From 5222c90df42655571597b78c5f48f16b9c5439b7 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Mon, 12 Sep 2022 22:55:52 -0500 Subject: [PATCH 001/685] Add several missing CAMRYH_TSS2 firmwares (#25745) `!razor_amd#7792` 2021 Toyota Camry Hybrid (Japanese import) DongleID/route 8553bd6f44d925f8|2022-09-12--22-01-21 --- 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 94fbdc8bf2..b0fb143113 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -541,13 +541,16 @@ FW_VERSIONS = { CAR.CAMRYH_TSS2: { (Ecu.eps, 0x7a1, None): [ b'8965B33630\x00\x00\x00\x00\x00\x00', + b'8965B33650\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152633D00\x00\x00\x00\x00\x00\x00', + b'F152633D60\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x018966306Q6000\x00\x00\x00\x00', b'\x018966306Q7000\x00\x00\x00\x00', + b'\x01896633T20000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 15): [ b'\x018821F6201200\x00\x00\x00\x00', From 56b05d55eb99657595c5bc47c39fb393fb889f64 Mon Sep 17 00:00:00 2001 From: Brandon Bennett <56660362+bbennett80@users.noreply.github.com> Date: Mon, 12 Sep 2022 22:24:11 -0700 Subject: [PATCH 002/685] Subaru: Add missing 2020 Ascent f/w (#25725) * add missing ascent fw version Ascent had recall service for transmission ecu. New values added. * Update selfdrive/car/subaru/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/subaru/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 58fe111fbd..6c3a35307e 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -104,6 +104,7 @@ FW_VERSIONS = { b'\000\000e~\037@ \'', b'\x00\x00e@\x1f@ $', b'\x00\x00d\xb9\x00\x00\x00\x00', + b'\x00\x00e@\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xbb,\xa0t\a', @@ -111,11 +112,13 @@ FW_VERSIONS = { b'\xf1\x82\xbb,\xa0t\a', b'\xf1\x82\xd9,\xa0@\a', b'\xf1\x82\xd1,\xa0q\x07', + b'\xd1,\xa0q\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\x00\xfe\xf7\x00\x00', b'\001\xfe\xf9\000\000', b'\x01\xfe\xf7\x00\x00', + b'\x01\xfe\xfa\x00\x00', ], }, CAR.LEGACY: { From 84a3c355e5fdb7bb2f50847f925e894eecfa8918 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 13 Sep 2022 07:29:31 +0200 Subject: [PATCH 003/685] sensord: use interrupts to improve LSM6DS3 timing accuracy (#24525) * change LSM6DS3TR(-c) gyroscope and accelerometer to interrupt * add pthread for linking * add interrupt collector thread to fetch in parallel to non interrupt based sensors * change get_event interface to return true on successful read * fetch sensor interrupts via gpiochip * avoid sending empty messages (interrupt only, non interupt magn can leave a gap in the orphan block) * add verifier script to sensor interrupts (sensor_data_to_hist.py) * add/update sensord testsweet (test_sensord.py) * add poll timed out check * unexport interrupt gpio pins * gpiochip on both edges, but skip falling edge if rising edge is detected, this is handled in the sensor as the status flag is checked if new data is availble * add test to sensord to verify 100Hz interrupt frequency * add sensor shutdown/low power mode functionality on sensord exit * relax test, will be readded in the splitup PR Co-authored-by: Kurt Nistelberger --- common/gpio.cc | 39 +++- common/gpio.h | 12 + selfdrive/debug/sensor_data_to_hist.py | 121 ++++++++++ selfdrive/sensord/SConscript | 2 +- selfdrive/sensord/sensors/bmx055_accel.cc | 3 +- selfdrive/sensord/sensors/bmx055_accel.h | 3 +- selfdrive/sensord/sensors/bmx055_gyro.cc | 4 +- selfdrive/sensord/sensors/bmx055_gyro.h | 3 +- selfdrive/sensord/sensors/bmx055_magn.cc | 7 +- selfdrive/sensord/sensors/bmx055_magn.h | 3 +- selfdrive/sensord/sensors/bmx055_temp.cc | 3 +- selfdrive/sensord/sensors/bmx055_temp.h | 3 +- selfdrive/sensord/sensors/file_sensor.cc | 4 + selfdrive/sensord/sensors/file_sensor.h | 3 +- selfdrive/sensord/sensors/i2c_sensor.cc | 23 +- selfdrive/sensord/sensors/i2c_sensor.h | 14 +- selfdrive/sensord/sensors/light_sensor.cc | 4 +- selfdrive/sensord/sensors/light_sensor.h | 3 +- selfdrive/sensord/sensors/lsm6ds3_accel.cc | 58 ++++- selfdrive/sensord/sensors/lsm6ds3_accel.h | 17 +- selfdrive/sensord/sensors/lsm6ds3_gyro.cc | 59 ++++- selfdrive/sensord/sensors/lsm6ds3_gyro.h | 17 +- selfdrive/sensord/sensors/lsm6ds3_temp.cc | 3 +- selfdrive/sensord/sensors/lsm6ds3_temp.h | 3 +- selfdrive/sensord/sensors/mmc5603nj_magn.cc | 3 +- selfdrive/sensord/sensors/mmc5603nj_magn.h | 3 +- selfdrive/sensord/sensors/sensor.h | 5 +- selfdrive/sensord/sensors_qcom2.cc | 99 ++++++++- selfdrive/sensord/tests/test_sensord.py | 231 +++++++++++++++++++- system/hardware/tici/hardware.py | 11 + system/hardware/tici/pins.py | 6 + 31 files changed, 711 insertions(+), 58 deletions(-) create mode 100755 selfdrive/debug/sensor_data_to_hist.py mode change 100755 => 100644 selfdrive/sensord/tests/test_sensord.py diff --git a/common/gpio.cc b/common/gpio.cc index 73ff1b3f52..9f5c211a4b 100644 --- a/common/gpio.cc +++ b/common/gpio.cc @@ -4,11 +4,11 @@ #include #include +#include +#include #include "common/util.h" - -// We assume that all pins have already been exported on boot, -// and that we have permission to write to them. +#include "common/swaglog.h" int gpio_init(int pin_nr, bool output) { char pin_dir_path[50]; @@ -30,3 +30,36 @@ int gpio_set(int pin_nr, bool high) { } return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1); } + +int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) { + + // Assumed that all interrupt pins are unexported and rights are given to + // read from gpiochip0. + std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id); + int fd = open(gpiochip_path.c_str(), O_RDONLY); + if (fd < 0) { + LOGE("Error opening gpiochip0 fd") + return -1; + } + + // Setup event + struct gpioevent_request rq; + rq.lineoffset = pin_nr; + rq.handleflags = GPIOHANDLE_REQUEST_INPUT; + + /* Requesting both edges as the data ready pulse from the lsm6ds sensor is + very short(75us) and is mostly detected as falling edge instead of rising. + So if it is detected as rising the following falling edge is skipped. */ + rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES; + + strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1); + int ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq); + if (ret == -1) { + LOGE("Unable to get line event from ioctl : %s", strerror(errno)); + close(fd); + return -1; + } + + close(fd); + return rq.fd; +} diff --git a/common/gpio.h b/common/gpio.h index e030019875..b2f67f8ba3 100644 --- a/common/gpio.h +++ b/common/gpio.h @@ -8,6 +8,11 @@ #define GPIO_UBLOX_PWR_EN 34 #define GPIO_STM_RST_N 124 #define GPIO_STM_BOOT0 134 + #define GPIO_BMX_ACCEL_INT 21 + #define GPIO_BMX_GYRO_INT 23 + #define GPIO_BMX_MAGN_INT 87 + #define GPIO_LSM_INT 84 + #define GPIOCHIP_INT 0 #else #define GPIO_HUB_RST_N 0 #define GPIO_UBLOX_RST_N 0 @@ -15,7 +20,14 @@ #define GPIO_UBLOX_PWR_EN 0 #define GPIO_STM_RST_N 0 #define GPIO_STM_BOOT0 0 + #define GPIO_BMX_ACCEL_INT 0 + #define GPIO_BMX_GYRO_INT 0 + #define GPIO_BMX_MAGN_INT 0 + #define GPIO_LSM_INT 0 + #define GPIOCHIP_INT 0 #endif int gpio_init(int pin_nr, bool output); int gpio_set(int pin_nr, bool high); + +int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr); diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py new file mode 100755 index 0000000000..3c30b3c17c --- /dev/null +++ b/selfdrive/debug/sensor_data_to_hist.py @@ -0,0 +1,121 @@ +#!/usr/bin/env python3 +''' +printing the gap between interrupts in a histogram to check if the +frequency is what we expect, the bmx is not interrupt driven for as we +get interrupts in a 2kHz rate. +''' + +import argparse +import sys +from collections import defaultdict + +from tools.lib.logreader import LogReader +from tools.lib.route import Route + +import matplotlib.pyplot as plt + +SRC_BMX = "bmx055" +SRC_LSM = "lsm6ds3" + + +def parseEvents(log_reader): + bmx_data = defaultdict(list) + lsm_data = defaultdict(list) + + for m in log_reader: + # only sensorEvents + if m.which() != 'sensorEvents': + continue + + for se in m.sensorEvents: + # convert data to dictionary + d = se.to_dict() + + if d["timestamp"] == 0: + continue # empty event? + + if d["source"] == SRC_BMX and "acceleration" in d: + bmx_data["accel"].append(d["timestamp"] / 1e9) + + if d["source"] == SRC_BMX and "gyroUncalibrated" in d: + bmx_data["gyro"].append(d["timestamp"] / 1e9) + + if d["source"] == SRC_LSM and "acceleration" in d: + lsm_data["accel"].append(d["timestamp"] / 1e9) + + if d["source"] == SRC_LSM and "gyroUncalibrated" in d: + lsm_data["gyro"].append(d["timestamp"] / 1e9) + + return bmx_data, lsm_data + + +def cleanData(data): + if len(data) == 0: + return [], [] + + data.sort() + prev = data[0] + diffs = [] + for v in data[1:]: + diffs.append(v - prev) + prev = v + return data, diffs + + +def logAvgValues(data, sensor): + if len(data) == 0: + print(f"{sensor}: no data to average") + return + + avg = sum(data) / len(data) + hz = 1 / avg + print(f"{sensor}: data_points: {len(data)} avg [ns]: {avg} avg [Hz]: {hz}") + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("route", type=str, help="route name") + parser.add_argument("segment", type=int, help="segment number") + args = parser.parse_args() + + r = Route(args.route) + logs = r.log_paths() + + if len(logs) == 0: + print("NO data routes") + sys.exit(0) + + if args.segment >= len(logs): + print(f"RouteID: {args.segment} out of range, max: {len(logs) -1}") + sys.exit(0) + + lr = LogReader(logs[args.segment]) + bmx_data, lsm_data = parseEvents(lr) + + # sort bmx accel data, and then cal all the diffs, and to a histogram of those + bmx_accel, bmx_accel_diffs = cleanData(bmx_data["accel"]) + bmx_gyro, bmx_gyro_diffs = cleanData(bmx_data["gyro"]) + lsm_accel, lsm_accel_diffs = cleanData(lsm_data["accel"]) + lsm_gyro, lsm_gyro_diffs = cleanData(lsm_data["gyro"]) + + # get out the averages + logAvgValues(bmx_accel_diffs, "bmx accel") + logAvgValues(bmx_gyro_diffs, "bmx gyro ") + logAvgValues(lsm_accel_diffs, "lsm accel") + logAvgValues(lsm_gyro_diffs, "lsm gyro ") + + fig, axs = plt.subplots(1, 2, tight_layout=True) + axs[0].hist(bmx_accel_diffs, bins=50) + axs[0].set_title("bmx_accel") + axs[1].hist(bmx_gyro_diffs, bins=50) + axs[1].set_title("bmx_gyro") + + figl, axsl = plt.subplots(1, 2, tight_layout=True) + axsl[0].hist(lsm_accel_diffs, bins=50) + axsl[0].set_title("lsm_accel") + axsl[1].hist(lsm_gyro_diffs, bins=50) + axsl[1].set_title("lsm_gyro") + + print("check plot...") + plt.show() + diff --git a/selfdrive/sensord/SConscript b/selfdrive/sensord/SConscript index db32887e7f..8f26c00853 100644 --- a/selfdrive/sensord/SConscript +++ b/selfdrive/sensord/SConscript @@ -13,7 +13,7 @@ sensors = [ 'sensors/lsm6ds3_temp.cc', 'sensors/mmc5603nj_magn.cc', ] -libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj'] +libs = [common, cereal, messaging, 'capnp', 'zmq', 'kj', 'pthread'] if arch == "larch64": libs.append('i2c') env.Program('_sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs) diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/selfdrive/sensord/sensors/bmx055_accel.cc index d17e3fe617..e191d0d72b 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.cc +++ b/selfdrive/sensord/sensors/bmx055_accel.cc @@ -43,7 +43,7 @@ fail: return ret; } -void BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer)); @@ -66,4 +66,5 @@ void BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) { svec.setV(xyz); svec.setStatus(true); + return true; } diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/selfdrive/sensord/sensors/bmx055_accel.h index 86ec419cde..3b6dd536a7 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.h +++ b/selfdrive/sensord/sensors/bmx055_accel.h @@ -33,5 +33,6 @@ class BMX055_Accel : public I2CSensor { public: BMX055_Accel(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/selfdrive/sensord/sensors/bmx055_gyro.cc index 74b22d8fef..a7ed8debad 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.cc +++ b/selfdrive/sensord/sensors/bmx055_gyro.cc @@ -54,7 +54,7 @@ fail: return ret; } -void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer)); @@ -76,5 +76,5 @@ void BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { auto svec = event.initGyroUncalibrated(); svec.setV(xyz); svec.setStatus(true); - + return true; } diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/selfdrive/sensord/sensors/bmx055_gyro.h index ed0c16ff05..fea6c3e192 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.h +++ b/selfdrive/sensord/sensors/bmx055_gyro.h @@ -33,5 +33,6 @@ class BMX055_Gyro : public I2CSensor { public: BMX055_Gyro(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/selfdrive/sensord/sensors/bmx055_magn.cc index a2c793eff6..9ba6cebd50 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.cc +++ b/selfdrive/sensord/sensors/bmx055_magn.cc @@ -213,7 +213,7 @@ bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t * } -void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[8]; int16_t _x, _y, x, y, z; @@ -221,7 +221,8 @@ void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) { int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer)); assert(len == sizeof(buffer)); - if (parse_xyz(buffer, &_x, &_y, &z)) { + bool parsed = parse_xyz(buffer, &_x, &_y, &z); + if (parsed) { event.setSource(cereal::SensorEventData::SensorSource::BMX055); event.setVersion(2); event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED); @@ -247,4 +248,6 @@ void BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) { // at a 100 Hz. When reading the registers we have to check the ready bit // To verify the measurement was completed this cycle. set_register(BMX055_MAGN_I2C_REG_MAG, BMX055_MAGN_FORCED); + + return parsed; } diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/selfdrive/sensord/sensors/bmx055_magn.h index d60fd5515c..c762f2c3b9 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.h +++ b/selfdrive/sensord/sensors/bmx055_magn.h @@ -59,5 +59,6 @@ class BMX055_Magn : public I2CSensor{ public: BMX055_Magn(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/selfdrive/sensord/sensors/bmx055_temp.cc index 85bdea9e61..3cee34ef19 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.cc +++ b/selfdrive/sensord/sensors/bmx055_temp.cc @@ -28,7 +28,7 @@ fail: return ret; } -void BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[1]; int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer)); @@ -41,4 +41,5 @@ void BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) { event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE); event.setTimestamp(start_time); event.setTemperature(temp); + return true; } diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/selfdrive/sensord/sensors/bmx055_temp.h index 5ffaa8fb6b..f5d771a29c 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.h +++ b/selfdrive/sensord/sensors/bmx055_temp.h @@ -8,5 +8,6 @@ class BMX055_Temp : public I2CSensor { public: BMX055_Temp(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/selfdrive/sensord/sensors/file_sensor.cc index 812a41fa8a..80e5121564 100644 --- a/selfdrive/sensord/sensors/file_sensor.cc +++ b/selfdrive/sensord/sensors/file_sensor.cc @@ -12,3 +12,7 @@ int FileSensor::init() { FileSensor::~FileSensor() { file.close(); } + +bool FileSensor::has_interrupt_enabled() { + return false; +} \ No newline at end of file diff --git a/selfdrive/sensord/sensors/file_sensor.h b/selfdrive/sensord/sensors/file_sensor.h index c5b4643e16..5bcaee66a8 100644 --- a/selfdrive/sensord/sensors/file_sensor.h +++ b/selfdrive/sensord/sensors/file_sensor.h @@ -14,5 +14,6 @@ public: FileSensor(std::string filename); ~FileSensor(); int init(); - virtual void get_event(cereal::SensorEventData::Builder &event) = 0; + bool has_interrupt_enabled(); + virtual bool get_event(cereal::SensorEventData::Builder &event) = 0; }; diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/selfdrive/sensord/sensors/i2c_sensor.cc index 40dfa4a736..06a216478b 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.cc +++ b/selfdrive/sensord/sensors/i2c_sensor.cc @@ -15,8 +15,12 @@ int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0) { return int32_t(combined) / (1 << 4); } +I2CSensor::I2CSensor(I2CBus *bus, int gpio_nr, bool shared_gpio) : bus(bus), gpio_nr(gpio_nr), shared_gpio(shared_gpio) {} -I2CSensor::I2CSensor(I2CBus *bus) : bus(bus) { +I2CSensor::~I2CSensor() { + if (gpio_fd != -1) { + close(gpio_fd); + } } int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len) { @@ -26,3 +30,20 @@ int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len int I2CSensor::set_register(uint register_address, uint8_t data) { return bus->set_register(get_device_address(), register_address, data); } + +int I2CSensor::init_gpio() { + if (shared_gpio || gpio_nr == 0) { + return 0; + } + + gpio_fd = gpiochip_get_ro_value_fd("sensord", GPIOCHIP_INT, gpio_nr); + if (gpio_fd < 0) { + return -1; + } + + return 0; +} + +bool I2CSensor::has_interrupt_enabled() { + return gpio_nr != 0; +} diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/selfdrive/sensord/sensors/i2c_sensor.h index 7832475a98..f6820a2471 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.h +++ b/selfdrive/sensord/sensors/i2c_sensor.h @@ -1,9 +1,13 @@ #pragma once #include +#include #include "cereal/gen/cpp/log.capnp.h" + #include "common/i2c.h" +#include "common/gpio.h" + #include "selfdrive/sensord/sensors/constants.h" #include "selfdrive/sensord/sensors/sensor.h" @@ -15,12 +19,18 @@ int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0); class I2CSensor : public Sensor { private: I2CBus *bus; + int gpio_nr; + bool shared_gpio; virtual uint8_t get_device_address() = 0; public: - I2CSensor(I2CBus *bus); + I2CSensor(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); + ~I2CSensor(); int read_register(uint register_address, uint8_t *buffer, uint8_t len); int set_register(uint register_address, uint8_t data); + int init_gpio(); + bool has_interrupt_enabled(); virtual int init() = 0; - virtual void get_event(cereal::SensorEventData::Builder &event) = 0; + virtual bool get_event(cereal::SensorEventData::Builder &event) = 0; + virtual int shutdown() = 0; }; diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/selfdrive/sensord/sensors/light_sensor.cc index 4497343684..321ac75c7e 100644 --- a/selfdrive/sensord/sensors/light_sensor.cc +++ b/selfdrive/sensord/sensors/light_sensor.cc @@ -5,7 +5,7 @@ #include "common/timing.h" #include "selfdrive/sensord/sensors/constants.h" -void LightSensor::get_event(cereal::SensorEventData::Builder &event) { +bool LightSensor::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); file.clear(); file.seekg(0); @@ -19,4 +19,6 @@ void LightSensor::get_event(cereal::SensorEventData::Builder &event) { event.setType(SENSOR_TYPE_LIGHT); event.setTimestamp(start_time); event.setLight(value); + + return true; } diff --git a/selfdrive/sensord/sensors/light_sensor.h b/selfdrive/sensord/sensors/light_sensor.h index faf901d41c..63bda74755 100644 --- a/selfdrive/sensord/sensors/light_sensor.h +++ b/selfdrive/sensord/sensors/light_sensor.h @@ -4,5 +4,6 @@ class LightSensor : public FileSensor { public: LightSensor(std::string filename) : FileSensor(filename){}; - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc index d923986dbe..8cc89e457c 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc @@ -5,11 +5,12 @@ #include "common/swaglog.h" #include "common/timing.h" -LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus) : I2CSensor(bus) {} +LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) : I2CSensor(bus, gpio_nr, shared_gpio) {} int LSM6DS3_Accel::init() { int ret = 0; uint8_t buffer[1]; + uint8_t value = 0; ret = read_register(LSM6DS3_ACCEL_I2C_REG_ID, buffer, 1); if(ret < 0) { @@ -27,20 +28,69 @@ int LSM6DS3_Accel::init() { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } + ret = init_gpio(); + if (ret < 0) { + goto fail; + } + // TODO: set scale and bandwidth. Default is +- 2G, 50 Hz ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ); if (ret < 0) { goto fail; } + ret = set_register(LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, LSM6DS3_ACCEL_DRDY_PULSE_MODE); + if (ret < 0) { + goto fail; + } + + // enable data ready interrupt for accel on INT1 + // (without resetting existing interrupts) + ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1); + if (ret < 0) { + goto fail; + } + + value |= LSM6DS3_ACCEL_INT1_DRDY_XL; + ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); fail: return ret; } -void LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) { +int LSM6DS3_Accel::shutdown() { + int ret = 0; + + // disable data ready interrupt for accel on INT1 + uint8_t value = 0; + ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1); + if (ret < 0) { + goto fail; + } + + value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL); + ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); + if (ret < 0) { + goto fail; + } + return ret; + +fail: + LOGE("Could not disable lsm6ds3 acceleration interrupt!") + return ret; +} + +bool LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) { + + if (has_interrupt_enabled()) { + // INT1 shared with gyro, check STATUS_REG who triggered + uint8_t status_reg = 0; + read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); + if ((status_reg & LSM6DS3_ACCEL_DRDY_XLDA) == 0) { + return false; + } + } - uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer)); assert(len == sizeof(buffer)); @@ -54,11 +104,11 @@ void LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) { event.setVersion(1); event.setSensor(SENSOR_ACCELEROMETER); event.setType(SENSOR_TYPE_ACCELEROMETER); - event.setTimestamp(start_time); float xyz[] = {y, -x, z}; auto svec = event.initAcceleration(); svec.setV(xyz); svec.setStatus(true); + return true; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/selfdrive/sensord/sensors/lsm6ds3_accel.h index 4a6b687445..6ed94a8f12 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.h +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.h @@ -6,21 +6,28 @@ #define LSM6DS3_ACCEL_I2C_ADDR 0x6A // Registers of the chip +#define LSM6DS3_ACCEL_I2C_REG_DRDY_CFG 0x0B #define LSM6DS3_ACCEL_I2C_REG_ID 0x0F +#define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D #define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL 0x10 +#define LSM6DS3_ACCEL_I2C_REG_STAT_REG 0x1E #define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28 // Constants -#define LSM6DS3_ACCEL_CHIP_ID 0x69 -#define LSM6DS3TRC_ACCEL_CHIP_ID 0x6A -#define LSM6DS3_ACCEL_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_ACCEL_CHIP_ID 0x69 +#define LSM6DS3TRC_ACCEL_CHIP_ID 0x6A +#define LSM6DS3_ACCEL_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_ACCEL_INT1_DRDY_XL 0b1 +#define LSM6DS3_ACCEL_DRDY_XLDA 0b1 +#define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7) class LSM6DS3_Accel : public I2CSensor { uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;} cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; public: - LSM6DS3_Accel(I2CBus *bus); + LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown(); }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc index c7711d34e3..a7321e8fa8 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc @@ -8,12 +8,12 @@ #define DEG2RAD(x) ((x) * M_PI / 180.0) - -LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus) : I2CSensor(bus) {} +LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) : I2CSensor(bus, gpio_nr, shared_gpio) {} int LSM6DS3_Gyro::init() { int ret = 0; uint8_t buffer[1]; + uint8_t value = 0; ret = read_register(LSM6DS3_GYRO_I2C_REG_ID, buffer, 1); if(ret < 0) { @@ -31,20 +31,69 @@ int LSM6DS3_Gyro::init() { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } + ret = init_gpio(); + if (ret < 0) { + goto fail; + } + // TODO: set scale. Default is +- 250 deg/s ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ); if (ret < 0) { goto fail; } + ret = set_register(LSM6DS3_GYRO_I2C_REG_DRDY_CFG, LSM6DS3_GYRO_DRDY_PULSE_MODE); + if (ret < 0) { + goto fail; + } + + // enable data ready interrupt for gyro on INT1 + // (without resetting existing interrupts) + ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1); + if (ret < 0) { + goto fail; + } + + value |= LSM6DS3_GYRO_INT1_DRDY_G; + ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); + +fail: + return ret; +} + +int LSM6DS3_Gyro::shutdown() { + int ret = 0; + + // disable data ready interrupt for accel on INT1 + uint8_t value = 0; + ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1); + if (ret < 0) { + goto fail; + } + + value &= ~(LSM6DS3_GYRO_INT1_DRDY_G); + ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); + if (ret < 0) { + goto fail; + } + return ret; fail: + LOGE("Could not disable lsm6ds3 gyroscope interrupt!") return ret; } -void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) { +bool LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) { + + if (has_interrupt_enabled()) { + // INT1 shared with accel, check STATUS_REG who triggered + uint8_t status_reg = 0; + read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); + if ((status_reg & LSM6DS3_GYRO_DRDY_GDA) == 0) { + return false; + } + } - uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); assert(len == sizeof(buffer)); @@ -58,11 +107,11 @@ void LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) { event.setVersion(2); event.setSensor(SENSOR_GYRO_UNCALIBRATED); event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED); - event.setTimestamp(start_time); float xyz[] = {y, -x, z}; auto svec = event.initGyroUncalibrated(); svec.setV(xyz); svec.setStatus(true); + return true; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/selfdrive/sensord/sensors/lsm6ds3_gyro.h index d7e8f0025a..c2ed5ab76e 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.h @@ -6,21 +6,28 @@ #define LSM6DS3_GYRO_I2C_ADDR 0x6A // Registers of the chip +#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG 0x0B #define LSM6DS3_GYRO_I2C_REG_ID 0x0F +#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D #define LSM6DS3_GYRO_I2C_REG_CTRL2_G 0x11 +#define LSM6DS3_GYRO_I2C_REG_STAT_REG 0x1E #define LSM6DS3_GYRO_I2C_REG_OUTX_L_G 0x22 // Constants -#define LSM6DS3_GYRO_CHIP_ID 0x69 -#define LSM6DS3TRC_GYRO_CHIP_ID 0x6A -#define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_GYRO_CHIP_ID 0x69 +#define LSM6DS3TRC_GYRO_CHIP_ID 0x6A +#define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_GYRO_INT1_DRDY_G 0b10 +#define LSM6DS3_GYRO_DRDY_GDA 0b10 +#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7) class LSM6DS3_Gyro : public I2CSensor { uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;} cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; public: - LSM6DS3_Gyro(I2CBus *bus); + LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown(); }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/selfdrive/sensord/sensors/lsm6ds3_temp.cc index 1dd179d69e..082ffee08f 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_temp.cc @@ -31,7 +31,7 @@ fail: return ret; } -void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) { +bool LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[2]; @@ -47,4 +47,5 @@ void LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) { event.setTimestamp(start_time); event.setTemperature(temp); + return true; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/selfdrive/sensord/sensors/lsm6ds3_temp.h index 8188f46700..9d95236901 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.h +++ b/selfdrive/sensord/sensors/lsm6ds3_temp.h @@ -21,5 +21,6 @@ class LSM6DS3_Temp : public I2CSensor { public: LSM6DS3_Temp(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/selfdrive/sensord/sensors/mmc5603nj_magn.cc index 7c654ce7a3..2bfd887a74 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.cc +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.cc @@ -51,7 +51,7 @@ fail: return ret; } -void MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) { +bool MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[9]; @@ -74,4 +74,5 @@ void MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) { svec.setV(xyz); svec.setStatus(true); + return true; } diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/selfdrive/sensord/sensors/mmc5603nj_magn.h index 58840bbf27..857bd10a51 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.h +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.h @@ -25,5 +25,6 @@ class MMC5603NJ_Magn : public I2CSensor { public: MMC5603NJ_Magn(I2CBus *bus); int init(); - void get_event(cereal::SensorEventData::Builder &event); + bool get_event(cereal::SensorEventData::Builder &event); + int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/sensor.h b/selfdrive/sensord/sensors/sensor.h index 3fb58ad2ae..0bdc560275 100644 --- a/selfdrive/sensord/sensors/sensor.h +++ b/selfdrive/sensord/sensors/sensor.h @@ -4,7 +4,10 @@ class Sensor { public: + int gpio_fd = -1; virtual ~Sensor() {}; virtual int init() = 0; - virtual void get_event(cereal::SensorEventData::Builder &event) = 0; + virtual bool get_event(cereal::SensorEventData::Builder &event) = 0; + virtual bool has_interrupt_enabled() = 0; + virtual int shutdown() = 0; }; diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc index 65fe43f65f..a9d6e31d3e 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/selfdrive/sensord/sensors_qcom2.cc @@ -3,6 +3,8 @@ #include #include #include +#include +#include #include "cereal/messaging/messaging.h" #include "common/i2c.h" @@ -24,6 +26,79 @@ #define I2C_BUS_IMU 1 ExitHandler do_exit; +std::mutex pm_mutex; + +void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { + struct pollfd fd_list[1] = {0}; + fd_list[0].fd = fd; + fd_list[0].events = POLLIN | POLLPRI; + + uint64_t offset = nanos_since_epoch() - nanos_since_boot(); + + while (!do_exit) { + int err = poll(fd_list, 1, 100); + if (err == -1) { + if (errno == EINTR) { + continue; + } + return; + } else if (err == 0) { + LOGE("poll timed out"); + continue; + } + + if ((fd_list[0].revents & (POLLIN | POLLPRI)) == 0) { + LOGE("no poll events set"); + continue; + } + + // Read all events + struct gpioevent_data evdata[16]; + err = read(fd, evdata, sizeof(evdata)); + if (err < 0 || err % sizeof(*evdata) != 0) { + LOGE("error reading event data %d", err); + continue; + } + + int num_events = err / sizeof(*evdata); + uint64_t ts = evdata[num_events - 1].timestamp - offset; + + MessageBuilder msg; + auto orphanage = msg.getOrphanage(); + std::vector> collected_events; + collected_events.reserve(sensors.size()); + + for (Sensor *sensor : sensors) { + auto orphan = orphanage.newOrphan(); + auto event = orphan.get(); + if (!sensor->get_event(event)) { + continue; + } + + event.setTimestamp(ts); + collected_events.push_back(kj::mv(orphan)); + } + + if (collected_events.size() == 0) { + continue; + } + + auto events = msg.initEvent().initSensorEvents(collected_events.size()); + for (int i = 0; i < collected_events.size(); ++i) { + events.adoptWithCaveats(i, kj::mv(collected_events[i])); + } + + { + std::lock_guard lock(pm_mutex); + pm.send("sensorEvents", msg); + } + } + + // poweroff sensors, disable interrupts + for (Sensor *sensor : sensors) { + sensor->shutdown(); + } +} int sensor_loop() { I2CBus *i2c_bus_imu; @@ -40,8 +115,8 @@ int sensor_loop() { BMX055_Magn bmx055_magn(i2c_bus_imu); BMX055_Temp bmx055_temp(i2c_bus_imu); - LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu); - LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu); + LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu, GPIO_LSM_INT); + LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu, GPIO_LSM_INT, true); // GPIO shared with accel LSM6DS3_Temp lsm6ds3_temp(i2c_bus_imu); MMC5603NJ_Magn mmc5603nj_magn(i2c_bus_imu); @@ -73,23 +148,33 @@ int sensor_loop() { // Fail on required sensors if (sensor.second) { LOGE("Error initializing sensors"); + delete i2c_bus_imu; return -1; } } else { if (sensor.first == &bmx055_magn || sensor.first == &mmc5603nj_magn) { has_magnetometer = true; } - sensors.push_back(sensor.first); + + if (!sensor.first->has_interrupt_enabled()) { + sensors.push_back(sensor.first); + } } } if (!has_magnetometer) { LOGE("No magnetometer present"); + delete i2c_bus_imu; return -1; } PubMaster pm({"sensorEvents"}); + // thread for reading events via interrupts + std::vector lsm_interrupt_sensors = {&lsm6ds3_accel, &lsm6ds3_gyro}; + std::thread lsm_interrupt_thread(&interrupt_loop, lsm6ds3_accel.gpio_fd, std::ref(lsm_interrupt_sensors), std::ref(pm)); + + // polling loop for non interrupt handled sensors while (!do_exit) { std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); @@ -102,11 +187,17 @@ int sensor_loop() { sensors[i]->get_event(event); } - pm.send("sensorEvents", msg); + { + std::lock_guard lock(pm_mutex); + pm.send("sensorEvents", msg); + } std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now(); std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin)); } + + lsm_interrupt_thread.join(); + delete i2c_bus_imu; return 0; } diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py old mode 100755 new mode 100644 index 9fd918c971..7abaf9ca35 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -2,12 +2,15 @@ import time import unittest +import numpy as np +from collections import namedtuple +from smbus2 import SMBus import cereal.messaging as messaging +from cereal import log from system.hardware import TICI from selfdrive.test.helpers import with_processes - -TEST_TIMESPAN = 10 +from selfdrive.manager.process_config import managed_processes SENSOR_CONFIGURATIONS = ( { @@ -46,6 +49,63 @@ SENSOR_CONFIGURATIONS = ( }, ) +Sensor = log.SensorEventData.SensorSource +SensorConfig = namedtuple('SensorConfig', ['type', 'min_samples', 'sanity_min', 'sanity_max']) +ALL_SENSORS = { + Sensor.rpr0521: { + SensorConfig("light", 100, 0, 150), + }, + + Sensor.lsm6ds3: { + SensorConfig("acceleration", 100, 5, 15), + SensorConfig("gyroUncalibrated", 100, 0, .2), + SensorConfig("temperature", 100, 0, 60), + }, + + Sensor.lsm6ds3trc: { + SensorConfig("acceleration", 100, 5, 15), + SensorConfig("gyroUncalibrated", 100, 0, .2), + SensorConfig("temperature", 100, 0, 60), + }, + + Sensor.bmx055: { + SensorConfig("acceleration", 100, 5, 15), + SensorConfig("gyroUncalibrated", 100, 0, .2), + SensorConfig("magneticUncalibrated", 100, 0, 300), + SensorConfig("temperature", 100, 0, 60), + }, + + Sensor.mmc5603nj: { + SensorConfig("magneticUncalibrated", 100, 0, 300), + } +} + +SENSOR_BUS = 1 +I2C_ADDR_LSM = 0x6A +LSM_INT_GPIO = 84 + +def read_sensor_events(duration_sec): + sensor_events = messaging.sub_sock("sensorEvents", timeout=0.1) + start_time_sec = time.monotonic() + events = [] + while time.monotonic() - start_time_sec < duration_sec: + events += messaging.drain_sock(sensor_events) + time.sleep(0.01) + + assert len(events) != 0, "No sensor events collected" + return events + +def get_proc_interrupts(int_pin): + + with open("/proc/interrupts") as f: + lines = f.read().split("\n") + + for line in lines: + if f" {int_pin} " in line: + return ''.join(list(filter(lambda e: e != '', line.split(' ')))[1:6]) + + return "" + class TestSensord(unittest.TestCase): @classmethod @@ -55,24 +115,175 @@ class TestSensord(unittest.TestCase): @with_processes(['sensord']) def test_sensors_present(self): - sensor_events = messaging.sub_sock("sensorEvents", timeout=0.1) - - start_time_sec = time.time() - events = [] - while time.time() - start_time_sec < TEST_TIMESPAN: - events += messaging.drain_sock(sensor_events) - time.sleep(0.01) + # verify correct sensors configuration + events = read_sensor_events(10) seen = set() for event in events: for measurement in event.sensorEvents: - # Filter out unset events + # filter unset events (bmx magn) if measurement.version == 0: continue seen.add((str(measurement.source), measurement.which())) self.assertIn(seen, SENSOR_CONFIGURATIONS) + @with_processes(['sensord']) + def test_lsm6ds3_100Hz(self): + # verify measurements are sampled and published at a 100Hz rate + events = read_sensor_events(3) # 3sec (about 300 measurements) + + data_points = set() + for event in events: + for measurement in event.sensorEvents: + + # skip lsm6ds3 temperature measurements + if measurement.which() == 'temperature': + continue + + if str(measurement.source).startswith("lsm6ds3"): + data_points.add(measurement.timestamp) + + assert len(data_points) != 0, "No lsm6ds3 sensor events" + + data_list = list(data_points) + data_list.sort() + tdiffs = np.diff(data_list) + + high_delay_diffs = set(filter(lambda d: d >= 10.1*10**6, tdiffs)) + assert len(high_delay_diffs) < 10, f"Too many high delay packages: {high_delay_diffs}" + + avg_diff = sum(tdiffs)/len(tdiffs) + assert avg_diff > 9.6*10**6, f"avg difference {avg_diff}, below threshold" + + stddev = np.std(tdiffs) + assert stddev < 1.5*10**6, f"Standard-dev to big {stddev}" + + @with_processes(['sensord']) + def test_events_check(self): + # verify if all sensors produce events + events = read_sensor_events(3) + + sensor_events = dict() + for event in events: + for measurement in event.sensorEvents: + + # filter unset events (bmx magn) + if measurement.version == 0: + continue + + if measurement.type in sensor_events: + sensor_events[measurement.type] += 1 + else: + sensor_events[measurement.type] = 1 + + for s in sensor_events: + err_msg = f"Sensor {s}: 200 < {sensor_events[s]}" + assert sensor_events[s] > 200, err_msg + + @with_processes(['sensord']) + def test_logmonottime_timestamp_diff(self): + # ensure diff between the message logMonotime and sample timestamp is small + events = read_sensor_events(3) + + tdiffs = list() + for event in events: + for measurement in event.sensorEvents: + + # filter unset events (bmx magn) + if measurement.version == 0: + continue + + # check if gyro and accel timestamps are before logMonoTime + if str(measurement.source).startswith("lsm6ds3"): + if measurement.which() != 'temperature': + err_msg = f"Timestamp after logMonoTime: {measurement.timestamp} > {event.logMonoTime}" + assert measurement.timestamp < event.logMonoTime, err_msg + + # negative values might occur, as non interrupt packages created + # before the sensor is read + tdiffs.append(abs(event.logMonoTime - measurement.timestamp)) + + high_delay_diffs = set(filter(lambda d: d >= 10*10**6, tdiffs)) + assert len(high_delay_diffs) < 15, f"Too many high delay packages: {high_delay_diffs}" + + avg_diff = round(sum(tdiffs)/len(tdiffs), 4) + assert avg_diff < 4*10**6, f"Avg packet diff: {avg_diff:.1f}ns" + + stddev = np.std(tdiffs) + assert stddev < 2*10**6, f"Timing diffs have to high stddev: {stddev}" + + @with_processes(['sensord']) + def test_sensor_values_sanity_check(self): + + events = read_sensor_events(2) + + sensor_values = dict() + for event in events: + for m in event.sensorEvents: + + # filter unset events (bmx magn) + if m.version == 0: + continue + + key = (m.source.raw, m.which()) + values = getattr(m, m.which()) + if hasattr(values, 'v'): + values = values.v + values = np.atleast_1d(values) + + if key in sensor_values: + sensor_values[key].append(values) + else: + sensor_values[key] = [values] + + # Sanity check sensor values and counts + for sensor, stype in sensor_values: + + for s in ALL_SENSORS[sensor]: + if s.type != stype: + continue + + key = (sensor, s.type) + val_cnt = len(sensor_values[key]) + err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {s.min_samples}" + assert val_cnt > s.min_samples, err_msg + + mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1)) + err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}" + assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg + + def test_sensor_verify_no_interrupts_after_stop(self): + + managed_processes["sensord"].start() + time.sleep(1) + + # check if the interrupts are enableds + with SMBus(SENSOR_BUS, force=True) as bus: + int1_ctrl_reg = bus.read_byte_data(I2C_ADDR_LSM, 0x0D) + assert int1_ctrl_reg == 3, "Interrupts not enabled!" + + # read /proc/interrupts to verify interrupts are received + state_one = get_proc_interrupts(LSM_INT_GPIO) + time.sleep(1) + state_two = get_proc_interrupts(LSM_INT_GPIO) + + assert state_one != state_two, "no Interrupts received after sensord start!" + + managed_processes["sensord"].stop() + + # check if the interrupts got disabled + with SMBus(SENSOR_BUS, force=True) as bus: + int1_ctrl_reg = bus.read_byte_data(I2C_ADDR_LSM, 0x0D) + assert int1_ctrl_reg == 0, "Interrupts not disabled!" + + # read /proc/interrupts to verify no more interrupts are received + state_one = get_proc_interrupts(LSM_INT_GPIO) + time.sleep(1) + state_two = get_proc_interrupts(LSM_INT_GPIO) + assert state_one == state_two, "Interrupts received after sensord stop!" + if __name__ == "__main__": unittest.main() + diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 340093b604..dd6b79e123 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -462,6 +462,17 @@ class Tici(HardwareBase): sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling") sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation") + # *** unexport GPIO for sensors *** + # remove from /userspace/usr/comma/gpio.sh + sudo_write(str(GPIO.BMX055_ACCEL_INT), "/sys/class/gpio/unexport") + sudo_write(str(GPIO.BMX055_GYRO_INT), "/sys/class/gpio/unexport") + sudo_write(str(GPIO.BMX055_MAGN_INT), "/sys/class/gpio/unexport") + sudo_write(str(GPIO.LSM_INT), "/sys/class/gpio/unexport") + + # *** set /dev/gpiochip0 rights to make accessible by sensord + os.system("sudo chmod +r /dev/gpiochip0") + + def configure_modem(self): sim_id = self.get_sim_info().get('sim_id', '') diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index 61e528d304..fe31b9311d 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -19,3 +19,9 @@ class GPIO: CAM0_RSTN = 9 CAM1_RSTN = 7 CAM2_RSTN = 12 + + # Sensor interrupts + BMX055_ACCEL_INT = 21 + BMX055_GYRO_INT = 23 + BMX055_MAGN_INT = 87 + LSM_INT = 84 From ef767f633287445f7861eb5b82c5a17ab6325664 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Sep 2022 13:54:33 +0800 Subject: [PATCH 004/685] MapPanel: refresh only when visible and destination changes (#25739) rebuild widgets only when mappanel is visible --- selfdrive/ui/qt/maps/map_settings.cc | 16 ++++++++++++---- selfdrive/ui/qt/maps/map_settings.h | 2 ++ 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index d143b44e70..dd2ad04a7d 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -156,6 +156,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { void MapPanel::showEvent(QShowEvent *event) { updateCurrentRoute(); + refresh(); } void MapPanel::clear() { @@ -184,18 +185,25 @@ void MapPanel::updateCurrentRoute() { } void MapPanel::parseResponse(const QString &response, bool success) { - stack->setCurrentIndex((uiState()->prime_type || success) ? 0 : 1); + if (!success) return; - if (!success) { - return; + cur_destinations = response; + if (isVisible()) { + refresh(); } +} + +void MapPanel::refresh() { + stack->setCurrentIndex(uiState()->prime_type ? 0 : 1); + if (cur_destinations == prev_destinations) return; - QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8()); + QJsonDocument doc = QJsonDocument::fromJson(cur_destinations.trimmed().toUtf8()); if (doc.isNull()) { qDebug() << "JSON Parse failed on navigation locations"; return; } + prev_destinations = cur_destinations; clear(); bool has_recents = false; diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h index 962d127679..165673b7c1 100644 --- a/selfdrive/ui/qt/maps/map_settings.h +++ b/selfdrive/ui/qt/maps/map_settings.h @@ -23,8 +23,10 @@ public: private: void showEvent(QShowEvent *event) override; + void refresh(); Params params; + QString prev_destinations, cur_destinations; QStackedWidget *stack; QPushButton *home_button, *work_button; QLabel *home_address, *work_address; From 4d351427c5a46dab100078b7e9d0737bce046e40 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Sep 2022 00:22:58 -0700 Subject: [PATCH 005/685] Consider regen properly in test_models (#25409) * Consider regen properly in test_models * bump panda * bump panda * can use the more interesting segment now * rm --- panda | 2 +- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/tests/test_models.py | 3 ++- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/panda b/panda index 15eda6a7c9..788e0b5ac9 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 15eda6a7c9cf4b0c7b5a7bbde25fcab3ff0a98fc +Subproject commit 788e0b5ac944858fd9b3d2ea98e4049df0adb51b diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 635f43cc8d..9207859340 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -48,7 +48,7 @@ routes = [ CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL), 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), + CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1), CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO), CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G), diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index fa07db92db..997a9bbec2 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -243,7 +243,8 @@ class TestCarModelBase(unittest.TestCase): if CS.brakePressed and not self.safety.get_brake_pressed_prev(): if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05: brake_pressed = False - checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() + safety_brake_pressed = self.safety.get_brake_pressed_prev() or self.safety.get_regen_braking_prev() + checks['brakePressed'] += brake_pressed != safety_brake_pressed if self.CP.pcmCruise: # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. From 7a6ab188bd1a27f2eefadac98d43731ae3ca30c4 Mon Sep 17 00:00:00 2001 From: Julian Pieles Date: Tue, 13 Sep 2022 10:06:11 +0200 Subject: [PATCH 006/685] Kia: add missing EU EV6 FW versions (#25709) * added fingerprint for european EV6 * missing version Co-authored-by: julian.pieles Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 4225826c1d..7fb8363a67 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1296,6 +1296,7 @@ FW_VERSIONS = { }, CAR.KIA_EV6: { (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CV IEB \x03 101!\x10\x18 58520-CV100', b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', ], (Ecu.eps, 0x7d4, None): [ @@ -1307,6 +1308,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027', ], }, CAR.IONIQ_5: { From 852af4d1f84ca17bb9ec0d0fe376077acf07b841 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Tue, 13 Sep 2022 11:47:16 +0200 Subject: [PATCH 007/685] Update Tesla AP2 fingerprint (#25763) update fingerprint for v11 software Co-authored-by: Comma Device --- selfdrive/car/tesla/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 296169587a..030a368a11 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -22,7 +22,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { FINGERPRINTS = { CAR.AP2_MODELS: [ { - 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 6, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2015: 8, 2043: 5, 2045: 4 + 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 7, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1792: 8, 1798: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1825: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1842: 8, 1848: 8, 1864: 8, 1872: 8, 1880: 8, 1888: 8, 1892: 8, 1896: 8, 1912: 8, 1937: 8, 1953: 8, 1960: 8, 1968: 8, 1992: 8, 2001: 8, 2008: 3, 2015: 8, 2016: 8, 2043: 5, 2045: 4 }, ], CAR.AP1_MODELS: [ From 27e1ec8fd31192696cef70e4c6a98cbe7c3ba15a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 13 Sep 2022 18:02:13 +0800 Subject: [PATCH 008/685] ui: multilang date (#25741) * multilang date * update translations * add language to uistate * update translations * use it here too Co-authored-by: sshane --- selfdrive/ui/qt/home.cc | 4 +++- selfdrive/ui/qt/offroad/settings.cc | 3 +-- selfdrive/ui/translations/main_ja.ts | 4 ++-- selfdrive/ui/translations/main_ko.ts | 4 ++-- selfdrive/ui/translations/main_pt-BR.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHS.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- selfdrive/ui/ui.cc | 1 + selfdrive/ui/ui.h | 1 + 9 files changed, 16 insertions(+), 13 deletions(-) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 0edeb252b7..435ba9056a 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -183,7 +183,9 @@ void OffroadHome::hideEvent(QHideEvent *event) { } void OffroadHome::refresh() { - date->setText(QDateTime::currentDateTime().toString("dddd, MMMM d")); + QString locale_name = QString(uiState()->language).replace("main_", ""); + QString dateString = QLocale(locale_name).toString(QDateTime::currentDateTime(), "dddd, MMMM d"); + date->setText(dateString); bool updateAvailable = update_widget->refresh(); int alerts = alerts_widget->refresh(); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index e5e5634545..7a5a40c193 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -189,8 +189,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), ""); connect(translateBtn, &ButtonControl::clicked, [=]() { QMap langs = getSupportedLanguages(); - QString currentLang = QString::fromStdString(Params().get("LanguageSetting")); - QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(currentLang), this); + QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this); if (!selection.isEmpty()) { // put language setting, exit Qt UI, and trigger fast restart Params().put("LanguageSetting", langs[selection].toStdString()); diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index a0b2a99866..9be6658d19 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -526,7 +526,7 @@ location set 更新 - + ALERTS 警告 @@ -539,7 +539,7 @@ location set PairingPopup - + Pair your device to your comma account デバイスと comma アカウントを連携する diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 5d7df2162e..3e329a72ab 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -526,7 +526,7 @@ location set 업데이트 - + ALERTS 알림 @@ -539,7 +539,7 @@ location set PairingPopup - + Pair your device to your comma account 장치를 콤마 계정과 페어링합니다 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 2b3acb369f..b729678a2c 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -527,7 +527,7 @@ trabalho definido ATUALIZAÇÃO - + ALERTS ALERTAS @@ -540,7 +540,7 @@ trabalho definido PairingPopup - + Pair your device to your comma account Pareie seu dispositivo à sua conta comma diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index a00bf28303..606e70726f 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -524,7 +524,7 @@ location set 更新 - + ALERTS 警报 @@ -537,7 +537,7 @@ location set PairingPopup - + Pair your device to your comma account 将您的设备与comma账号配对 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 52bd301364..b5b737ca25 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -526,7 +526,7 @@ location set 更新 - + ALERTS 提醒 @@ -539,7 +539,7 @@ location set PairingPopup - + Pair your device to your comma account 將設備與您的 comma 帳號配對 diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index b208945fe2..2722b68f17 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -236,6 +236,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { Params params; wide_camera = params.getBool("WideCameraOnly"); prime_type = std::atoi(params.get("PrimeType").c_str()); + language = QString::fromStdString(params.get("LanguageSetting")); // update timer timer = new QTimer(this); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 08ae16ab24..b4ec900eef 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -127,6 +127,7 @@ public: bool awake; int prime_type = 0; + QString language; QTransform car_space_transform; bool wide_camera; From 13d9a77b93e083d3a35d7f4f2ea755b880e4a1ed Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Tue, 13 Sep 2022 15:54:15 +0200 Subject: [PATCH 009/685] Add option to disable fan control (#25690) add option for external fan control Co-authored-by: Comma Device --- selfdrive/boardd/boardd.cc | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 47bff1c5b6..5ff6d56e69 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -468,7 +468,7 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin } -void peripheral_control_thread(Panda *panda) { +void peripheral_control_thread(Panda *panda, bool no_fan_control) { util::set_thread_name("boardd_peripheral_control"); SubMaster sm({"deviceState", "driverCameraState"}); @@ -488,7 +488,7 @@ void peripheral_control_thread(Panda *panda) { // 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")) { + if (sm.updated("deviceState") && !no_fan_control) { // Fan speed uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired(); if (fan_speed != prev_fan_speed || cnt % 100 == 0) { @@ -496,6 +496,7 @@ void peripheral_control_thread(Panda *panda) { prev_fan_speed = fan_speed; } } + if (sm.updated("driverCameraState")) { auto event = sm["driverCameraState"]; int cur_integ_lines = event.getDriverCameraState().getIntegLines(); @@ -568,7 +569,7 @@ void boardd_main_thread(std::vector serials) { std::vector threads; threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr); - threads.emplace_back(peripheral_control_thread, peripheral_panda); + threads.emplace_back(peripheral_control_thread, peripheral_panda, getenv("NO_FAN_CONTROL") != nullptr); threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr); threads.emplace_back(can_recv_thread, pandas); From aac84e09adc4b2d6ede6c0da69487e2a5154fc5b Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 13 Sep 2022 15:04:47 -0500 Subject: [PATCH 010/685] VW MQB: Add FW for 2016 Audi S3 (#25764) --- 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 05994c0100..7c55736362 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -773,6 +773,7 @@ FW_VERSIONS = { b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002', b'\xf1\x878V0906259F \xf1\x890002', + b'\xf1\x878V0906259J \xf1\x890002', b'\xf1\x878V0906259K \xf1\x890001', b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0907115B \xf1\x890007', @@ -791,6 +792,7 @@ FW_VERSIONS = { b'\xf1\x870DD300046F \xf1\x891602', b'\xf1\x870DD300046G \xf1\x891601', b'\xf1\x870DL300012E \xf1\x892012', + b'\xf1\x870GC300011 \xf1\x890403', b'\xf1\x870GC300013M \xf1\x892402', b'\xf1\x870GC300042J \xf1\x891402', ], @@ -798,6 +800,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114', b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100', b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100', + b'\xf1\x875Q0959655AR\xf1\x890315\xf1\x82\x1311110011131115311211012331239321212100', b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', @@ -808,6 +811,7 @@ FW_VERSIONS = { ], (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1', + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1', From d3795c12272848ca5de8585162856e0db449ea8c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Sep 2022 14:14:22 -0700 Subject: [PATCH 011/685] Chrysler: match panda standstill check (#25762) * bump panda * bump panda to master * flip this around * don't forget the body! --- panda | 2 +- selfdrive/car/tests/test_models.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/panda b/panda index 788e0b5ac9..19983f13b3 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 788e0b5ac944858fd9b3d2ea98e4049df0adb51b +Subproject commit 19983f13b37518298a3c282d5069c090b68f6864 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 997a9bbec2..50370f0797 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase): checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available - if self.CP.carName in ("honda", "toyota"): + if self.CP.carName not in ("hyundai", "volkswagen", "subaru", "gm", "body"): # TODO: fix standstill mismatches for other makes checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() From 4effa35ef5fdc7dde8777b695e8f3546c559a974 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Sep 2022 14:38:06 -0700 Subject: [PATCH 012/685] Chrysler: query FW versions on bus 0 (#25760) * try bus 0! * remove the whitelists * no gateway --- selfdrive/car/chrysler/values.py | 15 ++++----------- 1 file changed, 4 insertions(+), 11 deletions(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 3b3fc6e558..d4ac9f6f00 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -149,18 +149,21 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [CHRYSLER_VERSION_REQUEST], [CHRYSLER_VERSION_RESPONSE], - whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.gateway, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter], + whitelist_ecus=[Ecu.abs, Ecu.eps, Ecu.srs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.combinationMeter], rx_offset=CHRYSLER_RX_OFFSET, + bus=0, ), Request( [CHRYSLER_VERSION_REQUEST], [CHRYSLER_VERSION_RESPONSE], whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission], + bus=0, ), Request( [CHRYSLER_SOFTWARE_VERSION_REQUEST], [CHRYSLER_SOFTWARE_VERSION_RESPONSE], whitelist_ecus=[Ecu.engine, Ecu.transmission], + bus=0, ), ], ) @@ -223,12 +226,6 @@ FW_VERSIONS = { b'68540431AB', b'68484467AC', ], - (Ecu.gateway, 0x18DACBF1, None): [ - b'68402660AB', - b'68445283AB', - b'68533631AB', - b'68500483AB', - ], }, CAR.RAM_HD: { @@ -260,10 +257,6 @@ FW_VERSIONS = { b'M2370131MB', b'M2421132MB', ], - (Ecu.gateway, 0x18DACBF1, None): [ - b'68488419AB', - b'68535476AB', - ], }, } From c64230c4a8681d0ba2d8b18128f42cbd76d85091 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 13 Sep 2022 16:15:33 -0700 Subject: [PATCH 013/685] make test_sensord executeable --- selfdrive/sensord/tests/test_sensord.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) mode change 100644 => 100755 selfdrive/sensord/tests/test_sensord.py diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py old mode 100644 new mode 100755 From 467bbffa0fe50587eb8fb8d98cfe2df93461ef1d Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 13 Sep 2022 16:45:12 -0700 Subject: [PATCH 014/685] add hardware init to sensor tests --- selfdrive/sensord/tests/test_sensord.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py index 7abaf9ca35..6cb2fa9e68 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -8,7 +8,7 @@ from smbus2 import SMBus import cereal.messaging as messaging from cereal import log -from system.hardware import TICI +from system.hardware import TICI, HARDWARE from selfdrive.test.helpers import with_processes from selfdrive.manager.process_config import managed_processes @@ -113,6 +113,9 @@ class TestSensord(unittest.TestCase): if not TICI: raise unittest.SkipTest + # make sure gpiochip0 is readable + HARDWARE.initialize_hardware() + @with_processes(['sensord']) def test_sensors_present(self): # verify correct sensors configuration From 3f34a7082afce611391369f881756fabc6a7e1e7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 13 Sep 2022 20:35:16 -0700 Subject: [PATCH 015/685] controlsd: fix regen init for multi-panda setups --- 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 3054b020e1..569c12e3d6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -215,7 +215,7 @@ class Controls: controls_state = log.ControlsState.from_bytes(controls_state) self.v_cruise_kph = controls_state.vCruise - if self.sm['pandaStates'][0].controlsAllowed: + if any(ps.controlsAllowed for ps in self.sm['pandaStates']): self.state = State.enabled def update_events(self, CS): From 98c843bfb425bb1dd44f99715f81fa7d327a77e7 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 13 Sep 2022 22:28:00 -0700 Subject: [PATCH 016/685] sensord: increase cpu usage in onroad test (#25773) Co-authored-by: Kurt Nistelberger --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index c5fc0395d3..55e1ef161a 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -29,7 +29,7 @@ PROCS = { "selfdrive.controls.plannerd": 11.7, "./_ui": 19.2, "selfdrive.locationd.paramsd": 9.0, - "./_sensord": 6.17, + "./_sensord": 12.0, "selfdrive.controls.radard": 4.5, "./_modeld": 4.48, "./boardd": 3.63, From 3058437dd15896e328f8ddf8386683479a1f9493 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 13 Sep 2022 22:29:55 -0700 Subject: [PATCH 017/685] Sensor tests speedup (#25776) * speed up sensor test * remove sensord dependency * address comments Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/tests/test_sensord.py | 22 +++++++++------------- 1 file changed, 9 insertions(+), 13 deletions(-) diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py index 6cb2fa9e68..84582518fd 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -116,13 +116,16 @@ class TestSensord(unittest.TestCase): # make sure gpiochip0 is readable HARDWARE.initialize_hardware() - @with_processes(['sensord']) + # read initial sensor values every test case can use + managed_processes["sensord"].start() + cls.events = read_sensor_events(5) + managed_processes["sensord"].stop() + def test_sensors_present(self): # verify correct sensors configuration - events = read_sensor_events(10) seen = set() - for event in events: + for event in self.events: for measurement in event.sensorEvents: # filter unset events (bmx magn) if measurement.version == 0: @@ -131,13 +134,11 @@ class TestSensord(unittest.TestCase): self.assertIn(seen, SENSOR_CONFIGURATIONS) - @with_processes(['sensord']) def test_lsm6ds3_100Hz(self): # verify measurements are sampled and published at a 100Hz rate - events = read_sensor_events(3) # 3sec (about 300 measurements) data_points = set() - for event in events: + for event in self.events: for measurement in event.sensorEvents: # skip lsm6ds3 temperature measurements @@ -162,13 +163,11 @@ class TestSensord(unittest.TestCase): stddev = np.std(tdiffs) assert stddev < 1.5*10**6, f"Standard-dev to big {stddev}" - @with_processes(['sensord']) def test_events_check(self): # verify if all sensors produce events - events = read_sensor_events(3) sensor_events = dict() - for event in events: + for event in self.events: for measurement in event.sensorEvents: # filter unset events (bmx magn) @@ -184,13 +183,11 @@ class TestSensord(unittest.TestCase): err_msg = f"Sensor {s}: 200 < {sensor_events[s]}" assert sensor_events[s] > 200, err_msg - @with_processes(['sensord']) def test_logmonottime_timestamp_diff(self): # ensure diff between the message logMonotime and sample timestamp is small - events = read_sensor_events(3) tdiffs = list() - for event in events: + for event in self.events: for measurement in event.sensorEvents: # filter unset events (bmx magn) @@ -289,4 +286,3 @@ class TestSensord(unittest.TestCase): if __name__ == "__main__": unittest.main() - From 992707c1724ab0047ddd6e230b82e47ae51b25ed Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Sep 2022 23:20:45 -0700 Subject: [PATCH 018/685] controls: enter overriding state for steering override (#25617) * lateral overriding is overriding * Update test * remove * also could do something like this and only have one OVERRIDE ET * Revert "also could do something like this and only have one OVERRIDE ET" This reverts commit 5c381641c08961676a56a9718fbdaa84989ac249. * full names * bump cereal * test every event type * update refs --- cereal | 2 +- selfdrive/car/interfaces.py | 2 + selfdrive/controls/controlsd.py | 12 ++--- selfdrive/controls/lib/events.py | 13 ++++- .../controls/tests/test_state_machine.py | 50 ++++++++++--------- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 48 insertions(+), 33 deletions(-) diff --git a/cereal b/cereal index 2335f98bbe..f363cc13c6 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 2335f98bbe628ec6fde92c8d929ecaf373b125af +Subproject commit f363cc13c67d286f87606f35f91952927d1c2d4d diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index a33560cd0e..1614003e87 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -215,6 +215,8 @@ class CarInterfaceBase(ABC): events.add(EventName.parkBrake) if cs_out.accFaulted: events.add(EventName.accFaulted) + if cs_out.steeringPressed: + events.add(EventName.steerOverride) # Handle button presses events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise)) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 569c12e3d6..3087535291 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -508,9 +508,9 @@ class Controls: self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) self.current_alert_types.append(ET.SOFT_DISABLE) - elif self.events.any(ET.OVERRIDE): + elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL): self.state = State.overriding - self.current_alert_types.append(ET.OVERRIDE) + self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] # SOFT DISABLING elif self.state == State.softDisabling: @@ -540,10 +540,10 @@ class Controls: self.state = State.softDisabling self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL) self.current_alert_types.append(ET.SOFT_DISABLE) - elif not self.events.any(ET.OVERRIDE): + elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)): self.state = State.enabled else: - self.current_alert_types.append(ET.OVERRIDE) + self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL] # DISABLED elif self.state == State.disabled: @@ -554,7 +554,7 @@ class Controls: else: if self.events.any(ET.PRE_ENABLE): self.state = State.preEnabled - elif self.events.any(ET.OVERRIDE): + elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL): self.state = State.overriding else: self.state = State.enabled @@ -586,7 +586,7 @@ 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) and self.CP.openpilotLongitudinalControl + CC.longActive = self.active 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 5139ead84b..91f1748ecb 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -31,7 +31,8 @@ class Priority(IntEnum): class ET: ENABLE = 'enable' PRE_ENABLE = 'preEnable' - OVERRIDE = 'override' + OVERRIDE_LATERAL = 'overrideLateral' + OVERRIDE_LONGITUDINAL = 'overrideLongitudinal' NO_ENTRY = 'noEntry' WARNING = 'warning' USER_DISABLE = 'userDisable' @@ -623,7 +624,15 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { }, EventName.gasPressedOverride: { - ET.OVERRIDE: Alert( + ET.OVERRIDE_LONGITUDINAL: Alert( + "", + "", + AlertStatus.normal, AlertSize.none, + Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1), + }, + + EventName.steerOverride: { + ET.OVERRIDE_LATERAL: Alert( "", "", AlertStatus.normal, AlertSize.none, diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index 244c56687c..36535dfdaf 100755 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -11,11 +11,11 @@ from selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize State = log.ControlsState.OpenpilotState # The event types that maintain the current state -MAINTAIN_STATES = {State.enabled: None, State.disabled: None, State.softDisabling: ET.SOFT_DISABLE, - State.preEnabled: ET.PRE_ENABLE, State.overriding: ET.OVERRIDE} +MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,), + State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)} ALL_STATES = tuple(State.schema.enumerants.values()) # The event types checked in DISABLED section of state machine -ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE) +ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL) def make_event(event_types): @@ -41,29 +41,32 @@ class TestStateMachine(unittest.TestCase): def test_immediate_disable(self): for state in ALL_STATES: - self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.IMMEDIATE_DISABLE])) - self.controlsd.state = state - self.controlsd.state_transition(self.CS) - self.assertEqual(State.disabled, self.controlsd.state) - self.controlsd.events.clear() + for et in MAINTAIN_STATES[state]: + self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE])) + self.controlsd.state = state + self.controlsd.state_transition(self.CS) + self.assertEqual(State.disabled, self.controlsd.state) + self.controlsd.events.clear() def test_user_disable(self): for state in ALL_STATES: - self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.USER_DISABLE])) - self.controlsd.state = state - self.controlsd.state_transition(self.CS) - self.assertEqual(State.disabled, self.controlsd.state) - self.controlsd.events.clear() + for et in MAINTAIN_STATES[state]: + self.controlsd.events.add(make_event([et, ET.USER_DISABLE])) + self.controlsd.state = state + self.controlsd.state_transition(self.CS) + self.assertEqual(State.disabled, self.controlsd.state) + self.controlsd.events.clear() def test_soft_disable(self): for state in ALL_STATES: if state == State.preEnabled: # preEnabled considers NO_ENTRY instead continue - self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.SOFT_DISABLE])) - self.controlsd.state = state - self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling) - self.controlsd.events.clear() + for et in MAINTAIN_STATES[state]: + self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE])) + self.controlsd.state = state + self.controlsd.state_transition(self.CS) + self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling) + self.controlsd.events.clear() def test_soft_disable_timer(self): self.controlsd.state = State.enabled @@ -93,11 +96,12 @@ class TestStateMachine(unittest.TestCase): def test_maintain_states(self): # Given current state's event type, we should maintain state for state in ALL_STATES: - self.controlsd.state = state - self.controlsd.events.add(make_event([MAINTAIN_STATES[state]])) - self.controlsd.state_transition(self.CS) - self.assertEqual(self.controlsd.state, state) - self.controlsd.events.clear() + for et in MAINTAIN_STATES[state]: + self.controlsd.state = state + self.controlsd.events.add(make_event([et])) + self.controlsd.state_transition(self.CS) + self.assertEqual(self.controlsd.state, state) + self.controlsd.events.clear() if __name__ == "__main__": diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f46f39dd27..00a6789eaf 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -48db2dee177706285226d1287912e191f1699865 +260bd1a7240221e75a20d547f68e8d1217f9f29e \ No newline at end of file From ef26abcf658b9fe13f939c43a31f57bd6ae25232 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 13 Sep 2022 23:34:51 -0700 Subject: [PATCH 019/685] ui: support ego speed hysteresis (#25702) * toyota: match set speed from dash * Use unit bit * Use RSA2 * flip this * Universal unit signal, set vEgoCluster * remove this and bump opendbc * detect if car interface sets cluster fields * revert * needs to be cp * UI_SPEED is actually always in kph? * forgot to actually convert it * same in onroad * try conv factor only for imperial * Seems like UI_SPEED is not the UI speed at all * the dash might floor it * same openpilot behavior * bump * ego speed factor is dynamic across speeds, handle Lexus exceptions with diff msg * remove test, bump opendbc * secret formula * secret formula v2 * 1.03 is sufficient * try short press * bump opendbc * surely this can be cleaned up surely this can be cleaned up * use filter * redo factors * try UI_SPEED again with a factor try UI_SPEED again with a factor * dash applies hysteresis to speed. this matches pretty well, but not exactly * make hysteresis generic * clean up * revert this * try this * read from fake params * should be mostly good for imperial now * revert * revert * remove toyota stuff * common function for everyone * rm line * fix * an example with Toyota * use CS.out * one mph * 1 kph * cmt * remove cmt * abs it Co-authored-by: Willem Melching --- selfdrive/car/__init__.py | 8 ++++++++ selfdrive/car/interfaces.py | 10 +++++++++- 2 files changed, 17 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index f2d198338d..8ff39ceaeb 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -12,6 +12,14 @@ ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName +def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float: + if val > val_steady + hyst_gap: + val_steady = val - hyst_gap + elif val < val_steady - hyst_gap: + val_steady = val + hyst_gap + return val_steady + + def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule], unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder: if cur_but != unpressed: diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 1614003e87..bc6c31e12c 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -9,7 +9,7 @@ from common.basedir import BASEDIR from common.conversions import Conversions as CV from common.kalman.simple_kalman import KF1D from common.realtime import DT_CTRL -from selfdrive.car import create_button_enable_events, gen_empty_fingerprint +from selfdrive.car import apply_hysteresis, create_button_enable_events, gen_empty_fingerprint from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel @@ -171,6 +171,12 @@ class CarInterfaceBase(ABC): else: self.v_ego_cluster_seen = True + # Many cars apply hysteresis to the ego dash speed + if self.CS is not None: + ret.vEgoCluster = apply_hysteresis(ret.vEgoCluster, self.CS.out.vEgoCluster, self.CS.cluster_speed_hyst_gap) + if abs(ret.vEgo) < self.CS.cluster_min_speed: + ret.vEgoCluster = 0.0 + if ret.cruiseState.speedCluster == 0: ret.cruiseState.speedCluster = ret.cruiseState.speed @@ -272,6 +278,8 @@ class CarStateBase(ABC): self.right_blinker_cnt = 0 self.left_blinker_prev = False self.right_blinker_prev = False + self.cluster_speed_hyst_gap = 0.0 + self.cluster_min_speed = 0.0 # min speed before dropping to 0 # Q = np.matrix([[0.0, 0.0], [0.0, 100.0]]) # R = 0.3 From 1b0f202d7b2be6a4c1f8a18499207170b0fd78ed Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 14 Sep 2022 16:58:10 +0800 Subject: [PATCH 020/685] ui: prev_frame_id should be uint32_t (#25781) uint32_t --- selfdrive/ui/qt/widgets/cameraview.