return replay->getTimeline(); } signals: + void seekedTo(double sec); void streamStarted(); void eventsMerged(); void updated(); @@ -62,11 +60,9 @@ protected: void settingChanged(); Replay *replay = nullptr; - std::mutex lock; std::atomic counters_begin_sec = 0; std::atomic processing = false; QHash counters; - QHash> received_msgs; }; inline QString toHex(const QByteArray &dat) { diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 1b33c4cc42..6d59cba7b6 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -99,6 +99,7 @@ void DBCManager::removeSignal(const QString &id, const QString &sig_name) { std::pair DBCManager::parseId(const QString &id) { const auto list = id.split(':'); + if (list.size() != 2) return {0, 0}; return {list[0].toInt(), list[1].toUInt(nullptr, 16)}; } diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index ec9a0b011c..37001dd582 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -5,14 +5,19 @@ // HistoryLogModel +HistoryLogModel::HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) { + QObject::connect(can, &CANMessages::seekedTo, [this]() { + if (!msg_id.isEmpty()) setMessage(msg_id); + }); +} + QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { const auto &m = messages[index.row()]; if (index.column() == 0) { - return QString::number(m.ts, 'f', 2); + return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2); } - return !sigs.empty() ? QString::number(get_raw_value((uint8_t *)m.dat.data(), m.dat.size(), *sigs[index.column() - 1])) - : toHex(m.dat); + return !sigs.empty() ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data); } else if (role == Qt::FontRole && index.column() == 1 && sigs.empty()) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); } @@ -24,6 +29,7 @@ void HistoryLogModel::setMessage(const QString &message_id) { msg_id = message_id; sigs.clear(); messages.clear(); + has_more_data = true; if (auto dbc_msg = dbc()->msg(message_id)) { sigs = dbc_msg->getSignals(); } @@ -48,23 +54,60 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i } void HistoryLogModel::updateState() { - int prev_row_count = messages.size(); if (!msg_id.isEmpty()) { - messages = can->messages(msg_id); - } - int delta = messages.size() - prev_row_count; - if (delta > 0) { - beginInsertRows({}, prev_row_count, messages.size() - 1); - endInsertRows(); - } else if (delta < 0) { - beginRemoveRows({}, messages.size(), prev_row_count - 1); - endRemoveRows(); + uint64_t last_mono_time = messages.empty() ? 0 : messages.front().mono_time; + auto new_msgs = fetchData(last_mono_time, (can->currentSec() + can->routeStartTime()) * 1e9); + if ((has_more_data = !new_msgs.empty())) { + beginInsertRows({}, 0, new_msgs.size() - 1); + messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); + endInsertRows(); + } } +} + +void HistoryLogModel::fetchMore(const QModelIndex &parent) { if (!messages.empty()) { - emit dataChanged(index(0, 0), index(rowCount() - 1, columnCount() - 1), {Qt::DisplayRole}); + auto new_msgs = fetchData(0, messages.back().mono_time); + if ((has_more_data = !new_msgs.empty())) { + beginInsertRows({}, messages.size(), messages.size() + new_msgs.size() - 1); + messages.insert(messages.end(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); + endInsertRows(); + } } } +std::deque HistoryLogModel::fetchData(uint64_t min_mono_time, uint64_t max_mono_time) { + auto events = can->events(); + auto it = std::lower_bound(events->begin(), events->end(), max_mono_time, [=](auto &e, uint64_t ts) { + return e->mono_time < ts; + }); + if (it == events->end() || it == events->begin()) + return {}; + + std::deque msgs; + const auto [src, address] = DBCManager::parseId(msg_id); + uint32_t cnt = 0; + for (--it; it != events->begin() && (*it)->mono_time > min_mono_time; --it) { + if ((*it)->which == cereal::Event::Which::CAN) { + for (const auto &c : (*it)->event.getCan()) { + if (src == c.getSrc() && address == c.getAddress()) { + const auto dat = c.getDat(); + auto &m = msgs.emplace_back(); + m.mono_time = (*it)->mono_time; + m.data.append((char *)dat.begin(), dat.size()); + m.sig_values.reserve(sigs.size()); + for (const Signal *sig : sigs) { + m.sig_values.push_back(get_raw_value((uint8_t *)dat.begin(), dat.size(), *sig)); + } + if (++cnt >= batch_size && min_mono_time == 0) + return msgs; + } + } + } + } + return msgs; +} + // HeaderView QSize HeaderView::sectionSizeFromContents(int logicalIndex) const { @@ -98,7 +141,3 @@ HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { setFrameShape(QFrame::NoFrame); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); } - -int HistoryLog::sizeHintForColumn(int column) const { - return -1; -} diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 9ca6f427c7..5a9903823f 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -15,17 +16,27 @@ public: class HistoryLogModel : public QAbstractTableModel { public: - HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {} + HistoryLogModel(QObject *parent); void setMessage(const QString &message_id); void updateState(); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; + void fetchMore(const QModelIndex &parent) override; + inline bool canFetchMore(const QModelIndex &parent) const override { return has_more_data; } int rowCount(const QModelIndex &parent = QModelIndex()) const override { return messages.size(); } int columnCount(const QModelIndex &parent = QModelIndex()) const override { return std::max(1ul, sigs.size()) + 1; } -private: + struct Message { + uint64_t mono_time = 0; + QVector sig_values; + QByteArray data; + }; + + std::deque fetchData(uint64_t min_mono_time, uint64_t max_mono_time); QString msg_id; - std::deque messages; + bool has_more_data = true; + const int batch_size = 50; + std::deque messages; std::vector sigs; }; @@ -36,6 +47,7 @@ public: void updateState() { model->updateState(); } private: - int sizeHintForColumn(int column) const override; + int sizeHintForColumn(int column) const override { return -1; }; + void showEvent(QShowEvent *event) override { model->setMessage(model->msg_id); }; HistoryLogModel *model; }; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index c90830973b..63e26f3808 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -15,7 +15,6 @@ Settings::Settings() { void Settings::save() { QSettings s("settings", QSettings::IniFormat); s.setValue("fps", fps); - s.setValue("log_size", can_msg_log_size); s.setValue("cached_segment", cached_segment_limit); s.setValue("chart_height", chart_height); s.setValue("max_chart_x_range", max_chart_x_range); @@ -26,7 +25,6 @@ void Settings::save() { void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); - can_msg_log_size = s.value("log_size", 50).toInt(); cached_segment_limit = s.value("cached_segment", 3).toInt(); chart_height = s.value("chart_height", 200).toInt(); max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); @@ -46,12 +44,6 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { fps->setValue(settings.fps); form_layout->addRow("FPS", fps); - log_size = new QSpinBox(this); - log_size->setRange(50, 500); - log_size->setSingleStep(10); - log_size->setValue(settings.can_msg_log_size); - form_layout->addRow(tr("Signal history log size"), log_size); - cached_segment = new QSpinBox(this); cached_segment->setRange(3, 60); cached_segment->setSingleStep(1); @@ -80,7 +72,6 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { void SettingsDlg::save() { settings.fps = fps->value(); - settings.can_msg_log_size = log_size->value(); settings.cached_segment_limit = cached_segment->value(); settings.chart_height = chart_height->value(); settings.max_chart_x_range = max_chart_x_range->value() * 60; diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index ee6541798d..1db92fe231 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -14,7 +14,6 @@ public: void load(); int fps = 10; - int can_msg_log_size = 50; int cached_segment_limit = 3; int chart_height = 200; int max_chart_x_range = 3 * 60; // 3 minutes @@ -32,7 +31,6 @@ public: SettingsDlg(QWidget *parent); void save(); QSpinBox *fps; - QSpinBox *log_size ; QSpinBox *cached_segment; QSpinBox *chart_height; QSpinBox *max_chart_x_range; diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 33541aeb74..a01371abe1 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -109,6 +109,7 @@ void Replay::seekTo(double seconds, bool relative) { cur_mono_time_ = route_start_ts_ + seconds * 1e9; return isSegmentMerged(seg); }); + emit seekedTo(seconds); queueSegment(); } @@ -209,11 +210,17 @@ void Replay::segmentLoadFinished(bool success) { void Replay::queueSegment() { if (segments_.empty()) return; - SegmentMap::iterator cur, end; - cur = end = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first)); - for (int i = 0; end != segments_.end() && i <= segment_cache_limit + FORWARD_FETCH_SEGS; ++i) { + SegmentMap::iterator begin, cur; + begin = cur = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first)); + int distance = std::max(std::ceil(segment_cache_limit / 2.0) - 1, segment_cache_limit - std::distance(cur, segments_.end())); + for (int i = 0; begin != segments_.begin() && i < distance; ++i) { + --begin; + } + auto end = begin; + for (int i = 0; end != segments_.end() && i < segment_cache_limit; ++i) { ++end; } + // load one segment at a time for (auto it = cur; it != end; ++it) { auto &[n, seg] = *it; @@ -227,12 +234,6 @@ void Replay::queueSegment() { } } - const auto &cur_segment = cur->second; - // merge the previous adjacent segment if it's loaded - auto begin = segments_.find(cur_segment->seg_num - 1); - if (begin == segments_.end() || !(begin->second && begin->second->isLoaded())) { - begin = cur; - } mergeSegments(begin, end); // free segments out of current semgnt window. @@ -240,6 +241,7 @@ void Replay::queueSegment() { std::for_each(end, segments_.end(), [](auto &e) { e.second.reset(nullptr); }); // start stream thread + const auto &cur_segment = cur->second; if (stream_thread_ == nullptr && cur_segment->isLoaded()) { startStream(cur_segment.get()); emit streamStarted(); @@ -247,12 +249,13 @@ void Replay::queueSegment() { } void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end) { - // merge 3 segments in sequence. std::vector segments_need_merge; size_t new_events_size = 0; - for (auto it = begin; it != end && it->second && it->second->isLoaded() && segments_need_merge.size() < segment_cache_limit; ++it) { - segments_need_merge.push_back(it->first); - new_events_size += it->second->log->events.size(); + for (auto it = begin; it != end; ++it) { + if (it->second && it->second->isLoaded()) { + segments_need_merge.push_back(it->first); + new_events_size += it->second->log->events.size(); + } } if (segments_need_merge != segments_merged_) { diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 88c285125a..2c68443df0 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -10,7 +10,7 @@ const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; // one segment uses about 100M of memory -constexpr int FORWARD_FETCH_SEGS = 3; +constexpr int MIN_SEGMENTS_CACHE = 5; enum REPLAY_FLAGS { REPLAY_FLAG_NONE = 0x0000, @@ -58,7 +58,7 @@ public: event_filter = filter; } inline int segmentCacheLimit() const { return segment_cache_limit; } - inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(3, n); } + inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(MIN_SEGMENTS_CACHE, n); } inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; } inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; } inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; } @@ -79,6 +79,7 @@ public: signals: void streamStarted(); void segmentsMerged(); + void seekedTo(double sec); protected slots: void segmentLoadFinished(bool success); @@ -133,5 +134,5 @@ protected: float speed_ = 1.0; replayEventFilter event_filter = nullptr; void *filter_opaque = nullptr; - int segment_cache_limit = 3; + int segment_cache_limit = MIN_SEGMENTS_CACHE; }; From 6acf4e26b85b649fa2b239f5958e208fab8cf62c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Dec 2022 07:00:07 +0800 Subject: [PATCH 175/201] sensord: add helper function verify_chip_id to I2CSensor (#25830) --- selfdrive/sensord/sensors/bmx055_accel.cc | 16 ++------------- selfdrive/sensord/sensors/bmx055_gyro.cc | 16 ++------------- selfdrive/sensord/sensors/bmx055_magn.cc | 15 +++----------- selfdrive/sensord/sensors/bmx055_temp.cc | 18 +---------------- selfdrive/sensord/sensors/i2c_sensor.h | 16 ++++++++++++++- selfdrive/sensord/sensors/lsm6ds3_accel.cc | 17 +++------------- selfdrive/sensord/sensors/lsm6ds3_gyro.cc | 17 +++------------- selfdrive/sensord/sensors/lsm6ds3_temp.cc | 22 ++++----------------- selfdrive/sensord/sensors/mmc5603nj_magn.cc | 16 ++------------- 9 files changed, 35 insertions(+), 118 deletions(-) diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/selfdrive/sensord/sensors/bmx055_accel.cc index 78b3ac526d..78f5d64e79 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.cc +++ b/selfdrive/sensord/sensors/bmx055_accel.cc @@ -9,20 +9,8 @@ BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {} int BMX055_Accel::init() { - int ret = 0; - uint8_t buffer[1]; - - ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != BMX055_ACCEL_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID); - ret = -1; - goto fail; - } + int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}); + if (ret == -1) return -1; ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE); if (ret < 0) { diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/selfdrive/sensord/sensors/bmx055_gyro.cc index 9d70b9e431..2a938044f3 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.cc +++ b/selfdrive/sensord/sensors/bmx055_gyro.cc @@ -12,20 +12,8 @@ BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {} int BMX055_Gyro::init() { - int ret = 0; - uint8_t buffer[1]; - - ret =read_register(BMX055_GYRO_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != BMX055_GYRO_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_GYRO_CHIP_ID); - ret = -1; - goto fail; - } + int ret = verify_chip_id(BMX055_GYRO_I2C_REG_ID, {BMX055_GYRO_CHIP_ID}); + if (ret == -1) return -1; ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE); if (ret < 0) { diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/selfdrive/sensord/sensors/bmx055_magn.cc index 394b1e83d3..2f0d10412c 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.cc +++ b/selfdrive/sensord/sensors/bmx055_magn.cc @@ -66,8 +66,6 @@ static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {} int BMX055_Magn::init() { - int ret; - uint8_t buffer[1]; uint8_t trim_x1y1[2] = {0}; uint8_t trim_x2y2[2] = {0}; uint8_t trim_xy1xy2[2] = {0}; @@ -78,25 +76,18 @@ int BMX055_Magn::init() { uint8_t trim_xyz1[2] = {0}; // suspend -> sleep - ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01); + int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01); if(ret < 0) { LOGE("Enabling power failed: %d", ret); goto fail; } util::sleep_for(5); // wait until the chip is powered on - // read chip ID - ret = read_register(BMX055_MAGN_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); + ret = verify_chip_id(BMX055_MAGN_I2C_REG_ID, {BMX055_MAGN_CHIP_ID}); + if (ret == -1) { goto fail; } - if(buffer[0] != BMX055_MAGN_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_MAGN_CHIP_ID); - return -1; - } - // Load magnetometer trim ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2); if(ret < 0) goto fail; diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/selfdrive/sensord/sensors/bmx055_temp.cc index bdb34f1508..95b8068ac1 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.cc +++ b/selfdrive/sensord/sensors/bmx055_temp.cc @@ -9,23 +9,7 @@ BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {} int BMX055_Temp::init() { - int ret = 0; - uint8_t buffer[1]; - - ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != BMX055_ACCEL_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID); - ret = -1; - goto fail; - } - -fail: - return ret; + return verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}) == -1 ? -1 : 0; } bool BMX055_Temp::get_event(MessageBuilder &msg, uint64_t ts) { diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/selfdrive/sensord/sensors/i2c_sensor.h index 0de2a98738..08ca6f09cd 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.h +++ b/selfdrive/sensord/sensors/i2c_sensor.h @@ -2,12 +2,12 @@ #include #include - #include "cereal/gen/cpp/log.capnp.h" #include "common/i2c.h" #include "common/gpio.h" +#include "common/swaglog.h" #include "selfdrive/sensord/sensors/constants.h" #include "selfdrive/sensord/sensors/sensor.h" @@ -33,4 +33,18 @@ public: virtual int init() = 0; virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; virtual int shutdown() = 0; + + int verify_chip_id(uint8_t address, const std::vector &expected_ids) { + uint8_t chip_id = 0; + int ret = read_register(address, &chip_id, 1); + if (ret < 0) { + LOGE("Reading chip ID failed: %d", ret); + return -1; + } + for (int i = 0; i < expected_ids.size(); ++i) { + if (chip_id == expected_ids[i]) return chip_id; + } + LOGE("Chip ID wrong. Got: %d, Expected %d", chip_id, expected_ids[0]); + return -1; + } }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc index c19e3de7ed..c8eeb6e5dc 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc @@ -118,8 +118,6 @@ int LSM6DS3_Accel::self_test(int test_type) { } int LSM6DS3_Accel::init() { - int ret = 0; - uint8_t buffer[1]; uint8_t value = 0; bool do_self_test = false; @@ -128,19 +126,10 @@ int LSM6DS3_Accel::init() { do_self_test = true; } - ret = read_register(LSM6DS3_ACCEL_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != LSM6DS3_ACCEL_CHIP_ID && buffer[0] != LSM6DS3TRC_ACCEL_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_ACCEL_CHIP_ID); - ret = -1; - goto fail; - } + int ret = verify_chip_id(LSM6DS3_ACCEL_I2C_REG_ID, {LSM6DS3_ACCEL_CHIP_ID, LSM6DS3TRC_ACCEL_CHIP_ID}); + if (ret == -1) return -1; - if (buffer[0] == LSM6DS3TRC_ACCEL_CHIP_ID) { + if (ret == LSM6DS3TRC_ACCEL_CHIP_ID) { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc index f306be0fe8..d9f5b4cb6a 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc @@ -107,8 +107,6 @@ int LSM6DS3_Gyro::self_test(int test_type) { } int LSM6DS3_Gyro::init() { - int ret = 0; - uint8_t buffer[1]; uint8_t value = 0; bool do_self_test = false; @@ -117,19 +115,10 @@ int LSM6DS3_Gyro::init() { do_self_test = true; } - ret = read_register(LSM6DS3_GYRO_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != LSM6DS3_GYRO_CHIP_ID && buffer[0] != LSM6DS3TRC_GYRO_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_GYRO_CHIP_ID); - ret = -1; - goto fail; - } + int ret = verify_chip_id(LSM6DS3_GYRO_I2C_REG_ID, {LSM6DS3_GYRO_CHIP_ID, LSM6DS3TRC_GYRO_CHIP_ID}); + if (ret == -1) return -1; - if (buffer[0] == LSM6DS3TRC_GYRO_CHIP_ID) { + if (ret == LSM6DS3TRC_GYRO_CHIP_ID) { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/selfdrive/sensord/sensors/lsm6ds3_temp.cc index 7e1c4d4c81..c2e2c83c1d 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_temp.cc @@ -8,27 +8,13 @@ LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {} int LSM6DS3_Temp::init() { - int ret = 0; - uint8_t buffer[1]; + int ret = verify_chip_id(LSM6DS3_TEMP_I2C_REG_ID, {LSM6DS3_TEMP_CHIP_ID, LSM6DS3TRC_TEMP_CHIP_ID}); + if (ret == -1) return -1; - ret = read_register(LSM6DS3_TEMP_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != LSM6DS3_TEMP_CHIP_ID && buffer[0] != LSM6DS3TRC_TEMP_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_TEMP_CHIP_ID); - ret = -1; - goto fail; - } - - if (buffer[0] == LSM6DS3TRC_TEMP_CHIP_ID) { + if (ret == LSM6DS3TRC_TEMP_CHIP_ID) { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } - -fail: - return ret; + return 0; } bool LSM6DS3_Temp::get_event(MessageBuilder &msg, uint64_t ts) { diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/selfdrive/sensord/sensors/mmc5603nj_magn.cc index 7a9b7a298b..cdb82a4a12 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.cc +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.cc @@ -8,20 +8,8 @@ MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {} int MMC5603NJ_Magn::init() { - int ret = 0; - uint8_t buffer[1]; - - ret = read_register(MMC5603NJ_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != MMC5603NJ_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], MMC5603NJ_CHIP_ID); - ret = -1; - goto fail; - } + int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID}); + if (ret == -1) return -1; // Set 100 Hz ret = set_register(MMC5603NJ_I2C_REG_ODR, 100); From d9fb64f0a15164e323c34f8c59a6950859719167 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 12 Dec 2022 18:02:15 -0500 Subject: [PATCH 176/201] Multilang: add German (#26411) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * initialize de_DE file * German translation (#83) Formatting will be an issue! * update de_DE qm file * Update main_de.ts Fixed the German translations * regen translations * Fix typo (#84) * regen translations * Update selfdrive/ui/translations/main_de.ts Co-authored-by: Kurt Nistelberger * we don't keep these in-tree anymore? * Update main_de.ts Neue Strings ergänzt * update plurals * remove vanished, add new strings * don't translate a brand/service name * capitalize some things, cleanup * capitalize * more cleanup, mark too-long strings * proper (no) capitalization, line wrap * Update selfdrive/ui/translations/main_de.ts Co-authored-by: Shane Smiskol * update translation strings * Updating the German translation (#89) Added new strings and shortened others to fit the UI * compromises for better button fit Co-authored-by: Vrabetz Co-authored-by: CzokNorris Co-authored-by: Kurt Nistelberger Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/languages.json | 1 + selfdrive/ui/translations/main_de.ts | 1113 ++++++++++++++++++++++ 2 files changed, 1114 insertions(+) create mode 100644 selfdrive/ui/translations/main_de.ts diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index 072d320c13..86d3e62d87 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -1,5 +1,6 @@ { "English": "main_en", + "Deutsch": "main_de", "Português": "main_pt-BR", "中文（繁體）": "main_zh-CHT", "中文（简体）": "main_zh-CHS", diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts new file mode 100644 index 0000000000..ecb44557c9 --- /dev/null +++ b/selfdrive/ui/translations/main_de.ts @@ -0,0 +1,1113 @@ + + + + + AbstractAlert + + Close + Schließen + + + Snooze Update + Update pausieren + + + Reboot and Update + Aktualisieren und neu starten + + + + AdvancedNetworking + + Back + Zurück + + + Enable Tethering + Tethering aktivieren + + + Tethering Password + Tethering Passwort + + + EDIT + ÄNDERN + + + Enter new tethering password + Neues tethering Passwort eingeben + + + IP Address + IP Adresse + + + Enable Roaming + Roaming aktivieren + + + APN Setting + APN Einstellungen + + + Enter APN + APN eingeben + + + leave blank for automatic configuration + für automatische Konfiguration leer lassen + + + Cellular Metered + Getaktete Verbindung + + + Prevent large data uploads when on a metered connection + Hochladen großer Dateien über getaktete Verbindungen unterbinden + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + MAX + + + SPEED + Geschwindigkeit + + + LIMIT + LIMIT + + + + ConfirmationDialog + + Ok + Ok + + + Cancel + Abbrechen + + + + DeclinePage + + You must accept the Terms and Conditions in order to use openpilot. + Du musst die Nutzungsbedingungen akzeptieren, um Openpilot zu benutzen. + + + Back + Zurück + + + Decline, uninstall %1 + Ablehnen, deinstallieren %1 + + + + DevicePanel + + Dongle ID + Dongle ID + + + N/A + Nicht verfügbar + + + Serial + Seriennummer + + + Driver Camera + Fahrerkamera + + + PREVIEW + VORSCHAU + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Vorschau der auf den Fahrer gerichteten Kamera, um sicherzustellen, dass die Fahrerüberwachung eine gute Sicht hat. (Fahrzeug muss aus sein) + + + Reset Calibration + Neu kalibrieren + + + RESET + RESET + + + Are you sure you want to reset calibration? + Bist du sicher, dass du die Kalibrierung zurücksetzen möchtest? + + + Review Training Guide + Trainingsanleitung wiederholen + + + REVIEW + TRAINING + + + Review the rules, features, and limitations of openpilot + Wiederhole die Regeln, Fähigkeiten und Limitierungen von Openpilot + + + Are you sure you want to review the training guide? + Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest? + + + Regulatory + Rechtliche Hinweise + + + VIEW + ANSEHEN + + + Change Language + Sprache ändern + + + CHANGE + ÄNDERN + + + Select a language + Sprache wählen + + + Reboot + Neustart + + + Power Off + Ausschalten + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 8° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig. + + + Your device is pointed %1° %2 and %3° %4. + Deine Geräteausrichtung ist %1° %2 und %3° %4. + + + down + unten + + + up + oben + + + left + links + + + right + rechts + + + Are you sure you want to reboot? + Bist du sicher, dass du das Gerät neu starten möchtest? + + + Disengage to Reboot + Für Neustart deaktivieren + + + Are you sure you want to power off? + Bist du sicher, dass du das Gerät ausschalten möchtest? + + + Disengage to Power Off + Zum Ausschalten deaktivieren + + + Reset + Zurücksetzen + + + Review + Überprüfen + + + + DriveStats + + Drives + Fahrten + + + Hours + Stunden + + + ALL TIME + Gesamtzeit + + + PAST WEEK + Letzte Woche + + + KM + KM + + + Miles + Meilen + + + + DriverViewScene + + camera starting + Kamera startet + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + EXPERIMENTELLER MODUS AN + + + CHILL MODE ON + ENTSPANNTER MODUS AN + + + + InputDialog + + Cancel + Abbrechen + + + Need at least %n character(s)! + + Mindestens %n Buchstabe benötigt! + Mindestens %n Buchstaben benötigt! + + + + + Installer + + Installing... + Installiere... + + + Receiving objects: + Empfange Objekte: + + + Resolving deltas: + Unterschiede verarbeiten: + + + Updating files: + Dateien aktualisieren: + + + + MapETA + + eta + Ankunft + + + min + min + + + hr + std + + + km + km + + + mi + mi + + + + MapInstructions + + km + km + + + m + m + + + mi + mi + + + ft + fuß + + + + MapPanel + + Current Destination + Aktuelles Ziel + + + CLEAR + LÖSCHEN + + + Recent Destinations + Letzte Ziele + + + Try the Navigation Beta + Beta Navigation ausprobieren + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + Erhalte echtzeit Wegführung und mehr mit dem comma prime +Abonnement. Melde dich jetzt an: https://connect.comma.ai + + + No home +location set + Keine Heimadresse gesetzt + + + No work +location set + Keine Arbeitsadresse gesetzt + + + no recent destinations + Keine kürzlich gewählten Ziele + + + + MapWindow + + Map Loading + Karte wird geladen + + + Waiting for GPS + Warten auf GPS + + + + MultiOptionDialog + + Select + Auswählen + + + Cancel + Abbrechen + + + + Networking + + Advanced + Erweitert + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + + + Wrong password + Falsches Passwort + + + + OffroadHome + + UPDATE + Aktualisieren + + + ALERTS + HINWEISE + + + ALERT + HINWEIS + + + + PairingPopup + + Pair your device to your comma account + Verbinde dein Gerät mit deinem comma Konto + + + Go to https://connect.comma.ai on your phone + Gehe zu https://connect.comma.ai auf deinem Handy + + + Click "add new device" and