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 016522b05c..081483b649 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -78,7 +78,7 @@ protected: std::deque> frames; uint32_t draw_frame_id = 0; - int prev_frame_id = 0; + uint32_t prev_frame_id = 0; protected slots: void vipcConnected(VisionIpcClient *vipc_client); From 05e80cf4fbbccd602c0f3feb43927ae86ba550c9 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Wed, 14 Sep 2022 17:35:48 +0200 Subject: [PATCH 021/685] Tesla AP2 fingerprint update: forgot one message (#25783) --- selfdrive/car/tesla/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 030a368a11..7648a4a504 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -22,7 +22,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { FINGERPRINTS = { CAR.AP2_MODELS: [ { - 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 7, 970: 8, 971: 8, 977: 8, 984: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1792: 8, 1798: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1825: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1842: 8, 1848: 8, 1864: 8, 1872: 8, 1880: 8, 1888: 8, 1892: 8, 1896: 8, 1912: 8, 1937: 8, 1953: 8, 1960: 8, 1968: 8, 1992: 8, 2001: 8, 2008: 3, 2015: 8, 2016: 8, 2043: 5, 2045: 4 + 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 7, 970: 8, 971: 8, 977: 8, 984: 8, 986: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1792: 8, 1798: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1825: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1842: 8, 1848: 8, 1864: 8, 1872: 8, 1880: 8, 1888: 8, 1892: 8, 1896: 8, 1912: 8, 1937: 8, 1953: 8, 1960: 8, 1968: 8, 1992: 8, 2001: 8, 2008: 3, 2015: 8, 2016: 8, 2043: 5, 2045: 4 }, ], CAR.AP1_MODELS: [ From 578b8fba1a853da2f3b0d44605abfdd019bedd2f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 15 Sep 2022 03:33:56 +0800 Subject: [PATCH 022/685] networking: create scanning label once (#25782) * create scanning label only once * rename * fix Co-authored-by: Shane Smiskol --- selfdrive/ui/qt/offroad/networking.cc | 25 +++++++++++++------------ selfdrive/ui/qt/offroad/networking.h | 2 ++ 2 files changed, 15 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index c7341d1987..7ec8691feb 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -207,9 +207,12 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation); circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation); - QLabel *scanning = new QLabel(tr("Scanning for networks...")); - scanning->setStyleSheet("font-size: 65px;"); - main_layout->addWidget(scanning, 0, Qt::AlignCenter); + scanningLabel = new QLabel(tr("Scanning for networks...")); + scanningLabel->setStyleSheet("font-size: 65px;"); + main_layout->addWidget(scanningLabel, 0, Qt::AlignCenter); + + list_layout = new QVBoxLayout; + main_layout->addLayout(list_layout); setStyleSheet(R"( QScrollBar::handle:vertical { @@ -257,14 +260,12 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) void WifiUI::refresh() { // TODO: don't rebuild this every time - clearLayout(main_layout); + clearLayout(list_layout); + + bool is_empty = wifi->seenNetworks.isEmpty(); + scanningLabel->setVisible(is_empty); + if (is_empty) return; - if (wifi->seenNetworks.size() == 0) { - QLabel *scanning = new QLabel(tr("Scanning for networks...")); - scanning->setStyleSheet("font-size: 65px;"); - main_layout->addWidget(scanning, 0, Qt::AlignCenter); - return; - } QList sortedNetworks = wifi->seenNetworks.values(); std::sort(sortedNetworks.begin(), sortedNetworks.end(), compare_by_strength); @@ -327,6 +328,6 @@ void WifiUI::refresh() { list->addItem(hlayout); } - main_layout->addWidget(list); - main_layout->addStretch(1); + list_layout->addWidget(list); + list_layout->addStretch(1); } diff --git a/selfdrive/ui/qt/offroad/networking.h b/selfdrive/ui/qt/offroad/networking.h index e78d65ef0f..4fc9a53d93 100644 --- a/selfdrive/ui/qt/offroad/networking.h +++ b/selfdrive/ui/qt/offroad/networking.h @@ -17,6 +17,8 @@ public: private: WifiManager *wifi = nullptr; + QVBoxLayout *list_layout = nullptr; + QLabel *scanningLabel = nullptr; QVBoxLayout* main_layout; QPixmap lock; QPixmap checkmark; From 7352e6d9409dcec6719717dcb805b97565648533 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 14 Sep 2022 15:40:29 -0700 Subject: [PATCH 023/685] camerad: log image sensor in camera states (#25786) * camerad: log image sensor in camera states * for all cams * bump cereal * revert that Co-authored-by: Comma Device --- cereal | 2 +- system/camerad/cameras/camera_common.cc | 8 +++++++- system/camerad/cameras/camera_common.h | 2 +- system/camerad/cameras/camera_qcom2.cc | 4 ++-- 4 files changed, 11 insertions(+), 5 deletions(-) diff --git a/cereal b/cereal index f363cc13c6..bd2f7fa567 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit f363cc13c67d286f87606f35f91952927d1c2d4d +Subproject commit bd2f7fa56706bcec3c9906bd57c2ec46f0666ac5 diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index d033d8e6b4..3dbe97596d 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -159,7 +159,7 @@ void CameraBuf::queue(size_t buf_idx) { // common functions -void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data) { +void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) { framed.setFrameId(frame_data.frame_id); framed.setTimestampEof(frame_data.timestamp_eof); framed.setTimestampSof(frame_data.timestamp_sof); @@ -173,6 +173,12 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setLensErr(frame_data.lens_err); framed.setLensTruePos(frame_data.lens_true_pos); framed.setProcessingTime(frame_data.processing_time); + + if (c->camera_id == CAMERA_ID_AR0231) { + framed.setSensor(cereal::FrameData::ImageSensor::AR0321); + } else if (c->camera_id == CAMERA_ID_OX03C10) { + framed.setSensor(cereal::FrameData::ImageSensor::OX03C10); + } } kj::Array get_raw_frame_image(const CameraBuf *b) { diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 7bbb13c75f..bb6de9c8fb 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -113,7 +113,7 @@ public: typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt); -void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data); +void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c); kj::Array get_raw_frame_image(const CameraBuf *b); float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip); std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index b2432bdd72..9bdd71b5d7 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1208,7 +1208,7 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) MessageBuilder msg; auto framed = msg.initEvent().initDriverCameraState(); framed.setFrameType(cereal::FrameData::FrameType::FRONT); - fill_frame_data(framed, c->buf.cur_frame_data); + fill_frame_data(framed, c->buf.cur_frame_data, c); if (c->camera_id == CAMERA_ID_AR0231) { ar0231_process_registers(s, c, framed); @@ -1221,7 +1221,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { MessageBuilder msg; auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState(); - fill_frame_data(framed, b->cur_frame_data); + fill_frame_data(framed, b->cur_frame_data, c); if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) { // no overlap with qlog decimation framed.setImage(get_raw_frame_image(b)); } From e699b0994ce418eca68f48557475118d3190dd0e Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 15 Sep 2022 00:40:36 +0200 Subject: [PATCH 024/685] Honda: match current speed on dash (#25232) * Honda Bosch: match speed on dash * present on all cars * all honda * more explicit switching * hyst * hyst * clean up * Update ref_commit * no bitwise no bitwise Co-authored-by: Shane Smiskol --- selfdrive/car/honda/carstate.py | 14 ++++++++++++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 13 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 4696bec82e..a37667fd3a 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -24,6 +24,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"), ("STEER_TORQUE_SENSOR", "STEER_STATUS"), ("IMPERIAL_UNIT", "CAR_SPEED"), + ("ROUGH_CAR_SPEED_2", "CAR_SPEED"), ("LEFT_BLINKER", "SCM_FEEDBACK"), ("RIGHT_BLINKER", "SCM_FEEDBACK"), ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"), @@ -150,6 +151,10 @@ class CarState(CarStateBase): self.cruise_setting = 0 self.v_cruise_pcm_prev = 0 + # When available we use cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] to populate vEgoCluster + # However, on cars without a digital speedometer this is not always present (HRV, FIT, CRV 2016, ILX and RDX) + self.dash_speed_seen = False + def update(self, cp, cp_cam, cp_body): ret = car.CarState.new_message() @@ -203,6 +208,11 @@ class CarState(CarStateBase): ret.vEgoRaw = (1. - v_weight) * cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] * CV.KPH_TO_MS * self.CP.wheelSpeedFactor + v_weight * v_wheel ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + self.dash_speed_seen = self.dash_speed_seen or cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] > 1e-3 + if self.dash_speed_seen: + conversion = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS + ret.vEgoCluster = cp.vl["CAR_SPEED"]["ROUGH_CAR_SPEED_2"] * conversion + ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE"] ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEER_ANGLE_RATE"] @@ -237,9 +247,9 @@ class CarState(CarStateBase): ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252. # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting - conversion_factor = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS + conversion = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this. - ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion_factor + ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion self.v_cruise_pcm_prev = ret.cruiseState.speed else: ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 00a6789eaf..d0c769a0b0 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -260bd1a7240221e75a20d547f68e8d1217f9f29e \ No newline at end of file +3ad478bf44f50815d05acc5b12ff2f01a6cb42ff From 4c9f8d2df87582c4b56a08d9492ee55203d1a0bd Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 14 Sep 2022 19:04:28 -0500 Subject: [PATCH 025/685] VW: Prep for MQB longitudinal (#25777) * VW: Prep for MQB longitudinal * fine, be that way * temporarily pacify the docs generator --- selfdrive/car/volkswagen/carcontroller.py | 9 ++++-- selfdrive/car/volkswagen/carstate.py | 1 + selfdrive/car/volkswagen/interface.py | 15 ++++----- selfdrive/car/volkswagen/pqcan.py | 38 +++++++++++++---------- selfdrive/car/volkswagen/values.py | 3 +- 5 files changed, 39 insertions(+), 27 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 5624c3dd5f..816933f2f0 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -7,6 +7,7 @@ from selfdrive.car.volkswagen import mqbcan, pqcan from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert +LongCtrlState = car.CarControl.Actuators.LongControlState class CarController: @@ -25,7 +26,6 @@ class CarController: def update(self, CC, CS, ext_bus): actuators = CC.actuators hud_control = CC.hudControl - can_sends = [] # **** Steering Controls ************************************************ # @@ -71,9 +71,12 @@ class CarController: # **** Acceleration Controls ******************************************** # if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl: - tsk_status = self.CCS.tsk_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) + acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0 - can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, tsk_status, accel)) + stopping = actuators.longControlState == LongCtrlState.stopping + starting = actuators.longControlState == LongCtrlState.starting + can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel, + acc_control, stopping, starting, CS.out.cruiseState.standstill)) # **** HUD Controls ***************************************************** # diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index facc740a15..cf4a252b65 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -215,6 +215,7 @@ 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 ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) ret.cruiseState.enabled = bool(pt_cp.vl["Motor_2"]["GRA_Status"]) if self.CP.pcmCruise: diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 3ed7a6244d..821eef44c7 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -38,6 +38,7 @@ class CarInterface(CarInterfaceBase): if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1 ret.networkLocation = NetworkLocation.gateway + ret.experimentalLongitudinalAvailable = True else: ret.networkLocation = NetworkLocation.fwdCamera @@ -49,13 +50,6 @@ class CarInterface(CarInterfaceBase): # Panda ALLOW_DEBUG firmware required. ret.dashcamOnly = True - if experimental_long and ret.networkLocation == NetworkLocation.gateway: - # Proof-of-concept, prep for E2E only. No radar points available. Follow-to-stop not yet supported, but should - # be simple to add when a suitable test car becomes available. Panda ALLOW_DEBUG firmware required. - ret.experimentalLongitudinalAvailable = True - ret.openpilotLongitudinalControl = True - ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL - else: # Set global MQB parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] @@ -87,6 +81,13 @@ class CarInterface(CarInterfaceBase): # Global longitudinal tuning defaults, can be overridden per-vehicle + if experimental_long and candidate in PQ_CARS: + # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required. + ret.openpilotLongitudinalControl = True + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL + if ret.transmissionType == TransmissionType.manual: + ret.minEnableSpeed = 4.5 + ret.pcmCruise = not ret.openpilotLongitudinalControl ret.longitudinalActuatorDelayUpperBound = 0.5 # s ret.longitudinalTuning.kpV = [0.1] diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index e64bb2246e..30f3fcf62d 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -35,15 +35,15 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=Fa return packer.make_can_msg("GRA_Neu", bus, values) -def tsk_status_value(main_switch_on, acc_faulted, long_active): +def acc_control_value(main_switch_on, acc_faulted, long_active): if long_active: - tsk_status = 1 + acc_control = 1 elif main_switch_on: - tsk_status = 2 + acc_control = 2 else: - tsk_status = 0 + acc_control = 0 - return tsk_status + return acc_control def acc_hud_status_value(main_switch_on, acc_faulted, long_active): @@ -59,26 +59,32 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active): return hud_status -def create_acc_accel_control(packer, bus, adr_status, accel): +def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, standstill): + commands = [] + values = { - "ACS_Sta_ADR": adr_status, - "ACS_StSt_Info": adr_status != 1, - "ACS_Typ_ACC": 0, # TODO: this is ACC "basic", find a way to detect FtS support (1) - "ACS_Sollbeschl": accel if adr_status == 1 else 3.01, - "ACS_zul_Regelabw": 0.2 if adr_status == 1 else 1.27, - "ACS_max_AendGrad": 3.0 if adr_status == 1 else 5.08, + "ACS_Sta_ADR": acc_control, + "ACS_StSt_Info": acc_control != 1, + "ACS_Typ_ACC": acc_type, + "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, } - return packer.make_can_msg("ACC_System", bus, values) + commands.append(packer.make_can_msg("ACC_System", bus, values)) + + return commands -def create_acc_hud_control(packer, bus, acc_status, set_speed, lead_visible): +def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible): values = { - "ACA_StaACC": acc_status, + "ACA_StaACC": acc_hud_status, "ACA_Zeitluecke": 2, "ACA_V_Wunsch": set_speed, "ACA_gemZeitl": 8 if lead_visible else 0, + # 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 } - # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke return packer.make_can_msg("ACC_GRA_Anziege", bus, values) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 7c55736362..6425cd60be 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -20,7 +20,6 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) class CarControllerParams: HCA_STEP = 2 # HCA_01/HCA_1 message frequency 50Hz ACC_CONTROL_STEP = 2 # ACC_06/ACC_07/ACC_System frequency 50Hz - ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz ACCEL_MAX = 2.0 # 2.0 m/s max acceleration ACCEL_MIN = -3.5 # 3.5 m/s max deceleration @@ -37,6 +36,7 @@ class CarControllerParams: if CP.carFingerprint in PQ_CARS: self.LDW_STEP = 5 # LDW_1 message frequency 20Hz + self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00)) self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) @@ -65,6 +65,7 @@ class CarControllerParams: else: self.LDW_STEP = 10 # LDW_02 message frequency 10Hz + self.ACC_HUD_STEP = 6 # ACC_02 message frequency 16Hz self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm self.STEER_DELTA_UP = 4 # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50)) self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) From e8c8bd902d6c21173e4067b348e2762e5aefc4ab Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 14 Sep 2022 18:02:06 -0700 Subject: [PATCH 026/685] updated: prevent blocking on git (#25788) * updated: prevent blocking on git * remove that --- selfdrive/manager/test/test_manager.py | 2 +- selfdrive/updated.py | 48 +++++++------------------- 2 files changed, 14 insertions(+), 36 deletions(-) diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index f2e5319e8e..7ac2c5f506 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -12,7 +12,7 @@ from system.hardware import HARDWARE os.environ['FAKEUPLOAD'] = "1" MAX_STARTUP_TIME = 3 -ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and p.enabled and (p.name not in ['updated', 'pandad'])] +ALL_PROCESSES = [p.name for p in managed_processes.values() if (type(p) is not DaemonProcess) and p.enabled and (p.name not in ['pandad', ])] class TestManager(unittest.TestCase): diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 403ea2172b..2a36094768 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -57,24 +57,8 @@ class WaitTimeHelper: def __init__(self, proc): self.proc = proc self.ready_event = threading.Event() - self.shutdown = False - signal.signal(signal.SIGTERM, self.graceful_shutdown) - signal.signal(signal.SIGINT, self.graceful_shutdown) signal.signal(signal.SIGHUP, self.update_now) - def graceful_shutdown(self, signum: int, frame) -> None: - # umount -f doesn't appear effective in avoiding "device busy" on NEOS, - # so don't actually die until the next convenient opportunity in main(). - cloudlog.info("caught SIGINT/SIGTERM, dismounting overlay at next opportunity") - - # forward the signal to all our child processes - child_procs = self.proc.children(recursive=True) - for p in child_procs: - p.send_signal(signum) - - self.shutdown = True - self.ready_event.set() - def update_now(self, signum: int, frame) -> None: cloudlog.info("caught SIGHUP, running update check immediately") self.ready_event.set() @@ -233,7 +217,7 @@ def init_overlay() -> None: cloudlog.info(f"git diff output:\n{git_diff}") -def finalize_update(wait_helper: WaitTimeHelper) -> None: +def finalize_update() -> None: """Take the current OverlayFS merged view and finalize a copy outside of OverlayFS, ready to be swapped-in at BASEDIR. Copy using shutil.copytree""" @@ -258,14 +242,11 @@ def finalize_update(wait_helper: WaitTimeHelper) -> None: except subprocess.CalledProcessError: cloudlog.exception(f"Failed git cleanup, took {time.monotonic() - t:.3f} s") - if wait_helper.shutdown: - cloudlog.info("got interrupted finalizing overlay") - else: - set_consistent_flag(True) - cloudlog.info("done finalizing overlay") + set_consistent_flag(True) + cloudlog.info("done finalizing overlay") -def handle_agnos_update(wait_helper: WaitTimeHelper) -> None: +def handle_agnos_update() -> None: from system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number cur_version = HARDWARE.get_os_version() @@ -302,7 +283,7 @@ def check_for_update() -> Tuple[bool, bool]: return False, False -def fetch_update(wait_helper: WaitTimeHelper) -> bool: +def fetch_update() -> bool: cloudlog.info("attempting git fetch inside staging overlay") setup_git_options(OVERLAY_MERGED) @@ -338,10 +319,10 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool: cloudlog.info("git reset success: %s", '\n'.join(r)) if AGNOS: - handle_agnos_update(wait_helper) + handle_agnos_update() # Create the finalized, ready-to-swap update - finalize_update(wait_helper) + finalize_update() cloudlog.info("openpilot update successful!") else: cloudlog.info("nothing new from git at this time") @@ -382,7 +363,7 @@ def main() -> None: wait_helper = WaitTimeHelper(proc) # Run the update loop - while not wait_helper.shutdown: + while True: wait_helper.ready_event.clear() # Attempt an update @@ -400,7 +381,7 @@ def main() -> None: # Fetch update if internet_ok: - new_version = fetch_update(wait_helper) + new_version = fetch_update() update_failed_count = 0 except subprocess.CalledProcessError as e: cloudlog.event( @@ -416,17 +397,14 @@ def main() -> None: exception = str(e) overlay_init.unlink(missing_ok=True) - if not wait_helper.shutdown: - try: - set_params(new_version, update_failed_count, exception) - except Exception: - cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") + try: + set_params(new_version, update_failed_count, exception) + except Exception: + cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") # infrequent attempts if we successfully updated recently wait_helper.sleep(5*60 if update_failed_count > 0 else 90*60) - dismount_overlay() - if __name__ == "__main__": main() From 86062fee6bbe5c38be77f8f995e9dd19dc2f2f54 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 14 Sep 2022 19:11:49 -0700 Subject: [PATCH 027/685] Subaru: match panda standstill (#25789) * subaru: match panda standstill * subaru: match panda standstill * actually test standstill * bump panda to master --- panda | 2 +- selfdrive/car/subaru/carstate.py | 7 +++---- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/tests/test_models.py | 2 +- 4 files changed, 6 insertions(+), 7 deletions(-) diff --git a/panda b/panda index 19983f13b3..f120999e19 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 19983f13b37518298a3c282d5069c090b68f6864 +Subproject commit f120999e19fed7208534ae74b542b5cca6bafeaa diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 7fc5456d98..128e4245b2 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -32,9 +32,8 @@ class CarState(CarStateBase): cp_wheels.vl["Wheel_Speeds"]["RR"], ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. - # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.01 + ret.standstill = ret.vEgoRaw == 0 # continuous blinker signals for assisted lane change ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"], @@ -50,7 +49,7 @@ class CarState(CarStateBase): ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"] ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"] ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"] - + steer_threshold = 75 if self.CP.carFingerprint in PREGLOBAL_CARS else 80 ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold @@ -313,4 +312,4 @@ class CarState(CarStateBase): checks += CarState.get_global_es_distance_signals()[1] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1) - return None \ No newline at end of file + return None diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 9207859340..1f5d3edaf0 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -194,7 +194,7 @@ routes = [ CarTestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER), CarTestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA), CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020), - CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3), + CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10), CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3), # Pre-global, dashcam CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL), diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 50370f0797..bab9f859e6 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase): checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available - if self.CP.carName not in ("hyundai", "volkswagen", "subaru", "gm", "body"): + if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"): # TODO: fix standstill mismatches for other makes checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() From 96ef9b1f0c15ecc0695401ca4e5c103d52fb088f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 14 Sep 2022 20:06:19 -0700 Subject: [PATCH 028/685] updated: remove niceness (#25791) --- selfdrive/updated.py | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 2a36094768..65f8425201 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -67,9 +67,7 @@ class WaitTimeHelper: self.ready_event.wait(timeout=t) -def run(cmd: List[str], cwd: Optional[str] = None, low_priority: bool = False): - if low_priority: - cmd = ["nice", "-n", "19"] + cmd +def run(cmd: List[str], cwd: Optional[str] = None): return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') @@ -212,7 +210,7 @@ def init_overlay() -> None: run(["sudo"] + mount_cmd) run(["sudo", "chmod", "755", os.path.join(OVERLAY_METADATA, "work")]) - git_diff = run(["git", "diff"], OVERLAY_MERGED, low_priority=True) + git_diff = run(["git", "diff"], OVERLAY_MERGED) params.put("GitDiff", git_diff) cloudlog.info(f"git diff output:\n{git_diff}") @@ -277,7 +275,7 @@ def check_git_fetch_result(fetch_txt: str) -> bool: def check_for_update() -> Tuple[bool, bool]: setup_git_options(OVERLAY_MERGED) try: - git_fetch_output = run(["git", "fetch", "--dry-run"], OVERLAY_MERGED, low_priority=True) + git_fetch_output = run(["git", "fetch", "--dry-run"], OVERLAY_MERGED) return True, check_git_fetch_result(git_fetch_output) except subprocess.CalledProcessError: return False, False @@ -288,7 +286,7 @@ def fetch_update() -> bool: setup_git_options(OVERLAY_MERGED) - git_fetch_output = run(["git", "fetch"], OVERLAY_MERGED, low_priority=True) + git_fetch_output = run(["git", "fetch"], OVERLAY_MERGED) cloudlog.info("git fetch success: %s", git_fetch_output) cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip() @@ -315,7 +313,7 @@ def fetch_update() -> bool: if new_branch is not None: cloudlog.info(f"switching to branch {repr(new_branch)}") cmds.insert(0, ["git", "checkout", "-f", new_branch]) - r = [run(cmd, OVERLAY_MERGED, low_priority=True) for cmd in cmds] + r = [run(cmd, OVERLAY_MERGED) for cmd in cmds] cloudlog.info("git reset success: %s", '\n'.join(r)) if AGNOS: From 03314b3ddf48fff9b5bfc82e5f6a65fc32dea78f Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 14 Sep 2022 20:57:23 -0700 Subject: [PATCH 029/685] sensord test: stop sensord if interrupts not enabled (#25792) * stop sensord if interrupts not enabled * move to tearDown Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/tests/test_sensord.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py index 84582518fd..837fe88833 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -121,6 +121,10 @@ class TestSensord(unittest.TestCase): cls.events = read_sensor_events(5) managed_processes["sensord"].stop() + def tearDown(self): + # interrupt check might leave sensord running + managed_processes["sensord"].stop() + def test_sensors_present(self): # verify correct sensors configuration From d57e07eec0c3848755e856ea8a2cf14559fcc895 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 11:28:49 -0700 Subject: [PATCH 030/685] HKG: lower torque rate limits for CAN-FD cars (#25770) * Change ramp limits to 2/2 for CANFD cars * Only the high torque CANFD cars * comment * Update selfdrive/car/hyundai/values.py * Better to do 2/3 and for all cars * bump to master * update refs --- panda | 2 +- selfdrive/car/hyundai/values.py | 2 ++ selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/panda b/panda index f120999e19..38257a93e4 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit f120999e19fed7208534ae74b542b5cca6bafeaa +Subproject commit 38257a93e4733819a109a4ef52efed1bbeb45cc4 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 7fb8363a67..b816614879 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -29,6 +29,8 @@ class CarControllerParams: self.STEER_DRIVER_ALLOWANCE = 250 self.STEER_DRIVER_MULTIPLIER = 2 self.STEER_THRESHOLD = 250 + self.STEER_DELTA_UP = 2 + self.STEER_DELTA_DOWN = 3 # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d0c769a0b0..b25e2fecfc 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3ad478bf44f50815d05acc5b12ff2f01a6cb42ff +dac3c51684e101672bc27df13e76577103531e30 \ No newline at end of file From ef5395e5f36550d2b485216eee5406bf6062e9c9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Sep 2022 13:28:24 -0700 Subject: [PATCH 031/685] update ev6 max lat accel --- selfdrive/car/torque_data/override.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index fcc762c2b8..20fb5f7a64 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -21,7 +21,7 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars -KIA EV6 2022: [3.5, 2.5, 0.0] +KIA EV6 2022: [3.5, 3.0, 0.0] RAM 1500 5TH GEN: [2.0, 2.0, 0.0] RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] From a9f88503fe132401e73531f8213923ba53b2c19f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Sep 2022 13:55:36 -0700 Subject: [PATCH 032/685] update refs --- 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 b25e2fecfc..7390610252 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -dac3c51684e101672bc27df13e76577103531e30 \ No newline at end of file +ef5395e5f36550d2b485216eee5406bf6062e9c9 \ No newline at end of file From c7a0f23b45603fb8e7718234f92284854866924e Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 15 Sep 2022 15:06:43 -0700 Subject: [PATCH 033/685] better OX03C10 settings (#25796) * ev has different scales * fix initial gradient * fix highlight weirdness * try smooth set of gains * delay * add gain idx * oops * set different min dc Co-authored-by: Comma Device --- system/camerad/cameras/camera_qcom2.cc | 61 ++++++++++++++++---------- system/camerad/cameras/camera_qcom2.h | 4 +- system/camerad/cameras/sensor2_i2c.h | 6 +-- 3 files changed, 44 insertions(+), 27 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 9bdd71b5d7..544d653676 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -61,39 +61,48 @@ const float DC_GAIN_OX03C10 = 7.32; const float DC_GAIN_ON_GREY_AR0231= 0.2; const float DC_GAIN_OFF_GREY_AR0231 = 0.3; -const float DC_GAIN_ON_GREY_OX03C10= 0.3; -const float DC_GAIN_OFF_GREY_OX03C10 = 0.375; +const float DC_GAIN_ON_GREY_OX03C10= 0.25; +const float DC_GAIN_OFF_GREY_OX03C10 = 0.35; -const int DC_GAIN_MIN_WEIGHT = 0; +const int DC_GAIN_MIN_WEIGHT_AR0231 = 0; const int DC_GAIN_MAX_WEIGHT_AR0231 = 1; +const int DC_GAIN_MIN_WEIGHT_OX03C10 = 16; const int DC_GAIN_MAX_WEIGHT_OX03C10 = 32; +const float TARGET_GREY_FACTOR_AR0231 = 1.0; +const float TARGET_GREY_FACTOR_OX03C10 = 0.02; + const float sensor_analog_gains_AR0231[] = { 1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3 3.0/6.0, 4.0/6.0, 4.0/5.0, 5.0/5.0, // 4, 5, 6, 7 5.0/4.0, 6.0/4.0, 6.0/3.0, 7.0/3.0, // 8, 9, 10, 11 7.0/2.0, 8.0/2.0, 8.0/1.0}; // 12, 13, 14, 15 = bypass -// similar gain curve to AR const float sensor_analog_gains_OX03C10[] = { - 1.0, 1.25, 1.3125, 1.5625, - 1.6875, 2.0, 2.25, 2.625, - 3.125, 3.625, 4.5, 5.0, - 7.25, 8.5, 12.0, 15.5}; + 1.0, 1.125, 1.25, 1.3125, 1.5625, + 1.6875, 2.0, 2.25, 2.625, 3.125, + 3.625, 4.0, 4.5, 5.0, 5.5, + 6.0, 6.5, 7.0, 7.5, 8.0, + 8.5, 9.0, 9.5, 10.0, 10.5, + 11.0, 11.5, 12.0, 12.5, 13.0, + 13.5, 14.0, 14.5, 15.0, 15.5}; const uint32_t ox03c10_analog_gains_reg[] = { - 0x100, 0x140, 0x150, 0x190, - 0x1B0, 0x200, 0x240, 0x2A0, - 0x320, 0x3A0, 0x480, 0x500, - 0x740, 0x880, 0xC00, 0xF80}; + 0x100, 0x120, 0x140, 0x150, 0x190, + 0x1B0, 0x200, 0x240, 0x2A0, 0x320, + 0x3A0, 0x400, 0x480, 0x500, 0x580, + 0x600, 0x680, 0x700, 0x780, 0x800, + 0x880, 0x900, 0x980, 0xA00, 0xA80, + 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, + 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; 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_MIN_IDX_OX03C10 = 0x0; -const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x5; // 2x -const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0xF; +const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x6; // 2x +const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x22; const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms @@ -517,6 +526,7 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) { void CameraState::camera_set_parameters() { if (camera_id == CAMERA_ID_AR0231) { dc_gain_factor = DC_GAIN_AR0231; + dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_AR0231; dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_AR0231; dc_gain_on_grey = DC_GAIN_ON_GREY_AR0231; dc_gain_off_grey = DC_GAIN_OFF_GREY_AR0231; @@ -529,8 +539,10 @@ void CameraState::camera_set_parameters() { sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; } min_ev = exposure_time_min * sensor_analog_gains[analog_gain_min_idx]; + target_grey_factor = TARGET_GREY_FACTOR_AR0231; } else if (camera_id == CAMERA_ID_OX03C10) { dc_gain_factor = DC_GAIN_OX03C10; + dc_gain_min_weight = DC_GAIN_MIN_WEIGHT_OX03C10; dc_gain_max_weight = DC_GAIN_MAX_WEIGHT_OX03C10; dc_gain_on_grey = DC_GAIN_ON_GREY_OX03C10; dc_gain_off_grey = DC_GAIN_OFF_GREY_OX03C10; @@ -543,6 +555,7 @@ void CameraState::camera_set_parameters() { sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; } min_ev = (exposure_time_min + VS_TIME_MIN_OX03C10) * sensor_analog_gains[analog_gain_min_idx]; + target_grey_factor = TARGET_GREY_FACTOR_OX03C10; } else { assert(false); } @@ -551,7 +564,7 @@ void CameraState::camera_set_parameters() { target_grey_fraction = 0.3; dc_gain_enabled = false; - dc_gain_weight = DC_GAIN_MIN_WEIGHT; + dc_gain_weight = dc_gain_min_weight; gain_idx = analog_gain_rec_idx; exposure_time = 5; cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight) * sensor_analog_gains[gain_idx] * exposure_time; @@ -1037,7 +1050,7 @@ void CameraState::set_camera_exposure(float grey_frac) { const float cur_ev_ = cur_ev[buf.cur_frame_data.frame_id % 3]; // Scale target grey between 0.1 and 0.4 depending on lighting conditions - float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + cur_ev_) / log2(6000.0), 0.1, 0.4); + float new_target_grey = std::clamp(0.4 - 0.3 * log2(1.0 + target_grey_factor*cur_ev_) / log2(6000.0), 0.1, 0.4); float target_grey = (1.0 - k_grey) * target_grey_fraction + k_grey * new_target_grey; float desired_ev = std::clamp(cur_ev_ * target_grey / grey_frac, min_ev, max_ev); @@ -1053,14 +1066,14 @@ void CameraState::set_camera_exposure(float grey_frac) { bool enable_dc_gain = dc_gain_enabled; if (!enable_dc_gain && target_grey < dc_gain_on_grey) { enable_dc_gain = true; - dc_gain_weight = DC_GAIN_MIN_WEIGHT; + dc_gain_weight = dc_gain_min_weight; } else if (enable_dc_gain && target_grey > dc_gain_off_grey) { enable_dc_gain = false; dc_gain_weight = dc_gain_max_weight; } if (enable_dc_gain && dc_gain_weight < dc_gain_max_weight) {dc_gain_weight += 1;} - if (!enable_dc_gain && dc_gain_weight > DC_GAIN_MIN_WEIGHT) {dc_gain_weight -= 1;} + if (!enable_dc_gain && dc_gain_weight > dc_gain_min_weight) {dc_gain_weight -= 1;} std::string gain_bytes, time_bytes; if (env_ctrl_exp_from_params) { @@ -1145,10 +1158,12 @@ void CameraState::set_camera_exposure(float grey_frac) { // t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD uint32_t hcg_time = std::max((dc_gain_weight * exposure_time / dc_gain_max_weight), 0); uint32_t lcg_time = std::max(((dc_gain_max_weight - dc_gain_weight) * exposure_time / dc_gain_max_weight), 0); - uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min); - uint32_t vs_time = std::min(std::max(hcg_time / 64, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); + // uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min); + uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 128, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); + uint32_t spd_time = vs_time; uint32_t real_gain = ox03c10_analog_gains_reg[new_g]; + uint32_t min_gain = ox03c10_analog_gains_reg[0]; struct i2c_random_wr_payload exp_reg_array[] = { {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, @@ -1157,9 +1172,9 @@ void CameraState::set_camera_exposure(float grey_frac) { {0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF}, {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, - {0x3588, real_gain>>8}, {0x3589, real_gain&0xFF}, - {0x3548, real_gain>>8}, {0x3549, real_gain&0xFF}, - {0x35c8, real_gain>>8}, {0x35c9, real_gain&0xFF}, + {0x3588, min_gain>>8}, {0x3589, min_gain&0xFF}, + {0x3548, min_gain>>8}, {0x3549, min_gain&0xFF}, + {0x35c8, min_gain>>8}, {0x35c9, min_gain&0xFF}, }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false); } diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 1b792e7e96..5023c82458 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -31,11 +31,12 @@ public: int exposure_time_max; float dc_gain_factor; + int dc_gain_min_weight; int dc_gain_max_weight; float dc_gain_on_grey; float dc_gain_off_grey; - float sensor_analog_gains[16]; + float sensor_analog_gains[35]; int analog_gain_min_idx; int analog_gain_max_idx; int analog_gain_rec_idx; @@ -45,6 +46,7 @@ public: float measured_grey_fraction; float target_grey_fraction; + float target_grey_factor; unique_fd sensor_fd; unique_fd csiphy_fd; diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 9df99552e1..209e2d76d2 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -129,13 +129,13 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x350a, 0x04}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain {0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure - {0x358a, 0x04}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain + {0x358a, 0x01}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain {0x3546, 0x20}, {0x3547, 0x00}, // spd fine exposure - {0x354a, 0x04}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain + {0x354a, 0x01}, {0x354b, 0x00}, {0x354c, 0x00}, // spd digital gain {0x35c6, 0xb0}, {0x35c7, 0x00}, // vs fine exposure - {0x35ca, 0x04}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain + {0x35ca, 0x01}, {0x35cb, 0x00}, {0x35cc, 0x00}, // vs digital gain // also RSVD {0x3600, 0x8f}, {0x3605, 0x16}, {0x3609, 0xf0}, {0x360a, 0x01}, From c4e63d14ab158118efc6eadd0e20d8d533f9e046 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 15 Sep 2022 15:12:36 -0700 Subject: [PATCH 034/685] good updater experience (#25724) * good updater experience * set params on startup * no fetch on first loop * little type hinting * little more * update translations * always set params with valid overlay * wrap check * use the param * more wrapping * vanish * cleanup * remove that --- common/params.cc | 10 +- selfdrive/ui/.gitignore | 2 + selfdrive/ui/SConscript | 3 +- selfdrive/ui/qt/offroad/settings.cc | 81 +---- selfdrive/ui/qt/offroad/settings.h | 13 +- selfdrive/ui/qt/offroad/software_settings.cc | 156 ++++++++++ selfdrive/ui/qt/widgets/controls.cc | 8 +- selfdrive/ui/qt/widgets/controls.h | 14 +- selfdrive/ui/qt/widgets/offroad_alerts.cc | 2 +- selfdrive/ui/qt/widgets/ssh_keys.cc | 8 +- selfdrive/ui/qt/widgets/ssh_keys.h | 2 - selfdrive/ui/tests/cycle_offroad_alerts.py | 2 +- selfdrive/ui/translations/main_ja.ts | 91 ++---- selfdrive/ui/translations/main_ko.ts | 91 ++---- selfdrive/ui/translations/main_pt-BR.ts | 91 ++---- selfdrive/ui/translations/main_zh-CHS.ts | 91 ++---- selfdrive/ui/translations/main_zh-CHT.ts | 91 ++---- selfdrive/updated.py | 306 ++++++++++++------- 18 files changed, 550 insertions(+), 512 deletions(-) create mode 100644 selfdrive/ui/qt/offroad/software_settings.cc diff --git a/common/params.cc b/common/params.cc index 5c8c94be53..8ff5fc539d 100644 --- a/common/params.cc +++ b/common/params.cc @@ -154,18 +154,24 @@ std::unordered_map keys = { {"PrimeType", PERSISTENT}, {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet - {"ReleaseNotes", PERSISTENT}, {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ShouldDoUpdate", CLEAR_ON_MANAGER_START}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"SshEnabled", PERSISTENT}, {"SubscriberInfo", PERSISTENT}, - {"SwitchToBranch", CLEAR_ON_MANAGER_START}, {"TermsVersion", PERSISTENT}, {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, {"UpdateAvailable", CLEAR_ON_MANAGER_START}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, + {"UpdaterState", CLEAR_ON_MANAGER_START}, + {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, + {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START}, + {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START}, + {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, + {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, + {"UpdaterNewDescription", CLEAR_ON_MANAGER_START}, + {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, {"Version", PERSISTENT}, {"VisionRadarToggle", PERSISTENT}, {"WideCameraOnly", PERSISTENT}, diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore index e5b27adce5..60eb4b43c7 100644 --- a/selfdrive/ui/.gitignore +++ b/selfdrive/ui/.gitignore @@ -1,6 +1,8 @@ moc_* *.moc +translations/main_test_en.* + _mui watch3 installer/installers/* diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index c62a6b19d9..92f6578dfc 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -56,7 +56,8 @@ qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs) # build main UI qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", - "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc"] + "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", + "qt/offroad/driverview.cc"] qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) if GetOption('test'): qt_src.remove("main.cc") # replaced by test_runner diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 7a5a40c193..52df247a25 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -159,7 +159,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { addItem(dcamBtn); auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), ""); - connect(resetCalibBtn, &ButtonControl::showDescription, this, &DevicePanel::updateCalibDescription); + connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription); connect(resetCalibBtn, &ButtonControl::clicked, [&]() { if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), this)) { params.remove("CalibrationParams"); @@ -282,85 +282,6 @@ void DevicePanel::poweroff() { } } -SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { - gitBranchLbl = new LabelControl(tr("Git Branch")); - gitCommitLbl = new LabelControl(tr("Git Commit")); - osVersionLbl = new LabelControl(tr("OS Version")); - versionLbl = new LabelControl(tr("Version"), "", QString::fromStdString(params.get("ReleaseNotes")).trimmed()); - lastUpdateLbl = new LabelControl(tr("Last Update Check"), "", tr("The last time openpilot successfully checked for an update. The updater only runs while the car is off.")); - updateBtn = new ButtonControl(tr("Check for Update"), ""); - connect(updateBtn, &ButtonControl::clicked, [=]() { - if (params.getBool("IsOffroad")) { - fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime"))); - fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount"))); - updateBtn->setText(tr("CHECKING")); - updateBtn->setEnabled(false); - } - std::system("pkill -1 -f selfdrive.updated"); - }); - connect(uiState(), &UIState::offroadTransition, updateBtn, &QPushButton::setEnabled); - - branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER"), tr("The new branch will be pulled the next time the updater runs.")); - connect(branchSwitcherBtn, &ButtonControl::clicked, [=]() { - QString branch = InputDialog::getText(tr("Enter branch name"), this, tr("The new branch will be pulled the next time the updater runs."), - false, -1, QString::fromStdString(params.get("SwitchToBranch"))); - if (branch.isEmpty()) { - params.remove("SwitchToBranch"); - } else { - params.put("SwitchToBranch", branch.toStdString()); - } - std::system("pkill -1 -f selfdrive.updated"); - }); - connect(uiState(), &UIState::offroadTransition, branchSwitcherBtn, &QPushButton::setEnabled); - - auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL")); - connect(uninstallBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) { - params.putBool("DoUninstall", true); - } - }); - connect(uiState(), &UIState::offroadTransition, uninstallBtn, &QPushButton::setEnabled); - - QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, branchSwitcherBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn}; - for (QWidget* w : widgets) { - if (w == branchSwitcherBtn && params.getBool("IsTestedBranch")) { - continue; - } - addItem(w); - } - - fs_watch = new QFileSystemWatcher(this); - QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) { - if (path.contains("UpdateFailedCount") && std::atoi(params.get("UpdateFailedCount").c_str()) > 0) { - lastUpdateLbl->setText(tr("failed to fetch update")); - updateBtn->setText(tr("CHECK")); - updateBtn->setEnabled(true); - } else if (path.contains("LastUpdateTime")) { - updateLabels(); - } - }); -} - -void SoftwarePanel::showEvent(QShowEvent *event) { - updateLabels(); -} - -void SoftwarePanel::updateLabels() { - QString lastUpdate = ""; - auto tm = params.get("LastUpdateTime"); - if (!tm.empty()) { - lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate)); - } - - versionLbl->setText(getBrandVersion()); - lastUpdateLbl->setText(lastUpdate); - updateBtn->setText(tr("CHECK")); - updateBtn->setEnabled(true); - gitBranchLbl->setText(QString::fromStdString(params.get("GitBranch"))); - gitCommitLbl->setText(QString::fromStdString(params.get("GitCommit")).left(10)); - osVersionLbl->setText(QString::fromStdString(Hardware::get_os_version()).trimmed()); -} - void SettingsWindow::showEvent(QShowEvent *event) { panel_widget->setCurrentIndex(0); nav_btns->buttons()[0]->setChecked(true); diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 1f823851f1..4177f28cf4 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -71,14 +71,15 @@ public: private: void showEvent(QShowEvent *event) override; void updateLabels(); + void checkForUpdates(); - LabelControl *gitBranchLbl; - LabelControl *gitCommitLbl; - LabelControl *osVersionLbl; + bool is_onroad = false; + + QLabel *onroadLbl; LabelControl *versionLbl; - LabelControl *lastUpdateLbl; - ButtonControl *updateBtn; - ButtonControl *branchSwitcherBtn; + ButtonControl *installBtn; + ButtonControl *downloadBtn; + ButtonControl *targetBranchBtn; Params params; QFileSystemWatcher *fs_watch; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc new file mode 100644 index 0000000000..c9deef2ec4 --- /dev/null +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -0,0 +1,156 @@ +#include "selfdrive/ui/qt/offroad/settings.h" + +#include +#include +#include + +#include +#include + +#include "common/params.h" +#include "common/util.h" +#include "selfdrive/ui/ui.h" +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/qt/widgets/controls.h" +#include "selfdrive/ui/qt/widgets/input.h" +#include "system/hardware/hw.h" + + +void SoftwarePanel::checkForUpdates() { + std::system("pkill -SIGUSR1 -f selfdrive.updated"); +} + +SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { + onroadLbl = new QLabel(tr("Updates are only downloaded while the car is off.")); + onroadLbl->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; padding-top: 30px; padding-bottom: 30px;"); + addItem(onroadLbl); + + // current version + versionLbl = new LabelControl(tr("Current Version"), ""); + addItem(versionLbl); + + // download update btn + downloadBtn = new ButtonControl(tr("Download"), tr("CHECK")); + connect(downloadBtn, &ButtonControl::clicked, [=]() { + downloadBtn->setEnabled(false); + if (downloadBtn->text() == tr("CHECK")) { + checkForUpdates(); + } else { + std::system("pkill -SIGHUP -f selfdrive.updated"); + } + }); + addItem(downloadBtn); + + // install update btn + installBtn = new ButtonControl(tr("Install Update"), tr("INSTALL")); + connect(installBtn, &ButtonControl::clicked, [=]() { + installBtn->setEnabled(false); + params.putBool("DoShutdown", true); + }); + addItem(installBtn); + + // branch selecting + targetBranchBtn = new ButtonControl(tr("Target Branch"), tr("SELECT")); + connect(targetBranchBtn, &ButtonControl::clicked, [=]() { + auto current = params.get("GitBranch"); + QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(","); + for (QString b : {current.c_str(), "devel-staging", "devel", "master-ci", "master"}) { + auto i = branches.indexOf(b); + if (i >= 0) { + branches.removeAt(i); + branches.insert(0, b); + } + } + + QString cur = QString::fromStdString(params.get("UpdaterTargetBranch")); + QString selection = MultiOptionDialog::getSelection(tr("Select a branch"), branches, cur, this); + if (!selection.isEmpty()) { + params.put("UpdaterTargetBranch", selection.toStdString()); + targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch"))); + checkForUpdates(); + } + }); + if (!params.getBool("IsTestedBranch")) { + addItem(targetBranchBtn); + } + + // uninstall button + auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL")); + connect(uninstallBtn, &ButtonControl::clicked, [&]() { + if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) { + params.putBool("DoUninstall", true); + } + }); + addItem(uninstallBtn); + + fs_watch = new QFileSystemWatcher(this); + QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) { + updateLabels(); + }); + + connect(uiState(), &UIState::offroadTransition, [=](bool offroad) { + is_onroad = !offroad; + updateLabels(); + }); + + updateLabels(); +} + +void SoftwarePanel::showEvent(QShowEvent *event) { + // nice for testing on PC + installBtn->setEnabled(true); + + updateLabels(); +} + +void SoftwarePanel::updateLabels() { + // add these back in case the files got removed + fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime"))); + fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount"))); + fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdaterState"))); + fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateAvailable"))); + + if (!isVisible()) { + return; + } + + // updater only runs offroad + onroadLbl->setVisible(is_onroad); + downloadBtn->setVisible(!is_onroad); + + // download update + QString updater_state = QString::fromStdString(params.get("UpdaterState")); + bool failed = std::atoi(params.get("UpdateFailedCount").c_str()) > 0; + if (updater_state != "idle") { + downloadBtn->setEnabled(false); + downloadBtn->setValue(updater_state); + } else { + if (failed) { + downloadBtn->setText("CHECK"); + downloadBtn->setValue("failed to check for update"); + } else if (params.getBool("UpdaterFetchAvailable")) { + downloadBtn->setText("DOWNLOAD"); + downloadBtn->setValue("update available"); + } else { + QString lastUpdate = "never"; + auto tm = params.get("LastUpdateTime"); + if (!tm.empty()) { + lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate)); + } + downloadBtn->setText("CHECK"); + downloadBtn->setValue("up to date, last checked " + lastUpdate); + } + downloadBtn->setEnabled(true); + } + targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch"))); + + // current + new versions + versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")).left(40)); + versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes"))); + + installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable")); + installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")).left(35)); + installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes"))); + + update(); +} diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index 3264fd3aac..b5f646c379 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -42,6 +42,12 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left"); hlayout->addWidget(title_label); + // value next to control button + value = new QLabel(); + value->setAlignment(Qt::AlignRight | Qt::AlignVCenter); + value->setStyleSheet("color: #aaaaaa"); + hlayout->addWidget(value); + main_layout->addLayout(hlayout); // description @@ -54,7 +60,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons connect(title_label, &QPushButton::clicked, [=]() { if (!description->isVisible()) { - emit showDescription(); + emit showDescriptionEvent(); } if (!description->text().isEmpty()) { diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index d8546bb3b5..c42716828f 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -45,8 +45,17 @@ public: title_label->setText(title); } + void setValue(const QString &val) { + value->setText(val); + } + +public slots: + void showDescription() { + description->setVisible(true); + }; + signals: - void showDescription(); + void showDescriptionEvent(); protected: AbstractControl(const QString &title, const QString &desc = "", const QString &icon = "", QWidget *parent = nullptr); @@ -54,6 +63,9 @@ protected: QHBoxLayout *hlayout; QPushButton *title_label; + +private: + QLabel *value; QLabel *description = nullptr; }; diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index 937ea02f86..ceb823fb2b 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -112,7 +112,7 @@ UpdateAlert::UpdateAlert(QWidget *parent) : AbstractAlert(true, parent) { bool UpdateAlert::refresh() { bool updateAvailable = params.getBool("UpdateAvailable"); if (updateAvailable) { - releaseNotes->setText(params.get("ReleaseNotes").c_str()); + releaseNotes->setText(params.get("UpdaterNewReleaseNotes").c_str()); } return updateAvailable; } diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index f17604b3e5..1097a89268 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -5,10 +5,6 @@ #include "selfdrive/ui/qt/widgets/input.h" SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("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.")) { - username_label.setAlignment(Qt::AlignRight | Qt::AlignVCenter); - username_label.setStyleSheet("color: #aaaaaa"); - hlayout->insertWidget(1, &username_label); - QObject::connect(this, &ButtonControl::clicked, [=]() { if (text() == tr("ADD")) { QString username = InputDialog::getText(tr("Enter your GitHub username"), this); @@ -30,10 +26,10 @@ SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This g void SshControl::refresh() { QString param = QString::fromStdString(params.get("GithubSshKeys")); if (param.length()) { - username_label.setText(QString::fromStdString(params.get("GithubUsername"))); + setValue(QString::fromStdString(params.get("GithubUsername"))); setText(tr("REMOVE")); } else { - username_label.setText(""); + setValue(""); setText(tr("ADD")); } setEnabled(true); diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h index 01e2ab83ce..920bd651e2 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.h +++ b/selfdrive/ui/qt/widgets/ssh_keys.h @@ -27,8 +27,6 @@ public: private: Params params; - QLabel username_label; - void refresh(); void getUserKeys(const QString &username); }; diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py index 6b6aea4477..8a3d9ec45a 100755 --- a/selfdrive/ui/tests/cycle_offroad_alerts.py +++ b/selfdrive/ui/tests/cycle_offroad_alerts.py @@ -20,7 +20,7 @@ if __name__ == "__main__": params.put_bool("UpdateAvailable", True) r = open(os.path.join(BASEDIR, "RELEASES.md")).read() r = r[:r.find('\n\n')] # Slice latest release notes - params.put("ReleaseNotes", r + "\n") + params.put("UpdaterNewReleaseNotes", r + "\n") time.sleep(t) params.put_bool("UpdateAvailable", False) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 9be6658d19..4262473fb2 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -193,7 +193,7 @@ 変更 - + Select a language 言語を選択 @@ -418,7 +418,7 @@ prime subscription. Sign up now: https://connect.comma.ai 詳しくはこちら：https://connect.comma.ai - + No home location set 自宅の住所はまだ @@ -432,7 +432,7 @@ location set 設定されていません - + no recent destinations 最近の目的地履歴がありません @@ -718,7 +718,7 @@ location set SettingsWindow - + × × @@ -983,68 +983,47 @@ location set SoftwarePanel - - Git Branch - Git ブランチ + + Updates are only downloaded while the car is off. + - - Git Commit - Git コミット - - - - OS Version - OS バージョン + + Current Version + - - Version - バージョン + + Download + - - Last Update Check - 最終更新確認 + + Install Update + - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。 - - - - Check for Update - 更新プログラムをチェック - - - - CHECKING - 確認中 + INSTALL + - - Switch Branch - ブランチの切り替え + + Target Branch + - ENTER - 切替 + SELECT + - - - The new branch will be pulled the next time the updater runs. - updater を実行する時にブランチを切り替えます。 - - - - Enter branch name - ブランチ名を入力 + + Select a branch + - + UNINSTALL アンインストール @@ -1059,13 +1038,8 @@ location set アンインストールしてもよろしいですか？ - - failed to fetch update - 更新のﾀﾞｳﾝﾛｰﾄﾞにｴﾗｰが発生しました - - - - + + CHECK 確認 @@ -1083,7 +1057,7 @@ location set 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。コンマのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 - + ADD 追加 @@ -1153,7 +1127,7 @@ location set TogglesPanel - + Enable openpilot openpilot を有効化 @@ -1290,12 +1264,11 @@ location set WifiUI - Scanning for networks... ネットワークをスキャン中... - + CONNECTING... 接続中... diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 3e329a72ab..b517c8320e 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -193,7 +193,7 @@ 변경 - + Select a language 언어를 선택하세요 @@ -418,7 +418,7 @@ prime subscription. Sign up now: https://connect.comma.ai 등록：https://connect.comma.ai - + No home location set 집 @@ -432,7 +432,7 @@ location set 설정되지않음 - + no recent destinations 최근 목적지 없음 @@ -718,7 +718,7 @@ location set SettingsWindow - + × × @@ -983,68 +983,47 @@ location set SoftwarePanel - - Git Branch - Git 브렌치 + + Updates are only downloaded while the car is off. + - - Git Commit - Git 커밋 - - - - OS Version - OS 버전 + + Current Version + - - Version - 버전 + + Download + - - Last Update Check - 최신 업데이트 검사 + + Install Update + - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - 최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다. - - - - Check for Update - 업데이트 확인 - - - - CHECKING - 확인중 + INSTALL + - - Switch Branch - 브랜치 변경 + + Target Branch + - ENTER - 입력하세요 + SELECT + - - - The new branch will be pulled the next time the updater runs. - 다음 업데이트 프로그램이 실행될 때 새 브랜치가 적용됩니다. - - - - Enter branch name - 브랜치명 입력 + + Select a branch + - + UNINSTALL 제거 @@ -1059,13 +1038,8 @@ location set 제거하시겠습니까? - - failed to fetch update - 업데이트를 가져올수없습니다 - - - - + + CHECK 확인 @@ -1083,7 +1057,7 @@ location set 경고: 허용으로 설정하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. GitHub 사용자 ID 이외에는 입력하지 마십시오. comma에서는 GitHub ID를 추가하라는 요청을 하지 않습니다. - + ADD 추가 @@ -1153,7 +1127,7 @@ location set TogglesPanel - + Enable openpilot openpilot 사용 @@ -1290,12 +1264,11 @@ location set WifiUI - Scanning for networks... 네트워크 검색 중... - + CONNECTING... 연결중... diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index b729678a2c..91ffabc625 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -193,7 +193,7 @@ ALTERAR - + Select a language Selecione o Idioma @@ -419,7 +419,7 @@ prime subscription. Sign up now: https://connect.comma.ai uma assinatura prime Inscreva-se agora: https://connect.comma.ai - + No home location set Sem local @@ -433,7 +433,7 @@ location set trabalho definido - + no recent destinations sem destinos recentes @@ -722,7 +722,7 @@ trabalho definido SettingsWindow - + × × @@ -987,68 +987,47 @@ trabalho definido SoftwarePanel - - Git Branch - Git Branch - - - - Git Commit - Último Commit + + Updates are only downloaded while the car is off. + - - OS Version - Versão do Sistema + + Current Version + - - Version - Versão + + Download + - - Last Update Check - Verificação da última atualização + + Install Update + - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - A última vez que o openpilot verificou com sucesso uma atualização. O atualizador só funciona com o carro desligado. - - - - Check for Update - Verifique atualizações - - - - CHECKING - VERIFICANDO - - - - Switch Branch - Alterar Branch + INSTALL + - - ENTER - INSERIR + + Target Branch + - - The new branch will be pulled the next time the updater runs. - A nova branch será aplicada ao verificar atualizações. + SELECT + - - Enter branch name - Inserir o nome da branch + + Select a branch + - + UNINSTALL DESINSTALAR @@ -1063,13 +1042,8 @@ trabalho definido Tem certeza que quer desinstalar? - - failed to fetch update - falha ao buscar atualização - - - - + + CHECK VERIFICAR @@ -1087,7 +1061,7 @@ trabalho definido Aviso: isso concede acesso SSH a todas as chaves públicas nas configurações do GitHub. Nunca insira um nome de usuário do GitHub que não seja o seu. Um funcionário da comma NUNCA pedirá que você adicione seu nome de usuário do GitHub. - + ADD ADICIONAR @@ -1157,7 +1131,7 @@ trabalho definido TogglesPanel - + Enable openpilot Ativar openpilot @@ -1294,12 +1268,11 @@ trabalho definido WifiUI - Scanning for networks... Procurando redes... - + CONNECTING... CONECTANDO... diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 606e70726f..8fce4e01a7 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -193,7 +193,7 @@ 切换 - + Select a language 选择语言 @@ -418,7 +418,7 @@ prime subscription. Sign up now: https://connect.comma.ai 立即注册：https://connect.comma.ai - + No home location set 家：未设定 @@ -430,7 +430,7 @@ location set 工作：未设定 - + no recent destinations 无最近目的地 @@ -716,7 +716,7 @@ location set SettingsWindow - + × × @@ -981,68 +981,47 @@ location set SoftwarePanel - - Git Branch - Git Branch - - - - Git Commit - Git Commit + + Updates are only downloaded while the car is off. + - - OS Version - 系统版本 + + Current Version + - - Version - 软件版本 + + Download + - - Last Update Check - 上次检查更新 + + Install Update + - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - 上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。 - - - - Check for Update - 检查更新 - - - - CHECKING - 正在检查更新 - - - - Switch Branch - 切换分支 + INSTALL + - - ENTER - 输入 + + Target Branch + - - The new branch will be pulled the next time the updater runs. - 分支将在更新服务下次启动时自动切换。 + SELECT + - - Enter branch name - 输入分支名称 + + Select a branch + - + UNINSTALL 卸载 @@ -1057,13 +1036,8 @@ location set 您确定要卸载吗？ - - failed to fetch update - 获取更新失败 - - - - + + CHECK 查看 @@ -1081,7 +1055,7 @@ location set 警告：这将授予SSH访问权限给您GitHub设置中的所有公钥。切勿输入您自己以外的GitHub用户名。comma员工永远不会要求您添加他们的GitHub用户名。 - + ADD 添加 @@ -1151,7 +1125,7 @@ location set TogglesPanel - + Enable openpilot 启用openpilot @@ -1288,12 +1262,11 @@ location set WifiUI - Scanning for networks... 正在扫描网络…… - + CONNECTING... 正在连接…… diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index b5b737ca25..022d41be81 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -193,7 +193,7 @@ 更改 - + Select a language 選擇語言 @@ -418,7 +418,7 @@ prime subscription. Sign up now: https://connect.comma.ai 立即註冊：https://connect.comma.ai - + No home location set 未設定 @@ -432,7 +432,7 @@ location set 工作位置 - + no recent destinations 沒有最近的導航記錄 @@ -718,7 +718,7 @@ location set SettingsWindow - + × × @@ -983,68 +983,47 @@ location set SoftwarePanel - - Git Branch - Git 分支 - - - - Git Commit - Git 提交 + + Updates are only downloaded while the car is off. + - - OS Version - 系統版本 + + Current Version + - - Version - 版本 + + Download + - - Last Update Check - 上次檢查時間 + + Install Update + - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - 上次成功檢查更新的時間。更新系統只會在車子熄火時執行。 - - - - Check for Update - 檢查更新 - - - - CHECKING - 檢查中 - - - - Switch Branch - 切換分支 + INSTALL + - - ENTER - 切換 + + Target Branch + - - The new branch will be pulled the next time the updater runs. - 新的分支將會在下次檢查更新時切換過去。 + SELECT + - - Enter branch name - 輸入分支名稱 + + Select a branch + - + UNINSTALL 卸載 @@ -1059,13 +1038,8 @@ location set 您確定您要卸載嗎？ - - failed to fetch update - 下載更新失敗 - - - - + + CHECK 檢查 @@ -1083,7 +1057,7 @@ location set 警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。 - + ADD 新增 @@ -1153,7 +1127,7 @@ location set TogglesPanel - + Enable openpilot 啟用 openpilot @@ -1290,12 +1264,11 @@ location set WifiUI - Scanning for networks... 掃描無線網路中... - + CONNECTING... 連線中... diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 65f8425201..79b759a906 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -23,6 +23,7 @@ # disable this service. import os +import re import datetime import subprocess import psutil @@ -31,8 +32,9 @@ import signal import fcntl import time import threading +from collections import defaultdict from pathlib import Path -from typing import List, Tuple, Optional +from typing import List, Union, Optional from markdown_it import MarkdownIt from common.basedir import BASEDIR @@ -54,20 +56,27 @@ DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days class WaitTimeHelper: - def __init__(self, proc): - self.proc = proc + def __init__(self): self.ready_event = threading.Event() + self.only_check_for_update = False signal.signal(signal.SIGHUP, self.update_now) + signal.signal(signal.SIGUSR1, self.check_now) def update_now(self, signum: int, frame) -> None: - cloudlog.info("caught SIGHUP, running update check immediately") + cloudlog.info("caught SIGHUP, attempting to downloading update") + self.only_check_for_update = False + self.ready_event.set() + + def check_now(self, signum: int, frame) -> None: + cloudlog.info("caught SIGUSR1, checking for updates") + self.only_check_for_update = True self.ready_event.set() def sleep(self, t: float) -> None: self.ready_event.wait(timeout=t) -def run(cmd: List[str], cwd: Optional[str] = None): +def run(cmd: List[str], cwd: Optional[str] = None) -> str: return subprocess.check_output(cmd, cwd=cwd, stderr=subprocess.STDOUT, encoding='utf8') @@ -80,59 +89,19 @@ def set_consistent_flag(consistent: bool) -> None: consistent_file.unlink(missing_ok=True) os.sync() - -def set_params(new_version: bool, failed_count: int, exception: Optional[str]) -> None: - params = Params() - - params.put("UpdateFailedCount", str(failed_count)) - - last_update = datetime.datetime.utcnow() - if failed_count == 0: - t = last_update.isoformat() - params.put("LastUpdateTime", t.encode('utf8')) - else: - try: - t = params.get("LastUpdateTime", encoding='utf8') - last_update = datetime.datetime.fromisoformat(t) - except (TypeError, ValueError): - pass - - if exception is None: - params.remove("LastUpdateException") - else: - params.put("LastUpdateException", exception) - - # Write out release notes for new versions - if new_version: +def parse_release_notes(basedir: str) -> bytes: + try: + with open(os.path.join(basedir, "RELEASES.md"), "rb") as f: + r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes try: - with open(os.path.join(FINALIZED, "RELEASES.md"), "rb") as f: - r = f.read().split(b'\n\n', 1)[0] # Slice latest release notes - try: - params.put("ReleaseNotes", MarkdownIt().render(r.decode("utf-8"))) - except Exception: - params.put("ReleaseNotes", r + b"\n") + return bytes(MarkdownIt().render(r.decode("utf-8")), encoding="utf-8") except Exception: - params.put("ReleaseNotes", "") - params.put_bool("UpdateAvailable", True) - - # Handle user prompt - for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"): - set_offroad_alert(alert, False) - - now = datetime.datetime.utcnow() - dt = now - last_update - if failed_count > 15 and exception is not None: - if is_tested_branch(): - extra_text = "Ensure the software is correctly installed" - else: - extra_text = exception - set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text) - elif dt.days > DAYS_NO_CONNECTIVITY_MAX and failed_count > 1: - set_offroad_alert("Offroad_ConnectivityNeeded", True) - elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT: - remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1) - set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.") - + return r + b"\n" + except FileNotFoundError: + pass + except Exception: + cloudlog.exception("failed to parse release notes") + return b"" def setup_git_options(cwd: str) -> None: # We sync FS object atimes (which NEOS doesn't use) and mtimes, but ctimes @@ -267,65 +236,161 @@ def handle_agnos_update() -> None: set_offroad_alert("Offroad_NeosUpdate", False) -def check_git_fetch_result(fetch_txt: str) -> bool: - err_msg = "Failed to add the host to the list of known hosts (/data/data/com.termux/files/home/.ssh/known_hosts).\n" - return len(fetch_txt) > 0 and (fetch_txt != err_msg) +class Updater: + def __init__(self): + self.params = Params() + self.branches = defaultdict(lambda: None) + + @property + def target_branch(self) -> str: + b: Union[str, None] = self.params.get("UpdaterTargetBranch", encoding='utf-8') + if b is None: + b = self.get_branch(BASEDIR) + self.params.put("UpdaterTargetBranch", b) + return b + + @property + def update_ready(self) -> bool: + consistent_file = Path(os.path.join(FINALIZED, ".overlay_consistent")) + if consistent_file.is_file(): + hash_mismatch = self.get_commit_hash(BASEDIR) != self.branches[self.target_branch] + branch_mismatch = self.get_branch(BASEDIR) != self.target_branch + on_target_branch = self.get_branch(FINALIZED) == self.target_branch + return ((hash_mismatch or branch_mismatch) and on_target_branch) + return False + + @property + def update_available(self) -> bool: + if os.path.isdir(OVERLAY_MERGED): + hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch] + branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch + return hash_mismatch or branch_mismatch + return False + + def get_branch(self, path: str) -> str: + return run(["git", "rev-parse", "--abbrev-ref", "HEAD"], path).rstrip() + + def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str: + return run(["git", "rev-parse", "HEAD"], path).rstrip() + + def set_params(self, failed_count: int, exception: Optional[str]) -> None: + self.params.put("UpdateFailedCount", str(failed_count)) + + self.params.put_bool("UpdaterFetchAvailable", self.update_available) + self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) + + last_update = datetime.datetime.utcnow() + if failed_count == 0: + t = last_update.isoformat() + self.params.put("LastUpdateTime", t.encode('utf8')) + else: + try: + t = self.params.get("LastUpdateTime", encoding='utf8') + last_update = datetime.datetime.fromisoformat(t) + except (TypeError, ValueError): + pass -def check_for_update() -> Tuple[bool, bool]: - setup_git_options(OVERLAY_MERGED) - try: - git_fetch_output = run(["git", "fetch", "--dry-run"], OVERLAY_MERGED) - return True, check_git_fetch_result(git_fetch_output) - except subprocess.CalledProcessError: - return False, False - + if exception is None: + self.params.remove("LastUpdateException") + else: + self.params.put("LastUpdateException", exception) -def fetch_update() -> bool: - cloudlog.info("attempting git fetch inside staging overlay") + # Write out current and new version info + def get_description(basedir: str) -> str: + version = "" + branch = "" + commit = "" + try: + branch = self.get_branch(basedir) + commit = self.get_commit_hash(basedir) + with open(os.path.join(basedir, "common", "version.h")) as f: + version = f.read().split('"')[1] + except Exception: + pass + return f"{version} / {branch} / {commit[:7]}" + self.params.put("UpdaterCurrentDescription", get_description(BASEDIR)) + self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR)) + self.params.put("UpdaterNewDescription", get_description(FINALIZED)) + self.params.put("UpdaterNewReleaseNotes", parse_release_notes(FINALIZED)) + self.params.put_bool("UpdateAvailable", self.update_ready) + + # Handle user prompt + for alert in ("Offroad_UpdateFailed", "Offroad_ConnectivityNeeded", "Offroad_ConnectivityNeededPrompt"): + set_offroad_alert(alert, False) + + now = datetime.datetime.utcnow() + dt = now - last_update + if failed_count > 15 and exception is not None: + if is_tested_branch(): + extra_text = "Ensure the software is correctly installed. Uninstall and re-install if this error persists." + else: + extra_text = exception + set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text) + elif dt.days > DAYS_NO_CONNECTIVITY_MAX and failed_count > 1: + set_offroad_alert("Offroad_ConnectivityNeeded", True) + elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT: + remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1) + set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.") + + def check_for_update(self) -> None: + cloudlog.info("checking for updates") + + excluded_branches = ('release2', 'release2-staging', 'dashcam', 'dashcam-staging') + + setup_git_options(OVERLAY_MERGED) + output = run(["git", "ls-remote", "--heads"], OVERLAY_MERGED) + + self.branches = defaultdict(lambda: None) + for line in output.split('\n'): + ls_remotes_re = r'(?P\b[0-9a-f]{5,40}\b)(\s+)(refs\/heads\/)(?P.*$)' + x = re.fullmatch(ls_remotes_re, line.strip()) + if x is not None and x.group('branch_name') not in excluded_branches: + self.branches[x.group('branch_name')] = x.group('commit_sha') + + cur_branch = self.get_branch(OVERLAY_MERGED) + cur_commit = self.get_commit_hash(OVERLAY_MERGED) + new_branch = self.target_branch + new_commit = self.branches[new_branch] + if (cur_branch, cur_commit) != (new_branch, new_commit): + cloudlog.info(f"update available, {cur_branch} ({cur_commit[:7]}) -> {new_branch} ({new_commit[:7]})") + else: + cloudlog.info(f"up to date on {cur_branch} ({cur_commit[:7]})") - setup_git_options(OVERLAY_MERGED) + def fetch_update(self) -> None: + cloudlog.info("attempting git fetch inside staging overlay") - git_fetch_output = run(["git", "fetch"], OVERLAY_MERGED) - cloudlog.info("git fetch success: %s", git_fetch_output) + self.params.put("UpdaterState", "downloading...") - cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip() - upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip() - new_version: bool = cur_hash != upstream_hash - git_fetch_result = check_git_fetch_result(git_fetch_output) + # TODO: cleanly interrupt this and invalidate old update + set_consistent_flag(False) + self.params.put_bool("UpdateAvailable", False) - new_branch = Params().get("SwitchToBranch", encoding='utf8') - if new_branch is not None: - new_version = True + setup_git_options(OVERLAY_MERGED) - cloudlog.info(f"comparing {cur_hash} to {upstream_hash}") - if new_version or git_fetch_result: - cloudlog.info("Running update") + branch = self.target_branch + git_fetch_output = run(["git", "fetch", "origin", branch], OVERLAY_MERGED) + cloudlog.info("git fetch success: %s", git_fetch_output) - if new_version: - cloudlog.info("git reset in progress") - cmds = [ - ["git", "reset", "--hard", "@{u}"], - ["git", "clean", "-xdf"], - ["git", "submodule", "init"], - ["git", "submodule", "update"], - ] - if new_branch is not None: - cloudlog.info(f"switching to branch {repr(new_branch)}") - cmds.insert(0, ["git", "checkout", "-f", new_branch]) - r = [run(cmd, OVERLAY_MERGED) for cmd in cmds] - cloudlog.info("git reset success: %s", '\n'.join(r)) + cloudlog.info("git reset in progress") + cmds = [ + ["git", "checkout", "--force", "--no-recurse-submodules", branch], + ["git", "reset", "--hard", f"origin/{branch}"], + ["git", "clean", "-xdf"], + ["git", "submodule", "init"], + ["git", "submodule", "update"], + ] + r = [run(cmd, OVERLAY_MERGED) for cmd in cmds] + cloudlog.info("git reset success: %s", '\n'.join(r)) - if AGNOS: - handle_agnos_update() + # TODO: show agnos download progress + if AGNOS: + handle_agnos_update() # Create the finalized, ready-to-swap update + self.params.put("UpdaterState", "finalizing update...") finalize_update() - cloudlog.info("openpilot update successful!") - else: - cloudlog.info("nothing new from git at this time") - - return new_version + cloudlog.info("finalize success!") def main() -> None: @@ -357,8 +422,12 @@ def main() -> None: overlay_init = Path(os.path.join(BASEDIR, ".overlay_init")) overlay_init.unlink(missing_ok=True) + updater = Updater() update_failed_count = 0 # TODO: Load from param? - wait_helper = WaitTimeHelper(proc) + + # no fetch on the first time + wait_helper = WaitTimeHelper() + wait_helper.only_check_for_update = True # Run the update loop while True: @@ -366,21 +435,24 @@ def main() -> None: # Attempt an update exception = None - new_version = False - update_failed_count += 1 try: + # TODO: reuse overlay from previous updated instance if it looks clean init_overlay() - # TODO: still needed? skip this and just fetch? - # Lightweight internt check - internet_ok, update_available = check_for_update() - if internet_ok and not update_available: - update_failed_count = 0 + # ensure we have some params written soon after startup + updater.set_params(update_failed_count, exception) + update_failed_count += 1 + + # check for update + params.put("UpdaterState", "checking...") + updater.check_for_update() - # Fetch update - if internet_ok: - new_version = fetch_update() - update_failed_count = 0 + # download update + if wait_helper.only_check_for_update: + cloudlog.info("skipping fetch this cycle") + else: + updater.fetch_update() + update_failed_count = 0 except subprocess.CalledProcessError as e: cloudlog.event( "update process failed", @@ -396,12 +468,14 @@ def main() -> None: overlay_init.unlink(missing_ok=True) try: - set_params(new_version, update_failed_count, exception) + params.put("UpdaterState", "idle") + updater.set_params(update_failed_count, exception) except Exception: cloudlog.exception("uncaught updated exception while setting params, shouldn't happen") # infrequent attempts if we successfully updated recently - wait_helper.sleep(5*60 if update_failed_count > 0 else 90*60) + wait_helper.only_check_for_update = False + wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60) if __name__ == "__main__": From d5410dfac5e2bf9f68edb16d18d8875647021b13 Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Thu, 15 Sep 2022 15:35:24 -0700 Subject: [PATCH 035/685] Panda health: names and mixup fix (#25774) * init * naming * fix names * bump cereal * bump panda * bump panda --- cereal | 2 +- panda | 2 +- selfdrive/boardd/boardd.cc | 8 ++++---- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index bd2f7fa567..513dfc7ee0 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit bd2f7fa56706bcec3c9906bd57c2ec46f0666ac5 +Subproject commit 513dfc7ee001243cd68a57a9d92fe3170fc49c7d diff --git a/panda b/panda index 38257a93e4..046fd58e8d 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 38257a93e4733819a109a4ef52efed1bbeb45cc4 +Subproject commit 046fd58e8d64c58ed80769fcbec5ac2417a04c71 diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 5ff6d56e69..0872a94712 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -346,14 +346,14 @@ std::optional send_panda_states(PubMaster *pm, const std::vector auto ps = pss[i]; ps.setUptime(health.uptime_pkt); - ps.setBlockedCnt(health.blocked_msg_cnt_pkt); + ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt); + ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt); ps.setIgnitionLine(health.ignition_line_pkt); ps.setIgnitionCan(health.ignition_can_pkt); ps.setControlsAllowed(health.controls_allowed_pkt); ps.setGasInterceptorDetected(health.gas_interceptor_detected_pkt); - ps.setCanRxErrs(health.can_rx_errs_pkt); - ps.setCanSendErrs(health.can_send_errs_pkt); - ps.setCanFwdErrs(health.can_fwd_errs_pkt); + ps.setTxBufferOverflow(health.tx_buffer_overflow_pkt); + ps.setRxBufferOverflow(health.rx_buffer_overflow_pkt); ps.setGmlanSendErrs(health.gmlan_send_errs_pkt); ps.setPandaType(panda->hw_type); ps.setSafetyModel(cereal::CarParams::SafetyModel(health.safety_mode_pkt)); From 85b433760a2c1a139062a40040e096b9de880e33 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 16 Sep 2022 06:43:27 +0800 Subject: [PATCH 036/685] Params: add new method to get all keys (#25779) * allKeys * cleanup and test Co-authored-by: Adeeb Shihadeh --- common/params.cc | 9 +++++++++ common/params.h | 2 ++ common/params_pyx.pyx | 5 +++++ common/tests/test_params.py | 8 ++++++++ 4 files changed, 24 insertions(+) diff --git a/common/params.cc b/common/params.cc index 8ff5fc539d..7b2d4490ea 100644 --- a/common/params.cc +++ b/common/params.cc @@ -3,6 +3,7 @@ #include #include +#include #include #include @@ -203,6 +204,14 @@ Params::Params(const std::string &path) { params_path = path.empty() ? default_param_path : ensure_params_path(prefix, path); } +std::vector Params::allKeys() const { + std::vector ret; + for (auto &p : keys) { + ret.push_back(p.first); + } + return ret; +} + bool Params::checkKey(const std::string &key) { return keys.find(key) != keys.end(); } diff --git a/common/params.h b/common/params.h index aa4b1d7af3..7758a015f6 100644 --- a/common/params.h +++ b/common/params.h @@ -2,6 +2,7 @@ #include #include +#include enum ParamKeyType { PERSISTENT = 0x02, @@ -15,6 +16,7 @@ enum ParamKeyType { class Params { public: Params(const std::string &path = {}); + std::vector allKeys() const; bool checkKey(const std::string &key); ParamKeyType getKeyType(const std::string &key); inline std::string getParamPath(const std::string &key = {}) { diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index 8d52b8d3f6..bbddda46ea 100755 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -2,6 +2,7 @@ # cython: language_level = 3 from libcpp cimport bool from libcpp.string cimport string +from libcpp.vector cimport vector import threading cdef extern from "common/params.h": @@ -22,6 +23,7 @@ cdef extern from "common/params.h": bool checkKey(string) nogil string getParamPath(string) nogil void clearAll(ParamKeyType) + vector[string] allKeys() def ensure_bytes(v): @@ -99,6 +101,9 @@ cdef class Params: cdef string key_bytes = ensure_bytes(key) return self.p.getParamPath(key_bytes).decode("utf-8") + def all_keys(self): + return self.p.allKeys() + def put_nonblocking(key, val, d=""): threading.Thread(target=lambda: Params(d).put(key, val)).start() diff --git a/common/tests/test_params.py b/common/tests/test_params.py index 899a47fe34..ec13e82217 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -98,6 +98,14 @@ class TestParams(unittest.TestCase): assert q.get("CarParams") is None assert q.get("CarParams", True) == b"1" + def test_params_all_keys(self): + keys = Params().all_keys() + + # sanity checks + assert len(keys) > 20 + assert len(keys) == len(set(keys)) + assert b"CarParams" in keys + if __name__ == "__main__": unittest.main() From ce9c689bb4f8924d47a9beb264081ed922ce9e91 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 16:07:51 -0700 Subject: [PATCH 037/685] Car docs: more consistent package names (#25797) * update docs * Revert "update docs" This reverts commit a5127198fe8e43ecadb0cbde432773f4da2e212a. * spell it out * update docs * add (ACC) for consistency * All VW --- docs/CARS.md | 110 ++++++++++++++--------------- selfdrive/car/chrysler/values.py | 2 +- selfdrive/car/gm/values.py | 2 +- selfdrive/car/volkswagen/values.py | 14 ++-- 4 files changed, 64 insertions(+), 64 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 47694fffee..510500dab7 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -11,27 +11,27 @@ 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|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Cadillac|Escalade ESV 2016[1](#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|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control|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|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|Chevrolet|Volt 2017-18[1](#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| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G70 2020|All|openpilot|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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|GMC|Acadia 2018[1](#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|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| @@ -80,8 +80,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Tucson Hybrid 2022|All|Stock|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|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|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| +|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) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| |Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| @@ -122,9 +122,9 @@ A supported vehicle is one that just works when you install a comma three. All s |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| |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|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram| -|SEAT|Ateca 2018|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|SEAT|Leon 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |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| @@ -135,13 +135,13 @@ 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[5](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Karoq 2019-21[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Kodiaq 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Octavia 2015, 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Octavia RS 2016|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Scala 2020|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Superb 2015-18|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Kamiq 2021[5](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Karoq 2019-21[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |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|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| @@ -182,37 +182,37 @@ 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|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas 2018-23[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|California 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Caravelle 2020[7](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|CC 2018-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|e-Golf 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf 2015-20[8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf GTD 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf GTE 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf GTI 2015-21|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf R 2015-19[8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Jetta 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Polo 2020-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|T-Cross 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|T-Roc 2021[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Taos 2022[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont 2018-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont X 2021-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Tiguan 2019-22[7](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Touran 2017|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas 2018-23[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|California 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Caravelle 2020[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|CC 2018-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf 2015-20[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf R 2015-19[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Jetta 2018-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Polo 2020-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|T-Cross 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|T-Roc 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Taos 2022[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont 2018-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont X 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Tiguan 2019-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| 1Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index d4ac9f6f00..7180ace524 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -52,7 +52,7 @@ RAM_CARS = RAM_DT | RAM_HD @dataclass class ChryslerCarInfo(CarInfo): - package: str = "Adaptive Cruise Control" + package: str = "Adaptive Cruise Control (ACC)" harness: Enum = Harness.fca CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 21ede171e0..a84cbdc91a 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -71,7 +71,7 @@ class Footnote(Enum): @dataclass class GMCarInfo(CarInfo): - package: str = "Adaptive Cruise Control" + package: str = "Adaptive Cruise Control (ACC)" harness: Enum = Harness.obd_ii footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II]) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 6425cd60be..4d17b4e3a6 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -164,7 +164,7 @@ class Footnote(Enum): @dataclass class VWCarInfo(CarInfo): - package: str = "Driver Assistance" + package: str = "Adaptive Cruise Control (ACC) & Lane Assist" harness: Enum = Harness.vw @@ -216,13 +216,13 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), CAR.AUDI_A3_MK3: [ - VWCarInfo("Audi A3 2014-19", "ACC + Lane Assist"), - VWCarInfo("Audi A3 Sportback e-tron 2017-18", "ACC + Lane Assist"), - VWCarInfo("Audi RS3 2018", "ACC + Lane Assist"), - VWCarInfo("Audi S3 2015-17", "ACC + Lane Assist"), + VWCarInfo("Audi A3 2014-19"), + VWCarInfo("Audi A3 Sportback e-tron 2017-18"), + VWCarInfo("Audi RS3 2018"), + VWCarInfo("Audi S3 2015-17"), ], - CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018", "ACC + Lane Assist"), - CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2020-21", "ACC + Lane Assist"), + CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018"), + CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2020-21"), 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.KAMIQ]), From ae87665e92cb17952abf2b7f182a0302264dc642 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 16 Sep 2022 09:04:29 +0900 Subject: [PATCH 038/685] Multilang: add missing Korean translations (#25799) kor translation update --- selfdrive/ui/translations/main_ko.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index b517c8320e..2a827ca4a6 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -985,42 +985,42 @@ location set Updates are only downloaded while the car is off. - + 업데이트는 차량 연결이 해제되어 있는 동안에만 다운로드됩니다. Current Version - + 현재 버전 Download - + 다운로드 Install Update - + 업데이트 설치 INSTALL - + 설치 Target Branch - + 대상 브랜치 SELECT - + 선택 Select a branch - + 브랜치 선택 From 834f212903f5c06a9fe8d6caa6b6da52ac7a7d83 Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Fri, 16 Sep 2022 10:48:17 +1000 Subject: [PATCH 039/685] Multilang: add missing Chinese e2e toggle translations (#25656) * japanese e2e toggle * chinese (simp) * chinese (trad) * OOPS * Mention experimental in details * Also in traditional * Exp. * suggestions * Apply suggestions from code review Co-authored-by: ZwX1616 * add back removed translations from merge * Update selfdrive/ui/translations/main_zh-CHS.ts Co-authored-by: Shane Smiskol Co-authored-by: ZwX1616 --- selfdrive/ui/translations/main_zh-CHS.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 8fce4e01a7..8a6f856be7 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1167,7 +1167,7 @@ location set 🌮 End-to-end longitudinal (extremely alpha) 🌮 - + 🌮 端对端纵向控制（实验性功能） 🌮 @@ -1182,7 +1182,7 @@ location set Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + 让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 022d41be81..6758305420 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1169,7 +1169,7 @@ location set 🌮 End-to-end longitudinal (extremely alpha) 🌮 - + 🌮 端對端縱向控制（實驗性功能） 🌮 @@ -1184,7 +1184,7 @@ location set Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + 讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。 From 1aa8c0525ea5339eecd82cb08572636ebbaa7034 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Thu, 15 Sep 2022 20:55:02 -0400 Subject: [PATCH 040/685] GM: Chevy Equinox 2019-22 (#25431) * Chevy Equinox Port * LKAS is not standard on 2019, but it's the same package as ACC. (LKAS standard 2020+) * 2019 here too * clean up * add to untested * not in docs Co-authored-by: Shane Smiskol --- selfdrive/car/gm/interface.py | 10 +++++++++- selfdrive/car/gm/values.py | 8 +++++++- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 4 files changed, 18 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index be28890484..49d56cf096 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -71,7 +71,7 @@ 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} + 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. ret.minSteerSpeed = 10 * CV.KPH_TO_MS @@ -170,6 +170,14 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 1.0 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.EQUINOX: + ret.minEnableSpeed = -1 + ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG + ret.wheelbase = 2.72 + ret.steerRatio = 14.4 + 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) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index a84cbdc91a..25e624da7b 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -60,6 +60,7 @@ class CAR: ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" BOLT_EUV = "CHEVROLET BOLT EUV 2022" SILVERADO = "CHEVROLET SILVERADO 1500 2020" + EQUINOX = "CHEVROLET EQUINOX 2019" class Footnote(Enum): @@ -89,6 +90,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm), GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm), ], + CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm), } @@ -166,6 +168,10 @@ FINGERPRINTS = { { 190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 }], + CAR.EQUINOX: [ + { + 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 + }], } 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')) @@ -173,6 +179,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power 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_EUV, CAR.SILVERADO} +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 1f5d3edaf0..9f28bf8543 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -21,6 +21,7 @@ non_tested_cars = [ GM.CADILLAC_ATS, GM.HOLDEN_ASTRA, GM.MALIBU, + GM.EQUINOX, HYUNDAI.ELANTRA_GT_I30, HYUNDAI.GENESIS_G90, HYUNDAI.KIA_OPTIMA_H, diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 20fb5f7a64..2e0f601e84 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -27,6 +27,7 @@ RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] +CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0] From 5a80fda819fda68cad1caf7c6db15d9a495aefac Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 19:24:18 -0700 Subject: [PATCH 041/685] GM: adjust Bolt EUV centerToFront --- selfdrive/car/gm/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 49d56cf096..f3ab1ee726 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -156,7 +156,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 1669. + STD_CARGO_KG ret.wheelbase = 2.675 ret.steerRatio = 16.8 - ret.centerToFront = ret.wheelbase * 0.4 + ret.centerToFront = 2.15 # measured tire_stiffness_factor = 1.0 ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) From 7ddcde687e3ffaa0ec91002871b76f9ca82752b1 Mon Sep 17 00:00:00 2001 From: eFini Date: Fri, 16 Sep 2022 10:31:57 +0800 Subject: [PATCH 042/685] Multilang: add missing Chinese (Traditional) translations (#25802) --- selfdrive/ui/translations/main_zh-CHT.ts | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 6758305420..ef958e7140 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -985,42 +985,42 @@ location set Updates are only downloaded while the car is off. - + 系統更新只會在熄火時下載。 Current Version - + 當前版本 Download - + 下載 Install Update - + 安裝更新 INSTALL - + 安裝 Target Branch - + 目標分支 SELECT - + 選取 Select a branch - + 選取一個分支 @@ -1174,12 +1174,12 @@ location set Experimental openpilot longitudinal control - + 使用 openpilot 縱向控制（實驗） <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - + <b>注意：這台車的 openpilot 縱向控制仍然是實驗中的功能，開啟這功能將會關閉自動緊急煞車 (AEB)。</b> From 64c2d4b30f7d4be1e1726a5668c548ecf8d6e32e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 19:37:12 -0700 Subject: [PATCH 043/685] Wrap new UI strings --- selfdrive/ui/qt/offroad/settings.cc | 4 ++-- selfdrive/ui/translations/main_ja.ts | 12 +++++++++++- selfdrive/ui/translations/main_ko.ts | 12 +++++++++++- selfdrive/ui/translations/main_pt-BR.ts | 12 +++++++++++- selfdrive/ui/translations/main_zh-CHS.ts | 12 +++++++++++- selfdrive/ui/translations/main_zh-CHT.ts | 12 +++++++++++- 6 files changed, 57 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 52df247a25..ae878c5419 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -134,8 +134,8 @@ void TogglesPanel::updateToggles() { e2e_toggle->setEnabled(false); params.remove("EndToEndLong"); - const QString no_long = "openpilot longitudinal control is not currently available for this car."; - const QString exp_long = "Enable experimental longitudinal control to enable this."; + const QString no_long = tr("openpilot longitudinal control is not currently available for this car."); + const QString exp_long = tr("Enable experimental longitudinal control to enable this."); e2e_toggle->setDescription("" + (CP.getExperimentalLongitudinalAvailable() ? exp_long : no_long) + "

" + e2e_description); } diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 4262473fb2..3cc9149755 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1187,7 +1187,17 @@ location set アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。 - + + openpilot longitudinal control is not currently available for this car. + + + + + Enable experimental longitudinal control to enable this. + + + + Disengage On Accelerator Pedal ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 2a827ca4a6..17914f21d8 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1187,7 +1187,17 @@ location set 주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적) - + + openpilot longitudinal control is not currently available for this car. + + + + + Enable experimental longitudinal control to enable this. + + + + Disengage On Accelerator Pedal 가속페달 조작시 해제 diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 91ffabc625..fe028e18b5 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1191,7 +1191,17 @@ trabalho definido - + + openpilot longitudinal control is not currently available for this car. + + + + + Enable experimental longitudinal control to enable this. + + + + Disengage On Accelerator Pedal Desacionar Com Pedal Do Acelerador diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 8a6f856be7..28008ef06f 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1185,7 +1185,17 @@ location set 让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。 - + + openpilot longitudinal control is not currently available for this car. + + + + + Enable experimental longitudinal control to enable this. + + + + Disengage On Accelerator Pedal 踩油门时取消控制 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index ef958e7140..19f5bf7392 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1187,7 +1187,17 @@ location set 讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。 - + + openpilot longitudinal control is not currently available for this car. + + + + + Enable experimental longitudinal control to enable this. + + + + Disengage On Accelerator Pedal 油門取消控車 From cfaa1b7d3eeeb8ae16b77e04a0416dbacf4bc6d2 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Thu, 15 Sep 2022 23:11:53 -0400 Subject: [PATCH 044/685] GM: Chevy Bolt EV 2022-23 (#25430) * Chevy Bolt EV w ACC Port * dashcam * The website allows you to select the package without ACC * fix Bolt E(U)V centerToFront * Update selfdrive/car/gm/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/gm/interface.py | 10 +++++----- selfdrive/car/gm/values.py | 6 ++++-- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 4 files changed, 11 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index f3ab1ee726..93be57cf21 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -71,7 +71,7 @@ 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} + ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV} # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. ret.minSteerSpeed = 10 * CV.KPH_TO_MS @@ -138,23 +138,23 @@ class CarInterface(CarInterfaceBase): ret.mass = 1601. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 15.3 - ret.centerToFront = ret.wheelbase * 0.49 + ret.centerToFront = ret.wheelbase * 0.5 elif candidate == CAR.ESCALADE_ESV: ret.minEnableSpeed = -1. # engage speed is decided by pcm ret.mass = 2739. + STD_CARGO_KG ret.wheelbase = 3.302 ret.steerRatio = 17.3 - ret.centerToFront = ret.wheelbase * 0.49 + ret.centerToFront = ret.wheelbase * 0.5 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]] ret.lateralTuning.pid.kf = 0.000045 tire_stiffness_factor = 1.0 - elif candidate == CAR.BOLT_EUV: + elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV): ret.minEnableSpeed = -1 ret.mass = 1669. + STD_CARGO_KG - ret.wheelbase = 2.675 + ret.wheelbase = 2.63779 ret.steerRatio = 16.8 ret.centerToFront = 2.15 # measured tire_stiffness_factor = 1.0 diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 25e624da7b..943e8a6585 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -58,6 +58,7 @@ 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" @@ -85,6 +86,7 @@ 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", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm), CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm), CAR.SILVERADO: [ GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm), @@ -176,9 +178,9 @@ 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_EUV} +EV_CAR = {CAR.VOLT, CAR.BOLT_EV, 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_EUV, CAR.SILVERADO, CAR.EQUINOX} +CAMERA_ACC_CAR = {CAR.BOLT_EV, 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 9f28bf8543..e86525baac 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -22,6 +22,7 @@ non_tested_cars = [ GM.HOLDEN_ASTRA, GM.MALIBU, GM.EQUINOX, + GM.BOLT_EV, HYUNDAI.ELANTRA_GT_I30, HYUNDAI.GENESIS_G90, HYUNDAI.KIA_OPTIMA_H, diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 2e0f601e84..b5d1a31193 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -25,6 +25,7 @@ KIA EV6 2022: [3.5, 3.0, 0.0] RAM 1500 5TH GEN: [2.0, 2.0, 0.0] RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] +CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05] CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] From b133a4c9a8e8f3ab8211fe1e7a52bd0bb41c5c47 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 15 Sep 2022 20:15:57 -0700 Subject: [PATCH 045/685] regenerate replay segments for torqued (#25805) * update segments in test_processes * bump cereal * update refs --- cereal | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- .../test/process_replay/test_processes.py | 30 +++++++++---------- 3 files changed, 17 insertions(+), 17 deletions(-) diff --git a/cereal b/cereal index 513dfc7ee0..e4130c9055 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 513dfc7ee001243cd68a57a9d92fe3170fc49c7d +Subproject commit e4130c90558dfb491e132992dce36e0e620e070a diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7390610252..062611316c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ef5395e5f36550d2b485216eee5406bf6062e9c9 \ No newline at end of file +147410f09f242f05b922c9cc7ac04c3c3366419c \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index e8c2e1dc94..0f118971c6 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -38,21 +38,21 @@ original_segments = [ ] segments = [ - ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"), - ("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"), - ("HYUNDAI", "d824e27e8c60172c|2022-08-19--17-58-07--2"), - ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"), - ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"), - ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"), - ("HONDA", "regenE62960EEC38|2022-07-14--19-33-24--0"), - ("HONDA2", "regenC3EBD92F029|2022-07-14--19-29-47--0"), - ("CHRYSLER", "regen38346FB33D0|2022-07-14--18-05-26--0"), - ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"), - ("SUBARU", "regen54A1E2BE5AA|2022-07-14--18-07-50--0"), - ("GM", "regen76027B408B7|2022-08-16--19-56-58--0"), - ("NISSAN", "regenCA0B0DC946E|2022-07-14--18-10-17--0"), - ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"), - ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"), + ("BODY", "regen9D38397D30D|2022-09-09--13-12-48--0"), + ("HYUNDAI", "regenB3953B393C0|2022-09-09--14-49-37--0"), + ("HYUNDAI", "regen8DB830E5376|2022-09-13--17-24-37--0"), + ("TOYOTA", "regen8FCBB6F06F1|2022-09-09--13-14-07--0"), + ("TOYOTA2", "regen956BFA75300|2022-09-09--14-51-24--0"), + ("TOYOTA3", "regenE909BC2F430|2022-09-09--20-44-49--0"), + ("HONDA", "regenD1D10209015|2022-09-09--14-53-09--0"), + ("HONDA2", "regen3F7C2EFDC08|2022-09-09--19-41-19--0"), + ("CHRYSLER", "regen92783EAE66B|2022-09-09--13-15-44--0"), + ("RAM", "regenBE5DAAEF30F|2022-09-13--17-06-24--0"), + ("SUBARU", "regen8A363AF7E14|2022-09-13--17-20-39--0"), + ("GM", "regen31EA3F9A37C|2022-09-09--21-06-36--0"), + ("NISSAN", "regenAA21ADE5921|2022-09-09--19-44-37--0"), + ("VOLKSWAGEN", "regenA1BF4D17761|2022-09-09--19-46-24--0"), + ("MAZDA", "regen1994C97E977|2022-09-13--16-34-44--0"), ] # dashcamOnly makes don't need to be tested until a full port is done From b7d9f157faa33023ab07db561c155db0abb28c0b Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Thu, 15 Sep 2022 23:16:54 -0400 Subject: [PATCH 046/685] Updater: Reboot instead of shutdown to install new branch (#25804) Reboot instead of shutdown to install new branch --- selfdrive/ui/qt/offroad/software_settings.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index c9deef2ec4..4f048241c3 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -45,7 +45,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { installBtn = new ButtonControl(tr("Install Update"), tr("INSTALL")); connect(installBtn, &ButtonControl::clicked, [=]() { installBtn->setEnabled(false); - params.putBool("DoShutdown", true); + params.putBool("DoReboot", true); }); addItem(installBtn); From f0665911b2aa5807348ee5bf209ee21b8be2ca89 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 16 Sep 2022 11:36:13 +0800 Subject: [PATCH 047/685] map: fix repeated call to m_map->setZoom (#25784) Fix repeated map api calls --- selfdrive/ui/qt/maps/map.cc | 3 ++- selfdrive/ui/qt/maps/map.h | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index 71706fd35e..b5519daccf 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -204,7 +204,8 @@ void MapWindow::updateState(const UIState &s) { if (zoom_counter == 0) { m_map->setZoom(util::map_val(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM)); - } else { + zoom_counter = -1; + } else if (zoom_counter > 0) { zoom_counter--; } diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h index ecba867edb..c3d5e92530 100644 --- a/selfdrive/ui/qt/maps/map.h +++ b/selfdrive/ui/qt/maps/map.h @@ -98,7 +98,7 @@ private: // Panning QPointF m_lastPos; int pan_counter = 0; - int zoom_counter = 0; + int zoom_counter = -1; // Position std::optional last_position; From 8fcbcd800610f30ddf85b5a314dbf40afb0fa320 Mon Sep 17 00:00:00 2001 From: eFini Date: Fri, 16 Sep 2022 11:38:53 +0800 Subject: [PATCH 048/685] Multilang: add missing Chinese (Traditional) translations (#25807) added missing cht translations --- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 19f5bf7392..364508bd1c 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1189,12 +1189,12 @@ location set openpilot longitudinal control is not currently available for this car. - + openpilot 縱向控制目前不適用於這輛車。 Enable experimental longitudinal control to enable this. - + 打開縱向控制（實驗）以啟用此功能。 From 5356216e92f7c46d5aaefa1c3e85c91fd17816e4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 20:45:01 -0700 Subject: [PATCH 049/685] remove unused compute_gb (#25808) --- selfdrive/car/mazda/interface.py | 4 ---- selfdrive/car/mock/interface.py | 4 ---- 2 files changed, 8 deletions(-) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 89ed5638cb..7c42431e33 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -10,10 +10,6 @@ EventName = car.CarEvent.EventName class CarInterface(CarInterfaceBase): - @staticmethod - def compute_gb(accel, speed): - return float(accel) / 4.0 - @staticmethod def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 2c7f4611ee..77e3703c2d 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -28,10 +28,6 @@ class CarInterface(CarInterfaceBase): self.yaw_rate = 0. self.yaw_rate_meas = 0. - @staticmethod - def compute_gb(accel, speed): - return accel - @staticmethod def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False): ret = CarInterfaceBase.get_std_params(candidate, fingerprint) From b7dc1968cd4c61d33f96124b36d8d7a48957748f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 15 Sep 2022 21:21:10 -0700 Subject: [PATCH 050/685] GM minSteerSpeed: add some tolerance for Volt (#25809) * add some tolerance for volts * add comment * update refs --- selfdrive/car/gm/interface.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 93be57cf21..22ea83759a 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -74,7 +74,8 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX, CAR.BOLT_EV} # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below. - ret.minSteerSpeed = 10 * CV.KPH_TO_MS + # Some GMs need some tolerance above 10 kph to avoid a fault + ret.minSteerSpeed = 10.1 * CV.KPH_TO_MS ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 062611316c..b1a2785ba3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -147410f09f242f05b922c9cc7ac04c3c3366419c \ No newline at end of file +a4aa1f37c6d966151d3b43a0b51fffbcfa0187b1 \ No newline at end of file From 40f89b183e5ab39d4a176e54268b0eb9de8e9ebc Mon Sep 17 00:00:00 2001 From: ambientocclusion <1399123+ambientocclusion@users.noreply.github.com> Date: Thu, 15 Sep 2022 21:59:52 -0700 Subject: [PATCH 051/685] Multilang: add missing Japanese translations (#25803) Add missing Japanese translations --- selfdrive/ui/translations/main_ja.ts | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 3cc9149755..b41e1bff77 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -985,42 +985,42 @@ location set Updates are only downloaded while the car is off. - + 車の電源がオフの間のみ、アップデートのダウンロードが行われます。 Current Version - + 現在のバージョン Download - + ダウンロード Install Update - + アップデート INSTALL - + インストール Target Branch - + 対象のブランチ SELECT - + 選択 Select a branch - + ブランチを選択 @@ -1189,12 +1189,12 @@ location set openpilot longitudinal control is not currently available for this car. - + openpilotによるアクセル制御は、この車では現在利用できません。 Enable experimental longitudinal control to enable this. - + ここ機能を使う為には、「実験段階のopenpilotによるアクセル制御」を先に有効化してください。 From 453635394db56098f3473574150147eb977d61f4 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 16 Sep 2022 15:43:22 -0300 Subject: [PATCH 052/685] Toyota: add missing Corolla Cross Hybrid engine FW (#25814) * Fingerprint: Add missing toyota corolla cross hybrid FW engine From user lucasolivmed#1416 dongleId: 3eb4c34a2a663c37 * fix typo --- 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 b0fb143113..26c61f5b74 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -817,6 +817,7 @@ FW_VERSIONS = { b'\x01896637626000\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', b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', From d460b2c62b9c652c73a1f4b34a3a83784c5eadb5 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 16 Sep 2022 16:21:33 -0500 Subject: [PATCH 053/685] VW MQB: Add FW for 2021 Volkswagen Atlas (#25820) --- selfdrive/car/volkswagen/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 4d17b4e3a6..bdd1b5089d 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -300,6 +300,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8703H906026AA\xf1\x899970', b'\xf1\x8703H906026AJ\xf1\x890638', + b'\xf1\x8703H906026AJ\xf1\x891017', b'\xf1\x8703H906026AT\xf1\x891922', b'\xf1\x8703H906026BC\xf1\x892664', b'\xf1\x8703H906026F \xf1\x896696', From e6ff301864b06d0b1dc14e007e1769d53234e38b Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Fri, 16 Sep 2022 14:22:19 -0700 Subject: [PATCH 054/685] RPv2: fix data length check (#25819) fix --- selfdrive/boardd/panda.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 685dabd873..4d72bc9040 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -389,7 +389,8 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data } auto can_data = cmsg.getDat(); uint8_t data_len_code = len_to_dlc(can_data.size()); - assert(can_data.size() <= ((hw_type == cereal::PandaState::PandaType::RED_PANDA) ? 64 : 8)); + assert(can_data.size() <= ((hw_type == cereal::PandaState::PandaType::RED_PANDA || + hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) ? 64 : 8)); assert(can_data.size() == dlc_to_len[data_len_code]); can_header header; From ff63f26409256cc728b35098d135d19c7284c6f1 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 16 Sep 2022 18:32:38 -0300 Subject: [PATCH 055/685] Multilang: update pt-BR translations (#25812) * update pt-BR translations * fix some cutoff texts --- selfdrive/ui/translations/main_pt-BR.ts | 32 ++++++++++++------------- 1 file changed, 16 insertions(+), 16 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index fe028e18b5..a490b4088d 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -888,13 +888,13 @@ trabalho definido OFFLINE - DESCONEC + OFFLINE ONLINE - CONECTADO + ONLINE @@ -989,47 +989,47 @@ trabalho definido Updates are only downloaded while the car is off. - + Atualizações baixadas durante o motor desligado. Current Version - + Versao Atual Download - + Download Install Update - + Instalar Atualização INSTALL - + INSTALAR Target Branch - + Alterar Branch SELECT - + SELECIONE Select a branch - + Selecione uma branch UNINSTALL - DESINSTALAR + DESINSTAL @@ -1178,27 +1178,27 @@ trabalho definido Experimental openpilot longitudinal control - + Controle longitudinal experimental openpilot <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - + <b>AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB.</b> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + Deixe o modelo controlar o acelerador e os freios. openpilot irá conduzir como pensa que um humano faria. Super experimental. openpilot longitudinal control is not currently available for this car. - + controle longitudinal openpilot não está disponível para este carro. Enable experimental longitudinal control to enable this. - + Habilite o controle longitudinal experimental para habilitar isso. From 10f08a94dd1cb4ebc803b208697b4dc70795132a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 16 Sep 2022 15:35:38 -0700 Subject: [PATCH 056/685] sensor test fixups (#25818) * sensor test fixups * fix that * little more * seems reliable now * kill old instances * unused * cleanup Co-authored-by: Bruce Wayne --- selfdrive/sensord/tests/test_sensord.py | 107 +++++++++++------------- 1 file changed, 48 insertions(+), 59 deletions(-) diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py index 837fe88833..0b5f054d2e 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -1,15 +1,13 @@ #!/usr/bin/env python3 - +import os import time import unittest import numpy as np from collections import namedtuple -from smbus2 import SMBus import cereal.messaging as messaging from cereal import log from system.hardware import TICI, HARDWARE -from selfdrive.test.helpers import with_processes from selfdrive.manager.process_config import managed_processes SENSOR_CONFIGURATIONS = ( @@ -50,33 +48,33 @@ SENSOR_CONFIGURATIONS = ( ) Sensor = log.SensorEventData.SensorSource -SensorConfig = namedtuple('SensorConfig', ['type', 'min_samples', 'sanity_min', 'sanity_max']) +SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max']) ALL_SENSORS = { Sensor.rpr0521: { - SensorConfig("light", 100, 0, 150), + SensorConfig("light", 0, 150), }, Sensor.lsm6ds3: { - SensorConfig("acceleration", 100, 5, 15), - SensorConfig("gyroUncalibrated", 100, 0, .2), - SensorConfig("temperature", 100, 0, 60), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("temperature", 0, 60), }, Sensor.lsm6ds3trc: { - SensorConfig("acceleration", 100, 5, 15), - SensorConfig("gyroUncalibrated", 100, 0, .2), - SensorConfig("temperature", 100, 0, 60), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("temperature", 0, 60), }, Sensor.bmx055: { - SensorConfig("acceleration", 100, 5, 15), - SensorConfig("gyroUncalibrated", 100, 0, .2), - SensorConfig("magneticUncalibrated", 100, 0, 300), - SensorConfig("temperature", 100, 0, 60), + SensorConfig("acceleration", 5, 15), + SensorConfig("gyroUncalibrated", 0, .2), + SensorConfig("magneticUncalibrated", 0, 300), + SensorConfig("temperature", 0, 60), }, Sensor.mmc5603nj: { - SensorConfig("magneticUncalibrated", 100, 0, 300), + SensorConfig("magneticUncalibrated", 0, 300), } } @@ -96,7 +94,6 @@ def read_sensor_events(duration_sec): return events def get_proc_interrupts(int_pin): - with open("/proc/interrupts") as f: lines = f.read().split("\n") @@ -117,12 +114,18 @@ class TestSensord(unittest.TestCase): HARDWARE.initialize_hardware() # read initial sensor values every test case can use + os.system("pkill -f ./_sensord") + cls.sample_secs = 5 managed_processes["sensord"].start() - cls.events = read_sensor_events(5) + time.sleep(2) + cls.events = read_sensor_events(cls.sample_secs) + managed_processes["sensord"].stop() + + @classmethod + def tearDownClass(cls): managed_processes["sensord"].stop() def tearDown(self): - # interrupt check might leave sensord running managed_processes["sensord"].stop() def test_sensors_present(self): @@ -138,34 +141,32 @@ class TestSensord(unittest.TestCase): self.assertIn(seen, SENSOR_CONFIGURATIONS) - def test_lsm6ds3_100Hz(self): - # verify measurements are sampled and published at a 100Hz rate + def test_lsm6ds3_timing(self): + # verify measurements are sampled and published at 104Hz - data_points = set() + sensor_t = { + 1: [], # accel + 5: [], # gyro + } for event in self.events: for measurement in event.sensorEvents: + if str(measurement.source).startswith("lsm6ds3") and measurement.sensor in sensor_t: + sensor_t[measurement.sensor].append(measurement.timestamp) - # skip lsm6ds3 temperature measurements - if measurement.which() == 'temperature': - continue - - if str(measurement.source).startswith("lsm6ds3"): - data_points.add(measurement.timestamp) - - assert len(data_points) != 0, "No lsm6ds3 sensor events" + for s, vals in sensor_t.items(): + with self.subTest(sensor=s): + assert len(vals) > 0 + tdiffs = np.diff(vals) / 1e6 # millis - data_list = list(data_points) - data_list.sort() - tdiffs = np.diff(data_list) + high_delay_diffs = list(filter(lambda d: d >= 20., tdiffs)) + assert len(high_delay_diffs) < 15, f"Too many large diffs: {high_delay_diffs}" - high_delay_diffs = set(filter(lambda d: d >= 10.1*10**6, tdiffs)) - assert len(high_delay_diffs) < 10, f"Too many high delay packages: {high_delay_diffs}" + # 100-108Hz, expected 104Hz + avg_diff = sum(tdiffs)/len(tdiffs) + assert 9.3 < avg_diff < 10., f"avg difference {avg_diff}, below threshold" - avg_diff = sum(tdiffs)/len(tdiffs) - assert avg_diff > 9.6*10**6, f"avg difference {avg_diff}, below threshold" - - stddev = np.std(tdiffs) - assert stddev < 1.5*10**6, f"Standard-dev to big {stddev}" + stddev = np.std(tdiffs) + assert stddev < 2.0, f"Standard-dev to big {stddev}" def test_events_check(self): # verify if all sensors produce events @@ -217,13 +218,9 @@ class TestSensord(unittest.TestCase): stddev = np.std(tdiffs) assert stddev < 2*10**6, f"Timing diffs have to high stddev: {stddev}" - @with_processes(['sensord']) def test_sensor_values_sanity_check(self): - - events = read_sensor_events(2) - sensor_values = dict() - for event in events: + for event in self.events: for m in event.sensorEvents: # filter unset events (bmx magn) @@ -250,8 +247,9 @@ class TestSensord(unittest.TestCase): key = (sensor, s.type) val_cnt = len(sensor_values[key]) - err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {s.min_samples}" - assert val_cnt > s.min_samples, err_msg + min_samples = self.sample_secs * 100 # Hz + err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {min_samples}" + assert min_samples*0.9 < val_cnt < min_samples*1.1, err_msg mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1)) err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}" @@ -260,26 +258,17 @@ class TestSensord(unittest.TestCase): def test_sensor_verify_no_interrupts_after_stop(self): managed_processes["sensord"].start() - time.sleep(1) - - # check if the interrupts are enableds - with SMBus(SENSOR_BUS, force=True) as bus: - int1_ctrl_reg = bus.read_byte_data(I2C_ADDR_LSM, 0x0D) - assert int1_ctrl_reg == 3, "Interrupts not enabled!" + time.sleep(3) # read /proc/interrupts to verify interrupts are received state_one = get_proc_interrupts(LSM_INT_GPIO) time.sleep(1) state_two = get_proc_interrupts(LSM_INT_GPIO) - assert state_one != state_two, "no Interrupts received after sensord start!" + assert state_one != state_two, f"no interrupts received after sensord start!\n{state_one} {state_two}" managed_processes["sensord"].stop() - - # check if the interrupts got disabled - with SMBus(SENSOR_BUS, force=True) as bus: - int1_ctrl_reg = bus.read_byte_data(I2C_ADDR_LSM, 0x0D) - assert int1_ctrl_reg == 0, "Interrupts not disabled!" + time.sleep(1) # read /proc/interrupts to verify no more interrupts are received state_one = get_proc_interrupts(LSM_INT_GPIO) From f73b041d43a1ece437df38e26b1dd30759a79c9f Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sat, 17 Sep 2022 02:33:38 +0200 Subject: [PATCH 057/685] Hyundai: match ego speed on dash (#25235) * hyundai: match speed on dash * still needs conversion to m/s * always use CF_Clu_VehicleSpeed2 * clean up, like honda * experiment * to the source * works pretty well on optima (matches exactly on Sonata) * could be 0.5 * clean up test * revert test_moedls revert test_moedls * woops * woops. * . * fix hyst * only CF_Clu_VehicleSpeed * omgomgomg * add all this mess because it always takes a while * set vEgoCluster * fix all rounding errors * stash * clean up * clean up * fix metric conversion * only calculate when updated * try to filter (didn't look great from plots) * Revert "try to filter (didn't look great from plots)" This reverts commit 7e9876c237341d07163985b0718fd9c553372e72. * clean up * update refs Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/carstate.py | 26 ++++++++++++++++++++---- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 23 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index eab6e73f1f..61da04d04b 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -1,5 +1,6 @@ from collections import deque import copy +import math from cereal import car from common.conversions import Conversions as CV @@ -9,6 +10,7 @@ from selfdrive.car.hyundai.values import HyundaiFlags, DBC, FEATURES, CAMERA_SCC from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 +CLUSTER_SAMPLE_RATE = 20 # frames class CarState(CarStateBase): @@ -32,6 +34,10 @@ class CarState(CarStateBase): self.park_brake = False self.buttons_counter = 0 + # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz + self.cluster_speed = 0 + self.cluster_speed_counter = CLUSTER_SAMPLE_RATE + self.params = CarControllerParams(CP) def update(self, cp, cp_cam): @@ -39,8 +45,9 @@ class CarState(CarStateBase): return self.update_canfd(cp, cp_cam) ret = car.CarState.new_message() - cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp + is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0 + speed_conv = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"], cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]]) @@ -55,9 +62,19 @@ class CarState(CarStateBase): ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.1 + self.cluster_speed_counter += 1 + if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE: + self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] + self.cluster_speed_counter = 0 + + # mimic how dash converts to imperial + if not is_metric: + self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH) + + ret.vEgoCluster = self.cluster_speed * speed_conv + ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"] ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"] ret.yawRate = cp.vl["ESP12"]["YAW_RATE"] @@ -78,7 +95,6 @@ class CarState(CarStateBase): ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1 ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0 ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4. - speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv # TODO: Find brake pressure @@ -227,6 +243,8 @@ class CarState(CarStateBase): ("CF_Clu_AmpInfo", "CLU11"), ("CF_Clu_AliveCnt1", "CLU11"), + ("CF_Clu_VehicleSpeed", "CLU15"), + ("ACCEnable", "TCS13"), ("ACC_REQ", "TCS13"), ("DriverBraking", "TCS13"), @@ -251,6 +269,7 @@ class CarState(CarStateBase): ("TCS13", 50), ("TCS15", 10), ("CLU11", 50), + ("CLU15", 5), ("ESP12", 100), ("CGW1", 10), ("CGW2", 5), @@ -309,7 +328,6 @@ class CarState(CarStateBase): if CP.carFingerprint in FEATURES["use_cluster_gears"]: signals.append(("CF_Clu_Gear", "CLU15")) - checks.append(("CLU15", 5)) elif CP.carFingerprint in FEATURES["use_tcu_gears"]: signals.append(("CUR_GR", "TCU12")) checks.append(("TCU12", 100)) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b1a2785ba3..bca5d0c3eb 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a4aa1f37c6d966151d3b43a0b51fffbcfa0187b1 \ No newline at end of file +a9a25795f5d8202f7f4c137f80ae030e790ff974 \ No newline at end of file From 1a7d6665deafc1e35e5f8d56106a81a4686a6e44 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 10:45:51 +0800 Subject: [PATCH 058/685] sensord: remove unnecessary brace pair (#25816) Remove unnecessary brace pair --- selfdrive/sensord/sensors_qcom2.cc | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc index a9d6e31d3e..aaf79592c6 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/selfdrive/sensord/sensors_qcom2.cc @@ -88,10 +88,8 @@ void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { events.adoptWithCaveats(i, kj::mv(collected_events[i])); } - { - std::lock_guard lock(pm_mutex); - pm.send("sensorEvents", msg); - } + std::lock_guard lock(pm_mutex); + pm.send("sensorEvents", msg); } // poweroff sensors, disable interrupts From 467c4f7fb3bd954d7e0d9120ccd1c687532e6cdc Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 11:10:08 +0800 Subject: [PATCH 059/685] camera_qcom2: remove unneeded static keywords (#25780) --- system/camerad/cameras/camera_qcom2.cc | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 544d653676..532b25d6de 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -821,8 +821,8 @@ void cameras_open(MultiCameraState *s) { // query icp for MMU handles LOG("-- Query ICP for MMU handles"); - static struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0}; - static struct cam_query_cap_cmd query_cap_cmd = {0}; + struct cam_isp_query_cap_cmd isp_query_cap_cmd = {0}; + struct cam_query_cap_cmd query_cap_cmd = {0}; query_cap_cmd.handle_type = 1; query_cap_cmd.caps_handle = (uint64_t)&isp_query_cap_cmd; query_cap_cmd.size = sizeof(isp_query_cap_cmd); @@ -835,7 +835,7 @@ void cameras_open(MultiCameraState *s) { // subscribe LOG("-- Subscribing"); - static struct v4l2_event_subscription sub = {0}; + struct v4l2_event_subscription sub = {0}; sub.type = V4L_EVENT_CAM_REQ_MGR_EVENT; sub.id = V4L_EVENT_CAM_REQ_MGR_SOF_BOOT_TS; ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub)); @@ -864,7 +864,7 @@ void CameraState::camera_close() { LOGD("stop csiphy: %d", ret); // link control stop LOG("-- Stop link control"); - static struct cam_req_mgr_link_control req_mgr_link_control = {0}; + struct cam_req_mgr_link_control req_mgr_link_control = {0}; req_mgr_link_control.ops = CAM_REQ_MGR_LINK_DEACTIVATE; req_mgr_link_control.session_hdl = session_handle; req_mgr_link_control.num_links = 1; @@ -874,7 +874,7 @@ void CameraState::camera_close() { // unlink LOG("-- Unlink"); - static struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0}; + struct cam_req_mgr_unlink_info req_mgr_unlink_info = {0}; req_mgr_unlink_info.session_hdl = session_handle; req_mgr_unlink_info.link_hdl = link_handle; ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_UNLINK, &req_mgr_unlink_info, sizeof(req_mgr_unlink_info)); From 25ce997f3768913915e83b72f4b3c2649a83d720 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 11:11:46 +0800 Subject: [PATCH 060/685] CameraBuf: remove unused member 'camera_state' (#25736) --- system/camerad/cameras/camera_common.cc | 4 +--- system/camerad/cameras/camera_common.h | 5 ----- 2 files changed, 1 insertion(+), 8 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 3dbe97596d..b1b4dc7b47 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -65,11 +65,9 @@ private: void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_yuv_type) { vipc_server = v; this->yuv_type = init_yuv_type; - - const CameraInfo *ci = &s->ci; - camera_state = s; frame_buf_count = frame_cnt; + const CameraInfo *ci = &s->ci; // RAW frame const int frame_size = (ci->frame_height + ci->extra_height) * ci->frame_stride; camera_bufs = std::make_unique(frame_buf_count); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index bb6de9c8fb..8b4f5a933d 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -81,15 +81,10 @@ class Debayer; class CameraBuf { private: VisionIpcServer *vipc_server; - CameraState *camera_state; Debayer *debayer = nullptr; - VisionStreamType yuv_type; - int cur_buf_idx; - SafeQueue safe_queue; - int frame_buf_count; public: From 5bb230cde4dd61ff7b180a29a0951a44068161c1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 11:18:54 +0800 Subject: [PATCH 061/685] camerad: remove function camera_autoexposure (#25733) --- system/camerad/cameras/camera_common.h | 1 - system/camerad/cameras/camera_qcom2.cc | 15 ++------------- 2 files changed, 2 insertions(+), 14 deletions(-) diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 8b4f5a933d..eaefd3c906 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -117,7 +117,6 @@ void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_i void cameras_open(MultiCameraState *s); void cameras_run(MultiCameraState *s); void cameras_close(MultiCameraState *s); -void camera_autoexposure(CameraState *s, float grey_frac); void camerad_thread(); int open_v4l_by_name_and_index(const char name[], int index = 0, int flags = O_RDWR | O_NONBLOCK); diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 532b25d6de..ce1d0d6f28 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1180,10 +1180,6 @@ void CameraState::set_camera_exposure(float grey_frac) { } } -void camera_autoexposure(CameraState *s, float grey_frac) { - s->set_camera_exposure(grey_frac); -} - static float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_reg) { // See AR0231 Developer Guide - page 36 float slope = (125.0 - 55.0) / ((float)calib1 - (float)calib2); @@ -1210,15 +1206,8 @@ static void ar0231_process_registers(MultiCameraState *s, CameraState *c, cereal framed.setTemperaturesC({temp_0, temp_1}); } -static void driver_cam_auto_exposure(CameraState *c) { - struct ExpRect {int x1, x2, x_skip, y1, y2, y_skip;}; - const CameraBuf *b = &c->buf; - static ExpRect rect = {96, 1832, 2, 242, 1148, 4}; - camera_autoexposure(c, set_exposure_target(b, rect.x1, rect.x2, rect.x_skip, rect.y1, rect.y2, rect.y_skip)); -} - static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) { - driver_cam_auto_exposure(c); + c->set_camera_exposure(set_exposure_target(&c->buf, 96, 1832, 2, 242, 1148, 4)); MessageBuilder msg; auto framed = msg.initEvent().initDriverCameraState(); @@ -1254,7 +1243,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) { const auto [x, y, w, h] = (c == &s->wide_road_cam) ? std::tuple(96, 250, 1734, 524) : std::tuple(96, 160, 1734, 986); const int skip = 2; - camera_autoexposure(c, set_exposure_target(b, x, x + w, skip, y, y + h, skip)); + c->set_camera_exposure(set_exposure_target(b, x, x + w, skip, y, y + h, skip)); } void cameras_run(MultiCameraState *s) { From 78fd303d50b78dbb99992bb3ee4938eec8913575 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 11:50:10 +0800 Subject: [PATCH 062/685] camerad: cleanup CameraBuf::acquire (#25737) * cleanup * add that back * less indent Co-authored-by: Comma Device --- system/camerad/cameras/camera_common.cc | 23 ++++++----------------- system/camerad/cameras/camera_common.h | 1 - 2 files changed, 6 insertions(+), 18 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index b1b4dc7b47..787fd99306 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -116,30 +116,24 @@ bool CameraBuf::acquire() { if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) { LOGE("no frame data? wtf"); - release(); return false; } cur_frame_data = camera_bufs_metadata[cur_buf_idx]; cur_yuv_buf = vipc_server->get_buffer(yuv_type); - cl_mem camrabuf_cl = camera_bufs[cur_buf_idx].buf_cl; - cl_event event; - - double start_time = millis_since_boot(); - cur_camera_buf = &camera_bufs[cur_buf_idx]; - debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event); - + double start_time = millis_since_boot(); + cl_event event; + debayer->queue(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event); clWaitForEvents(1, &event); CL_CHECK(clReleaseEvent(event)); - cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0; VisionIpcBufExtra extra = { - cur_frame_data.frame_id, - cur_frame_data.timestamp_sof, - cur_frame_data.timestamp_eof, + cur_frame_data.frame_id, + cur_frame_data.timestamp_sof, + cur_frame_data.timestamp_eof, }; cur_yuv_buf->set_frame_id(cur_frame_data.frame_id); vipc_server->send(cur_yuv_buf, &extra); @@ -147,10 +141,6 @@ bool CameraBuf::acquire() { return true; } -void CameraBuf::release() { - // Empty -} - void CameraBuf::queue(size_t buf_idx) { safe_queue.push(buf_idx); } @@ -328,7 +318,6 @@ void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thre // this takes 10ms??? publish_thumbnail(cameras->pm, &(cs->buf)); } - cs->buf.release(); ++cnt; } return NULL; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index eaefd3c906..e5580a7a92 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -102,7 +102,6 @@ public: ~CameraBuf(); void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type); bool acquire(); - void release(); void queue(size_t buf_idx); }; From 8ae3199578b3f771396cd35315ce51b7cce27e49 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 12:10:26 +0800 Subject: [PATCH 063/685] camerad: make sure cl_context is valid for lifetime of camerad (#25735) --- system/camerad/cameras/camera_common.cc | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 787fd99306..580c4bc5ee 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -336,15 +336,17 @@ void camerad_thread() { cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); #endif - MultiCameraState cameras = {}; - VisionIpcServer vipc_server("camerad", device_id, context); + { + MultiCameraState cameras = {}; + VisionIpcServer vipc_server("camerad", device_id, context); - cameras_open(&cameras); - cameras_init(&vipc_server, &cameras, device_id, context); + cameras_open(&cameras); + cameras_init(&vipc_server, &cameras, device_id, context); - vipc_server.start_listener(); + vipc_server.start_listener(); - cameras_run(&cameras); + cameras_run(&cameras); + } CL_CHECK(clReleaseContext(context)); } From aa0d12842202ddf63d9a5998ccd04f865b6e9d6a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 17 Sep 2022 13:17:30 +0800 Subject: [PATCH 064/685] ui: always show SetupWidget (#25742) * always show SetupWidget update translations * delete hide --- selfdrive/ui/qt/widgets/prime.cc | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 1d765d0949..04684fc765 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -277,7 +277,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { primeUser = new PrimeUserWidget; mainLayout->addWidget(primeUser); - mainLayout->setCurrentWidget(primeAd); + mainLayout->setCurrentWidget(uiState()->prime_type ? (QWidget*)primeUser : (QWidget*)primeAd); setFixedWidth(750); setStyleSheet(R"( @@ -299,11 +299,9 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { QObject::connect(repeater, &RequestRepeater::requestDone, this, &SetupWidget::replyFinished); } - hide(); // Only show when first request comes back } void SetupWidget::replyFinished(const QString &response, bool success) { - show(); if (!success) return; QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8()); From 407448bbfb79ad9d9d235bc3d098887ea0d045fb Mon Sep 17 00:00:00 2001 From: cydia2020 <12470297+cydia2020@users.noreply.github.com> Date: Sat, 17 Sep 2022 16:28:05 +1000 Subject: [PATCH 065/685] Toyota: go into standstill if interceptor detected (#25024) * Toyota: go into standstill if interceptor detected * or --- selfdrive/car/toyota/carcontroller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index b34a31a01c..faea08ed3f 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -81,7 +81,7 @@ class CarController: pcm_cancel_cmd = 1 # on entering standstill, send standstill request - if CS.out.standstill and not self.last_standstill and self.CP.carFingerprint not in NO_STOP_TIMER_CAR: + if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor): self.standstill_req = True if CS.pcm_acc_status != 8: # pcm entered standstill or it's disabled From 85ed5c4cb5d9b0132ab0e3eb5bcb096026f70b22 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Sat, 17 Sep 2022 00:07:54 -0700 Subject: [PATCH 066/685] Torque Refactor (#25822) * add torque gains refactor * update refs * avoid dict, use cereal struct * bugfix * no as_builder * address final comments --- selfdrive/car/interfaces.py | 30 ++++++++++++++---- selfdrive/controls/lib/latcontrol_torque.py | 35 ++++++++++----------- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 41 insertions(+), 26 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index bc6c31e12c..87720f8754 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -2,24 +2,27 @@ import yaml import os import time from abc import abstractmethod, ABC -from typing import Any, Dict, Optional, Tuple, List +from typing import Any, Dict, Optional, Tuple, List, Callable 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.realtime import DT_CTRL from selfdrive.car import apply_hysteresis, create_button_enable_events, gen_empty_fingerprint -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_deadzone from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName +TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float] MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 +FRICTION_THRESHOLD = 0.2 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') @@ -101,6 +104,20 @@ class CarInterfaceBase(ABC): def get_steer_feedforward_function(self): return self.get_steer_feedforward_default + @staticmethod + 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), + [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], + [-torque_params.friction, torque_params.friction] + ) + friction = friction_interp if friction_compensation else 0.0 + return (lateral_accel_value / torque_params.latAccelFactor) + friction + + def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: + return self.torque_from_lateral_accel_linear + # returns a set of default params to avoid repetition in car specific params @staticmethod def get_std_params(candidate, fingerprint): @@ -144,11 +161,12 @@ class CarInterfaceBase(ABC): tune.init('torque') tune.torque.useSteeringAngle = use_steering_angle - tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR'] - tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR'] - tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR'] + tune.torque.kp = 1.0 + tune.torque.kf = 1.0 + tune.torque.ki = 0.1 tune.torque.friction = params['FRICTION'] - tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg + tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR'] + tune.torque.latAccelOffset = 0.0 @abstractmethod def _update(self, c: car.CarControl) -> car.CarState: diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index c4604d90e1..f65a58275b 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -4,7 +4,6 @@ from cereal import log from common.numpy_fast import interp from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED from selfdrive.controls.lib.pid import PIDController -from selfdrive.controls.lib.drive_helpers import apply_deadzone from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # At higher speeds (25+mph) we can assume: @@ -19,19 +18,20 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # move it at all, this is compensated for too. -FRICTION_THRESHOLD = 0.2 - - class LatControlTorque(LatControl): def __init__(self, CP, CI): super().__init__(CP, CI) - self.pid = PIDController(CP.lateralTuning.torque.kp, CP.lateralTuning.torque.ki, - k_f=CP.lateralTuning.torque.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) - self.get_steer_feedforward = CI.get_steer_feedforward_function() - self.use_steering_angle = CP.lateralTuning.torque.useSteeringAngle - self.friction = CP.lateralTuning.torque.friction - self.kf = CP.lateralTuning.torque.kf - self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg + self.torque_params = CP.lateralTuning.torque + self.pid = PIDController(self.torque_params.kp, self.torque_params.ki, + k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max) + self.torque_from_lateral_accel = CI.torque_from_lateral_accel() + self.use_steering_angle = self.torque_params.useSteeringAngle + self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg + + def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction): + self.torque_params.latAccelFactor = latAccelFactor + self.torque_params.latAccelOffset = latAccelOffset + self.torque_params.friction = friction def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): pid_log = log.ControlsState.LateralTorqueState.new_message() @@ -55,19 +55,16 @@ class LatControlTorque(LatControl): actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200]) setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature error = setpoint - measurement - pid_log.error = error + gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY + pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, lateral_accel_deadzone, friction_compensation=False) + ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, error, lateral_accel_deadzone, friction_compensation=True) - ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY - # convert friction into lateral accel units for feedforward - friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) - ff += friction_compensation / self.kf freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 - output_torque = self.pid.update(error, + output_torque = self.pid.update(pid_log.error, feedforward=ff, speed=CS.vEgo, freeze_integrator=freeze_integrator) @@ -78,9 +75,9 @@ class LatControlTorque(LatControl): pid_log.d = self.pid.d pid_log.f = self.pid.f pid_log.output = -output_torque - pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited) pid_log.actualLateralAccel = actual_lateral_accel pid_log.desiredLateralAccel = desired_lateral_accel + pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited) # TODO left is positive in this convention return -output_torque, 0.0, pid_log diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index bca5d0c3eb..afde6ec422 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a9a25795f5d8202f7f4c137f80ae030e790ff974 \ No newline at end of file +d14f1a61a4bfde810128a6bb703aa543268fa4a9 \ No newline at end of file From 06fb52c146aa9e00126127ac28fbbd22e9914e6f Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 17 Sep 2022 00:24:57 -0700 Subject: [PATCH 067/685] Kia: update required packages (#25824) * Kia: LKAS is standard on Ceed 2019 https://www.downeys.co.uk/newmodels/Ceed_V3_24_09_2019.pdf * Kia: delete Forte 2018 It doesn't appear that this vehicle has Adaptive/Smart Cruise Control in any form, which was later added in 2019. https://cdn.dealereprocess.org/cdn/brochures/kia/2018-forte.pdf https://cdn.dealereprocess.org/cdn/brochures/kia/2019-forte.pdf * Kia: LKAS is standard on Forte 2019+ https://cdn.dealereprocess.org/cdn/brochures/kia/2019-forte.pdf https://cdn.dealereprocess.org/cdn/brochures/kia/2020-forte.pdf * Kia: rename Niro Electric to EV https://www.kia.com/us/en/niro Co-authored-by: Shane Smiskol * Kia: LKAS is standard on Niro PHEV 2018+ https://cdn.dealereprocess.org/cdn/brochures/kia/2018-niro.pdf https://cdn.dealereprocess.org/cdn/brochures/kia/2019-niro.pdf * Kia: update required package on Optima 2017 The ACC package on the Optima 2017 is named "Advanced Smart Cruise Control". It also doesn't have an LKAS package, only LDWS is available. https://cdn.dealereprocess.org/cdn/brochures/kia/2017-optima.pdf Co-authored-by: Shane Smiskol * Kia: LKAS is standard on Optima 2019 https://cdn.dealereprocess.org/cdn/brochures/kia/2019-optima.pdf * Kia: revert package change to Seltos 2021 LKAS is NOT a standard package on the Seltos 2021 https://cdn.dealereprocess.org/cdn/brochures/kia/2021-seltos.pdf * Kia: update required package on Sorento 2018 Similar to the Optima 2017, the ACC package on the Sorento 2018 is named "Advanced Smart Cruise Control". It also doesn't have an LKAS package, only LDWS. SCC and LKAS were introduced in MY2019. https://cdn.dealereprocess.org/cdn/brochures/kia/2018-sorento.pdf Co-authored-by: Shane Smiskol * Kia: SCC is standard on Kia Niro PHEV 2018-19 https://cdn.dealereprocess.org/cdn/brochures/kia/2018-niro.pdf Co-authored-by: Shane Smiskol * Kia: update required package on Optima Hybrid 2017 Similar to the Optima 2017, the ACC package on he Optima Hybrid 2017 is named "Advanced Smart Cruise Control". It also doesn't have an LKAS pacakge, only LDWS. https://cdn.dealereprocess.org/cdn/brochures/kia/2017-optimahybrid.pdf * update docs Co-authored-by: Shane Smiskol --- docs/CARS.md | 25 ++++++++++++------------- selfdrive/car/hyundai/values.py | 30 +++++++++++++++--------------- selfdrive/car/tests/test_docs.py | 3 ++- 3 files changed, 29 insertions(+), 29 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 510500dab7..9df3b803d9 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. -# 205 Supported Cars +# 204 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -82,22 +82,21 @@ A supported vehicle is one that just works when you install a comma three. All s |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) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| +|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 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| -|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Kia|Forte 2019-21|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot|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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Niro EV 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Niro EV 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| +|Kia|Niro EV 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Kia|Niro EV 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Kia|Optima 2017|Advanced Smart Cruise Control & LDWS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| +|Kia|Optima 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| +|Kia|Seltos 2021|Smart Cruise Control (SCC) & LKAS|openpilot|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 & LDWS|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) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b816614879..3bc2062979 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -143,34 +143,34 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), # Kia - CAR.KIA_FORTE: [ - HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b), - HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), - ], + CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro Electric 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Niro Electric 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), - HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), - HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), + HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), ], - CAR.KIA_NIRO_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), + CAR.KIA_NIRO_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), CAR.KIA_NIRO_HEV_2021: [ HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), ], CAR.KIA_OPTIMA: [ - HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), - HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g), + HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control & LDWS", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), + HyundaiCarInfo("Kia Optima 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), + ], + CAR.KIA_OPTIMA_H: [ + HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control & LDWS"), # TODO: info may be incorrect + HyundaiCarInfo("Kia Optima Hybrid 2019"), ], - CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017, 2019"), # TODO: info may be incorrect - CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), + CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LDWS", video_link="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_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), - CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), + CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_e), CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p), # Genesis diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index af58bb5e59..191b36b8f2 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -34,9 +34,10 @@ class TestCarDocs(unittest.TestCase): if car.car_name == "hyundai": self.assertNotIn("phev", tokens, "Use `Plug-in Hybrid`") self.assertNotIn("hev", tokens, "Use `Hybrid`") - self.assertNotIn("ev", tokens, "Use `Electric`") if "plug-in hybrid" in car.model.lower(): self.assertIn("Plug-in Hybrid", car.model, "Use correct capitalization") + if car.make != "Kia": + self.assertNotIn("ev", tokens, "Use `Electric`") elif car.car_name == "toyota": if "rav4" in tokens: self.assertIn("RAV4", car.model, "Use correct capitalization") From 35f624c628c0e8f2e936ba945bdc516a8d17517e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 17 Sep 2022 15:51:49 -0700 Subject: [PATCH 068/685] translations: remove locations (#25826) * Remove locations * no line nos --- selfdrive/ui/tests/test_translations.py | 12 +- selfdrive/ui/translations/main_en.ts | 4 - selfdrive/ui/translations/main_ja.ts | 248 ----------------------- selfdrive/ui/translations/main_ko.ts | 248 ----------------------- selfdrive/ui/translations/main_pt-BR.ts | 248 ----------------------- selfdrive/ui/translations/main_zh-CHS.ts | 248 ----------------------- selfdrive/ui/translations/main_zh-CHT.ts | 248 ----------------------- selfdrive/ui/update_translations.py | 2 +- 8 files changed, 9 insertions(+), 1249 deletions(-) diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index d8609f110b..11ecd30ae0 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -29,10 +29,7 @@ class TestTranslations(unittest.TestCase): def _read_translation_file(path, file): tr_file = os.path.join(path, f"{file}.ts") with open(tr_file, "r") as f: - # ignore locations when checking if translations are updated - lines = [line for line in f.read().splitlines() if - not line.strip().startswith(LOCATION_TAG)] - return "\n".join(lines) + return f.read() def test_missing_translation_files(self): for name, file in self.translation_files.items(): @@ -93,6 +90,13 @@ class TestTranslations(unittest.TestCase): self.assertTrue(all([re.search("%[0-9]+", t) is None for t in numerusform]), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform)) + def test_no_locations(self): + for name, file in self.translation_files.items(): + with self.subTest(name=name, file=file): + for line in self._read_translation_file(TRANSLATIONS_DIR, file).splitlines(): + self.assertFalse(line.strip().startswith(LOCATION_TAG), + f"Line contains location tag: {line.strip()}, remove all line numbers.") + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/ui/translations/main_en.ts b/selfdrive/ui/translations/main_en.ts index 42e30a59af..3f9692e5fa 100644 --- a/selfdrive/ui/translations/main_en.ts +++ b/selfdrive/ui/translations/main_en.ts @@ -4,7 +4,6 @@ InputDialog - Need at least %n character(s)! Need at least %n character! @@ -15,7 +14,6 @@ QObject - %n minute(s) ago %n minute ago @@ -23,7 +21,6 @@ - %n hour(s) ago %n hour ago @@ -31,7 +28,6 @@ - %n day(s) ago %n day ago diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index b41e1bff77..543893d440 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -4,17 +4,14 @@ AbstractAlert - Close 閉じる - Snooze Update 更新の一時停止 - Reboot and Update 再起動してアップデート @@ -22,53 +19,42 @@ AdvancedNetworking - Back 戻る - Enable Tethering ﾃｻﾞﾘﾝｸﾞを有効化 - Tethering Password ﾃｻﾞﾘﾝｸﾞﾊﾟｽﾜｰﾄﾞ - - EDIT 編集 - Enter new tethering password 新しいテザリングパスワードを入力 - IP Address IP アドレス - Enable Roaming ﾛｰﾐﾝｸﾞを有効化 - APN Setting APN 設定 - Enter APN APN を入力 - leave blank for automatic configuration 空白のままにして、自動設定にします @@ -76,13 +62,10 @@ ConfirmationDialog - - Ok OK - Cancel キャンセル @@ -90,17 +73,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. openpilot をご利用される前に、利用規約に同意する必要があります。 - Back 戻る - Decline, uninstall %1 拒否して %1 をｱﾝｲﾝｽﾄｰﾙ @@ -108,152 +88,122 @@ DevicePanel - Dongle ID ドングル番号 (Dongle ID) - N/A N/A - Serial シリアル番号 - Driver Camera 車内カメラ - PREVIEW 見る - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります) - Reset Calibration ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ - RESET ﾘｾｯﾄ - Are you sure you want to reset calibration? ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？ - Review Training Guide 入門書を見る - REVIEW 見る - Review the rules, features, and limitations of openpilot openpilot の特徴を見る - Are you sure you want to review the training guide? 入門書を見てもよろしいですか？ - Regulatory 認証情報 - VIEW 見る - Change Language 言語を変更 - CHANGE 変更 - Select a language 言語を選択 - Reboot 再起動 - Power Off 電源を切る - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot は、左または右の4°以内、上の5°または下の8°以内にデバイスを取付ける必要があります。キャリブレーションを引き続きます、リセットはほとんど必要ありません。 - Your device is pointed %1° %2 and %3° %4. このデバイスは%2の%1°、%4の%3°に向けます。 - down 下 - up 上 - left 左 - right 右 - Are you sure you want to reboot? 再起動してもよろしいですか？ - Disengage to Reboot openpilot をキャンセルして再起動ができます - Are you sure you want to power off? シャットダウンしてもよろしいですか？ - Disengage to Power Off openpilot をキャンセルしてシャットダウンができます @@ -261,32 +211,26 @@ DriveStats - Drives 運転履歴 - Hours 時間 - ALL TIME 累計 - PAST WEEK 先週 - KM km - Miles マイル @@ -294,7 +238,6 @@ DriverViewScene - camera starting ｶﾒﾗを起動しています @@ -302,12 +245,10 @@ InputDialog - Cancel キャンセル - Need at least %n character(s)! %n文字以上でお願いします！ @@ -317,22 +258,18 @@ Installer - Installing... インストールしています... - Receiving objects: ｵﾌﾞｼﾞｪｸﾄをﾀﾞｳﾝﾛｰﾄﾞしています： - Resolving deltas: デルタを解決しています： - Updating files: ファイルを更新しています： @@ -340,27 +277,22 @@ MapETA - eta 予定到着時間 - min 分 - hr 時間 - km ｷﾛﾒｰﾄﾙ - mi ﾏｲﾙ @@ -368,22 +300,18 @@ MapInstructions - km ｷﾛﾒｰﾄﾙ - m ﾒｰﾄﾙ - mi ﾏｲﾙ - ft ﾌｨｰﾄ @@ -391,48 +319,40 @@ MapPanel - Current Destination 現在の目的地 - CLEAR 削除 - Recent Destinations 最近の目的地 - Try the Navigation Beta β版ﾅﾋﾞｹﾞｰｼｮﾝを試す - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai より詳細な案内情報を得ることができます。 詳しくはこちら：https://connect.comma.ai - No home location set 自宅の住所はまだ 設定されていません - No work location set 職場の住所はまだ 設定されていません - no recent destinations 最近の目的地履歴がありません @@ -440,12 +360,10 @@ location set MapWindow - Map Loading マップを読み込んでいます - Waiting for GPS GPS信号を探しています @@ -453,12 +371,10 @@ location set MultiOptionDialog - Select 選択 - Cancel キャンセル @@ -466,23 +382,18 @@ location set Networking - Advanced 詳細 - Enter password パスワードを入力 - - for "%1" ﾈｯﾄﾜｰｸ名：%1 - Wrong password ﾊﾟｽﾜｰﾄﾞが間違っています @@ -490,30 +401,22 @@ location set NvgWindow - km/h km/h - mph mph - - MAX 最高速度 - - SPEED 速度 - - LIMIT 制限速度 @@ -521,17 +424,14 @@ location set OffroadHome - UPDATE 更新 - ALERTS 警告 - ALERT 警告 @@ -539,22 +439,18 @@ location set PairingPopup - Pair your device to your comma account デバイスと comma アカウントを連携する - Go to https://connect.comma.ai on your phone モバイルデバイスで「connect.comma.ai」にアクセスして - Click "add new device" and scan the QR code on the right 「新しいデバイスを追加」を押すと、右側のQRコードをスキャンしてください - Bookmark connect.comma.ai to your home screen to use it like an app 「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます @@ -562,32 +458,26 @@ location set PrimeAdWidget - Upgrade Now 今すぐｱｯﾌﾟｸﾞﾚｰﾄ - Become a comma prime member at connect.comma.ai connect.comma.ai でﾌﾟﾗｲﾑ会員に登録できます - PRIME FEATURES: 特典： - Remote access リモートアクセス - 1 year of storage 一年間の保存期間 - Developer perks 開発者向け特典 @@ -595,22 +485,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ 入会しました - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA POINTS @@ -618,41 +504,34 @@ location set QObject - Reboot 再起動 - Exit 閉じる - dashcam ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ - openpilot openpilot - %n minute(s) ago %n 分前 - %n hour(s) ago %n 時間前 - %n day(s) ago %n 日前 @@ -662,47 +541,38 @@ location set Reset - Reset failed. Reboot to try again. 初期化に失敗しました。再起動後に再試行してください。 - Are you sure you want to reset your device? 初期化してもよろしいですか？ - Resetting device... デバイスが初期化されます... - System Reset システムを初期化 - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. システムの初期化をリクエストしました。「確認」ボタンを押すとデバイスが初期化されます。「キャンセル」ボタンを押すと起動を続行します。 - Cancel キャンセル - Reboot 再起動 - Confirm 確認 - Unable to mount data partition. Press confirm to reset your device. 「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。 @@ -710,7 +580,6 @@ location set RichTextDialog - Ok OK @@ -718,33 +587,26 @@ location set SettingsWindow - × × - Device デバイス - - Network ﾈｯﾄﾜｰｸ - Toggles 切り替え - Software ｿﾌﾄｳｪｱ - Navigation ﾅﾋﾞｹﾞｰｼｮﾝ @@ -752,105 +614,82 @@ location set Setup - WARNING: Low Voltage 警告：低電圧 - Power your device in a car with a harness or proceed at your own risk. 自己責任でハーネスから電源を供給してください。 - Power off 電源を切る - - - Continue 続ける - Getting Started はじめに - Before we get on the road, let’s finish installation and cover some details. その前に、インストールを完了し、いくつかの詳細を説明します。 - Connect to Wi-Fi Wi-Fi に接続 - - Back 戻る - Continue without Wi-Fi Wi-Fi に未接続で続行 - Waiting for internet インターネット接続を待機中 - Choose Software to Install インストールするソフトウェアを選びます - Dashcam ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ - Custom Software カスタムソフトウェア - Enter URL URL を入力 - for Custom Software カスタムソフトウェア - Downloading... ダウンロード中... - Download Failed ダウンロード失敗 - Ensure the entered URL is valid, and the device’s internet connection is good. 入力された URL を確認し、デバイスがインターネットに接続されていることを確認してください。 - Reboot device デバイスを再起動 - Start over 最初からやり直す @@ -858,17 +697,14 @@ location set SetupWidget - Finish Setup セットアップ完了 - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. デバイスを comma connect (connect.comma.ai)でペアリングし comma prime 特典を申請してください。 - Pair device デバイスをペアリング @@ -876,106 +712,82 @@ location set Sidebar - - CONNECT 接続 - OFFLINE オフライン - - ONLINE オンライン - ERROR エラー - - - TEMP 温度 - HIGH 高温 - GOOD 最適 - OK OK - VEHICLE 車両 - NO NO - PANDA PANDA - GPS GPS - SEARCH 検索 - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -983,63 +795,50 @@ location set SoftwarePanel - Updates are only downloaded while the car is off. 車の電源がオフの間のみ、アップデートのダウンロードが行われます。 - Current Version 現在のバージョン - Download ダウンロード - Install Update アップデート - INSTALL インストール - Target Branch 対象のブランチ - SELECT 選択 - Select a branch ブランチを選択 - UNINSTALL アンインストール - Uninstall %1 %1をアンインストール - Are you sure you want to uninstall? アンインストールしてもよろしいですか？ - - CHECK 確認 @@ -1047,48 +846,38 @@ location set SshControl - SSH Keys SSH 鍵 - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。コンマのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 - - ADD 追加 - Enter your GitHub username GitHub のユーザー名を入力してください - LOADING ローディング - REMOVE 削除 - Username '%1' has no keys on GitHub ユーザー名 “%1” は GitHub に鍵がありません - Request timed out リクエストタイムアウト - Username '%1' doesn't exist on GitHub ユーザー名 '%1' は GitHub に存在しません @@ -1096,7 +885,6 @@ location set SshToggle - Enable SSH SSH を有効化 @@ -1104,22 +892,18 @@ location set TermsPage - Terms & Conditions 利用規約 - Decline 拒否 - Scroll to accept スクロールして同意 - Agree 同意 @@ -1127,102 +911,82 @@ location set TogglesPanel - Enable openpilot openpilot を有効化 - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. アダプティブクルーズコントロールとレーンキーピングドライバーアシスト（openpilotシステム）。この機能を使用するには、常に注意が必要です。この設定を変更すると、車の電源が切れたときに有効になります。 - Enable Lane Departure Warnings 車線逸脱警報機能を有効化 - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). 時速31マイル（50km）を超えるスピードで走行中、ウインカーを作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。 - Use Metric System メートル法を有効化 - Display speed in km/h instead of mph. 速度は mph ではなく km/h で表示されます。 - Record and Upload Driver Camera 車内カメラの録画とアップロード - Upload data from the driver facing camera and help improve the driver monitoring algorithm. 車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。 - 🌮 End-to-end longitudinal (extremely alpha) 🌮 🌮 エンドツーエンドのアクセル制御 (超アルファ版) 🌮 - Experimental openpilot longitudinal control 実験段階のopenpilotによるアクセル制御 - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> <b>警告: openpilotによるアクセル制御は実験段階であり、AEBを無効化します。</b> - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。 - openpilot longitudinal control is not currently available for this car. openpilotによるアクセル制御は、この車では現在利用できません。 - Enable experimental longitudinal control to enable this. ここ機能を使う為には、「実験段階のopenpilotによるアクセル制御」を先に有効化してください。 - Disengage On Accelerator Pedal ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ - When enabled, pressing the accelerator pedal will disengage openpilot. 有効な場合は、アクセルを踏むと openpilot をキャンセルします。 - Show ETA in 24h Format 24時間表示 - Use 24h format instead of am/pm AM/PM の代わりに24時間形式を使用します - Show Map on Left Side of UI ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示 - Show map on left side when in split screen view. 分割画面表示の場合、ディスプレイの左側にマップを表示します。 @@ -1230,42 +994,34 @@ location set Updater - Update Required 更新が必要です - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. ｵﾍﾟﾚｰﾃｨﾝｸﾞｼｽﾃﾑのアップデートが必要です。Wi-Fi に接続することで、最速のアップデートを体験できます。ダウンロードサイズは約 1GB です。 - Connect to Wi-Fi Wi-Fi に接続 - Install インストール - Back 戻る - Loading... 読み込み中... - Reboot 再起動 - Update failed 更新失敗 @@ -1273,22 +1029,18 @@ location set WifiUI - Scanning for networks... ネットワークをスキャン中... - CONNECTING... 接続中... - FORGET 削除 - Forget Wi-Fi Network "%1"? Wi-Fiﾈｯﾄﾜｰｸ%1を削除してもよろしいですか？ diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 17914f21d8..2a806aaed9 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -4,17 +4,14 @@ AbstractAlert - Close 닫기 - Snooze Update 업데이트 일시중지 - Reboot and Update 업데이트 및 재부팅 @@ -22,53 +19,42 @@ AdvancedNetworking - Back 뒤로 - Enable Tethering 테더링 사용 - Tethering Password 테더링 비밀번호 - - EDIT 편집 - Enter new tethering password 새 테더링 비밀번호를 입력하세요 - IP Address IP 주소 - Enable Roaming 로밍 사용 - APN Setting APN 설정 - Enter APN APN 입력 - leave blank for automatic configuration 자동설정하려면 공백으로 두세요 @@ -76,13 +62,10 @@ ConfirmationDialog - - Ok 확인 - Cancel 취소 @@ -90,17 +73,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. openpilot을 사용하려면 이용약관에 동의해야 합니다. - Back 뒤로 - Decline, uninstall %1 거절, %1 제거 @@ -108,152 +88,122 @@ DevicePanel - Dongle ID Dongle ID - N/A N/A - Serial Serial - Driver Camera 운전자 카메라 - PREVIEW 미리보기 - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다) - Reset Calibration 캘리브레이션 - RESET 재설정 - Are you sure you want to reset calibration? 캘리브레이션을 재설정하시겠습니까? - Review Training Guide 트레이닝 가이드 - REVIEW 다시보기 - Review the rules, features, and limitations of openpilot openpilot의 규칙, 기능 및 제한 다시보기 - Are you sure you want to review the training guide? 트레이닝 가이드를 다시보시겠습니까? - Regulatory 규제 - VIEW 보기 - Change Language 언어 변경 - CHANGE 변경 - Select a language 언어를 선택하세요 - Reboot 재부팅 - Power Off 전원 종료 - 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. openpilot은 좌우측은 4° 이내, 위쪽은 5° 아래쪽은 8° 이내로 장치를 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋은 거의 필요하지 않습니다. - Your device is pointed %1° %2 and %3° %4. 사용자의 장치가 %1° %2 및 %3° %4 위치에 설치되어있습니다. - down 아래로 - up 위로 - left 좌측으로 - right 우측으로 - Are you sure you want to reboot? 재부팅 하시겠습니까? - Disengage to Reboot 재부팅 하려면 해제하세요 - Are you sure you want to power off? 전원을 종료하시겠습니까? - Disengage to Power Off 전원을 종료하려면 해제하세요 @@ -261,32 +211,26 @@ DriveStats - Drives 주행 - Hours 시간 - ALL TIME 전체 - PAST WEEK 지난주 - KM Km - Miles Miles @@ -294,7 +238,6 @@ DriverViewScene - camera starting 카메라 시작중 @@ -302,12 +245,10 @@ InputDialog - Cancel 취소 - Need at least %n character(s)! 최소 %n 자가 필요합니다! @@ -317,22 +258,18 @@ Installer - Installing... 설치중... - Receiving objects: 수신중： - Resolving deltas: 델타병합： - Updating files: 파일갱신： @@ -340,27 +277,22 @@ MapETA - eta 도착 - min 분 - hr 시간 - km km - mi mi @@ -368,22 +300,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -391,48 +319,40 @@ MapPanel - Current Destination 현재 목적지 - CLEAR 삭제 - Recent Destinations 최근 목적지 - Try the Navigation Beta 네비게이션(베타)를 사용해보세요 - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai 자세한 경로안내를 원하시면 comma prime을 구독하세요. 등록：https://connect.comma.ai - No home location set 집 설정되지않음 - No work location set 회사 설정되지않음 - no recent destinations 최근 목적지 없음 @@ -440,12 +360,10 @@ location set MapWindow - Map Loading 지도 로딩 - Waiting for GPS GPS를 기다리는 중 @@ -453,12 +371,10 @@ location set MultiOptionDialog - Select 선택 - Cancel 취소 @@ -466,23 +382,18 @@ location set Networking - Advanced 고급 설정 - Enter password 비밀번호를 입력하세요 - - for "%1" "%1"에 접속하려면 인증이 필요합니다 - Wrong password 비밀번호가 틀렸습니다 @@ -490,30 +401,22 @@ location set NvgWindow - km/h km/h - mph mph - - MAX MAX - - SPEED SPEED - - LIMIT LIMIT @@ -521,17 +424,14 @@ location set OffroadHome - UPDATE 업데이트 - ALERTS 알림 - ALERT 알림 @@ -539,22 +439,18 @@ location set PairingPopup - Pair your device to your comma account 장치를 콤마 계정과 페어링합니다 - Go to https://connect.comma.ai on your phone https://connect.comma.ai에 접속하세요 - Click "add new device" and scan the QR code on the right "새 장치 추가"를 클릭하고 오른쪽 QR 코드를 검색합니다 - Bookmark connect.comma.ai to your home screen to use it like an app connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오 @@ -562,32 +458,26 @@ location set PrimeAdWidget - Upgrade Now 지금 업그레이드 - Become a comma prime member at connect.comma.ai connect.comma.ai에서 comma prime에 가입합니다 - PRIME FEATURES: PRIME 기능： - Remote access 원격 접속 - 1 year of storage 1년간 저장 - Developer perks 개발자 혜택 @@ -595,22 +485,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ 구독함 - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA POINTS @@ -618,41 +504,34 @@ location set QObject - Reboot 재부팅 - Exit 종료 - dashcam dashcam - openpilot openpilot - %n minute(s) ago %n 분전 - %n hour(s) ago %n 시간전 - %n day(s) ago %n 일전 @@ -662,47 +541,38 @@ location set Reset - Reset failed. Reboot to try again. 초기화 실패. 재부팅후 다시 시도하세요. - Are you sure you want to reset your device? 장치를 초기화 하시겠습니까? - Resetting device... 장치 초기화중... - System Reset 장치 초기화 - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. 장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 부팅을 재개하려면 취소를 누르세요. - Cancel 취소 - Reboot 재부팅 - Confirm 확인 - Unable to mount data partition. Press confirm to reset your device. 데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다. @@ -710,7 +580,6 @@ location set RichTextDialog - Ok 확인 @@ -718,33 +587,26 @@ location set SettingsWindow - × × - Device 장치 - - Network 네트워크 - Toggles 토글 - Software 소프트웨어 - Navigation 네비게이션 @@ -752,105 +614,82 @@ location set Setup - WARNING: Low Voltage 경고: 전압이 낮습니다 - Power your device in a car with a harness or proceed at your own risk. 하네스 보드에 차량의 전원을 연결하세요. - Power off 전원 종료 - - - Continue 계속 - Getting Started 설정 시작 - Before we get on the road, let’s finish installation and cover some details. 출발하기 전에 설정을 완료하고 몇 가지 세부 사항을 살펴보겠습니다. - Connect to Wi-Fi wifi 연결 - - Back 뒤로 - Continue without Wi-Fi wifi 연결없이 계속하기 - Waiting for internet 네트워크 접속을 기다립니다 - Choose Software to Install 설치할 소프트웨어를 선택하세요 - Dashcam Dashcam - Custom Software Custom Software - Enter URL URL 입력 - for Custom Software for Custom Software - Downloading... 다운로드중... - Download Failed 다운로드 실패 - Ensure the entered URL is valid, and the device’s internet connection is good. 입력된 URL이 유효하고 장치의 네트워크 연결이 잘 되어 있는지 확인하세요. - Reboot device 재부팅 - Start over 다시 시작 @@ -858,17 +697,14 @@ location set SetupWidget - Finish Setup 설정 완료 - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. 장치를 (connect.comma.ai)에서 페어링하고 comma prime 오퍼를 청구합니다. - Pair device 장치 페어링 @@ -876,106 +712,82 @@ location set Sidebar - - CONNECT 연결 - OFFLINE 오프라인 - - ONLINE 온라인 - ERROR 오류 - - - TEMP 온도 - HIGH 높음 - GOOD 좋음 - OK 경고 - VEHICLE 차량 - NO NO - PANDA PANDA - GPS GPS - SEARCH 검색중 - -- -- - Wi-Fi Wi-Fi - ETH 이더넷 - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -983,63 +795,50 @@ location set SoftwarePanel - Updates are only downloaded while the car is off. 업데이트는 차량 연결이 해제되어 있는 동안에만 다운로드됩니다. - Current Version 현재 버전 - Download 다운로드 - Install Update 업데이트 설치 - INSTALL 설치 - Target Branch 대상 브랜치 - SELECT 선택 - Select a branch 브랜치 선택 - UNINSTALL 제거 - Uninstall %1 %1 제거 - Are you sure you want to uninstall? 제거하시겠습니까? - - CHECK 확인 @@ -1047,48 +846,38 @@ location set SshControl - SSH Keys SSH 키 - 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. 경고: 허용으로 설정하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. GitHub 사용자 ID 이외에는 입력하지 마십시오. comma에서는 GitHub ID를 추가하라는 요청을 하지 않습니다. - - ADD 추가 - Enter your GitHub username GitHub 사용자 ID - LOADING 로딩 - REMOVE 제거 - Username '%1' has no keys on GitHub '%1'의 키가 GitHub에 없습니다 - Request timed out 요청 시간 초과 - Username '%1' doesn't exist on GitHub '%1'은 GitHub에 없습니다 @@ -1096,7 +885,6 @@ location set SshToggle - Enable SSH SSH 사용 @@ -1104,22 +892,18 @@ location set TermsPage - Terms & Conditions 약관 - Decline 거절 - Scroll to accept 허용하려면 아래로 스크롤하세요 - Agree 동의 @@ -1127,102 +911,82 @@ location set TogglesPanel - Enable openpilot openpilot 사용 - 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. 어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 설정변경은 장치 재부팅후 적용됩니다. - Enable Lane Departure Warnings 차선 이탈 경고 사용 - 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). 차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등 없이 감지된 차선 위를 주행할 경우 차선이탈 경고를 표시합니다. - Use Metric System 미터법 사용 - Display speed in km/h instead of mph. mph 대신 km/h로 속도를 표시합니다. - Record and Upload Driver Camera 운전자 카메라 녹화 및 업로드 - Upload data from the driver facing camera and help improve the driver monitoring algorithm. 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. - 🌮 End-to-end longitudinal (extremely alpha) 🌮 🌮 e2e 롱컨트롤 사용 (매우 실험적) 🌮 - Experimental openpilot longitudinal control openpilot 롱컨트롤 (실험적) - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> <b>경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다.</b> - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. 주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적) - openpilot longitudinal control is not currently available for this car. - Enable experimental longitudinal control to enable this. - Disengage On Accelerator Pedal 가속페달 조작시 해제 - When enabled, pressing the accelerator pedal will disengage openpilot. 활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다. - Show ETA in 24h Format 24시간 형식으로 도착예정시간 표시 - Use 24h format instead of am/pm 오전/오후 대신 24시간 형식 사용 - Show Map on Left Side of UI UI 왼쪽에 지도 표시 - Show map on left side when in split screen view. 분할 화면 보기에서 지도를 왼쪽에 표시합니다. @@ -1230,42 +994,34 @@ location set Updater - Update Required 업데이트 필요 - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. OS 업데이트가 필요합니다. 장치를 wifi에 연결하면 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다. - Connect to Wi-Fi wifi 연결 - Install 설치 - Back 뒤로 - Loading... 로딩중... - Reboot 재부팅 - Update failed 업데이트 실패 @@ -1273,22 +1029,18 @@ location set WifiUI - Scanning for networks... 네트워크 검색 중... - CONNECTING... 연결중... - FORGET 저장안함 - Forget Wi-Fi Network "%1"? wifi 네트워크 저장안함 "%1"? diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index a490b4088d..ff6f27dd46 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -4,17 +4,14 @@ AbstractAlert - Close Fechar - Snooze Update Adiar Atualização - Reboot and Update Reiniciar e Atualizar @@ -22,53 +19,42 @@ AdvancedNetworking - Back Voltar - Enable Tethering Ativar Tether - Tethering Password Senha Tethering - - EDIT EDITAR - Enter new tethering password Insira nova senha tethering - IP Address Endereço IP - Enable Roaming Ativar Roaming - APN Setting APN Config - Enter APN Insira APN - leave blank for automatic configuration deixe em branco para configuração automática @@ -76,13 +62,10 @@ ConfirmationDialog - - Ok OK - Cancel Cancelar @@ -90,17 +73,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. Você precisa aceitar os Termos e Condições para utilizar openpilot. - Back Voltar - Decline, uninstall %1 Rejeitar, desintalar %1 @@ -108,152 +88,122 @@ DevicePanel - Dongle ID Dongle ID - N/A N/A - Serial Serial - Driver Camera Câmera voltada para o Motorista - PREVIEW PREVISUAL - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) Pré-visualizar a câmera voltada para o motorista para garantir que monitor tem uma boa visibilidade (veículo precisa estar desligado) - Reset Calibration Resetar Calibragem - RESET RESET - Are you sure you want to reset calibration? Tem certeza que quer resetar a calibragem? - Review Training Guide Revisar Guia de Treinamento - REVIEW REVISAR - Review the rules, features, and limitations of openpilot Revisar regras, aprimoramentos e limitações do openpilot - Are you sure you want to review the training guide? Tem certeza que quer rever o treinamento? - Regulatory Regulatório - VIEW VER - Change Language Alterar Idioma - CHANGE ALTERAR - Select a language Selecione o Idioma - Reboot Reiniciar - Power Off Desligar - 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. o openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. o openpilot está continuamente calibrando, resetar raramente é necessário. - Your device is pointed %1° %2 and %3° %4. Seu dispositivo está montado %1° %2 e %3° %4. - down baixo - up cima - left esquerda - right direita - Are you sure you want to reboot? Tem certeza que quer reiniciar? - Disengage to Reboot Desacione para Reiniciar - Are you sure you want to power off? Tem certeza que quer desligar? - Disengage to Power Off Desacione para Desligar @@ -261,32 +211,26 @@ DriveStats - Drives Dirigidas - Hours Horas - ALL TIME TOTAL - PAST WEEK SEMANA PASSADA - KM KM - Miles Milhas @@ -294,7 +238,6 @@ DriverViewScene - camera starting câmera iniciando @@ -302,12 +245,10 @@ InputDialog - Cancel Cancelar - Need at least %n character(s)! Necessita no mínimo %n caractere! @@ -318,22 +259,18 @@ Installer - Installing... Instalando... - Receiving objects: Recebendo objetos: - Resolving deltas: Resolvendo deltas: - Updating files: Atualizando arquivos: @@ -341,27 +278,22 @@ MapETA - eta eta - min min - hr hr - km km - mi mi @@ -369,22 +301,18 @@ MapInstructions - km km - m m - mi milha - ft pés @@ -392,48 +320,40 @@ MapPanel - Current Destination Destino Atual - CLEAR LIMPAR - Recent Destinations Destinos Recentes - Try the Navigation Beta Experimente a Navegação Beta - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai Obtenha instruções passo a passo exibidas e muito mais com uma assinatura prime Inscreva-se agora: https://connect.comma.ai - No home location set Sem local residência definido - No work location set Sem local de trabalho definido - no recent destinations sem destinos recentes @@ -441,12 +361,10 @@ trabalho definido MapWindow - Map Loading Carregando Mapa - Waiting for GPS Esperando por GPS @@ -454,12 +372,10 @@ trabalho definido MultiOptionDialog - Select Selecione - Cancel Cancelar @@ -467,23 +383,18 @@ trabalho definido Networking - Advanced Avançado - Enter password Insira a senha - - for "%1" para "%1" - Wrong password Senha incorreta @@ -491,30 +402,22 @@ trabalho definido NvgWindow - km/h km/h - mph mph - - MAX LIMITE - - SPEED MAX - - LIMIT VELO @@ -522,17 +425,14 @@ trabalho definido OffroadHome - UPDATE ATUALIZAÇÃO - ALERTS ALERTAS - ALERT ALERTA @@ -540,22 +440,18 @@ trabalho definido PairingPopup - Pair your device to your comma account Pareie seu dispositivo à sua conta comma - Go to https://connect.comma.ai on your phone navegue até https://connect.comma.ai no seu telefone - Click "add new device" and scan the QR code on the right Clique "add new device" e escaneie o QR code a seguir - Bookmark connect.comma.ai to your home screen to use it like an app Salve connect.comma.ai como sua página inicial para utilizar como um app @@ -563,32 +459,26 @@ trabalho definido PrimeAdWidget - Upgrade Now Atualizar Agora - Become a comma prime member at connect.comma.ai Torne-se um membro comma prime em connect.comma.ai - PRIME FEATURES: APRIMORAMENTOS PRIME: - Remote access Acesso remoto - 1 year of storage 1 ano de armazenamento - Developer perks Benefícios para desenvolvedor @@ -596,22 +486,18 @@ trabalho definido PrimeUserWidget - ✓ SUBSCRIBED ✓ INSCRITO - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS PONTOS COMMA @@ -619,27 +505,22 @@ trabalho definido QObject - Reboot Reiniciar - Exit Sair - dashcam dashcam - openpilot openpilot - %n minute(s) ago há %n minuto @@ -647,7 +528,6 @@ trabalho definido - %n hour(s) ago há %n hora @@ -655,7 +535,6 @@ trabalho definido - %n day(s) ago há %n dia @@ -666,47 +545,38 @@ trabalho definido Reset - Reset failed. Reboot to try again. Reset falhou. Reinicie para tentar novamente. - Are you sure you want to reset your device? Tem certeza que quer resetar seu dispositivo? - Resetting device... Resetando dispositivo... - System Reset Resetar Sistema - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. Solicitado reset do sistema. Confirme para apagar todo conteúdo e configurações. Aperte cancelar para continuar boot. - Cancel Cancelar - Reboot Reiniciar - Confirm Confirmar - Unable to mount data partition. Press confirm to reset your device. Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo. @@ -714,7 +584,6 @@ trabalho definido RichTextDialog - Ok Ok @@ -722,33 +591,26 @@ trabalho definido SettingsWindow - × × - Device Dispositivo - - Network Rede - Toggles Ajustes - Software Software - Navigation Navegação @@ -756,105 +618,82 @@ trabalho definido Setup - WARNING: Low Voltage ALERTA: Baixa Voltagem - Power your device in a car with a harness or proceed at your own risk. Ligue seu dispositivo em um carro com um chicote ou prossiga por sua conta e risco. - Power off Desligar - - - Continue Continuar - Getting Started Começando - Before we get on the road, let’s finish installation and cover some details. Antes de pegarmos a estrada, vamos terminar a instalação e cobrir alguns detalhes. - Connect to Wi-Fi Conectar ao Wi-Fi - - Back Voltar - Continue without Wi-Fi Continuar sem Wi-Fi - Waiting for internet Esperando pela internet - Choose Software to Install Escolher Software para Instalar - Dashcam Dashcam - Custom Software Sofware Customizado - Enter URL Preencher URL - for Custom Software para o Software Customizado - Downloading... Baixando... - Download Failed Download Falhou - Ensure the entered URL is valid, and the device’s internet connection is good. Garanta que a URL inserida é valida, e uma boa conexão à internet. - Reboot device Reiniciar Dispositivo - Start over Inicializar @@ -862,17 +701,14 @@ trabalho definido SetupWidget - Finish Setup Concluir - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Pareie seu dispositivo com comma connect (connect.comma.ai) e reivindique sua oferta de comma prime. - Pair device Parear dispositivo @@ -880,106 +716,82 @@ trabalho definido Sidebar - - CONNECT CONEXÃO - OFFLINE OFFLINE - - ONLINE ONLINE - ERROR ERRO - - - TEMP TEMP - HIGH ALTA - GOOD BOA - OK OK - VEHICLE VEÍCULO - NO SEM - PANDA PANDA - GPS GPS - SEARCH PROCURA - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -987,63 +799,50 @@ trabalho definido SoftwarePanel - Updates are only downloaded while the car is off. Atualizações baixadas durante o motor desligado. - Current Version Versao Atual - Download Download - Install Update Instalar Atualização - INSTALL INSTALAR - Target Branch Alterar Branch - SELECT SELECIONE - Select a branch Selecione uma branch - UNINSTALL DESINSTAL - Uninstall %1 Desintalar o %1 - Are you sure you want to uninstall? Tem certeza que quer desinstalar? - - CHECK VERIFICAR @@ -1051,48 +850,38 @@ trabalho definido SshControl - SSH Keys Chave SSH - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. Aviso: isso concede acesso SSH a todas as chaves públicas nas configurações do GitHub. Nunca insira um nome de usuário do GitHub que não seja o seu. Um funcionário da comma NUNCA pedirá que você adicione seu nome de usuário do GitHub. - - ADD ADICIONAR - Enter your GitHub username Insira seu nome de usuário do GitHub - LOADING CARREGANDO - REMOVE REMOVER - Username '%1' has no keys on GitHub Usuário "%1” não possui chaves no GitHub - Request timed out A solicitação expirou - Username '%1' doesn't exist on GitHub Usuário '%1' não existe no GitHub @@ -1100,7 +889,6 @@ trabalho definido SshToggle - Enable SSH Habilitar SSH @@ -1108,22 +896,18 @@ trabalho definido TermsPage - Terms & Conditions Termos & Condições - Decline Declinar - Scroll to accept Role a tela para aceitar - Agree Concordo @@ -1131,102 +915,82 @@ trabalho definido TogglesPanel - Enable openpilot Ativar openpilot - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. Use o sistema openpilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado. - Enable Lane Departure Warnings Ativar Avisos de Saída de Faixa - 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). Receba alertas para voltar para a pista se o seu veículo sair da faixa e a seta não tiver sido acionada previamente quando em velocidades superiores a 50 km/h. - Use Metric System Usar Sistema Métrico - Display speed in km/h instead of mph. Exibir velocidade em km/h invés de mph. - Record and Upload Driver Camera Gravar e Upload Câmera Motorista - Upload data from the driver facing camera and help improve the driver monitoring algorithm. Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor. - 🌮 End-to-end longitudinal (extremely alpha) 🌮 🌮 End-to-end longitudinal (experimental) 🌮 - Experimental openpilot longitudinal control Controle longitudinal experimental openpilot - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> <b>AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB.</b> - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. Deixe o modelo controlar o acelerador e os freios. openpilot irá conduzir como pensa que um humano faria. Super experimental. - openpilot longitudinal control is not currently available for this car. controle longitudinal openpilot não está disponível para este carro. - Enable experimental longitudinal control to enable this. Habilite o controle longitudinal experimental para habilitar isso. - Disengage On Accelerator Pedal Desacionar Com Pedal Do Acelerador - When enabled, pressing the accelerator pedal will disengage openpilot. Quando ativado, pressionar o pedal do acelerador desacionará o openpilot. - Show ETA in 24h Format Mostrar ETA em formato 24h - Use 24h format instead of am/pm Use o formato 24h em vez de am/pm - Show Map on Left Side of UI Exibir Mapa no Lado Esquerdo - Show map on left side when in split screen view. Exibir mapa do lado esquerdo quando a tela for dividida. @@ -1234,42 +998,34 @@ trabalho definido Updater - Update Required Atualização Necessária - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. Uma atualização do sistema operacional é necessária. Conecte seu dispositivo ao Wi-Fi para a experiência de atualização mais rápida. O tamanho do download é de aproximadamente 1GB. - Connect to Wi-Fi Conecte-se ao Wi-Fi - Install Instalar - Back Voltar - Loading... Carregando... - Reboot Reiniciar - Update failed Falha na atualização @@ -1277,22 +1033,18 @@ trabalho definido WifiUI - Scanning for networks... Procurando redes... - CONNECTING... CONECTANDO... - FORGET ESQUECER - Forget Wi-Fi Network "%1"? Esquecer Rede Wi-Fi "%1"? diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 28008ef06f..6300875ee3 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -4,17 +4,14 @@ AbstractAlert - Close 关闭 - Snooze Update 暂停更新 - Reboot and Update 重启并更新 @@ -22,53 +19,42 @@ AdvancedNetworking - Back 返回 - Enable Tethering 启用WiFi热点 - Tethering Password WiFi热点密码 - - EDIT 编辑 - Enter new tethering password 输入新的WiFi热点密码 - IP Address IP地址 - Enable Roaming 启用数据漫游 - APN Setting APN设置 - Enter APN 输入APN - leave blank for automatic configuration 留空以自动配置 @@ -76,13 +62,10 @@ ConfirmationDialog - - Ok 好的 - Cancel 取消 @@ -90,17 +73,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. 您必须接受条款和条件以使用openpilot。 - Back 返回 - Decline, uninstall %1 拒绝并卸载%1 @@ -108,152 +88,122 @@ DevicePanel - Dongle ID 设备ID（Dongle ID） - N/A N/A - Serial 序列号 - Driver Camera 驾驶员摄像头 - PREVIEW 预览 - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。 - Reset Calibration 重置设备校准 - RESET 重置 - Are you sure you want to reset calibration? 您确定要重置设备校准吗？ - Review Training Guide 新手指南 - REVIEW 查看 - Review the rules, features, and limitations of openpilot 查看openpilot的使用规则，以及其功能和限制。 - Are you sure you want to review the training guide? 您确定要查看新手指南吗？ - Regulatory 监管信息 - VIEW 查看 - Change Language 切换语言 - CHANGE 切换 - Select a language 选择语言 - Reboot 重启 - Power Off 关机 - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。 - Your device is pointed %1° %2 and %3° %4. 您的设备校准为%1° %2、%3° %4。 - down 朝下 - up 朝上 - left 朝左 - right 朝右 - Are you sure you want to reboot? 您确定要重新启动吗？ - Disengage to Reboot 取消openpilot以重新启动 - Are you sure you want to power off? 您确定要关机吗？ - Disengage to Power Off 取消openpilot以关机 @@ -261,32 +211,26 @@ DriveStats - Drives 旅程数 - Hours 小时 - ALL TIME 全部 - PAST WEEK 过去一周 - KM 公里 - Miles 英里 @@ -294,7 +238,6 @@ DriverViewScene - camera starting 正在启动相机 @@ -302,12 +245,10 @@ InputDialog - Cancel 取消 - Need at least %n character(s)! 至少需要 %n 个字符！ @@ -317,22 +258,18 @@ Installer - Installing... 正在安装…… - Receiving objects: 正在接收： - Resolving deltas: 正在处理： - Updating files: 正在更新文件： @@ -340,27 +277,22 @@ MapETA - eta 埃塔 - min 分钟 - hr 小时 - km km - mi mi @@ -368,22 +300,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -391,46 +319,38 @@ MapPanel - Current Destination 当前目的地 - CLEAR 清空 - Recent Destinations 最近目的地 - Try the Navigation Beta 试用导航测试版 - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai 订阅comma prime以获取导航。 立即注册：https://connect.comma.ai - No home location set 家：未设定 - No work location set 工作：未设定 - no recent destinations 无最近目的地 @@ -438,12 +358,10 @@ location set MapWindow - Map Loading 地图加载中 - Waiting for GPS 等待 GPS @@ -451,12 +369,10 @@ location set MultiOptionDialog - Select 选择 - Cancel 取消 @@ -464,23 +380,18 @@ location set Networking - Advanced 高级 - Enter password 输入密码 - - for "%1" 网络名称："%1" - Wrong password 密码错误 @@ -488,30 +399,22 @@ location set NvgWindow - km/h km/h - mph mph - - MAX 最高定速 - - SPEED SPEED - - LIMIT LIMIT @@ -519,17 +422,14 @@ location set OffroadHome - UPDATE 更新 - ALERTS 警报 - ALERT 警报 @@ -537,22 +437,18 @@ location set PairingPopup - Pair your device to your comma account 将您的设备与comma账号配对 - Go to https://connect.comma.ai on your phone 在手机上访问 https://connect.comma.ai - Click "add new device" and scan the QR code on the right 点击“添加新设备”，扫描右侧二维码 - Bookmark connect.comma.ai to your home screen to use it like an app 将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它 @@ -560,32 +456,26 @@ location set PrimeAdWidget - Upgrade Now 现在升级 - Become a comma prime member at connect.comma.ai 打开connect.comma.ai以注册comma prime会员 - PRIME FEATURES: comma prime特权： - Remote access 远程访问 - 1 year of storage 1年数据存储 - Developer perks 开发者福利 @@ -593,22 +483,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ 已订阅 - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA POINTS点数 @@ -616,41 +502,34 @@ location set QObject - Reboot 重启 - Exit 退出 - dashcam 行车记录仪 - openpilot openpilot - %n minute(s) ago %n 分钟前 - %n hour(s) ago %n 小时前 - %n day(s) ago %n 天前 @@ -660,47 +539,38 @@ location set Reset - Reset failed. Reboot to try again. 重置失败。 重新启动以重试。 - Are you sure you want to reset your device? 您确定要重置您的设备吗？ - Resetting device... 正在重置设备…… - System Reset 恢复出厂设置 - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. 已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。 - Cancel 取消 - Reboot 重启 - Confirm 确认 - Unable to mount data partition. Press confirm to reset your device. 无法挂载数据分区。 确认以重置您的设备。 @@ -708,7 +578,6 @@ location set RichTextDialog - Ok 好的 @@ -716,33 +585,26 @@ location set SettingsWindow - × × - Device 设备 - - Network 网络 - Toggles 设定 - Software 软件 - Navigation 导航 @@ -750,105 +612,82 @@ location set Setup - WARNING: Low Voltage 警告：低电压 - Power your device in a car with a harness or proceed at your own risk. 请使用car harness线束为您的设备供电，或自行承担风险。 - Power off 关机 - - - Continue 继续 - Getting Started 开始设置 - Before we get on the road, let’s finish installation and cover some details. 开始旅程之前，让我们完成安装并介绍一些细节。 - Connect to Wi-Fi 连接到WiFi - - Back 返回 - Continue without Wi-Fi 不连接WiFi并继续 - Waiting for internet 等待网络连接 - Choose Software to Install 选择要安装的软件 - Dashcam Dashcam（行车记录仪） - Custom Software 自定义软件 - Enter URL 输入网址 - for Custom Software 以下载自定义软件 - Downloading... 正在下载…… - Download Failed 下载失败 - Ensure the entered URL is valid, and the device’s internet connection is good. 请确保互联网连接良好且输入的URL有效。 - Reboot device 重启设备 - Start over 重来 @@ -856,17 +695,14 @@ location set SetupWidget - Finish Setup 完成设置 - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. 将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。 - Pair device 配对设备 @@ -874,106 +710,82 @@ location set Sidebar - - CONNECT CONNECT - OFFLINE 离线 - - ONLINE 在线 - ERROR 连接出错 - - - TEMP 设备温度 - HIGH 过热 - GOOD 良好 - OK 一般 - VEHICLE 车辆连接 - NO 无 - PANDA PANDA - GPS GPS - SEARCH 搜索中 - -- -- - Wi-Fi Wi-Fi - ETH 以太网 - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -981,63 +793,50 @@ location set SoftwarePanel - Updates are only downloaded while the car is off. - Current Version - Download - Install Update - INSTALL - Target Branch - SELECT - Select a branch - UNINSTALL 卸载 - Uninstall %1 卸载 %1 - Are you sure you want to uninstall? 您确定要卸载吗？ - - CHECK 查看 @@ -1045,48 +844,38 @@ location set SshControl - SSH Keys SSH密钥 - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. 警告：这将授予SSH访问权限给您GitHub设置中的所有公钥。切勿输入您自己以外的GitHub用户名。comma员工永远不会要求您添加他们的GitHub用户名。 - - ADD 添加 - Enter your GitHub username 输入您的GitHub用户名 - LOADING 正在加载 - REMOVE 删除 - Username '%1' has no keys on GitHub 用户名“%1”在GitHub上没有密钥 - Request timed out 请求超时 - Username '%1' doesn't exist on GitHub GitHub上不存在用户名“%1” @@ -1094,7 +883,6 @@ location set SshToggle - Enable SSH 启用SSH @@ -1102,22 +890,18 @@ location set TermsPage - Terms & Conditions 条款和条件 - Decline 拒绝 - Scroll to accept 滑动以接受 - Agree 同意 @@ -1125,102 +909,82 @@ location set TogglesPanel - Enable openpilot 启用openpilot - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 使用openpilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。 - Enable Lane Departure Warnings 启用车道偏离警告 - 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). 车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。 - Use Metric System 使用公制单位 - Display speed in km/h instead of mph. 显示车速时，以km/h代替mph。 - Record and Upload Driver Camera 录制并上传驾驶员摄像头 - Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。 - 🌮 End-to-end longitudinal (extremely alpha) 🌮 🌮 端对端纵向控制（实验性功能） 🌮 - Experimental openpilot longitudinal control - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. 让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。 - openpilot longitudinal control is not currently available for this car. - Enable experimental longitudinal control to enable this. - Disengage On Accelerator Pedal 踩油门时取消控制 - When enabled, pressing the accelerator pedal will disengage openpilot. 启用后，踩下油门踏板将取消openpilot。 - Show ETA in 24h Format 以24小时格式显示预计到达时间 - Use 24h format instead of am/pm 使用24小时制代替am/pm - Show Map on Left Side of UI 在介面左侧显示地图 - Show map on left side when in split screen view. 在分屏模式中，将地图置于屏幕左侧。 @@ -1228,42 +992,34 @@ location set Updater - Update Required 需要更新 - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. 操作系统需要更新。请将您的设备连接到WiFi以获取更快的更新体验。下载大小约为1GB。 - Connect to Wi-Fi 连接到WiFi - Install 安装 - Back 返回 - Loading... 正在加载…… - Reboot 重启 - Update failed 更新失败 @@ -1271,22 +1027,18 @@ location set WifiUI - Scanning for networks... 正在扫描网络…… - CONNECTING... 正在连接…… - FORGET 忘记 - Forget Wi-Fi Network "%1"? 忘记WiFi网络 "%1"? diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 364508bd1c..73faf11f69 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -4,17 +4,14 @@ AbstractAlert - Close 關閉 - Snooze Update 暫停更新 - Reboot and Update 重啟並更新 @@ -22,53 +19,42 @@ AdvancedNetworking - Back 回上頁 - Enable Tethering 啟用網路分享 - Tethering Password 網路分享密碼 - - EDIT 編輯 - Enter new tethering password 輸入新的網路分享密碼 - IP Address IP 地址 - Enable Roaming 啟用漫遊 - APN Setting APN 設置 - Enter APN 輸入 APN - leave blank for automatic configuration 留空白將自動配置 @@ -76,13 +62,10 @@ ConfirmationDialog - - Ok 確定 - Cancel 取消 @@ -90,17 +73,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. 您必須先接受條款和條件才能使用 openpilot。 - Back 回上頁 - Decline, uninstall %1 拒絕並卸載 %1 @@ -108,152 +88,122 @@ DevicePanel - Dongle ID Dongle ID - N/A 無法使用 - Serial 序號 - Driver Camera 駕駛員攝像頭 - PREVIEW 預覽 - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) 預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用） - Reset Calibration 重置校準 - RESET 重置 - Are you sure you want to reset calibration? 您確定要重置校準嗎？ - Review Training Guide 觀看使用教學 - REVIEW 觀看 - Review the rules, features, and limitations of openpilot 觀看 openpilot 的使用規則、功能和限制 - Are you sure you want to review the training guide? 您確定要觀看使用教學嗎？ - Regulatory 法規/監管 - VIEW 觀看 - Change Language 更改語言 - CHANGE 更改 - Select a language 選擇語言 - Reboot 重新啟動 - Power Off 關機 - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 - Your device is pointed %1° %2 and %3° %4. 你的設備目前朝%2 %1° 以及朝%4 %3° 。 - down 下 - up 上 - left 左 - right 右 - Are you sure you want to reboot? 您確定要重新啟動嗎？ - Disengage to Reboot 請先取消控車才能重新啟動 - Are you sure you want to power off? 您確定您要關機嗎？ - Disengage to Power Off 請先取消控車才能關機 @@ -261,32 +211,26 @@ DriveStats - Drives 旅程 - Hours 小時 - ALL TIME 總共 - PAST WEEK 上周 - KM 公里 - Miles 英里 @@ -294,7 +238,6 @@ DriverViewScene - camera starting 開啟相機中 @@ -302,12 +245,10 @@ InputDialog - Cancel 取消 - Need at least %n character(s)! 需要至少 %n 個字元！ @@ -317,22 +258,18 @@ Installer - Installing... 安裝中… - Receiving objects: 接收對象： - Resolving deltas: 分析差異： - Updating files: 更新檔案： @@ -340,27 +277,22 @@ MapETA - eta 抵達 - min 分鐘 - hr 小時 - km km - mi mi @@ -368,22 +300,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -391,48 +319,40 @@ MapPanel - Current Destination 當前目的地 - CLEAR 清除 - Recent Destinations 最近目的地 - Try the Navigation Beta 試用導航功能 - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai 成為 comma 高級會員來使用導航功能 立即註冊：https://connect.comma.ai - No home location set 未設定 住家位置 - No work location set 未設定 工作位置 - no recent destinations 沒有最近的導航記錄 @@ -440,12 +360,10 @@ location set MapWindow - Map Loading 地圖加載中 - Waiting for GPS 等待 GPS @@ -453,12 +371,10 @@ location set MultiOptionDialog - Select 選擇 - Cancel 取消 @@ -466,23 +382,18 @@ location set Networking - Advanced 進階 - Enter password 輸入密碼 - - for "%1" 給 "%1" - Wrong password 密碼錯誤 @@ -490,30 +401,22 @@ location set NvgWindow - km/h km/h - mph mph - - MAX 最高 - - SPEED 速度 - - LIMIT 速限 @@ -521,17 +424,14 @@ location set OffroadHome - UPDATE 更新 - ALERTS 提醒 - ALERT 提醒 @@ -539,22 +439,18 @@ location set PairingPopup - Pair your device to your comma account 將設備與您的 comma 帳號配對 - Go to https://connect.comma.ai on your phone 用手機連至 https://connect.comma.ai - Click "add new device" and scan the QR code on the right 點選 "add new device" 後掃描右邊的二維碼 - Bookmark connect.comma.ai to your home screen to use it like an app 將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它 @@ -562,32 +458,26 @@ location set PrimeAdWidget - Upgrade Now 馬上升級 - Become a comma prime member at connect.comma.ai 成為 connect.comma.ai 的高級會員 - PRIME FEATURES: 高級會員特點： - Remote access 遠程訪問 - 1 year of storage 一年的雲端行車記錄 - Developer perks 開發者福利 @@ -595,22 +485,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ 已訂閱 - comma prime comma 高級會員 - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA 積分 @@ -618,41 +504,34 @@ location set QObject - Reboot 重新啟動 - Exit 離開 - dashcam 行車記錄器 - openpilot openpilot - %n minute(s) ago %n 分鐘前 - %n hour(s) ago %n 小時前 - %n day(s) ago %n 天前 @@ -662,47 +541,38 @@ location set Reset - Reset failed. Reboot to try again. 重置失敗。請重新啟動後再試。 - Are you sure you want to reset your device? 您確定要重置你的設備嗎？ - Resetting device... 重置設備中… - System Reset 系統重置 - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. 系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。 - Cancel 取消 - Reboot 重新啟動 - Confirm 確認 - Unable to mount data partition. Press confirm to reset your device. 無法掛載數據分區。請按確認重置您的設備。 @@ -710,7 +580,6 @@ location set RichTextDialog - Ok 確定 @@ -718,33 +587,26 @@ location set SettingsWindow - × × - Device 設備 - - Network 網路 - Toggles 設定 - Software 軟體 - Navigation 導航 @@ -752,105 +614,82 @@ location set Setup - WARNING: Low Voltage 警告：電壓過低 - Power your device in a car with a harness or proceed at your own risk. 請使用車上 harness 提供的電源，若繼續的話您需要自擔風險。 - Power off 關機 - - - Continue 繼續 - Getting Started 入門 - Before we get on the road, let’s finish installation and cover some details. 在我們上路之前，讓我們完成安裝並介紹一些細節。 - Connect to Wi-Fi 連接到無線網絡 - - Back 回上頁 - Continue without Wi-Fi 在沒有 Wi-Fi 的情況下繼續 - Waiting for internet 連接至網路中 - Choose Software to Install 選擇要安裝的軟體 - Dashcam 行車記錄器 - Custom Software 定制的軟體 - Enter URL 輸入網址 - for Custom Software 定制的軟體 - Downloading... 下載中… - Download Failed 下載失敗 - Ensure the entered URL is valid, and the device’s internet connection is good. 請確定您輸入的是有效的安裝網址，並且確定設備的網路連線狀態良好。 - Reboot device 重新啟動 - Start over 重新開始 @@ -858,17 +697,14 @@ location set SetupWidget - Finish Setup 完成設置 - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. 將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。 - Pair device 配對設備 @@ -876,106 +712,82 @@ location set Sidebar - - CONNECT 雲端服務 - OFFLINE 已離線 - - ONLINE 已連線 - ERROR 錯誤 - - - TEMP 溫度 - HIGH 偏高 - GOOD 正常 - OK 一般 - VEHICLE 車輛通訊 - NO 未連線 - PANDA 車輛通訊 - GPS GPS - SEARCH 車輛通訊 - -- -- - Wi-Fi - ETH - 2G - 3G - LTE - 5G @@ -983,63 +795,50 @@ location set SoftwarePanel - Updates are only downloaded while the car is off. 系統更新只會在熄火時下載。 - Current Version 當前版本 - Download 下載 - Install Update 安裝更新 - INSTALL 安裝 - Target Branch 目標分支 - SELECT 選取 - Select a branch 選取一個分支 - UNINSTALL 卸載 - Uninstall %1 卸載 %1 - Are you sure you want to uninstall? 您確定您要卸載嗎？ - - CHECK 檢查 @@ -1047,48 +846,38 @@ location set SshControl - SSH Keys SSH 密鑰 - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. 警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。 - - ADD 新增 - Enter your GitHub username 請輸入您 GitHub 的用戶名 - LOADING 載入中 - REMOVE 移除 - Username '%1' has no keys on GitHub GitHub 用戶 '%1' 沒有設定任何密鑰 - Request timed out 請求超時 - Username '%1' doesn't exist on GitHub GitHub 用戶 '%1' 不存在 @@ -1096,7 +885,6 @@ location set SshToggle - Enable SSH 啟用 SSH 服務 @@ -1104,22 +892,18 @@ location set TermsPage - Terms & Conditions 條款和條件 - Decline 拒絕 - Scroll to accept 滑動至頁尾接受條款 - Agree 接受 @@ -1127,102 +911,82 @@ location set TogglesPanel - Enable openpilot 啟用 openpilot - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. 使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。 - Enable Lane Departure Warnings 啟用車道偏離警告 - 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). 車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。 - Use Metric System 使用公制單位 - Display speed in km/h instead of mph. 啟用後，速度單位顯示將從 mp/h 改為 km/h。 - Record and Upload Driver Camera 記錄並上傳駕駛監控影像 - Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 - 🌮 End-to-end longitudinal (extremely alpha) 🌮 🌮 端對端縱向控制（實驗性功能） 🌮 - Experimental openpilot longitudinal control 使用 openpilot 縱向控制（實驗） - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> <b>注意：這台車的 openpilot 縱向控制仍然是實驗中的功能，開啟這功能將會關閉自動緊急煞車 (AEB)。</b> - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. 讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。 - openpilot longitudinal control is not currently available for this car. openpilot 縱向控制目前不適用於這輛車。 - Enable experimental longitudinal control to enable this. 打開縱向控制（實驗）以啟用此功能。 - Disengage On Accelerator Pedal 油門取消控車 - When enabled, pressing the accelerator pedal will disengage openpilot. 啟用後，踩踏油門將會取消 openpilot 控制。 - Show ETA in 24h Format 預計到達時間單位改用 24 小時制 - Use 24h format instead of am/pm 使用 24 小時制。(預設值為 12 小時制) - Show Map on Left Side of UI 將地圖顯示在畫面的左側 - Show map on left side when in split screen view. 進入分割畫面後，地圖將會顯示在畫面的左側。 @@ -1230,42 +994,34 @@ location set Updater - Update Required 系統更新 - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. 設備的操作系統需要更新。請將您的設備連接到 Wi-Fi 以獲得最快的更新體驗。下載大小約為 1GB。 - Connect to Wi-Fi 連接到無線網絡 - Install 安裝 - Back 回上頁 - Loading... 載入中… - Reboot 重新啟動 - Update failed 更新失敗 @@ -1273,22 +1029,18 @@ location set WifiUI - Scanning for networks... 掃描無線網路中... - CONNECTING... 連線中... - FORGET 清除 - Forget Wi-Fi Network "%1"? 清除 Wi-Fi 網路 "%1"? diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index afd42c3b3a..e15d4c3433 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -19,7 +19,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA for file in translation_files.values(): tr_file = os.path.join(translations_dir, f"{file}.ts") - args = f"lupdate -locations relative -recursive {UI_DIR} -ts {tr_file}" + args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file}" if vanish: args += " -no-obsolete" if file in plural_only: From e4612ac4c48597864dabef6f25b4db0d846426e0 Mon Sep 17 00:00:00 2001 From: royjr Date: Sat, 17 Sep 2022 18:55:12 -0400 Subject: [PATCH 069/685] ui: fix toggle spacing issue (#25831) --- selfdrive/ui/qt/widgets/controls.cc | 2 -- 1 file changed, 2 deletions(-) diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index b5f646c379..a1ebf57b07 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -18,8 +18,6 @@ QFrame *horizontal_line(QWidget *parent) { } AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) { - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum); - QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setMargin(0); From 583304fc7b5970ec5f079720bf6c6aa7ff91ce5a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 19 Sep 2022 05:01:33 +0800 Subject: [PATCH 070/685] params: cleanup constructor (#25834) --- common/params.cc | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/common/params.cc b/common/params.cc index 7b2d4490ea..a64c2f133b 100644 --- a/common/params.cc +++ b/common/params.cc @@ -198,10 +198,8 @@ std::unordered_map keys = { Params::Params(const std::string &path) { - const char* env = std::getenv("OPENPILOT_PREFIX"); - prefix = env ? "/" + std::string(env) : "/d"; - std::string default_param_path = ensure_params_path(prefix); - params_path = path.empty() ? default_param_path : ensure_params_path(prefix, path); + prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d"); + params_path = ensure_params_path(prefix, path); } std::vector Params::allKeys() const { From 8870b439dd5f9b0ae1a53d75bab3a1470ea7d372 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 20 Sep 2022 04:24:20 +0800 Subject: [PATCH 071/685] camerad: fix class/struct forward declaration mistake (#25842) --- system/camerad/cameras/camera_common.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index e5580a7a92..088b9f7939 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -75,7 +75,7 @@ typedef struct FrameMetadata { } FrameMetadata; struct MultiCameraState; -struct CameraState; +class CameraState; class Debayer; class CameraBuf { From 8b741261cf4538ab88f42f18837ba13d71bcc0de Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Sep 2022 14:06:03 -0700 Subject: [PATCH 072/685] loggerd: add params test cases (#25843) --- selfdrive/loggerd/tests/test_loggerd.py | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/selfdrive/loggerd/tests/test_loggerd.py index b0907c54af..a2138b0aa6 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/selfdrive/loggerd/tests/test_loggerd.py @@ -83,8 +83,10 @@ class TestLoggerd(unittest.TestCase): ("GitRemote", "gitRemote", "remote"), ] params = Params() + params.clear_all() for k, _, v in fake_params: params.put(k, v) + params.put("LaikadEphemeris", "abc") lr = list(LogReader(str(self._gen_bootlog()))) initData = lr[0].initData @@ -99,8 +101,14 @@ class TestLoggerd(unittest.TestCase): with open("/proc/version") as f: self.assertEqual(initData.kernelVersion, f.read()) - for _, k, v in fake_params: - self.assertEqual(getattr(initData, k), v) + # check params + logged_params = {entry.key: entry.value for entry in initData.params.entries} + expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemeris'} + assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params + assert logged_params['LaikadEphemeris'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemeris'])}" + for param_key, initData_key, v in fake_params: + self.assertEqual(getattr(initData, initData_key), v) + self.assertEqual(logged_params[param_key].decode(), v) def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" From 7b5d8adfb1819799ec635347712a2f9a40278fa3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 19 Sep 2022 14:14:19 -0700 Subject: [PATCH 073/685] Hyundai Elantra 2021: replace VW engine FW 5a4405495d2750ef|2022-09-11--12-37-48 --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3bc2062979..ea6fca5926 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1200,7 +1200,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x82CNCWD0AMFCXCSFFA', - b'\xf1\x82CNCWD0AMFCXCSFFB', + b'\xf1\x81HM6M2_0a0_FF0', b'\xf1\x82CNCVD0AMFCXCSFFB', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80', ], From 4fa62f146426f76c9c1c2867d9729b33ec612b59 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Mon, 19 Sep 2022 15:19:26 -0700 Subject: [PATCH 074/685] Live torque (#25456) * wip torqued * add basic logic * setup in manager * check sanity and publish msg * add first order filter to outputs * wire up controlsd, and update gains * rename intercept to offset * add cloudlog, live values are not updated * fix bugs, do not reset points for now * fix crashes * rename to main * fix bugs, works offline * fix float in cereal bug * add latacc filter * randomly choose points, approx for iid * add variable decay * local param to capnp instead of dict * verify works in replay * use torqued output in controlsd * use in controlsd; use points from past routes * controlsd bugfix * filter before updating gains, needs to be replaced * save all points to ensure smooth transition across routes, revert friction factor to 1.5 * add filters to prevent noisy low-speed data points; improve fit sanity * add engaged buffer * revert lat_acc thresh * use paramsd realtime process config * make latacc-to-torque generic, and overrideable * move freq to 4Hz, avoid storing in np.array, don't publish points in the message * float instead of np * remove constant while storing pts * rename slope, offset to lat_accet_factor, offset * resolve issues * use camelcase in all capnp params * use camelcase everywhere * reduce latacc threshold or sanity, add car_sane todo, save points properly * add and check tag * write param to disk at end of route * remove args * rebase op, cereal * save on exit * restore default handler * cpu usage check * add to process replay * handle reset better, reduce unnecessary computation * always publish raw values - useful for debug * regen routes * update refs * checks on cache restore * check tuning vals too * clean that up * reduce cpu usage * reduce cpu usage by 75% * cleanup * optimize further * handle reset condition better, don't put points in init, use only in corolla * bump cereal after rebasing * update refs * Update common/params.cc Co-authored-by: Adeeb Shihadeh * remove unnecessary checks * Update RELEASES.md Co-authored-by: Adeeb Shihadeh --- RELEASES.md | 2 + common/params.cc | 2 + release/files_common | 1 + selfdrive/car/interfaces.py | 1 + selfdrive/controls/controlsd.py | 8 +- selfdrive/controls/lib/latcontrol_torque.py | 2 +- selfdrive/locationd/torqued.py | 290 ++++++++++++++++++ selfdrive/manager/process_config.py | 1 + .../test/process_replay/process_replay.py | 27 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/regen.py | 8 +- selfdrive/test/process_replay/regen_all.py | 11 +- .../test/process_replay/test_processes.py | 10 +- selfdrive/test/test_onroad.py | 1 + selfdrive/test/update_ci_routes.py | 2 +- 15 files changed, 350 insertions(+), 18 deletions(-) create mode 100755 selfdrive/locationd/torqued.py diff --git a/RELEASES.md b/RELEASES.md index 56cffeebe7..a749158cb4 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,6 +2,8 @@ Version 0.8.17 (2022-XX-XX) ======================== * New driving model * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate. +* torqued + * Learn torque parameters live for each car as opposed to using platform average values, which improves lateral control Version 0.8.16 (2022-08-26) ======================== diff --git a/common/params.cc b/common/params.cc index a64c2f133b..63208879b2 100644 --- a/common/params.cc +++ b/common/params.cc @@ -144,6 +144,8 @@ std::unordered_map keys = { {"LastUpdateException", CLEAR_ON_MANAGER_START}, {"LastUpdateTime", PERSISTENT}, {"LiveParameters", PERSISTENT}, + {"LiveTorqueCarParams", PERSISTENT}, + {"LiveTorqueParameters", PERSISTENT | DONT_LOG}, {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"NavSettingTime24h", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, diff --git a/release/files_common b/release/files_common index be0a4f0f03..fa4fa997c4 100644 --- a/release/files_common +++ b/release/files_common @@ -240,6 +240,7 @@ selfdrive/locationd/models/live_kf.cc selfdrive/locationd/models/constants.py selfdrive/locationd/models/gnss_helpers.py +selfdrive/locationd/torqued.py selfdrive/locationd/calibrationd.py system/logcatd/.gitignore diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 87720f8754..a789fc6cad 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -167,6 +167,7 @@ class CarInterfaceBase(ABC): tune.torque.friction = params['FRICTION'] tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR'] tune.torque.latAccelOffset = 0.0 + tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg @abstractmethod def _update(self, c: car.CarControl) -> car.CarState: diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3087535291..8b41e305f1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -104,7 +104,7 @@ class Controls: ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', - 'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet, + 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters'] + self.camera_packets + joystick_packet, ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan']) # set alternative experiences from parameters @@ -578,6 +578,12 @@ class Controls: sr = max(params.steerRatio, 0.1) self.VM.update_params(x, sr) + # Update Torque Params + if self.CP.lateralTuning.which() == 'torque': + torque_params = self.sm['liveTorqueParameters'] + if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams: + self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered) + lat_plan = self.sm['lateralPlan'] long_plan = self.sm['longitudinalPlan'] diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index f65a58275b..fa1bb480f1 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -51,7 +51,7 @@ class LatControlTorque(LatControl): desired_lateral_accel = desired_curvature * CS.vEgo ** 2 # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature - #desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 + # desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2 actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py new file mode 100755 index 0000000000..9f07008214 --- /dev/null +++ b/selfdrive/locationd/torqued.py @@ -0,0 +1,290 @@ +#!/usr/bin/env python3 +import os +import sys +import signal +import numpy as np +from collections import deque, defaultdict + +import cereal.messaging as messaging +from cereal import car, log +from common.params import Params +from common.realtime import config_realtime_process, DT_MDL +from common.filter_simple import FirstOrderFilter +from system.swaglog import cloudlog +from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY +from selfdrive.car.toyota.values import CAR as TOYOTA + +HISTORY = 5 # secs +POINTS_PER_BUCKET = 1500 +MIN_POINTS_TOTAL = 4000 +FIT_POINTS_TOTAL = 2000 +MIN_VEL = 15 # m/s +FRICTION_FACTOR = 1.5 # ~85% of data coverage +FACTOR_SANITY = 0.3 +FRICTION_SANITY = 0.5 +STEER_MIN_THRESHOLD = 0.02 +MIN_FILTER_DECAY = 50 +MAX_FILTER_DECAY = 250 +LAT_ACC_THRESHOLD = 1 +STEER_BUCKET_BOUNDS = [(-0.5, -0.3), (-0.3, -0.2), (-0.2, -0.1), (-0.1, 0), (0, 0.1), (0.1, 0.2), (0.2, 0.3), (0.3, 0.5)] +MIN_BUCKET_POINTS = [100, 300, 500, 500, 500, 500, 300, 100] +MAX_RESETS = 5.0 +MAX_INVALID_THRESHOLD = 10 +MIN_ENGAGE_BUFFER = 2 # secs + +VERSION = 1 # bump this to invalidate old parameter caches +ALLOWED_FINGERPRINTS = [TOYOTA.COROLLA_TSS2, TOYOTA.COROLLA, TOYOTA.COROLLAH_TSS2] + + +def slope2rot(slope): + sin = np.sqrt(slope**2 / (slope**2 + 1)) + cos = np.sqrt(1 / (slope**2 + 1)) + return np.array([[cos, -sin], [sin, cos]]) + + +class npqueue: + def __init__(self, maxlen, rowsize): + self.maxlen = maxlen + self.arr = np.empty((0, rowsize)) + + def __len__(self): + return len(self.arr) + + def append(self, pt): + if len(self.arr) < self.maxlen: + self.arr = np.append(self.arr, [pt], axis=0) + else: + self.arr[:-1] = self.arr[1:] + self.arr[-1] = pt + + +class PointBuckets: + def __init__(self, x_bounds, min_points): + self.x_bounds = x_bounds + self.buckets = {bounds: npqueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds} + self.buckets_min_points = {bounds: min_point for bounds, min_point in zip(x_bounds, min_points)} + + def bucket_lengths(self): + return [len(v) for v in self.buckets.values()] + + def __len__(self): + return sum(self.bucket_lengths()) + + def is_valid(self): + return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= MIN_POINTS_TOTAL) + + def add_point(self, x, y): + for bound_min, bound_max in self.x_bounds: + if (x >= bound_min) and (x < bound_max): + self.buckets[(bound_min, bound_max)].append([x, 1.0, y]) + break + + def get_points(self, num_points=None): + points = np.concatenate([x.arr for x in self.buckets.values() if len(x) > 0]) + if num_points is None: + return points + return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)] + + def load_points(self, points): + for x, y in points: + self.add_point(x, y) + + +class TorqueEstimator: + def __init__(self, CP): + self.hist_len = int(HISTORY / DT_MDL) + self.lag = CP.steerActuatorDelay + .2 # from controlsd + + self.offline_friction = 0.0 + self.offline_latAccelFactor = 0.0 + self.resets = 0.0 + self.use_params = CP.carFingerprint in ALLOWED_FINGERPRINTS + + if CP.lateralTuning.which() == 'torque': + self.offline_friction = CP.lateralTuning.torque.friction + self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor + + self.reset() + + initial_params = { + 'latAccelFactor': self.offline_latAccelFactor, + 'latAccelOffset': 0.0, + 'frictionCoefficient': self.offline_friction, + 'points': [] + } + self.decay = MIN_FILTER_DECAY + self.min_lataccel_factor = (1.0 - FACTOR_SANITY) * self.offline_latAccelFactor + self.max_lataccel_factor = (1.0 + FACTOR_SANITY) * self.offline_latAccelFactor + self.min_friction = (1.0 - FRICTION_SANITY) * self.offline_friction + self.max_friction = (1.0 + FRICTION_SANITY) * self.offline_friction + + # try to restore cached params + params = Params() + params_cache = params.get("LiveTorqueCarParams") + torque_cache = params.get("LiveTorqueParameters") + if params_cache is not None and torque_cache is not None: + try: + cache_ltp = log.Event.from_bytes(torque_cache).liveTorqueParameters + cache_CP = car.CarParams.from_bytes(params_cache) + if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION): + initial_params = { + 'latAccelFactor': cache_ltp.latAccelFactorFiltered, + 'latAccelOffset': cache_ltp.latAccelOffsetFiltered, + 'frictionCoefficient': cache_ltp.frictionCoefficientFiltered, + 'points': cache_ltp.points + } + self.decay = cache_ltp.decay + self.filtered_points.load_points(initial_params['points']) + cloudlog.info("restored torque params from cache") + except Exception: + cloudlog.exception("failed to restore cached torque params") + params.remove("LiveTorqueCarParams") + params.remove("LiveTorqueParameters") + + self.filtered_params = {} + for param in initial_params: + self.filtered_params[param] = FirstOrderFilter(initial_params[param], self.decay, DT_MDL) + + def get_restore_key(self, CP, version): + a, b = None, None + if CP.lateralTuning.which() == 'torque': + a = CP.lateralTuning.torque.friction + b = CP.lateralTuning.torque.latAccelFactor + return (CP.carFingerprint, CP.lateralTuning.which(), a, b, version) + + def reset(self): + self.resets += 1.0 + self.invalid_values_tracker = 0.0 + self.decay = MIN_FILTER_DECAY + self.raw_points = defaultdict(lambda: deque(maxlen=self.hist_len)) + self.filtered_points = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=MIN_BUCKET_POINTS) + + def estimate_params(self): + points = self.filtered_points.get_points(FIT_POINTS_TOTAL) + # total least square solution as both x and y are noisy observations + # this is empirically the slope of the hysteresis parallelogram as opposed to the line through the diagonals + try: + _, _, v = np.linalg.svd(points, full_matrices=False) + slope, offset = -v.T[0:2, 2] / v.T[2, 2] + _, spread = np.matmul(points[:, [0, 2]], slope2rot(slope)).T + friction_coeff = np.std(spread) * FRICTION_FACTOR + except np.linalg.LinAlgError as e: + cloudlog.exception(f"Error computing live torque params: {e}") + slope = offset = friction_coeff = np.nan + return slope, offset, friction_coeff + + def update_params(self, params): + self.decay = min(self.decay + DT_MDL, MAX_FILTER_DECAY) + for param, value in params.items(): + self.filtered_params[param].update(value) + self.filtered_params[param].update_alpha(self.decay) + + def is_sane(self, latAccelFactor, latAccelOffset, friction): + if any([val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, friction]]): + return False + return (self.max_friction >= friction >= self.min_friction) and\ + (self.max_lataccel_factor >= latAccelFactor >= self.min_lataccel_factor) + + def handle_log(self, t, which, msg): + if which == "carControl": + self.raw_points["carControl_t"].append(t + self.lag) + self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer) + self.raw_points["active"].append(msg.latActive) + elif which == "carState": + self.raw_points["carState_t"].append(t + self.lag) + self.raw_points["vego"].append(msg.vEgo) + self.raw_points["steer_override"].append(msg.steeringPressed) + elif which == "liveLocationKalman": + if len(self.raw_points['steer_torque']) == self.hist_len: + yaw_rate = msg.angularVelocityCalibrated.value[2] + roll = msg.orientationNED.value[0] + active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['active']).astype(bool) + steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool) + vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego']) + steer = np.interp(t, self.raw_points['carControl_t'], self.raw_points['steer_torque']) + lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY) + if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD): + self.filtered_points.add_point(float(steer), float(lateral_acc)) + + def get_msg(self, valid=True, with_points=False): + msg = messaging.new_message('liveTorqueParameters') + msg.valid = valid + liveTorqueParameters = msg.liveTorqueParameters + liveTorqueParameters.version = VERSION + liveTorqueParameters.useParams = self.use_params + + if self.filtered_points.is_valid(): + latAccelFactor, latAccelOffset, friction_coeff = self.estimate_params() + liveTorqueParameters.latAccelFactorRaw = float(latAccelFactor) + liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset) + liveTorqueParameters.frictionCoefficientRaw = float(friction_coeff) + + if self.is_sane(latAccelFactor, latAccelOffset, friction_coeff): + liveTorqueParameters.liveValid = True + self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': friction_coeff}) + self.invalid_values_tracker = max(0.0, self.invalid_values_tracker - 0.5) + else: + cloudlog.exception("live torque params are numerically unstable") + liveTorqueParameters.liveValid = False + self.invalid_values_tracker += 1.0 + # Reset when ~10 invalid over 5 secs + if self.invalid_values_tracker > MAX_INVALID_THRESHOLD: + # Do not reset the filter as it may cause a drastic jump, just reset points + self.reset() + else: + liveTorqueParameters.liveValid = False + + if with_points: + liveTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist() + + liveTorqueParameters.latAccelFactorFiltered = float(self.filtered_params['latAccelFactor'].x) + liveTorqueParameters.latAccelOffsetFiltered = float(self.filtered_params['latAccelOffset'].x) + liveTorqueParameters.frictionCoefficientFiltered = float(self.filtered_params['frictionCoefficient'].x) + liveTorqueParameters.totalBucketPoints = len(self.filtered_points) + liveTorqueParameters.decay = self.decay + liveTorqueParameters.maxResets = self.resets + return msg + + +def main(sm=None, pm=None): + config_realtime_process([0, 1, 2, 3], 5) + + if sm is None: + sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman']) + + if pm is None: + pm = messaging.PubMaster(['liveTorqueParameters']) + + params = Params() + CP = car.CarParams.from_bytes(params.get("CarParams", block=True)) + estimator = TorqueEstimator(CP) + + def cache_params(sig, frame): + signal.signal(sig, signal.SIG_DFL) + cloudlog.warning("caching torque params") + + params = Params() + params.put("LiveTorqueCarParams", CP.as_builder().to_bytes()) + + msg = estimator.get_msg(with_points=True) + params.put("LiveTorqueParameters", msg.to_bytes()) + + sys.exit(0) + if "REPLAY" not in os.environ: + signal.signal(signal.SIGINT, cache_params) + + while True: + sm.update() + if sm.all_checks(): + for which in sm.updated.keys(): + if sm.updated[which]: + t = sm.logMonoTime[which] * 1e-9 + estimator.handle_log(t, which, sm[which]) + + # 4Hz driven by liveLocationKalman + if sm.frame % 5 == 0: + pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks())) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 7702b96eaa..06efdbb960 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -38,6 +38,7 @@ procs = [ NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), + PythonProcess("torqued", "selfdrive.locationd.torqued"), PythonProcess("controlsd", "selfdrive.controls.controlsd"), PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index b4e3f62656..038b0cf468 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -229,6 +229,15 @@ def calibration_rcv_callback(msg, CP, cfg, fsm): return recv_socks, fsm.frame == 0 or msg.which() == 'cameraOdometry' +def torqued_rcv_callback(msg, CP, cfg, fsm): + # should_recv always true to increment frame + recv_socks = [] + frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster + if msg.which() == 'liveLocationKalman' and (frame % 5) == 0: + recv_socks = ["liveTorqueParameters"] + return recv_socks, fsm.frame == 0 or msg.which() == 'liveLocationKalman' + + def ublox_rcv_callback(msg): msg_class, msg_id = msg.ubloxRaw[2:4] if (msg_class, msg_id) in {(1, 7 * 16)}: @@ -251,8 +260,10 @@ CONFIGS = [ proc_name="controlsd", pub_sub={ "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"], - "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [], - "modelV2": [], "driverCameraState": [], "roadCameraState": [], "wideRoadCameraState": [], "managerState": [], "testJoystick": [], + "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [], + "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [], + "modelV2": [], "driverCameraState": [], "roadCameraState": [], "wideRoadCameraState": [], "managerState": [], + "testJoystick": [], "liveTorqueParameters": [], }, ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"], init_callback=fingerprint, @@ -374,6 +385,18 @@ CONFIGS = [ tolerance=NUMPY_TOLERANCE, fake_pubsubmaster=True, ), + ProcessConfig( + proc_name="torqued", + pub_sub={ + "liveLocationKalman": ["liveTorqueParameters"], + "carState": [], "controlsState": [], + }, + ignore=["logMonoTime"], + init_callback=get_car_params, + should_recv_callback=torqued_rcv_callback, + tolerance=NUMPY_TOLERANCE, + fake_pubsubmaster=True, + ), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index afde6ec422..7b24c04c98 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d14f1a61a4bfde810128a6bb703aa543268fa4a9 \ No newline at end of file +deb07ca8c5dc021e57e81307764a84aa3d7aef32 \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 4e1cbfd30d..d565e36390 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -269,11 +269,11 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): return seg_path -def regen_and_save(route, sidx, upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False): +def regen_and_save(route, sidx, upload=False, use_route_meta=True, outdir=FAKEDATA, disable_tqdm=False): if use_route_meta: - r = Route(args.route) - lr = LogReader(r.log_paths()[args.seg]) - fr = FrameReader(r.camera_paths()[args.seg]) + r = Route(route) + lr = LogReader(r.log_paths()[sidx]) + fr = FrameReader(r.camera_paths()[sidx]) else: lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2") fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc") diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py index f10d7ea03a..f69d07eb69 100755 --- a/selfdrive/test/process_replay/regen_all.py +++ b/selfdrive/test/process_replay/regen_all.py @@ -3,11 +3,12 @@ import argparse import concurrent.futures import os import random +import traceback from tqdm import tqdm from selfdrive.test.process_replay.helpers import OpenpilotPrefix from selfdrive.test.process_replay.regen import regen_and_save -from selfdrive.test.process_replay.test_processes import FAKEDATA, original_segments as segments +from selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments from tools.lib.route import SegmentName @@ -16,11 +17,15 @@ def regen_job(segment, upload, disable_tqdm): sn = SegmentName(segment[1]) fake_dongle_id = 'regen' + ''.join(random.choice('0123456789ABCDEF') for _ in range(11)) try: - relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False, outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm) + relr = regen_and_save(sn.route_name.canonical_name, sn.segment_num, upload=upload, use_route_meta=False, + outdir=os.path.join(FAKEDATA, fake_dongle_id), disable_tqdm=disable_tqdm) relr = '|'.join(relr.split('/')[-2:]) return f' ("{segment[0]}", "{relr}"), ' except Exception as e: - return f" {segment} failed: {str(e)}" + err = f" {segment} failed: {str(e)}" + err += traceback.format_exc() + err += "\n\n" + return err if __name__ == "__main__": diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 0f118971c6..ee892a2fd9 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -15,22 +15,22 @@ from system.version import get_commit from tools.lib.filereader import FileReader from tools.lib.logreader import LogReader -original_segments = [ +source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI", "d824e27e8c60172c|2022-08-19--17-58-07--2"), # HYUNDAI.KIA_EV6 + ("HYUNDAI", "d824e27e8c60172c|2022-09-13--11-26-50--2"), # HYUNDAI.KIA_EV6 ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA - ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"), # CHRYSLER.RAM_1500 - ("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"), # SUBARU.IMPREZA + ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"), # CHRYSLER.RAM_1500 + ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF - ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--2"), # MAZDA.CX9_2021 + ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 # Enable when port is tested and dashcamOnly is no longer set #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 55e1ef161a..b29ca5d35b 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -36,6 +36,7 @@ PROCS = { "./_dmonitoringmodeld": 5.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, + "selfdrive.locationd.torqued": 5.0, "./_soundd": 1.0, "selfdrive.monitoring.dmonitoringd": 4.0, "./proclogd": 1.54, diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 99a63b8dfd..a1e8c35f6b 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -4,7 +4,7 @@ import subprocess from azure.storage.blob import BlockBlobService # pylint: disable=import-error from selfdrive.car.tests.routes import routes as test_car_models_routes -from selfdrive.test.process_replay.test_processes import original_segments as replay_segments +from selfdrive.test.process_replay.test_processes import source_segments as replay_segments from xx.chffr.lib import azureutil # pylint: disable=import-error from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION # pylint: disable=import-error From 805a54ad0f24b64bb1253f5aeed6e5b99c3f842e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Sep 2022 17:41:37 -0700 Subject: [PATCH 075/685] updated: commits are always strings --- selfdrive/updated.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 79b759a906..fc51ae799d 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -240,7 +240,7 @@ def handle_agnos_update() -> None: class Updater: def __init__(self): self.params = Params() - self.branches = defaultdict(lambda: None) + self.branches = defaultdict(lambda: '') @property def target_branch(self) -> str: From de1882429a20e4d7fd37cdcaf67e54b3649a7fde Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Sep 2022 20:40:03 -0700 Subject: [PATCH 076/685] update release notes --- RELEASES.md | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index a749158cb4..5ef2acdd44 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,8 +2,12 @@ Version 0.8.17 (2022-XX-XX) ======================== * New driving model * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate. -* torqued - * Learn torque parameters live for each car as opposed to using platform average values, which improves lateral control +* Self-tuning torque lateral controller parameters + * Parameters are learned live for each car + * Enabled only on Toyota Corolla for now +* UI updates + * Matched speeds shown on car's dash + * Improved update experience Version 0.8.16 (2022-08-26) ======================== From d1c95fb0d4e87c35f5eb8b425de0c054da93a3a0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Sep 2022 20:43:12 -0700 Subject: [PATCH 077/685] add event flagging too --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 5ef2acdd44..6edd900cb2 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,6 +8,7 @@ Version 0.8.17 (2022-XX-XX) * UI updates * Matched speeds shown on car's dash * Improved update experience + * Added button to flag events that are shown in comma connect Version 0.8.16 (2022-08-26) ======================== From bcf31aea07c26099aa861ab93c5586e645a25928 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Mon, 19 Sep 2022 21:01:32 -0700 Subject: [PATCH 078/685] sensord: move sensors in lowest power mode on exit/kill (#25787) * add low power modes * add sleep to lsm gyro init * bmx055 gyro has a 30ms wakeup time from deep suspend * Sensord skip init values, first 500ms (#25775) * remove lsm gyro sleep, handled by general cut Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/sensors/bmx055_accel.cc | 18 +++++++++++++ selfdrive/sensord/sensors/bmx055_accel.h | 5 +++- selfdrive/sensord/sensors/bmx055_gyro.cc | 18 +++++++++++++ selfdrive/sensord/sensors/bmx055_gyro.h | 5 +++- selfdrive/sensord/sensors/bmx055_magn.cc | 10 ++++++++ selfdrive/sensord/sensors/bmx055_magn.h | 2 +- selfdrive/sensord/sensors/lsm6ds3_accel.cc | 17 +++++++++++-- selfdrive/sensord/sensors/lsm6ds3_gyro.cc | 17 +++++++++++-- selfdrive/sensord/sensors/mmc5603nj_magn.cc | 28 +++++++++++++++++++++ selfdrive/sensord/sensors/mmc5603nj_magn.h | 2 +- selfdrive/sensord/sensors_qcom2.cc | 17 +++++++++++++ 11 files changed, 131 insertions(+), 8 deletions(-) diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/selfdrive/sensord/sensors/bmx055_accel.cc index e191d0d72b..c6dcdbd7aa 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.cc +++ b/selfdrive/sensord/sensors/bmx055_accel.cc @@ -4,6 +4,7 @@ #include "common/swaglog.h" #include "common/timing.h" +#include "common/util.h" BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {} @@ -23,6 +24,13 @@ int BMX055_Accel::init() { goto fail; } + ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE); + if (ret < 0) { + goto fail; + } + // bmx055 accel has a 1.3ms wakeup time from deep suspend mode + util::sleep_for(10); + // High bandwidth // ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_ENABLE); // if (ret < 0) { @@ -43,6 +51,16 @@ fail: return ret; } +int BMX055_Accel::shutdown() { + // enter deep suspend mode (lowest power mode) + int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND); + if (ret < 0) { + LOGE("Could not move BMX055 ACCEL in deep suspend mode!") + } + + return ret; +} + bool BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/selfdrive/sensord/sensors/bmx055_accel.h index 3b6dd536a7..6a0f9f1ada 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.h +++ b/selfdrive/sensord/sensors/bmx055_accel.h @@ -10,6 +10,7 @@ #define BMX055_ACCEL_I2C_REG_X_LSB 0x02 #define BMX055_ACCEL_I2C_REG_TEMP 0x08 #define BMX055_ACCEL_I2C_REG_BW 0x10 +#define BMX055_ACCEL_I2C_REG_PMU 0x11 #define BMX055_ACCEL_I2C_REG_HBW 0x13 #define BMX055_ACCEL_I2C_REG_FIFO 0x3F @@ -18,6 +19,8 @@ #define BMX055_ACCEL_HBW_ENABLE 0b10000000 #define BMX055_ACCEL_HBW_DISABLE 0b00000000 +#define BMX055_ACCEL_DEEP_SUSPEND 0b00100000 +#define BMX055_ACCEL_NORMAL_MODE 0b00000000 #define BMX055_ACCEL_BW_7_81HZ 0b01000 #define BMX055_ACCEL_BW_15_63HZ 0b01001 @@ -34,5 +37,5 @@ public: BMX055_Accel(I2CBus *bus); int init(); bool get_event(cereal::SensorEventData::Builder &event); - int shutdown() { return 0; } + int shutdown(); }; diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/selfdrive/sensord/sensors/bmx055_gyro.cc index a7ed8debad..4deb15ec6d 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.cc +++ b/selfdrive/sensord/sensors/bmx055_gyro.cc @@ -4,6 +4,7 @@ #include #include "common/swaglog.h" +#include "common/util.h" #define DEG2RAD(x) ((x) * M_PI / 180.0) @@ -26,6 +27,13 @@ int BMX055_Gyro::init() { goto fail; } + ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE); + if (ret < 0) { + goto fail; + } + // bmx055 gyro has a 30ms wakeup time from deep suspend mode + util::sleep_for(50); + // High bandwidth // ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE); // if (ret < 0) { @@ -54,6 +62,16 @@ fail: return ret; } +int BMX055_Gyro::shutdown() { + // enter deep suspend mode (lowest power mode) + int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND); + if (ret < 0) { + LOGE("Could not move BMX055 GYRO in deep suspend mode!") + } + + return ret; +} + bool BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/selfdrive/sensord/sensors/bmx055_gyro.h index fea6c3e192..ac5dacc4a6 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.h +++ b/selfdrive/sensord/sensors/bmx055_gyro.h @@ -10,6 +10,7 @@ #define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02 #define BMX055_GYRO_I2C_REG_RANGE 0x0F #define BMX055_GYRO_I2C_REG_BW 0x10 +#define BMX055_GYRO_I2C_REG_LPM1 0x11 #define BMX055_GYRO_I2C_REG_HBW 0x13 #define BMX055_GYRO_I2C_REG_FIFO 0x3F @@ -18,6 +19,8 @@ #define BMX055_GYRO_HBW_ENABLE 0b10000000 #define BMX055_GYRO_HBW_DISABLE 0b00000000 +#define BMX055_GYRO_DEEP_SUSPEND 0b00100000 +#define BMX055_GYRO_NORMAL_MODE 0b00000000 #define BMX055_GYRO_RANGE_2000 0b000 #define BMX055_GYRO_RANGE_1000 0b001 @@ -34,5 +37,5 @@ public: BMX055_Gyro(I2CBus *bus); int init(); bool get_event(cereal::SensorEventData::Builder &event); - int shutdown() { return 0; } + int shutdown(); }; diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/selfdrive/sensord/sensors/bmx055_magn.cc index 9ba6cebd50..74e18b7c82 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.cc +++ b/selfdrive/sensord/sensors/bmx055_magn.cc @@ -155,6 +155,16 @@ int BMX055_Magn::init() { return ret; } +int BMX055_Magn::shutdown() { + // move to suspend mode + int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0); + if (ret < 0) { + LOGE("Could not move BMX055 MAGN in suspend mode!") + } + + return ret; +} + bool BMX055_Magn::perform_self_test() { uint8_t buffer[8]; int16_t x, y; diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/selfdrive/sensord/sensors/bmx055_magn.h index c762f2c3b9..0549e163f6 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.h +++ b/selfdrive/sensord/sensors/bmx055_magn.h @@ -60,5 +60,5 @@ public: BMX055_Magn(I2CBus *bus); int init(); bool get_event(cereal::SensorEventData::Builder &event); - int shutdown() { return 0; } + int shutdown(); }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc index 8cc89e457c..513125fd59 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc @@ -71,12 +71,25 @@ int LSM6DS3_Accel::shutdown() { value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL); ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value); if (ret < 0) { + LOGE("Could not disable lsm6ds3 acceleration interrupt!") + goto fail; + } + + // enable power-down mode + value = 0; + ret = read_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, &value, 1); + if (ret < 0) { + goto fail; + } + + value &= 0x0F; + ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value); + if (ret < 0) { + LOGE("Could not power-down lsm6ds3 accelerometer!") goto fail; } - return ret; fail: - LOGE("Could not disable lsm6ds3 acceleration interrupt!") return ret; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc index a7321e8fa8..fd0436a5f0 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc @@ -74,12 +74,25 @@ int LSM6DS3_Gyro::shutdown() { value &= ~(LSM6DS3_GYRO_INT1_DRDY_G); ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value); if (ret < 0) { + LOGE("Could not disable lsm6ds3 gyroscope interrupt!") + goto fail; + } + + // enable power-down mode + value = 0; + ret = read_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, &value, 1); + if (ret < 0) { + goto fail; + } + + value &= 0x0F; + ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, value); + if (ret < 0) { + LOGE("Could not power-down lsm6ds3 gyroscope!") goto fail; } - return ret; fail: - LOGE("Could not disable lsm6ds3 gyroscope interrupt!") return ret; } diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/selfdrive/sensord/sensors/mmc5603nj_magn.cc index 2bfd887a74..8af4956edf 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.cc +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.cc @@ -51,6 +51,34 @@ fail: return ret; } +int MMC5603NJ_Magn::shutdown() { + int ret = 0; + + // disable auto reset of measurements + uint8_t value = 0; + ret = read_register(MMC5603NJ_I2C_REG_INTERNAL_0, &value, 1); + if (ret < 0) { + goto fail; + } + + value &= ~(MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN); + ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, value); + if (ret < 0) { + goto fail; + } + + // set ODR to 0 to leave continuous mode + ret = set_register(MMC5603NJ_I2C_REG_ODR, 0); + if (ret < 0) { + goto fail; + } + return ret; + +fail: + LOGE("Could not disable mmc5603nj auto set reset") + return ret; +} + bool MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) { uint64_t start_time = nanos_since_boot(); diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/selfdrive/sensord/sensors/mmc5603nj_magn.h index 857bd10a51..2c06cab96f 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.h +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.h @@ -26,5 +26,5 @@ public: MMC5603NJ_Magn(I2CBus *bus); int init(); bool get_event(cereal::SensorEventData::Builder &event); - int shutdown() { return 0; } + int shutdown(); }; diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc index aaf79592c6..ded4b5c0b1 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/selfdrive/sensord/sensors_qcom2.cc @@ -28,6 +28,10 @@ ExitHandler do_exit; std::mutex pm_mutex; +// filter first values (0.5sec) as those may contain inaccuracies +uint64_t init_ts = 0; +constexpr uint64_t init_delay = 500*1e6; + void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { struct pollfd fd_list[1] = {0}; fd_list[0].fd = fd; @@ -88,6 +92,10 @@ void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { events.adoptWithCaveats(i, kj::mv(collected_events[i])); } + if (ts - init_ts < init_delay) { + continue; + } + std::lock_guard lock(pm_mutex); pm.send("sensorEvents", msg); } @@ -167,6 +175,7 @@ int sensor_loop() { } PubMaster pm({"sensorEvents"}); + init_ts = nanos_since_boot(); // thread for reading events via interrupts std::vector lsm_interrupt_sensors = {&lsm6ds3_accel, &lsm6ds3_gyro}; @@ -185,6 +194,10 @@ int sensor_loop() { sensors[i]->get_event(event); } + if (nanos_since_boot() - init_ts < init_delay) { + continue; + } + { std::lock_guard lock(pm_mutex); pm.send("sensorEvents", msg); @@ -194,6 +207,10 @@ int sensor_loop() { std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin)); } + for (Sensor *sensor : sensors) { + sensor->shutdown(); + } + lsm_interrupt_thread.join(); delete i2c_bus_imu; return 0; From fc29147d027e44bebc8c3e74e8798281795d2b84 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 19 Sep 2022 21:21:56 -0700 Subject: [PATCH 079/685] Update RELEASES.md --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 6edd900cb2..9a43e642df 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -8,6 +8,7 @@ Version 0.8.17 (2022-XX-XX) * UI updates * Matched speeds shown on car's dash * Improved update experience + * Border turns grey while overriding steering * Added button to flag events that are shown in comma connect Version 0.8.16 (2022-08-26) From 6561c0ca7306a92c4a3b2e037b7e33dde3d8bbf2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 19 Sep 2022 22:05:02 -0700 Subject: [PATCH 080/685] Kia Optima: we support 2020, update packages LDWS comes in the same trim/package as ASCC --- docs/CARS.md | 6 +++--- selfdrive/car/hyundai/values.py | 10 +++++----- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 9df3b803d9..d65c27d5b1 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -93,10 +93,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Optima 2017|Advanced Smart Cruise Control & LDWS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Kia|Optima 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| +|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |Kia|Seltos 2021|Smart Cruise Control (SCC) & LKAS|openpilot|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 & LDWS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|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) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index ea6fca5926..f3e45873a5 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -157,16 +157,16 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), ], CAR.KIA_OPTIMA: [ - HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control & LDWS", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), - HyundaiCarInfo("Kia Optima 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), + HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), + HyundaiCarInfo("Kia Optima 2019-20", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), ], CAR.KIA_OPTIMA_H: [ - HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control & LDWS"), # TODO: info may be incorrect - HyundaiCarInfo("Kia Optima Hybrid 2019"), + HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years + HyundaiCarInfo("Kia Optima Hybrid 2019", "Smart Cruise Control (SCC)"), ], CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LDWS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="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_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), From 2c9f751616d01a695968150c0edccc57cc2f6d4f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 19 Sep 2022 23:33:59 -0700 Subject: [PATCH 081/685] Optima: split into two platforms (#24815) * Add missing fw versions for 2019 Optima * move versions to new platform * add temp fw version notes temp notes * clean up * Update docs * add fw versions from the last 180 days * add tests * fix * remove FPv1 for Optima * seems like the 2016 is the same * revert * add versions from our 2019 Optima * label/move some versions * add some versions from a 2020! (3d96bd05b5513638) * this is from the same 2017 as earlier (4f930156368f7830) * vin lookup isn't perfect * Revert "vin lookup isn't perfect" This reverts commit 62c563bc4549b37160254d45bb90fcbc1f6cd589. * a 2020 (df71aec6e636d7e4) * cleanup, this transmission is also a 2020 version df71aec6e636d7e4|2021-10-07--17-59-28 * this comes with scc * one line * revert * bump panda * add our transmission FW * Add test route --- panda | 2 +- selfdrive/car/hyundai/hyundaican.py | 2 +- selfdrive/car/hyundai/interface.py | 4 +- selfdrive/car/hyundai/values.py | 46 ++++++++++++++--------- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 3 +- 6 files changed, 37 insertions(+), 21 deletions(-) diff --git a/panda b/panda index 046fd58e8d..11ea112258 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 046fd58e8d64c58ed80769fcbec5ac2417a04c71 +Subproject commit 11ea112258b66a0969fa340cd5e2d870378e5c5d diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index df5cb6ae6e..b3e1aa6b66 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -38,7 +38,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 # Likely cars lacking the ability to show individual lane lines in the dash - elif car_fingerprint in (CAR.KIA_OPTIMA,): + elif car_fingerprint in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019): # SysWarning 4 = keep hands on wheel + beep values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index c32cfbeec2..97c1f7a5dc 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -202,11 +202,13 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] - elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H): + elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.KIA_OPTIMA_H): ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 + if candidate == CAR.KIA_OPTIMA: + ret.minSteerSpeed = 32 * CV.MPH_TO_MS CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index f3e45873a5..3afae91e72 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -85,7 +85,8 @@ class CAR: KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" - KIA_OPTIMA = "KIA OPTIMA SX 2019 & 2016" + KIA_OPTIMA = "KIA OPTIMA 2016" + KIA_OPTIMA_2019 = "KIA OPTIMA 2019" KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_SELTOS = "KIA SELTOS 2021" KIA_SORENTO = "KIA SORENTO GT LINE 2018" @@ -156,10 +157,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), ], - CAR.KIA_OPTIMA: [ - HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b), - HyundaiCarInfo("Kia Optima 2019-20", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), - ], + CAR.KIA_OPTIMA: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 + CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019-20", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), CAR.KIA_OPTIMA_H: [ HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years HyundaiCarInfo("Kia Optima Hybrid 2019", "Smart Cruise Control (SCC)"), @@ -230,9 +229,6 @@ FINGERPRINTS = { CAR.SONATA_LF: [ {66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8}, ], - CAR.KIA_OPTIMA: [{ - 64: 8, 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 558: 8, 593: 8, 608: 8, 640: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1186: 2, 1191: 2, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1268: 8, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1492: 8, 1530: 8, 1532: 5, 1792: 8, 1872: 8, 1937: 8, 1953: 8, 1968: 8, 1988: 8, 1996: 8, 2000: 8, 2001: 8, 2004: 8, 2008: 8, 2009: 8, 2012: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8, 1371: 8, 1397: 8, 1961: 8 - }], CAR.KIA_SORENTO: [{ 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 }], @@ -1144,25 +1140,40 @@ FW_VERSIONS = { }, CAR.KIA_OPTIMA: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', ], (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', + b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080', ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702', + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21', ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00', + ], + }, + CAR.KIA_OPTIMA_2019: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180', + b"\xf1\x00JF ESC \t 11 \x18\x03' 58920-D5260", ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32', - b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31', + b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5100 h32', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW', b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.', + b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DJF0T16NL2\x9eA\x80\x01', b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00', + b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', ], }, CAR.ELANTRA_2021: { @@ -1358,7 +1369,7 @@ CHECKSUM = { FEATURES = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, - "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, + "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 @@ -1374,7 +1385,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022} # 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, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} +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, CAR.KIA_OPTIMA_2019, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py @@ -1400,6 +1411,7 @@ DBC = { CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_OPTIMA_2019: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index e86525baac..3ae3a357ce 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -89,6 +89,7 @@ routes = [ CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1), CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA), + CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_2019, segment=0), CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index de64a5544c..92361d37f4 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -17,7 +17,8 @@ LEXUS RC 2020: LEXUS NX 2020 TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019 TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022 -KIA OPTIMA SX 2019 & 2016: HYUNDAI SONATA 2020 +KIA OPTIMA 2016: HYUNDAI SONATA 2020 +KIA OPTIMA 2019: HYUNDAI SONATA 2020 KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020 KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 From 1379989e0de7f2d5d163879befd32638dc1ebe1b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 20 Sep 2022 10:45:13 -0700 Subject: [PATCH 082/685] sidebar: add button pressed states (#25848) * add flag img * add image assets * try darker button pressed * remove pressed image, set opacity instead * settings can be pressed too! * cleanup * make settings button white * bookmark --- selfdrive/assets/images/button_flag.png | Bin 0 -> 3305 bytes selfdrive/ui/qt/home.cc | 1 + 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z2&^Z1!`A??DuXgV3*7bs-UO~zQ9udVo~Y}Hw#Ka{dQ&U@*JXVAQq1MCuO9&SVqf0} n?)vZV0=I|`c)eD2@tW~}SCLm|)u(RX00000NkvXXu0mjf5f&U4 literal 0 HcmV?d00001 diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 435ba9056a..78bc6aab40 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -41,6 +41,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) { setAttribute(Qt::WA_NoSystemBackground); QObject::connect(uiState(), &UIState::uiUpdate, this, &HomeWindow::updateState); QObject::connect(uiState(), &UIState::offroadTransition, this, &HomeWindow::offroadTransition); + QObject::connect(uiState(), &UIState::offroadTransition, sidebar, &Sidebar::offroadTransition); } void HomeWindow::showSidebar(bool show) { diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index a84542d291..eeb163aa14 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -32,8 +32,9 @@ void Sidebar::drawMetric(QPainter &p, const QPair &label, QCol p.drawText(label_rect, Qt::AlignCenter, label.second); } -Sidebar::Sidebar(QWidget *parent) : QFrame(parent) { +Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) { home_img = loadPixmap("../assets/images/button_home.png", home_btn.size()); + flag_img = loadPixmap("../assets/images/button_flag.png", home_btn.size()); settings_img = loadPixmap("../assets/images/button_settings.png", settings_btn.size(), Qt::IgnoreAspectRatio); connect(this, &Sidebar::valueChanged, [=] { update(); }); @@ -47,17 +48,34 @@ Sidebar::Sidebar(QWidget *parent) : QFrame(parent) { pm = std::make_unique>({"userFlag"}); } +void Sidebar::mousePressEvent(QMouseEvent *event) { + if (onroad && home_btn.contains(event->pos())) { + flag_pressed = true; + update(); + } else if (settings_btn.contains(event->pos())) { + settings_pressed = true; + update(); + } +} + void Sidebar::mouseReleaseEvent(QMouseEvent *event) { + if (flag_pressed || settings_pressed) { + flag_pressed = settings_pressed = false; + update(); + } if (home_btn.contains(event->pos())) { MessageBuilder msg; msg.initEvent().initUserFlag(); pm->send("userFlag", msg); - } - if (settings_btn.contains(event->pos())) { + } else if (settings_btn.contains(event->pos())) { emit openSettings(); } } +void Sidebar::offroadTransition(bool offroad) { + onroad = !offroad; +} + void Sidebar::updateState(const UIState &s) { if (!isVisible()) return; @@ -102,11 +120,12 @@ void Sidebar::paintEvent(QPaintEvent *event) { p.fillRect(rect(), QColor(57, 57, 57)); - // static imgs - p.setOpacity(0.65); + // buttons + p.setOpacity(settings_pressed ? 0.65 : 1.0); p.drawPixmap(settings_btn.x(), settings_btn.y(), settings_img); + p.setOpacity(onroad && flag_pressed ? 0.65 : 1.0); + p.drawPixmap(home_btn.x(), home_btn.y(), onroad ? flag_img : home_img); p.setOpacity(1.0); - p.drawPixmap(home_btn.x(), home_btn.y(), home_img); // network int x = 58; diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index 621a21444d..53ad7467ac 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -24,14 +24,17 @@ signals: void valueChanged(); public slots: + void offroadTransition(bool offroad); void updateState(const UIState &s); protected: void paintEvent(QPaintEvent *event) override; + void mousePressEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void drawMetric(QPainter &p, const QPair &label, QColor c, int y); - QPixmap home_img, settings_img; + QPixmap home_img, flag_img, settings_img; + bool onroad, flag_pressed, settings_pressed; const QMap network_type = { {cereal::DeviceState::NetworkType::NONE, tr("--")}, {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")}, From c5df17cd571cb2bd77bbd13539cd6c773f76d9ad Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 20 Sep 2022 10:54:46 -0700 Subject: [PATCH 083/685] sidebar: updated bookmark image --- selfdrive/assets/images/button_flag.png | Bin 3305 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z+~*&1DilnQ5nS3@b!g%h%F5WFbP~JLrIp9Ps+K3=rDs#{@2hZ^%TqnY{1Z z2&^Z1!`A??DuXgV3*7bs-UO~zQ9udVo~Y}Hw#Ka{dQ&U@*JXVAQq1MCuO9&SVqf0} n?)vZV0=I|`c)eD2@tW~}SCLm|)u(RX00000NkvXXu0mjf5f&U4 From 2cba29eabe58a120d51b398f7d13c1ac4130d52c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 20 Sep 2022 11:19:23 -0700 Subject: [PATCH 084/685] Hyundai: improve EV6 resume reliability (#25847) * Hyundai: improve EV6 resume reliability * this is pretty good Co-authored-by: Comma Device --- selfdrive/car/hyundai/carcontroller.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index db80bcdf48..6f7cc319e4 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -97,7 +97,8 @@ class CarController: # cruise standstill resume elif CC.cruiseControl.resume: if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): - can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: From 53959082e7e3e200fb62e1c44219fa4e656eb8de Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Tue, 20 Sep 2022 12:39:12 -0700 Subject: [PATCH 085/685] boardd: add CAN health to pandaStates (#25800) * init * try this * mistake * fix * bump cereal * make obvious * fixes * remove comment * one helath header * .. * preallocate vectors --- cereal | 2 +- selfdrive/boardd/boardd.cc | 46 ++++++++++++++++++++++++++++++++++++-- selfdrive/boardd/panda.cc | 6 +++++ selfdrive/boardd/panda.h | 2 ++ 4 files changed, 53 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index e4130c9055..3baa20e1da 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e4130c90558dfb491e132992dce36e0e620e070a +Subproject commit 3baa20e1da5d88dcb1d3ae9678471eb8013958f2 diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 0872a94712..7009f28e12 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -295,13 +295,19 @@ void send_empty_panda_state(PubMaster *pm) { std::optional send_panda_states(PubMaster *pm, const std::vector &pandas, bool spoofing_started) { bool ignition_local = false; + const uint32_t pandas_cnt = pandas.size(); // build msg MessageBuilder msg; auto evt = msg.initEvent(); - auto pss = evt.initPandaStates(pandas.size()); + auto pss = evt.initPandaStates(pandas_cnt); std::vector pandaStates; + pandaStates.reserve(pandas_cnt); + + std::vector> pandaCanStates; + pandaCanStates.reserve(pandas_cnt); + for (const auto& panda : pandas){ auto health_opt = panda->get_state(); if (!health_opt) { @@ -310,6 +316,16 @@ std::optional send_panda_states(PubMaster *pm, const std::vector health_t health = *health_opt; + std::array can_health{}; + for (uint32_t i = 0; i < PANDA_CAN_CNT; i++) { + auto can_health_opt = panda->get_can_state(i); + if (!can_health_opt) { + return std::nullopt; + } + can_health[i] = *can_health_opt; + } + pandaCanStates.push_back(can_health); + if (spoofing_started) { health.ignition_line_pkt = 1; } @@ -319,7 +335,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector pandaStates.push_back(health); } - for (uint32_t i = 0; i < pandas.size(); i++) { + for (uint32_t i = 0; i < pandas_cnt; i++) { auto panda = pandas[i]; const auto &health = pandaStates[i]; @@ -366,6 +382,32 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setInterruptLoad(health.interrupt_load); ps.setFanPower(health.fan_power); + std::array cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()}; + + for (uint32_t j = 0; j < PANDA_CAN_CNT; j++) { + const auto &can_health = pandaCanStates[i][j]; + cs[j].setBusOff((bool)can_health.bus_off); + cs[j].setBusOffCnt(can_health.bus_off_cnt); + cs[j].setErrorWarning((bool)can_health.error_warning); + cs[j].setErrorPassive((bool)can_health.error_passive); + cs[j].setLastError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_error)); + cs[j].setLastStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_stored_error)); + cs[j].setLastDataError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_error)); + cs[j].setLastDataStoredError(cereal::PandaState::PandaCanState::LecErrorCode(can_health.last_data_stored_error)); + cs[j].setReceiveErrorCnt(can_health.receive_error_cnt); + cs[j].setTransmitErrorCnt(can_health.transmit_error_cnt); + cs[j].setTotalErrorCnt(can_health.total_error_cnt); + cs[j].setTotalTxLostCnt(can_health.total_tx_lost_cnt); + cs[j].setTotalRxLostCnt(can_health.total_rx_lost_cnt); + cs[j].setTotalTxCnt(can_health.total_tx_cnt); + cs[j].setTotalRxCnt(can_health.total_rx_cnt); + cs[j].setTotalFwdCnt(can_health.total_fwd_cnt); + cs[j].setCanSpeed(can_health.can_speed); + cs[j].setCanDataSpeed(can_health.can_data_speed); + cs[j].setCanfdEnabled(can_health.canfd_enabled); + cs[j].setBrsEnabled(can_health.canfd_enabled); + } + // Convert faults bitset to capnp list std::bitset fault_bits(health.faults_pkt); auto faults = ps.initFaults(fault_bits.count()); diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 4d72bc9040..7ddf15f9ce 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -317,6 +317,12 @@ std::optional Panda::get_state() { return err >= 0 ? std::make_optional(health) : std::nullopt; } +std::optional Panda::get_can_state(uint16_t can_number) { + can_health_t can_health {0}; + int err = usb_read(0xc2, can_number, 0, (unsigned char*)&can_health, sizeof(can_health)); + return err >= 0 ? std::make_optional(can_health) : std::nullopt; +} + void Panda::set_loopback(bool loopback) { usb_write(0xe5, loopback, 0); } diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index 1cefc3cb4d..a4afbdac1a 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -16,6 +16,7 @@ #include "panda/board/health.h" #define TIMEOUT 0 +#define PANDA_CAN_CNT 3 #define PANDA_BUS_CNT 4 #define RECV_SIZE (0x4000U) #define USB_TX_SOFT_LIMIT (0x100U) @@ -81,6 +82,7 @@ class Panda { uint16_t get_fan_speed(); void set_ir_pwr(uint16_t ir_pwr); std::optional get_state(); + std::optional get_can_state(uint16_t can_number); void set_loopback(bool loopback); std::optional> get_firmware_version(); std::optional get_serial(); From bae94a007079211c9fbf715ff77bf374c74a37f9 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Tue, 20 Sep 2022 16:00:56 -0700 Subject: [PATCH 086/685] camerad: fix OX page faults (#25853) --- system/camerad/cameras/camera_qcom2.