scan the QR code on the right + Klicke auf "neues Gerät hinzufügen" und scanne den QR code rechts + + + Bookmark connect.comma.ai to your home screen to use it like an app + Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden + + + + ParamControl + + Cancel + Abbrechen + + + Enable + Aktivieren + + + + PrimeAdWidget + + Upgrade Now + Jetzt abonieren + + + Become a comma prime member at connect.comma.ai + Werde Comma Prime Mitglied auf connect.comma.ai + + + PRIME FEATURES: + PRIME FUNKTIONEN: + + + Remote access + Fernzugriff + + + 1 year of storage + 1 Jahr Speicherplatz + + + Developer perks + Entwickler Vorteile + + + + PrimeUserWidget + + ✓ SUBSCRIBED + ✓ ABBONIERT + + + comma prime + comma prime + + + CONNECT.COMMA.AI + CONNECT.COMMA.AI + + + COMMA POINTS + COMMA PUNKTE + + + + QObject + + Reboot + Neustart + + + Exit + Verlassen + + + dashcam + dashcam + + + openpilot + openpilot + + + %n minute(s) ago + + vor %n Minute + vor %n Minuten + + + + %n hour(s) ago + + vor %n Stunde + vor %n Stunden + + + + %n day(s) ago + + vor %n Tag + vor %n Tagen + + + + + Reset + + Reset failed. Reboot to try again. + Zurücksetzen fehlgeschlagen. Starte das Gerät neu und versuche es wieder. + + + Are you sure you want to reset your device? + Bist du sicher, dass du das Gerät auf Werkseinstellungen zurücksetzen möchtest? + + + Resetting device... + Gerät wird zurückgesetzt... + + + System Reset + System auf Werkseinstellungen zurücksetzen + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + Zurücksetzen auf Werkseinstellungen wurde ausgewählt. Drücke Annehmen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um mit dem Starten des Gerätes fortzufahren. + + + Cancel + Abbrechen + + + Reboot + Neustart + + + Confirm + Bestätigen + + + Unable to mount data partition. Press confirm to reset your device. + Datenpartition kann nicht geöffnet werden. Drücke Annehmen, um dein Gerät auf Werkseinstellungen zurückzusetzen. + + + + SettingsWindow + + × + x + + + Device + Gerät + + + Network + Netzwerk + + + Toggles + Schalter + + + Software + Software + + + Navigation + Navigation + + + + Setup + + WARNING: Low Voltage + Warnung: Batteriespannung niedrig + + + Power your device in a car with a harness or proceed at your own risk. + Versorge dein Gerät über einen Kabelbaum im Auto mit Strom, oder fahre auf eigene Gefahr fort. + + + Power off + Ausschalten + + + Continue + Fortsetzen + + + Getting Started + Loslegen + + + Before we get on the road, let’s finish installation and cover some details. + Bevor wir uns auf die Straße begeben, lass uns die Installation fertigstellen und einige Details prüfen. + + + Connect to Wi-Fi + Mit WLAN verbinden + + + Back + Zurück + + + Continue without Wi-Fi + Ohne WLAN fortsetzen + + + Waiting for internet + Auf Internet warten + + + Choose Software to Install + Software zum installieren auswählen + + + Dashcam + Dashcam + + + Custom Software + Spezifische Software + + + Enter URL + URL eingeben + + + for Custom Software + für spezifische Software + + + Downloading... + Herunterladen... + + + Download Failed + Herunterladen fehlgeschlagen + + + Ensure the entered URL is valid, and the device’s internet connection is good. + Stelle sicher, dass die eingegebene URL korrekt ist und dein Gerät eine stabile Internetverbindung hat. + + + Reboot device + Gerät neustarten + + + Start over + Von neuem beginnen + + + + SetupWidget + + Finish Setup + Einrichtung beenden + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot. + + + Pair device + Gerät koppeln + + + + Sidebar + + CONNECT + This is a brand/service name for comma connect, don't translate + CONNECT + + + OFFLINE + OFFLINE + + + ONLINE + ONLINE + + + ERROR + FEHLER + + + TEMP + TEMP + + + HIGH + HOCH + + + GOOD + GUT + + + OK + OK + + + VEHICLE + FAHRZEUG + + + NO + KEIN + + + PANDA + PANDA + + + GPS + GPS + + + SEARCH + SUCHEN + + + -- + -- + + + Wi-Fi + WLAN + + + ETH + LAN + + + 2G + 2G + + + 3G + 3G + + + LTE + LTE + + + 5G + 5G + + + + SoftwarePanel + + UNINSTALL + Too long for UI + DEINSTALL + + + Uninstall %1 + Deinstalliere %1 + + + Are you sure you want to uninstall? + Bist du sicher, dass du Openpilot entfernen möchtest? + + + CHECK + ÜBERPRÜFEN + + + Updates are only downloaded while the car is off. + Updates werden nur heruntergeladen, wenn das Auto aus ist. + + + Current Version + Aktuelle Version + + + Download + Download + + + Install Update + Update installieren + + + INSTALL + INSTALLIEREN + + + Target Branch + Ziel Branch + + + SELECT + AUSWÄHLEN + + + Select a branch + Wähle einen Branch + + + Uninstall + Deinstallieren + + + + SshControl + + SSH Keys + SSH Schlüssel + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + Warnung: Dies ermöglicht SSH zugriff für alle öffentlichen Schlüssel in deinen Github Einstellungen. Gib niemals einen anderen Benutzernamen, als deinen Eigenen an. Comma Angestellte fragen dich niemals danach ihren Github Benutzernamen hinzuzufügen. + + + ADD + HINZUFÜGEN + + + Enter your GitHub username + Gib deinen GitHub Benutzernamen ein + + + LOADING + LADEN + + + REMOVE + LÖSCHEN + + + Username '%1' has no keys on GitHub + Benutzername '%1' hat keine Schlüssel auf GitHub + + + Request timed out + Zeitüberschreitung der Anforderung + + + Username '%1' doesn't exist on GitHub + Benutzername '%1' existiert nicht auf GitHub + + + + SshToggle + + Enable SSH + SSH aktivieren + + + + TermsPage + + Terms & Conditions + Benutzungsbedingungen + + + Decline + Ablehnen + + + Scroll to accept + Scrolle herunter um zu akzeptieren + + + Agree + Zustimmen + + + + TogglesPanel + + Enable openpilot + Openpilot aktivieren + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + Benutze das Openpilot System als adaptiven Tempomaten und Spurhalteassistenten. Deine Aufmerksamkeit ist jederzeit erforderlich, um diese Funktion zu nutzen. Diese Einstellung wird übernommen, wenn das Auto aus ist. + + + Enable Lane Departure Warnings + Spurverlassenswarnungen aktivieren + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + Erhalte Warnungen, zurück in die Spur zu lenken, wenn dein Auto über eine erkannte Fahrstreifenmarkierung ohne aktivierten Blinker mit mehr als 50 km/h fährt. + + + Use Metric System + Benutze das metrische System + + + Display speed in km/h instead of mph. + Zeige die Geschwindigkeit in km/h anstatt von mph. + + + Record and Upload Driver Camera + Fahrerkamera aufnehmen und hochladen + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + Lade Daten der Fahreraufmerksamkeitsüberwachungskamera hoch, um die Fahreraufmerksamkeitsüberwachungsalgorithmen zu verbessern. + + + When enabled, pressing the accelerator pedal will disengage openpilot. + Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird. + + + Use 24h format instead of am/pm + Benutze das 24Stunden Format anstatt am/pm + + + Show Map on Left Side of UI + Too long for UI + Zeige die Karte auf der linken Seite + + + Show map on left side when in split screen view. + Zeige die Karte auf der linken Seite der Benutzeroberfläche bei geteilten Bildschirm. + + + Show ETA in 24h Format + Too long for UI + Zeige die Ankunftszeit im 24 Stunden Format + + + Experimental Mode + Experimenteller Modus + + + Experimental openpilot Longitudinal Control + Experimenteller Openpilot Tempomat + + + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). + WARNUNG: Der Openpilot Tempomat ist für dieses Auto experimentell und deaktiviert den Notbremsassistenten. + + + Disengage on Accelerator Pedal + Bei Gasbetätigung ausschalten + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. + Bei diesem auto wird standardmäßig der im Auto eingebaute adaptive Tempomat anstelle des Openpilot Tempomats benutzt. Aktiviere diesen Schalter, um zum Openpilot Tempomaten zu wechseln. Es ist empfohlen den Experimentellen Modus bei Nutzung des Openpilot Tempomats zu aktivieren. + + + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: + Openpilot fährt standardmäßig im <b>entspannten Modus</b>. Der Experimentelle Modus aktiviert<b>Alpha-level Funktionen</b>, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden: + + + 🌮 End-to-End Longitudinal Control 🌮 + 🌮 Ende-zu-Ende Tempomat 🌮 + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. + Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten. + + + New Driving Visualization + Neue Fahrvisualisierung + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. + Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten zur Straßengewandten Weitwinkelkamera, um manche Kurven besser zu zeigen. Außerdem wird das Experimenteller Modus logo oben rechts angezeigt. + + + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar, da es den eingebauten adaptiven Tempomaten des Autos benutzt. + + + Enable experimental longitudinal control to allow experimental mode. + Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen. + + + + Updater + + Update Required + Aktualisierung notwendig + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + Eine Aktualisierung des Betriebssystems ist notwendig. Verbinde dein Gerät mit WLAN für ein schnelleres Update. Die Download Größe ist ungefähr 1GB. + + + Connect to Wi-Fi + Mit WLAN verbinden + + + Install + Installieren + + + Back + Zurück + + + Loading... + Laden... + + + Reboot + Neustart + + + Update failed + Aktualisierung fehlgeschlagen + + + + WifiUI + + Scanning for networks... + Suche nach Netzwerken... + + + CONNECTING... + VERBINDEN... + + + FORGET + VERGESSEN + + + Forget Wi-Fi Network "%1"? + WLAN Netzwerk "%1" vergessen? + + + Forget + Vergessen + + + From 91dd9b12cc4e4cd032489ef6a372ce3d81c1c55c Mon Sep 17 00:00:00 2001 From: ajith339 <87100636+ajith339@users.noreply.github.com> Date: Tue, 13 Dec 2022 12:05:48 +1300 Subject: [PATCH 177/201] Corolla 2019 GX New Zealand: add missing FW versions (#26746) Update values.py Added Missing FW --- selfdrive/car/toyota/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index cda153e89f..6a92540f00 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -741,6 +741,7 @@ FW_VERSIONS = { b'\x018966312Q8000\x00\x00\x00\x00', b'\x018966312R0000\x00\x00\x00\x00', b'\x018966312R0100\x00\x00\x00\x00', + b'\x018966312R0200\x00\x00\x00\x00', b'\x018966312R1000\x00\x00\x00\x00', b'\x018966312R1100\x00\x00\x00\x00', b'\x018966312R3100\x00\x00\x00\x00', @@ -794,6 +795,7 @@ FW_VERSIONS = { b'\x01F152612B60\x00\x00\x00\x00\x00\x00', b'\x01F152612B61\x00\x00\x00\x00\x00\x00', b'\x01F152612B62\x00\x00\x00\x00\x00\x00', + b'\x01F152612B70\x00\x00\x00\x00\x00\x00', b'\x01F152612B71\x00\x00\x00\x00\x00\x00', b'\x01F152612B81\x00\x00\x00\x00\x00\x00', b'\x01F152612B90\x00\x00\x00\x00\x00\x00', From 1478aab005b3cd59b3494ad7edc16057cb542999 Mon Sep 17 00:00:00 2001 From: Chris Hart Date: Mon, 12 Dec 2022 15:13:13 -0800 Subject: [PATCH 178/201] SANTA_FE_2022: add missing FW versions (#26759) * added fingerprint for unrecognized 2021 Santa Fe * sorted fingerprints for SANTA_FE_2022 * missed some db56bda387c66164|2022-12-11--10-25-12--0 * revert unnecessary changes * just the shorter query responses Co-authored-by: Chris Hart Co-authored-by: Cameron Clough Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 41b6a58eca..c50b65f101 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -713,12 +713,14 @@ FW_VERSIONS = { b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x82TACVN5GMI3XXXH0A', b'\xf1\x82TMBZN5TMD3XXXG2E', b'\xf1\x82TACVN5GSI3XXXH0A', b'\xf1\x82TMCFD5MMCXXXXG0A', + b'\xf1\x81HM6M1_0a0_G20', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', b'\xf1\x81HM6M2_0a0_G00', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', @@ -743,6 +745,7 @@ FW_VERSIONS = { b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', + b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5', ], }, CAR.SANTA_FE_HEV_2022: { From cc7c2157e51dcb9fec6b76c117f54f80f589de0e Mon Sep 17 00:00:00 2001 From: Michael Burns Date: Mon, 12 Dec 2022 18:26:35 -0500 Subject: [PATCH 179/201] Add missing FW versions for Audi S3/A3 (#26555) * Added fingerprint for Audi S3/A3 * Fixed inconsistent spacing issue * Fixed unit test error due to duplicate value * Changing fwdRadar value back to 00101 from x0101 Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 18a444bf7c..208d146e2f 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -807,6 +807,7 @@ FW_VERSIONS = { b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002', b'\xf1\x878V0906259F \xf1\x890002', + b'\xf1\x878V0906259H \xf1\x890002', b'\xf1\x878V0906259J \xf1\x890002', b'\xf1\x878V0906259K \xf1\x890001', b'\xf1\x878V0906264B \xf1\x890003', @@ -817,6 +818,7 @@ FW_VERSIONS = { b'\xf1\x870CW300044T \xf1\x895245', b'\xf1\x870CW300048 \xf1\x895201', b'\xf1\x870D9300012 \xf1\x894912', + b'\xf1\x870D9300012 \xf1\x894931', b'\xf1\x870D9300012K \xf1\x894513', b'\xf1\x870D9300013B \xf1\x894931', b'\xf1\x870D9300041N \xf1\x894512', @@ -839,12 +841,14 @@ FW_VERSIONS = { b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114', ], (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1', From e6e33531cad4f50c94d5522dc430900828467317 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 12 Dec 2022 16:35:25 -0800 Subject: [PATCH 180/201] camerad: lower cost for OX high gain idxs (#26775) --- system/camerad/cameras/camera_qcom2.cc | 10 +++++++++- system/camerad/cameras/camera_qcom2.h | 2 ++ 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index df5b9e8bf0..091b0d91d9 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -97,11 +97,15 @@ const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x const int ANALOG_GAIN_COST_DELTA_AR0231 = 0; +const float ANALOG_GAIN_COST_LOW_AR0231 = 0.1; +const float ANALOG_GAIN_COST_HIGH_AR0231 = 5.0; const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0; const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x11; // 2.5x const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36; const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1; +const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.05; +const float ANALOG_GAIN_COST_HIGH_OX03C10 = 0.8; const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms @@ -535,6 +539,8 @@ void CameraState::camera_set_parameters() { analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231; analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231; analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_AR0231; + analog_gain_cost_low = ANALOG_GAIN_COST_LOW_AR0231; + analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_AR0231; for (int i=0; i<=analog_gain_max_idx; i++) { sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; } @@ -552,6 +558,8 @@ void CameraState::camera_set_parameters() { analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10; analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10; analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_OX03C10; + analog_gain_cost_low = ANALOG_GAIN_COST_LOW_OX03C10; + analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_OX03C10; for (int i=0; i<=analog_gain_max_idx; i++) { sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; } @@ -1108,7 +1116,7 @@ void CameraState::set_camera_exposure(float grey_frac) { float score = std::abs(desired_ev - (t * gain)) * 10; // Going below recommended gain needs lower penalty to not overexpose - float m = g > analog_gain_rec_idx ? 