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index ce1d0d6f28..65a0de0a6f 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -52,7 +52,8 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = { .frame_width = FRAME_WIDTH, .frame_height = FRAME_HEIGHT, .frame_stride = FRAME_STRIDE, // (0xa80*12//8) - .extra_height = 16, // this right? + .extra_height = 16, // top 2 + bot 14 + .frame_offset = 2, }, }; From e29988ab7b5aad52f8e0c1903cca6ecabd9ed143 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 20 Sep 2022 16:41:20 -0700 Subject: [PATCH 087/685] updater: enable branch switching with installer gitconfig (#25854) --- selfdrive/updated.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index fc51ae799d..c806e726c6 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -374,8 +374,8 @@ class Updater: cloudlog.info("git reset in progress") cmds = [ - ["git", "checkout", "--force", "--no-recurse-submodules", branch], - ["git", "reset", "--hard", f"origin/{branch}"], + ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"], + ["git", "reset", "--hard"], ["git", "clean", "-xdf"], ["git", "submodule", "init"], ["git", "submodule", "update"], From 90f0f04d2699b3ad85fc980c35719cd95433ee82 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 21 Sep 2022 11:12:22 +0800 Subject: [PATCH 088/685] sidebar: call update in offroadTransition (#25856) --- selfdrive/ui/qt/sidebar.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index eeb163aa14..212f195625 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -74,6 +74,7 @@ void Sidebar::mouseReleaseEvent(QMouseEvent *event) { void Sidebar::offroadTransition(bool offroad) { onroad = !offroad; + update(); } void Sidebar::updateState(const UIState &s) { From 7ef55f3820e02f9c445822b7fa288a29a6cd3177 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 21 Sep 2022 15:04:53 +0800 Subject: [PATCH 089/685] boardd: fix setting wrong value for BrsEnabled (#25858) fix wrong setBrsEnabled --- selfdrive/boardd/boardd.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 7009f28e12..cfec72f41c 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -405,7 +405,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector cs[j].setCanSpeed(can_health.can_speed); cs[j].setCanDataSpeed(can_health.can_data_speed); cs[j].setCanfdEnabled(can_health.canfd_enabled); - cs[j].setBrsEnabled(can_health.canfd_enabled); + cs[j].setBrsEnabled(can_health.brs_enabled); } // Convert faults bitset to capnp list From db60f6b943b7b07403228e82560ae06f7280d74e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Sep 2022 17:28:52 -0700 Subject: [PATCH 090/685] boardd: mutli pandas can knockout too --- selfdrive/boardd/boardd.cc | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index cfec72f41c..884b23bf2d 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -114,9 +114,8 @@ bool safety_setter_thread(std::vector pandas) { } // set to ELM327 for fingerprinting - pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327); - for (int i = 1; i < pandas.size(); i++) { - pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::SILENT); + for (Panda *panda : pandas) { + panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327); } Params p = Params(); @@ -138,7 +137,9 @@ bool safety_setter_thread(std::vector pandas) { } // set to ELM327 for ECU knockouts - pandas[0]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); + for (Panda *panda : pandas) { + panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327); + } std::string params; LOGW("waiting for params to set safety model"); From 760d4e668ed7ac83a6445fb01e79622b6cffcef4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Sep 2022 21:23:14 -0700 Subject: [PATCH 091/685] set safety param for knockouts --- selfdrive/boardd/boardd.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 884b23bf2d..9819944af8 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -138,7 +138,7 @@ bool safety_setter_thread(std::vector pandas) { // set to ELM327 for ECU knockouts for (Panda *panda : pandas) { - panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327); + panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); } std::string params; From 051fa5bea42027c1a756ae61fd0c752c1e911899 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 21 Sep 2022 21:41:17 -0700 Subject: [PATCH 092/685] hyundai: update mando radar dbc path --- opendbc | 2 +- release/files_common | 2 +- selfdrive/car/hyundai/values.py | 16 ++++++++-------- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/opendbc b/opendbc index e95ed311c1..eaac172af9 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e95ed311c10547026143b539a33341425cbec9ea +Subproject commit eaac172af9cb342204e69ec52339cdf3c6a8ac4e diff --git a/release/files_common b/release/files_common index fa4fa997c4..5783edd070 100644 --- a/release/files_common +++ b/release/files_common @@ -535,7 +535,7 @@ opendbc/honda_civic_ex_2022_can_generated.dbc opendbc/hyundai_canfd.dbc opendbc/hyundai_kia_generic.dbc -opendbc/hyundai_kia_mando_front_radar.dbc +opendbc/hyundai_kia_mando_front_radar_generated.dbc opendbc/mazda_2017.dbc diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3afae91e72..5e46b43f50 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1395,20 +1395,20 @@ DBC = { CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None), - CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None), CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.IONIQ: dbc_dict('hyundai_kia_generic', None), CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None), CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None), CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), - CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), + CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA_2019: dbc_dict('hyundai_kia_generic', None), @@ -1420,18 +1420,18 @@ DBC = { CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None), CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None), CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None), - CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None), CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None), CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None), - CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format CAR.TUCSON: dbc_dict('hyundai_kia_generic', None), - CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), + CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None), 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'), + CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), } From 4693a9d3580db73905ccec525349007a8e3473e7 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 22 Sep 2022 10:40:23 -0700 Subject: [PATCH 093/685] update refs --- 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 7b24c04c98..7aad2b291d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -deb07ca8c5dc021e57e81307764a84aa3d7aef32 \ No newline at end of file +051fa5bea42027c1a756ae61fd0c752c1e911899 \ No newline at end of file From 3b9add56025a2807bd7a75d105421f7c276e578b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 23 Sep 2022 01:40:41 +0800 Subject: [PATCH 094/685] V4LEncoder: remove unused member variable buf_in (#25870) --- selfdrive/loggerd/encoder/v4l_encoder.h | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/loggerd/encoder/v4l_encoder.h b/selfdrive/loggerd/encoder/v4l_encoder.h index b7c378be85..c2a53dd6ef 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.h +++ b/selfdrive/loggerd/encoder/v4l_encoder.h @@ -28,7 +28,6 @@ private: static void dequeue_handler(V4LEncoder *e); std::thread dequeue_handler_thread; - VisionBuf buf_in[BUF_IN_COUNT]; VisionBuf buf_out[BUF_OUT_COUNT]; SafeQueue free_buf_in; }; From d4404511bcfb420aaf26ae466654821ba4216b2a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 23 Sep 2022 01:41:09 +0800 Subject: [PATCH 095/685] encoderd: build v4l_encoder.cc on PC (#25872) --- selfdrive/loggerd/SConscript | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/loggerd/SConscript b/selfdrive/loggerd/SConscript index a15aac380d..92706c53ec 100644 --- a/selfdrive/loggerd/SConscript +++ b/selfdrive/loggerd/SConscript @@ -5,10 +5,8 @@ libs = [common, cereal, messaging, visionipc, 'avformat', 'avcodec', 'swscale', 'avutil', 'yuv', 'OpenCL', 'pthread'] -src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc'] -if arch == "larch64": - src += ['encoder/v4l_encoder.cc'] -else: +src = ['logger.cc', 'video_writer.cc', 'encoder/encoder.cc', 'encoder/v4l_encoder.cc'] +if arch != "larch64": src += ['encoder/ffmpeg_encoder.cc'] if arch == "Darwin": From cdbb06d45d5c6819319f5b6c2ba8b6f4261e9178 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 23 Sep 2022 01:41:47 +0800 Subject: [PATCH 096/685] locationd: remove redundant break statements (#25873) --- selfdrive/locationd/ublox_msg.cc | 6 ------ 1 file changed, 6 deletions(-) diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index c9f732e9ab..b45dffae33 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -103,23 +103,17 @@ std::pair> UbloxMsgParser::gen_msg() { switch (ubx_message.msg_type()) { case 0x0107: return {"gpsLocationExternal", gen_nav_pvt(static_cast(body))}; - break; case 0x0213: return {"ubloxGnss", gen_rxm_sfrbx(static_cast(body))}; - break; case 0x0215: return {"ubloxGnss", gen_rxm_rawx(static_cast(body))}; - break; case 0x0a09: return {"ubloxGnss", gen_mon_hw(static_cast(body))}; - break; case 0x0a0b: return {"ubloxGnss", gen_mon_hw2(static_cast(body))}; - break; default: LOGE("Unknown message type %x", ubx_message.msg_type()); return {"ubloxGnss", kj::Array()}; - break; } } From 4ed0abd19734f5af1f2dbb899fd75686a90afbde Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 22 Sep 2022 12:52:48 -0700 Subject: [PATCH 097/685] camerad: recalibrate ox colors for HDR (#25874) re --- system/camerad/cameras/real_debayer.cl | 6 +++--- system/camerad/cameras/sensor2_i2c.h | 16 ++++++++-------- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl index 4a36a03bf5..59aa488653 100644 --- a/system/camerad/cameras/real_debayer.cl +++ b/system/camerad/cameras/real_debayer.cl @@ -9,9 +9,9 @@ float3 color_correct(float3 rgb) { // color correction #if IS_OX - float3 x = rgb.x * (float3)(1.81485125, -0.51650643, -0.06985117); - x += rgb.y * (float3)(-0.51681964, 1.85935946, -0.49871889); - x += rgb.z * (float3)(-0.29803161, -0.34285304, 1.56857006); + float3 x = rgb.x * (float3)(1.5664815 , -0.29808738, -0.03973474); + x += rgb.y * (float3)(-0.48672447, 1.41914433, -0.40295248); + x += rgb.z * (float3)(-0.07975703, -0.12105695, 1.44268722); #else float3 x = rgb.x * (float3)(1.82717181, -0.31231438, 0.07307673); x += rgb.y * (float3)(-0.5743977, 1.36858544, -0.53183455); diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 209e2d76d2..ab51059d9a 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -727,10 +727,10 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { // color balance gains // blue - {0x5280, 0x06}, {0x5281, 0x4A}, // hcg - {0x5480, 0x06}, {0x5481, 0x4A}, // lcg - {0x5680, 0x07}, {0x5681, 0xDD}, // spd - {0x5880, 0x06}, {0x5881, 0x4A}, // vs + {0x5280, 0x06}, {0x5281, 0xCB}, // hcg + {0x5480, 0x06}, {0x5481, 0xCB}, // lcg + {0x5680, 0x06}, {0x5681, 0xCB}, // spd + {0x5880, 0x06}, {0x5881, 0xCB}, // vs // green(blue) {0x5282, 0x04}, {0x5283, 0x00}, @@ -745,10 +745,10 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x5884, 0x04}, {0x5885, 0x00}, // red - {0x5286, 0x08}, {0x5287, 0x6C}, - {0x5486, 0x08}, {0x5487, 0x6C}, - {0x5686, 0x08}, {0x5687, 0xAA}, - {0x5886, 0x08}, {0x5887, 0x6C}, + {0x5286, 0x08}, {0x5287, 0xDE}, + {0x5486, 0x08}, {0x5487, 0xDE}, + {0x5686, 0x08}, {0x5687, 0xDE}, + {0x5886, 0x08}, {0x5887, 0xDE}, }; struct i2c_random_wr_payload init_array_ar0231[] = { From f52dea7d8458948331f4a6e27d7848fed3219f8e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 22 Sep 2022 13:42:00 -0700 Subject: [PATCH 098/685] ui: add support for dual cams (#25876) --- 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 3920453a47..0fbfb0cfc2 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -26,6 +26,11 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { split->setSpacing(0); split->addWidget(nvg); + if (getenv("DUAL_CAMERA_VIEW")) { + CameraViewWidget *arCam = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this); + split->insertWidget(0, arCam); + } + stacked_layout->addWidget(split_wrapper); alerts = new OnroadAlerts(this); From dcdf9a6eb4d67432ea6e2902b285cc7c97caf56c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 22 Sep 2022 13:43:27 -0700 Subject: [PATCH 099/685] controlsd: ignore irrelevant alerts in dashcam mode (#25875) --- selfdrive/controls/controlsd.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 8b41e305f1..5639a1f6c7 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -233,6 +233,10 @@ class Controls: self.events.add(EventName.controlsInitializing) return + # no more events while in dashcam mode + if self.read_only: + return + # Block resume if cruise never previously enabled resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) if not self.CP.pcmCruise and self.v_cruise_kph == V_CRUISE_INITIAL and resume_pressed: From dc65f8a60a8a20cb0c93386ef4c6537dce2fbc58 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 22 Sep 2022 15:56:17 -0700 Subject: [PATCH 100/685] agnos 6 (#25864) * agnos 6 * new agnos * no casync for now --- RELEASES.md | 1 + launch_env.sh | 2 +- system/hardware/tici/agnos.json | 12 ++++++------ system/hardware/tici/hardware.py | 11 ----------- 4 files changed, 8 insertions(+), 18 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 9a43e642df..dcea1e72cc 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -10,6 +10,7 @@ Version 0.8.17 (2022-XX-XX) * Improved update experience * Border turns grey while overriding steering * Added button to flag events that are shown in comma connect +* AGNOS 6 Version 0.8.16 (2022-08-26) ======================== diff --git a/launch_env.sh b/launch_env.sh index ac84d6dcbd..48c5696b94 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="5.2" + export AGNOS_VERSION="6" fi if [ -z "$PASSIVE" ]; then diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 7ccea95ee7..dc0fa6f1c1 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,9 +1,9 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8.img.xz", - "hash": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8", - "hash_raw": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8", + "url": "https://commadist.azureedge.net/agnosupdate/boot-57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136.img.xz", + "hash": "57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136", + "hash_raw": "57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136", "size": 14780416, "sparse": false, "full_check": true, @@ -41,9 +41,9 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.img.xz", - "hash": "44da205d17b44b2be7c94854a6bb3efb2928ec9a9889fe62af8b322d2295b74f", - "hash_raw": "59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13", + "url": "https://commadist.azureedge.net/agnosupdate/system-9db38e27c912005472f3ac02be336af4f82307295118b6db22921479d44a941d.img.xz", + "hash": "05e7ce440b33721b020a249043d9568a5898080e26411ca250fb330ad2e5ed8e", + "hash_raw": "9db38e27c912005472f3ac02be336af4f82307295118b6db22921479d44a941d", "size": 10737418240, "sparse": true, "full_check": false, diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index dd6b79e123..340093b604 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -462,17 +462,6 @@ class Tici(HardwareBase): sudo_write("N", "/sys/kernel/debug/msm_vidc/clock_scaling") sudo_write("Y", "/sys/kernel/debug/msm_vidc/disable_thermal_mitigation") - # *** unexport GPIO for sensors *** - # remove from /userspace/usr/comma/gpio.sh - sudo_write(str(GPIO.BMX055_ACCEL_INT), "/sys/class/gpio/unexport") - sudo_write(str(GPIO.BMX055_GYRO_INT), "/sys/class/gpio/unexport") - sudo_write(str(GPIO.BMX055_MAGN_INT), "/sys/class/gpio/unexport") - sudo_write(str(GPIO.LSM_INT), "/sys/class/gpio/unexport") - - # *** set /dev/gpiochip0 rights to make accessible by sensord - os.system("sudo chmod +r /dev/gpiochip0") - - def configure_modem(self): sim_id = self.get_sim_info().get('sim_id', '') From 9a2d8c420d0f0226390547feb00de4dcefbd1adf Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 22 Sep 2022 18:38:42 -0700 Subject: [PATCH 101/685] docs: update Hyundai packages (#25851) * LKAS is part of same package as SCC for Elantra 2017-2019 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2017-elantra.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2018-elantra.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-elantra.pdf * LKAS is standard on all trims for Elantra 2021 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2021-elantra.pdf * LKAS is part of same package as SCC on Genesis 2016 TODO: confirm 2015 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2016-genesis.pdf * LKAS is part of same package as SCC for Ioniq Hybrid 2017-19 Same package 2017-18 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2017-ioniq.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2018-ioniq.pdf SEL and Limited on 2019 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-ioniq.pdf * LFA is part of same trim as SCC on Ioniq Hybrid 2020-22 TODO: confirm for 2022 SEL and Limited includes both SCC and LFA https://cdn.dealereprocess.org/cdn/brochures/hyundai/2020-ioniq.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2021-ioniq.pdf * Remove Ioniq Hybrid 2020-21 until harnesses verified All three model years were added in a single PR - need to lookup routes and see if there are users with 2020-21 MY vehicles. https://github.com/commaai/openpilot/pull/22610 * LKAS is on same trim as SCC for Ioniq Electric 2019 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-ioniq.pdf * SCC and LKA are on all trims for Ioniq Electric 2020 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2020-ioniq.pdf * LKA and SCC are on same trims for Ioniq Plug-in Hybrid 2019 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-ioniq.pdf * SCC and LFA are on all trims for Ioniq Plug-in Hybrid 2020-21 https://cdn.dealereprocess.org/cdn/brochures/hyundai/2020-ioniq.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2021-ioniq.pdf * LKAS is standard on Kona Electric 2018-21 SCC only on Ultimate trim, LKAS on all (2018 UK only) https://www1.hyundai.news/fileadmin/uk/press-kits/20180828_kona_electric/Hyundai_Kona_Electric_-_Technical_data_and_specifications.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-kona.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2020-konaelectric.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2021-konaelectric.pdf * LKAS is part of same package as SCC for Sonata 2018-19 Tech Package includes SCC and LKAS https://cdn.dealereprocess.org/cdn/brochures/hyundai/2018-sonata.pdf https://cdn.dealereprocess.org/cdn/brochures/hyundai/2019-sonata.pdf * define LKAS package explicitly * remove package where default * LFA part of same trim as SCC for Seltos 2021 https://cdn.dealereprocess.org/cdn/brochures/kia/2021-seltos.pdf * LKAS is on all trims with SCC for Sorento 2019 https://cdn.dealereprocess.org/cdn/brochures/kia/2019-sorento.pdf * LKAS is on all trims with SCC for Stinger 2018-20 https://cdn.dealereprocess.org/cdn/brochures/kia/2018-stinger.pdf https://cdn.dealereprocess.org/cdn/brochures/kia/2019-stinger.pdf https://cdn.dealereprocess.org/cdn/brochures/kia/2020-stinger.pdf * remove min steer speed definition from docs for Optima 2016 * LFA is included in same trim as SCC for Niro Hybrid 2022 https://cdn.dealereprocess.org/cdn/brochures/kia/2022-niro.pdf * update docs * remove Ioniq Hybrid 2020-21, add note * update docs * remove LKAS for Kona Hybrid 2020 and Niro Hybrid 2021, likely included in SCC trims * update docs * Revert "remove Ioniq Hybrid 2020-21, add note" This reverts commit 62096a8db3fb21771a04e20714ecee906a5c0b34. * Revert "Remove Ioniq Hybrid 2020-21 until harnesses verified" This reverts commit ac773285f76a108c32d8692d12eef18cabcfd023. * update docs --- docs/CARS.md | 34 +++++++++++++++---------------- selfdrive/car/hyundai/values.py | 36 ++++++++++++++++----------------- 2 files changed, 34 insertions(+), 36 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index d65c27d5b1..ecd6932e87 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -53,27 +53,27 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| +|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| +|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|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|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) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|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| +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |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) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| |Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Hyundai|Santa Fe 2019-20|All|openpilot|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|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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Sonata 2020-22|All|openpilot|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|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|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| @@ -90,15 +90,15 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Niro EV 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Kia|Niro EV 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Niro EV 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Kia|Seltos 2021|Smart Cruise Control (SCC) & LKAS|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|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) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|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|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|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 5e46b43f50..f0e78b22b8 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -103,27 +103,25 @@ class CAR: @dataclass class HyundaiCarInfo(CarInfo): - # TODO: we can probably remove LKAS. LKAS is standard on many - # HKG and for others, it's likely packaged together with SCC - package: str = "Smart Cruise Control (SCC) & LKAS" + package: str = "Smart Cruise Control (SCC)" CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", "Smart Cruise Control (SCC)", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.ELANTRA_GT_I30: None, # dashcamOnly and same platform as CAR.ELANTRA - CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), + CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), - CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "Smart Cruise Control (SCC) & LFA", harness=Harness.hyundai_h), + CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), - CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h), + CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h), CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "Smart Cruise Control (SCC)", harness=Harness.hyundai_h), - CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", "Smart Cruise Control (SCC)", harness=Harness.hyundai_b), + CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "All", harness=Harness.hyundai_h), + CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g), - CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), + CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o), + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), # TODO: check packages CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d), CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l), @@ -131,21 +129,21 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), CAR.TUCSON: [ - HyundaiCarInfo("Hyundai Tucson 2021", "Smart Cruise Control (SCC)", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), - HyundaiCarInfo("Hyundai Tucson Diesel 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), ], CAR.PALISADE: [ HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Telluride 2020", "All", harness=Harness.hyundai_h), ], - CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), + 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 2022", "Highway Driving Assist II", harness=Harness.hyundai_q), CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), # Kia - CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), - CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a), + CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), + CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), @@ -158,10 +156,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), ], CAR.KIA_OPTIMA: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 - CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019-20", "Smart Cruise Control (SCC)", harness=Harness.hyundai_g), + CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g), CAR.KIA_OPTIMA_H: [ HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years - HyundaiCarInfo("Kia Optima Hybrid 2019", "Smart Cruise Control (SCC)"), + HyundaiCarInfo("Kia Optima Hybrid 2019"), ], CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), CAR.KIA_SORENTO: [ @@ -169,7 +167,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), - CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_e), + CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p), # Genesis From b3be8636710c3ef4699bbb256f56823302d08397 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Fri, 23 Sep 2022 13:40:15 +0200 Subject: [PATCH 102/685] Tesla FW query (#25785) * early wip * add addresses * cleaned up fw versions * remove CAN fingerprint * Revert "remove CAN fingerprint" This reverts commit 337e8d65ef7ee2724cfe6ff711ee8aeffdbbb22f. * bump panda * Revert "Revert "remove CAN fingerprint"" This reverts commit 12536fa8358438a6d6713c0b7bef0383bbc83588. * bump cereal * fix ecu type * whitelist per rx_offset * bump submodules again Co-authored-by: Comma Device --- cereal | 2 +- panda | 2 +- selfdrive/car/tesla/values.py | 46 ++++++++++++++++++++++++++++++----- 3 files changed, 42 insertions(+), 8 deletions(-) diff --git a/cereal b/cereal index 3baa20e1da..a0c6f28d6b 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3baa20e1da5d88dcb1d3ae9678471eb8013958f2 +Subproject commit a0c6f28d6bce2fd7d7ef2fd29e80d2eab118a6c6 diff --git a/panda b/panda index 11ea112258..10c0991666 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 11ea112258b66a0969fa340cd5e2d870378e5c5d +Subproject commit 10c0991666865feb734120f2544586d461292866 diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 7648a4a504..e28666c625 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,9 +1,12 @@ from collections import namedtuple from typing import Dict, List, Union +from cereal import car from selfdrive.car import dbc_dict from selfdrive.car.docs_definitions import CarInfo -from cereal import car +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']) @@ -20,11 +23,6 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { } FINGERPRINTS = { - CAR.AP2_MODELS: [ - { - 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 277: 6, 280: 6, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 518: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 538: 8, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 576: 3, 577: 8, 582: 5, 583: 8, 584: 4, 585: 8, 590: 8, 601: 8, 606: 8, 608: 1, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 692: 8, 693: 8, 695: 8, 696: 8, 697: 8, 699: 8, 700: 8, 701: 8, 702: 8, 703: 8, 704: 8, 708: 8, 709: 8, 710: 8, 711: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 811: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 845: 8, 846: 5, 848: 8, 852: 8, 853: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 876: 8, 877: 8, 879: 8, 880: 8, 882: 8, 884: 8, 888: 8, 893: 8, 894: 8, 901: 6, 904: 3, 905: 8, 906: 8, 908: 2, 909: 8, 910: 8, 912: 8, 920: 8, 921: 8, 925: 4, 926: 6, 936: 8, 941: 8, 949: 8, 952: 8, 953: 6, 968: 8, 969: 7, 970: 8, 971: 8, 977: 8, 984: 8, 986: 8, 987: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1007: 8, 1008: 8, 1010: 6, 1014: 1, 1015: 8, 1016: 8, 1017: 8, 1018: 8, 1020: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1049: 8, 1061: 8, 1064: 8, 1065: 8, 1070: 8, 1080: 8, 1081: 8, 1097: 8, 1113: 8, 1129: 8, 1145: 8, 1160: 4, 1177: 8, 1281: 8, 1328: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1353: 8, 1368: 8, 1412: 8, 1436: 8, 1476: 8, 1481: 8, 1497: 8, 1513: 8, 1519: 8, 1601: 8, 1605: 8, 1617: 8, 1621: 8, 1625: 8, 1665: 8, 1792: 8, 1798: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1824: 8, 1825: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1842: 8, 1848: 8, 1864: 8, 1872: 8, 1880: 8, 1888: 8, 1892: 8, 1896: 8, 1912: 8, 1937: 8, 1953: 8, 1960: 8, 1968: 8, 1992: 8, 2001: 8, 2008: 3, 2015: 8, 2016: 8, 2043: 5, 2045: 4 - }, - ], CAR.AP1_MODELS: [ { 1: 8, 3: 8, 14: 8, 21: 4, 69: 8, 109: 4, 257: 3, 264: 8, 267: 5, 277: 6, 280: 6, 283: 5, 293: 4, 296: 4, 309: 5, 325: 8, 328: 5, 336: 8, 341: 8, 360: 7, 373: 8, 389: 8, 415: 8, 513: 5, 516: 8, 520: 4, 522: 8, 524: 8, 526: 8, 532: 3, 536: 8, 537: 3, 542: 8, 551: 5, 552: 2, 556: 8, 558: 8, 568: 8, 569: 8, 574: 8, 577: 8, 582: 5, 584: 4, 585: 8, 590: 8, 606: 8, 622: 8, 627: 6, 638: 8, 641: 8, 643: 8, 660: 5, 693: 8, 696: 8, 697: 8, 712: 8, 728: 8, 744: 8, 760: 8, 772: 8, 775: 8, 776: 8, 777: 8, 778: 8, 782: 8, 788: 8, 791: 8, 792: 8, 796: 2, 797: 8, 798: 6, 799: 8, 804: 8, 805: 8, 807: 8, 808: 1, 809: 8, 812: 8, 813: 8, 814: 5, 815: 8, 820: 8, 823: 8, 824: 8, 829: 8, 830: 5, 836: 8, 840: 8, 841: 8, 845: 8, 846: 5, 852: 8, 856: 4, 857: 6, 861: 8, 862: 5, 872: 8, 873: 8, 877: 8, 878: 8, 879: 8, 880: 8, 884: 8, 888: 8, 889: 8, 893: 8, 896: 8, 901: 6, 904: 3, 905: 8, 908: 2, 909: 8, 920: 8, 921: 8, 925: 4, 936: 8, 937: 8, 941: 8, 949: 8, 952: 8, 953: 6, 957: 8, 968: 8, 973: 8, 984: 8, 987: 8, 989: 8, 990: 8, 1000: 8, 1001: 8, 1006: 8, 1016: 8, 1026: 8, 1028: 8, 1029: 8, 1030: 8, 1032: 1, 1033: 1, 1034: 8, 1048: 1, 1064: 8, 1070: 8, 1080: 8, 1160: 4, 1281: 8, 1329: 8, 1332: 8, 1335: 8, 1337: 8, 1368: 8, 1412: 8, 1436: 8, 1465: 8, 1476: 8, 1497: 8, 1524: 8, 1527: 8, 1601: 8, 1605: 8, 1611: 8, 1614: 8, 1617: 8, 1621: 8, 1627: 8, 1630: 8, 1800: 4, 1804: 8, 1812: 8, 1815: 8, 1816: 8, 1828: 8, 1831: 8, 1832: 8, 1840: 8, 1848: 8, 1864: 8, 1880: 8, 1892: 8, 1896: 8, 1912: 8, 1960: 8, 1992: 8, 2008: 3, 2043: 5, 2045: 4 @@ -37,6 +35,42 @@ DBC = { CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'), } +FW_QUERY_CONFIG = FwQueryConfig( + requests=[ + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + whitelist_ecus=[Ecu.eps], + rx_offset=0x08, + bus=0, + ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], + whitelist_ecus=[Ecu.adas, Ecu.electricBrakeBooster, Ecu.fwdRadar], + rx_offset=0x10, + bus=0, + ), + ] +) + +FW_VERSIONS = { + CAR.AP2_MODELS: { + (Ecu.adas, 0x649, None): [ + b'\x01\x00\x8b\x07\x01\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x11', + ], + (Ecu.electricBrakeBooster, 0x64d, None): [ + b'1037123-00-A', + ], + (Ecu.fwdRadar, 0x671, None): [ + b'\x01\x00W\x00\x00\x00\x07\x00\x00\x00\x00\x08\x01\x00\x00\x00\x07\xff\xfe', + ], + (Ecu.eps, 0x730, None): [ + b'\x10#\x01', + ], + }, +} + class CANBUS: # Lateral harness chassis = 0 From 2f878830c841402cc971b76a3b14e58fc8c69fd9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 24 Sep 2022 01:54:13 +0800 Subject: [PATCH 103/685] modeld: removed extra spaces (#25880) --- selfdrive/modeld/modeld.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 653661a3a8..cfc71a0e27 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -35,7 +35,7 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer 0.00000000e+00, 7.31372216e-19, 1.00000000e+00, 2.19780220e-03, 4.11497335e-19, -5.62637363e-01, -6.66298828e-20, 2.19780220e-03, -3.33626374e-01).finished(); - + static const auto view_from_device = (Eigen::Matrix() << 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, From f4a4ec8fa21dfef5ef0ebe2eafaadc1c2536d861 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 24 Sep 2022 04:28:25 +0800 Subject: [PATCH 104/685] bootlog: rename bz_file to file (#25881) --- selfdrive/loggerd/bootlog.cc | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/selfdrive/loggerd/bootlog.cc b/selfdrive/loggerd/bootlog.cc index 6ff052655a..e882e4cf8d 100644 --- a/selfdrive/loggerd/bootlog.cc +++ b/selfdrive/loggerd/bootlog.cc @@ -55,13 +55,11 @@ int main(int argc, char** argv) { bool r = util::create_directories(LOG_ROOT + "/boot/", 0775); assert(r); - RawFile bz_file(path.c_str()); - + RawFile file(path.c_str()); // Write initdata - bz_file.write(logger_build_init_data().asBytes()); - + file.write(logger_build_init_data().asBytes()); // Write bootlog - bz_file.write(build_boot_log().asBytes()); + file.write(build_boot_log().asBytes()); return 0; } From 755f24885aa3e89933cc8ad9784cdaf480156239 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 23 Sep 2022 18:51:07 -0700 Subject: [PATCH 105/685] pin sensord and lsm interrupt to core 1, for better timing (#25867) Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/sensors_qcom2.cc | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc index ded4b5c0b1..5e741a89a5 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/selfdrive/sensord/sensors_qcom2.cc @@ -174,6 +174,11 @@ int sensor_loop() { return -1; } + // increase interrupt quality by pinning interrupt and process to core 1 + setpriority(PRIO_PROCESS, 0, -18); + util::set_core_affinity({1}); + std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'"); + PubMaster pm({"sensorEvents"}); init_ts = nanos_since_boot(); @@ -207,7 +212,7 @@ int sensor_loop() { std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin)); } - for (Sensor *sensor : sensors) { + for (Sensor *sensor : sensors) { sensor->shutdown(); } @@ -217,6 +222,5 @@ int sensor_loop() { } int main(int argc, char *argv[]) { - setpriority(PRIO_PROCESS, 0, -18); return sensor_loop(); } From b2376909f4b3c95f27eb11d081d3952566b06815 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 23 Sep 2022 19:44:18 -0700 Subject: [PATCH 106/685] updated: allow reusing overlay (#25883) --- selfdrive/updated.py | 17 +++++++---------- 1 file changed, 7 insertions(+), 10 deletions(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index c806e726c6..4556876c27 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -52,6 +52,8 @@ OVERLAY_METADATA = os.path.join(STAGING_ROOT, "metadata") OVERLAY_MERGED = os.path.join(STAGING_ROOT, "merged") FINALIZED = os.path.join(STAGING_ROOT, "finalized") +OVERLAY_INIT = Path(os.path.join(BASEDIR, ".overlay_init")) + DAYS_NO_CONNECTIVITY_MAX = 14 # do not allow to engage after this many days DAYS_NO_CONNECTIVITY_PROMPT = 10 # send an offroad prompt after this many days @@ -134,12 +136,10 @@ def dismount_overlay() -> None: def init_overlay() -> None: - overlay_init_file = Path(os.path.join(BASEDIR, ".overlay_init")) - # Re-create the overlay if BASEDIR/.git has changed since we created the overlay - if overlay_init_file.is_file(): + if OVERLAY_INIT.is_file(): git_dir_path = os.path.join(BASEDIR, ".git") - new_files = run(["find", git_dir_path, "-newer", str(overlay_init_file)]) + new_files = run(["find", git_dir_path, "-newer", str(OVERLAY_INIT)]) if not len(new_files.splitlines()): # A valid overlay already exists return @@ -170,7 +170,7 @@ def init_overlay() -> None: consistent_file = Path(os.path.join(BASEDIR, ".overlay_consistent")) if consistent_file.is_file(): consistent_file.unlink() - overlay_init_file.touch() + OVERLAY_INIT.touch() os.sync() overlay_opts = f"lowerdir={BASEDIR},upperdir={OVERLAY_UPPER},workdir={OVERLAY_METADATA}" @@ -419,9 +419,6 @@ def main() -> None: t = datetime.datetime.utcnow().isoformat() params.put("InstallDate", t.encode('utf8')) - overlay_init = Path(os.path.join(BASEDIR, ".overlay_init")) - overlay_init.unlink(missing_ok=True) - updater = Updater() update_failed_count = 0 # TODO: Load from param? @@ -461,11 +458,11 @@ def main() -> None: returncode=e.returncode ) exception = f"command failed: {e.cmd}\n{e.output}" - overlay_init.unlink(missing_ok=True) + OVERLAY_INIT.unlink(missing_ok=True) except Exception as e: cloudlog.exception("uncaught updated exception, shouldn't happen") exception = str(e) - overlay_init.unlink(missing_ok=True) + OVERLAY_INIT.unlink(missing_ok=True) try: params.put("UpdaterState", "idle") From d997d40f17406d079c2f343bcde446be44094021 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Mon, 26 Sep 2022 11:33:35 +0900 Subject: [PATCH 107/685] update system.hardware import path (#25889) --- selfdrive/sensord/pigeond.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/sensord/pigeond.py b/selfdrive/sensord/pigeond.py index e38e2d4c33..e1fa2f4cad 100755 --- a/selfdrive/sensord/pigeond.py +++ b/selfdrive/sensord/pigeond.py @@ -12,9 +12,9 @@ from typing import List, Optional from cereal import messaging from common.params import Params from system.swaglog import cloudlog -from selfdrive.hardware import TICI +from system.hardware import TICI from common.gpio import gpio_init, gpio_set -from selfdrive.hardware.tici.pins import GPIO +from system.hardware.tici.pins import GPIO UBLOX_TTY = "/dev/ttyHS0" From a124fa22e412cd38f68a8e8db998dd786ed9509c Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 27 Sep 2022 04:01:24 +0900 Subject: [PATCH 108/685] Multilang: kor translation update (#25893) --- selfdrive/ui/translations/main_ko.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 2a806aaed9..56524e49fa 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -960,11 +960,11 @@ location set openpilot longitudinal control is not currently available for this car. - + 현재 이 차량에는 openpilot 롱컨트롤을 사용할 수 없습니다. Enable experimental longitudinal control to enable this. - + openpilot 롱컨트롤을 활성화합니다. (실험적) Disengage On Accelerator Pedal From d2869f4779495685730c5eb27e90fabf559f68d4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 26 Sep 2022 16:57:21 -0700 Subject: [PATCH 109/685] updated: check overlay mounted --- selfdrive/updated.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 4556876c27..f46cda3204 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -137,7 +137,7 @@ def dismount_overlay() -> None: def init_overlay() -> None: # Re-create the overlay if BASEDIR/.git has changed since we created the overlay - if OVERLAY_INIT.is_file(): + if OVERLAY_INIT.is_file() and os.path.ismount(OVERLAY_MERGED): git_dir_path = os.path.join(BASEDIR, ".git") new_files = run(["find", git_dir_path, "-newer", str(OVERLAY_INIT)]) if not len(new_files.splitlines()): From f18773acbea2c54a2edc70d74c35a8dea6cfdf82 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 26 Sep 2022 22:27:30 -0700 Subject: [PATCH 110/685] compressed_vipc: add main() --- tools/camerastream/compressed_vipc.py | 19 +++++++++++-------- 1 file changed, 11 insertions(+), 8 deletions(-) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index 4322ce279a..42a416985e 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -85,6 +85,16 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia): time_q = time_q[1:] print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency, process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name) +def main(addr, cams, nvidia=False): + vipc_server = VisionIpcServer("camerad") + for vst in cams.values(): + vipc_server.create_buffers(vst, 4, False, W, H) + vipc_server.start_listener() + + for k, v in cams.items(): + multiprocessing.Process(target=decoder, args=(addr, k, vipc_server, v, nvidia)).start() + + if __name__ == "__main__": parser = argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC") parser.add_argument("addr", help="Address of comma three") @@ -98,11 +108,4 @@ if __name__ == "__main__": ("driverEncodeData", VisionStreamType.VISION_STREAM_DRIVER), ] cams = dict([all_cams[int(x)] for x in args.cams.split(",")]) - - vipc_server = VisionIpcServer("camerad") - for vst in cams.values(): - vipc_server.create_buffers(vst, 4, False, W, H) - vipc_server.start_listener() - - for k,v in cams.items(): - multiprocessing.Process(target=decoder, args=(args.addr, k, vipc_server, v, args.nvidia)).start() + main(args.addr, cams, args.nvidia) From 29b9a07393bffc6d7915245958e38b9219304aa7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 26 Sep 2022 23:22:50 -0700 Subject: [PATCH 111/685] Log tx addr for IsoTpMessage exceptions --- selfdrive/car/isotp_parallel_query.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 65122ab897..971309439e 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -109,7 +109,7 @@ class IsoTpParallelQuery: try: dat: Optional[bytes] = msg.recv() except Exception: - cloudlog.exception("Error processing UDS response") + cloudlog.exception(f"Error processing UDS response: {tx_addr}") request_done[tx_addr] = True continue From 26517a0ef920eb7dc89663ee599c1f1d06166c88 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 26 Sep 2022 23:50:49 -0700 Subject: [PATCH 112/685] replay: set CarParamsPersistent --- tools/replay/replay.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 3e482b5474..c6c78f47ae 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -290,6 +290,7 @@ void Replay::startStream(const Segment *cur_segment) { auto words = capnp::messageToFlatArray(builder); auto bytes = words.asBytes(); Params().put("CarParams", (const char *)bytes.begin(), bytes.size()); + Params().put("CarParamsPersistent", (const char *)bytes.begin(), bytes.size()); } else { rWarning("failed to read CarParams from current segment"); } From 89768376c0e141fb4143f95136693c6fe48f1f0b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 27 Sep 2022 14:00:08 -0700 Subject: [PATCH 113/685] docs: remove redundant keyword args (#25899) remove unnecessary keyword args, unnecessary package --- selfdrive/car/gm/values.py | 6 +++--- selfdrive/car/honda/values.py | 4 ++-- selfdrive/car/hyundai/values.py | 18 +++++++++--------- selfdrive/car/toyota/values.py | 4 ++-- 4 files changed, 16 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 943e8a6585..fec21d8d24 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -86,13 +86,13 @@ 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", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm), - CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210", footnotes=[], harness=Harness.gm), + 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.SILVERADO: [ GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm), GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm), ], - CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", "Adaptive Cruise Control (ACC)", footnotes=[], harness=Harness.gm), + CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", footnotes=[], harness=Harness.gm), } diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 43c3c77369..e48edc42ba 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -110,13 +110,13 @@ class HondaCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", 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, harness=Harness.bosch_a), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index f0e78b22b8..52a5088319 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -113,7 +113,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA_GT_I30: None, # dashcamOnly and same platform as CAR.ELANTRA CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), - CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness + CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h), CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c), @@ -123,17 +123,17 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), # TODO: check packages CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l), + CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l), CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l), - CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), + CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), CAR.TUCSON: [ HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), ], CAR.PALISADE: [ - HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Telluride 2020", "All", harness=Harness.hyundai_h), ], CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), @@ -145,10 +145,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), - HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), - HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), + HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), ], CAR.KIA_NIRO_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), CAR.KIA_NIRO_HEV_2021: [ @@ -163,7 +163,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), + 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_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 26c61f5b74..1f8ab2498d 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -136,7 +136,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]), CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"), CAR.PRIUS: [ - ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0", [Footnote.DSU]), ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), ], @@ -150,7 +150,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU]) ], CAR.RAV4H: [ - ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26", [Footnote.DSU]), ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]) ], CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), From 2a30da6698d92a3729bc5478a3c53996b8077152 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 27 Sep 2022 14:23:32 -0700 Subject: [PATCH 114/685] sensor tests: bump light sensor threshold --- selfdrive/sensord/tests/test_sensord.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py index 0b5f054d2e..b4a7aef343 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -51,7 +51,7 @@ Sensor = log.SensorEventData.SensorSource SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max']) ALL_SENSORS = { Sensor.rpr0521: { - SensorConfig("light", 0, 150), + SensorConfig("light", 0, 1023), }, Sensor.lsm6ds3: { From 870c5f383d2feb1b5dd255fd0c528d1427f8478c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 Sep 2022 18:13:13 -0700 Subject: [PATCH 115/685] IsoTpParallelQuery: extend timeout for each ISO-TP frame (#25897) * raise timeouts * extend timeout for each message/frame (not multi-frame full response) * bump panda * 100 ms timeout between frames (max I've seen is 20, should be good) * bump panda * remove unused * Add tester present to HKG queries (temp) * send tester present to all ecus first * vin and fw_versions.py sleep, should figure out why sendcan drops packets * None is wildcard (some ecus respond with negative code, that's fine) * typing * try bus 0 * revert brand-specific changes * Update selfdrive/car/isotp_parallel_query.py --- panda | 2 +- selfdrive/car/isotp_parallel_query.py | 7 ++++--- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/panda b/panda index 10c0991666..5984fd3509 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 10c0991666865feb734120f2544586d461292866 +Subproject commit 5984fd35096a9e3f9748435868ad49a199d4404d diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 971309439e..31dc31d7a4 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -1,7 +1,6 @@ import time from collections import defaultdict from functools import partial -from typing import Optional import cereal.messaging as messaging from system.swaglog import cloudlog @@ -107,12 +106,15 @@ class IsoTpParallelQuery: for tx_addr, msg in msgs.items(): try: - dat: Optional[bytes] = msg.recv() + dat, updated = msg.recv() except Exception: cloudlog.exception(f"Error processing UDS response: {tx_addr}") request_done[tx_addr] = True continue + if updated: + response_timeouts[tx_addr] = time.monotonic() + timeout + if not dat: continue @@ -121,7 +123,6 @@ class IsoTpParallelQuery: response_valid = dat[:len(expected_response)] == expected_response if response_valid: - response_timeouts[tx_addr] = time.monotonic() + timeout if counter + 1 < len(self.request): msg.send(self.request[counter + 1]) request_counter[tx_addr] += 1 From 12998520b98571190ed379564a26b9db22cf642c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 Sep 2022 18:56:25 -0700 Subject: [PATCH 116/685] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 5984fd3509..51f023bc66 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5984fd35096a9e3f9748435868ad49a199d4404d +Subproject commit 51f023bc66c2caa9007be1dda2738d0df51cbf0e From ba1c3cda41de2002a31591fe0b92eca63df683b5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 27 Sep 2022 20:17:42 -0700 Subject: [PATCH 117/685] Log more FW/VIN errors in qlogs (#25901) * log VIN query errors * Update fw_versions.py * use exception * post-commit --- selfdrive/car/fw_versions.py | 3 +-- selfdrive/car/vin.py | 5 ++--- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 9c0c406f14..bf88e77db5 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import traceback from collections import defaultdict from typing import Any, Optional, Set, Tuple from tqdm import tqdm @@ -270,7 +269,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, car_fw.append(f) except Exception: - cloudlog.warning(f"FW query exception: {traceback.format_exc()}") + cloudlog.exception("FW query exception") return car_fw diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index fba0c54eba..909322f9c9 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import re -import traceback import cereal.messaging as messaging from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery @@ -28,9 +27,9 @@ def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): vin = vin[1:18] return addr[0], rx_addr, vin.decode() - print(f"vin query retry ({i+1}) ...") + cloudlog.error(f"vin query retry ({i+1}) ...") except Exception: - cloudlog.warning(f"VIN query exception: {traceback.format_exc()}") + cloudlog.exception("VIN query exception") return 0, 0, VIN_UNKNOWN From 96ed5aa5816c692856ed352ef404f040a9615b69 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 27 Sep 2022 20:33:45 -0700 Subject: [PATCH 118/685] Sensor events regen (#25903) --- cereal | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/regen.py | 61 +++++++++++++++++++ .../test/process_replay/test_processes.py | 30 ++++----- 4 files changed, 78 insertions(+), 17 deletions(-) diff --git a/cereal b/cereal index a0c6f28d6b..e310f4860d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit a0c6f28d6bce2fd7d7ef2fd29e80d2eab118a6c6 +Subproject commit e310f4860d349d2e260cfd4bb060b0705b17244c diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7aad2b291d..c7daecd5a3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -051fa5bea42027c1a756ae61fd0c752c1e911899 \ No newline at end of file +a82580edc3a842dd58814bf2fe1a0f0f85d438f5 \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index d565e36390..356016c642 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -106,6 +106,23 @@ def replay_sensor_events(s, msgs): rk.keep_time() +def replay_sensor_event(s, msgs): + smsgs = [m for m in msgs if m.which() == s] + #if len(smsgs) == 0: + # return + + pm = messaging.PubMaster([s, ]) + rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) + + while True: + for m in smsgs: + m = m.as_builder() + m.logMonoTime = int(sec_since_boot() * 1e9) + getattr(m, m.which()).timestamp = m.logMonoTime + pm.send(m.which(), m) + rk.keep_time() + + def replay_service(s, msgs): pm = messaging.PubMaster([s, ]) rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) @@ -193,8 +210,49 @@ def migrate_carparams(lr): return all_msgs +def migrate_sensorEvents(lr): + all_msgs = [] + for msg in lr: + if msg.which() != 'sensorEvents': + all_msgs.append(msg) + continue + + # migrate to split sensor events + for evt in msg.sensorEvents: + # build new message for each sensor type + sensor_service = '' + if evt.which() == 'acceleration': + sensor_service = 'accelerometer' + elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated': + sensor_service = 'gyroscope' + elif evt.which() == 'light' or evt.which() == 'proximity': + sensor_service = 'lightSensor' + elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated': + sensor_service = 'magnetometer' + elif evt.which() == 'temperature': + sensor_service = 'temperatureSensor' + + m = messaging.new_message(sensor_service) + m.valid = True + + m_dat = getattr(m, sensor_service) + m_dat.version = evt.version + m_dat.sensor = evt.sensor + m_dat.type = evt.type + m_dat.source = evt.source + setattr(m_dat, evt.which(), getattr(evt, evt.which())) + + all_msgs.append(m.as_reader()) + + # append also legacy sensorEvents, to have both (remove later) + all_msgs.append(msg) + + return all_msgs + + def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): lr = migrate_carparams(list(lr)) + lr = migrate_sensorEvents(list(lr)) if frs is None: frs = dict() @@ -213,6 +271,9 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): fake_daemons = { 'sensord': [ multiprocessing.Process(target=replay_sensor_events, args=('sensorEvents', lr)), + multiprocessing.Process(target=replay_sensor_event, args=('accelerometer', lr)), + multiprocessing.Process(target=replay_sensor_event, args=('gyroscope', lr)), + multiprocessing.Process(target=replay_sensor_event, args=('magnetometer', lr)), ], 'pandad': [ multiprocessing.Process(target=replay_service, args=('can', lr)), diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index ee892a2fd9..5ad947b225 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -38,21 +38,21 @@ source_segments = [ ] segments = [ - ("BODY", "regen9D38397D30D|2022-09-09--13-12-48--0"), - ("HYUNDAI", "regenB3953B393C0|2022-09-09--14-49-37--0"), - ("HYUNDAI", "regen8DB830E5376|2022-09-13--17-24-37--0"), - ("TOYOTA", "regen8FCBB6F06F1|2022-09-09--13-14-07--0"), - ("TOYOTA2", "regen956BFA75300|2022-09-09--14-51-24--0"), - ("TOYOTA3", "regenE909BC2F430|2022-09-09--20-44-49--0"), - ("HONDA", "regenD1D10209015|2022-09-09--14-53-09--0"), - ("HONDA2", "regen3F7C2EFDC08|2022-09-09--19-41-19--0"), - ("CHRYSLER", "regen92783EAE66B|2022-09-09--13-15-44--0"), - ("RAM", "regenBE5DAAEF30F|2022-09-13--17-06-24--0"), - ("SUBARU", "regen8A363AF7E14|2022-09-13--17-20-39--0"), - ("GM", "regen31EA3F9A37C|2022-09-09--21-06-36--0"), - ("NISSAN", "regenAA21ADE5921|2022-09-09--19-44-37--0"), - ("VOLKSWAGEN", "regenA1BF4D17761|2022-09-09--19-46-24--0"), - ("MAZDA", "regen1994C97E977|2022-09-13--16-34-44--0"), + ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"), + ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"), + ("HYUNDAI", "regen11AA43BCA5F|2022-09-27--15-39-54--0"), + ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"), + ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"), + ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"), + ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"), + ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"), + ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"), + ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"), + ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"), + ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"), + ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"), + ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"), + ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"), ] # dashcamOnly makes don't need to be tested until a full port is done From 4e310b807fb1ccdde4b2078468fab46e5324dfa2 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 27 Sep 2022 20:43:05 -0700 Subject: [PATCH 119/685] configure mypy outside of pre-commit environment (#25892) * add mypy config matching precommit * use local mypy, add files to config * excludes too * fix config * pylint is sad now... did it get updated? * fix typing hints * ignore * this should be a regexp * mypy doesn't like Deque despite inheriting MutableSequence * more excludes * Revert "pylint is sad now... did it get updated?" This reverts commit 250c632f18ecb3d33ffb931e15425f9314a0964b. --- .pre-commit-config.yaml | 16 +- Pipfile | 6 + Pipfile.lock | 1051 ++++++++++++++++++------------ common/realtime.py | 2 +- mypy.ini | 14 +- selfdrive/debug/check_freq.py | 4 +- selfdrive/debug/check_timings.py | 4 +- system/hardware/tici/casync.py | 1 + 8 files changed, 665 insertions(+), 433 deletions(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 347216f2fb..1eb5f632b9 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -24,18 +24,14 @@ repos: # if you've got a short variable name that's getting flagged, add it here - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US -- repo: https://github.com/pre-commit/mirrors-mypy - rev: v0.931 +- repo: local hooks: - id: mypy - exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)/|(tinygrad/)|(tinygrad_repo/)' - additional_dependencies: ['types-PyYAML', 'lxml', 'numpy', 'types-atomicwrites', 'types-pycurl', 'types-requests', 'types-certifi'] - args: - - --warn-redundant-casts - - --warn-return-any - - --warn-unreachable - - --warn-unused-ignores - #- --html-report=/home/batman/openpilot + name: mypy + entry: mypy + language: system + types: [python] + exclude: '^(pyextra/)|(cereal/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' - repo: https://github.com/PyCQA/flake8 rev: 4.0.1 hooks: diff --git a/Pipfile b/Pipfile index 644fd2a90b..778cf8c33c 100644 --- a/Pipfile +++ b/Pipfile @@ -43,6 +43,12 @@ carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"} ft4222 = "*" pandas = "*" tabulate = "*" +types-pyyaml = "*" +lxml = "*" +types-atomicwrites = "*" +types-pycurl = "*" +types-requests = "*" +types-certifi = "*" [packages] atomicwrites = "*" diff --git a/Pipfile.lock b/Pipfile.lock index e6f05fbcd4..d033a517cb 100644 --- a/Pipfile.lock +++ b/Pipfile.lock @@ -1,7 +1,7 @@ { "_meta": { "hash": { - "sha256": "adf64558652d394d9de8e45777f1a2f50ed1ac37b75664206e7957792832b5a4" + "sha256": "c406463198490fc40dcac3dd438c77cf36f6fe681793072e96fdecf089ff7639" }, "pipfile-spec": 6, "requires": { @@ -18,11 +18,11 @@ "default": { "astroid": { "hashes": [ - "sha256:396c88d0a58d7f8daadf730b2ce90838bf338c6752558db719ec6f99c18ec20e", - "sha256:d612609242996c4365aeb0345e61edba34363eaaba55f1c0addf6a98f073bef6" + "sha256:81f870105d892e73bf535da77a8261aa5bde838fa4ed12bb2f435291a098c581", + "sha256:997e0c735df60d4a4caff27080a3afc51f9bdd693d3572a4a0b7090b645c36c5" ], "markers": "python_full_version >= '3.7.2'", - "version": "==2.12.5" + "version": "==2.12.10" }, "atomicwrites": { "hashes": [ @@ -78,11 +78,11 @@ }, "certifi": { "hashes": [ - "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d", - "sha256:fe86415d55e84719d75f8b69414f6438ac3547d2078ab91b67e779ef69378412" + "sha256:0d9c601124e5a6ba9712dbc60d9c53c21e34f5f641fe83002317394311bdce14", + "sha256:90c1a32f1d68f940488354e36370f6cca89f0f106db09518524c88d6ed83f382" ], "markers": "python_version >= '3.6'", - "version": "==2022.6.15" + "version": "==2022.9.24" }, "cffi": { "hashes": [ @@ -190,31 +190,35 @@ }, "cryptography": { "hashes": [ - "sha256:190f82f3e87033821828f60787cfa42bff98404483577b591429ed99bed39d59", - "sha256:2be53f9f5505673eeda5f2736bea736c40f051a739bfae2f92d18aed1eb54596", - "sha256:30788e070800fec9bbcf9faa71ea6d8068f5136f60029759fd8c3efec3c9dcb3", - "sha256:3d41b965b3380f10e4611dbae366f6dc3cefc7c9ac4e8842a806b9672ae9add5", - "sha256:4c590ec31550a724ef893c50f9a97a0c14e9c851c85621c5650d699a7b88f7ab", - "sha256:549153378611c0cca1042f20fd9c5030d37a72f634c9326e225c9f666d472884", - "sha256:63f9c17c0e2474ccbebc9302ce2f07b55b3b3fcb211ded18a42d5764f5c10a82", - "sha256:6bc95ed67b6741b2607298f9ea4932ff157e570ef456ef7ff0ef4884a134cc4b", - "sha256:7099a8d55cd49b737ffc99c17de504f2257e3787e02abe6d1a6d136574873441", - "sha256:75976c217f10d48a8b5a8de3d70c454c249e4b91851f6838a4e48b8f41eb71aa", - "sha256:7bc997818309f56c0038a33b8da5c0bfbb3f1f067f315f9abd6fc07ad359398d", - "sha256:80f49023dd13ba35f7c34072fa17f604d2f19bf0989f292cedf7ab5770b87a0b", - "sha256:91ce48d35f4e3d3f1d83e29ef4a9267246e6a3be51864a5b7d2247d5086fa99a", - "sha256:a958c52505c8adf0d3822703078580d2c0456dd1d27fabfb6f76fe63d2971cd6", - "sha256:b62439d7cd1222f3da897e9a9fe53bbf5c104fff4d60893ad1355d4c14a24157", - "sha256:b7f8dd0d4c1f21759695c05a5ec8536c12f31611541f8904083f3dc582604280", - "sha256:d204833f3c8a33bbe11eda63a54b1aad7aa7456ed769a982f21ec599ba5fa282", - "sha256:e007f052ed10cc316df59bc90fbb7ff7950d7e2919c9757fd42a2b8ecf8a5f67", - "sha256:f2dcb0b3b63afb6df7fd94ec6fbddac81b5492513f7b0436210d390c14d46ee8", - "sha256:f721d1885ecae9078c3f6bbe8a88bc0786b6e749bf32ccec1ef2b18929a05046", - "sha256:f7a6de3e98771e183645181b3627e2563dcde3ce94a9e42a3f427d2255190327", - "sha256:f8c0a6e9e1dd3eb0414ba320f85da6b0dcbd543126e30fcc546e7372a7fbf3b9" - ], - "index": "pypi", - "version": "==37.0.4" + "sha256:0297ffc478bdd237f5ca3a7dc96fc0d315670bfa099c04dc3a4a2172008a405a", + "sha256:10d1f29d6292fc95acb597bacefd5b9e812099d75a6469004fd38ba5471a977f", + "sha256:16fa61e7481f4b77ef53991075de29fc5bacb582a1244046d2e8b4bb72ef66d0", + "sha256:194044c6b89a2f9f169df475cc167f6157eb9151cc69af8a2a163481d45cc407", + "sha256:1db3d807a14931fa317f96435695d9ec386be7b84b618cc61cfa5d08b0ae33d7", + "sha256:3261725c0ef84e7592597606f6583385fed2a5ec3909f43bc475ade9729a41d6", + "sha256:3b72c360427889b40f36dc214630e688c2fe03e16c162ef0aa41da7ab1455153", + "sha256:3e3a2599e640927089f932295a9a247fc40a5bdf69b0484532f530471a382750", + "sha256:3fc26e22840b77326a764ceb5f02ca2d342305fba08f002a8c1f139540cdfaad", + "sha256:5067ee7f2bce36b11d0e334abcd1ccf8c541fc0bbdaf57cdd511fdee53e879b6", + "sha256:52e7bee800ec869b4031093875279f1ff2ed12c1e2f74923e8f49c916afd1d3b", + "sha256:64760ba5331e3f1794d0bcaabc0d0c39e8c60bf67d09c93dc0e54189dfd7cfe5", + "sha256:765fa194a0f3372d83005ab83ab35d7c5526c4e22951e46059b8ac678b44fa5a", + "sha256:79473cf8a5cbc471979bd9378c9f425384980fcf2ab6534b18ed7d0d9843987d", + "sha256:896dd3a66959d3a5ddcfc140a53391f69ff1e8f25d93f0e2e7830c6de90ceb9d", + "sha256:89ed49784ba88c221756ff4d4755dbc03b3c8d2c5103f6d6b4f83a0fb1e85294", + "sha256:ac7e48f7e7261207d750fa7e55eac2d45f720027d5703cd9007e9b37bbb59ac0", + "sha256:ad7353f6ddf285aeadfaf79e5a6829110106ff8189391704c1d8801aa0bae45a", + "sha256:b0163a849b6f315bf52815e238bc2b2346604413fa7c1601eea84bcddb5fb9ac", + "sha256:b6c9b706316d7b5a137c35e14f4103e2115b088c412140fdbd5f87c73284df61", + "sha256:c2e5856248a416767322c8668ef1845ad46ee62629266f84a8f007a317141013", + "sha256:ca9f6784ea96b55ff41708b92c3f6aeaebde4c560308e5fbbd3173fbc466e94e", + "sha256:d1a5bd52d684e49a36582193e0b89ff267704cd4025abefb9e26803adeb3e5fb", + 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"sha256:cba8c411ef271aa037d7357a2bc8f9ee8b58b9965831d9e51baf703280dc73d3", "sha256:d15a181d1ecd0d4270dc32edb46f7cb7733c7c508857278d3d378d14d606db2d", + "sha256:d4b0ba9512519522b118090257be113b9468d804b19d63c71dbcf4a48fa32358", "sha256:d4db7c7aef085872ef65a8fd7d6d09a14ae91f691dec3e87ee5ee0539d516f53", "sha256:d4eccecf9adf6fbcc6861a38015c2a64f38b9d94838ac1810a9023a0609e1b78", "sha256:d67d839ede4ed1b28a4e8909735fc992a923cdb84e618544973d7dfc71540803", "sha256:daf496c58a8c52083df09b80c860005194014c3698698d1a57cbcfa182142a3a", + "sha256:dbad0e9d368bb989f4515da330b88a057617d16b6a8245084f1b05400f24609f", "sha256:e61ceaab6f49fb8bdfaa0f92c4b57bcfbea54c09277b1b4f7ac376bfb7a7c174", "sha256:f84fbc98b019fef2ee9a1cb3ce93e3187a6df0b2538a651bfb890254ba9f90b5" ], @@ -2678,11 +2848,11 @@ }, "setuptools": { "hashes": [ - "sha256:2e24e0bec025f035a2e72cdd1961119f557d78ad331bb00ff82efb2ab8da8e82", - "sha256:7732871f4f7fa58fb6bdcaeadb0161b2bd046c85905dbaa066bdcbcc81953b57" + "sha256:a8f6e213b4b0661f590ccf40de95d28a177cd747d098624ad3f69c40287297e9", + "sha256:c2d2709550f15aab6c9110196ea312f468f41cd546bceb24127a1be6fdcaeeb1" ], "markers": "python_version >= '3.7'", - "version": "==65.3.0" + "version": "==65.4.0" }, "six": { "hashes": [ @@ -2708,11 +2878,11 @@ }, "sphinx": { "hashes": [ - "sha256:309a8da80cb6da9f4713438e5b55861877d5d7976b69d87e336733637ea12693", - "sha256:ba3224a4e206e1fbdecf98a4fae4992ef9b24b85ebf7b584bb340156eaf08d89" + "sha256:3dcf00fcf82cf91118db9b7177edea4fc01998976f893928d0ab0c58c54be2ca", + "sha256:c009bb2e9ac5db487bcf53f015504005a330ff7c631bb6ab2604e0d65bae8b54" ], "index": "pypi", - "version": "==5.1.1" + "version": "==5.2.1" }, "sphinx-rtd-theme": { "hashes": [ @@ -2797,11 +2967,11 @@ }, "tenacity": { "hashes": [ - "sha256:43242a20e3e73291a28bcbcacfd6e000b02d3857a9a9fff56b297a27afdc932f", - "sha256:f78f4ea81b0fabc06728c11dc2a8c01277bfc5181b321a4770471902e3eb844a" + "sha256:35525cd47f82830069f0d6b73f7eb83bc5b73ee2fff0437952cedf98b27653ac", + "sha256:e48c437fdf9340f5666b92cd7990e96bc5fc955e1298baf4a907e3972067a445" ], "index": "pypi", - "version": "==8.0.1" + "version": "==8.1.0" }, "toml": { "hashes": [ @@ -2819,6 +2989,53 @@ "markers": "python_version < '3.11'", "version": "==2.0.1" }, + "types-atomicwrites": { + "hashes": [ + "sha256:458a985b2cfaa963becec21ba63faaa5dd241e237ba8bf024732b37b18690de6", + "sha256:ef824f7e639c178e3e571f60d228c7745198756ebfcc5d249a0e3e02e04b2858" + ], + "index": "pypi", + "version": "==1.4.5" + }, + "types-certifi": { + "hashes": [ + "sha256:72cf7798d165bc0b76e1c10dd1ea3097c7063c42c21d664523b928e88b554a4f", + "sha256:b2d1e325e69f71f7c78e5943d410e650b4707bb0ef32e4ddf3da37f54176e88a" + ], + "index": "pypi", + "version": "==2021.10.8.3" + }, + "types-pycurl": { + "hashes": [ + "sha256:82e00aa2981595bfa55e5a3bac42221eb3435b0026dffbe1177f6ac9f2d51200", + "sha256:9eab3414da4a1b1e9a628bd288fc5172b8c182e1d9fb6d8d082441b0fd64baed" + ], + "index": "pypi", + "version": "==7.45.1" + }, + "types-pyyaml": { + "hashes": [ + "sha256:7f7da2fd11e9bc1e5e9eb3ea1be84f4849747017a59fc2eee0ea34ed1147c2e0", + "sha256:8f890028123607379c63550179ddaec4517dc751f4c527a52bb61934bf495989" + ], + "index": "pypi", + "version": "==6.0.11" + }, + "types-requests": { + "hashes": [ + "sha256:7ee827eb8ce611b02b5117cfec5da6455365b6a575f5e3ff19f655ba603e6b4e", + "sha256:af5f55e803cabcfb836dad752bd6d8a0fc8ef1cd84243061c0e27dee04ccf4fd" + ], + "index": "pypi", + "version": "==2.28.11" + }, + "types-urllib3": { + "hashes": [ + "sha256:a1b3aaea7dda3eb1b51699ee723aadd235488e4dc4648e030f09bc429ecff42f", + "sha256:cf7918503d02d3576e503bbfb419b0e047c4617653bba09624756ab7175e15c9" + ], + "version": "==1.26.24" + }, "typing-extensions": { "hashes": [ "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02", @@ -2837,11 +3054,11 @@ }, "virtualenv": { "hashes": [ - "sha256:4193b7bc8a6cd23e4eb251ac64f29b4398ab2c233531e66e40b19a6b7b0d30c1", - "sha256:d86ea0bb50e06252d79e6c241507cb904fcd66090c3271381372d6221a3970f9" + "sha256:227ea1b9994fdc5ea31977ba3383ef296d7472ea85be9d6732e42a91c04e80da", + "sha256:d07dfc5df5e4e0dbc92862350ad87a36ed505b978f6c39609dc489eadd5b0d27" ], "markers": "python_version >= '3.6'", - "version": "==20.16.3" + "version": "==20.16.5" }, "zipp": { "hashes": [ diff --git a/common/realtime.py b/common/realtime.py index 8a79d8d39f..7dd2eb98a6 100644 --- a/common/realtime.py +++ b/common/realtime.py @@ -31,7 +31,7 @@ class Priority: def set_realtime_priority(level: int) -> None: if not PC: - os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # type: ignore[attr-defined] # pylint: disable=no-member + os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level)) # pylint: disable=no-member def set_core_affinity(cores: List[int]) -> None: diff --git a/mypy.ini b/mypy.ini index e2da60f926..39b1b007a7 100644 --- a/mypy.ini +++ b/mypy.ini @@ -1,4 +1,16 @@ [mypy] python_version = 3.8 -ignore_missing_imports = True plugins = numpy.typing.mypy_plugin +files = body, common, docs, scripts, selfdrive, site_scons, system, tools +exclude = ^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/) + +; third-party packages +ignore_missing_imports = True + +; helpful warnings +warn_redundant_casts = True +warn_unreachable = True +warn_unused_ignores = True + +; restrict dynamic typing +warn_return_any = True diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py index b6f3c91bd0..6436abb4f1 100755 --- a/selfdrive/debug/check_freq.py +++ b/selfdrive/debug/check_freq.py @@ -2,7 +2,7 @@ import argparse import numpy as np from collections import defaultdict, deque -from typing import DefaultDict, Deque +from typing import DefaultDict, Deque, MutableSequence from common.realtime import sec_since_boot import cereal.messaging as messaging @@ -19,7 +19,7 @@ if __name__ == "__main__": socket_names = args.socket sockets = {} - rcv_times: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100)) + rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100)) t = sec_since_boot() diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py index 69304f97b5..083e084ca7 100755 --- a/selfdrive/debug/check_timings.py +++ b/selfdrive/debug/check_timings.py @@ -3,13 +3,13 @@ import sys import time import numpy as np -from typing import DefaultDict, Deque +from typing import DefaultDict, MutableSequence from collections import defaultdict, deque import cereal.messaging as messaging socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]} -ts: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100)) +ts: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100)) if __name__ == "__main__": while True: diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py index 8ae42fa714..993336616d 100755 --- a/system/hardware/tici/casync.py +++ b/system/hardware/tici/casync.py @@ -86,6 +86,7 @@ class RemoteChunkReader(ChunkReader): def parse_caibx(caibx_path: str) -> List[Chunk]: """Parses the chunks from a caibx file. Can handle both local and remote files. Returns a list of chunks with hash, offset and length""" + caibx: io.BufferedIOBase if os.path.isfile(caibx_path): caibx = open(caibx_path, 'rb') else: From 1c6dc12a04618ccd660952fe1a15452898d2c593 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 27 Sep 2022 21:32:21 -0700 Subject: [PATCH 120/685] camerad: improved frame sync and skip tests (#25904) * camerad: cleanup frame sync and skip tests * fix linter Co-authored-by: Comma Device --- system/camerad/test/test_camerad.py | 87 +++++++++++++++++------------ 1 file changed, 50 insertions(+), 37 deletions(-) diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index 1a2e365a8f..378d4b7058 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -1,25 +1,18 @@ #!/usr/bin/env python3 - import time import unittest +from collections import defaultdict import cereal.messaging as messaging +from cereal.services import service_list +from selfdrive.manager.process_config import managed_processes from system.hardware import TICI -from selfdrive.test.helpers import with_processes -TEST_TIMESPAN = 30 # random.randint(60, 180) # seconds -SKIP_FRAME_TOLERANCE = 0 -LAG_FRAME_TOLERANCE = 2 # ms +TEST_TIMESPAN = 30 +LAG_FRAME_TOLERANCE = 0.5 # ms -FPS_BASELINE = 20 -CAMERAS = { - "roadCameraState": FPS_BASELINE, - "driverCameraState": FPS_BASELINE // 2, -} +CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') -if TICI: - CAMERAS["driverCameraState"] = FPS_BASELINE - CAMERAS["wideRoadCameraState"] = FPS_BASELINE class TestCamerad(unittest.TestCase): @classmethod @@ -27,37 +20,57 @@ class TestCamerad(unittest.TestCase): if not TICI: raise unittest.SkipTest - @with_processes(['camerad']) - def test_frame_packets(self): - print("checking frame pkts continuity") - print(TEST_TIMESPAN) + # run camerad and record logs + managed_processes['camerad'].start() + time.sleep(3) + socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS} + + cls.logs = defaultdict(list) + start_time = time.monotonic() + while time.monotonic()- start_time < TEST_TIMESPAN: + for cam, s in socks.items(): + cls.logs[cam] += messaging.drain_sock(s) + time.sleep(0.2) + managed_processes['camerad'].stop() - sm = messaging.SubMaster([socket_name for socket_name in CAMERAS]) + cls.log_by_frame_id = defaultdict(list) + for cam, msgs in cls.logs.items(): + expected_frames = service_list[cam].frequency * TEST_TIMESPAN + assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}" - last_frame_id = dict.fromkeys(CAMERAS, None) - last_ts = dict.fromkeys(CAMERAS, None) - start_time_sec = time.time() - while time.time()- start_time_sec < TEST_TIMESPAN: - sm.update() + for m in msgs: + cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m) - for camera in CAMERAS: - if sm.updated[camera]: - ct = (sm[camera].timestampEof if not TICI else sm[camera].timestampSof) / 1e6 - if last_frame_id[camera] is None: - last_frame_id[camera] = sm[camera].frameId - last_ts[camera] = ct - continue + # strip beginning and end + for _ in range(3): + mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys()) + del cls.log_by_frame_id[mn] + del cls.log_by_frame_id[mx] + + @classmethod + def tearDownClass(cls): + managed_processes['camerad'].stop() - dfid = sm[camera].frameId - last_frame_id[camera] - self.assertTrue(abs(dfid - 1) <= SKIP_FRAME_TOLERANCE, "%s frame id diff is %d" % (camera, dfid)) + def test_frame_skips(self): + skips = {} + frame_ids = self.log_by_frame_id.keys() + for frame_id in range(min(frame_ids), max(frame_ids)): + seen_cams = [msg.which() for msg in self.log_by_frame_id[frame_id]] + skip_cams = set(CAMERAS) - set(seen_cams) + if len(skip_cams): + skips[frame_id] = skip_cams + assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}" - dts = ct - last_ts[camera] - self.assertTrue(abs(dts - (1000/CAMERAS[camera])) < LAG_FRAME_TOLERANCE, f"{camera} frame t(ms) diff is {dts:f}") + def test_frame_sync(self): + frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()} + diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()} - last_frame_id[camera] = sm[camera].frameId - last_ts[camera] = ct - time.sleep(0.01) + def get_desc(fid, diff): + cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]] + return f"{diff=} {cam_times=}" + laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE} + assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}" if __name__ == "__main__": unittest.main() From b944a22b9b05300dce3c3d122cf51ec7d0ec28b6 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 27 Sep 2022 22:53:50 -0700 Subject: [PATCH 121/685] exclude opendbc and xx from mypy pre-commit --- .pre-commit-config.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 1eb5f632b9..b1696e823c 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -31,7 +31,7 @@ repos: entry: mypy language: system types: [python] - exclude: '^(pyextra/)|(cereal/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' + exclude: '^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/PyCQA/flake8 rev: 4.0.1 hooks: From 1007df874f284f2c01a48c245f48c209ed806957 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 28 Sep 2022 13:27:07 -0700 Subject: [PATCH 122/685] Minor ACC fixes (#25911) * Change cruise accel limits * Long tuning script looks good * Cap cruise slowdown aggression in e2e mode * Revert atau change * Cleanup * Update ref * fix ref --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 5 +++-- selfdrive/controls/lib/longitudinal_planner.py | 4 ++-- selfdrive/controls/lib/radar_helpers.py | 3 +-- selfdrive/test/longitudinal_maneuvers/plant.py | 5 +++-- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 10 insertions(+), 9 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index ea9b0683a4..057cf5623f 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -320,7 +320,7 @@ class LongitudinalMpc: # Update in ACC mode or ACC/e2e blend if self.mode == 'acc': - self.params[:,0] = MIN_ACCEL if self.status else self.cruise_min_a + self.params[:,0] = MIN_ACCEL self.params[:,1] = self.cruise_max_a self.params[:,5] = LEAD_DANGER_FACTOR @@ -341,11 +341,12 @@ class LongitudinalMpc: elif self.mode == 'blended': self.params[:,0] = MIN_ACCEL self.params[:,1] = MAX_ACCEL + self.params[:,5] = 1.0 x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle]) - cruise_target = T_IDXS * v_cruise + x[0] + cruise_target = T_IDXS * np.clip(v_cruise, v_ego - 2.0, 1e3) + x[0] xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1]) x = np.cumsum(np.insert(xforward, 0, x[0])) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index b9b16e34fc..45a6db2e90 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -18,8 +18,8 @@ from system.swaglog import cloudlog LON_MPC_STEP = 0.2 # first step is 0.2s AWARENESS_DECEL = -0.2 # car smoothly decel at .2m/s^2 when user is distracted A_CRUISE_MIN = -1.2 -A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6] -A_CRUISE_MAX_BP = [0., 15., 25., 40.] +A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6] +A_CRUISE_MAX_BP = [0., 10.0, 25., 40.] # Lookup table for turns _A_TOTAL_MAX_V = [1.7, 3.2] diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index 0e2b96668f..bf788190cd 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -2,8 +2,7 @@ from common.numpy_fast import mean from common.kalman.simple_kalman import KF1D -# the longer lead decels, the more likely it will keep decelerating -# TODO is this a good default? +# Default lead acceleration decay set to 50% at 1s _LEAD_ACCEL_TAU = 1.5 # radar tracks diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index 21af1cd3b1..e81510e9ba 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -8,7 +8,7 @@ from common.realtime import Ratekeeper, DT_MDL from selfdrive.controls.lib.longcontrol import LongCtrlState from selfdrive.modeld.constants import T_IDXS from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner - +from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU class Plant(): messaging_initialized = False @@ -83,7 +83,8 @@ class Plant(): lead.vLead = float(v_lead) lead.vLeadK = float(v_lead) lead.aLeadK = float(a_lead) - lead.aLeadTau = float(1.5) + # TODO use real radard logic for this + lead.aLeadTau = float(_LEAD_ACCEL_TAU) lead.status = status lead.modelProb = float(prob) if not self.only_lead2: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c7daecd5a3..98fbb74ae4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a82580edc3a842dd58814bf2fe1a0f0f85d438f5 \ No newline at end of file +9098c1cf6993598071c3e27448356eef86660d02 From 0ec8546042091f97072edcf8f5218627ea8a75a9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 28 Sep 2022 14:01:17 -0700 Subject: [PATCH 123/685] vin and ecu_addrs: add more argparse options (#25913) * add bus options * use debug * add timeout and try * fix * don't need keywords * log this too * fix --- selfdrive/car/ecu_addrs.py | 7 ++++--- selfdrive/car/vin.py | 12 +++++++++++- 2 files changed, 15 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 267701509a..9f6ace2b5f 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -1,7 +1,6 @@ #!/usr/bin/env python3 import capnp import time -import traceback from typing import Optional, Set, Tuple import cereal.messaging as messaging @@ -62,7 +61,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que print(f"Duplicate ECU address: {hex(msg.address)}") ecu_responses.add((msg.address, subaddr, msg.src)) except Exception: - cloudlog.warning(f"ECU addr scan exception: {traceback.format_exc()}") + cloudlog.exception("ECU addr scan exception") return ecu_responses @@ -71,6 +70,8 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description='Get addresses of all ECUs') parser.add_argument('--debug', action='store_true') + parser.add_argument('--bus', type=int, default=1) + parser.add_argument('--timeout', type=float, default=1.0) args = parser.parse_args() logcan = messaging.sub_sock('can') @@ -79,7 +80,7 @@ if __name__ == "__main__": time.sleep(1.0) print("Getting ECU addresses ...") - ecu_addrs = get_all_ecu_addrs(logcan, sendcan, 1, debug=args.debug) + ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug) print() print("Found ECUs on addresses:") diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 909322f9c9..860f3b0fa2 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -35,9 +35,19 @@ def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): if __name__ == "__main__": + import argparse import time + + parser = argparse.ArgumentParser(description='Get VIN of the car') + parser.add_argument('--debug', action='store_true') + parser.add_argument('--bus', type=int, default=1) + parser.add_argument('--timeout', type=float, default=0.1) + parser.add_argument('--retry', type=int, default=5) + args = parser.parse_args() + sendcan = messaging.pub_sock('sendcan') logcan = messaging.sub_sock('can') time.sleep(1) - addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, debug=False) + + addr, vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug) print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}') From 685533a3a121b3cc50e8a0b6402547999d86829b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 28 Sep 2022 14:06:34 -0700 Subject: [PATCH 124/685] Subaru: Add missing FW for 2021 Legacy (#25914) Add missing 2021 Legacy FW from 9936b4bbf75a5fe4|2022-09-26--20-29-47 --- selfdrive/car/subaru/values.py | 13 ++++++++----- 1 file changed, 8 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 6c3a35307e..da5ff1785a 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -124,23 +124,26 @@ FW_VERSIONS = { CAR.LEGACY: { (Ecu.abs, 0x7b0, None): [ b'\xa1\\ x04\x01', - b'\xa1 \x03\x03' + b'\xa1 \x03\x03', + b'\xa1 \x02\x01', ], (Ecu.eps, 0x746, None): [ b'\x9b\xc0\x11\x00', - b'\x9b\xc0\x11\x02' + b'\x9b\xc0\x11\x02', ], (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00e\x80\x00\x1f@ \x19\x00', - b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00' + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xde\"a0\x07', - b'\xe2"aq\x07' + b'\xe2"aq\x07', + b'\xde,\xa0@\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xa5\xf6\x05@\x00', - b'\xa7\xf6\x04@\x00' + b'\xa7\xf6\x04@\x00', + b'\xa5\xfe\xc7@\x00', ], }, CAR.IMPREZA: { From 42210a99104d83d19cf7c426433721e1bf4ad1eb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 28 Sep 2022 14:44:05 -0700 Subject: [PATCH 125/685] multilang: nav instructions (#25102) * Try Chinese nav * try this * not sure what does what * read language setting in navd * probably not used Co-authored-by: Willem Melching --- selfdrive/navd/navd.