5.0 : 0.1; + float m = g > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; score += std::abs(g - (int)analog_gain_rec_idx) * m; // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev); diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 150ea0a1c0..9f0c3743f1 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -42,6 +42,8 @@ public: int analog_gain_max_idx; int analog_gain_rec_idx; int analog_gain_cost_delta; + float analog_gain_cost_low; + float analog_gain_cost_high; float cur_ev[3]; float min_ev, max_ev; From e1c739f7091942cf4108b3cc3564c09a7b0404d7 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 13 Dec 2022 01:15:37 +0000 Subject: [PATCH 181/201] athenad: more types (#25877) * add typing hints * missed these * revert functional changes and changes to uploader * remove * try any * add types to test code * try dataclass instead * mypy needs this * comments * remove Any type * remove unused method * cleanup Co-authored-by: Adeeb Shihadeh --- selfdrive/athena/athenad.py | 223 +++++++++++++++---------- selfdrive/athena/tests/test_athenad.py | 10 +- 2 files changed, 140 insertions(+), 93 deletions(-) diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 5b351ca0f5..d1cc4cea83 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -1,4 +1,6 @@ #!/usr/bin/env python3 +from __future__ import annotations + import base64 import bz2 import hashlib @@ -14,14 +16,15 @@ import sys import tempfile import threading import time -from collections import namedtuple +from dataclasses import asdict, dataclass, replace from datetime import datetime from functools import partial -from typing import Any, Dict +from queue import Queue +from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast import requests from jsonrpc import JSONRPCResponseManager, dispatcher -from websocket import (ABNF, WebSocketException, WebSocketTimeoutException, +from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException, create_connection) import cereal.messaging as messaging @@ -54,19 +57,54 @@ WS_FRAME_SIZE = 4096 NetworkType = log.DeviceState.NetworkType +UploadFileDict = Dict[str, Union[str, int, float, bool]] +UploadItemDict = Dict[str, Union[str, bool, int, float, Dict[str, str]]] + +UploadFilesToUrlResponse = Dict[str, Union[int, List[UploadItemDict], List[str]]] + + +@dataclass +class UploadFile: + fn: str + url: str + headers: Dict[str, str] + allow_cellular: bool + + @classmethod + def from_dict(cls, d: Dict) -> UploadFile: + return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False)) + + +@dataclass +class UploadItem: + path: str + url: str + headers: Dict[str, str] + created_at: int + id: Optional[str] + retry_count: int = 0 + current: bool = False + progress: float = 0 + allow_cellular: bool = False + + @classmethod + def from_dict(cls, d: Dict) -> UploadItem: + return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"], + d["progress"], d["allow_cellular"]) + + dispatcher["echo"] = lambda s: s -recv_queue: Any = queue.Queue() -send_queue: Any = queue.Queue() -upload_queue: Any = queue.Queue() -low_priority_send_queue: Any = queue.Queue() -log_recv_queue: Any = queue.Queue() -cancelled_uploads: Any = set() -UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress', 'allow_cellular'], defaults=(0, False, 0, False)) +recv_queue: Queue[str] = queue.Queue() +send_queue: Queue[str] = queue.Queue() +upload_queue: Queue[UploadItem] = queue.Queue() +low_priority_send_queue: Queue[str] = queue.Queue() +log_recv_queue: Queue[str] = queue.Queue() +cancelled_uploads: Set[str] = set() -cur_upload_items: Dict[int, Any] = {} +cur_upload_items: Dict[int, Optional[UploadItem]] = {} -def strip_bz2_extension(fn): +def strip_bz2_extension(fn: str) -> str: if fn.endswith('.bz2'): return fn[:-4] return fn @@ -76,29 +114,30 @@ class AbortTransferException(Exception): pass -class UploadQueueCache(): +class UploadQueueCache: params = Params() @staticmethod - def initialize(upload_queue): + def initialize(upload_queue: Queue[UploadItem]) -> None: try: upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue") if upload_queue_json is not None: for item in json.loads(upload_queue_json): - upload_queue.put(UploadItem(**item)) + upload_queue.put(UploadItem.from_dict(item)) except Exception: cloudlog.exception("athena.UploadQueueCache.initialize.exception") @staticmethod - def cache(upload_queue): + def cache(upload_queue: Queue[UploadItem]) -> None: try: - items = [i._asdict() for i in upload_queue.queue if i.id not in cancelled_uploads] + queue: List[Optional[UploadItem]] = list(upload_queue.queue) + items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)] UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items)) except Exception: cloudlog.exception("athena.UploadQueueCache.cache.exception") -def handle_long_poll(ws): +def handle_long_poll(ws: WebSocket) -> None: end_event = threading.Event() threads = [ @@ -126,7 +165,7 @@ def handle_long_poll(ws): thread.join() -def jsonrpc_handler(end_event): +def jsonrpc_handler(end_event: threading.Event) -> None: dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event) while not end_event.is_set(): try: @@ -147,11 +186,12 @@ def jsonrpc_handler(end_event): def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = True) -> None: - if cur_upload_items[tid].retry_count < MAX_RETRY_COUNT: - item = cur_upload_items[tid] + item = cur_upload_items[tid] + if item is not None and item.retry_count < MAX_RETRY_COUNT: new_retry_count = item.retry_count + 1 if increase_count else item.retry_count - item = item._replace( + item = replace( + item, retry_count=new_retry_count, progress=0, current=False @@ -175,44 +215,44 @@ def upload_handler(end_event: threading.Event) -> None: cur_upload_items[tid] = None try: - cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True) + cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True) - if cur_upload_items[tid].id in cancelled_uploads: - cancelled_uploads.remove(cur_upload_items[tid].id) + if item.id in cancelled_uploads: + cancelled_uploads.remove(item.id) continue # Remove item if too old - age = datetime.now() - datetime.fromtimestamp(cur_upload_items[tid].created_at / 1000) + age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000) if age.total_seconds() > MAX_AGE: - cloudlog.event("athena.upload_handler.expired", item=cur_upload_items[tid], error=True) + cloudlog.event("athena.upload_handler.expired", item=item, error=True) continue # Check if uploading over metered connection is allowed sm.update(0) metered = sm['deviceState'].networkMetered network_type = sm['deviceState'].networkType.raw - if metered and (not cur_upload_items[tid].allow_cellular): + if metered and (not item.allow_cellular): retry_upload(tid, end_event, False) continue try: - def cb(sz, cur): + def cb(sz: int, cur: int) -> None: # Abort transfer if connection changed to metered after starting upload sm.update(0) metered = sm['deviceState'].networkMetered - if metered and (not cur_upload_items[tid].allow_cellular): + if metered and (not item.allow_cellular): raise AbortTransferException - cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1) + cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1) - fn = cur_upload_items[tid].path + fn = item.path try: sz = os.path.getsize(fn) except OSError: sz = -1 - cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=cur_upload_items[tid].retry_count) - response = _do_upload(cur_upload_items[tid], cb) + cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count) + response = _do_upload(item, cb) if response.status_code not in (200, 201, 401, 403, 412): cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered) @@ -234,7 +274,7 @@ def upload_handler(end_event: threading.Event) -> None: cloudlog.exception("athena.upload_handler.exception") -def _do_upload(upload_item, callback=None): +def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> requests.Response: path = upload_item.path compress = False @@ -244,27 +284,25 @@ def _do_upload(upload_item, callback=None): compress = True with open(path, "rb") as f: + data: BinaryIO if compress: cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path) - data = bz2.compress(f.read()) - size = len(data) - data = io.BytesIO(data) + compressed = bz2.compress(f.read()) + size = len(compressed) + data = io.BytesIO(compressed) else: size = os.fstat(f.fileno()).st_size data = f - if callback: - data = CallbackReader(data, callback, size) - return requests.put(upload_item.url, - data=data, + data=CallbackReader(data, callback, size) if callback else data, headers={**upload_item.headers, 'Content-Length': str(size)}, timeout=30) # security: user should be able to request any message from their car @dispatcher.add_method -def getMessage(service=None, timeout=1000): +def getMessage(service: str, timeout: int = 1000) -> Dict: if service is None or service not in service_list: raise Exception("invalid service") @@ -274,7 +312,8 @@ def getMessage(service=None, timeout=1000): if ret is None: raise TimeoutError - return ret.to_dict() + # this is because capnp._DynamicStructReader doesn't have typing information + return cast(Dict, ret.to_dict()) @dispatcher.add_method @@ -288,7 +327,7 @@ def getVersion() -> Dict[str, str]: @dispatcher.add_method -def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=None): +def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optional[str] = None, place_details: Optional[str] = None) -> Dict[str, int]: destination = { "latitude": latitude, "longitude": longitude, @@ -300,8 +339,8 @@ def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=No return {"success": 1} -def scan_dir(path, prefix): - files = list() +def scan_dir(path: str, prefix: str) -> List[str]: + files = [] # only walk directories that match the prefix # (glob and friends traverse entire dir tree) with os.scandir(path) as i: @@ -320,18 +359,18 @@ def scan_dir(path, prefix): return files @dispatcher.add_method -def listDataDirectory(prefix=''): +def listDataDirectory(prefix='') -> List[str]: return scan_dir(ROOT, prefix) @dispatcher.add_method -def reboot(): +def reboot() -> Dict[str, int]: sock = messaging.sub_sock("deviceState", timeout=1000) ret = messaging.recv_one(sock) if ret is None or ret.deviceState.started: raise Exception("Reboot unavailable") - def do_reboot(): + def do_reboot() -> None: time.sleep(2) HARDWARE.reboot() @@ -341,50 +380,53 @@ def reboot(): @dispatcher.add_method -def uploadFileToUrl(fn, url, headers): - return uploadFilesToUrls([{ +def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse: + # this is because mypy doesn't understand that the decorator doesn't change the return type + response: UploadFilesToUrlResponse = uploadFilesToUrls([{ "fn": fn, "url": url, "headers": headers, }]) + return response @dispatcher.add_method -def uploadFilesToUrls(files_data): - items = [] - failed = [] - for file in files_data: - fn = file.get('fn', '') - if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file: - failed.append(fn) +def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlResponse: + files = map(UploadFile.from_dict, files_data) + + items: List[UploadItemDict] = [] + failed: List[str] = [] + for file in files: + if len(file.fn) == 0 or file.fn[0] == '/' or '..' in file.fn or len(file.url) == 0: + failed.append(file.fn) continue - path = os.path.join(ROOT, fn) + path = os.path.join(ROOT, file.fn) if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)): - failed.append(fn) + failed.append(file.fn) continue # Skip item if already in queue - url = file['url'].split('?')[0] + url = file.url.split('?')[0] if any(url == item['url'].split('?')