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index 72874b2113..4855b63594 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -120,6 +120,10 @@ class RouteEngine: cloudlog.warning(f"Calculating route {self.last_position} -> {destination}") self.nav_destination = destination + lang = self.params.get('LanguageSetting', encoding='utf8') + if lang is not None: + lang = lang.replace('main_', '') + params = { 'access_token': self.mapbox_token, 'annotations': 'maxspeed', @@ -128,6 +132,7 @@ class RouteEngine: 'steps': 'true', 'banner_instructions': 'true', 'alternatives': 'false', + 'language': lang, } if self.last_bearing is not None: From 2384a9ee67fc4480199149657a031510f9f48d14 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 28 Sep 2022 15:45:15 -0700 Subject: [PATCH 126/685] fix autobrightness for OX03C10 (#25915) * fix autobrightness for OX03C10 * fix scaling * use cur ev * oops * bump cereal --- cereal | 2 +- selfdrive/ui/ui.cc | 13 ++----------- system/camerad/cameras/camera_common.cc | 4 ++++ system/camerad/cameras/camera_qcom2.cc | 13 ++++++------- 4 files changed, 13 insertions(+), 19 deletions(-) diff --git a/cereal b/cereal index e310f4860d..5aa49864bc 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e310f4860d349d2e260cfd4bb060b0705b17244c +Subproject commit 5aa49864bce38f520705b6ed0b98e7cf9560ed0a diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 2722b68f17..b9fdaf329e 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -178,15 +178,7 @@ static void update_state(UIState *s) { } } if (sm.updated("wideRoadCameraState")) { - auto camera_state = sm["wideRoadCameraState"].getWideRoadCameraState(); - - float max_lines = 1618; - float max_gain = 10.0; - float max_ev = max_lines * max_gain / 6; - - float ev = camera_state.getGain() * float(camera_state.getIntegLines()); - - scene.light_sensor = std::clamp(1.0 - (ev / max_ev), 0.0, 1.0); + scene.light_sensor = 100.0f - sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; } @@ -286,8 +278,7 @@ void Device::resetInteractiveTimout() { void Device::updateBrightness(const UIState &s) { float clipped_brightness = BACKLIGHT_OFFROAD; if (s.scene.started) { - // Scale to 0% to 100% - clipped_brightness = 100.0 * s.scene.light_sensor; + clipped_brightness = s.scene.light_sensor; // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm if (clipped_brightness <= 8) { diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 580c4bc5ee..30e2810ec4 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -162,6 +162,10 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setLensTruePos(frame_data.lens_true_pos); framed.setProcessingTime(frame_data.processing_time); + const float ev = c->cur_ev[frame_data.frame_id % 3]; + const float perc = util::map_val(ev, c->min_ev, c->max_ev, 0.0f, 100.0f); + framed.setExposureValPercent(perc); + if (c->camera_id == CAMERA_ID_AR0231) { framed.setSensor(cereal::FrameData::ImageSensor::AR0321); } else if (c->camera_id == CAMERA_ID_OX03C10) { diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 65a0de0a6f..78848af5be 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1078,8 +1078,8 @@ void CameraState::set_camera_exposure(float grey_frac) { std::string gain_bytes, time_bytes; if (env_ctrl_exp_from_params) { - gain_bytes = Params().get("CameraDebugExpGain"); - time_bytes = Params().get("CameraDebugExpTime"); + gain_bytes = Params().get("CameraDebugExpGain"); + time_bytes = Params().get("CameraDebugExpTime"); } if (gain_bytes.size() > 0 && time_bytes.size() > 0) { @@ -1150,10 +1150,10 @@ void CameraState::set_camera_exposure(float grey_frac) { if (camera_id == CAMERA_ID_AR0231) { uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g; struct i2c_random_wr_payload exp_reg_array[] = { - {0x3366, analog_gain_reg}, - {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)}, - {0x3012, (uint16_t)exposure_time}, - }; + {0x3366, analog_gain_reg}, + {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)}, + {0x3012, (uint16_t)exposure_time}, + }; sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true); } else if (camera_id == CAMERA_ID_OX03C10) { // t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD @@ -1166,7 +1166,6 @@ void CameraState::set_camera_exposure(float grey_frac) { uint32_t real_gain = ox03c10_analog_gains_reg[new_g]; uint32_t min_gain = ox03c10_analog_gains_reg[0]; struct i2c_random_wr_payload exp_reg_array[] = { - {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, From 17ed8dd0e9a8ecd0dcf8b573176ea27355c6a1ee Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 28 Sep 2022 16:08:32 -0700 Subject: [PATCH 127/685] updated: configure branch upstream (#25916) --- selfdrive/updated.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index f46cda3204..675c2c1a36 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -339,7 +339,7 @@ class Updater: excluded_branches = ('release2', 'release2-staging', 'dashcam', 'dashcam-staging') setup_git_options(OVERLAY_MERGED) - output = run(["git", "ls-remote", "--heads"], OVERLAY_MERGED) + output = run(["git", "ls-remote", "--heads", "origin"], OVERLAY_MERGED) self.branches = defaultdict(lambda: None) for line in output.split('\n'): @@ -375,6 +375,7 @@ class Updater: cloudlog.info("git reset in progress") cmds = [ ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"], + ["git", "branch", "--set-upstream-to", f"origin/{branch}"], ["git", "reset", "--hard"], ["git", "clean", "-xdf"], ["git", "submodule", "init"], From 4e32387ce5b916df1a62ddb695c0cd10ba6f4f38 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 28 Sep 2022 16:33:42 -0700 Subject: [PATCH 128/685] updated: clean untracked nested git repos (#25917) * updated: clean untracked nested git repos * ff all the cleans --- release/build_devel.sh | 4 ++-- scripts/switch_to_master.sh | 16 ---------------- selfdrive/test/setup_device_ci.sh | 4 ++-- selfdrive/updated.py | 2 +- 4 files changed, 5 insertions(+), 21 deletions(-) delete mode 100755 scripts/switch_to_master.sh diff --git a/release/build_devel.sh b/release/build_devel.sh index f06e3102c8..fc3f8184a2 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -32,7 +32,7 @@ git checkout -f --track origin/master-ci git reset --hard master-ci git checkout master-ci git reset --hard origin/devel -git clean -xdf +git clean -xdff git lfs uninstall # remove everything except .git @@ -41,7 +41,7 @@ find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm - # reset source tree cd $SOURCE_DIR -git clean -xdf +git clean -xdff # do the files copy echo "[-] copying files T=$SECONDS" diff --git a/scripts/switch_to_master.sh b/scripts/switch_to_master.sh deleted file mode 100755 index cad51eb549..0000000000 --- a/scripts/switch_to_master.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/bash - -DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd $DIR/.. - -git clean -xdf . -git rm -r --cached . - -git config remote.origin.fetch "+refs/heads/*:refs/remotes/origin/*" -git fetch origin master -git checkout master -git reset --hard -git submodule update --init - -printf '\n\n' -echo "master checked out. reboot to start building openpilot master" diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index bf2f93e1c3..a9c6527970 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -59,9 +59,9 @@ git fetch --verbose origin $GIT_COMMIT find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \; git reset --hard $GIT_COMMIT git checkout $GIT_COMMIT -git clean -xdf +git clean -xdff git submodule update --init --recursive -git submodule foreach --recursive "git reset --hard && git clean -xdf" +git submodule foreach --recursive "git reset --hard && git clean -xdff" git lfs pull (ulimit -n 65535 && git lfs prune) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 675c2c1a36..331ee6e4af 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -377,7 +377,7 @@ class Updater: ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"], ["git", "branch", "--set-upstream-to", f"origin/{branch}"], ["git", "reset", "--hard"], - ["git", "clean", "-xdf"], + ["git", "clean", "-xdff"], ["git", "submodule", "init"], ["git", "submodule", "update"], ] From 2e5b50c2d7c09accaa51e954790a478b125af591 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 29 Sep 2022 08:35:55 +0800 Subject: [PATCH 129/685] test_proclog: add cmdline check in buildProcLogerMessage (#25891) --- system/proclogd/tests/test_proclog.cc | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/system/proclogd/tests/test_proclog.cc b/system/proclogd/tests/test_proclog.cc index 230e855acb..affde2f320 100644 --- a/system/proclogd/tests/test_proclog.cc +++ b/system/proclogd/tests/test_proclog.cc @@ -140,6 +140,18 @@ TEST_CASE("buildProcLogerMessage") { REQUIRE(p.getName() == "test_proclog"); REQUIRE(p.getState() == 'R'); REQUIRE_THAT(p.getExe().cStr(), Catch::Matchers::Contains("test_proclog")); + REQUIRE(p.getCmdline().size() == 1); + REQUIRE_THAT(p.getCmdline()[0], Catch::Matchers::Contains("test_proclog")); + } else { + std::string cmd_path = "/proc/" + std::to_string(p.getPid()) + "/cmdline"; + if (util::file_exists(cmd_path)) { + std::ifstream stream(cmd_path); + auto cmdline = Parser::cmdline(stream); + REQUIRE(cmdline.size() == p.getCmdline().size()); + for (int i = 0; i < p.getCmdline().size(); ++i) { + REQUIRE(cmdline[i] == p.getCmdline()[i].cStr()); + } + } } } } From 47de20ffb58d29cc77ff7f01c0932145247f3da8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 28 Sep 2022 18:56:12 -0700 Subject: [PATCH 130/685] update release notes --- RELEASES.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index dcea1e72cc..35ed1b9520 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,13 +3,14 @@ Version 0.8.17 (2022-XX-XX) * New driving model * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate. * Self-tuning torque lateral controller parameters - * Parameters are learned live for each car + * Parameters learned live for each car * Enabled only on Toyota Corolla for now * UI updates + * Multi-language in navigation * Matched speeds shown on car's dash * Improved update experience * Border turns grey while overriding steering - * Added button to flag events that are shown in comma connect + * Added button to bookmark events while driving; view them later in comma connect * AGNOS 6 Version 0.8.16 (2022-08-26) From 51e296733d196dcc504607571460e671cc2861e8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 28 Sep 2022 20:19:47 -0700 Subject: [PATCH 131/685] test_sensord: get 10s of events --- selfdrive/sensord/tests/test_sensord.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py index b4a7aef343..60fe8b06d4 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -115,9 +115,9 @@ class TestSensord(unittest.TestCase): # read initial sensor values every test case can use os.system("pkill -f ./_sensord") - cls.sample_secs = 5 managed_processes["sensord"].start() - time.sleep(2) + time.sleep(3) + cls.sample_secs = 10 cls.events = read_sensor_events(cls.sample_secs) managed_processes["sensord"].stop() From 683096e309e9e88cc0c5af9da3df70ce62279324 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 28 Sep 2022 21:38:31 -0700 Subject: [PATCH 132/685] update replay refs --- 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 98fbb74ae4..c17e6afbd1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9098c1cf6993598071c3e27448356eef86660d02 +51e296733d196dcc504607571460e671cc2861e8 \ No newline at end of file From 03977a8783726038cdeae16e2115e3b9d1f47ab8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 28 Sep 2022 21:42:58 -0700 Subject: [PATCH 133/685] Revert "update replay refs" This reverts commit 683096e309e9e88cc0c5af9da3df70ce62279324. --- 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 c17e6afbd1..98fbb74ae4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -51e296733d196dcc504607571460e671cc2861e8 \ No newline at end of file +9098c1cf6993598071c3e27448356eef86660d02 From 391780551a362faf9c6c290d47313583d14aa594 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 29 Sep 2022 11:02:27 -0700 Subject: [PATCH 134/685] UI: remove imu tap detection (#25924) --- selfdrive/ui/ui.cc | 32 ++------------------------------ selfdrive/ui/ui.h | 2 +- 2 files changed, 3 insertions(+), 31 deletions(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index b9fdaf329e..fcee00d1c8 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -162,21 +162,6 @@ static void update_state(UIState *s) { if (sm.updated("carParams")) { scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); } - if (!scene.started && sm.updated("sensorEvents")) { - for (auto sensor : sm["sensorEvents"].getSensorEvents()) { - if (sensor.which() == cereal::SensorEventData::ACCELERATION) { - auto accel = sensor.getAcceleration().getV(); - if (accel.totalSize().wordCount) { // TODO: sometimes empty lists are received. Figure out why - scene.accel_sensor = accel[2]; - } - } else if (sensor.which() == cereal::SensorEventData::GYRO_UNCALIBRATED) { - auto gyro = sensor.getGyroUncalibrated().getV(); - if (gyro.totalSize().wordCount) { - scene.gyro_sensor = gyro[1]; - } - } - } - } if (sm.updated("wideRoadCameraState")) { scene.light_sensor = 100.0f - sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(); } @@ -221,7 +206,7 @@ void UIState::updateStatus() { UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", - "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman", + "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements", }); @@ -304,24 +289,11 @@ void Device::updateBrightness(const UIState &s) { } } -bool Device::motionTriggered(const UIState &s) { - static float accel_prev = 0; - static float gyro_prev = 0; - - bool accel_trigger = abs(s.scene.accel_sensor - accel_prev) > 0.2; - bool gyro_trigger = abs(s.scene.gyro_sensor - gyro_prev) > 0.15; - - gyro_prev = s.scene.gyro_sensor; - accel_prev = (accel_prev * (accel_samples - 1) + s.scene.accel_sensor) / accel_samples; - - return (!awake && accel_trigger && gyro_trigger); -} - void Device::updateWakefulness(const UIState &s) { bool ignition_just_turned_off = !s.scene.ignition && ignition_on; ignition_on = s.scene.ignition; - if (ignition_just_turned_off || motionTriggered(s)) { + if (ignition_just_turned_off) { resetInteractiveTimout(); } else if (interactive_timeout > 0 && --interactive_timeout == 0) { emit interactiveTimout(); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index b4ec900eef..887b7ee841 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -100,7 +100,7 @@ typedef struct UIScene { // lead QPointF lead_vertices[2]; - float light_sensor, accel_sensor, gyro_sensor; + float light_sensor; bool started, ignition, is_metric, map_on_left, longitudinal_control, end_to_end_long; uint64_t started_frame; } UIScene; From badecfd060bc4fe2265a680c9a42f9a9afa1647a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 30 Sep 2022 02:30:12 +0800 Subject: [PATCH 135/685] boardd: remove global variable pigeon_active (#25926) --- selfdrive/boardd/boardd.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 9819944af8..09e7137b38 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -56,7 +56,6 @@ using namespace std::chrono_literals; std::atomic ignition(false); -std::atomic pigeon_active(false); ExitHandler do_exit; @@ -346,7 +345,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector } #ifndef __x86_64__ - bool power_save_desired = !ignition_local && !pigeon_active; + bool power_save_desired = !ignition_local; if (health.power_save_enabled_pkt != power_save_desired) { panda->set_power_saving(power_save_desired); } From 74f741d0be89c9a03573d47b00d59be964884d5f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 29 Sep 2022 13:18:01 -0700 Subject: [PATCH 136/685] agnos updater: set timeout on download (#25927) --- system/hardware/tici/agnos.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py index 51998bf8b7..5f446a8e90 100755 --- a/system/hardware/tici/agnos.py +++ b/system/hardware/tici/agnos.py @@ -20,7 +20,7 @@ class StreamingDecompressor: def __init__(self, url: str) -> None: self.buf = b"" - self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}) # type: ignore # pylint: disable=missing-timeout + self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60) # type: ignore self.it = self.req.iter_content(chunk_size=1024 * 1024) self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO) self.eof = False From 7df0e3efcfd2926405f5eaa872d03a652f9c66f9 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 30 Sep 2022 05:52:41 +0900 Subject: [PATCH 137/685] remove blank whitespace (#25921) --- common/modeldata.h | 2 +- selfdrive/controls/controlsd.py | 4 ++-- selfdrive/controls/lib/drive_helpers.py | 8 ++++---- selfdrive/controls/lib/longcontrol.py | 4 ---- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 3 +-- 5 files changed, 8 insertions(+), 13 deletions(-) diff --git a/common/modeldata.h b/common/modeldata.h index e13840d53e..a00d3d49d3 100644 --- a/common/modeldata.h +++ b/common/modeldata.h @@ -4,7 +4,7 @@ #include "common/mat.h" #include "system/hardware/hw.h" -const int TRAJECTORY_SIZE = 33; +const int TRAJECTORY_SIZE = 33; const int LAT_MPC_N = 16; const int LON_MPC_N = 32; const float MIN_DRAW_DISTANCE = 10.0; diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 5639a1f6c7..b6479e5608 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -595,7 +595,7 @@ class Controls: CC.enabled = self.enabled # 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 + 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 actuators = CC.actuators @@ -718,7 +718,7 @@ class Controls: recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \ - and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED + and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED model_v2 = self.sm['modelV2'] desire_prediction = model_v2.meta.desirePrediction diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index ffa8373834..e8f9585a6f 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -125,10 +125,10 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): desired_curvature_rate = curvature_rates[0] max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755 safe_desired_curvature_rate = clip(desired_curvature_rate, - -max_curvature_rate, - max_curvature_rate) + -max_curvature_rate, + max_curvature_rate) safe_desired_curvature = clip(desired_curvature, - current_curvature_desired - max_curvature_rate * DT_MDL, - current_curvature_desired + max_curvature_rate * DT_MDL) + current_curvature_desired - max_curvature_rate * DT_MDL, + current_curvature_desired + max_curvature_rate * DT_MDL) return safe_desired_curvature, safe_desired_curvature_rate diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index f72995d414..43e1f9cc4b 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -50,10 +50,6 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, elif started_condition: long_control_state = LongCtrlState.pid - - - - return long_control_state diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 057cf5623f..01a69d6f87 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' else: @@ -386,7 +386,6 @@ class LongitudinalMpc: (lead_1_obstacle[0] - lead_0_obstacle[0]): self.source = 'lead1' - def update_with_xva(self, x, v, a): self.params[:,0] = -10. From 784246cf54505660afd0ebc6b8a5b43915543aef Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Thu, 29 Sep 2022 14:24:19 -0700 Subject: [PATCH 138/685] Gps test Setup, PoC (#25919) * first ignore * init gps test * make LimeGPS git clone * revert ignore * . * remove prebuilt bins * Update README.md Co-authored-by: Kurt Nistelberger Co-authored-by: Adeeb Shihadeh --- tools/gpstest/.gitignore | 2 ++ tools/gpstest/README.md | 38 ++++++++++++++++++++++++++++++++++++++ tools/gpstest/gpstest.sh | 8 ++++++++ tools/gpstest/setup.sh | 25 +++++++++++++++++++++++++ 4 files changed, 73 insertions(+) create mode 100644 tools/gpstest/.gitignore create mode 100644 tools/gpstest/README.md create mode 100755 tools/gpstest/gpstest.sh create mode 100755 tools/gpstest/setup.sh diff --git a/tools/gpstest/.gitignore b/tools/gpstest/.gitignore new file mode 100644 index 0000000000..b33aaa403c --- /dev/null +++ b/tools/gpstest/.gitignore @@ -0,0 +1,2 @@ +LimeGPS/ +LimeSuite/ diff --git a/tools/gpstest/README.md b/tools/gpstest/README.md new file mode 100644 index 0000000000..4125bf00af --- /dev/null +++ b/tools/gpstest/README.md @@ -0,0 +1,38 @@ +# GPS test setup + +# Usage +``` +# replaying a static location +./gpstest.sh -e -s + +# replaying a prerecorded route (NMEA cvs file) +./gpstest.sh -e -d +``` + +If `-e` is not provided the latest ephemeris file will be downloaded from +https://cddis.nasa.gov/archive/gnss/data/daily/20xx/brdc/. +(TODO: add auto downloader) + +# Hardware Setup + +* [LimeSDR USB](https://wiki.myriadrf.org/LimeSDR-USB) +* Asus AX58BT antenna + +# Software Setup +* https://github.com/myriadrf/LimeSuite +To communicate with LimeSDR the LimeSuite is needed it abstracts the direct +communication. It also contains examples for a quick start. + +The latest stable version (22.09) does not have the corresponding firmware +download available at https://downloads.myriadrf.org/project/limesuite. Therefore +version 20.10 was chosen. + +* https://github.com/osqzss/LimeGPS +Built on top of LimeSuite (libLimeSuite.so.20.10-1), generates the GPS signal. + +``` +./LimeGPS -e -l + +# Example +./LimeGPS -e /pathTo/brdc2660.22n -l 47.202028,15.740394,100 +``` diff --git a/tools/gpstest/gpstest.sh b/tools/gpstest/gpstest.sh new file mode 100755 index 0000000000..dfb71fe563 --- /dev/null +++ b/tools/gpstest/gpstest.sh @@ -0,0 +1,8 @@ +#!/bin/bash + +LimeGPS_BIN=LimeGPS/LimeGPS +if test -f "$LimeGPS_BIN"; then + LD_PRELOAD=LimeSuite/builddir/src/libLimeSuite.so $LimeGPS_BIN $@ +else + echo "LimeGPS binary not found, run 'setup.sh' first" +fi diff --git a/tools/gpstest/setup.sh b/tools/gpstest/setup.sh new file mode 100755 index 0000000000..c893f6aba8 --- /dev/null +++ b/tools/gpstest/setup.sh @@ -0,0 +1,25 @@ +#!/bin/bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" +cd $DIR + +if [ ! -d LimeSuite ]; then + git clone https://github.com/myriadrf/LimeSuite.git + cd LimeSuite + # checkout latest version which has firmware updates available + git checkout v20.10.0 + mkdir builddir && cd builddir + cmake .. + make -j4 + cd ../.. +fi + +if [ ! -d LimeGPS ]; then + git clone https://github.com/osqzss/LimeGPS.git + cd LimeGPS + sed -i 's/LimeSuite/LimeSuite -I..\/LimeSuite\/src -L..\/LimeSuite\/builddir\/src/' makefile + make + cd .. +fi + From 29d3ed2ce63a65f793dc0ecb553180a0d0fba03e Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Thu, 29 Sep 2022 14:31:54 -0700 Subject: [PATCH 139/685] Sensor events splitup (#25714) * PoC of reading sensors via interrupts instead of polling * add Gyro and draft for magn * add more functionality to gpio.cc * change LSM gyro to interrupt * resolve rebase conflict * update BMX accel interrupt impl * add interrupt collector thread to fetch in parallel * change get_event interface to return true on successful read * update BMX gyro interrupt impl * update gpio.h/.cc according to comments * address comments, rename Edgetype enum * Edgetype to EdgeType * update sensor interrupt interface * add error handling, and read fd on trigger * avoid sending empty messages * fix build * use gpiochip * less diff * gpiochip on both edges, but skip falling edge if rising edge is detected * init last_ts with 0 * update sensord testcases * update sensord testsweet * test for pipeline * readd with_process * add null check * move tests update to seperate PR * sensord: improve test coverage (#25683) * update sensord-interrupt testsweet * address review comments * inc stddev threshold * fix format string * add version 0 check again * relax strictness after c3 with bmx tests * relax strictness after tests Co-authored-by: Kurt Nistelberger * address PR comments * fix typo * remove 4ms limit, and skip first 0.5sec of data * revert disable_interuppt change to destructor * fix and remove timing skip * make gpiochip generic * sensord port * change from sensorEvents to separated events * fix gyro usage * add splitted sensor tests * modify debug script sensor_data_to_hist.py * refactor get_event interface to remove sensorEvent message type * update locationd to non sensorEvent usage * tmp commit * fix replay * fix accelerometer type * fix sensor to hist debug script * update sensord tests to split events * remove rebase artifacts * port test_sensord.py * small clean up * change cereal to sensorEvents-splitup branch * upate sensorEvents in regen * fix route generation for splitted sensor events * regen cleanUp from sensorEvents change * . * remove light and temp from locationd * add generic init delay per sensor * . * update routes * move bmx gyro/accel to its own channel * adopt sensor tests to bmx channel * remove rebase artifacts * fix sensord test * handle bmx not present * add bmx sockets to regen * . * . * code cleanUp * . * address PR comments * address PR comments * address PR comments * lsm clean up * readd sensorEvents * rever regen.py * . * update replay refs * move channels * fix artifact * bump cereal * update refs * fix timing issue Co-authored-by: Bruce Wayne Co-authored-by: gast04 Co-authored-by: Willem Melching Co-authored-by: Adeeb Shihadeh --- cereal | 2 +- selfdrive/car/mock/interface.py | 10 +- selfdrive/debug/sensor_data_to_hist.py | 34 ++--- selfdrive/locationd/locationd.cc | 81 ++++++------ selfdrive/locationd/locationd.h | 2 +- .../locationd/test/_test_locationd_lib.py | 24 ++-- selfdrive/locationd/test/test_locationd.py | 3 +- selfdrive/sensord/sensors/bmx055_accel.cc | 4 +- selfdrive/sensord/sensors/bmx055_accel.h | 2 +- selfdrive/sensord/sensors/bmx055_gyro.cc | 4 +- selfdrive/sensord/sensors/bmx055_gyro.h | 2 +- selfdrive/sensord/sensors/bmx055_magn.cc | 4 +- selfdrive/sensord/sensors/bmx055_magn.h | 2 +- selfdrive/sensord/sensors/bmx055_temp.cc | 4 +- selfdrive/sensord/sensors/bmx055_temp.h | 2 +- selfdrive/sensord/sensors/file_sensor.cc | 3 +- selfdrive/sensord/sensors/file_sensor.h | 2 +- selfdrive/sensord/sensors/i2c_sensor.cc | 3 +- selfdrive/sensord/sensors/i2c_sensor.h | 2 +- selfdrive/sensord/sensors/light_sensor.cc | 5 +- selfdrive/sensord/sensors/light_sensor.h | 4 +- selfdrive/sensord/sensors/lsm6ds3_accel.cc | 19 +-- selfdrive/sensord/sensors/lsm6ds3_accel.h | 2 +- selfdrive/sensord/sensors/lsm6ds3_gyro.cc | 19 +-- selfdrive/sensord/sensors/lsm6ds3_gyro.h | 2 +- selfdrive/sensord/sensors/lsm6ds3_temp.cc | 4 +- selfdrive/sensord/sensors/lsm6ds3_temp.h | 2 +- selfdrive/sensord/sensors/mmc5603nj_magn.cc | 4 +- selfdrive/sensord/sensors/mmc5603nj_magn.h | 2 +- selfdrive/sensord/sensors/sensor.h | 9 +- selfdrive/sensord/sensors_qcom2.cc | 124 ++++++++---------- selfdrive/sensord/tests/test_sensord.py | 107 ++++++++------- .../test/process_replay/process_replay.py | 3 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/regen.py | 30 +---- tools/sim/bridge.py | 25 ++-- 36 files changed, 264 insertions(+), 289 deletions(-) mode change 100755 => 100644 selfdrive/sensord/tests/test_sensord.py diff --git a/cereal b/cereal index 5aa49864bc..d4cf8728e2 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 5aa49864bce38f520705b6ed0b98e7cf9560ed0a +Subproject commit d4cf8728e2fa2d87d90098efa7ddeaf8f98a03db diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 77e3703c2d..36062da1d1 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase): cloudlog.debug("Using Mock Car Interface") - self.sensor = messaging.sub_sock('sensorEvents') + self.gyro = messaging.sub_sock('gyroscope') self.gps = messaging.sub_sock('gpsLocationExternal') self.speed = 0. @@ -46,11 +46,9 @@ class CarInterface(CarInterfaceBase): # returns a car.CarState def _update(self, c): # get basic data from phone and gps since CAN isn't connected - sensors = messaging.recv_sock(self.sensor) - if sensors is not None: - for sensor in sensors.sensorEvents: - if sensor.type == 4: # gyro - self.yaw_rate_meas = -sensor.gyro.v[0] + gyro_sensor = messaging.recv_sock(self.gyro) + if gyro_sensor is not None: + self.yaw_rate_meas = -gyro_sensor.gyroscope.gyroUncalibrated.v[0] gps = messaging.recv_sock(self.gps) if gps is not None: diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py index 3c30b3c17c..ceed4b0ec3 100755 --- a/selfdrive/debug/sensor_data_to_hist.py +++ b/selfdrive/debug/sensor_data_to_hist.py @@ -7,6 +7,7 @@ get interrupts in a 2kHz rate. import argparse import sys +import numpy as np from collections import defaultdict from tools.lib.logreader import LogReader @@ -23,28 +24,22 @@ def parseEvents(log_reader): lsm_data = defaultdict(list) for m in log_reader: - # only sensorEvents - if m.which() != 'sensorEvents': + if m.which() not in ['accelerometer', 'gyroscope']: continue - for se in m.sensorEvents: - # convert data to dictionary - d = se.to_dict() + d = getattr(m, m.which()).to_dict() - if d["timestamp"] == 0: - continue # empty event? + if d["source"] == SRC_BMX and "acceleration" in d: + bmx_data["accel"].append(d["timestamp"] / 1e9) - if d["source"] == SRC_BMX and "acceleration" in d: - bmx_data["accel"].append(d["timestamp"] / 1e9) + if d["source"] == SRC_BMX and "gyroUncalibrated" in d: + bmx_data["gyro"].append(d["timestamp"] / 1e9) - if d["source"] == SRC_BMX and "gyroUncalibrated" in d: - bmx_data["gyro"].append(d["timestamp"] / 1e9) + if d["source"] == SRC_LSM and "acceleration" in d: + lsm_data["accel"].append(d["timestamp"] / 1e9) - if d["source"] == SRC_LSM and "acceleration" in d: - lsm_data["accel"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_LSM and "gyroUncalibrated" in d: - lsm_data["gyro"].append(d["timestamp"] / 1e9) + if d["source"] == SRC_LSM and "gyroUncalibrated" in d: + lsm_data["gyro"].append(d["timestamp"] / 1e9) return bmx_data, lsm_data @@ -54,11 +49,7 @@ def cleanData(data): return [], [] data.sort() - prev = data[0] - diffs = [] - for v in data[1:]: - diffs.append(v - prev) - prev = v + diffs = np.diff(data) return data, diffs @@ -118,4 +109,3 @@ if __name__ == "__main__": print("check plot...") plt.show() - diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 2fb3e0081d..087710d846 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -195,51 +195,48 @@ VectorXd Localizer::get_stdev() { return this->kf->get_P().diagonal().array().sqrt(); } -void Localizer::handle_sensors(double current_time, const capnp::List::Reader& log) { +void Localizer::handle_sensor(double current_time, const cereal::SensorEventData::Reader& log) { // TODO does not yet account for double sensor readings in the log - for (int i = 0; i < log.size(); i++) { - const cereal::SensorEventData::Reader& sensor_reading = log[i]; - // Ignore empty readings (e.g. in case the magnetometer had no data ready) - if (sensor_reading.getTimestamp() == 0) { - continue; - } + // Ignore empty readings (e.g. in case the magnetometer had no data ready) + if (log.getTimestamp() == 0) { + return; + } - double sensor_time = 1e-9 * sensor_reading.getTimestamp(); + double sensor_time = 1e-9 * log.getTimestamp(); - // sensor time and log time should be close - if (std::abs(current_time - sensor_time) > 0.1) { - LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time"); - return; - } + // sensor time and log time should be close + if (std::abs(current_time - sensor_time) > 0.1) { + LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time"); + return; + } - // TODO: handle messages from two IMUs at the same time - if (sensor_reading.getSource() == cereal::SensorEventData::SensorSource::BMX055) { - continue; - } + // TODO: handle messages from two IMUs at the same time + if (log.getSource() == cereal::SensorEventData::SensorSource::BMX055) { + return; + } - // Gyro Uncalibrated - if (sensor_reading.getSensor() == SENSOR_GYRO_UNCALIBRATED && sensor_reading.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) { - auto v = sensor_reading.getGyroUncalibrated().getV(); - auto meas = Vector3d(-v[2], -v[1], -v[0]); - if (meas.norm() < ROTATION_SANITY_CHECK) { - this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas }); - } + // Gyro Uncalibrated + if (log.getSensor() == SENSOR_GYRO_UNCALIBRATED && log.getType() == SENSOR_TYPE_GYROSCOPE_UNCALIBRATED) { + auto v = log.getGyroUncalibrated().getV(); + auto meas = Vector3d(-v[2], -v[1], -v[0]); + if (meas.norm() < ROTATION_SANITY_CHECK) { + this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas }); } + } - // Accelerometer - if (sensor_reading.getSensor() == SENSOR_ACCELEROMETER && sensor_reading.getType() == SENSOR_TYPE_ACCELEROMETER) { - auto v = sensor_reading.getAcceleration().getV(); + // Accelerometer + if (log.getSensor() == SENSOR_ACCELEROMETER && log.getType() == SENSOR_TYPE_ACCELEROMETER) { + auto v = log.getAcceleration().getV(); - // TODO: reduce false positives and re-enable this check - // check if device fell, estimate 10 for g - // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving - //this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0; + // TODO: reduce false positives and re-enable this check + // check if device fell, estimate 10 for g + // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving + // this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0; - auto meas = Vector3d(-v[2], -v[1], -v[0]); - if (meas.norm() < ACCEL_SANITY_CHECK) { - this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas }); - } + auto meas = Vector3d(-v[2], -v[1], -v[0]); + if (meas.norm() < ACCEL_SANITY_CHECK) { + this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas }); } } } @@ -441,8 +438,10 @@ void Localizer::handle_msg_bytes(const char *data, const size_t size) { void Localizer::handle_msg(const cereal::Event::Reader& log) { double t = log.getLogMonoTime() * 1e-9; this->time_check(t); - if (log.isSensorEvents()) { - this->handle_sensors(t, log.getSensorEvents()); + if (log.isAccelerometer()) { + this->handle_sensor(t, log.getAccelerometer()); + } else if (log.isGyroscope()) { + this->handle_sensor(t, log.getGyroscope()); } else if (log.isGpsLocation()) { this->handle_gps(t, log.getGpsLocation()); } else if (log.isGpsLocationExternal()) { @@ -498,7 +497,9 @@ int Localizer::locationd_thread() { } else { gps_location_socket = "gpsLocationExternal"; } - const std::initializer_list service_list = {gps_location_socket, "sensorEvents", "cameraOdometry", "liveCalibration", "carState", "carParams"}; + const std::initializer_list service_list = {gps_location_socket, + "cameraOdometry", "liveCalibration", "carState", "carParams", + "accelerometer", "gyroscope", "magnetometer"}; PubMaster pm({"liveLocationKalman"}); // TODO: remove carParams once we're always sending at 100Hz @@ -521,11 +522,11 @@ int Localizer::locationd_thread() { } // 100Hz publish for notcars, 20Hz for cars - const char* trigger_msg = sm["carParams"].getCarParams().getNotCar() ? "sensorEvents" : "cameraOdometry"; + const char* trigger_msg = sm["carParams"].getCarParams().getNotCar() ? "accelerometer" : "cameraOdometry"; if (sm.updated(trigger_msg)) { bool inputsOK = sm.allAliveAndValid(); - bool sensorsOK = sm.alive("sensorEvents") && sm.valid("sensorEvents"); bool gpsOK = this->isGpsOK(); + bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope", "magnetometer"}); MessageBuilder msg_builder; kj::ArrayPtr bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized); diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index 7c0cb6b7fe..b17ab04b23 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -45,7 +45,7 @@ public: void handle_msg_bytes(const char *data, const size_t size); void handle_msg(const cereal::Event::Reader& log); - void handle_sensors(double current_time, const capnp::List::Reader& log); + void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log); void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log); void handle_car_state(double current_time, const cereal::CarState::Reader& log); void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log); diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py index 8a0ed3ef05..c4a053bbc6 100755 --- a/selfdrive/locationd/test/_test_locationd_lib.py +++ b/selfdrive/locationd/test/_test_locationd_lib.py @@ -51,23 +51,23 @@ void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t @unittest.skip("temporarily disabled due to false positives") def test_device_fell(self): - msg = messaging.new_message('sensorEvents', 1) - msg.sensorEvents[0].sensor = 1 - msg.sensorEvents[0].timestamp = msg.logMonoTime - msg.sensorEvents[0].type = 1 - msg.sensorEvents[0].init('acceleration') - msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0] # zero with gravity + msg = messaging.new_message('accelerometer') + msg.accelerometer.sensor = 1 + msg.accelerometer.timestamp = msg.logMonoTime + msg.accelerometer.type = 1 + msg.accelerometer.init('acceleration') + msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0] # zero with gravity self.localizer_handle_msg(msg) ret = self.localizer_get_msg() self.assertTrue(ret.liveLocationKalman.deviceStable) - msg = messaging.new_message('sensorEvents', 1) - msg.sensorEvents[0].sensor = 1 - msg.sensorEvents[0].timestamp = msg.logMonoTime - msg.sensorEvents[0].type = 1 - msg.sensorEvents[0].init('acceleration') - msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2 + msg = messaging.new_message('accelerometer') + msg.accelerometer.sensor = 1 + msg.accelerometer.timestamp = msg.logMonoTime + msg.accelerometer.type = 1 + msg.accelerometer.init('acceleration') + msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2 self.localizer_handle_msg(msg) ret = self.localizer_get_msg() diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index e30331a460..8841b3e67c 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -14,7 +14,8 @@ from selfdrive.manager.process_config import managed_processes class TestLocationdProc(unittest.TestCase): MAX_WAITS = 1000 - LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'sensorEvents', 'liveCalibration'] + LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration', + 'accelerometer', 'gyroscope', 'magnetometer'] def setUp(self): random.seed(123489234) diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/selfdrive/sensord/sensors/bmx055_accel.cc index c6dcdbd7aa..78b3ac526d 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.cc +++ b/selfdrive/sensord/sensors/bmx055_accel.cc @@ -42,6 +42,7 @@ int BMX055_Accel::init() { if (ret < 0) { goto fail; } + ret = set_register(BMX055_ACCEL_I2C_REG_BW, BMX055_ACCEL_BW_125HZ); if (ret < 0) { goto fail; @@ -61,7 +62,7 @@ int BMX055_Accel::shutdown() { return ret; } -bool BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Accel::get_event(MessageBuilder &msg, uint64_t ts) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer)); @@ -73,6 +74,7 @@ bool BMX055_Accel::get_event(cereal::SensorEventData::Builder &event) { float y = -read_12_bit(buffer[2], buffer[3]) * scale; float z = read_12_bit(buffer[4], buffer[5]) * scale; + auto event = msg.initEvent().initAccelerometer2(); event.setSource(cereal::SensorEventData::SensorSource::BMX055); event.setVersion(1); event.setSensor(SENSOR_ACCELEROMETER); diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/selfdrive/sensord/sensors/bmx055_accel.h index 6a0f9f1ada..8ef660a99f 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.h +++ b/selfdrive/sensord/sensors/bmx055_accel.h @@ -36,6 +36,6 @@ class BMX055_Accel : public I2CSensor { public: BMX055_Accel(I2CBus *bus); int init(); - bool get_event(cereal::SensorEventData::Builder &event); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); int shutdown(); }; diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/selfdrive/sensord/sensors/bmx055_gyro.cc index 4deb15ec6d..9d70b9e431 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.cc +++ b/selfdrive/sensord/sensors/bmx055_gyro.cc @@ -72,7 +72,7 @@ int BMX055_Gyro::shutdown() { return ret; } -bool BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Gyro::get_event(MessageBuilder &msg, uint64_t ts) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[6]; int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer)); @@ -84,6 +84,7 @@ bool BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { float y = -DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale); float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale); + auto event = msg.initEvent().initGyroscope2(); event.setSource(cereal::SensorEventData::SensorSource::BMX055); event.setVersion(1); event.setSensor(SENSOR_GYRO_UNCALIBRATED); @@ -94,5 +95,6 @@ bool BMX055_Gyro::get_event(cereal::SensorEventData::Builder &event) { auto svec = event.initGyroUncalibrated(); svec.setV(xyz); svec.setStatus(true); + return true; } diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/selfdrive/sensord/sensors/bmx055_gyro.h index ac5dacc4a6..80b93f128c 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.h +++ b/selfdrive/sensord/sensors/bmx055_gyro.h @@ -36,6 +36,6 @@ class BMX055_Gyro : public I2CSensor { public: BMX055_Gyro(I2CBus *bus); int init(); - bool get_event(cereal::SensorEventData::Builder &event); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); int shutdown(); }; diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/selfdrive/sensord/sensors/bmx055_magn.cc index 74e18b7c82..394b1e83d3 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.cc +++ b/selfdrive/sensord/sensors/bmx055_magn.cc @@ -223,7 +223,7 @@ bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t * } -bool BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Magn::get_event(MessageBuilder &msg, uint64_t ts) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[8]; int16_t _x, _y, x, y, z; @@ -233,6 +233,8 @@ bool BMX055_Magn::get_event(cereal::SensorEventData::Builder &event) { bool parsed = parse_xyz(buffer, &_x, &_y, &z); if (parsed) { + + auto event = msg.initEvent().initMagnetometer(); event.setSource(cereal::SensorEventData::SensorSource::BMX055); event.setVersion(2); event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED); diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/selfdrive/sensord/sensors/bmx055_magn.h index 0549e163f6..e4a79bc7e0 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.h +++ b/selfdrive/sensord/sensors/bmx055_magn.h @@ -59,6 +59,6 @@ class BMX055_Magn : public I2CSensor{ public: BMX055_Magn(I2CBus *bus); int init(); - bool get_event(cereal::SensorEventData::Builder &event); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); int shutdown(); }; diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/selfdrive/sensord/sensors/bmx055_temp.cc index 3cee34ef19..bdb34f1508 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.cc +++ b/selfdrive/sensord/sensors/bmx055_temp.cc @@ -28,7 +28,7 @@ fail: return ret; } -bool BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) { +bool BMX055_Temp::get_event(MessageBuilder &msg, uint64_t ts) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[1]; int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer)); @@ -36,10 +36,12 @@ bool BMX055_Temp::get_event(cereal::SensorEventData::Builder &event) { float temp = 23.0f + int8_t(buffer[0]) / 2.0f; + auto event = msg.initEvent().initTemperatureSensor(); event.setSource(cereal::SensorEventData::SensorSource::BMX055); event.setVersion(1); event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE); event.setTimestamp(start_time); event.setTemperature(temp); + return true; } diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/selfdrive/sensord/sensors/bmx055_temp.h index f5d771a29c..0b6802deaa 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.h +++ b/selfdrive/sensord/sensors/bmx055_temp.h @@ -8,6 +8,6 @@ class BMX055_Temp : public I2CSensor { public: BMX055_Temp(I2CBus *bus); int init(); - bool get_event(cereal::SensorEventData::Builder &event); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/selfdrive/sensord/sensors/file_sensor.cc index 80e5121564..a74ae1ae1e 100644 --- a/selfdrive/sensord/sensors/file_sensor.cc +++ b/selfdrive/sensord/sensors/file_sensor.cc @@ -2,8 +2,7 @@ #include -FileSensor::FileSensor(std::string filename) : file(filename) { -} +FileSensor::FileSensor(std::string filename) : file(filename) {} int FileSensor::init() { return file.is_open() ? 0 : 1; diff --git a/selfdrive/sensord/sensors/file_sensor.h b/selfdrive/sensord/sensors/file_sensor.h index 5bcaee66a8..39d695167d 100644 --- a/selfdrive/sensord/sensors/file_sensor.h +++ b/selfdrive/sensord/sensors/file_sensor.h @@ -15,5 +15,5 @@ public: ~FileSensor(); int init(); bool has_interrupt_enabled(); - virtual bool get_event(cereal::SensorEventData::Builder &event) = 0; + virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; }; diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/selfdrive/sensord/sensors/i2c_sensor.cc index 06a216478b..f563f93d2b 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.cc +++ b/selfdrive/sensord/sensors/i2c_sensor.cc @@ -15,7 +15,8 @@ int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0) { return int32_t(combined) / (1 << 4); } -I2CSensor::I2CSensor(I2CBus *bus, int gpio_nr, bool shared_gpio) : bus(bus), gpio_nr(gpio_nr), shared_gpio(shared_gpio) {} +I2CSensor::I2CSensor(I2CBus *bus, int gpio_nr, bool shared_gpio) : + bus(bus), gpio_nr(gpio_nr), shared_gpio(shared_gpio) {} I2CSensor::~I2CSensor() { if (gpio_fd != -1) { diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/selfdrive/sensord/sensors/i2c_sensor.h index f6820a2471..0de2a98738 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.h +++ b/selfdrive/sensord/sensors/i2c_sensor.h @@ -31,6 +31,6 @@ public: int init_gpio(); bool has_interrupt_enabled(); virtual int init() = 0; - virtual bool get_event(cereal::SensorEventData::Builder &event) = 0; + virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; virtual int shutdown() = 0; }; diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/selfdrive/sensord/sensors/light_sensor.cc index 321ac75c7e..58c602ea39 100644 --- a/selfdrive/sensord/sensors/light_sensor.cc +++ b/selfdrive/sensord/sensors/light_sensor.cc @@ -5,7 +5,9 @@ #include "common/timing.h" #include "selfdrive/sensord/sensors/constants.h" -bool LightSensor::get_event(cereal::SensorEventData::Builder &event) { +LightSensor::LightSensor(std::string filename) : FileSensor(filename) {} + +bool LightSensor::get_event(MessageBuilder &msg, uint64_t ts) { uint64_t start_time = nanos_since_boot(); file.clear(); file.seekg(0); @@ -13,6 +15,7 @@ bool LightSensor::get_event(cereal::SensorEventData::Builder &event) { int value; file >> value; + auto event = msg.initEvent().initLightSensor(); event.setSource(cereal::SensorEventData::SensorSource::RPR0521); event.setVersion(1); event.setSensor(SENSOR_LIGHT); diff --git a/selfdrive/sensord/sensors/light_sensor.h b/selfdrive/sensord/sensors/light_sensor.h index 63bda74755..7ed1c1f70c 100644 --- a/selfdrive/sensord/sensors/light_sensor.h +++ b/selfdrive/sensord/sensors/light_sensor.h @@ -3,7 +3,7 @@ class LightSensor : public FileSensor { public: - LightSensor(std::string filename) : FileSensor(filename){}; - bool get_event(cereal::SensorEventData::Builder &event); + LightSensor(std::string filename); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc index 513125fd59..27cd4d0c70 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc @@ -5,7 +5,8 @@ #include "common/swaglog.h" #include "common/timing.h" -LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) : I2CSensor(bus, gpio_nr, shared_gpio) {} +LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) : + I2CSensor(bus, gpio_nr, shared_gpio) {} int LSM6DS3_Accel::init() { int ret = 0; @@ -93,15 +94,13 @@ fail: return ret; } -bool LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) { +bool LSM6DS3_Accel::get_event(MessageBuilder &msg, uint64_t ts) { - if (has_interrupt_enabled()) { - // INT1 shared with gyro, check STATUS_REG who triggered - uint8_t status_reg = 0; - read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); - if ((status_reg & LSM6DS3_ACCEL_DRDY_XLDA) == 0) { - return false; - } + // INT1 shared with gyro, check STATUS_REG who triggered + uint8_t status_reg = 0; + read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); + if ((status_reg & LSM6DS3_ACCEL_DRDY_XLDA) == 0) { + return false; } uint8_t buffer[6]; @@ -113,10 +112,12 @@ bool LSM6DS3_Accel::get_event(cereal::SensorEventData::Builder &event) { float y = read_16_bit(buffer[2], buffer[3]) * scale; float z = read_16_bit(buffer[4], buffer[5]) * scale; + auto event = msg.initEvent().initAccelerometer(); event.setSource(source); event.setVersion(1); event.setSensor(SENSOR_ACCELEROMETER); event.setType(SENSOR_TYPE_ACCELEROMETER); + event.setTimestamp(ts); float xyz[] = {y, -x, z}; auto svec = event.initAcceleration(); diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/selfdrive/sensord/sensors/lsm6ds3_accel.h index 6ed94a8f12..84084fc916 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.h +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.h @@ -28,6 +28,6 @@ class LSM6DS3_Accel : public I2CSensor { public: LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); int init(); - bool get_event(cereal::SensorEventData::Builder &event); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); int shutdown(); }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc index fd0436a5f0..014a72bb73 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc @@ -8,7 +8,8 @@ #define DEG2RAD(x) ((x) * M_PI / 180.0) -LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) : I2CSensor(bus, gpio_nr, shared_gpio) {} +LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) : + I2CSensor(bus, gpio_nr, shared_gpio) {} int LSM6DS3_Gyro::init() { int ret = 0; @@ -96,15 +97,13 @@ fail: return ret; } -bool LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) { +bool LSM6DS3_Gyro::get_event(MessageBuilder &msg, uint64_t ts) { - if (has_interrupt_enabled()) { - // INT1 shared with accel, check STATUS_REG who triggered - uint8_t status_reg = 0; - read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); - if ((status_reg & LSM6DS3_GYRO_DRDY_GDA) == 0) { - return false; - } + // INT1 shared with accel, check STATUS_REG who triggered + uint8_t status_reg = 0; + read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg)); + if ((status_reg & LSM6DS3_GYRO_DRDY_GDA) == 0) { + return false; } uint8_t buffer[6]; @@ -116,10 +115,12 @@ bool LSM6DS3_Gyro::get_event(cereal::SensorEventData::Builder &event) { float y = DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale); float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale); + auto event = msg.initEvent().initGyroscope(); event.setSource(source); event.setVersion(2); event.setSensor(SENSOR_GYRO_UNCALIBRATED); event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED); + event.setTimestamp(ts); float xyz[] = {y, -x, z}; auto svec = event.initGyroUncalibrated(); diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/selfdrive/sensord/sensors/lsm6ds3_gyro.h index c2ed5ab76e..6c61ffcef2 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.h @@ -28,6 +28,6 @@ class LSM6DS3_Gyro : public I2CSensor { public: LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); int init(); - bool get_event(cereal::SensorEventData::Builder &event); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); int shutdown(); }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/selfdrive/sensord/sensors/lsm6ds3_temp.cc index 082ffee08f..7e1c4d4c81 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_temp.cc @@ -31,8 +31,7 @@ fail: return ret; } -bool LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) { - +bool LSM6DS3_Temp::get_event(MessageBuilder &msg, uint64_t ts) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[2]; int len = read_register(LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L, buffer, sizeof(buffer)); @@ -41,6 +40,7 @@ bool LSM6DS3_Temp::get_event(cereal::SensorEventData::Builder &event) { float scale = (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) ? 256.0f : 16.0f; float temp = 25.0f + read_16_bit(buffer[0], buffer[1]) / scale; + auto event = msg.initEvent().initTemperatureSensor(); event.setSource(source); event.setVersion(1); event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE); diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/selfdrive/sensord/sensors/lsm6ds3_temp.h index 9d95236901..1d6bcc228a 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.h +++ b/selfdrive/sensord/sensors/lsm6ds3_temp.h @@ -21,6 +21,6 @@ class LSM6DS3_Temp : public I2CSensor { public: LSM6DS3_Temp(I2CBus *bus); int init(); - bool get_event(cereal::SensorEventData::Builder &event); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); int shutdown() { return 0; } }; diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/selfdrive/sensord/sensors/mmc5603nj_magn.cc index 8af4956edf..7a9b7a298b 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.cc +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.cc @@ -79,8 +79,7 @@ fail: return ret; } -bool MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) { - +bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) { uint64_t start_time = nanos_since_boot(); uint8_t buffer[9]; int len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer)); @@ -91,6 +90,7 @@ bool MMC5603NJ_Magn::get_event(cereal::SensorEventData::Builder &event) { float y = read_20_bit(buffer[7], buffer[3], buffer[2]) * scale; float z = read_20_bit(buffer[8], buffer[5], buffer[4]) * scale; + auto event = msg.initEvent().initMagnetometer(); event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ); event.setVersion(1); event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED); diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/selfdrive/sensord/sensors/mmc5603nj_magn.h index 2c06cab96f..a364c7c37a 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.h +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.h @@ -25,6 +25,6 @@ class MMC5603NJ_Magn : public I2CSensor { public: MMC5603NJ_Magn(I2CBus *bus); int init(); - bool get_event(cereal::SensorEventData::Builder &event); + bool get_event(MessageBuilder &msg, uint64_t ts = 0); int shutdown(); }; diff --git a/selfdrive/sensord/sensors/sensor.h b/selfdrive/sensord/sensors/sensor.h index 0bdc560275..603aa3586e 100644 --- a/selfdrive/sensord/sensors/sensor.h +++ b/selfdrive/sensord/sensors/sensor.h @@ -1,13 +1,18 @@ #pragma once -#include "cereal/gen/cpp/log.capnp.h" +#include "cereal/messaging/messaging.h" class Sensor { public: int gpio_fd = -1; + uint64_t init_delay = 500e6; // default dealy 500ms virtual ~Sensor() {}; virtual int init() = 0; - virtual bool get_event(cereal::SensorEventData::Builder &event) = 0; + virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; virtual bool has_interrupt_enabled() = 0; virtual int shutdown() = 0; + + virtual bool is_data_valid(uint64_t st, uint64_t ct) { + return (ct - st) > init_delay; + } }; diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc index 5e741a89a5..2279cf2532 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/selfdrive/sensord/sensors_qcom2.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include @@ -27,18 +28,18 @@ ExitHandler do_exit; std::mutex pm_mutex; - -// filter first values (0.5sec) as those may contain inaccuracies uint64_t init_ts = 0; -constexpr uint64_t init_delay = 500*1e6; -void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { +void interrupt_loop(std::vector& sensors, + std::map& sensor_service) +{ + PubMaster pm_int({"gyroscope", "accelerometer"}); + + int fd = sensors[0]->gpio_fd; struct pollfd fd_list[1] = {0}; fd_list[0].fd = fd; fd_list[0].events = POLLIN | POLLPRI; - uint64_t offset = nanos_since_epoch() - nanos_since_boot(); - while (!do_exit) { int err = poll(fd_list, 1, 100); if (err == -1) { @@ -65,39 +66,21 @@ void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { } int num_events = err / sizeof(*evdata); + uint64_t offset = nanos_since_epoch() - nanos_since_boot(); uint64_t ts = evdata[num_events - 1].timestamp - offset; - MessageBuilder msg; - auto orphanage = msg.getOrphanage(); - std::vector> collected_events; - collected_events.reserve(sensors.size()); - for (Sensor *sensor : sensors) { - auto orphan = orphanage.newOrphan(); - auto event = orphan.get(); - if (!sensor->get_event(event)) { + MessageBuilder msg; + if (!sensor->get_event(msg, ts)) { continue; } - event.setTimestamp(ts); - collected_events.push_back(kj::mv(orphan)); - } - - if (collected_events.size() == 0) { - continue; - } - - auto events = msg.initEvent().initSensorEvents(collected_events.size()); - for (int i = 0; i < collected_events.size(); ++i) { - events.adoptWithCaveats(i, kj::mv(collected_events[i])); - } + if (!sensor->is_data_valid(init_ts, ts)) { + continue; + } - if (ts - init_ts < init_delay) { - continue; + pm_int.send(sensor_service[sensor].c_str(), msg); } - - std::lock_guard lock(pm_mutex); - pm.send("sensorEvents", msg); } // poweroff sensors, disable interrupts @@ -106,16 +89,7 @@ void interrupt_loop(int fd, std::vector& sensors, PubMaster& pm) { } } -int sensor_loop() { - I2CBus *i2c_bus_imu; - - try { - i2c_bus_imu = new I2CBus(I2C_BUS_IMU); - } catch (std::exception &e) { - LOGE("I2CBus init failed"); - return -1; - } - +int sensor_loop(I2CBus *i2c_bus_imu) { BMX055_Accel bmx055_accel(i2c_bus_imu); BMX055_Gyro bmx055_gyro(i2c_bus_imu); BMX055_Magn bmx055_magn(i2c_bus_imu); @@ -129,6 +103,20 @@ int sensor_loop() { LightSensor light("/sys/class/i2c-adapter/i2c-2/2-0038/iio:device1/in_intensity_both_raw"); + std::map sensor_service = { + {&bmx055_accel, "accelerometer2"}, + {&bmx055_gyro, "gyroscope2"}, + {&bmx055_magn, "magnetometer"}, + {&bmx055_temp, "temperatureSensor"}, + + {&lsm6ds3_accel, "accelerometer"}, + {&lsm6ds3_gyro, "gyroscope"}, + {&lsm6ds3_temp, "temperatureSensor"}, + + {&mmc5603nj_magn, "magnetometer"}, + {&light, "lightSensor"} + }; + // Sensor init std::vector> sensors_init; // Sensor, required sensors_init.push_back({&bmx055_accel, false}); @@ -148,29 +136,27 @@ int sensor_loop() { // Initialize sensors std::vector sensors; - for (auto &sensor : sensors_init) { - int err = sensor.first->init(); + for (auto &[sensor, required] : sensors_init) { + int err = sensor->init(); if (err < 0) { - // Fail on required sensors - if (sensor.second) { + if (required) { LOGE("Error initializing sensors"); - delete i2c_bus_imu; return -1; } } else { - if (sensor.first == &bmx055_magn || sensor.first == &mmc5603nj_magn) { + + if (sensor == &bmx055_magn || sensor == &mmc5603nj_magn) { has_magnetometer = true; } - if (!sensor.first->has_interrupt_enabled()) { - sensors.push_back(sensor.first); + if (!sensor->has_interrupt_enabled()) { + sensors.push_back(sensor); } } } if (!has_magnetometer) { LOGE("No magnetometer present"); - delete i2c_bus_imu; return -1; } @@ -179,33 +165,30 @@ int sensor_loop() { util::set_core_affinity({1}); std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'"); - PubMaster pm({"sensorEvents"}); + PubMaster pm_non_int({"gyroscope2", "accelerometer2", "temperatureSensor", + "lightSensor", "magnetometer"}); init_ts = nanos_since_boot(); // thread for reading events via interrupts std::vector lsm_interrupt_sensors = {&lsm6ds3_accel, &lsm6ds3_gyro}; - std::thread lsm_interrupt_thread(&interrupt_loop, lsm6ds3_accel.gpio_fd, std::ref(lsm_interrupt_sensors), std::ref(pm)); + std::thread lsm_interrupt_thread(&interrupt_loop, std::ref(lsm_interrupt_sensors), + std::ref(sensor_service)); // polling loop for non interrupt handled sensors while (!do_exit) { std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now(); - const int num_events = sensors.size(); - MessageBuilder msg; - auto sensor_events = msg.initEvent().initSensorEvents(num_events); - - for (int i = 0; i < num_events; i++) { - auto event = sensor_events[i]; - sensors[i]->get_event(event); - } + for (Sensor *sensor : sensors) { + MessageBuilder msg; + if (!sensor->get_event(msg)) { + continue; + } - if (nanos_since_boot() - init_ts < init_delay) { - continue; - } + if (!sensor->is_data_valid(init_ts, nanos_since_boot())) { + continue; + } - { - std::lock_guard lock(pm_mutex); - pm.send("sensorEvents", msg); + pm_non_int.send(sensor_service[sensor].c_str(), msg); } std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now(); @@ -217,10 +200,15 @@ int sensor_loop() { } lsm_interrupt_thread.join(); - delete i2c_bus_imu; return 0; } int main(int argc, char *argv[]) { - return sensor_loop(); + try { + auto i2c_bus_imu = std::make_unique(I2C_BUS_IMU); + return sensor_loop(i2c_bus_imu.get()); + } catch (std::exception &e) { + LOGE("I2CBus init failed"); + return -1; + } } diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py old mode 100755 new mode 100644 index 60fe8b06d4..1af76c8384 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -3,7 +3,7 @@ import os import time import unittest import numpy as np -from collections import namedtuple +from collections import namedtuple, defaultdict import cereal.messaging as messaging from cereal import log @@ -78,21 +78,8 @@ ALL_SENSORS = { } } -SENSOR_BUS = 1 -I2C_ADDR_LSM = 0x6A LSM_INT_GPIO = 84 -def read_sensor_events(duration_sec): - sensor_events = messaging.sub_sock("sensorEvents", timeout=0.1) - start_time_sec = time.monotonic() - events = [] - while time.monotonic() - start_time_sec < duration_sec: - events += messaging.drain_sock(sensor_events) - time.sleep(0.01) - - assert len(events) != 0, "No sensor events collected" - return events - def get_proc_interrupts(int_pin): with open("/proc/interrupts") as f: lines = f.read().split("\n") @@ -100,9 +87,27 @@ def get_proc_interrupts(int_pin): for line in lines: if f" {int_pin} " in line: return ''.join(list(filter(lambda e: e != '', line.split(' ')))[1:6]) - return "" +def read_sensor_events(duration_sec): + + sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2', + 'gyroscope2', 'lightSensor', 'temperatureSensor'] + esocks = {} + events = defaultdict(list) + for stype in sensor_types: + esocks[stype] = messaging.sub_sock(stype, timeout=0.1) + + start_time_sec = time.monotonic() + while time.monotonic() - start_time_sec < duration_sec: + for esock in esocks: + events[esock] += messaging.drain_sock(esocks[esock]) + time.sleep(0.1) + + for etype in events: + assert len(events[etype]) != 0, f"No {etype} events collected" + + return events class TestSensord(unittest.TestCase): @classmethod @@ -132,12 +137,10 @@ class TestSensord(unittest.TestCase): # verify correct sensors configuration seen = set() - for event in self.events: - for measurement in event.sensorEvents: - # filter unset events (bmx magn) - if measurement.version == 0: - continue - seen.add((str(measurement.source), measurement.which())) + for etype in self.events: + for measurement in self.events[etype]: + m = getattr(measurement, measurement.which()) + seen.add((str(m.source), m.which())) self.assertIn(seen, SENSOR_CONFIGURATIONS) @@ -148,10 +151,14 @@ class TestSensord(unittest.TestCase): 1: [], # accel 5: [], # gyro } - for event in self.events: - for measurement in event.sensorEvents: - if str(measurement.source).startswith("lsm6ds3") and measurement.sensor in sensor_t: - sensor_t[measurement.sensor].append(measurement.timestamp) + + for measurement in self.events['accelerometer']: + m = getattr(measurement, measurement.which()) + sensor_t[m.sensor].append(m.timestamp) + + for measurement in self.events['gyroscope']: + m = getattr(measurement, measurement.which()) + sensor_t[m.sensor].append(m.timestamp) for s, vals in sensor_t.items(): with self.subTest(sensor=s): @@ -172,17 +179,14 @@ class TestSensord(unittest.TestCase): # verify if all sensors produce events sensor_events = dict() - for event in self.events: - for measurement in event.sensorEvents: + for etype in self.events: + for measurement in self.events[etype]: + m = getattr(measurement, measurement.which()) - # filter unset events (bmx magn) - if measurement.version == 0: - continue - - if measurement.type in sensor_events: - sensor_events[measurement.type] += 1 + if m.type in sensor_events: + sensor_events[m.type] += 1 else: - sensor_events[measurement.type] = 1 + sensor_events[m.type] = 1 for s in sensor_events: err_msg = f"Sensor {s}: 200 < {sensor_events[s]}" @@ -192,22 +196,19 @@ class TestSensord(unittest.TestCase): # ensure diff between the message logMonotime and sample timestamp is small tdiffs = list() - for event in self.events: - for measurement in event.sensorEvents: - - # filter unset events (bmx magn) - if measurement.version == 0: - continue + for etype in self.events: + for measurement in self.events[etype]: + m = getattr(measurement, measurement.which()) # check if gyro and accel timestamps are before logMonoTime - if str(measurement.source).startswith("lsm6ds3"): - if measurement.which() != 'temperature': - err_msg = f"Timestamp after logMonoTime: {measurement.timestamp} > {event.logMonoTime}" - assert measurement.timestamp < event.logMonoTime, err_msg + if str(m.source).startswith("lsm6ds3"): + if m.which() != 'temperature': + err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}" + assert m.timestamp < measurement.logMonoTime, err_msg # negative values might occur, as non interrupt packages created # before the sensor is read - tdiffs.append(abs(event.logMonoTime - measurement.timestamp)) + tdiffs.append(abs(measurement.logMonoTime - m.timestamp)) high_delay_diffs = set(filter(lambda d: d >= 10*10**6, tdiffs)) assert len(high_delay_diffs) < 15, f"Too many high delay packages: {high_delay_diffs}" @@ -219,16 +220,14 @@ class TestSensord(unittest.TestCase): assert stddev < 2*10**6, f"Timing diffs have to high stddev: {stddev}" def test_sensor_values_sanity_check(self): - sensor_values = dict() - for event in self.events: - for m in event.sensorEvents: - - # filter unset events (bmx magn) - if m.version == 0: - continue + sensor_values = dict() + for etype in self.events: + for measurement in self.events[etype]: + m = getattr(measurement, measurement.which()) key = (m.source.raw, m.which()) values = getattr(m, m.which()) + if hasattr(values, 'v'): values = values.v values = np.atleast_1d(values) @@ -265,7 +264,8 @@ class TestSensord(unittest.TestCase): time.sleep(1) state_two = get_proc_interrupts(LSM_INT_GPIO) - assert state_one != state_two, f"no interrupts received after sensord start!\n{state_one} {state_two}" + error_msg = f"no interrupts received after sensord start!\n{state_one} {state_two}" + assert state_one != state_two, error_msg managed_processes["sensord"].stop() time.sleep(1) @@ -276,6 +276,5 @@ class TestSensord(unittest.TestCase): state_two = get_proc_interrupts(LSM_INT_GPIO) assert state_one == state_two, "Interrupts received after sensord stop!" - if __name__ == "__main__": unittest.main() diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 038b0cf468..c8389bb71c 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -328,7 +328,8 @@ CONFIGS = [ proc_name="locationd", pub_sub={ "cameraOdometry": ["liveLocationKalman"], - "sensorEvents": [], "gpsLocationExternal": [], "liveCalibration": [], "carState": [], + "accelerometer": [], "gyroscope": [], "magnetometer": [], + "gpsLocationExternal": [], "liveCalibration": [], "carState": [], }, ignore=["logMonoTime", "valid"], init_callback=get_car_params, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 98fbb74ae4..e308d2dff4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9098c1cf6993598071c3e27448356eef86660d02 +761eada809a0eaa67989e6e435042633f965d1fe \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 356016c642..54c84978c2 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -90,30 +90,10 @@ def replay_device_state(s, msgs): rk.keep_time() -def replay_sensor_events(s, msgs): - pm = messaging.PubMaster([s, ]) - rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) - smsgs = [m for m in msgs if m.which() == s] - while True: - for m in smsgs: - new_m = m.as_builder() - new_m.logMonoTime = int(sec_since_boot() * 1e9) - - for evt in new_m.sensorEvents: - evt.timestamp = new_m.logMonoTime - - pm.send(s, new_m) - rk.keep_time() - - def replay_sensor_event(s, msgs): - smsgs = [m for m in msgs if m.which() == s] - #if len(smsgs) == 0: - # return - pm = messaging.PubMaster([s, ]) rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) - + smsgs = [m for m in msgs if m.which() == s] while True: for m in smsgs: m = m.as_builder() @@ -213,12 +193,12 @@ def migrate_carparams(lr): def migrate_sensorEvents(lr): all_msgs = [] for msg in lr: - if msg.which() != 'sensorEvents': + if msg.which() != 'sensorEventsDEPRECATED': all_msgs.append(msg) continue # migrate to split sensor events - for evt in msg.sensorEvents: + for evt in msg.sensorEventsDEPRECATED: # build new message for each sensor type sensor_service = '' if evt.which() == 'acceleration': @@ -244,9 +224,6 @@ def migrate_sensorEvents(lr): all_msgs.append(m.as_reader()) - # append also legacy sensorEvents, to have both (remove later) - all_msgs.append(msg) - return all_msgs @@ -270,7 +247,6 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm) fake_daemons = { 'sensord': [ - multiprocessing.Process(target=replay_sensor_events, args=('sensorEvents', lr)), multiprocessing.Process(target=replay_sensor_event, args=('accelerometer', lr)), multiprocessing.Process(target=replay_sensor_event, args=('gyroscope', lr)), multiprocessing.Process(target=replay_sensor_event, args=('magnetometer', lr)), diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index 0e4f47963b..cf836f3db7 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -29,7 +29,7 @@ REPEAT_COUNTER = 5 PRINT_DECIMATION = 100 STEER_RATIO = 15. -pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'sensorEvents', 'can', "gpsLocationExternal"]) +pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'accelerometer', 'gyroscope', 'can', "gpsLocationExternal"]) sm = messaging.SubMaster(['carControl', 'controlsState']) def parse_args(add_args=None): @@ -123,17 +123,20 @@ class Camerad: def imu_callback(imu, vehicle_state): vehicle_state.bearing_deg = math.degrees(imu.compass) - dat = messaging.new_message('sensorEvents', 2) - dat.sensorEvents[0].sensor = 4 - dat.sensorEvents[0].type = 0x10 - dat.sensorEvents[0].init('acceleration') - dat.sensorEvents[0].acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z] + dat = messaging.new_message('accelerometer') + dat.accelerometer.sensor = 4 + dat.accelerometer.type = 0x1 + dat.accelerometer.init('acceleration') + dat.accelerometer.acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z] + pm.send('accelerometer', dat) + # copied these numbers from locationd - dat.sensorEvents[1].sensor = 5 - dat.sensorEvents[1].type = 0x10 - dat.sensorEvents[1].init('gyroUncalibrated') - dat.sensorEvents[1].gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z] - pm.send('sensorEvents', dat) + dat = messaging.new_message('gyroscope') + dat.gyroscope.sensor = 5 + dat.gyroscope.type = 0x10 + dat.gyroscope.init('gyroUncalibrated') + dat.gyroscope.gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z] + pm.send('gyroscope', dat) def panda_state_function(vs: VehicleState, exit_event: threading.Event): From 4bc175bb9c9dd5976d1dba40abae716bb4a207ba Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 29 Sep 2022 16:36:43 -0700 Subject: [PATCH 140/685] Live torque fix (#25868) * fix np empty array quirk * reset to offline values if saved values were not valid live * edit cloudlog text --- selfdrive/locationd/torqued.py | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 9f07008214..78c3029af4 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -42,7 +42,7 @@ def slope2rot(slope): return np.array([[cos, -sin], [sin, cos]]) -class npqueue: +class NPQueue: def __init__(self, maxlen, rowsize): self.maxlen = maxlen self.arr = np.empty((0, rowsize)) @@ -61,7 +61,7 @@ class npqueue: class PointBuckets: def __init__(self, x_bounds, min_points): self.x_bounds = x_bounds - self.buckets = {bounds: npqueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds} + self.buckets = {bounds: NPQueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds} self.buckets_min_points = {bounds: min_point for bounds, min_point in zip(x_bounds, min_points)} def bucket_lengths(self): @@ -80,7 +80,7 @@ class PointBuckets: break def get_points(self, num_points=None): - points = np.concatenate([x.arr for x in self.buckets.values() if len(x) > 0]) + points = np.vstack([x.arr for x in self.buckets.values()]) if num_points is None: return points return points[np.random.choice(np.arange(len(points)), min(len(points), num_points), replace=False)] @@ -127,12 +127,13 @@ class TorqueEstimator: cache_ltp = log.Event.from_bytes(torque_cache).liveTorqueParameters cache_CP = car.CarParams.from_bytes(params_cache) if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION): - initial_params = { - 'latAccelFactor': cache_ltp.latAccelFactorFiltered, - 'latAccelOffset': cache_ltp.latAccelOffsetFiltered, - 'frictionCoefficient': cache_ltp.frictionCoefficientFiltered, - 'points': cache_ltp.points - } + if cache_ltp.liveValid: + initial_params = { + 'latAccelFactor': cache_ltp.latAccelFactorFiltered, + 'latAccelOffset': cache_ltp.latAccelOffsetFiltered, + 'frictionCoefficient': cache_ltp.frictionCoefficientFiltered + } + initial_params['points'] = cache_ltp.points self.decay = cache_ltp.decay self.filtered_points.load_points(initial_params['points']) cloudlog.info("restored torque params from cache") @@ -224,7 +225,7 @@ class TorqueEstimator: self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': friction_coeff}) self.invalid_values_tracker = max(0.0, self.invalid_values_tracker - 0.5) else: - cloudlog.exception("live torque params are numerically unstable") + cloudlog.exception("Live torque parameters are outside acceptable bounds.") liveTorqueParameters.liveValid = False self.invalid_values_tracker += 1.0 # Reset when ~10 invalid over 5 secs From c5514f344024f7523ba45dffe92e09147fb3704f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 29 Sep 2022 19:07:28 -0700 Subject: [PATCH 141/685] IsoTpParallelQuery: process all functional responses (#25930) * Revert "VIN: query physical addresses (#25122)" This reverts commit 0697ca223974f2361ca655506ceab7d18917b9de. * try sending tester present * do CAN fingerprinting first * looks like we can get rid of this! * remove import * no cache for testing * revert * revert * move function to fw_versions * Exception * Revert fp order, sleep to let PubSocket connect * comment comment * space * Update selfdrive/car/car_helpers.py * at 0.06 is where it becomes more consistent * treat functional addrs like physical addrs (process all responses) * fixes and debugging * fix * revert other changes * Update selfdrive/car/isotp_parallel_query.py * caps --- selfdrive/car/isotp_parallel_query.py | 27 ++++++++++++--------------- 1 file changed, 12 insertions(+), 15 deletions(-) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 31dc31d7a4..5bc27770cd 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -16,17 +16,19 @@ class IsoTpParallelQuery: self.request = request self.response = response self.debug = debug - self.functional_addr = functional_addr self.response_pending_timeout = response_pending_timeout - self.real_addrs = [] - for a in addrs: - if isinstance(a, tuple): - self.real_addrs.append(a) - else: - self.real_addrs.append((a, None)) + if functional_addr: + assert all([a in FUNCTIONAL_ADDRS for a in addrs]), "Non-functional addresses in addrs" + real_addrs = [] + if 0x7DF in addrs: + real_addrs.extend([(0x7E0 + i, None) for i in range(8)]) + if 0x18DB33F1 in addrs: + real_addrs.extend([(0x18DA00F1 + (i << 8), None) for i in range(256)]) + else: + real_addrs = [a if isinstance(a, tuple) else (a, None) for a in addrs] - self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in self.real_addrs} + self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs} self.msg_buffer = defaultdict(list) def rx(self): @@ -35,13 +37,8 @@ class IsoTpParallelQuery: for packet in can_packets: for msg in packet.can: - if msg.src == self.bus: - if self.functional_addr: - if (0x7E8 <= msg.address <= 0x7EF) or (0x18DAF100 <= msg.address <= 0x18DAF1FF): - fn_addr = next(a for a in FUNCTIONAL_ADDRS if msg.address - a <= 32) - self.msg_buffer[fn_addr].append((msg.address, msg.busTime, msg.dat, msg.src)) - elif msg.address in self.msg_addrs.values(): - self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src)) + if msg.src == self.bus and msg.address in self.msg_addrs.values(): + self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src)) def _can_tx(self, tx_addr, dat, bus): """Helper function to send single message""" From 9e2cca23cfefd21483f78b0712583d564a6a3539 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 29 Sep 2022 21:15:34 -0700 Subject: [PATCH 142/685] Revert "IsoTpParallelQuery: process all functional responses (#25930)" This reverts commit c5514f344024f7523ba45dffe92e09147fb3704f. --- selfdrive/car/isotp_parallel_query.py | 27 +++++++++++++++------------ 1 file changed, 15 insertions(+), 12 deletions(-) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 5bc27770cd..31dc31d7a4 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -16,19 +16,17 @@ class IsoTpParallelQuery: self.request = request self.response = response self.debug = debug + self.functional_addr = functional_addr self.response_pending_timeout = response_pending_timeout - if functional_addr: - assert all([a in FUNCTIONAL_ADDRS for a in addrs]), "Non-functional addresses in addrs" - real_addrs = [] - if 0x7DF in addrs: - real_addrs.extend([(0x7E0 + i, None) for i in range(8)]) - if 0x18DB33F1 in addrs: - real_addrs.extend([(0x18DA00F1 + (i << 8), None) for i in range(256)]) - else: - real_addrs = [a if isinstance(a, tuple) else (a, None) for a in addrs] + self.real_addrs = [] + for a in addrs: + if isinstance(a, tuple): + self.real_addrs.append(a) + else: + self.real_addrs.append((a, None)) - self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs} + self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in self.real_addrs} self.msg_buffer = defaultdict(list) def rx(self): @@ -37,8 +35,13 @@ class IsoTpParallelQuery: for packet in can_packets: for msg in packet.can: - if msg.src == self.bus and msg.address in self.msg_addrs.values(): - self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src)) + if msg.src == self.bus: + if self.functional_addr: + if (0x7E8 <= msg.address <= 0x7EF) or (0x18DAF100 <= msg.address <= 0x18DAF1FF): + fn_addr = next(a for a in FUNCTIONAL_ADDRS if msg.address - a <= 32) + self.msg_buffer[fn_addr].append((msg.address, msg.busTime, msg.dat, msg.src)) + elif msg.address in self.msg_addrs.values(): + self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src)) def _can_tx(self, tx_addr, dat, bus): """Helper function to send single message""" From 5d33199905cbf9d9b45ef722a40530b08d5cecf4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 29 Sep 2022 22:36:09 -0700 Subject: [PATCH 143/685] sim: fix sensor freq and timestamps (#25937) * sim: fix sensor freq and timestamps * 100hz * fix that too --- selfdrive/locationd/locationd.cc | 4 ++-- tools/sim/bridge.py | 36 +++++++++++++++++++------------- 2 files changed, 23 insertions(+), 17 deletions(-) diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 087710d846..ac340fb4aa 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -499,7 +499,7 @@ int Localizer::locationd_thread() { } const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", "carState", "carParams", - "accelerometer", "gyroscope", "magnetometer"}; + "accelerometer", "gyroscope"}; PubMaster pm({"liveLocationKalman"}); // TODO: remove carParams once we're always sending at 100Hz @@ -526,7 +526,7 @@ int Localizer::locationd_thread() { if (sm.updated(trigger_msg)) { bool inputsOK = sm.allAliveAndValid(); bool gpsOK = this->isGpsOK(); - bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope", "magnetometer"}); + bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"}); MessageBuilder msg_builder; kj::ArrayPtr bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized); diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index cf836f3db7..c400eb93f5 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -122,21 +122,26 @@ class Camerad: pm.send(pub_type, dat) def imu_callback(imu, vehicle_state): - vehicle_state.bearing_deg = math.degrees(imu.compass) - dat = messaging.new_message('accelerometer') - dat.accelerometer.sensor = 4 - dat.accelerometer.type = 0x1 - dat.accelerometer.init('acceleration') - dat.accelerometer.acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z] - pm.send('accelerometer', dat) - - # copied these numbers from locationd - dat = messaging.new_message('gyroscope') - dat.gyroscope.sensor = 5 - dat.gyroscope.type = 0x10 - dat.gyroscope.init('gyroUncalibrated') - dat.gyroscope.gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z] - pm.send('gyroscope', dat) + # send 5x since 'sensor_tick' doesn't seem to work. limited by the world tick? + for _ in range(5): + vehicle_state.bearing_deg = math.degrees(imu.compass) + dat = messaging.new_message('accelerometer') + dat.accelerometer.sensor = 4 + dat.accelerometer.type = 0x1 + dat.accelerometer.timestamp = dat.logMonoTime # TODO: use the IMU timestamp + dat.accelerometer.init('acceleration') + dat.accelerometer.acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z] + pm.send('accelerometer', dat) + + # copied these numbers from locationd + dat = messaging.new_message('gyroscope') + dat.gyroscope.sensor = 5 + dat.gyroscope.type = 0x10 + dat.gyroscope.timestamp = dat.logMonoTime # TODO: use the IMU timestamp + dat.gyroscope.init('gyroUncalibrated') + dat.gyroscope.gyroUncalibrated.v = [imu.gyroscope.x, imu.gyroscope.y, imu.gyroscope.z] + pm.send('gyroscope', dat) + time.sleep(0.01) def panda_state_function(vs: VehicleState, exit_event: threading.Event): @@ -351,6 +356,7 @@ class CarlaBridge: # re-enable IMU imu_bp = blueprint_library.find('sensor.other.imu') + imu_bp.set_attribute('sensor_tick', '0.01') imu = world.spawn_actor(imu_bp, transform, attach_to=vehicle) imu.listen(lambda imu: imu_callback(imu, vehicle_state)) From a75e85045e19016efd9e038fa2e8b53d50ac6c35 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 30 Sep 2022 12:24:56 -0700 Subject: [PATCH 144/685] build_devel: only fetch target branches (#25941) --- release/build_devel.sh | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/release/build_devel.sh b/release/build_devel.sh index fc3f8184a2..7108334808 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -12,10 +12,7 @@ fi # set git identity source $DIR/identity.sh -echo "[-] Setting up repo T=$SECONDS" - -cd $SOURCE_DIR -git fetch origin +echo "[-] Setting up target repo T=$SECONDS" rm -rf $TARGET_DIR mkdir -p $TARGET_DIR From 80c40048cb62fff15a8e884cb05fba8ddfb11809 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 30 Sep 2022 12:25:11 -0700 Subject: [PATCH 145/685] sensord: test fixups (#25935) * sensord: test fixups * fix linter * check freq * fp seems reliable * clean that up * update refs Co-authored-by: Comma Device Co-authored-by: Bruce Wayne --- selfdrive/sensord/tests/test_sensord.py | 124 ++++++++---------- .../test/process_replay/process_replay.