[0] for item in listUploadQueue()): continue item = UploadItem( path=path, - url=file['url'], - headers=file.get('headers', {}), + url=file.url, + headers=file.headers, created_at=int(time.time() * 1000), id=None, - allow_cellular=file.get('allow_cellular', False), + allow_cellular=file.allow_cellular, ) upload_id = hashlib.sha1(str(item).encode()).hexdigest() - item = item._replace(id=upload_id) + item = replace(item, id=upload_id) upload_queue.put_nowait(item) - items.append(item._asdict()) + items.append(asdict(item)) UploadQueueCache.cache(upload_queue) - resp = {"enqueued": len(items), "items": items} + resp: UploadFilesToUrlResponse = {"enqueued": len(items), "items": items} if failed: resp["failed"] = failed @@ -392,32 +434,32 @@ def uploadFilesToUrls(files_data): @dispatcher.add_method -def listUploadQueue(): +def listUploadQueue() -> List[UploadItemDict]: items = list(upload_queue.queue) + list(cur_upload_items.values()) - return [i._asdict() for i in items if (i is not None) and (i.id not in cancelled_uploads)] + return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)] @dispatcher.add_method -def cancelUpload(upload_id): +def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]: if not isinstance(upload_id, list): upload_id = [upload_id] uploading_ids = {item.id for item in list(upload_queue.queue)} cancelled_ids = uploading_ids.intersection(upload_id) if len(cancelled_ids) == 0: - return 404 + return {"success": 0, "error": "not found"} cancelled_uploads.update(cancelled_ids) return {"success": 1} @dispatcher.add_method -def primeActivated(activated): +def primeActivated(activated: bool) -> Dict[str, int]: return {"success": 1} @dispatcher.add_method -def setBandwithLimit(upload_speed_kbps, download_speed_kbps): +def setBandwithLimit(upload_speed_kbps: int, download_speed_kbps: int) -> Dict[str, Union[int, str]]: if not AGNOS: return {"success": 0, "error": "only supported on AGNOS"} @@ -428,7 +470,7 @@ def setBandwithLimit(upload_speed_kbps, download_speed_kbps): return {"success": 0, "error": "failed to set limit", "stdout": e.stdout, "stderr": e.stderr} -def startLocalProxy(global_end_event, remote_ws_uri, local_port): +def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]: try: if local_port not in LOCAL_PORT_WHITELIST: raise Exception("Requested local port not whitelisted") @@ -462,7 +504,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port): @dispatcher.add_method -def getPublicKey(): +def getPublicKey() -> Optional[str]: if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'): return None @@ -471,7 +513,7 @@ def getPublicKey(): @dispatcher.add_method -def getSshAuthorizedKeys(): +def getSshAuthorizedKeys() -> str: return Params().get("GithubSshKeys", encoding='utf8') or '' @@ -486,7 +528,7 @@ def getNetworkType(): @dispatcher.add_method -def getNetworkMetered(): +def getNetworkMetered() -> bool: network_type = HARDWARE.get_network_type() return HARDWARE.get_network_metered(network_type) @@ -497,7 +539,7 @@ def getNetworks(): @dispatcher.add_method -def takeSnapshot(): +def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]: from system.camerad.snapshot.snapshot import jpeg_write, snapshot ret = snapshot() if ret is not None: @@ -514,16 +556,19 @@ def takeSnapshot(): raise Exception("not available while camerad is started") -def get_logs_to_send_sorted(): +def get_logs_to_send_sorted() -> List[str]: # TODO: scan once then use inotify to detect file creation/deletion curr_time = int(time.time()) logs = [] for log_entry in os.listdir(SWAGLOG_DIR): log_path = os.path.join(SWAGLOG_DIR, log_entry) + time_sent = 0 try: - time_sent = int.from_bytes(getxattr(log_path, LOG_ATTR_NAME), sys.byteorder) + value = getxattr(log_path, LOG_ATTR_NAME) + if value is not None: + time_sent = int.from_bytes(value, sys.byteorder) except (ValueError, TypeError): - time_sent = 0 + pass # assume send failed and we lost the response if sent more than one hour ago if not time_sent or curr_time - time_sent > 3600: logs.append(log_entry) @@ -531,7 +576,7 @@ def get_logs_to_send_sorted(): return sorted(logs)[:-1] -def log_handler(end_event): +def log_handler(end_event: threading.Event) -> None: if PC: return @@ -593,7 +638,7 @@ def log_handler(end_event): cloudlog.exception("athena.log_handler.exception") -def stat_handler(end_event): +def stat_handler(end_event: threading.Event) -> None: while not end_event.is_set(): last_scan = 0 curr_scan = sec_since_boot() @@ -619,7 +664,7 @@ def stat_handler(end_event): time.sleep(0.1) -def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event): +def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None: while not (end_event.is_set() or global_end_event.is_set()): try: data = ws.recv() @@ -638,7 +683,7 @@ def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event): end_event.set() -def ws_proxy_send(ws, local_sock, signal_sock, end_event): +def ws_proxy_send(ws: WebSocket, local_sock: socket.socket, signal_sock: socket.socket, end_event: threading.Event) -> None: while not end_event.is_set(): try: r, _, _ = select.select((local_sock, signal_sock), (), ()) @@ -663,7 +708,7 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event): cloudlog.debug("athena.ws_proxy_send done closing sockets") -def ws_recv(ws, end_event): +def ws_recv(ws: WebSocket, end_event: threading.Event) -> None: last_ping = int(sec_since_boot() * 1e9) while not end_event.is_set(): try: @@ -685,7 +730,7 @@ def ws_recv(ws, end_event): end_event.set() -def ws_send(ws, end_event): +def ws_send(ws: WebSocket, end_event: threading.Event) -> None: while not end_event.is_set(): try: try: @@ -704,7 +749,7 @@ def ws_send(ws, end_event): end_event.set() -def backoff(retries): +def backoff(retries: int) -> int: return random.randrange(0, min(128, int(2 ** retries))) diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 5e86a2e821..128fde0319 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -8,6 +8,7 @@ import time import threading import queue import unittest +from dataclasses import asdict, replace from datetime import datetime, timedelta from typing import Optional @@ -226,7 +227,7 @@ class TestAthenadMethods(unittest.TestCase): """When an upload times out or fails to connect it should be placed back in the queue""" fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) - item_no_retry = item._replace(retry_count=MAX_RETRY_COUNT) + item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT) end_event = threading.Event() thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) @@ -296,7 +297,7 @@ class TestAthenadMethods(unittest.TestCase): self.assertEqual(len(items), 0) @with_http_server - def test_listUploadQueueCurrent(self, host): + def test_listUploadQueueCurrent(self, host: str): fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) @@ -321,7 +322,7 @@ class TestAthenadMethods(unittest.TestCase): items = dispatcher["listUploadQueue"]() self.assertEqual(len(items), 1) - self.assertDictEqual(items[0], item._asdict()) + self.assertDictEqual(items[0], asdict(item)) self.assertFalse(items[0]['current']) athenad.cancelled_uploads.add(item.id) @@ -346,7 +347,7 @@ class TestAthenadMethods(unittest.TestCase): athenad.UploadQueueCache.initialize(athenad.upload_queue) self.assertEqual(athenad.upload_queue.qsize(), 1) - self.assertDictEqual(athenad.upload_queue.queue[-1]._asdict(), item1._asdict()) + self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1)) @mock.patch('selfdrive.athena.athenad.create_connection') def test_startLocalProxy(self, mock_create_connection): @@ -417,5 +418,6 @@ class TestAthenadMethods(unittest.TestCase): sl = athenad.get_logs_to_send_sorted() self.assertListEqual(sl, fl[:-1]) + if __name__ == '__main__': unittest.main() From 2f83b9872fe991d21e07a95cc518f91f140a856a Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Mon, 12 Dec 2022 20:26:30 -0500 Subject: [PATCH 182/201] GM: add checksum to button message (#26014) * Add GM button msg checksum * checksum that works for both, fix missing bit * bump opendbc * update comment Co-authored-by: Shane Smiskol --- opendbc | 2 +- selfdrive/car/gm/gmcan.py | 9 +++++++++ 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 1f8aa057bc..bb71829028 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 1f8aa057bc1c96fcf8a2b612a9897ce91e627381 +Subproject commit bb7182902847b84aa572733edfd8e7073bb02aeb diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 56c981326f..63189bcd89 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -6,7 +6,16 @@ def create_buttons(packer, bus, idx, button): values = { "ACCButtons": button, "RollingCounter": idx, + "ACCAlwaysOne": 1, + "DistanceButton": 0, } + + checksum = 240 + int(values["ACCAlwaysOne"] * 0xf) + checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0) + checksum -= int(values["ACCButtons"] - 1) << 4 # not correct if value is 0 + checksum -= 2 * values["DistanceButton"] + + values["SteeringButtonChecksum"] = checksum return packer.make_can_msg("ASCMSteeringButton", bus, values) From 7bfb63b93c1c2094931fff9054e1fa09268a1739 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 12 Dec 2022 19:10:03 -0800 Subject: [PATCH 183/201] update refs for GM checksum change --- selfdrive/test/process_replay/ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3f54203f97..a32eba928e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -99e9481d03e18a4dcd1eeebbfb24aca1ceb7e1e1 \ No newline at end of file +2f83b9872fe991d21e07a95cc518f91f140a856a \ No newline at end of file From c954634ac0dc622600b43757fcbbce1e66a68961 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Mon, 12 Dec 2022 23:33:16 -0500 Subject: [PATCH 184/201] HKG CAN-FD: common distance unit signal (#26758) * Check DISTANCE_UNIT on CRUISE_BUTTONS for all CAN-FD HKG * update refs * move down Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/carstate.py | 17 +++++++---------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 8 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index bd6b72f461..cc8fbe3f08 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -199,9 +199,7 @@ class CarState(CarStateBase): ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 ret.cruiseState.available = True - cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" - distance_unit_msg = cruise_btn_msg if self.CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN else "CLUSTER_INFO" - self.is_metric = cp.vl[distance_unit_msg]["DISTANCE_UNIT"] != 1 + self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1 if not self.CP.openpilotLongitudinalControl: speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp @@ -210,6 +208,7 @@ class CarState(CarStateBase): ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2) self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"]) + cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"]) self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"]) @@ -439,8 +438,7 @@ class CarState(CarStateBase): ("COUNTER", cruise_btn_msg), ("CRUISE_BUTTONS", cruise_btn_msg), ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg), - - ("DISTANCE_UNIT", "CLUSTER_INFO"), + ("DISTANCE_UNIT", "CRUISE_BUTTONS_ALT"), ("LEFT_LAMP", "BLINKERS"), ("RIGHT_LAMP", "BLINKERS"), @@ -449,21 +447,20 @@ class CarState(CarStateBase): ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"), ] - if CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN: - signals.append(("DISTANCE_UNIT", cruise_btn_msg)) - checks = [ ("WHEEL_SPEEDS", 100), (gear_msg, 100), ("STEERING_SENSORS", 100), ("MDPS", 100), ("TCS", 50), - (cruise_btn_msg, 50), - ("CLUSTER_INFO", 4), + ("CRUISE_BUTTONS_ALT", 50), ("BLINKERS", 4), ("DOORS_SEATBELTS", 4), ] + if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): + checks.append(("CRUISE_BUTTONS", 50)) + if CP.enableBsm: signals += [ ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a32eba928e..57e3a05f4d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2f83b9872fe991d21e07a95cc518f91f140a856a \ No newline at end of file +faa85c0cb3609fc43674b263ae885c60f136ba6c \ No newline at end of file From 4b2ecdcce76743e868d8668b5f704dddfed88198 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 12 Dec 2022 21:21:39 -0800 Subject: [PATCH 185/201] deprecate carControl gas + brake fields --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 22b1431132..94fca76c42 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 22b1431132b038253a24ab3fbbe3af36ef93b95b +Subproject commit 94fca76c42dedc55f419ce813c6b0513fce2fe12 From 945415981d3d496efcd62bdc800c9014d4df3712 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 12 Dec 2022 21:23:32 -0800 Subject: [PATCH 186/201] Revert "deprecate carControl gas + brake fields" This reverts commit 4b2ecdcce76743e868d8668b5f704dddfed88198. --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 94fca76c42..22b1431132 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 94fca76c42dedc55f419ce813c6b0513fce2fe12 +Subproject commit 22b1431132b038253a24ab3fbbe3af36ef93b95b From 0aada196e0c0ec75d6d8a1b9d96c41576aff88a1 Mon Sep 17 00:00:00 2001 From: royjr Date: Tue, 13 Dec 2022 00:44:48 -0500 Subject: [PATCH 187/201] Honda Radarless: clean up disabled radar check (#26776) * exclude radarless cars * this was never an issue, but clean up some stuff * better Co-authored-by: Shane Smiskol --- selfdrive/car/honda/hondacan.