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 57 insertions(+), 71 deletions(-) mode change 100644 => 100755 selfdrive/sensord/tests/test_sensord.py diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py old mode 100644 new mode 100755 index 1af76c8384..82bd28446b --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -10,41 +10,33 @@ from cereal import log from system.hardware import TICI, HARDWARE from selfdrive.manager.process_config import managed_processes +BMX = { + ('bmx055', 'acceleration'), + ('bmx055', 'gyroUncalibrated'), + ('bmx055', 'magneticUncalibrated'), + ('bmx055', 'temperature'), +} + +LSM = { + ('lsm6ds3', 'acceleration'), + ('lsm6ds3', 'gyroUncalibrated'), + ('lsm6ds3', 'temperature'), +} +LSM_C = {(x[0]+'trc', x[1]) for x in LSM} + +MMC = { + ('mmc5603nj', 'magneticUncalibrated'), +} + +RPR = { + ('rpr0521', 'light'), +} + SENSOR_CONFIGURATIONS = ( - { - ('bmx055', 'acceleration'), - ('bmx055', 'gyroUncalibrated'), - ('bmx055', 'magneticUncalibrated'), - ('bmx055', 'temperature'), - ('lsm6ds3', 'acceleration'), - ('lsm6ds3', 'gyroUncalibrated'), - ('lsm6ds3', 'temperature'), - ('rpr0521', 'light'), - }, - { - ('lsm6ds3', 'acceleration'), - ('lsm6ds3', 'gyroUncalibrated'), - ('lsm6ds3', 'temperature'), - ('mmc5603nj', 'magneticUncalibrated'), - ('rpr0521', 'light'), - }, - { - ('bmx055', 'acceleration'), - ('bmx055', 'gyroUncalibrated'), - ('bmx055', 'magneticUncalibrated'), - ('bmx055', 'temperature'), - ('lsm6ds3trc', 'acceleration'), - ('lsm6ds3trc', 'gyroUncalibrated'), - ('lsm6ds3trc', 'temperature'), - ('rpr0521', 'light'), - }, - { - ('lsm6ds3trc', 'acceleration'), - ('lsm6ds3trc', 'gyroUncalibrated'), - ('lsm6ds3trc', 'temperature'), - ('mmc5603nj', 'magneticUncalibrated'), - ('rpr0521', 'light'), - }, + (BMX | LSM | RPR), + (MMC | LSM | RPR), + (BMX | LSM_C | RPR), + (MMC| LSM_C | RPR), ) Sensor = log.SensorEventData.SensorSource @@ -78,19 +70,14 @@ ALL_SENSORS = { } } -LSM_INT_GPIO = 84 - -def get_proc_interrupts(int_pin): - with open("/proc/interrupts") as f: - lines = f.read().split("\n") +LSM_IRQ = 336 - for line in lines: - if f" {int_pin} " in line: - return ''.join(list(filter(lambda e: e != '', line.split(' ')))[1:6]) - return "" +def get_irq_count(irq: int): + with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f: + per_cpu = map(int, f.read().split(",")) + return sum(per_cpu) def read_sensor_events(duration_sec): - sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2', 'gyroscope2', 'lightSensor', 'temperatureSensor'] esocks = {} @@ -104,8 +91,7 @@ def read_sensor_events(duration_sec): events[esock] += messaging.drain_sock(esocks[esock]) time.sleep(0.1) - for etype in events: - assert len(events[etype]) != 0, f"No {etype} events collected" + assert sum(map(len, events.values())) != 0, "No sensor events collected!" return events @@ -120,11 +106,14 @@ class TestSensord(unittest.TestCase): # read initial sensor values every test case can use os.system("pkill -f ./_sensord") - managed_processes["sensord"].start() - time.sleep(3) - cls.sample_secs = 10 - cls.events = read_sensor_events(cls.sample_secs) - managed_processes["sensord"].stop() + try: + managed_processes["sensord"].start() + time.sleep(3) + cls.sample_secs = 10 + cls.events = read_sensor_events(cls.sample_secs) + finally: + # teardown won't run if this doesn't succeed + managed_processes["sensord"].stop() @classmethod def tearDownClass(cls): @@ -168,9 +157,9 @@ class TestSensord(unittest.TestCase): high_delay_diffs = list(filter(lambda d: d >= 20., tdiffs)) assert len(high_delay_diffs) < 15, f"Too many large diffs: {high_delay_diffs}" - # 100-108Hz, expected 104Hz avg_diff = sum(tdiffs)/len(tdiffs) - assert 9.3 < avg_diff < 10., f"avg difference {avg_diff}, below threshold" + avg_freq = 1. / (avg_diff * 1e-3) + assert 92. < avg_freq < 114., f"avg freq {avg_freq}Hz wrong, expected 104Hz" stddev = np.std(tdiffs) assert stddev < 2.0, f"Standard-dev to big {stddev}" @@ -201,26 +190,24 @@ class TestSensord(unittest.TestCase): m = getattr(measurement, measurement.which()) # check if gyro and accel timestamps are before logMonoTime - if str(m.source).startswith("lsm6ds3"): - if m.which() != 'temperature': - err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}" - assert m.timestamp < measurement.logMonoTime, err_msg + if str(m.source).startswith("lsm6ds3") and m.which() != 'temperature': + err_msg = f"Timestamp after logMonoTime: {m.timestamp} > {measurement.logMonoTime}" + assert m.timestamp < measurement.logMonoTime, err_msg # negative values might occur, as non interrupt packages created # before the sensor is read - tdiffs.append(abs(measurement.logMonoTime - m.timestamp)) + tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6) - high_delay_diffs = set(filter(lambda d: d >= 10*10**6, tdiffs)) - assert len(high_delay_diffs) < 15, f"Too many high delay packages: {high_delay_diffs}" + high_delay_diffs = set(filter(lambda d: d >= 15., tdiffs)) + assert len(high_delay_diffs) < 20, f"Too many measurements published : {high_delay_diffs}" avg_diff = round(sum(tdiffs)/len(tdiffs), 4) - assert avg_diff < 4*10**6, f"Avg packet diff: {avg_diff:.1f}ns" + assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms" stddev = np.std(tdiffs) - assert stddev < 2*10**6, f"Timing diffs have to high stddev: {stddev}" + assert stddev < 2, f"Timing diffs have too high stddev: {stddev}" def test_sensor_values_sanity_check(self): - sensor_values = dict() for etype in self.events: for measurement in self.events[etype]: @@ -239,7 +226,6 @@ class TestSensord(unittest.TestCase): # Sanity check sensor values and counts for sensor, stype in sensor_values: - for s in ALL_SENSORS[sensor]: if s.type != stype: continue @@ -255,14 +241,13 @@ class TestSensord(unittest.TestCase): assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg def test_sensor_verify_no_interrupts_after_stop(self): - managed_processes["sensord"].start() time.sleep(3) # read /proc/interrupts to verify interrupts are received - state_one = get_proc_interrupts(LSM_INT_GPIO) + state_one = get_irq_count(LSM_IRQ) time.sleep(1) - state_two = get_proc_interrupts(LSM_INT_GPIO) + state_two = get_irq_count(LSM_IRQ) error_msg = f"no interrupts received after sensord start!\n{state_one} {state_two}" assert state_one != state_two, error_msg @@ -271,10 +256,11 @@ class TestSensord(unittest.TestCase): time.sleep(1) # read /proc/interrupts to verify no more interrupts are received - state_one = get_proc_interrupts(LSM_INT_GPIO) + state_one = get_irq_count(LSM_IRQ) time.sleep(1) - state_two = get_proc_interrupts(LSM_INT_GPIO) + state_two = get_irq_count(LSM_IRQ) assert state_one == state_two, "Interrupts received after sensord stop!" + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index c8389bb71c..10084bff9f 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -328,7 +328,7 @@ CONFIGS = [ proc_name="locationd", pub_sub={ "cameraOdometry": ["liveLocationKalman"], - "accelerometer": [], "gyroscope": [], "magnetometer": [], + "accelerometer": [], "gyroscope": [], "gpsLocationExternal": [], "liveCalibration": [], "carState": [], }, ignore=["logMonoTime", "valid"], diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e308d2dff4..7485942244 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -761eada809a0eaa67989e6e435042633f965d1fe \ No newline at end of file +5d33199905cbf9d9b45ef722a40530b08d5cecf4 \ No newline at end of file From 75735675bddd39abf01fc1e1c8f004394559f51f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 30 Sep 2022 14:49:27 -0700 Subject: [PATCH 146/685] process replay: rename second HYUNDAI entry --- selfdrive/test/process_replay/test_processes.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 5ad947b225..28134385d5 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI", "d824e27e8c60172c|2022-09-13--11-26-50--2"), # HYUNDAI.KIA_EV6 + ("HYUNDAI2", "d824e27e8c60172c|2022-09-13--11-26-50--2"), # HYUNDAI.KIA_EV6 ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 @@ -40,7 +40,7 @@ source_segments = [ segments = [ ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"), ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"), - ("HYUNDAI", "regen11AA43BCA5F|2022-09-27--15-39-54--0"), + ("HYUNDAI2", "regen11AA43BCA5F|2022-09-27--15-39-54--0"), ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"), ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"), ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"), From bea960675f2ae7d2d9e3c95d8c79fde6b61d93d0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 30 Sep 2022 15:15:13 -0700 Subject: [PATCH 147/685] IsoTpParallelQuery: process all functional responses (#25939) * stash * process all functional addrs (stash) * clean up * rm * simplify * let user pass in tx for rx addrs * revert panda * simplify * comment order * need to go by rx_addr now * Revert "need to go by rx_addr now" This reverts commit 1197ecfbc5b9e5df20b523a0623f644cd8cae1ef. * stash * should also work * this seems pretty clean * not used * properly use * comment * some fixes * some fixes * send consecutive frames on physical addrs * bump panda * looks better * setup_only * Revert VIN changes * rev * bump panda to master * Update selfdrive/car/isotp_parallel_query.py --- panda | 2 +- selfdrive/car/isotp_parallel_query.py | 54 +++++++++++++-------------- 2 files changed, 26 insertions(+), 30 deletions(-) diff --git a/panda b/panda index 51f023bc66..1910db8d4c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 51f023bc66c2caa9007be1dda2738d0df51cbf0e +Subproject commit 1910db8d4c3f932fe85b186fba1d24795cb2b742 diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 31dc31d7a4..d3e4972bd8 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -9,24 +9,21 @@ from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_a class IsoTpParallelQuery: - def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addr=False, debug=False, response_pending_timeout=10): + def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addrs=None, debug=False, response_pending_timeout=10): self.sendcan = sendcan self.logcan = logcan self.bus = bus self.request = request self.response = response + self.functional_addrs = functional_addrs or [] self.debug = debug - self.functional_addr = functional_addr self.response_pending_timeout = response_pending_timeout - self.real_addrs = [] - for a in addrs: - if isinstance(a, tuple): - self.real_addrs.append(a) - else: - self.real_addrs.append((a, None)) + real_addrs = [a if isinstance(a, tuple) else (a, None) for a in addrs] + for tx_addr, _ in real_addrs: + assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}" - self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in self.real_addrs} + self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs} self.msg_buffer = defaultdict(list) def rx(self): @@ -35,13 +32,8 @@ class IsoTpParallelQuery: for packet in can_packets: for msg in packet.can: - if msg.src == self.bus: - if self.functional_addr: - if (0x7E8 <= msg.address <= 0x7EF) or (0x18DAF100 <= msg.address <= 0x18DAF1FF): - fn_addr = next(a for a in FUNCTIONAL_ADDRS if msg.address - a <= 32) - self.msg_buffer[fn_addr].append((msg.address, msg.busTime, msg.dat, msg.src)) - elif msg.address in self.msg_addrs.values(): - self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src)) + if msg.src == self.bus and msg.address in self.msg_addrs.values(): + self.msg_buffer[msg.address].append((msg.address, msg.busTime, msg.dat, msg.src)) def _can_tx(self, tx_addr, dat, bus): """Helper function to send single message""" @@ -71,6 +63,13 @@ class IsoTpParallelQuery: messaging.drain_sock(self.logcan) self.msg_buffer = defaultdict(list) + def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr): + can_client = CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr, rx_addr, + self.bus, sub_addr=sub_addr, debug=self.debug) + + max_len = 8 if sub_addr is None else 7 + return IsoTpMessage(can_client, timeout=0, max_len=max_len, debug=self.debug) + def get_data(self, timeout, total_timeout=60.): self._drain_rx() @@ -79,22 +78,19 @@ class IsoTpParallelQuery: request_counter = {} request_done = {} for tx_addr, rx_addr in self.msg_addrs.items(): - # rx_addr not set when using functional tx addr - id_addr = rx_addr or tx_addr[0] - sub_addr = tx_addr[1] - - can_client = CanClient(self._can_tx, partial(self._can_rx, id_addr, sub_addr=sub_addr), tx_addr[0], rx_addr, - self.bus, sub_addr=sub_addr, debug=self.debug) - - max_len = 8 if sub_addr is None else 7 - - msg = IsoTpMessage(can_client, timeout=0, max_len=max_len, debug=self.debug) - msg.send(self.request[0]) - - msgs[tx_addr] = msg + msgs[tx_addr] = self._create_isotp_msg(*tx_addr, rx_addr) request_counter[tx_addr] = 0 request_done[tx_addr] = False + # Send first request to functional addrs, subsequent responses are handled on physical addrs + if len(self.functional_addrs): + for addr in self.functional_addrs: + self._create_isotp_msg(addr, None, -1).send(self.request[0]) + + # If querying functional addrs, set up physical IsoTpMessages to send consecutive frames + for msg in msgs.values(): + msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0) + results = {} start_time = time.monotonic() response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs} From 4bd146ee7af639f4a49e3d5cdeeab4ed022190ec Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 30 Sep 2022 15:43:04 -0700 Subject: [PATCH 148/685] Longitudinal planner: clip a_desired to cruise limits (#25928) * Clip a_desired to cruise limits * Update selfdrive/controls/lib/longitudinal_planner.py * fix * update refs * explicit --- selfdrive/controls/lib/longitudinal_planner.py | 10 ++++++---- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 2 +- 3 files changed, 8 insertions(+), 6 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 45a6db2e90..6ec3762a94 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import math import numpy as np -from common.numpy_fast import interp +from common.numpy_fast import clip, interp import cereal.messaging as messaging from common.conversions import Conversions as CV @@ -106,15 +106,17 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) + accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] + accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) + if reset_state: self.v_desired_filter.x = v_ego - self.a_desired = 0.0 + # Clip aEgo to cruise limits to prevent large accelerations when becoming active + self.a_desired = clip(sm['carState'].aEgo, accel_limits[0], accel_limits[1]) # Prevent divergence, smooth in current v_ego self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) - accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] - accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) if force_slow_decel: # if required so, force a smooth deceleration accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7485942244..1f459b1948 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -5d33199905cbf9d9b45ef722a40530b08d5cecf4 \ No newline at end of file +53079010a5db8105854212157b5ee90029df7b92 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 28134385d5..38ed0e07ad 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI2", "d824e27e8c60172c|2022-09-13--11-26-50--2"), # HYUNDAI.KIA_EV6 + ("HYUNDAI2", "d824e27e8c60172c|2022-09-13--11-26-50--2"), # HYUNDAI.KIA_EV6 ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 From 4d7f4b4c9db739c85989797b750226b0ec217f71 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 30 Sep 2022 16:01:22 -0700 Subject: [PATCH 149/685] IsoTpParallelQuery: don't return rx_addr (#25934) * revert isotpparallelquery returning rx addr for functional special case * we don't really use the tx addr (and soon won't make sense with fun querying) --- selfdrive/car/car_helpers.py | 2 +- selfdrive/car/fw_versions.py | 10 +++++----- selfdrive/car/isotp_parallel_query.py | 2 +- selfdrive/car/vin.py | 11 ++++++----- 4 files changed, 13 insertions(+), 12 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 4f098fadb5..273364071b 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -97,7 +97,7 @@ def fingerprint(logcan, sendcan): car_fw = list(cached_params.carFw) else: cloudlog.warning("Getting VIN & FW versions") - _, vin_rx_addr, vin = get_vin(logcan, sendcan, bus) + vin_rx_addr, vin = get_vin(logcan, sendcan, bus) ecu_rx_addrs = get_present_ecus(logcan, sendcan) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index bf88e77db5..390deab52e 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -253,13 +253,13 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, if addrs: query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) - for (addr, rx_addr), version in query.get_data(timeout).items(): + for (tx_addr, sub_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() - f.ecu = ecu_types.get((brand, addr[0], addr[1]), Ecu.unknown) + f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown) f.fwVersion = version f.address = addr[0] - f.responseAddress = rx_addr + f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset) f.request = r.request f.brand = brand f.bus = r.bus @@ -303,8 +303,8 @@ if __name__ == "__main__": t = time.time() print("Getting vin...") - addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug) - print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}') + vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug) + print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}') print(f"Getting VIN took {time.time() - t:.3f} s") print() diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index d3e4972bd8..94c8d052b3 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -123,7 +123,7 @@ class IsoTpParallelQuery: msg.send(self.request[counter + 1]) request_counter[tx_addr] += 1 else: - results[(tx_addr, msg._can_client.rx_addr)] = dat[len(expected_response):] + results[tx_addr] = dat[len(expected_response):] request_done[tx_addr] = True else: error_code = dat[2] if len(dat) > 2 else -1 diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 860f3b0fa2..2974cebada 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -2,6 +2,7 @@ import re import cereal.messaging as messaging +from panda.python.uds import get_rx_addr_for_tx_addr from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery from selfdrive.car.fw_query_definitions import StdQueries from system.swaglog import cloudlog @@ -20,18 +21,18 @@ def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)): try: query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], debug=debug) - for (addr, rx_addr), vin in query.get_data(timeout).items(): + for (tx_addr, _), vin in query.get_data(timeout).items(): # Honda Bosch response starts with a length, trim to correct length if vin.startswith(b'\x11'): vin = vin[1:18] - return addr[0], rx_addr, vin.decode() + return get_rx_addr_for_tx_addr(tx_addr), vin.decode() cloudlog.error(f"vin query retry ({i+1}) ...") except Exception: cloudlog.exception("VIN query exception") - return 0, 0, VIN_UNKNOWN + return 0, VIN_UNKNOWN if __name__ == "__main__": @@ -49,5 +50,5 @@ if __name__ == "__main__": logcan = messaging.sub_sock('can') time.sleep(1) - addr, vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug) - print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}') + vin_rx_addr, vin = get_vin(logcan, sendcan, args.bus, args.timeout, args.retry, debug=args.debug) + print(f'RX: {hex(vin_rx_addr)}, VIN: {vin}') From 86f0632afdafe75869e07dd7e329f866579e60c9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 30 Sep 2022 17:44:48 -0700 Subject: [PATCH 150/685] Use tx_addr/sub_addr from query --- selfdrive/car/fw_versions.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 390deab52e..7e03f4b020 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -258,14 +258,14 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown) f.fwVersion = version - f.address = addr[0] + f.address = tx_addr f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset) f.request = r.request f.brand = brand f.bus = r.bus - if addr[1] is not None: - f.subAddress = addr[1] + if sub_addr is not None: + f.subAddress = sub_addr car_fw.append(f) except Exception: From 68cc53a0852fc1ec620c81d996b868fa26048ca2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 30 Sep 2022 20:29:54 -0700 Subject: [PATCH 151/685] VIN query: switch to functional address (#25933) * stash * go in defined order * \n feels cleaner --- selfdrive/car/vin.py | 21 +++++++++++++-------- 1 file changed, 13 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 2974cebada..50c2abde46 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -2,7 +2,7 @@ import re import cereal.messaging as messaging -from panda.python.uds import get_rx_addr_for_tx_addr +from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery from selfdrive.car.fw_query_definitions import StdQueries from system.swaglog import cloudlog @@ -16,18 +16,23 @@ def is_valid_vin(vin: str): def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): - addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI + addrs = list(range(0x7e0, 0x7e8)) + list(range(0x18DA00F1, 0x18DB00F1, 0x100)) # addrs to process/wait for + valid_vin_addrs = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1] # engine, VMCU, 29-bit engine, PGM-FI for i in range(retry): for request, response in ((StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE), (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE)): try: - query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], debug=debug) - for (tx_addr, _), vin in query.get_data(timeout).items(): + query = IsoTpParallelQuery(sendcan, logcan, bus, addrs, [request, ], [response, ], functional_addrs=FUNCTIONAL_ADDRS, debug=debug) + results = query.get_data(timeout) - # Honda Bosch response starts with a length, trim to correct length - if vin.startswith(b'\x11'): - vin = vin[1:18] + for addr in valid_vin_addrs: + vin = results.get((addr, None)) + if vin is not None: + # Honda Bosch response starts with a length, trim to correct length + if vin.startswith(b'\x11'): + vin = vin[1:18] + + return get_rx_addr_for_tx_addr(addr), vin.decode() - return get_rx_addr_for_tx_addr(tx_addr), vin.decode() cloudlog.error(f"vin query retry ({i+1}) ...") except Exception: cloudlog.exception("VIN query exception") From f6119603912efa4fe28f5da21f3d57f6903a0c77 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 1 Oct 2022 14:47:06 -0700 Subject: [PATCH 152/685] networking: add unmetered cellular toggle (#25902) * add metered toggle to UI * add GsmMetered param * add NMMetered constants * change LTE connection settings: connection.metered * change to GsmUnmetered override * update translations * debug ui * remove comment * Revert "debug ui" This reverts commit 2ad9e65ea229b814782be9f30cc7664125d7e908. * 'Force Unmetered Cellular' toggle * update translations * remove description * update translations * change unmetered to metered --- common/params.cc | 1 + selfdrive/athena/tests/helpers.py | 2 +- selfdrive/manager/manager.py | 1 + selfdrive/ui/qt/offroad/networking.cc | 18 +++++++++++++----- selfdrive/ui/qt/offroad/networkmanager.h | 7 +++++++ selfdrive/ui/qt/offroad/wifiManager.cc | 9 ++++++++- selfdrive/ui/qt/offroad/wifiManager.h | 2 +- selfdrive/ui/translations/main_ja.ts | 8 ++++++++ selfdrive/ui/translations/main_ko.ts | 8 ++++++++ selfdrive/ui/translations/main_pt-BR.ts | 8 ++++++++ selfdrive/ui/translations/main_zh-CHS.ts | 8 ++++++++ selfdrive/ui/translations/main_zh-CHT.ts | 8 ++++++++ 12 files changed, 72 insertions(+), 8 deletions(-) diff --git a/common/params.cc b/common/params.cc index 63208879b2..d4c5cd7caf 100644 --- a/common/params.cc +++ b/common/params.cc @@ -118,6 +118,7 @@ std::unordered_map keys = { {"GithubUsername", PERSISTENT}, {"GitRemote", PERSISTENT}, {"GsmApn", PERSISTENT}, + {"GsmMetered", PERSISTENT}, {"GsmRoaming", PERSISTENT}, {"HardwareSerial", PERSISTENT}, {"HasAcceptedTerms", PERSISTENT}, diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index 071393cb14..a43527c260 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -53,8 +53,8 @@ class MockParams(): default_params = { "DongleId": b"0000000000000000", "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 + "GsmMetered": True, "AthenadUploadQueue": '[]', - "CellularUnmetered": False, } params = default_params.copy() diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index ff2bf4bc89..928507f65b 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -39,6 +39,7 @@ def manager_init() -> None: default_params: List[Tuple[str, Union[str, bytes]]] = [ ("CompletedTrainingVersion", "0"), ("DisengageOnAccelerator", "1"), + ("GsmMetered", "1"), ("HasAcceptedTerms", "0"), ("LanguageSetting", "main_en"), ("OpenpilotEnabledToggle", "1"), diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 7ec8691feb..0ed6317c3c 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -151,16 +151,15 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Roaming toggle const bool roamingEnabled = params.getBool("GsmRoaming"); ToggleControl *roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled); - QObject::connect(roamingToggle, &SshToggle::toggleFlipped, [=](bool state) { + QObject::connect(roamingToggle, &ToggleControl::toggleFlipped, [=](bool state) { params.putBool("GsmRoaming", state); - wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn"))); + wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn")), params.getBool("GsmMetered")); }); list->addItem(roamingToggle); // APN settings ButtonControl *editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT")); connect(editApnButton, &ButtonControl::clicked, [=]() { - const bool roamingEnabled = params.getBool("GsmRoaming"); const QString cur_apn = QString::fromStdString(params.get("GsmApn")); QString apn = InputDialog::getText(tr("Enter APN"), this, tr("leave blank for automatic configuration"), false, -1, cur_apn).trimmed(); @@ -169,12 +168,21 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid } else { params.put("GsmApn", apn.toStdString()); } - wifi->updateGsmSettings(roamingEnabled, apn); + wifi->updateGsmSettings(params.getBool("GsmRoaming"), apn, params.getBool("GsmMetered")); }); list->addItem(editApnButton); + // Metered toggle + const bool metered = params.getBool("GsmMetered"); + ToggleControl *meteredToggle = new ToggleControl(tr("Cellular Metered"), tr("Prevent large data uploads when on a metered connection"), "", metered); + QObject::connect(meteredToggle, &SshToggle::toggleFlipped, [=](bool state) { + params.putBool("GsmMetered", state); + wifi->updateGsmSettings(params.getBool("GsmRoaming"), QString::fromStdString(params.get("GsmApn")), state); + }); + list->addItem(meteredToggle); + // Set initial config - wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn"))); + wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered); main_layout->addWidget(new ScrollView(list, this)); main_layout->addStretch(1); diff --git a/selfdrive/ui/qt/offroad/networkmanager.h b/selfdrive/ui/qt/offroad/networkmanager.h index 52d85c16af..31b33fc9f5 100644 --- a/selfdrive/ui/qt/offroad/networkmanager.h +++ b/selfdrive/ui/qt/offroad/networkmanager.h @@ -36,3 +36,10 @@ const int NM_DEVICE_TYPE_WIFI = 2; const int NM_DEVICE_TYPE_MODEM = 8; const int NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8; const int DBUS_TIMEOUT = 100; + +// https://developer-old.gnome.org/NetworkManager/1.26/nm-dbus-types.html#NMMetered +const int NM_METERED_UNKNOWN = 0; +const int NM_METERED_YES = 1; +const int NM_METERED_NO = 2; +const int NM_METERED_GUESS_YES = 3; +const int NM_METERED_GUESS_NO = 4; diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index fbb64b972e..3a30456c93 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -345,7 +345,7 @@ NetworkType WifiManager::currentNetworkType() { return NetworkType::NONE; } -void WifiManager::updateGsmSettings(bool roaming, QString apn) { +void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) { if (!lteConnectionPath.path().isEmpty()) { bool changes = false; bool auto_config = apn.isEmpty(); @@ -368,6 +368,13 @@ void WifiManager::updateGsmSettings(bool roaming, QString apn) { changes = true; } + int meteredInt = metered ? NM_METERED_NO : NM_METERED_UNKNOWN; + if (settings.value("connection").value("metered").toInt() != meteredInt) { + qWarning() << "Changing connection.metered to" << meteredInt; + settings["connection"]["metered"] = meteredInt; + changes = true; + } + if (changes) { call(lteConnectionPath.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "UpdateUnsaved", QVariant::fromValue(settings)); // update is temporary deactivateConnection(lteConnectionPath); diff --git a/selfdrive/ui/qt/offroad/wifiManager.h b/selfdrive/ui/qt/offroad/wifiManager.h index 07b982c2c2..01f9cd6b65 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.h +++ b/selfdrive/ui/qt/offroad/wifiManager.h @@ -50,7 +50,7 @@ public: bool isKnownConnection(const QString &ssid); std::optional activateWifiConnection(const QString &ssid); NetworkType currentNetworkType(); - void updateGsmSettings(bool roaming, QString apn); + void updateGsmSettings(bool roaming, QString apn, bool metered); void connect(const Network &ssid, const QString &password = {}, const QString &username = {}); // Tethering functions diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 543893d440..b39c83c098 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -58,6 +58,14 @@ leave blank for automatic configuration 空白のままにして、自動設定にします + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 56524e49fa..86cd8f990a 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -58,6 +58,14 @@ leave blank for automatic configuration 자동설정하려면 공백으로 두세요 + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index ff6f27dd46..6a772a1f69 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -58,6 +58,14 @@ leave blank for automatic configuration deixe em branco para configuração automática + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 6300875ee3..1d942387e0 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -58,6 +58,14 @@ leave blank for automatic configuration 留空以自动配置 + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + ConfirmationDialog diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 73faf11f69..816d4fd3cc 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -58,6 +58,14 @@ leave blank for automatic configuration 留空白將自動配置 + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + ConfirmationDialog From cd40652e64b41a87539909bab2887e7930d3001a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 2 Oct 2022 16:13:28 -0700 Subject: [PATCH 153/685] updated: don't show failed alert with no internet (#25948) --- selfdrive/updated.py | 40 ++++++++++++++-------------------------- 1 file changed, 14 insertions(+), 26 deletions(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 331ee6e4af..f96abcb7d5 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -1,27 +1,4 @@ #!/usr/bin/env python3 - -# Safe Update: A simple service that waits for network access and tries to -# update every 10 minutes. It's intended to make the OP update process more -# robust against Git repository corruption. This service DOES NOT try to fix -# an already-corrupt BASEDIR Git repo, only prevent it from happening. -# -# During normal operation, both onroad and offroad, the update process makes -# no changes to the BASEDIR install of OP. All update attempts are performed -# in a disposable staging area provided by OverlayFS. It assumes the deleter -# process provides enough disk space to carry out the process. -# -# If an update succeeds, a flag is set, and the update is swapped in at the -# next reboot. If an update is interrupted or otherwise fails, the OverlayFS -# upper layer and metadata can be discarded before trying again. -# -# The swap on boot is triggered by launch_chffrplus.sh -# gated on the existence of $FINALIZED/.overlay_consistent and also the -# existence and mtime of $BASEDIR/.overlay_init. -# -# Other than build byproducts, BASEDIR should not be modified while this -# service is running. Developers modifying code directly in BASEDIR should -# disable this service. - import os import re import datetime @@ -241,6 +218,11 @@ class Updater: def __init__(self): self.params = Params() self.branches = defaultdict(lambda: '') + self._has_internet: bool = False + + @property + def has_internet(self) -> bool: + return self._has_internet @property def target_branch(self) -> str: @@ -321,7 +303,7 @@ class Updater: now = datetime.datetime.utcnow() dt = now - last_update - if failed_count > 15 and exception is not None: + if failed_count > 15 and exception is not None and self.has_internet: if is_tested_branch(): extra_text = "Ensure the software is correctly installed. Uninstall and re-install if this error persists." else: @@ -338,6 +320,12 @@ class Updater: excluded_branches = ('release2', 'release2-staging', 'dashcam', 'dashcam-staging') + try: + run(["git", "ls-remote", "origin", "HEAD"], OVERLAY_MERGED) + self._has_internet = True + except subprocess.CalledProcessError: + self._has_internet = False + setup_git_options(OVERLAY_MERGED) output = run(["git", "ls-remote", "--heads", "origin"], OVERLAY_MERGED) @@ -353,9 +341,9 @@ class Updater: new_branch = self.target_branch new_commit = self.branches[new_branch] if (cur_branch, cur_commit) != (new_branch, new_commit): - cloudlog.info(f"update available, {cur_branch} ({cur_commit[:7]}) -> {new_branch} ({new_commit[:7]})") + cloudlog.info(f"update available, {cur_branch} ({str(cur_commit)[:7]}) -> {new_branch} ({str(new_commit)[:7]})") else: - cloudlog.info(f"up to date on {cur_branch} ({cur_commit[:7]})") + cloudlog.info(f"up to date on {cur_branch} ({str(cur_commit)[:7]})") def fetch_update(self) -> None: cloudlog.info("attempting git fetch inside staging overlay") From 379b7cf8b6573a448ebd1eba4b64c2b588a74d81 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Oct 2022 01:16:38 +0800 Subject: [PATCH 154/685] proclogd: fix wrong type for rss (#25923) rss is long --- system/proclogd/proclog.cc | 2 +- system/proclogd/proclog.h | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/system/proclogd/proclog.cc b/system/proclogd/proclog.cc index cbe3b53493..09ab4f559e 100644 --- a/system/proclogd/proclog.cc +++ b/system/proclogd/proclog.cc @@ -95,7 +95,7 @@ std::optional procStat(std::string stat) { .num_threads = stol(v[StatPos::num_threads - 1]), .starttime = stoull(v[StatPos::starttime - 1]), .vms = stoul(v[StatPos::vsize - 1]), - .rss = stoul(v[StatPos::rss - 1]), + .rss = stol(v[StatPos::rss - 1]), .processor = stoi(v[StatPos::processor - 1]), }; return p; diff --git a/system/proclogd/proclog.h b/system/proclogd/proclog.h index 9ed53d1bac..49f97cdd36 100644 --- a/system/proclogd/proclog.h +++ b/system/proclogd/proclog.h @@ -20,8 +20,8 @@ struct ProcCache { struct ProcStat { int pid, ppid, processor; char state; - long cutime, cstime, priority, nice, num_threads; - unsigned long utime, stime, vms, rss; + long cutime, cstime, priority, nice, num_threads, rss; + unsigned long utime, stime, vms; unsigned long long starttime; std::string name; }; From 50b8fc19b692d0d4d0ef2dc9161fef6cf9d3013d Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 3 Oct 2022 13:48:56 -0500 Subject: [PATCH 155/685] VW PQ: Use correct brake signal (#25952) --- selfdrive/car/volkswagen/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index cf4a252b65..3e99ca8252 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -170,7 +170,7 @@ class CarState(CarStateBase): ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0 ret.gasPressed = ret.gas > 0 ret.brake = pt_cp.vl["Bremse_5"]["Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects - ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremstestschalter"]) + ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"]) ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"]) # Update gear and/or clutch position data. From 6393d29b0437417fe15cbc9eca5c87534531e9bd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 3 Oct 2022 12:26:12 -0700 Subject: [PATCH 156/685] pre-commit: test translations (#25695) * add test translations to precommit * fix test translations pre-commit hook * revert * fix that * add to release files add to release files * fix * don't run test on stripped dir * fix --- .github/workflows/selfdrive_tests.yaml | 2 +- .pre-commit-config.yaml | 7 +++++++ release/files_common | 2 ++ 3 files changed, 10 insertions(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 9606c05631..d4971a4339 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -62,7 +62,7 @@ jobs: cp .pylintrc $STRIPPED_DIR cp mypy.ini $STRIPPED_DIR cd $STRIPPED_DIR - ${{ env.RUN }} "pre-commit run --all" + ${{ env.RUN }} "SKIP=test_translations pre-commit run --all" build_all: name: build all diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index b1696e823c..25b8490f92 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -70,3 +70,10 @@ repos: - --quiet - --force - -j8 +- repo: local + hooks: + - id: test_translations + name: test translations + entry: selfdrive/ui/tests/test_translations.py + language: script + pass_filenames: false diff --git a/release/files_common b/release/files_common index 5783edd070..0c341eb3f6 100644 --- a/release/files_common +++ b/release/files_common @@ -305,6 +305,8 @@ selfdrive/ui/soundd/soundd selfdrive/ui/soundd/.gitignore selfdrive/ui/translations/*.ts selfdrive/ui/translations/languages.json +selfdrive/ui/update_translations.py +selfdrive/ui/tests/test_translations.py selfdrive/ui/qt/*.cc selfdrive/ui/qt/*.h From 2a0ce3e8b871b4e58b01b56a37bb8cfaf77d8b0a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 3 Oct 2022 13:10:35 -0700 Subject: [PATCH 157/685] direct model feedback issues to GitHub discussions (#25953) * add links to give model feedback in github discussions * use correct link --- .github/ISSUE_TEMPLATE/bug_report.yml | 1 + .github/ISSUE_TEMPLATE/config.yml | 5 ++++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/.github/ISSUE_TEMPLATE/bug_report.yml b/.github/ISSUE_TEMPLATE/bug_report.yml index b1a14076ea..47eb6c216f 100644 --- a/.github/ISSUE_TEMPLATE/bug_report.yml +++ b/.github/ISSUE_TEMPLATE/bug_report.yml @@ -8,6 +8,7 @@ body: value: > Before creating a **bug report**, please check the following: * If the issue likely only affects your car model or make, go back and open a **car bug report** instead. + * If the issue is related to the driving or driver monitoring models, you should open a [discussion](https://github.com/commaai/openpilot/discussions/categories/model-feedback) instead. * Ensure you're running the latest openpilot release. * Ensure you're using officially supported hardware. Issues running on PCs have a different issue template. * Ensure there isn't an existing issue for your bug. If there is, leave a comment on the existing issue. diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml index 2c2deb17ba..45a8af0aaf 100644 --- a/.github/ISSUE_TEMPLATE/config.yml +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -1,8 +1,11 @@ blank_issues_enabled: false contact_links: + - name: Report model bugs + url: https://github.com/commaai/openpilot/discussions/categories/model-feedback + about: Provide feedback for the driving or driver monitoring models - name: Discussions url: https://github.com/commaai/openpilot/discussions - about: For questions and discussion about openpilot + about: For questions and general discussion about openpilot - name: Community Wiki url: https://github.com/commaai/openpilot/wiki about: Check out our community wiki From bc7be114d838aafc54a5e480dc969c76552e7f26 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 3 Oct 2022 13:58:40 -0700 Subject: [PATCH 158/685] UI: remove unused tap detection constant (#25956) --- selfdrive/ui/ui.h | 3 --- 1 file changed, 3 deletions(-) diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 887b7ee841..d7e51ccfeb 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -155,9 +155,6 @@ public: Device(QObject *parent = 0); private: - // auto brightness - const float accel_samples = 5*UI_FREQ; - bool awake = false; int interactive_timeout = 0; bool ignition_on = false; From 1b8324af876e66630b5f4e50623e3136a39f6ecb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 4 Oct 2022 06:19:42 +0800 Subject: [PATCH 159/685] c++ cabana: Initial version (#25946) * draft * continue * fix QChart unresponsive with large points * build with --extras * add filter * save DBC button * more buttons * add flag to use qcamera * stop replay in dctor * README * use getMsg * video control * edit signal * add colors * correct ts * add/edit signals * use bus:address as key --- SConstruct | 4 + selfdrive/ui/SConscript | 1 + tools/cabana/.gitignore | 4 + tools/cabana/README | 9 + tools/cabana/SConscript | 20 ++ tools/cabana/cabana | 4 + tools/cabana/cabana.cc | 34 +++ tools/cabana/chartswidget.cc | 102 ++++++++ tools/cabana/chartswidget.h | 34 +++ tools/cabana/detailwidget.cc | 458 +++++++++++++++++++++++++++++++++ tools/cabana/detailwidget.h | 102 ++++++++ tools/cabana/mainwin.cc | 38 +++ tools/cabana/mainwin.h | 22 ++ tools/cabana/messageswidget.cc | 94 +++++++ tools/cabana/messageswidget.h | 24 ++ tools/cabana/parser.cc | 98 +++++++ tools/cabana/parser.h | 66 +++++ tools/cabana/videowidget.cc | 80 ++++++ tools/cabana/videowidget.h | 17 ++ tools/replay/SConscript | 1 + tools/replay/replay.cc | 2 +- tools/replay/replay.h | 4 + tools/ubuntu_setup.sh | 1 + 23 files changed, 1218 insertions(+), 1 deletion(-) create mode 100644 tools/cabana/.gitignore create mode 100644 tools/cabana/README create mode 100644 tools/cabana/SConscript create mode 100755 tools/cabana/cabana create mode 100644 tools/cabana/cabana.cc create mode 100644 tools/cabana/chartswidget.cc create mode 100644 tools/cabana/chartswidget.h create mode 100644 tools/cabana/detailwidget.cc create mode 100644 tools/cabana/detailwidget.h create mode 100644 tools/cabana/mainwin.cc create mode 100644 tools/cabana/mainwin.h create mode 100644 tools/cabana/messageswidget.cc create mode 100644 tools/cabana/messageswidget.h create mode 100644 tools/cabana/parser.cc create mode 100644 tools/cabana/parser.h create mode 100644 tools/cabana/videowidget.cc create mode 100644 tools/cabana/videowidget.h diff --git a/SConstruct b/SConstruct index 178b0cc872..e015218f2a 100644 --- a/SConstruct +++ b/SConstruct @@ -433,6 +433,10 @@ SConscript(['selfdrive/navd/SConscript']) SConscript(['tools/replay/SConscript']) +opendbc = abspath([File('opendbc/can/libdbc.so')]) +Export('opendbc') +SConscript(['tools/cabana/SConscript']) + if GetOption('test'): SConscript('panda/tests/safety/SConscript') diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 92f6578dfc..84e055752a 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -32,6 +32,7 @@ if maps: qt_env['CPPDEFINES'] += ["ENABLE_MAPS"] widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs) +Export('widgets') qt_libs = [widgets, qt_util] + base_libs # build assets diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore new file mode 100644 index 0000000000..0c21d5530d --- /dev/null +++ b/tools/cabana/.gitignore @@ -0,0 +1,4 @@ +moc_* +*.moc + +_cabana diff --git a/tools/cabana/README b/tools/cabana/README new file mode 100644 index 0000000000..f64e6b2d2d --- /dev/null +++ b/tools/cabana/README @@ -0,0 +1,9 @@ +# Cabana + + + +Cabana is a tool developed to view raw CAN data. One use for this is creating and editing [CAN Dictionaries](http://socialledge.com/sjsu/index.php/DBC_Format) (DBC files), and the tool provides direct integration with [commaai/opendbc](https://github.com/commaai/opendbc) (a collection of DBC files), allowing you to load the DBC files direct from source, and save to your fork. In addition, you can load routes from [comma connect](https://connect.comma.ai). + +## Usage Instructions + +See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript new file mode 100644 index 0000000000..f32ee166b6 --- /dev/null +++ b/tools/cabana/SConscript @@ -0,0 +1,20 @@ +import os +Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', + 'cereal', 'transformations', 'widgets', 'replay_lib', 'opendbc') + +base_frameworks = qt_env['FRAMEWORKS'] +base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', + 'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] + +if arch == "Darwin": + base_frameworks.append('OpenCL') +else: + base_libs.append('OpenCL') + +qt_libs = ['qt_util', 'Qt5Charts'] + base_libs +if arch in ['x86_64', 'Darwin'] and GetOption('extras'): + qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] + + # qt_env["LD_LIBRARY_PATH"] = [Dir(f"#opendbc/can").abspath] + cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs + qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'videowidget.cc', 'parser.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/cabana b/tools/cabana/cabana new file mode 100755 index 0000000000..b29dd66e3d --- /dev/null +++ b/tools/cabana/cabana @@ -0,0 +1,4 @@ +#!/bin/sh +cd "$(dirname "$0")" +export LD_LIBRARY_PATH="../../opendbc/can:$LD_LIBRARY_PATH" +exec ./_cabana "$1" diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc new file mode 100644 index 0000000000..0adc744b49 --- /dev/null +++ b/tools/cabana/cabana.cc @@ -0,0 +1,34 @@ +#include +#include + +#include "selfdrive/ui/qt/util.h" +#include "tools/cabana/mainwin.h" + +const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; +Parser *parser = nullptr; + +int main(int argc, char *argv[]) { + initApp(argc, argv); + QApplication app(argc, argv); + + QCommandLineParser cmd_parser; + cmd_parser.addHelpOption(); + 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({"data_dir", "local directory with routes", "data_dir"}); + cmd_parser.addOption({"qcam", "use qcamera"}); + cmd_parser.process(app); + const QStringList args = cmd_parser.positionalArguments(); + if (args.empty() && !cmd_parser.isSet("demo")) { + cmd_parser.showHelp(); + } + + const QString route = args.empty() ? DEMO_ROUTE : args.first(); + parser = new Parser(&app); + if (!parser->loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) { + return 0; + } + MainWindow w; + w.showMaximized(); + return app.exec(); +} diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc new file mode 100644 index 0000000000..a8fe39968e --- /dev/null +++ b/tools/cabana/chartswidget.cc @@ -0,0 +1,102 @@ +#include "tools/cabana/chartswidget.h" + +#include + +using namespace QtCharts; + +int64_t get_raw_value(const QByteArray &msg, const Signal &sig) { + int64_t ret = 0; + + int i = sig.msb / 8; + int bits = sig.size; + while (i >= 0 && i < msg.size() && bits > 0) { + int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; + int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; + int size = msb - lsb + 1; + + uint64_t d = (msg[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); + ret |= d << (bits - size); + + bits -= size; + i = sig.is_little_endian ? i - 1 : i + 1; + } + return ret; +} + +ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { + main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + connect(parser, &Parser::updated, this, &ChartsWidget::updateState); + connect(parser, &Parser::showPlot, this, &ChartsWidget::addChart); + connect(parser, &Parser::hidePlot, this, &ChartsWidget::removeChart); +} + +void ChartsWidget::addChart(const QString &id, const QString &sig_name) { + const QString char_name = id + sig_name; + if (charts.find(char_name) == charts.end()) { + QLineSeries *series = new QLineSeries(); + series->setUseOpenGL(true); + auto chart = new QChart(); + chart->setTitle(id + ": " + sig_name); + chart->addSeries(series); + chart->createDefaultAxes(); + chart->legend()->hide(); + auto chart_view = new QChartView(chart); + chart_view->setMinimumSize({width(), 300}); + chart_view->setMaximumSize({width(), 300}); + chart_view->setRenderHint(QPainter::Antialiasing); + main_layout->addWidget(chart_view); + charts[char_name] = {.id = id, .sig_name = sig_name, .chart_view = chart_view}; + } +} + +void ChartsWidget::removeChart(const QString &id, const QString &sig_name) { + auto it = charts.find(id + sig_name); + if (it == charts.end()) return; + + delete it->second.chart_view; + charts.erase(it); +} + +void ChartsWidget::updateState() { + static double last_update = millis_since_boot(); + double current_ts = millis_since_boot(); + bool update = (current_ts - last_update) > 500; + if (update) { + last_update = current_ts; + } + + auto getSig = [=](const QString &id, const QString &name) -> const Signal * { + for (auto &sig : parser->getMsg(id)->sigs) { + if (name == sig.name.c_str()) return &sig; + } + return nullptr; + }; + + for (auto &[_, c] : charts) { + if (auto sig = getSig(c.id, c.sig_name)) { + const auto &can_data = parser->can_msgs[c.id].back(); + int64_t val = get_raw_value(can_data.dat, *sig); + if (sig->is_signed) { + val -= ((val >> (sig->size - 1)) & 0x1) ? (1ULL << sig->size) : 0; + } + double value = val * sig->factor + sig->offset; + + if (value > c.max_y) c.max_y = value; + if (value < c.min_y) c.min_y = value; + + while (c.data.size() > DATA_LIST_SIZE) { + c.data.pop_front(); + } + c.data.push_back({can_data.ts / 1000., value}); + + if (update) { + QChart *chart = c.chart_view->chart(); + QLineSeries *series = (QLineSeries *)chart->series()[0]; + series->replace(c.data); + chart->axisX()->setRange(c.data.front().x(), c.data.back().x()); + chart->axisY()->setRange(c.min_y, c.max_y); + } + } + } +} diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h new file mode 100644 index 0000000000..7bc8335a32 --- /dev/null +++ b/tools/cabana/chartswidget.h @@ -0,0 +1,34 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "tools/cabana/parser.h" + +class ChartsWidget : public QWidget { + Q_OBJECT + + public: + ChartsWidget(QWidget *parent = nullptr); + inline bool hasChart(const QString &id, const QString &sig_name) { + return charts.find(id+sig_name) != charts.end(); + } + void addChart(const QString &id, const QString &sig_name); + void removeChart(const QString &id, const QString &sig_name); + void updateState(); + + protected: + QVBoxLayout *main_layout; + struct SignalChart { + QString id; + QString sig_name; + int max_y = 0; + int min_y = 0; + QList data; + QtCharts::QChartView *chart_view = nullptr; + }; + std::map charts; +}; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc new file mode 100644 index 0000000000..6799376577 --- /dev/null +++ b/tools/cabana/detailwidget.cc @@ -0,0 +1,458 @@ +#include "tools/cabana/detailwidget.h" + +#include +#include +#include +#include +#include +#include + +#include "selfdrive/ui/qt/widgets/scrollview.h" + +const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; + +static QVector BIG_ENDIAN_START_BITS = []() { + QVector ret; + for (int i = 0; i < 64; i++) { + for (int j = 7; j >= 0; j--) { + ret.push_back(j + i * 8); + } + } + return ret; +}(); + +static int bigEndianBitIndex(int index) { + // TODO: Add a helper function in dbc.h + return BIG_ENDIAN_START_BITS.indexOf(index); +} + +DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + QLabel *title = new QLabel(tr("SELECTED MESSAGE:"), this); + main_layout->addWidget(title); + + QHBoxLayout *name_layout = new QHBoxLayout(); + name_label = new QLabel(this); + name_label->setStyleSheet("font-weight:bold;"); + name_layout->addWidget(name_label); + name_layout->addStretch(); + edit_btn = new QPushButton(tr("Edit"), this); + edit_btn->setVisible(false); + QObject::connect(edit_btn, &QPushButton::clicked, [=]() { + EditMessageDialog dlg(msg_id, this); + int ret = dlg.exec(); + if (ret) { + setMsg(msg_id); + } + }); + name_layout->addWidget(edit_btn); + main_layout->addLayout(name_layout); + + binary_view = new BinaryView(this); + main_layout->addWidget(binary_view); + + QHBoxLayout *signals_layout = new QHBoxLayout(); + signals_layout->addWidget(new QLabel(tr("Signals"))); + signals_layout->addStretch(); + add_sig_btn = new QPushButton(tr("Add signal"), this); + add_sig_btn->setVisible(false); + QObject::connect(add_sig_btn, &QPushButton::clicked, [=]() { + AddSignalDialog dlg(msg_id, this); + int ret = dlg.exec(); + if (ret) { + setMsg(msg_id); + } + }); + signals_layout->addWidget(add_sig_btn); + main_layout->addLayout(signals_layout); + + QWidget *container = new QWidget(this); + QVBoxLayout *container_layout = new QVBoxLayout(container); + signal_edit_layout = new QVBoxLayout(); + signal_edit_layout->setSpacing(2); + container_layout->addLayout(signal_edit_layout); + + messages_view = new MessagesView(this); + container_layout->addWidget(messages_view); + + QScrollArea *scroll = new QScrollArea(this); + scroll->setWidget(container); + scroll->setWidgetResizable(true); + scroll->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); + + main_layout->addWidget(scroll); + setFixedWidth(600); + + connect(parser, &Parser::updated, this, &DetailWidget::updateState); +} + +void DetailWidget::updateState() { + if (msg_id.isEmpty()) return; + + auto &list = parser->can_msgs[msg_id]; + if (!list.empty()) { + binary_view->setData(list.back().dat); + messages_view->setMessages(list); + } +} + +SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { + QVBoxLayout *v_layout = new QVBoxLayout(this); + + QHBoxLayout *h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Name"))); + name = new QLineEdit(sig.name.c_str()); + h->addWidget(name); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Size"))); + size = new QSpinBox(); + size->setValue(sig.size); + h->addWidget(size); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Most significant bit"))); + msb = new QSpinBox(); + msb->setValue(sig.msb); + h->addWidget(msb); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Endianness"))); + endianness = new QComboBox(); + endianness->addItems({"Little", "Big"}); + endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1); + h->addWidget(endianness); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("sign"))); + sign = new QComboBox(); + sign->addItems({"Signed", "Unsigned"}); + sign->setCurrentIndex(sig.is_signed ? 0 : 1); + h->addWidget(sign); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Factor"))); + factor = new QSpinBox(); + factor->setValue(sig.factor); + h->addWidget(factor); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Offset"))); + offset = new QSpinBox(); + offset->setValue(sig.offset); + h->addWidget(offset); + v_layout->addLayout(h); + + // TODO: parse the following parameters in opendbc + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Unit"))); + unit = new QLineEdit(); + h->addWidget(unit); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Comment"))); + comment = new QLineEdit(); + h->addWidget(comment); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Minimum value"))); + min_val = new QSpinBox(); + h->addWidget(min_val); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Maximum value"))); + max_val = new QSpinBox(); + h->addWidget(max_val); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Value descriptions"))); + val_desc = new QLineEdit(); + h->addWidget(val_desc); + v_layout->addLayout(h); +} + +std::optional SignalForm::getSignal() { + Signal sig = {}; + sig.name = name->text().toStdString(); + sig.size = size->text().toInt(); + sig.offset = offset->text().toDouble(); + sig.factor = factor->text().toDouble(); + sig.msb = msb->text().toInt(); + sig.is_signed = sign->currentIndex() == 0; + sig.is_little_endian = endianness->currentIndex() == 0; + if (sig.is_little_endian) { + sig.lsb = sig.start_bit; + sig.msb = sig.start_bit + sig.size - 1; + } else { + sig.lsb = BIG_ENDIAN_START_BITS[bigEndianBitIndex(sig.start_bit) + sig.size - 1]; + sig.msb = sig.start_bit; + } + return (sig.name.empty() || sig.size <= 0) ? std::nullopt : std::optional(sig); +} + +void DetailWidget::setMsg(const QString &id) { + msg_id = id; + QString name = tr("untitled"); + + for (auto edit : signal_edit) { + delete edit; + } + signal_edit.clear(); + int i = 0; + auto msg = parser->getMsg(id); + if (msg) { + for (auto &s : msg->sigs) { + SignalEdit *edit = new SignalEdit(id, s, i++, this); + connect(edit, &SignalEdit::removed, [=]() { + QTimer::singleShot(0, [=]() { setMsg(id); }); + }); + signal_edit_layout->addWidget(edit); + signal_edit.push_back(edit); + } + name = msg->name.c_str(); + } + name_label->setText(name); + binary_view->setMsg(msg_id); + + edit_btn->setVisible(true); + add_sig_btn->setVisible(msg != nullptr); +} + +SignalEdit::SignalEdit(const QString &id, const Signal &sig, int idx, QWidget *parent) : id(id), name_(sig.name.c_str()), QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + // title + QHBoxLayout *title_layout = new QHBoxLayout(); + QLabel *icon = new QLabel(">"); + icon->setStyleSheet("font-weight:bold"); + title_layout->addWidget(icon); + title = new ElidedLabel(this); + title->setText(sig.name.c_str()); + title->setStyleSheet(QString("font-weight:bold; color:%1").arg(SIGNAL_COLORS[idx % std::size(SIGNAL_COLORS)])); + connect(title, &ElidedLabel::clicked, [=]() { + edit_container->isVisible() ? edit_container->hide() : edit_container->show(); + icon->setText(edit_container->isVisible() ? "▼" : ">"); + }); + title_layout->addWidget(title); + title_layout->addStretch(); + QPushButton *show_plot = new QPushButton(tr("Show Plot")); + QObject::connect(show_plot, &QPushButton::clicked, [=]() { + if (show_plot->text() == tr("Show Plot")) { + emit parser->showPlot(id, name_); + show_plot->setText(tr("Hide Plot")); + } else { + emit parser->hidePlot(id, name_); + show_plot->setText(tr("Show Plot")); + } + }); + title_layout->addWidget(show_plot); + main_layout->addLayout(title_layout); + + edit_container = new QWidget(this); + QVBoxLayout *v_layout = new QVBoxLayout(edit_container); + form = new SignalForm(sig, this); + v_layout->addWidget(form); + + QHBoxLayout *h = new QHBoxLayout(); + remove_btn = new QPushButton(tr("Remove Signal")); + QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); + h->addWidget(remove_btn); + h->addStretch(); + QPushButton *save_btn = new QPushButton(tr("Save")); + QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save); + h->addWidget(save_btn); + v_layout->addLayout(h); + + edit_container->setVisible(false); + main_layout->addWidget(edit_container); +} + +void SignalEdit::save() { + Msg *msg = const_cast(parser->getMsg(id)); + if (!msg) return; + + for (auto &sig : msg->sigs) { + if (name_ == sig.name.c_str()) { + if (auto s = form->getSignal()) { + sig = *s; + } + break; + } + } +} + +void SignalEdit::remove() { + QMessageBox msgbox; + msgbox.setText(tr("Remove signal")); + msgbox.setInformativeText(tr("Are you sure you want to remove signal '%1'").arg(name_)); + msgbox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); + msgbox.setDefaultButton(QMessageBox::Cancel); + if (msgbox.exec()) { + parser->removeSignal(id, name_); + emit removed(); + } +} + +BinaryView::BinaryView(QWidget *parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + table = new QTableWidget(this); + table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); + table->horizontalHeader()->hide(); + table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + table->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + main_layout->addWidget(table); + table->setColumnCount(9); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); +} + +void BinaryView::setMsg(const QString &id) { + auto msg = parser->getMsg(Parser::addressFromId(id)); + int row_count = msg ? msg->size : parser->can_msgs[id].back().dat.size(); + + table->setRowCount(row_count); + table->setColumnCount(9); + for (int i = 0; i < table->rowCount(); ++i) { + for (int j = 0; j < table->columnCount(); ++j) { + auto item = new QTableWidgetItem(); + item->setTextAlignment(Qt::AlignCenter); + if (j == 8) { + QFont font; + font.setBold(true); + item->setFont(font); + } + table->setItem(i, j, item); + } + } + + if (msg) { + for (int i = 0; i < msg->sigs.size(); ++i) { + const auto &sig = msg->sigs[i]; + int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit); + for (int j = start; j <= start + sig.size - 1; ++j) { + table->item(j / 8, j % 8)->setBackground(QColor(SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)])); + } + } + } + + setFixedHeight(table->rowHeight(0) * table->rowCount() + 25); + if (!parser->can_msgs.empty()) { + setData(parser->can_msgs[id].back().dat); + } +} + +void BinaryView::setData(const QByteArray &binary) { + std::string s; + for (int j = 0; j < binary.size(); ++j) { + s += std::bitset<8>(binary[j]).to_string(); + } + + char hex[3] = {'\0'}; + for (int i = 0; i < binary.size(); ++i) { + for (int j = 0; j < 8; ++j) { + table->item(i, j)->setText(QChar(s[i * 8 + j])); + } + sprintf(&hex[0], "%02X", (unsigned char)binary[i]); + table->item(i, 8)->setText(hex); + } +} + +MessagesView::MessagesView(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + QLabel *title = new QLabel("MESSAGE TIME BYTES"); + main_layout->addWidget(title); + + message_layout = new QVBoxLayout(); + main_layout->addLayout(message_layout); + main_layout->addStretch(); +} + +void MessagesView::setMessages(const std::list &list) { + auto begin = list.begin(); + std::advance(begin, std::max(0, (int)(list.size() - 100))); + int j = 0; + for (auto it = begin; it != list.end(); ++it) { + QLabel *label; + if (j >= messages.size()) { + label = new QLabel(); + message_layout->addWidget(label); + messages.push_back(label); + } else { + label = messages[j]; + } + label->setText(it->hex_dat); + ++j; + } +} + +EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Edit message")); + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addWidget(new QLabel(tr("ID: (%1)").arg(id))); + + auto msg = const_cast(parser->getMsg(Parser::addressFromId(id))); + QHBoxLayout *h_layout = new QHBoxLayout(); + h_layout->addWidget(new QLabel(tr("Name"))); + h_layout->addStretch(); + QLineEdit *name_edit = new QLineEdit(this); + name_edit->setText(msg ? msg->name.c_str() : "untitled"); + h_layout->addWidget(name_edit); + main_layout->addLayout(h_layout); + + h_layout = new QHBoxLayout(); + h_layout->addWidget(new QLabel(tr("Size"))); + h_layout->addStretch(); + QSpinBox *size_spin = new QSpinBox(this); + size_spin->setValue(msg ? msg->size : parser->can_msgs[id].back().dat.size()); + h_layout->addWidget(size_spin); + main_layout->addLayout(h_layout); + + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox); + + connect(buttonBox, &QDialogButtonBox::accepted, [=]() { + if (size_spin->value() <= 0 || name_edit->text().isEmpty()) return; + + if (msg) { + msg->name = name_edit->text().toStdString(); + msg->size = size_spin->value(); + } else { + Msg m = {}; + m.address = Parser::addressFromId(id); + m.name = name_edit->text().toStdString(); + m.size = size_spin->value(); + parser->addNewMsg(m); + } + QDialog::accept(); + }); + connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} + +AddSignalDialog::AddSignalDialog(const QString &id, QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Add signal to %1").arg(parser->getMsg(id)->name.c_str())); + QVBoxLayout *main_layout = new QVBoxLayout(this); + Signal sig = {.name = "untitled"}; + auto form = new SignalForm(sig, this); + main_layout->addWidget(form); + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox); + connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); + connect(buttonBox, &QDialogButtonBox::accepted, [=]() { + if (auto msg = const_cast(parser->getMsg(id))) { + if (auto signal = form->getSignal()) { + msg->sigs.push_back(*signal); + } + } + QDialog::accept(); + }); +} diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h new file mode 100644 index 0000000000..70f2804f70 --- /dev/null +++ b/tools/cabana/detailwidget.h @@ -0,0 +1,102 @@ +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "opendbc/can/common.h" +#include "opendbc/can/common_dbc.h" +#include "selfdrive/ui/qt/widgets/controls.h" +#include "tools/cabana/parser.h" + +class SignalForm : public QWidget { + Q_OBJECT + + public: + SignalForm(const Signal &sig, QWidget *parent); + std::optional getSignal(); + QLineEdit *name, *unit, *comment, *val_desc; + QSpinBox *size, *msb, *lsb, *factor, *offset, *min_val, *max_val; + QComboBox *sign, *endianness; +}; + +class MessagesView : public QWidget { + Q_OBJECT + + public: + MessagesView(QWidget *parent); + void setMessages(const std::list &data); + std::vector messages; + QVBoxLayout *message_layout; +}; + +class BinaryView : public QWidget { + Q_OBJECT + + public: + BinaryView(QWidget *parent); + void setMsg(const QString &id); + void setData(const QByteArray &binary); + + QTableWidget *table; +}; + +class SignalEdit : public QWidget { + Q_OBJECT + + public: + SignalEdit(const QString &id, const Signal &sig, int idx, QWidget *parent); + void save(); + +signals: + void removed(); + protected: + void remove(); + QString id; + QString name_; + ElidedLabel *title; + SignalForm *form; + QWidget *edit_container; + QPushButton *remove_btn; +}; + +class DetailWidget : public QWidget { + Q_OBJECT + public: + DetailWidget(QWidget *parent); + void setMsg(const QString &id); + + public slots: + void updateState(); + + protected: + QLabel *name_label = nullptr; + QPushButton *edit_btn, *add_sig_btn; + QVBoxLayout *signal_edit_layout; + Signal *sig = nullptr; + MessagesView *messages_view; + QString msg_id; + BinaryView *binary_view; + std::vector signal_edit; +}; + +class EditMessageDialog : public QDialog { + Q_OBJECT + + public: + EditMessageDialog(const QString &id, QWidget *parent); +}; + +class AddSignalDialog : public QDialog { + Q_OBJECT + + public: + AddSignalDialog(const QString &id, QWidget *parent); +}; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc new file mode 100644 index 0000000000..d1b0d98f5f --- /dev/null +++ b/tools/cabana/mainwin.cc @@ -0,0 +1,38 @@ +#include "tools/cabana/mainwin.h" + +#include +#include + +MainWindow::MainWindow() : QWidget() { + assert(parser != nullptr); + + QVBoxLayout *main_layout = new QVBoxLayout(this); + QHBoxLayout *h_layout = new QHBoxLayout(); + main_layout->addLayout(h_layout); + + messages_widget = new MessagesWidget(this); + QObject::connect(messages_widget, &MessagesWidget::msgChanged, [=](const QString &id) { + detail_widget->setMsg(id); + }); + h_layout->addWidget(messages_widget); + + detail_widget = new DetailWidget(this); + h_layout->addWidget(detail_widget); + + // right widget + QWidget *right_container = new QWidget(this); + right_container->setFixedWidth(640); + QVBoxLayout *r_layout = new QVBoxLayout(right_container); + video_widget = new VideoWidget(this); + r_layout->addWidget(video_widget); + + charts_widget = new ChartsWidget(this); + QScrollArea *scroll = new QScrollArea(this); + scroll->setWidget(charts_widget); + scroll->setWidgetResizable(true); + scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + scroll->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); + r_layout->addWidget(scroll); + + h_layout->addWidget(right_container); +} diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h new file mode 100644 index 0000000000..f19c48297e --- /dev/null +++ b/tools/cabana/mainwin.h @@ -0,0 +1,22 @@ +#pragma once + +#include + +#include "tools/cabana/chartswidget.h" +#include "tools/cabana/detailwidget.h" +#include "tools/cabana/messageswidget.h" +#include "tools/cabana/parser.h" +#include "tools/cabana/videowidget.h" + +class MainWindow : public QWidget { + Q_OBJECT + + public: + MainWindow(); + + protected: + VideoWidget *video_widget; + MessagesWidget *messages_widget; + DetailWidget *detail_widget; + ChartsWidget *charts_widget; +}; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc new file mode 100644 index 0000000000..d81d3e9ede --- /dev/null +++ b/tools/cabana/messageswidget.cc @@ -0,0 +1,94 @@ +#include "tools/cabana/messageswidget.h" + +#include +#include +#include +#include +#include +#include + +MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + + QHBoxLayout *dbc_file_layout = new QHBoxLayout(); + QComboBox *combo = new QComboBox(this); + auto dbc_names = get_dbc_names(); + for (const auto &name : dbc_names) { + combo->addItem(QString::fromStdString(name)); + } + connect(combo, &QComboBox::currentTextChanged, [=](const QString &dbc) { + parser->openDBC(dbc); + }); + // For test purpose + combo->setCurrentText("toyota_nodsu_pt_generated"); + dbc_file_layout->addWidget(combo); + + dbc_file_layout->addStretch(); + QPushButton *save_btn = new QPushButton(tr("Save DBC"), this); + QObject::connect(save_btn, &QPushButton::clicked, [=]() { + // TODO: save DBC to file + }); + dbc_file_layout->addWidget(save_btn); + + main_layout->addLayout(dbc_file_layout); + + filter = new QLineEdit(this); + filter->setPlaceholderText(tr("filter messages")); + main_layout->addWidget(filter); + + table_widget = new QTableWidget(this); + table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); + table_widget->setSelectionMode(QAbstractItemView::SingleSelection); + table_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); + table_widget->setColumnCount(4); + table_widget->setColumnWidth(0, 250); + table_widget->setColumnWidth(1, 80); + table_widget->setColumnWidth(2, 80); + table_widget->setHorizontalHeaderLabels({tr("Name"), tr("ID"), tr("Count"), tr("Bytes")}); + table_widget->horizontalHeader()->setStretchLastSection(true); + QObject::connect(table_widget, &QTableWidget::itemSelectionChanged, [=]() { + auto id = table_widget->selectedItems()[0]->data(Qt::UserRole); + emit msgChanged(id.toString()); + }); + main_layout->addWidget(table_widget); + + connect(parser, &Parser::updated, this, &MessagesWidget::updateState); +} + +void MessagesWidget::updateState() { + auto getTableItem = [=](int row, int col) -> QTableWidgetItem * { + auto item = table_widget->item(row, col); + if (!item) { + item = new QTableWidgetItem(); + table_widget->setItem(row, col, item); + } + return item; + }; + + table_widget->setRowCount(parser->can_msgs.size()); + int i = 0; + const QString filter_str = filter->text().toLower(); + for (const auto &[id, list] : parser->can_msgs) { + assert(!list.empty()); + + QString name; + if (auto msg = parser->getMsg(list.back().address)) { + name = msg->name.c_str(); + } else { + name = tr("untitled"); + } + if (!filter_str.isEmpty() && !name.toLower().contains(filter_str)) { + table_widget->hideRow(i++); + continue; + } + + auto item = getTableItem(i, 0); + item->setText(name); + item->setData(Qt::UserRole, id); + getTableItem(i, 1)->setText(id); + getTableItem(i, 2)->setText(QString("%1").arg(parser->counters[id])); + getTableItem(i, 3)->setText(list.back().hex_dat); + table_widget->showRow(i); + i++; + } +} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h new file mode 100644 index 0000000000..dca725199d --- /dev/null +++ b/tools/cabana/messageswidget.h @@ -0,0 +1,24 @@ +#pragma once + +#include +#include +#include + +#include "tools/cabana/parser.h" + +class MessagesWidget : public QWidget { + Q_OBJECT + + public: + MessagesWidget(QWidget *parent); + + public slots: + void updateState(); + + signals: + void msgChanged(const QString &id); + + protected: + QLineEdit *filter; + QTableWidget *table_widget; +}; diff --git a/tools/cabana/parser.cc b/tools/cabana/parser.cc new file mode 100644 index 0000000000..481f0dfbdf --- /dev/null +++ b/tools/cabana/parser.cc @@ -0,0 +1,98 @@ +#include "tools/cabana/parser.h" + +#include + +#include "cereal/messaging/messaging.h" + +Parser::Parser(QObject *parent) : QObject(parent) { + qRegisterMetaType>(); + QObject::connect(this, &Parser::received, this, &Parser::process, Qt::QueuedConnection); + + thread = new QThread(); + connect(thread, &QThread::started, [=]() { recvThread(); }); + QObject::connect(thread, &QThread::finished, thread, &QThread::deleteLater); + thread->start(); +} + +Parser::~Parser() { + replay->stop(); + exit = true; + thread->quit(); + thread->wait(); +} + +bool Parser::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { + replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); + if (!replay->load()) { + return false; + } + replay->start(); + return true; +} + +void Parser::openDBC(const QString &name) { + dbc_name = name; + dbc = const_cast(dbc_lookup(name.toStdString())); + msg_map.clear(); + for (auto &msg : dbc->msgs) { + msg_map[msg.address] = &msg; + } +} + +void Parser::process(std::vector can) { + for (auto &data : can) { + ++counters[data.id]; + auto &list = can_msgs[data.id]; + while (list.size() > DATA_LIST_SIZE) { + list.pop_front(); + } + list.push_back(data); + } + emit updated(); +} + +void Parser::recvThread() { + AlignedBuffer aligned_buf; + std::unique_ptr context(Context::create()); + std::unique_ptr subscriber(SubSocket::create(context.get(), "can")); + subscriber->setTimeout(100); + while (!exit) { + std::unique_ptr msg(subscriber->receive()); + if (!msg) continue; + + capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); + cereal::Event::Reader event = cmsg.getRoot(); + std::vector can; + can.reserve(event.getCan().size()); + for (const auto &c : event.getCan()) { + CanData &data = can.emplace_back(); + data.address = c.getAddress(); + data.bus_time = c.getBusTime(); + data.source = c.getSrc(); + data.dat.append((char *)c.getDat().begin(), c.getDat().size()); + data.hex_dat = data.dat.toHex(' ').toUpper(); + data.id = QString("%1:%2").arg(data.source).arg(data.address, 1, 16); + data.ts = (event.getLogMonoTime() - replay->routeStartTime()) / (double)1e6; + } + emit received(can); + } +} + +void Parser::addNewMsg(const Msg &msg) { + dbc->msgs.push_back(msg); + msg_map[dbc->msgs.back().address] = &dbc->msgs.back(); +} + +void Parser::removeSignal(const QString &id, const QString &sig_name) { + Msg *msg = const_cast(getMsg(id)); + if (!msg) return; + + auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); }); + if (it != msg->sigs.end()) { + msg->sigs.erase(it); + } +} + +uint32_t Parser::addressFromId(const QString &id) { + return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16); +} diff --git a/tools/cabana/parser.h b/tools/cabana/parser.h new file mode 100644 index 0000000000..fd5ded7c5e --- /dev/null +++ b/tools/cabana/parser.h @@ -0,0 +1,66 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "opendbc/can/common.h" +#include "opendbc/can/common_dbc.h" +#include "tools/replay/replay.h" + +const int DATA_LIST_SIZE = 500; +// const int FPS = 20; + +struct CanData { + QString id; + double ts; + uint32_t address; + uint16_t bus_time; + uint8_t source; + QByteArray dat; + QString hex_dat; +}; + +class Parser : public QObject { + Q_OBJECT + + public: + Parser(QObject *parent); + ~Parser(); + static uint32_t addressFromId(const QString &id); + bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam); + void openDBC(const QString &name); + void saveDBC(const QString &name) {} + void addNewMsg(const Msg &msg); + void removeSignal(const QString &id, const QString &sig_name); + const Msg *getMsg(const QString &id) { + return getMsg(addressFromId(id)); + } + const Msg *getMsg(uint32_t address) { + auto it = msg_map.find(address); + return it != msg_map.end() ? it->second : nullptr; + } + signals: + void showPlot(const QString &id, const QString &name); + void hidePlot(const QString &id, const QString &name); + void received(std::vector can); + void updated(); + + public: + void recvThread(); + void process(std::vector can); + QThread *thread; + QString dbc_name; + std::atomic exit = false; + std::map> can_msgs; + std::map counters; + Replay *replay = nullptr; + DBC *dbc = nullptr; + std::map msg_map; +}; + +Q_DECLARE_METATYPE(std::vector); + +extern Parser *parser; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc new file mode 100644 index 0000000000..caa109eab0 --- /dev/null +++ b/tools/cabana/videowidget.cc @@ -0,0 +1,80 @@ +#include "tools/cabana/videowidget.h" + +#include +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/parser.h" + +inline QString formatTime(int seconds) { + return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh::mm::ss" : "mm::ss"); +} + +VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + + cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this); + cam_widget->setFixedSize(640, 480); + main_layout->addWidget(cam_widget); + + // slider controls + QHBoxLayout *slider_layout = new QHBoxLayout(); + QLabel *time_label = new QLabel("00:00"); + slider_layout->addWidget(time_label); + + slider = new QSlider(Qt::Horizontal, this); + // slider->setFixedWidth(640); + slider->setSingleStep(1); + slider->setMaximum(parser->replay->totalSeconds()); + QObject::connect(slider, &QSlider::sliderReleased, [=]() { + time_label->setText(formatTime(slider->value())); + parser->replay->seekTo(slider->value(), false); + }); + slider_layout->addWidget(slider); + + QLabel *total_time_label = new QLabel(formatTime(parser->replay->totalSeconds())); + slider_layout->addWidget(total_time_label); + + main_layout->addLayout(slider_layout); + + // btn controls + QHBoxLayout *control_layout = new QHBoxLayout(); + QPushButton *play = new QPushButton("⏸"); + play->setStyleSheet("font-weight:bold"); + QObject::connect(play, &QPushButton::clicked, [=]() { + bool is_paused = parser->replay->isPaused(); + play->setText(is_paused ? "⏸" : "▶"); + parser->replay->pause(!is_paused); + }); + control_layout->addWidget(play); + + QButtonGroup *group = new QButtonGroup(this); + group->setExclusive(true); + for (float speed : {0.1, 0.5, 1., 2.}) { + QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this); + btn->setCheckable(true); + QObject::connect(btn, &QPushButton::clicked, [=]() { + parser->replay->setSpeed(speed); + }); + control_layout->addWidget(btn); + group->addButton(btn); + if (speed == 1.0) btn->setChecked(true); + } + + main_layout->addLayout(control_layout); + + QTimer *timer = new QTimer(this); + timer->setInterval(1000); + timer->callOnTimeout([=]() { + int current_seconds = parser->replay->currentSeconds(); + time_label->setText(formatTime(current_seconds)); + if (!slider->isSliderDown()) { + slider->setValue(current_seconds); + } + }); + timer->start(); +} diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h new file mode 100644 index 0000000000..f0b9e458bd --- /dev/null +++ b/tools/cabana/videowidget.h @@ -0,0 +1,17 @@ +#pragma once + +#include +#include + +#include "selfdrive/ui/qt/widgets/cameraview.h" + +class VideoWidget : public QWidget { + Q_OBJECT + +public: + VideoWidget(QWidget *parnet = nullptr); + +protected: + CameraViewWidget *cam_widget; + QSlider *slider; +}; diff --git a/tools/replay/SConscript b/tools/replay/SConscript index d3967708fa..9985375688 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -18,6 +18,7 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'): replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks) + Export('replay_lib') replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index c6c78f47ae..1684dfaca9 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -382,7 +382,7 @@ void Replay::stream() { if (cur_which < sockets_.size() && sockets_[cur_which] != nullptr) { // keep time - long etime = cur_mono_time_ - evt_start_ts; + long etime = (cur_mono_time_ - evt_start_ts) / speed_; 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 diff --git a/tools/replay/replay.h b/tools/replay/replay.h index e86c453f7e..3327362f97 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -52,8 +52,11 @@ public: inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; } inline const Route* route() const { return route_.get(); } inline int currentSeconds() const { return (cur_mono_time_ - route_start_ts_) / 1e9; } + inline uint64_t routeStartTime() const { return route_start_ts_; } inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; } inline int totalSeconds() const { return segments_.size() * 60; } + inline void setSpeed(float speed) { speed_ = speed; } + inline float getSpeed() const { return speed_; } inline const std::string &carFingerprint() const { return car_fingerprint_; } inline const std::vector> getTimeline() { std::lock_guard lk(timeline_lock); @@ -112,4 +115,5 @@ protected: QFuture timeline_future; std::vector> timeline; std::string car_fingerprint_; + float speed_ = 1.0; }; diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 863b853718..7e021bcc23 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -63,6 +63,7 @@ function install_ubuntu_common_requirements() { qttools5-dev-tools \ libqt5sql5-sqlite \ libqt5svg5-dev \ + libqt5charts5-dev \ libqt5x11extras5-dev \ libreadline-dev \ libdw1 \ From 3068c48224d62ea6c3070332668fedafe522f1d3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 3 Oct 2022 16:06:29 -0700 Subject: [PATCH 160/685] add fault for invalid safety RX checks (#25949) * add fault for invalid safety RX checks * just a bool * bump panda --- cereal | 2 +- panda | 2 +- selfdrive/boardd/boardd.cc | 1 + selfdrive/car/hyundai/carstate.py | 1 - selfdrive/controls/controlsd.py | 2 +- 5 files changed, 4 insertions(+), 4 deletions(-) diff --git a/cereal b/cereal index d4cf8728e2..5ba96b6ded 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit d4cf8728e2fa2d87d90098efa7ddeaf8f98a03db +Subproject commit 5ba96b6ded57bcd91e60140ce0036f61370f8512 diff --git a/panda b/panda index 1910db8d4c..e987e6c639 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 1910db8d4c3f932fe85b186fba1d24795cb2b742 +Subproject commit e987e6c6393e1e1432ba6bb740eb2c1b80542043 diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 09e7137b38..3e39985c29 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -381,6 +381,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt)); ps.setInterruptLoad(health.interrupt_load); ps.setFanPower(health.fan_power); + ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid)); std::array cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()}; diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 61da04d04b..b9c7327a93 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -31,7 +31,6 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] self.brake_error = False - self.park_brake = False self.buttons_counter = 0 # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index b6479e5608..303e5f8df8 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -313,7 +313,7 @@ class Controls: else: safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES - if safety_mismatch or self.mismatch_counter >= 200: + if safety_mismatch or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200: self.events.add(EventName.controlsMismatch) if log.PandaState.FaultType.relayMalfunction in pandaState.faults: From 4404cb42b445cdb7c2a9583357582ba2f11f2067 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 3 Oct 2022 16:45:00 -0700 Subject: [PATCH 161/685] fix build without extras (#25957) --- tools/cabana/SConscript | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index f32ee166b6..0caae14e92 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,6 +1,6 @@ import os Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', - 'cereal', 'transformations', 'widgets', 'replay_lib', 'opendbc') + 'cereal', 'transformations', 'widgets', 'opendbc') base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', @@ -15,6 +15,7 @@ qt_libs = ['qt_util', 'Qt5Charts'] + base_libs if arch in ['x86_64', 'Darwin'] and GetOption('extras'): qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] + Import('replay_lib') # qt_env["LD_LIBRARY_PATH"] = [Dir(f"#opendbc/can").abspath] cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'videowidget.cc', 'parser.