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 87f8e6c5de..6861198158 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -13,7 +13,8 @@ def get_pt_bus(car_fingerprint): def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): - if radar_disabled: + no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS + if radar_disabled or no_radar: # when radar is disabled, steering commands are sent directly to powertrain bus return get_pt_bus(car_fingerprint) # normally steering commands are sent to radar, which forwards them to powertrain bus @@ -104,7 +105,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint): def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud): commands = [] bus_pt = get_pt_bus(CP.carFingerprint) - radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl + radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled) if CP.openpilotLongitudinalControl: @@ -153,7 +154,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, else: commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values)) - if radar_disabled and CP.carFingerprint in HONDA_BOSCH: + if radar_disabled: radar_hud_values = { 'CMBS_OFF': 0x01, 'SET_TO_1': 0x01, From cecef89124be03eae55b6ee3bc33b3d5cdf7f93c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Dec 2022 14:31:36 +0800 Subject: [PATCH 188/201] Cabana: add signal value filters to the logs view (#26779) add filter to logs view --- tools/cabana/canmessages.cc | 24 --------- tools/cabana/canmessages.h | 3 -- tools/cabana/detailwidget.cc | 2 +- tools/cabana/detailwidget.h | 2 +- tools/cabana/historylog.cc | 100 ++++++++++++++++++++++++++++++----- tools/cabana/historylog.h | 28 ++++++++-- tools/cabana/signaledit.cc | 75 -------------------------- tools/cabana/signaledit.h | 7 --- 8 files changed, 113 insertions(+), 128 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index ded8be5fa3..767ed51d5e 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -32,30 +32,6 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, uint3 return false; } -QList CANMessages::findSignalValues(const QString &id, const Signal *signal, double value, FindFlags flag, int max_count) { - auto evts = events(); - if (!evts) return {}; - - QList ret; - ret.reserve(max_count); - auto [bus, address] = DBCManager::parseId(id); - for (auto &evt : *evts) { - if (evt->which != cereal::Event::Which::CAN) continue; - - for (const auto &c : evt->event.getCan()) { - if (bus == c.getSrc() && address == c.getAddress()) { - double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal); - if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) { - ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val}); - if (ret.size() >= max_count) - return ret; - } - } - } - } - return ret; -} - void CANMessages::process(QHash *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { can_msgs[it.key()] = it.value(); diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 47f6008686..4dac4fe9df 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -4,7 +4,6 @@ #include #include -#include #include "opendbc/can/common_dbc.h" #include "tools/cabana/settings.h" @@ -21,12 +20,10 @@ class CANMessages : public QObject { Q_OBJECT public: - enum FindFlags{ EQ, LT, GT }; CANMessages(QObject *parent); ~CANMessages(); bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); void seekTo(double ts); - QList findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count); bool eventFilter(const Event *event); inline QString routeName() const { return replay->route()->name(); } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 77302b7d38..108aa8776e 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -86,7 +86,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart tab_widget = new QTabWidget(this); tab_widget->setTabPosition(QTabWidget::South); tab_widget->addTab(scroll, "&Msg"); - history_log = new HistoryLog(this); + history_log = new LogsWidget(this); tab_widget->addTab(history_log, "&Logs"); main_layout->addWidget(tab_widget); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index d90438cab2..18c58ab6bf 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -53,7 +53,7 @@ private: QTabWidget *tab_widget; QToolBar *toolbar; QAction *remove_msg_act; - HistoryLog *history_log; + LogsWidget *history_log; BinaryView *binary_view; QScrollArea *scroll; ChartsWidget *charts; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 37001dd582..7cd974ad08 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -2,6 +2,8 @@ #include #include +#include +#include // HistoryLogModel @@ -17,7 +19,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { if (index.column() == 0) { return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2); } - return !sigs.empty() ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data); + return !sigs.empty() ? QString::number(m.sig_values[index.column() - 1]) : m.data; } else if (role == Qt::FontRole && index.column() == 1 && sigs.empty()) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); } @@ -26,15 +28,18 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { void HistoryLogModel::setMessage(const QString &message_id) { beginResetModel(); - msg_id = message_id; sigs.clear(); messages.clear(); has_more_data = true; if (auto dbc_msg = dbc()->msg(message_id)) { sigs = dbc_msg->getSignals(); } - endResetModel(); + if (msg_id != message_id || sigs.empty()) { + filter_cmp = nullptr; + } + msg_id = message_id; updateState(); + endResetModel(); } QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const { @@ -53,6 +58,18 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i return {}; } +void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function cmp) { + if (sig_idx < sigs.size()) { + filter_sig_idx = sig_idx; + filter_value = value.toDouble(); + filter_cmp = value.isEmpty() ? nullptr : cmp; + beginResetModel(); + messages.clear(); + updateState(); + endResetModel(); + } +} + void HistoryLogModel::updateState() { if (!msg_id.isEmpty()) { uint64_t last_mono_time = messages.empty() ? 0 : messages.front().mono_time; @@ -87,20 +104,23 @@ std::deque HistoryLogModel::fetchData(uint64_t min_mon std::deque msgs; const auto [src, address] = DBCManager::parseId(msg_id); uint32_t cnt = 0; + QVector values(sigs.size()); for (--it; it != events->begin() && (*it)->mono_time > min_mono_time; --it) { if ((*it)->which == cereal::Event::Which::CAN) { for (const auto &c : (*it)->event.getCan()) { if (src == c.getSrc() && address == c.getAddress()) { const auto dat = c.getDat(); - auto &m = msgs.emplace_back(); - m.mono_time = (*it)->mono_time; - m.data.append((char *)dat.begin(), dat.size()); - m.sig_values.reserve(sigs.size()); - for (const Signal *sig : sigs) { - m.sig_values.push_back(get_raw_value((uint8_t *)dat.begin(), dat.size(), *sig)); + for (int i = 0; i < sigs.size(); ++i) { + values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *(sigs[i])); + } + if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { + auto &m = msgs.emplace_back(); + m.mono_time = (*it)->mono_time; + m.data = toHex(QByteArray((char *)dat.begin(), dat.size())); + m.sig_values = values; + if (++cnt >= batch_size && min_mono_time == 0) + return msgs; } - if (++cnt >= batch_size && min_mono_time == 0) - return msgs; } } } @@ -132,12 +152,64 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI // HistoryLog HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { - model = new HistoryLogModel(this); - setModel(model); setHorizontalHeader(new HeaderView(Qt::Horizontal, this)); horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); verticalHeader()->setVisible(false); - setFrameShape(QFrame::NoFrame); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); } + +// LogsWidget + +LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + + filter_container = new QWidget(this); + QHBoxLayout *h = new QHBoxLayout(filter_container); + signals_cb = new QComboBox(this); + h->addWidget(signals_cb); + comp_box = new QComboBox(); + comp_box->addItems({">", "=", "<"}); + h->addWidget(comp_box); + value_edit = new QLineEdit(this); + value_edit->setClearButtonEnabled(true); + value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this)); + h->addWidget(value_edit); + main_layout->addWidget(filter_container); + + model = new HistoryLogModel(this); + logs = new HistoryLog(this); + logs->setModel(model); + main_layout->addWidget(logs); + + QObject::connect(signals_cb, SIGNAL(currentIndexChanged(int)), this, SLOT(setFilter())); + QObject::connect(comp_box, SIGNAL(currentIndexChanged(int)), this, SLOT(setFilter())); + QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter); +} + +void LogsWidget::setMessage(const QString &message_id) { + blockSignals(true); + value_edit->setText(""); + signals_cb->clear(); + comp_box->setCurrentIndex(0); + sigs.clear(); + if (auto dbc_msg = dbc()->msg(message_id)) { + sigs = dbc_msg->getSignals(); + for (auto s : sigs) { + signals_cb->addItem(s->name.c_str()); + } + } + filter_container->setVisible(!sigs.empty()); + model->setMessage(message_id); + blockSignals(false); +} + +void LogsWidget::setFilter() { + std::function cmp; + switch (comp_box->currentIndex()) { + case 0: cmp = std::greater{}; break; + case 1: cmp = std::equal_to{}; break; + case 2: cmp = std::less{}; break; + } + model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp); +} diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 5a9903823f..d5ae47192e 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -1,7 +1,9 @@ #pragma once #include +#include #include +#include #include #include "tools/cabana/canmessages.h" @@ -19,6 +21,7 @@ public: HistoryLogModel(QObject *parent); void setMessage(const QString &message_id); void updateState(); + void setFilter(int sig_idx, const QString &value, std::function cmp); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; void fetchMore(const QModelIndex &parent) override; @@ -29,13 +32,16 @@ public: struct Message { uint64_t mono_time = 0; QVector sig_values; - QByteArray data; + QString data; }; std::deque fetchData(uint64_t min_mono_time, uint64_t max_mono_time); QString msg_id; bool has_more_data = true; const int batch_size = 50; + int filter_sig_idx = -1; + double filter_value = 0; + std::function filter_cmp = nullptr; std::deque messages; std::vector sigs; }; @@ -43,11 +49,27 @@ public: class HistoryLog : public QTableView { public: HistoryLog(QWidget *parent); - void setMessage(const QString &message_id) { model->setMessage(message_id); } + int sizeHintForColumn(int column) const override { return -1; }; +}; + +class LogsWidget : public QWidget { + Q_OBJECT + +public: + LogsWidget(QWidget *parent); + void setMessage(const QString &message_id); void updateState() { model->updateState(); } +private slots: + void setFilter(); + private: - int sizeHintForColumn(int column) const override { return -1; }; void showEvent(QShowEvent *event) override { model->setMessage(model->msg_id); }; + + HistoryLog *logs; HistoryLogModel *model; + QWidget *filter_container; + QComboBox *signals_cb, *comp_box; + QLineEdit *value_edit; + std::vector sigs; }; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 85476c2302..b2491d5b1f 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -4,12 +4,8 @@ #include #include #include -#include -#include #include -#include "selfdrive/ui/qt/util.h" - // SignalForm SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { @@ -94,11 +90,6 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa plot_btn->setCheckable(true); plot_btn->setAutoRaise(true); title_layout->addWidget(plot_btn); - auto seek_btn = new QToolButton(this); - seek_btn->setText("🔍"); - seek_btn->setAutoRaise(true); - seek_btn->setToolTip(tr("Find signal values")); - title_layout->addWidget(seek_btn); auto remove_btn = new QToolButton(this); remove_btn->setAutoRaise(true); remove_btn->setText("x"); @@ -126,7 +117,6 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) { emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); }); - QObject::connect(seek_btn, &QToolButton::clicked, [this]() { SignalFindDlg(msg_id, sig, this).exec(); }); QObject::connect(remove_btn, &QToolButton::clicked, [this]() { emit remove(sig); }); QObject::connect(form, &SignalForm::changed, [this]() { save_timer->start(); }); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); @@ -212,68 +202,3 @@ void SignalEdit::leaveEvent(QEvent *event) { emit highlight(nullptr); QWidget::leaveEvent(event); } - -// SignalFindDlg - -SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Find signal values")); - QVBoxLayout *main_layout = new QVBoxLayout(this); - - QHBoxLayout *h = new QHBoxLayout(); - h->addWidget(new QLabel(signal->name.c_str())); - QComboBox *comp_box = new QComboBox(); - comp_box->addItems({">", "=", "<"}); - h->addWidget(comp_box); - QLineEdit *value_edit = new QLineEdit("0", this); - value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this)); - h->addWidget(value_edit, 1); - QPushButton *search_btn = new QPushButton(tr("Find"), this); - h->addWidget(search_btn); - main_layout->addLayout(h); - - QWidget *container = new QWidget(this); - QVBoxLayout *signals_layout = new QVBoxLayout(container); - QScrollArea *scroll = new QScrollArea(this); - scroll->setWidget(container); - scroll->setWidgetResizable(true); - scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - main_layout->addWidget(scroll); - - QObject::connect(search_btn, &QPushButton::clicked, [=]() { - clearLayout(signals_layout); - - CANMessages::FindFlags comp = CANMessages::EQ; - if (comp_box->currentIndex() == 0) { - comp = CANMessages::GT; - } else if (comp_box->currentIndex() == 2) { - comp = CANMessages::LT; - } - double value = value_edit->text().toDouble(); - - const int limit_results = 50; - auto values = can->findSignalValues(id, signal, value, comp, limit_results); - for (auto &v : values) { - QHBoxLayout *item_layout = new QHBoxLayout(); - item_layout->addWidget(new QLabel(QString::number(v.x(), 'f', 2))); - item_layout->addWidget(new QLabel(QString::number(v.y()))); - item_layout->addStretch(1); - - QPushButton *goto_btn = new QPushButton(tr("Goto"), this); - QObject::connect(goto_btn, &QPushButton::clicked, [sec = v.x()]() { can->seekTo(sec); }); - item_layout->addWidget(goto_btn); - signals_layout->addLayout(item_layout); - } - if (values.size() == limit_results) { - QFrame *hline = new QFrame(); - hline->setFrameShape(QFrame::HLine); - hline->setFrameShadow(QFrame::Sunken); - signals_layout->addWidget(hline); - QLabel *info = new QLabel(tr("Only display the first %1 results").arg(limit_results)); - info->setAlignment(Qt::AlignCenter); - signals_layout->addWidget(info); - } - if (values.size() * 30 > container->height()) { - scroll->setFixedHeight(std::min(values.size() * 30, 300)); - } - }); -} diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 205be4bb78..eec943226e 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -1,7 +1,6 @@ #pragma once #include -#include #include #include #include @@ -9,7 +8,6 @@ #include #include "selfdrive/ui/qt/widgets/controls.h" - #include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" @@ -59,8 +57,3 @@ protected: QToolButton *plot_btn; QTimer *save_timer; }; - -class SignalFindDlg : public QDialog { -public: - SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent); -}; From 1e596f964c65ddec1303cebf9128e26df2379d90 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Dec 2022 15:04:36 +0800 Subject: [PATCH 189/201] Cabana: add not equal (!=) filter (#26780) add not equal filter --- tools/cabana/historylog.cc | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 7cd974ad08..3e456e44e9 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -169,7 +169,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { signals_cb = new QComboBox(this); h->addWidget(signals_cb); comp_box = new QComboBox(); - comp_box->addItems({">", "=", "<"}); + comp_box->addItems({">", "=", "!=", "<"}); h->addWidget(comp_box); value_edit = new QLineEdit(this); value_edit->setClearButtonEnabled(true); @@ -204,12 +204,17 @@ void LogsWidget::setMessage(const QString &message_id) { blockSignals(false); } +static bool not_equal(double l, double r) { + return l != r; +} + void LogsWidget::setFilter() { std::function cmp; switch (comp_box->currentIndex()) { case 0: cmp = std::greater{}; break; case 1: cmp = std::equal_to{}; break; - case 2: cmp = std::less{}; break; + case 2: cmp = not_equal; break; + case 3: cmp = std::less{}; break; } model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp); } From 72bf819ef06ee81f37d33f45979dfcf8d88b0ad3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 12 Dec 2022 23:41:29 -0800 Subject: [PATCH 190/201] HKG CAN-FD: log brake errors/ACC faults (#26781) * log brake_error * bumpopendbc * add signal to can parser --- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/opendbc b/opendbc index bb71829028..4a7ad636ff 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit bb7182902847b84aa572733edfd8e7073bb02aeb +Subproject commit 4a7ad636ff806146a93f7ae541e463a7dfa5696d diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index cc8fbe3f08..91ec64538b 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -213,6 +213,7 @@ class CarState(CarStateBase): self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"]) self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"]) self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"] + self.brake_error = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.flags & HyundaiFlags.CANFD_HDA2: self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) @@ -434,6 +435,7 @@ class CarState(CarStateBase): ("LKA_FAULT", "MDPS"), ("DriverBraking", "TCS"), + ("ACCEnable", "TCS"), ("COUNTER", cruise_btn_msg), ("CRUISE_BUTTONS", cruise_btn_msg), From 9e9600a4f4fb69dd99cc24b791ccdd62540348f1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Dec 2022 00:16:36 -0800 Subject: [PATCH 191/201] Events: actionable accFaulted alert text (#26783) same alert text as steer and brake unavailable --- selfdrive/controls/lib/events.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 9fbf565328..3036828662 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -806,9 +806,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { }, EventName.accFaulted: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Faulted"), - ET.PERMANENT: NormalPermanentAlert("Cruise Faulted", ""), - ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"), + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"), + ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), + ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), }, EventName.accFaultedTemp: { From 322dec1ec835e18a162b32dc75a293f57130ee62 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Dec 2022 16:19:04 +0800 Subject: [PATCH 192/201] Cabana: warn and exit if no rlogs in route (#26784) warn and exit if no rlogs in route --- tools/cabana/canmessages.cc | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 767ed51d5e..ad3ee80e3d 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -26,6 +26,11 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, uint3 QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged); QObject::connect(replay, &Replay::streamStarted, this, &CANMessages::streamStarted); if (replay->load()) { + const auto &segments = replay->route()->segments(); + if (std::none_of(segments.begin(), segments.end(), [](auto &s) { return s.second.rlog.length() > 0; })) { + qWarning() << "no rlogs in route" << route; + return false; + } replay->start(); return true; } From 6431f79fd27518ffe645fd35b11da92e32a74066 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Dec 2022 16:20:51 +0800 Subject: [PATCH 193/201] Replay: add option -c to set segment cache size (#26782) add option to set cache size --- tools/replay/main.cc | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 40dace0c91..8621a9b978 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -23,6 +23,7 @@ int main(int argc, char *argv[]) { parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai"); parser.addOption({{"a", "allow"}, "whitelist of services to send", "allow"}); parser.addOption({{"b", "block"}, "blacklist of services to send", "block"}); + parser.addOption({{"c", "cache"}, "cache segments in memory. default is 5", "n"}); parser.addOption({{"s", "start"}, "start from ", "seconds"}); parser.addOption({"demo", "use a demo route instead of providing your own"}); parser.addOption({"data_dir", "local directory with routes", "data_dir"}); @@ -47,6 +48,9 @@ int main(int argc, char *argv[]) { } } Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); + if (!parser.value("c").isEmpty()) { + replay->setSegmentCacheLimit(parser.value("c").toInt()); + } if (!replay->load()) { return 0; } From 1f774e4ec39d6f1ef7f8cb4224c0dbfd4dd4fe62 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Tue, 13 Dec 2022 03:21:58 -0500 Subject: [PATCH 194/201] HKG: Car Port for Genesis GV60 2022 (#26777) * HKG: Car Port for Genesis GV60 2022 * Ugh, keeps forgetting torque params * Update docs * Test route * more interesting segment Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/hyundai/interface.py | 4 ++++ selfdrive/car/hyundai/values.py | 15 +++++++++++++-- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 6 files changed, 22 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 211e63a755..7d55887ec4 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,6 +3,7 @@ Version 0.9.1 (2022-12-XX) * Adjust alert volume using ambient noise level * Removed driver monitoring timer resetting on interaction if face detected and distracted * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler! +* Genesis GV60 2023 support thanks to sunnyhaibin! * Hyundai Tucson 2022-23 support * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! diff --git a/docs/CARS.md b/docs/CARS.md index c92c0b2270..68d4442f91 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 219 Supported Cars +# 220 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -32,6 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Genesis|GV60 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index e271dc0e7d..aa6d88b55f 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -191,6 +191,10 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications # Genesis + elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN: + ret.mass = 2205 + STD_CARGO_KG + ret.wheelbase = 2.9 + ret.steerRatio = 12.6 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. elif candidate == CAR.GENESIS_G70: ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 + STD_CARGO_KG diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index c50b65f101..6e00802584 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -112,6 +112,7 @@ class CAR: KIA_EV6 = "KIA EV6 2022" # Genesis + GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN" GENESIS_G70 = "GENESIS G70 2018" GENESIS_G70_2020 = "GENESIS G70 2020" GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN" @@ -218,6 +219,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], # Genesis + CAR.GENESIS_GV60_EV_1ST_GEN: HyundaiCarInfo("Genesis GV60 2023", "All", harness=Harness.hyundai_k), CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f), CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l), @@ -1512,6 +1514,14 @@ FW_VERSIONS = { b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', ], }, + CAR.GENESIS_GV60_EV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', + ], + }, } CHECKSUM = { @@ -1529,7 +1539,7 @@ FEATURES = { "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN} # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} @@ -1538,7 +1548,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} # these cars use a different gas signal -EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5} +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} @@ -1596,4 +1606,5 @@ DBC = { CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None), + CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 89b895864a..3edc406e19 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -80,6 +80,7 @@ routes = [ CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), + CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12), CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN), CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 1eda931e3e..d7b2ec4079 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -35,6 +35,7 @@ KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1] KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1] GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1] KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1] +GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From 6b36cfaf7e08fed204422f7faf37da1014d817c3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Dec 2022 00:37:13 -0800 Subject: [PATCH 195/201] HKG: log accFaulted (#26785) log accFaulted for HKG --- selfdrive/car/hyundai/carstate.py | 7 +++---- selfdrive/car/hyundai/interface.py | 3 --- 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 91ec64538b..6d471071d6 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -32,7 +32,6 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] self.is_metric = False - self.brake_error = False self.buttons_counter = 0 self.cruise_info = {} @@ -105,8 +104,9 @@ class CarState(CarStateBase): # TODO: Find brake pressure ret.brake = 0 ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0 - ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY + ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1 + ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR): if self.CP.carFingerprint in HYBRID_CAR: @@ -147,7 +147,6 @@ class CarState(CarStateBase): self.lkas11 = copy.copy(cp_cam.vl["LKAS11"]) self.clu11 = copy.copy(cp.vl["CLU11"]) self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE - self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]) self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"]) @@ -213,7 +212,7 @@ class CarState(CarStateBase): self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"]) self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"]) self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"] - self.brake_error = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED + ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.flags & HyundaiFlags.CANFD_HDA2: self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index aa6d88b55f..811d629f70 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -312,9 +312,6 @@ class CarInterface(CarInterfaceBase): allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons) events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable) - if self.CS.brake_error: - events.add(EventName.brakeUnavailable) - # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: self.low_speed_alert = True From bac56f78c9877daf56ff0edd413a14d4b04343c4 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Tue, 13 Dec 2022 03:42:50 -0500 Subject: [PATCH 196/201] Hyundai: Add FW Versions for 2017 i30 PD (Elantra GT) (#26760) * Hyundai: Add FW Versions for 2017 i30 PD * Update docs * Update docs * Update selfdrive/car/hyundai/values.py Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 68d4442f91..5c7fe57a89 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -61,7 +61,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| -|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#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)](##)|Hyundai Q| |Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 6e00802584..cdcaf629af 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -140,7 +140,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: [ HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e), - HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e), + HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e), ], CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), @@ -1281,18 +1281,23 @@ FW_VERSIONS = { CAR.ELANTRA: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', + b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', + b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', + b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', + b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', + b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', ], }, CAR.ELANTRA_2021: { From 9be7e527a908274522020481d3275b1ab6790c2e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Dec 2022 14:33:20 -0800 Subject: [PATCH 197/201] HKG CAN-FD: steering pressed filter (#26789) * steering pressed filter * use a counter * parameterize * double * filter doesn't instantly reset on falling edge of true steering pressed * Update selfdrive/car/interfaces.py * Update selfdrive/car/interfaces.py * Update selfdrive/car/hyundai/carstate.py * add comment * the pain of committing without pycharm * more like a filter * Update ref_commit --- selfdrive/car/hyundai/carstate.py | 2 +- selfdrive/car/interfaces.py | 9 ++++++++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 10 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 6d471071d6..fc196528d7 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -188,7 +188,7 @@ class CarState(CarStateBase): ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1 ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"] ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"] - ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD + ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5) ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0 ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 0458178ee3..ad1fd22b90 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -8,7 +8,7 @@ from cereal import car from common.basedir import BASEDIR from common.conversions import Conversions as CV from common.kalman.simple_kalman import KF1D -from common.numpy_fast import interp +from common.numpy_fast import clip, interp from common.realtime import DT_CTRL from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone @@ -327,6 +327,7 @@ class CarStateBase(ABC): self.cruise_buttons = 0 self.left_blinker_cnt = 0 self.right_blinker_cnt = 0 + self.steering_pressed_cnt = 0 self.left_blinker_prev = False self.right_blinker_prev = False self.cluster_speed_hyst_gap = 0.0 @@ -364,6 +365,12 @@ class CarStateBase(ABC): self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0) return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0 + def update_steering_pressed(self, steering_pressed, steering_pressed_min_count): + """Applies filtering on steering pressed for noisy driver torque signals.""" + self.steering_pressed_cnt += 1 if steering_pressed else -1 + self.steering_pressed_cnt = clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2) + return self.steering_pressed_cnt > steering_pressed_min_count + def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool): """Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time, or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 57e3a05f4d..342ab98b57 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -faa85c0cb3609fc43674b263ae885c60f136ba6c \ No newline at end of file +5f83a3ba20ec757ea7a5ef9b4159ac99cb77af0f From 2f80580fee32d25857eac605a7eb88e63fa1126f Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Wed, 14 Dec 2022 10:42:54 +1100 Subject: [PATCH 198/201] Toyota: keep Lane Sway Warning system (#24782) * Toyota: pass through sway warning system signals * signal doesn't seem to exist on the Prius V bad log? * remove duplicated checks * syntax * Revert "syntax" This reverts commit 6c30c30d46e55a3595d7e2519b448d49c2f08a66. * Revert "remove duplicated checks" This reverts commit 6a364984eb8adfb0ee61b87452730da389dd5ff1. * Revert "signal doesn't seem to exist on the Prius V" This reverts commit 57fa571fde79336a48c50b617755fb2f68b2f124. * Revert "Revert "signal doesn't seem to exist on the Prius V"" This reverts commit 9b1c3f6cacea74aa12a472bf02c469ffcd88eb24. * Revert "Revert "remove duplicated checks"" This reverts commit 38bc7f3de6011e81c8e5f825a15dc9ec2fdcf5b0. * Revert "Revert "syntax"" This reverts commit f81f93631f9a04406f818a2528680017635f229c. * hard code values for Prius V * send ui once every 25 frames remove send ui logic * send UI immediately on pcm_cancel_cmd * draft * clean that up * same order as toyotacan * update refs Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/carcontroller.py | 2 +- selfdrive/car/toyota/carstate.py | 20 +++++++++++++++++++- selfdrive/car/toyota/toyotacan.py | 9 +++++++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 28 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 1f469c72be..6dbdd4b5d9 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -146,7 +146,7 @@ class CarController: if self.frame % 100 == 0 or send_ui: can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, - hud_control.rightLaneDepart, CC.enabled)) + hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu: can_sends.append(create_fcw_command(self.packer, fcw_alert)) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 3be748c4cf..050f8747a2 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -1,3 +1,5 @@ +import copy + from cereal import car from common.conversions import Conversions as CV from common.numpy_fast import mean @@ -6,7 +8,7 @@ from common.realtime import DT_CTRL from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR +from selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR class CarState(CarStateBase): @@ -26,6 +28,7 @@ class CarState(CarStateBase): self.low_speed_lockout = False self.acc_type = 1 + self.lkas_hud = {} def update(self, cp, cp_cam): ret = car.CarState.new_message() @@ -140,6 +143,9 @@ class CarState(CarStateBase): ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1) ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1) + if self.CP.carFingerprint != CAR.PRIUS_V: + self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"]) + return ret @staticmethod @@ -254,6 +260,18 @@ class CarState(CarStateBase): signals = [] checks = [] + if CP.carFingerprint != CAR.PRIUS_V: + signals += [ + ("LANE_SWAY_FLD", "LKAS_HUD"), + ("LANE_SWAY_BUZZER", "LKAS_HUD"), + ("LANE_SWAY_WARNING", "LKAS_HUD"), + ("LANE_SWAY_SENSITIVITY", "LKAS_HUD"), + ("LANE_SWAY_TOGGLE", "LKAS_HUD"), + ] + checks += [ + ("LKAS_HUD", 1), + ] + if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): signals += [ ("PRECOLLISION_ACTIVE", "PRE_COLLISION"), diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 7ab3ab3e78..7e360cc4e1 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -66,13 +66,13 @@ def create_fcw_command(packer, fcw): return packer.make_can_msg("ACC_HUD", 0, values) -def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled): +def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud): values = { "TWO_BEEPS": chime, "LDA_ALERT": steer, "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2, "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2, - "BARRIERS" : 1 if enabled else 0, + "BARRIERS": 1 if enabled else 0, # static signals "SET_ME_X02": 2, @@ -96,4 +96,9 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep "ADJUSTING_CAMERA": 0, "LDW_EXIST": 1, } + + # lane sway functionality + # not all cars have LKAS_HUD — update with camera values if available + values.update(stock_lkas_hud) + return packer.make_can_msg("LKAS_HUD", 0, values) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 342ab98b57..4f06673e97 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -5f83a3ba20ec757ea7a5ef9b4159ac99cb77af0f +67a4bd615017128ce04d0836608d2c7f32432e3e \ No newline at end of file From 1b9771528b8d6b2c14e486ecda938ee7c13d36da Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 Dec 2022 20:24:12 -0800 Subject: [PATCH 199/201] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 4edd1a6021..9e5c28e568 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 4edd1a602131ec2f09a604a4bd28e7d00e334458 +Subproject commit 9e5c28e568a1efe4bac340b48b3c16aafc82e84c From ffb709e6a68c8dd254f96bbf05f6799370352e7f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 14 Dec 2022 12:25:29 +0800 Subject: [PATCH 200/201] Cabana: add auto completion for Msg selector (#26788) --- tools/cabana/chartswidget.cc | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index b0e6a2a164..bc28666a34 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -1,5 +1,7 @@ #include "tools/cabana/chartswidget.h" +#include +#include #include #include #include @@ -550,7 +552,14 @@ SeriesSelector::SeriesSelector(QWidget *parent) { QVBoxLayout *left_layout = new QVBoxLayout(); left_layout->addWidget(new QLabel(tr("Select Signals:"))); + msgs_combo = new QComboBox(this); + msgs_combo->setEditable(true); + msgs_combo->lineEdit()->setPlaceholderText(tr("Select Msg")); + msgs_combo->setInsertPolicy(QComboBox::NoInsert); + msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); + msgs_combo->completer()->setFilterMode(Qt::MatchContains); + left_layout->addWidget(msgs_combo); sig_list = new QListWidget(this); sig_list->setSortingEnabled(true); From 68272449e1775df2326f7f62d1f4868c701dff29 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 14 Dec 2022 12:25:50 +0800 Subject: [PATCH 201/201] Cabana: improve DBC file selector (#26787) --- tools/cabana/dbcmanager.cc | 2 -- tools/cabana/mainwin.cc | 53 ++++++++++++++++++++++++-------------- tools/cabana/mainwin.h | 2 ++ 3 files changed, 36 insertions(+), 21 deletions(-) diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 6d59cba7b6..01bdff17a1 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -32,8 +32,6 @@ void DBCManager::initMsgMap() { } QString DBCManager::generateDBC() { - if (!dbc) return {}; - QString dbc_string; for (auto &[address, m] : msgs) { dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 70297f9978..f14d522c20 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -18,8 +18,6 @@ #include #include -#include "tools/replay/util.h" - static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl; @@ -36,19 +34,13 @@ MainWindow::MainWindow() : QMainWindow() { splitter = new QSplitter(Qt::Horizontal, this); splitter->setHandleWidth(11); - // DBC file selector QWidget *messages_container = new QWidget(this); QVBoxLayout *messages_layout = new QVBoxLayout(messages_container); messages_layout->setContentsMargins(0, 0, 0, 0); - dbc_combo = new QComboBox(this); - auto dbc_names = dbc()->allDBCNames(); - for (const auto &name : dbc_names) { - dbc_combo->addItem(QString::fromStdString(name)); - } - dbc_combo->model()->sort(0); - dbc_combo->setInsertPolicy(QComboBox::NoInsert); - messages_layout->addWidget(dbc_combo); + // left panel + dbc_combo = createDBCSelector(); + messages_layout->addWidget(dbc_combo); messages_widget = new MessagesWidget(this); messages_layout->addWidget(messages_widget); splitter->addWidget(messages_container); @@ -109,11 +101,7 @@ MainWindow::MainWindow() : QMainWindow() { QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); QObject::connect(can, &CANMessages::streamStarted, this, &MainWindow::loadDBCFromFingerprint); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { - detail_widget->undo_stack->clear(); - dbc_combo->setCurrentText(QFileInfo(dbc()->name()).baseName()); - setWindowTitle(tr("%1 - Cabana").arg(dbc()->name())); - }); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); QObject::connect(detail_widget->undo_stack, &QUndoStack::indexChanged, [this](int index) { setWindowTitle(tr("%1%2 - Cabana").arg(index > 0 ? "* " : "").arg(dbc()->name())); }); @@ -149,6 +137,23 @@ void MainWindow::createActions() { help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt); } +QComboBox *MainWindow::createDBCSelector() { + QComboBox *c = new QComboBox(this); + c->setEditable(true); + c->lineEdit()->setPlaceholderText(tr("Select from an existing DBC file")); + c->setInsertPolicy(QComboBox::NoInsert); + c->completer()->setCompletionMode(QCompleter::PopupCompletion); + c->completer()->setFilterMode(Qt::MatchContains); + + auto dbc_names = dbc()->allDBCNames(); + std::sort(dbc_names.begin(), dbc_names.end()); + for (const auto &name : dbc_names) { + c->addItem(QString::fromStdString(name)); + } + c->setCurrentIndex(-1); + return c; +} + void MainWindow::createStatusBar() { progress_bar = new QProgressBar(); progress_bar->setRange(0, 100); @@ -164,9 +169,17 @@ void MainWindow::createShortcuts() { // TODO: add more shortcuts here. } +void MainWindow::DBCFileChanged() { + detail_widget->undo_stack->clear(); + int index = dbc_combo->findText(QFileInfo(dbc()->name()).baseName()); + dbc_combo->setCurrentIndex(index); + setWindowTitle(tr("%1 - Cabana").arg(dbc()->name())); +} + void MainWindow::loadDBCFromName(const QString &name) { - if (name != dbc()->name()) + if (name != dbc()->name()) { dbc()->open(name); + } } void MainWindow::loadDBCFromFile() { @@ -189,13 +202,15 @@ void MainWindow::loadDBCFromClipboard() { void MainWindow::loadDBCFromFingerprint() { auto fingerprint = can->carFingerprint(); - fingerprint_label->setText(fingerprint); - if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) { + fingerprint_label->setText(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint); + if (!fingerprint.isEmpty()) { auto dbc_name = fingerprint_to_dbc[fingerprint]; if (dbc_name != QJsonValue::Undefined) { loadDBCFromName(dbc_name.toString()); + return; } } + dbc()->open("New_DBC", ""); } void MainWindow::saveDBCToFile() { diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 5d377c44ca..17c513d809 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -34,9 +34,11 @@ signals: protected: void createActions(); + QComboBox *createDBCSelector(); void createStatusBar(); void createShortcuts(); void closeEvent(QCloseEvent *event) override; + void DBCFileChanged(); void updateDownloadProgress(uint64_t cur, uint64_t total, bool success); void setOption();