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) From 5352006cbd00dc84262a4789b66cba47669d6d75 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Mon, 3 Oct 2022 19:19:39 -0700 Subject: [PATCH 162/685] hyundai: fix FCA11 checksum and counter (#25027) * hyundai: fix FCA11 checksum and counter * update refs and comment about alt DBC definition we do not support --- opendbc | 2 +- selfdrive/car/hyundai/hyundaican.py | 10 ++++------ 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/opendbc b/opendbc index eaac172af9..9ddcdb22c4 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit eaac172af9cb342204e69ec52339cdf3c6a8ac4e +Subproject commit 9ddcdb22c4929baf310295e832668e6e7fcfa602 diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index b3e1aa6b66..139a14d5e8 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -132,18 +132,16 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s } commands.append(packer.make_can_msg("SCC14", 0, scc14_values)) + # note that some vehicles most likely have an alternate checksum/counter definition + # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602 fca11_values = { - # seems to count 2,1,0,3,2,1,0,3,2,1,0,3,2,1,0,repeat... - # (where first value is aligned to Supplemental_Counter == 0) - # test: [(idx % 0xF, -((idx % 0xF) + 2) % 4) for idx in range(0x14)] - "CR_FCA_Alive": ((-((idx % 0xF) + 2) % 4) << 2) + 1, - "Supplemental_Counter": idx % 0xF, + "CR_FCA_Alive": idx % 0xF, "PAINT1_Status": 1, "FCA_DrvSetStatus": 1, "FCA_Status": 1, # AEB disabled } fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2] - fca11_values["CR_FCA_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in fca11_dat) % 0x10 + fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7]) commands.append(packer.make_can_msg("FCA11", 0, fca11_values)) return commands From dc63245b8955dc941e4c2370f6b953564f3f775b Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Mon, 3 Oct 2022 20:47:00 -0700 Subject: [PATCH 163/685] reset LaikadEphemeris after loggerd test --- selfdrive/loggerd/tests/test_loggerd.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/selfdrive/loggerd/tests/test_loggerd.py index a2138b0aa6..9c3565d130 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/selfdrive/loggerd/tests/test_loggerd.py @@ -110,6 +110,8 @@ class TestLoggerd(unittest.TestCase): self.assertEqual(getattr(initData, initData_key), v) self.assertEqual(logged_params[param_key].decode(), v) + params.put("LaikadEphemeris", "") + def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" Params().put("RecordFront", "1") From f35c234e9c23d9af49fcc6f82475931dc2d887db Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 3 Oct 2022 21:19:51 -0700 Subject: [PATCH 164/685] thermald: consider pmic temp while onroad (#25959) * thermald: consider pmic temp while onroad * this is better --- selfdrive/thermald/thermald.py | 25 +++++++++++++++++-------- 1 file changed, 17 insertions(+), 8 deletions(-) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 5c2fbd6825..64ca39d296 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -177,7 +177,8 @@ def thermald_thread(end_event, hw_queue): modem_temps=[], ) - temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML) + all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML) + offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML) should_start_prev = False in_car = False engaged_prev = False @@ -239,24 +240,32 @@ def thermald_thread(end_event, hw_queue): msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness() - max_comp_temp = temp_filter.update( - max(max(msg.deviceState.cpuTempC), msg.deviceState.memoryTempC, max(msg.deviceState.gpuTempC)) - ) + # this one is only used for offroad + temp_sources = [ + msg.deviceState.memoryTempC, + max(msg.deviceState.cpuTempC), + max(msg.deviceState.gpuTempC), + ] + offroad_comp_temp = offroad_temp_filter.update(max(temp_sources)) + + # this drives the thermal status while onroad + temp_sources.append(max(msg.deviceState.pmicTempC)) + all_comp_temp = all_temp_filter.update(max(temp_sources)) if fan_controller is not None: - msg.deviceState.fanSpeedPercentDesired = fan_controller.update(max_comp_temp, onroad_conditions["ignition"]) + msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"]) is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5)) - if is_offroad_for_5_min and max_comp_temp > OFFROAD_DANGER_TEMP: + if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP: # If device is offroad we want to cool down before going onroad # since going onroad increases load and can make temps go over 107 thermal_status = ThermalStatus.danger else: current_band = THERMAL_BANDS[thermal_status] band_idx = list(THERMAL_BANDS.keys()).index(thermal_status) - if current_band.min_temp is not None and max_comp_temp < current_band.min_temp: + if current_band.min_temp is not None and all_comp_temp < current_band.min_temp: thermal_status = list(THERMAL_BANDS.keys())[band_idx - 1] - elif current_band.max_temp is not None and max_comp_temp > current_band.max_temp: + elif current_band.max_temp is not None and all_comp_temp > current_band.max_temp: thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1] # **** starting logic **** From 84adb8d9259be92951c604b0780608de8c039f9f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 4 Oct 2022 00:39:19 -0700 Subject: [PATCH 165/685] GM: raise max brake (#25810) * -4 didn't make any sense? * comments * comments * update to 400 * bump panda * remove unused iso limit vars * update comments * bump panda * Update selfdrive/car/gm/values.py * Update ref_commit --- panda | 2 +- selfdrive/car/gm/values.py | 16 ++++++++-------- selfdrive/controls/lib/longcontrol.py | 3 --- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 10 insertions(+), 13 deletions(-) diff --git a/panda b/panda index e987e6c639..9bcd9b9a24 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e987e6c6393e1e1432ba6bb740eb2c1b80542043 +Subproject commit 9bcd9b9a24149b241992f26caf9920d427ee609d diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index fec21d8d24..999dabfee3 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -23,11 +23,12 @@ class CarControllerParams: ADAS_KEEPALIVE_STEP = 100 CAMERA_KEEPALIVE_STEP = 100 - # Volt gasbrake lookups - # TODO: These values should be confirmed on non-Volt vehicles + # Volt gas/brake lookups + # TODO: These values should be confirmed on non-Volt vehicles. + # MAX_GAS should achieve 2 m/s^2 and MAX_BRAKE with regen should achieve -4.0 m/s^2 MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill. ZERO_GAS = 2048 # Coasting - MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen + MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we @@ -38,15 +39,14 @@ class CarControllerParams: ACCEL_MAX = 2. # m/s^2 ACCEL_MIN = -4. # m/s^2 - EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX] - EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.] - # ICE has much less engine braking force compared to regen in EVs, # lower threshold removes some braking deadzone GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX] - BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1] - + EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX] GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS] + + BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1] + EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.] BRAKE_LOOKUP_V = [MAX_BRAKE, 0.] diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index 43e1f9cc4b..db5bf4d3e6 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -7,9 +7,6 @@ from selfdrive.modeld.constants import T_IDXS LongCtrlState = car.CarControl.Actuators.LongControlState -# As per ISO 15622:2018 for all speeds -ACCEL_MIN_ISO = -3.5 # m/s^2 -ACCEL_MAX_ISO = 2.0 # m/s^2 def long_control_state_trans(CP, active, long_control_state, v_ego, v_target, v_target_1sec, brake_pressed, cruise_standstill): diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1f459b1948..2769483c90 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -53079010a5db8105854212157b5ee90029df7b92 \ No newline at end of file +653fbfeac952c288ffd595ee13139b9547b998bf From ca746b0a18eebc9b0fa7a6810dba0b28a60548c2 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 4 Oct 2022 13:34:31 -0700 Subject: [PATCH 166/685] Extend torqued (#25961) * extend live torque to all hyundai and toyota cars * update refs --- selfdrive/locationd/torqued.py | 5 ++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 78c3029af4..66af234590 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -12,7 +12,6 @@ from common.realtime import config_realtime_process, DT_MDL from common.filter_simple import FirstOrderFilter from system.swaglog import cloudlog from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY -from selfdrive.car.toyota.values import CAR as TOYOTA HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 @@ -33,7 +32,7 @@ MAX_INVALID_THRESHOLD = 10 MIN_ENGAGE_BUFFER = 2 # secs VERSION = 1 # bump this to invalidate old parameter caches -ALLOWED_FINGERPRINTS = [TOYOTA.COROLLA_TSS2, TOYOTA.COROLLA, TOYOTA.COROLLAH_TSS2] +ALLOWED_CARS = ['toyota', 'hyundai'] def slope2rot(slope): @@ -98,7 +97,7 @@ class TorqueEstimator: self.offline_friction = 0.0 self.offline_latAccelFactor = 0.0 self.resets = 0.0 - self.use_params = CP.carFingerprint in ALLOWED_FINGERPRINTS + self.use_params = CP.carName in ALLOWED_CARS if CP.lateralTuning.which() == 'torque': self.offline_friction = CP.lateralTuning.torque.friction diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2769483c90..d4d16b726b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -653fbfeac952c288ffd595ee13139b9547b998bf +1989d8c2a5de94faa3756b7d10fc94e6c063afa5 \ No newline at end of file From 0231c4ba851819963502d0068d574a055f865692 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 4 Oct 2022 17:23:41 -0700 Subject: [PATCH 167/685] cleanup stale longitudinal params (#25967) --- selfdrive/controls/controlsd.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 303e5f8df8..9cf079a2b3 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -143,6 +143,11 @@ class Controls: put_nonblocking("CarParamsCache", cp_bytes) put_nonblocking("CarParamsPersistent", cp_bytes) + # cleanup old params + if not self.CP.experimentalLongitudinalAvailable: + params.remove("EndToEndLong") + params.remove("ExperimentalLongitudinalEnabled") + self.CC = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() self.AM = AlertManager() From 285fd56a1d9ceb4addc5f34c510817bb075af977 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 4 Oct 2022 17:47:37 -0700 Subject: [PATCH 168/685] bootlog: add helper to get a bootlog by segment id --- tools/lib/bootlog.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py index 3515370823..1e474e5dde 100644 --- a/tools/lib/bootlog.py +++ b/tools/lib/bootlog.py @@ -1,6 +1,7 @@ import datetime import functools import re +from typing import List, Optional from tools.lib.auth_config import get_token from tools.lib.api import CommaApi @@ -48,8 +49,15 @@ class Bootlog: return False return self.datetime < b.datetime +def get_bootlog_from_id(bootlog_id: str) -> Optional[Bootlog]: + # TODO: implement an API endpoint for this + bl = Bootlog(bootlog_id) + for b in get_bootlogs(bl.dongle_id): + if b == bl: + return b + return None -def get_bootlogs(dongle_id: str): +def get_bootlogs(dongle_id: str) -> List[Bootlog]: api = CommaApi(get_token()) r = api.get(f'v1/devices/{dongle_id}/bootlogs') return [Bootlog(b) for b in r] From de67a28f1bae5f3677c57ed179baf8bf9c1d971d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 4 Oct 2022 19:21:23 -0700 Subject: [PATCH 169/685] Ford: handle VIN (#25966) fix ford vin --- selfdrive/car/vin.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index 50c2abde46..ee40cf298a 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -27,6 +27,9 @@ def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): for addr in valid_vin_addrs: vin = results.get((addr, None)) if vin is not None: + # Ford pads with null bytes + vin = vin.replace(b'\x00', b'') + # Honda Bosch response starts with a length, trim to correct length if vin.startswith(b'\x11'): vin = vin[1:18] From 7ed064f7baff36b08713729c9c99304ef0224a58 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 4 Oct 2022 20:38:39 -0700 Subject: [PATCH 170/685] VIN: make Ford exception more explicit (#25972) * Update vin.py * only replace from end --- selfdrive/car/vin.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py index ee40cf298a..cf1c25e851 100755 --- a/selfdrive/car/vin.py +++ b/selfdrive/car/vin.py @@ -28,7 +28,8 @@ def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False): vin = results.get((addr, None)) if vin is not None: # Ford pads with null bytes - vin = vin.replace(b'\x00', b'') + if len(vin) == 24: + vin = re.sub(b'\x00*$', b'', vin) # Honda Bosch response starts with a length, trim to correct length if vin.startswith(b'\x11'): From f2859b3be55d95bc53ff90aa536a7d8ae14b212f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 4 Oct 2022 20:58:07 -0700 Subject: [PATCH 171/685] thermald: prevent started cycling too quickly (#25971) * thermald: prevent started cycling too quickly * move that * fix logging and no wait after boot Co-authored-by: Comma Device --- selfdrive/thermald/thermald.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 64ca39d296..89b81f06ec 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -278,6 +278,7 @@ def thermald_thread(end_event, hw_queue): startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall") startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version + startup_conditions["offroad_min_time"] = (not started_seen) or ((off_ts is not None) and (sec_since_boot() - off_ts) > 5.) # with 2% left, we killall, otherwise the phone will take a long time to boot startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2 @@ -338,7 +339,8 @@ def thermald_thread(end_event, hw_queue): started_seen = True else: if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev): - cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions) + cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, error=True) + startup_conditions_prev = startup_conditions.copy() started_ts = None if off_ts is None: @@ -372,7 +374,6 @@ def thermald_thread(end_event, hw_queue): pm.send("deviceState", msg) should_start_prev = should_start - startup_conditions_prev = startup_conditions.copy() # Log to statsd statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent) From e5d2c3ce7abd9fa4c82a774e765e30ba0a97461a Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 4 Oct 2022 21:19:04 -0700 Subject: [PATCH 172/685] Planner cleanup (#25969) --- selfdrive/controls/lib/lateral_planner.py | 3 --- .../lib/longitudinal_mpc_lib/long_mpc.py | 25 ------------------- .../controls/lib/longitudinal_planner.py | 4 +-- 3 files changed, 2 insertions(+), 30 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 3470754bc6..2ad5f784d7 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -22,7 +22,6 @@ class LateralPlanner: self.solution_invalid_cnt = 0 self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) - self.path_xyz_stds = np.ones((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) self.plan_curv_rate = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) @@ -45,8 +44,6 @@ class LateralPlanner: self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) self.t_idxs = np.array(md.position.t) self.plan_yaw = np.array(md.orientation.z) - if len(md.position.xStd) == TRAJECTORY_SIZE: - self.path_xyz_stds = np.column_stack([md.position.xStd, md.position.yStd, md.position.zStd]) # Lane change logic desire_state = md.meta.desireState diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 01a69d6f87..695222ed4d 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -255,9 +255,6 @@ class LongitudinalMpc: elif self.mode == 'blended': cost_weights = [0., 0.2, 0.25, 1.0, 0.0, 1.0] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0] - elif self.mode == 'e2e': - cost_weights = [0., 0.2, 0.25, 1., 0.0, .1] - constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 0.0] else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') self.set_cost_weights(cost_weights, constraint_cost_weights) @@ -386,28 +383,6 @@ class LongitudinalMpc: (lead_1_obstacle[0] - lead_0_obstacle[0]): self.source = 'lead1' - - def update_with_xva(self, x, v, a): - self.params[:,0] = -10. - self.params[:,1] = 10. - self.params[:,2] = 1e5 - self.params[:,4] = T_FOLLOW - self.params[:,5] = LEAD_DANGER_FACTOR - - # v, and a are in local frame, but x is wrt the x[0] position - # In >90degree turns, x goes to 0 (and may even be -ve) - # So, we use integral(v) + x[0] to obtain the forward-distance - xforward = ((v[1:] + v[:-1]) / 2) * (T_IDXS[1:] - T_IDXS[:-1]) - x = np.cumsum(np.insert(xforward, 0, x[0])) - self.yref[:,1] = x - self.yref[:,2] = v - self.yref[:,3] = a - for i in range(N): - self.solver.cost_set(i, "yref", self.yref[i]) - self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) - self.params[:,3] = np.copy(self.prev_a) - self.run() - def run(self): # t0 = sec_since_boot() # reset = 0 diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 6ec3762a94..a0363536ca 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -87,8 +87,8 @@ class LongitudinalPlanner: j = np.zeros(len(T_IDXS_MPC)) return x, v, a, j - def update(self, sm): - if self.param_read_counter % 50 == 0: + def update(self, sm, read=True): + if self.param_read_counter % 50 == 0 and read: self.read_param() self.param_read_counter += 1 From 300577f38f963bb2854a6139ed50544d9bb493b1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 5 Oct 2022 13:00:22 -0700 Subject: [PATCH 173/685] fixup toggle cleanup --- selfdrive/controls/controlsd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 9cf079a2b3..6ce1156baf 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -145,8 +145,9 @@ class Controls: # cleanup old params if not self.CP.experimentalLongitudinalAvailable: - params.remove("EndToEndLong") params.remove("ExperimentalLongitudinalEnabled") + if not self.CP.openpilotLongitudinalControl: + params.remove("EndToEndLong") self.CC = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() From c8b7d297b6645b82406b75f93c3ee37643575c50 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 5 Oct 2022 15:39:40 -0700 Subject: [PATCH 174/685] docs: specify Lexus Safety System+ package for RX 2016 (#25974) * docs: specify Lexus Safety System+ package for RX 2016 This package isn't standard on the 2016 MY. https://cdn.dealereprocess.org/cdn/brochures/lexus/2016-rx350.pdf * hybrid too Co-authored-by: Adeeb Shihadeh Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 8 +++++--- selfdrive/car/toyota/values.py | 10 ++++++++-- 2 files changed, 13 insertions(+), 5 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index ecd6932e87..82ef37ae8d 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. -# 204 Supported Cars +# 206 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -110,9 +110,11 @@ A supported vehicle is one that just works when you install a comma three. All s |Lexus|NX Hybrid 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX 2016-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX 2016|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|RX Hybrid 2016-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 1f8ab2498d..0075a483f6 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -171,8 +171,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"), CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"), - CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-19", footnotes=[Footnote.DSU]), - CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]), + CAR.LEXUS_RX: [ + ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Lexus RX 2017-19", footnotes=[Footnote.DSU]), + ], + CAR.LEXUS_RXH: [ + ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Lexus RX Hybrid 2017-19", footnotes=[Footnote.DSU]), + ], CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"), CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"), } From 06e283a7504b23de79f12ec2c0a7ab280eda57e4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 5 Oct 2022 16:10:14 -0700 Subject: [PATCH 175/685] UI: only show cell settings on non-prime connection (#25067) * fix indentation * add primeTypeChanged signal to uiState * hide advanced networking toggles on prime type change * switch between map settings on prime type change * cleanup * remove duplicate code, wait for signal Co-authored-by: Cameron Clough --- selfdrive/ui/qt/maps/map_settings.cc | 5 +++-- selfdrive/ui/qt/offroad/networking.cc | 15 ++++++++++++--- selfdrive/ui/qt/offroad/networking.h | 3 +++ selfdrive/ui/qt/offroad/wifiManager.cc | 20 ++++++++++---------- selfdrive/ui/qt/widgets/prime.cc | 6 +----- selfdrive/ui/ui.cc | 7 +++++++ selfdrive/ui/ui.h | 4 +++- 7 files changed, 39 insertions(+), 21 deletions(-) diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index dd2ad04a7d..3205ca517d 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -115,7 +115,9 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { stack->addWidget(main_widget); stack->addWidget(no_prime_widget); - stack->setCurrentIndex(uiState()->prime_type ? 0 : 1); + connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) { + stack->setCurrentIndex(prime_type ? 0 : 1); + }); QVBoxLayout *wrapper = new QVBoxLayout(this); wrapper->addWidget(stack); @@ -194,7 +196,6 @@ void MapPanel::parseResponse(const QString &response, bool success) { } void MapPanel::refresh() { - stack->setCurrentIndex(uiState()->prime_type ? 0 : 1); if (cur_destinations == prev_destinations) return; QJsonDocument doc = QJsonDocument::fromJson(cur_destinations.trimmed().toUtf8()); diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 0ed6317c3c..13697adfb5 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -8,9 +8,11 @@ #include #include +#include "selfdrive/ui/ui.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" #include "selfdrive/ui/qt/widgets/controls.h" +#include "selfdrive/ui/qt/widgets/prime.h" #include "selfdrive/ui/qt/widgets/scrollview.h" @@ -150,7 +152,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Roaming toggle const bool roamingEnabled = params.getBool("GsmRoaming"); - ToggleControl *roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled); + roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled); QObject::connect(roamingToggle, &ToggleControl::toggleFlipped, [=](bool state) { params.putBool("GsmRoaming", state); wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn")), params.getBool("GsmMetered")); @@ -158,7 +160,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid list->addItem(roamingToggle); // APN settings - ButtonControl *editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT")); + editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT")); connect(editApnButton, &ButtonControl::clicked, [=]() { const QString cur_apn = QString::fromStdString(params.get("GsmApn")); QString apn = InputDialog::getText(tr("Enter APN"), this, tr("leave blank for automatic configuration"), false, -1, cur_apn).trimmed(); @@ -174,7 +176,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Metered toggle const bool metered = params.getBool("GsmMetered"); - ToggleControl *meteredToggle = new ToggleControl(tr("Cellular Metered"), tr("Prevent large data uploads when on a metered connection"), "", metered); + meteredToggle = new ToggleControl(tr("Cellular Metered"), tr("Prevent large data uploads when on a metered connection"), "", metered); QObject::connect(meteredToggle, &SshToggle::toggleFlipped, [=](bool state) { params.putBool("GsmMetered", state); wifi->updateGsmSettings(params.getBool("GsmRoaming"), QString::fromStdString(params.get("GsmApn")), state); @@ -184,6 +186,13 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Set initial config wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered); + connect(uiState(), &UIState::primeTypeChanged, this, [=](int prime_type) { + bool gsmVisible = prime_type == PrimeType::NONE || prime_type == PrimeType::LITE; + roamingToggle->setVisible(gsmVisible); + editApnButton->setVisible(gsmVisible); + meteredToggle->setVisible(gsmVisible); + }); + main_layout->addWidget(new ScrollView(list, this)); main_layout->addStretch(1); } diff --git a/selfdrive/ui/qt/offroad/networking.h b/selfdrive/ui/qt/offroad/networking.h index 4fc9a53d93..79cbcc3493 100644 --- a/selfdrive/ui/qt/offroad/networking.h +++ b/selfdrive/ui/qt/offroad/networking.h @@ -40,6 +40,9 @@ public: private: LabelControl* ipLabel; ToggleControl* tetheringToggle; + ToggleControl* roamingToggle; + ButtonControl* editApnButton; + ToggleControl* meteredToggle; WifiManager* wifi = nullptr; Params params; diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index 3a30456c93..62de3041b9 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -415,16 +415,16 @@ void WifiManager::addTetheringConnection() { } void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) { - int prime_type = uiState()->prime_type; - int ipv4_forward = (prime_type == PrimeType::NONE || prime_type == PrimeType::LITE); - - if (!ipv4_forward) { - QTimer::singleShot(5000, this, [=] { - qWarning() << "net.ipv4.ip_forward = 0"; - std::system("sudo sysctl net.ipv4.ip_forward=0"); - }); - } - call->deleteLater(); + int prime_type = uiState()->prime_type; + int ipv4_forward = (prime_type == PrimeType::NONE || prime_type == PrimeType::LITE); + + if (!ipv4_forward) { + QTimer::singleShot(5000, this, [=] { + qWarning() << "net.ipv4.ip_forward = 0"; + std::system("sudo sysctl net.ipv4.ip_forward=0"); + }); + } + call->deleteLater(); } void WifiManager::setTetheringEnabled(bool enabled) { diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 04684fc765..da2f4e60d1 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -312,11 +312,7 @@ void SetupWidget::replyFinished(const QString &response, bool success) { QJsonObject json = doc.object(); int prime_type = json["prime_type"].toInt(); - - if (uiState()->prime_type != prime_type) { - uiState()->prime_type = prime_type; - Params().put("PrimeType", std::to_string(prime_type)); - } + uiState()->prime_type = prime_type; if (!json["is_paired"].toBool()) { mainLayout->setCurrentIndex(0); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index fcee00d1c8..152c7fbfcd 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -201,6 +201,13 @@ void UIState::updateStatus() { started_prev = scene.started; emit offroadTransition(!scene.started); } + + // Handle prime type change + if (prime_type != prime_type_prev) { + prime_type_prev = prime_type; + emit primeTypeChanged(prime_type); + Params().put("PrimeType", std::to_string(prime_type)); + } } UIState::UIState(QObject *parent) : QObject(parent) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index d7e51ccfeb..f60c26b59a 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -126,7 +126,7 @@ public: UIScene scene = {}; bool awake; - int prime_type = 0; + int prime_type; QString language; QTransform car_space_transform; @@ -135,6 +135,7 @@ public: signals: void uiUpdate(const UIState &s); void offroadTransition(bool offroad); + void primeTypeChanged(int prime_type); private slots: void update(); @@ -142,6 +143,7 @@ private slots: private: QTimer *timer; bool started_prev = false; + int prime_type_prev = -1; }; UIState *uiState(); From ef24c0b2ce8a4cf1dbc82886b806079889adf97b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 5 Oct 2022 16:40:39 -0700 Subject: [PATCH 176/685] agnos 6.1 (#25973) * agnos 6.1 * staging manifest * no casync * prod manifest --- launch_env.sh | 2 +- selfdrive/sensord/rawgps/modemdiag.py | 15 +-------------- system/hardware/tici/agnos.json | 6 +++--- 3 files changed, 5 insertions(+), 18 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 48c5696b94..88e1f2a9c5 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="6" + export AGNOS_VERSION="6.1" fi if [ -z "$PASSIVE" ]; then diff --git a/selfdrive/sensord/rawgps/modemdiag.py b/selfdrive/sensord/rawgps/modemdiag.py index cc2bc5b261..5d72aeba9e 100644 --- a/selfdrive/sensord/rawgps/modemdiag.py +++ b/selfdrive/sensord/rawgps/modemdiag.py @@ -1,5 +1,3 @@ -import os -import time import select from serial import Serial from crcmod import mkCrcFun @@ -11,18 +9,7 @@ class ModemDiag: self.pend = b'' def open_serial(self): - def op(): - return Serial("/dev/ttyUSB0", baudrate=115200, rtscts=True, dsrdtr=True, timeout=0) - try: - serial = op() - except Exception: - # TODO: this is a hack to get around modemmanager's exclusive open - print("unlocking serial...") - os.system('sudo su -c \'echo "1-1.1:1.0" > /sys/bus/usb/drivers/option/unbind\'') - os.system('sudo su -c \'echo "1-1.1:1.0" > /sys/bus/usb/drivers/option/bind\'') - time.sleep(0.5) - os.system("sudo chmod 666 /dev/ttyUSB0") - serial = op() + serial = Serial("/dev/ttyUSB0", baudrate=115200, rtscts=True, dsrdtr=True, timeout=0, exclusive=True) serial.flush() serial.reset_input_buffer() serial.reset_output_buffer() diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index dc0fa6f1c1..8534c8a978 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -41,9 +41,9 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-9db38e27c912005472f3ac02be336af4f82307295118b6db22921479d44a941d.img.xz", - "hash": "05e7ce440b33721b020a249043d9568a5898080e26411ca250fb330ad2e5ed8e", - "hash_raw": "9db38e27c912005472f3ac02be336af4f82307295118b6db22921479d44a941d", + "url": "https://commadist.azureedge.net/agnosupdate/system-b40b08912576bb972907acba7c201c1399395cbc0cba06ce6e5e3f70ab565cb5.img.xz", + "hash": "6e8fbcc21a265f7f58062abce7675dc05540e2b60cee2df56992a151ba64936f", + "hash_raw": "b40b08912576bb972907acba7c201c1399395cbc0cba06ce6e5e3f70ab565cb5", "size": 10737418240, "sparse": true, "full_check": false, From 8b41d817e401fcf577bc68dfc6654ee1e0c3cbb5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 5 Oct 2022 17:06:52 -0700 Subject: [PATCH 177/685] IsoTpParallelQuery: set separation time (#25978) * Specify separation time in openpilot * comment * Update selfdrive/car/isotp_parallel_query.py * Update selfdrive/car/isotp_parallel_query.py --- panda | 2 +- selfdrive/car/isotp_parallel_query.py | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/panda b/panda index 9bcd9b9a24..3334dc21f5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 9bcd9b9a24149b241992f26caf9920d427ee609d +Subproject commit 3334dc21f5c55007c5a754dfd8ee5d642be3e2bb diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 94c8d052b3..4b4bdcc0ca 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -68,7 +68,10 @@ class IsoTpParallelQuery: self.bus, sub_addr=sub_addr, debug=self.debug) max_len = 8 if sub_addr is None else 7 - return IsoTpMessage(can_client, timeout=0, max_len=max_len, debug=self.debug) + # uses iso-tp frame separation time of 10 ms + # TODO: use single_frame_mode so ECUs can send as fast as they want, + # as well as reduces chances we process messages from previous queries + return IsoTpMessage(can_client, timeout=0, separation_time=0.01, debug=self.debug, max_len=max_len) def get_data(self, timeout, total_timeout=60.): self._drain_rx() From 6db9f051f761506e4d91ef1879cfae4c8cb1ddc8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 5 Oct 2022 17:09:46 -0700 Subject: [PATCH 178/685] Car docs: test no duplicate years (#25975) * unit test * clean up * revert test * clean up * like this like this * no model model --- selfdrive/car/tests/test_docs.py | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 191b36b8f2..b7056df5b3 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +from collections import defaultdict import re import unittest @@ -20,6 +21,15 @@ class TestCarDocs(unittest.TestCase): self.assertEqual(generated_cars_md, current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation") + def test_duplicate_years(self): + make_model_years = defaultdict(list) + for car in self.all_cars: + with self.subTest(car_info_name=car.name): + make_model = (car.make, car.model) + for year in car.year_list: + self.assertNotIn(year, make_model_years[make_model], f"{car.name}: Duplicate model year") + make_model_years[make_model].append(year) + def test_missing_car_info(self): all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys() for platform in sorted(interfaces.keys()): From 6a8a38b1a13b678bddbfdbcf5ba438bd7516c9be Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 5 Oct 2022 17:13:48 -0700 Subject: [PATCH 179/685] pigeond: prevent locking up a CPU core (#25979) --- selfdrive/sensord/pigeond.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/sensord/pigeond.py b/selfdrive/sensord/pigeond.py index e1fa2f4cad..f47cefed6c 100755 --- a/selfdrive/sensord/pigeond.py +++ b/selfdrive/sensord/pigeond.py @@ -251,6 +251,9 @@ def main(): msg = messaging.new_message('ubloxRaw', len(dat)) msg.ubloxRaw = dat[:] pm.send('ubloxRaw', msg) + else: + # prevent locking up a CPU core if ublox disconnects + time.sleep(0.001) if __name__ == "__main__": main() From c9c46c1b36d5784ed4245979eee5cc5f042fba12 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 5 Oct 2022 19:07:59 -0700 Subject: [PATCH 180/685] Revert "updated: configure branch upstream (#25916)" This reverts commit 17ed8dd0e9a8ecd0dcf8b573176ea27355c6a1ee. --- selfdrive/updated.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index f96abcb7d5..9568b28ae3 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -327,7 +327,7 @@ class Updater: self._has_internet = False setup_git_options(OVERLAY_MERGED) - output = run(["git", "ls-remote", "--heads", "origin"], OVERLAY_MERGED) + output = run(["git", "ls-remote", "--heads"], OVERLAY_MERGED) self.branches = defaultdict(lambda: None) for line in output.split('\n'): @@ -363,7 +363,6 @@ class Updater: cloudlog.info("git reset in progress") cmds = [ ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"], - ["git", "branch", "--set-upstream-to", f"origin/{branch}"], ["git", "reset", "--hard"], ["git", "clean", "-xdff"], ["git", "submodule", "init"], From e59008bf9335fba195f1df8741954a9f34ae00d9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 5 Oct 2022 20:59:04 -0700 Subject: [PATCH 181/685] rawgpsd: more robust + simple test (#25977) * rawgps cleanup * wait for modem manager * cleanup Co-authored-by: Comma Device --- selfdrive/sensord/rawgps/rawgpsd.py | 165 +++++++++++++++--------- selfdrive/sensord/rawgps/test_rawgps.py | 49 +++++++ 2 files changed, 150 insertions(+), 64 deletions(-) create mode 100755 selfdrive/sensord/rawgps/test_rawgps.py diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index 7c4582902b..5149ab6473 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -5,23 +5,32 @@ import signal import itertools import math import time +import subprocess from typing import NoReturn from struct import unpack_from, calcsize, pack -import cereal.messaging as messaging + from cereal import log -from system.swaglog import cloudlog +import cereal.messaging as messaging from laika.gps_time import GPSTime - +from system.swaglog import cloudlog from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from selfdrive.sensord.rawgps.structs import dict_unpacker -from selfdrive.sensord.rawgps.structs import gps_measurement_report, gps_measurement_report_sv -from selfdrive.sensord.rawgps.structs import glonass_measurement_report, glonass_measurement_report_sv -from selfdrive.sensord.rawgps.structs import oemdre_measurement_report, oemdre_measurement_report_sv -from selfdrive.sensord.rawgps.structs import LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT -from selfdrive.sensord.rawgps.structs import position_report, LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT +from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, + gps_measurement_report, gps_measurement_report_sv, + glonass_measurement_report, glonass_measurement_report_sv, + oemdre_measurement_report, oemdre_measurement_report_sv, + LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT, + LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT) DEBUG = int(os.getenv("DEBUG", "0"))==1 +LOG_TYPES = [ + LOG_GNSS_GPS_MEASUREMENT_REPORT, + LOG_GNSS_GLONASS_MEASUREMENT_REPORT, + LOG_GNSS_OEMDRE_MEASUREMENT_REPORT, + LOG_GNSS_POSITION_REPORT, +] + + miscStatusFields = { "multipathEstimateIsValid": 0, "directionIsValid": 1, @@ -65,59 +74,43 @@ measurementStatusGlonassFields = { "glonassTimeMarkValid": 17 } -def main() -> NoReturn: - unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True) - unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True) - unpack_glonass_meas, size_glonass_meas = dict_unpacker(glonass_measurement_report, True) - unpack_glonass_meas_sv, size_glonass_meas_sv = dict_unpacker(glonass_measurement_report_sv, True) - - unpack_oemdre_meas, size_oemdre_meas = dict_unpacker(oemdre_measurement_report, True) - unpack_oemdre_meas_sv, size_oemdre_meas_sv = dict_unpacker(oemdre_measurement_report_sv, True) - - log_types = [ - LOG_GNSS_GPS_MEASUREMENT_REPORT, - LOG_GNSS_GLONASS_MEASUREMENT_REPORT, - LOG_GNSS_OEMDRE_MEASUREMENT_REPORT, - ] - pub_types = ['qcomGnss'] - unpack_position, _ = dict_unpacker(position_report) - log_types.append(LOG_GNSS_POSITION_REPORT) - pub_types.append("gpsLocation") - - # connect to modem - diag = ModemDiag() - - # NV enable OEMDRE +def try_setup_logs(diag, log_types): + for _ in range(5): + try: + setup_logs(diag, log_types) + break + except Exception: + cloudlog.exception("setup logs failed, trying again") + else: + raise Exception(f"setup logs failed, {log_types=}") + +def mmcli(cmd: str) -> None: + for _ in range(5): + try: + subprocess.check_call(f"mmcli -m 0 {cmd}", shell=True) + break + except subprocess.CalledProcessError: + cloudlog.exception("rawgps.mmcli_command_failed") + else: + raise Exception(f"failed to execute mmcli command {cmd=}") + +def setup_quectel(diag: ModemDiag): + # enable OEMDRE in the NV # TODO: it has to reboot for this to take effect DIAG_NV_READ_F = 38 DIAG_NV_WRITE_F = 39 NV_GNSS_OEM_FEATURE_MASK = 7165 + send_recv(diag, DIAG_NV_WRITE_F, pack(' NoReturn: GPSDIAG_OEM_DRE_ON = 1 # gpsdiag_OemControlReqType - opcode, payload = send_recv(diag, DIAG_SUBSYS_CMD_F, pack(' NoReturn: + unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True) + unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True) + + unpack_glonass_meas, size_glonass_meas = dict_unpacker(glonass_measurement_report, True) + unpack_glonass_meas_sv, size_glonass_meas_sv = dict_unpacker(glonass_measurement_report_sv, True) + + unpack_oemdre_meas, size_oemdre_meas = dict_unpacker(oemdre_measurement_report, True) + unpack_oemdre_meas_sv, size_oemdre_meas_sv = dict_unpacker(oemdre_measurement_report_sv, True) + + unpack_position, _ = dict_unpacker(position_report) + + # wait for ModemManager to come up + cloudlog.warning("waiting for modem to come up") + while True: + ret = subprocess.call("mmcli -m 0 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True) + if ret == 0: + break + time.sleep(0.1) + + # connect to modem + diag = ModemDiag() + + def cleanup(sig, frame): + cloudlog.warning(f"caught sig {sig}, disabling quectel gps") + teardown_quectel(diag) + cloudlog.warning("quectel cleanup done") + sys.exit(0) + signal.signal(signal.SIGINT, cleanup) + signal.signal(signal.SIGTERM, cleanup) + + setup_quectel(diag) + cloudlog.warning("quectel setup done") + + pm = messaging.PubMaster(['qcomGnss', 'gpsLocation']) while 1: opcode, payload = diag.recv() assert opcode == DIAG_LOG_F + (pending_msgs, log_outer_length), inner_log_packet = unpack_from(' 0: cloudlog.debug("have %d pending messages" % pending_msgs) assert log_outer_length == len(inner_log_packet) + (log_inner_length, log_type, log_time), log_payload = unpack_from(' 0, "rawgpsd didn't start outputting messages in time" + + et = time.monotonic() - start_time + assert et < 5, f"rawgpsd took {et:.1f}s to start" + managed_processes['rawgpsd'].stop() + + def test_turns_off_gnss(self): + for s in (0.1, 0.5, 1, 5): + managed_processes['rawgpsd'].start() + time.sleep(s) + managed_processes['rawgpsd'].stop() + + ls = subprocess.check_output("mmcli -m 0 --location-status --output-json", shell=True, encoding='utf-8') + loc_status = json.loads(ls) + assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'} + + +if __name__ == "__main__": + unittest.main() From dc72438be57e8908b1946df2a0ee81202a70469c Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 5 Oct 2022 21:16:41 -0700 Subject: [PATCH 182/685] regen: add arg for migrating sensorEvents with old timestamps (#25980) * add event logMonoTime * add arg for old logtime --- selfdrive/test/process_replay/regen.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 54c84978c2..eee3745f8e 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -190,7 +190,7 @@ def migrate_carparams(lr): return all_msgs -def migrate_sensorEvents(lr): +def migrate_sensorEvents(lr, old_logtime=False): all_msgs = [] for msg in lr: if msg.which() != 'sensorEventsDEPRECATED': @@ -214,6 +214,8 @@ def migrate_sensorEvents(lr): m = messaging.new_message(sensor_service) m.valid = True + if old_logtime: + m.logMonoTime = msg.logMonoTime m_dat = getattr(m, sensor_service) m_dat.version = evt.version From a6ba073231761e06ac6f070a01b434243d9d0693 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 6 Oct 2022 12:17:22 +0800 Subject: [PATCH 183/685] canbana: complete basic functions (#25965) * add chart header * get all signal val from logs * loop in selected range * clear list before append * automatically zoom on yaxis * cleanup * sync charts * fix event_begin_sec * set the color of rubber * add TODO * sync slider with charts * keep video aspect ratio * sync plot buttons * reduce flickers * cleanup * refactor detail view * clear counters * more use qcamera --- tools/cabana/SConscript | 3 +- tools/cabana/cabana.cc | 6 +- tools/cabana/chartswidget.cc | 206 +++++++++++----- tools/cabana/chartswidget.h | 52 +++- tools/cabana/detailwidget.cc | 421 +++++++++------------------------ tools/cabana/detailwidget.h | 86 +++---- tools/cabana/mainwin.cc | 9 +- tools/cabana/mainwin.h | 4 +- tools/cabana/messageswidget.cc | 35 ++- tools/cabana/messageswidget.h | 2 +- tools/cabana/parser.cc | 114 +++++++-- tools/cabana/parser.h | 58 +++-- tools/cabana/signaledit.cc | 203 ++++++++++++++++ tools/cabana/signaledit.h | 50 ++++ tools/cabana/videowidget.cc | 49 ++-- tools/cabana/videowidget.h | 5 + tools/replay/logreader.cc | 18 +- tools/replay/logreader.h | 7 +- tools/replay/replay.cc | 21 +- tools/replay/replay.h | 9 +- tools/replay/route.cc | 6 +- tools/replay/route.h | 3 +- 22 files changed, 833 insertions(+), 534 deletions(-) create mode 100644 tools/cabana/signaledit.cc create mode 100644 tools/cabana/signaledit.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 0caae14e92..c87e2cdd94 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -16,6 +16,5 @@ if arch in ['x86_64', 'Darwin'] and GetOption('extras'): qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] Import('replay_lib') - # qt_env["LD_LIBRARY_PATH"] = [Dir(f"#opendbc/can").abspath] cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs - qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'videowidget.cc', 'parser.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'videowidget.cc', 'signaledit.cc', 'parser.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 0adc744b49..20cd889023 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -5,7 +5,6 @@ #include "tools/cabana/mainwin.h" const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; -Parser *parser = nullptr; int main(int argc, char *argv[]) { initApp(argc, argv); @@ -16,7 +15,6 @@ 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({"data_dir", "local directory with routes", "data_dir"}); - cmd_parser.addOption({"qcam", "use qcamera"}); cmd_parser.process(app); const QStringList args = cmd_parser.positionalArguments(); if (args.empty() && !cmd_parser.isSet("demo")) { @@ -24,8 +22,8 @@ int main(int argc, char *argv[]) { } const QString route = args.empty() ? DEMO_ROUTE : args.first(); - parser = new Parser(&app); - if (!parser->loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) { + Parser p(&app); + if (!p.loadRoute(route, cmd_parser.value("data_dir"), true)) { return 0; } MainWindow w; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index a8fe39968e..836eb34946 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -1,20 +1,24 @@ #include "tools/cabana/chartswidget.h" +#include +#include +#include +#include +#include #include +#include -using namespace QtCharts; - -int64_t get_raw_value(const QByteArray &msg, const Signal &sig) { +int64_t get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { int64_t ret = 0; int i = sig.msb / 8; int bits = sig.size; - while (i >= 0 && i < msg.size() && bits > 0) { + while (i >= 0 && i < data_size && bits > 0) { int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; int size = msb - lsb + 1; - uint64_t d = (msg[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); + uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); ret |= d << (bits - size); bits -= size; @@ -26,77 +30,163 @@ int64_t get_raw_value(const QByteArray &msg, const Signal &sig) { ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); - connect(parser, &Parser::updated, this, &ChartsWidget::updateState); connect(parser, &Parser::showPlot, this, &ChartsWidget::addChart); connect(parser, &Parser::hidePlot, this, &ChartsWidget::removeChart); + connect(parser, &Parser::signalRemoved, this, &ChartsWidget::removeChart); } void ChartsWidget::addChart(const QString &id, const QString &sig_name) { const QString char_name = id + sig_name; if (charts.find(char_name) == charts.end()) { - QLineSeries *series = new QLineSeries(); - series->setUseOpenGL(true); - auto chart = new QChart(); - chart->setTitle(id + ": " + sig_name); - chart->addSeries(series); - chart->createDefaultAxes(); - chart->legend()->hide(); - auto chart_view = new QChartView(chart); - chart_view->setMinimumSize({width(), 300}); - chart_view->setMaximumSize({width(), 300}); - chart_view->setRenderHint(QPainter::Antialiasing); - main_layout->addWidget(chart_view); - charts[char_name] = {.id = id, .sig_name = sig_name, .chart_view = chart_view}; + auto chart = new ChartWidget(id, sig_name, this); + main_layout->addWidget(chart); + charts[char_name] = chart; } } void ChartsWidget::removeChart(const QString &id, const QString &sig_name) { - auto it = charts.find(id + sig_name); - if (it == charts.end()) return; - - delete it->second.chart_view; - charts.erase(it); + if (auto it = charts.find(id + sig_name); it != charts.end()) { + it->second->deleteLater(); + charts.erase(it); + } } -void ChartsWidget::updateState() { - static double last_update = millis_since_boot(); - double current_ts = millis_since_boot(); - bool update = (current_ts - last_update) > 500; - if (update) { - last_update = current_ts; +ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *parent) : id(id), sig_name(sig_name), QWidget(parent) { + QStackedLayout *stacked = new QStackedLayout(this); + stacked->setStackingMode(QStackedLayout::StackAll); + + QWidget *chart_widget = new QWidget(this); + QVBoxLayout *chart_layout = new QVBoxLayout(chart_widget); + chart_layout->setSpacing(0); + chart_layout->setContentsMargins(0, 0, 0, 0); + + QWidget *header = new QWidget(this); + header->setStyleSheet("background-color:white"); + QHBoxLayout *header_layout = new QHBoxLayout(header); + header_layout->setContentsMargins(11, 11, 11, 0); + auto title = new QLabel(tr("%1 %2").arg(parser->getMsg(id)->name.c_str()).arg(id)); + header_layout->addWidget(title); + header_layout->addStretch(); + zoom_label = new QLabel("", this); + header_layout->addWidget(zoom_label); + QPushButton *zoom_in = new QPushButton("↺", this); + zoom_in->setToolTip(tr("reset zoom")); + QObject::connect(zoom_in, &QPushButton::clicked, []() { parser->resetRange(); }); + header_layout->addWidget(zoom_in); + + QPushButton *remove_btn = new QPushButton("✖", this); + QObject::connect(remove_btn, &QPushButton::clicked, [=]() { + emit parser->hidePlot(id, sig_name); + }); + header_layout->addWidget(remove_btn); + chart_layout->addWidget(header); + + QLineSeries *series = new QLineSeries(); + series->setUseOpenGL(true); + auto chart = new QChart(); + chart->setTitle(sig_name); + chart->addSeries(series); + chart->createDefaultAxes(); + chart->legend()->hide(); + QFont font; + font.setBold(true); + chart->setTitleFont(font); + chart->setMargins({0, 0, 0, 0}); + chart->layout()->setContentsMargins(0, 0, 0, 0); + QObject::connect(dynamic_cast(chart->axisX()), &QValueAxis::rangeChanged, parser, &Parser::setRange); + + chart_view = new QChartView(chart); + chart_view->setFixedHeight(300); + chart_view->setRenderHint(QPainter::Antialiasing); + chart_view->setRubberBand(QChartView::HorizontalRubberBand); + if (auto rubber = chart_view->findChild()) { + QPalette pal; + pal.setBrush(QPalette::Base, QColor(0, 0, 0, 80)); + rubber->setPalette(pal); } + chart_layout->addWidget(chart_view); + chart_layout->addStretch(); - auto getSig = [=](const QString &id, const QString &name) -> const Signal * { - for (auto &sig : parser->getMsg(id)->sigs) { - if (name == sig.name.c_str()) return &sig; - } - return nullptr; - }; - - for (auto &[_, c] : charts) { - if (auto sig = getSig(c.id, c.sig_name)) { - const auto &can_data = parser->can_msgs[c.id].back(); - int64_t val = get_raw_value(can_data.dat, *sig); - if (sig->is_signed) { - val -= ((val >> (sig->size - 1)) & 0x1) ? (1ULL << sig->size) : 0; - } - double value = val * sig->factor + sig->offset; + stacked->addWidget(chart_widget); + line_marker = new LineMarker(chart, this); + stacked->addWidget(line_marker); + line_marker->setAttribute(Qt::WA_TransparentForMouseEvents, true); + line_marker->raise(); - if (value > c.max_y) c.max_y = value; - if (value < c.min_y) c.min_y = value; + setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); + QObject::connect(parser, &Parser::updated, this, &ChartWidget::updateState); + QObject::connect(parser, &Parser::rangeChanged, this, &ChartWidget::rangeChanged); + QObject::connect(parser, &Parser::eventsMerged, this, &ChartWidget::updateSeries); - while (c.data.size() > DATA_LIST_SIZE) { - c.data.pop_front(); - } - c.data.push_back({can_data.ts / 1000., value}); - - if (update) { - QChart *chart = c.chart_view->chart(); - QLineSeries *series = (QLineSeries *)chart->series()[0]; - series->replace(c.data); - chart->axisX()->setRange(c.data.front().x(), c.data.back().x()); - chart->axisY()->setRange(c.min_y, c.max_y); + updateSeries(); +} + +void ChartWidget::updateState() { + line_marker->update(); +} + +void ChartWidget::updateSeries() { + const Signal *sig = parser->getSig(id, sig_name); + auto events = parser->replay->events(); + if (!sig || !events) return; + + auto l = id.split(':'); + int bus = l[0].toInt(); + uint32_t address = l[1].toUInt(nullptr, 16); + + vals.clear(); + vals.reserve(3 * 60 * 100); + uint64_t route_start_time = parser->replay->routeStartTime(); + for (auto &evt : *events) { + if (evt->which == cereal::Event::Which::CAN) { + for (auto c : evt->event.getCan()) { + if (bus == c.getSrc() && address == c.getAddress()) { + auto dat = c.getDat(); + int64_t val = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sig); + if (sig->is_signed) { + val -= ((val >> (sig->size - 1)) & 0x1) ? (1ULL << sig->size) : 0; + } + double value = val * sig->factor + sig->offset; + double ts = (evt->mono_time - route_start_time) / (double)1e9; // seconds + vals.push_back({ts, value}); + } } } } + QLineSeries *series = (QLineSeries *)chart_view->chart()->series()[0]; + series->replace(vals); + auto [begin, end] = parser->range(); + chart_view->chart()->axisX()->setRange(begin, end); +} + +void ChartWidget::rangeChanged(qreal min, qreal max) { + auto axis_x = dynamic_cast(chart_view->chart()->axisX()); + if (axis_x->min() != min || axis_x->max() != max) { + axis_x->setRange(min, max); + } + // auto zoom on yaxis + double min_y = 0, max_y = 0; + for (auto &p : vals) { + if (p.x() > max) break; + + if (p.x() >= min) { + if (p.y() < min_y) min_y = p.y(); + if (p.y() > max_y) max_y = p.y(); + } + } + chart_view->chart()->axisY()->setRange(min_y * 0.95, max_y * 1.05); +} + +LineMarker::LineMarker(QChart *chart, QWidget *parent) : chart(chart), QWidget(parent) {} + +void LineMarker::paintEvent(QPaintEvent *event) { + auto axis_x = dynamic_cast(chart->axisX()); + if (axis_x->max() <= axis_x->min()) return; + + double x = chart->plotArea().left() + chart->plotArea().width() * (parser->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); + QPainter p(this); + QPen pen = QPen(Qt::black); + pen.setWidth(2); + p.setPen(pen); + p.drawLine(QPointF{x, 50.}, QPointF{x, (qreal)height() - 11}); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 7bc8335a32..1be5fdeecb 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -1,17 +1,53 @@ #pragma once +#include + +#include #include #include #include #include -#include #include "tools/cabana/parser.h" +using namespace QtCharts; + +class LineMarker : public QWidget { +Q_OBJECT + +public: + LineMarker(QChart *chart, QWidget *parent); + void paintEvent(QPaintEvent *event) override; + +private: + QChart *chart; +}; + +class ChartWidget : public QWidget { +Q_OBJECT + +public: + ChartWidget(const QString &id, const QString &sig_name, QWidget *parent); + inline QChart *chart() const { return chart_view->chart(); } + +protected: + void updateState(); + void addData(const CanData &can_data, const Signal &sig); + void updateSeries(); + void rangeChanged(qreal min, qreal max); + + QString id; + QString sig_name; + QLabel *zoom_label; + QChartView *chart_view = nullptr; + LineMarker *line_marker = nullptr; + QList vals; +}; + class ChartsWidget : public QWidget { Q_OBJECT - public: +public: ChartsWidget(QWidget *parent = nullptr); inline bool hasChart(const QString &id, const QString &sig_name) { return charts.find(id+sig_name) != charts.end(); @@ -20,15 +56,7 @@ class ChartsWidget : public QWidget { void removeChart(const QString &id, const QString &sig_name); void updateState(); - protected: +protected: QVBoxLayout *main_layout; - struct SignalChart { - QString id; - QString sig_name; - int max_y = 0; - int min_y = 0; - QList data; - QtCharts::QChartView *chart_view = nullptr; - }; - std::map charts; + std::map charts; }; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 6799376577..e573a01970 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -1,68 +1,53 @@ + #include "tools/cabana/detailwidget.h" #include +#include #include -#include #include #include #include +#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/scrollview.h" -const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; - -static QVector BIG_ENDIAN_START_BITS = []() { - QVector ret; - for (int i = 0; i < 64; i++) { - for (int j = 7; j >= 0; j--) { - ret.push_back(j + i * 8); - } - } - return ret; -}(); - -static int bigEndianBitIndex(int index) { - // TODO: Add a helper function in dbc.h - return BIG_ENDIAN_START_BITS.indexOf(index); +inline const QString &getColor(int i) { + static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; + return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; } +// DetailWidget + DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - QLabel *title = new QLabel(tr("SELECTED MESSAGE:"), this); - main_layout->addWidget(title); - QHBoxLayout *name_layout = new QHBoxLayout(); name_label = new QLabel(this); name_label->setStyleSheet("font-weight:bold;"); - name_layout->addWidget(name_label); - name_layout->addStretch(); + name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + name_label->setAlignment(Qt::AlignCenter); + main_layout->addWidget(name_label); + + // title + QHBoxLayout *title_layout = new QHBoxLayout(); + time_label = new QLabel(this); + title_layout->addWidget(time_label); + title_layout->addStretch(); + edit_btn = new QPushButton(tr("Edit"), this); edit_btn->setVisible(false); - QObject::connect(edit_btn, &QPushButton::clicked, [=]() { - EditMessageDialog dlg(msg_id, this); - int ret = dlg.exec(); - if (ret) { - setMsg(msg_id); - } - }); - name_layout->addWidget(edit_btn); - main_layout->addLayout(name_layout); + title_layout->addWidget(edit_btn); + main_layout->addLayout(title_layout); + // binary view binary_view = new BinaryView(this); main_layout->addWidget(binary_view); + // scroll area QHBoxLayout *signals_layout = new QHBoxLayout(); signals_layout->addWidget(new QLabel(tr("Signals"))); signals_layout->addStretch(); add_sig_btn = new QPushButton(tr("Add signal"), this); add_sig_btn->setVisible(false); - QObject::connect(add_sig_btn, &QPushButton::clicked, [=]() { - AddSignalDialog dlg(msg_id, this); - int ret = dlg.exec(); - if (ret) { - setMsg(msg_id); - } - }); signals_layout->addWidget(add_sig_btn); main_layout->addLayout(signals_layout); @@ -72,238 +57,67 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { signal_edit_layout->setSpacing(2); container_layout->addLayout(signal_edit_layout); - messages_view = new MessagesView(this); - container_layout->addWidget(messages_view); + history_log = new HistoryLog(this); + container_layout->addWidget(history_log); QScrollArea *scroll = new QScrollArea(this); scroll->setWidget(container); scroll->setWidgetResizable(true); + scroll->setFrameShape(QFrame::NoFrame); + scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); scroll->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); main_layout->addWidget(scroll); - setFixedWidth(600); - connect(parser, &Parser::updated, this, &DetailWidget::updateState); + QObject::connect(add_sig_btn, &QPushButton::clicked, this, &DetailWidget::addSignal); + QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg); + QObject::connect(parser, &Parser::updated, this, &DetailWidget::updateState); } -void DetailWidget::updateState() { - if (msg_id.isEmpty()) return; - - auto &list = parser->can_msgs[msg_id]; - if (!list.empty()) { - binary_view->setData(list.back().dat); - messages_view->setMessages(list); - } -} - -SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { - QVBoxLayout *v_layout = new QVBoxLayout(this); - - QHBoxLayout *h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Name"))); - name = new QLineEdit(sig.name.c_str()); - h->addWidget(name); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Size"))); - size = new QSpinBox(); - size->setValue(sig.size); - h->addWidget(size); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Most significant bit"))); - msb = new QSpinBox(); - msb->setValue(sig.msb); - h->addWidget(msb); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Endianness"))); - endianness = new QComboBox(); - endianness->addItems({"Little", "Big"}); - endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1); - h->addWidget(endianness); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("sign"))); - sign = new QComboBox(); - sign->addItems({"Signed", "Unsigned"}); - sign->setCurrentIndex(sig.is_signed ? 0 : 1); - h->addWidget(sign); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Factor"))); - factor = new QSpinBox(); - factor->setValue(sig.factor); - h->addWidget(factor); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Offset"))); - offset = new QSpinBox(); - offset->setValue(sig.offset); - h->addWidget(offset); - v_layout->addLayout(h); - - // TODO: parse the following parameters in opendbc - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Unit"))); - unit = new QLineEdit(); - h->addWidget(unit); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Comment"))); - comment = new QLineEdit(); - h->addWidget(comment); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Minimum value"))); - min_val = new QSpinBox(); - h->addWidget(min_val); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Maximum value"))); - max_val = new QSpinBox(); - h->addWidget(max_val); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Value descriptions"))); - val_desc = new QLineEdit(); - h->addWidget(val_desc); - v_layout->addLayout(h); -} - -std::optional SignalForm::getSignal() { - Signal sig = {}; - sig.name = name->text().toStdString(); - sig.size = size->text().toInt(); - sig.offset = offset->text().toDouble(); - sig.factor = factor->text().toDouble(); - sig.msb = msb->text().toInt(); - sig.is_signed = sign->currentIndex() == 0; - sig.is_little_endian = endianness->currentIndex() == 0; - if (sig.is_little_endian) { - sig.lsb = sig.start_bit; - sig.msb = sig.start_bit + sig.size - 1; - } else { - sig.lsb = BIG_ENDIAN_START_BITS[bigEndianBitIndex(sig.start_bit) + sig.size - 1]; - sig.msb = sig.start_bit; - } - return (sig.name.empty() || sig.size <= 0) ? std::nullopt : std::optional(sig); -} - -void DetailWidget::setMsg(const QString &id) { - msg_id = id; - QString name = tr("untitled"); +void DetailWidget::setMsg(const CanData *c) { + can_data = c; + clearLayout(signal_edit_layout); + edit_btn->setVisible(true); - for (auto edit : signal_edit) { - delete edit; - } - signal_edit.clear(); - int i = 0; - auto msg = parser->getMsg(id); - if (msg) { - for (auto &s : msg->sigs) { - SignalEdit *edit = new SignalEdit(id, s, i++, this); - connect(edit, &SignalEdit::removed, [=]() { - QTimer::singleShot(0, [=]() { setMsg(id); }); - }); - signal_edit_layout->addWidget(edit); - signal_edit.push_back(edit); + if (auto msg = parser->getMsg(can_data->address)) { + name_label->setText(msg->name.c_str()); + add_sig_btn->setVisible(true); + for (int i = 0; i < msg->sigs.size(); ++i) { + signal_edit_layout->addWidget(new SignalEdit(can_data->id, msg->sigs[i], getColor(i))); } - name = msg->name.c_str(); + } else { + name_label->setText(tr("untitled")); + add_sig_btn->setVisible(false); } - name_label->setText(name); - binary_view->setMsg(msg_id); - edit_btn->setVisible(true); - add_sig_btn->setVisible(msg != nullptr); + binary_view->setMsg(can_data); + history_log->clear(); } -SignalEdit::SignalEdit(const QString &id, const Signal &sig, int idx, QWidget *parent) : id(id), name_(sig.name.c_str()), QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - // title - QHBoxLayout *title_layout = new QHBoxLayout(); - QLabel *icon = new QLabel(">"); - icon->setStyleSheet("font-weight:bold"); - title_layout->addWidget(icon); - title = new ElidedLabel(this); - title->setText(sig.name.c_str()); - title->setStyleSheet(QString("font-weight:bold; color:%1").arg(SIGNAL_COLORS[idx % std::size(SIGNAL_COLORS)])); - connect(title, &ElidedLabel::clicked, [=]() { - edit_container->isVisible() ? edit_container->hide() : edit_container->show(); - icon->setText(edit_container->isVisible() ? "▼" : ">"); - }); - title_layout->addWidget(title); - title_layout->addStretch(); - QPushButton *show_plot = new QPushButton(tr("Show Plot")); - QObject::connect(show_plot, &QPushButton::clicked, [=]() { - if (show_plot->text() == tr("Show Plot")) { - emit parser->showPlot(id, name_); - show_plot->setText(tr("Hide Plot")); - } else { - emit parser->hidePlot(id, name_); - show_plot->setText(tr("Show Plot")); - } - }); - title_layout->addWidget(show_plot); - main_layout->addLayout(title_layout); +void DetailWidget::updateState() { + if (!can_data) return; - edit_container = new QWidget(this); - QVBoxLayout *v_layout = new QVBoxLayout(edit_container); - form = new SignalForm(sig, this); - v_layout->addWidget(form); - - QHBoxLayout *h = new QHBoxLayout(); - remove_btn = new QPushButton(tr("Remove Signal")); - QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); - h->addWidget(remove_btn); - h->addStretch(); - QPushButton *save_btn = new QPushButton(tr("Save")); - QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save); - h->addWidget(save_btn); - v_layout->addLayout(h); - - edit_container->setVisible(false); - main_layout->addWidget(edit_container); + time_label->setText(QString("time: %1").arg(can_data->ts, 0, 'f', 3)); + binary_view->setData(can_data->dat); + history_log->updateState(); } -void SignalEdit::save() { - Msg *msg = const_cast(parser->getMsg(id)); - if (!msg) return; - - for (auto &sig : msg->sigs) { - if (name_ == sig.name.c_str()) { - if (auto s = form->getSignal()) { - sig = *s; - } - break; - } +void DetailWidget::editMsg() { + EditMessageDialog dlg(can_data->id, this); + if (dlg.exec()) { + setMsg(can_data); } } -void SignalEdit::remove() { - QMessageBox msgbox; - msgbox.setText(tr("Remove signal")); - msgbox.setInformativeText(tr("Are you sure you want to remove signal '%1'").arg(name_)); - msgbox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); - msgbox.setDefaultButton(QMessageBox::Cancel); - if (msgbox.exec()) { - parser->removeSignal(id, name_); - emit removed(); +void DetailWidget::addSignal() { + AddSignalDialog dlg(can_data->id, this); + if (dlg.exec()) { + setMsg(can_data); } } +// BinaryView + BinaryView::BinaryView(QWidget *parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); table = new QTableWidget(this); @@ -316,15 +130,16 @@ BinaryView::BinaryView(QWidget *parent) { setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); } -void BinaryView::setMsg(const QString &id) { - auto msg = parser->getMsg(Parser::addressFromId(id)); - int row_count = msg ? msg->size : parser->can_msgs[id].back().dat.size(); +void BinaryView::setMsg(const CanData *can_data) { + const Msg *msg = parser->getMsg(can_data->address); + int row_count = msg ? msg->size : can_data->dat.size(); table->setRowCount(row_count); table->setColumnCount(9); for (int i = 0; i < table->rowCount(); ++i) { for (int j = 0; j < table->columnCount(); ++j) { auto item = new QTableWidgetItem(); + item->setFlags(item->flags() ^ Qt::ItemIsEditable); item->setTextAlignment(Qt::AlignCenter); if (j == 8) { QFont font; @@ -336,19 +151,17 @@ void BinaryView::setMsg(const QString &id) { } if (msg) { + // set background color for (int i = 0; i < msg->sigs.size(); ++i) { const auto &sig = msg->sigs[i]; int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit); for (int j = start; j <= start + sig.size - 1; ++j) { - table->item(j / 8, j % 8)->setBackground(QColor(SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)])); + table->item(j / 8, j % 8)->setBackground(QColor(getColor(i))); } } } setFixedHeight(table->rowHeight(0) * table->rowCount() + 25); - if (!parser->can_msgs.empty()) { - setData(parser->can_msgs[id].back().dat); - } } void BinaryView::setData(const QByteArray &binary) { @@ -357,6 +170,7 @@ void BinaryView::setData(const QByteArray &binary) { s += std::bitset<8>(binary[j]).to_string(); } + setUpdatesEnabled(false); char hex[3] = {'\0'}; for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < 8; ++j) { @@ -365,46 +179,58 @@ void BinaryView::setData(const QByteArray &binary) { sprintf(&hex[0], "%02X", (unsigned char)binary[i]); table->item(i, 8)->setText(hex); } + setUpdatesEnabled(true); } -MessagesView::MessagesView(QWidget *parent) : QWidget(parent) { +// HistoryLog + +HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - QLabel *title = new QLabel("MESSAGE TIME BYTES"); + QLabel *title = new QLabel("TIME BYTES"); main_layout->addWidget(title); - message_layout = new QVBoxLayout(); + QVBoxLayout *message_layout = new QVBoxLayout(); + for (int i = 0; i < std::size(labels); ++i) { + labels[i] = new QLabel(); + labels[i]->setVisible(false); + message_layout->addWidget(labels[i]); + } main_layout->addLayout(message_layout); main_layout->addStretch(); } -void MessagesView::setMessages(const std::list &list) { - auto begin = list.begin(); - std::advance(begin, std::max(0, (int)(list.size() - 100))); - int j = 0; - for (auto it = begin; it != list.end(); ++it) { - QLabel *label; - if (j >= messages.size()) { - label = new QLabel(); - message_layout->addWidget(label); - messages.push_back(label); - } else { - label = messages[j]; - } - label->setText(it->hex_dat); - ++j; +void HistoryLog::updateState() { + int i = 0; + for (; i < parser->history_log.size(); ++i) { + const auto &c = parser->history_log[i]; + auto label = labels[i]; + label->setVisible(true); + label->setText(QString("%1 %2").arg(c.ts, 0, 'f', 3).arg(c.hex_dat)); + } + + for (; i < std::size(labels); ++i) { + labels[i]->setVisible(false); } } -EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : QDialog(parent) { +void HistoryLog::clear() { + setUpdatesEnabled(false); + for (auto l : labels) l->setVisible(false); + setUpdatesEnabled(true); +} + +// EditMessageDialog + +EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : id(id), QDialog(parent) { setWindowTitle(tr("Edit message")); QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->addWidget(new QLabel(tr("ID: (%1)").arg(id))); - auto msg = const_cast(parser->getMsg(Parser::addressFromId(id))); + auto msg = const_cast(parser->getMsg(id)); QHBoxLayout *h_layout = new QHBoxLayout(); h_layout->addWidget(new QLabel(tr("Name"))); h_layout->addStretch(); - QLineEdit *name_edit = new QLineEdit(this); + name_edit = new QLineEdit(this); name_edit->setText(msg ? msg->name.c_str() : "untitled"); h_layout->addWidget(name_edit); main_layout->addLayout(h_layout); @@ -412,47 +238,30 @@ EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : QDial h_layout = new QHBoxLayout(); h_layout->addWidget(new QLabel(tr("Size"))); h_layout->addStretch(); - QSpinBox *size_spin = new QSpinBox(this); - size_spin->setValue(msg ? msg->size : parser->can_msgs[id].back().dat.size()); + size_spin = new QSpinBox(this); + size_spin->setValue(msg ? msg->size : parser->can_msgs[id].dat.size()); h_layout->addWidget(size_spin); main_layout->addLayout(h_layout); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); main_layout->addWidget(buttonBox); - connect(buttonBox, &QDialogButtonBox::accepted, [=]() { - if (size_spin->value() <= 0 || name_edit->text().isEmpty()) return; - - if (msg) { - msg->name = name_edit->text().toStdString(); - msg->size = size_spin->value(); - } else { - Msg m = {}; - m.address = Parser::addressFromId(id); - m.name = name_edit->text().toStdString(); - m.size = size_spin->value(); - parser->addNewMsg(m); - } - QDialog::accept(); - }); + connect(buttonBox, &QDialogButtonBox::accepted, this, &EditMessageDialog::save); connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); } -AddSignalDialog::AddSignalDialog(const QString &id, QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Add signal to %1").arg(parser->getMsg(id)->name.c_str())); - QVBoxLayout *main_layout = new QVBoxLayout(this); - Signal sig = {.name = "untitled"}; - auto form = new SignalForm(sig, this); - main_layout->addWidget(form); - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox); - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); - connect(buttonBox, &QDialogButtonBox::accepted, [=]() { - if (auto msg = const_cast(parser->getMsg(id))) { - if (auto signal = form->getSignal()) { - msg->sigs.push_back(*signal); - } - } - QDialog::accept(); - }); +void EditMessageDialog::save() { + if (size_spin->value() <= 0 || name_edit->text().isEmpty()) return; + + if (auto msg = const_cast(parser->getMsg(id))) { + msg->name = name_edit->text().toStdString(); + msg->size = size_spin->value(); + } else { + Msg m = {}; + m.address = Parser::addressFromId(id); + m.name = name_edit->text().toStdString(); + m.size = size_spin->value(); + parser->addNewMsg(m); + } + QDialog::accept(); } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 70f2804f70..b2e7cbf3b7 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -1,102 +1,70 @@ #pragma once -#include + #include -#include #include -#include #include -#include #include #include #include -#include #include "opendbc/can/common.h" #include "opendbc/can/common_dbc.h" -#include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/parser.h" +#include "tools/cabana/signaledit.h" -class SignalForm : public QWidget { +class HistoryLog : public QWidget { Q_OBJECT - public: - SignalForm(const Signal &sig, QWidget *parent); - std::optional getSignal(); - QLineEdit *name, *unit, *comment, *val_desc; - QSpinBox *size, *msb, *lsb, *factor, *offset, *min_val, *max_val; - QComboBox *sign, *endianness; -}; - -class MessagesView : public QWidget { - Q_OBJECT +public: + HistoryLog(QWidget *parent); + void clear(); + void updateState(); - public: - MessagesView(QWidget *parent); - void setMessages(const std::list &data); - std::vector messages; - QVBoxLayout *message_layout; +private: + QLabel *labels[LOG_SIZE] = {}; }; class BinaryView : public QWidget { Q_OBJECT - public: +public: BinaryView(QWidget *parent); - void setMsg(const QString &id); + void setMsg(const CanData *can_data); void setData(const QByteArray &binary); QTableWidget *table; }; -class SignalEdit : public QWidget { +class EditMessageDialog : public QDialog { Q_OBJECT - public: - SignalEdit(const QString &id, const Signal &sig, int idx, QWidget *parent); +public: + EditMessageDialog(const QString &id, QWidget *parent); + +protected: void save(); -signals: - void removed(); - protected: - void remove(); + QLineEdit *name_edit; + QSpinBox *size_spin; QString id; - QString name_; - ElidedLabel *title; - SignalForm *form; - QWidget *edit_container; - QPushButton *remove_btn; }; class DetailWidget : public QWidget { Q_OBJECT - public: + +public: DetailWidget(QWidget *parent); - void setMsg(const QString &id); + void setMsg(const CanData *c); - public slots: +private: void updateState(); + void addSignal(); + void editMsg(); - protected: - QLabel *name_label = nullptr; + const CanData *can_data = nullptr; + QLabel *name_label, *time_label; QPushButton *edit_btn, *add_sig_btn; QVBoxLayout *signal_edit_layout; - Signal *sig = nullptr; - MessagesView *messages_view; - QString msg_id; + HistoryLog *history_log; BinaryView *binary_view; - std::vector signal_edit; -}; - -class EditMessageDialog : public QDialog { - Q_OBJECT - - public: - EditMessageDialog(const QString &id, QWidget *parent); -}; - -class AddSignalDialog : public QDialog { - Q_OBJECT - - public: - AddSignalDialog(const QString &id, QWidget *parent); }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d1b0d98f5f..8852987fbe 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -4,19 +4,15 @@ #include MainWindow::MainWindow() : QWidget() { - assert(parser != nullptr); - QVBoxLayout *main_layout = new QVBoxLayout(this); QHBoxLayout *h_layout = new QHBoxLayout(); main_layout->addLayout(h_layout); messages_widget = new MessagesWidget(this); - QObject::connect(messages_widget, &MessagesWidget::msgChanged, [=](const QString &id) { - detail_widget->setMsg(id); - }); h_layout->addWidget(messages_widget); detail_widget = new DetailWidget(this); + detail_widget->setFixedWidth(600); h_layout->addWidget(detail_widget); // right widget @@ -30,9 +26,12 @@ MainWindow::MainWindow() : QWidget() { QScrollArea *scroll = new QScrollArea(this); scroll->setWidget(charts_widget); scroll->setWidgetResizable(true); + scroll->setFrameShape(QFrame::NoFrame); scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); scroll->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); r_layout->addWidget(scroll); h_layout->addWidget(right_container); + + QObject::connect(messages_widget, &MessagesWidget::msgChanged, detail_widget, &DetailWidget::setMsg); } diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index f19c48297e..82ecceb02b 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -11,10 +11,10 @@ class MainWindow : public QWidget { Q_OBJECT - public: +public: MainWindow(); - protected: +protected: VideoWidget *video_widget; MessagesWidget *messages_widget; DetailWidget *detail_widget; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index d81d3e9ede..840ea25810 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,11 +1,9 @@ #include "tools/cabana/messageswidget.h" #include -#include #include #include #include -#include MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); @@ -47,8 +45,9 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { table_widget->setHorizontalHeaderLabels({tr("Name"), tr("ID"), tr("Count"), tr("Bytes")}); table_widget->horizontalHeader()->setStretchLastSection(true); QObject::connect(table_widget, &QTableWidget::itemSelectionChanged, [=]() { - auto id = table_widget->selectedItems()[0]->data(Qt::UserRole); - emit msgChanged(id.toString()); + const CanData *c = &(parser->can_msgs[table_widget->selectedItems()[1]->text()]); + parser->setCurrentMsg(c->id); + emit msgChanged(c); }); main_layout->addWidget(table_widget); @@ -60,6 +59,7 @@ void MessagesWidget::updateState() { auto item = table_widget->item(row, col); if (!item) { item = new QTableWidgetItem(); + item->setFlags(item->flags() ^ Qt::ItemIsEditable); table_widget->setItem(row, col, item); } return item; @@ -67,28 +67,27 @@ void MessagesWidget::updateState() { table_widget->setRowCount(parser->can_msgs.size()); int i = 0; - const QString filter_str = filter->text().toLower(); - for (const auto &[id, list] : parser->can_msgs) { - assert(!list.empty()); - - QString name; - if (auto msg = parser->getMsg(list.back().address)) { + QString name, untitled = tr("untitled"); + const QString filter_str = filter->text(); + for (const auto &[_, c] : parser->can_msgs) { + if (auto msg = parser->getMsg(c.address)) { name = msg->name.c_str(); } else { - name = tr("untitled"); + name = untitled; } - if (!filter_str.isEmpty() && !name.toLower().contains(filter_str)) { + if (!filter_str.isEmpty() && !name.contains(filter_str, Qt::CaseInsensitive)) { table_widget->hideRow(i++); continue; } - auto item = getTableItem(i, 0); - item->setText(name); - item->setData(Qt::UserRole, id); - getTableItem(i, 1)->setText(id); - getTableItem(i, 2)->setText(QString("%1").arg(parser->counters[id])); - getTableItem(i, 3)->setText(list.back().hex_dat); + getTableItem(i, 0)->setText(name); + getTableItem(i, 1)->setText(c.id); + getTableItem(i, 2)->setText(QString::number(parser->counters[c.id])); + getTableItem(i, 3)->setText(c.hex_dat); table_widget->showRow(i); i++; } + if (table_widget->currentRow() == -1) { + table_widget->selectRow(0); + } } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index dca725199d..1dbb4a1af3 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -16,7 +16,7 @@ class MessagesWidget : public QWidget { void updateState(); signals: - void msgChanged(const QString &id); + void msgChanged(const CanData *id); protected: QLineEdit *filter; diff --git a/tools/cabana/parser.cc b/tools/cabana/parser.cc index 481f0dfbdf..3950d8bd57 100644 --- a/tools/cabana/parser.cc +++ b/tools/cabana/parser.cc @@ -4,7 +4,11 @@ #include "cereal/messaging/messaging.h" +Parser *parser = nullptr; + Parser::Parser(QObject *parent) : QObject(parent) { + parser = this; + qRegisterMetaType>(); QObject::connect(this, &Parser::received, this, &Parser::process, Qt::QueuedConnection); @@ -23,32 +27,48 @@ Parser::~Parser() { bool Parser::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); - if (!replay->load()) { - return false; + QObject::connect(replay, &Replay::segmentsMerged, this, &Parser::segmentsMerged); + if (replay->load()) { + replay->start(); + return true; } - replay->start(); - return true; + return false; } void Parser::openDBC(const QString &name) { dbc_name = name; dbc = const_cast(dbc_lookup(name.toStdString())); + counters.clear(); msg_map.clear(); for (auto &msg : dbc->msgs) { msg_map[msg.address] = &msg; } } -void Parser::process(std::vector can) { - for (auto &data : can) { - ++counters[data.id]; - auto &list = can_msgs[data.id]; - while (list.size() > DATA_LIST_SIZE) { - list.pop_front(); +void Parser::process(std::vector msgs) { + static double prev_update_ts = 0; + for (const auto &can_data : msgs) { + can_msgs[can_data.id] = can_data; + current_sec = can_data.ts; + ++counters[can_data.id]; + + if (can_data.id == current_msg_id) { + while (history_log.size() >= LOG_SIZE) { + history_log.pop_back(); + } + history_log.push_front(can_data); } - list.push_back(data); } - emit updated(); + double current_ts = millis_since_boot(); + if ((current_ts - prev_update_ts) > 1000.0 / FPS) { + prev_update_ts = current_ts; + emit updated(); + } + + if (current_sec < begin_sec || current_sec > end_sec) { + // loop replay in selected range. + replay->seekTo(begin_sec, false); + } } void Parser::recvThread() { @@ -56,13 +76,16 @@ void Parser::recvThread() { std::unique_ptr context(Context::create()); std::unique_ptr subscriber(SubSocket::create(context.get(), "can")); subscriber->setTimeout(100); + + std::vector can; while (!exit) { std::unique_ptr msg(subscriber->receive()); if (!msg) continue; capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); cereal::Event::Reader event = cmsg.getRoot(); - std::vector can; + + can.clear(); can.reserve(event.getCan().size()); for (const auto &c : event.getCan()) { CanData &data = can.emplace_back(); @@ -72,7 +95,7 @@ void Parser::recvThread() { data.dat.append((char *)c.getDat().begin(), c.getDat().size()); data.hex_dat = data.dat.toHex(' ').toUpper(); data.id = QString("%1:%2").arg(data.source).arg(data.address, 1, 16); - data.ts = (event.getLogMonoTime() - replay->routeStartTime()) / (double)1e6; + data.ts = (event.getLogMonoTime() - replay->routeStartTime()) / (double)1e9; // seconds } emit received(can); } @@ -90,9 +113,72 @@ void Parser::removeSignal(const QString &id, const QString &sig_name) { auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); }); if (it != msg->sigs.end()) { msg->sigs.erase(it); + emit signalRemoved(id, sig_name); } } uint32_t Parser::addressFromId(const QString &id) { return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16); } + +const Signal *Parser::getSig(const QString &id, const QString &sig_name) { + if (auto msg = getMsg(id)) { + auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig_name == s.name.c_str(); }); + if (it != msg->sigs.end()) { + return &(*it); + } + } + return nullptr; +} + +void Parser::setRange(double min, double max) { + if (begin_sec != min || end_sec != max) { + begin_sec = min; + end_sec = max; + is_zoomed = begin_sec != event_begin_sec || end_sec != event_end_sec; + emit rangeChanged(min, max); + } +} + +void Parser::segmentsMerged() { + auto events = replay->events(); + if (!events || events->empty()) return; + + auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; }); + event_begin_sec = it == events->end() ? 0 : ((*it)->mono_time - replay->routeStartTime()) / (double)1e9; + event_end_sec = double(events->back()->mono_time - replay->routeStartTime()) / 1e9; + if (!is_zoomed) { + begin_sec = event_begin_sec; + end_sec = event_end_sec; + } + emit eventsMerged(); +} + +void Parser::resetRange() { + setRange(event_begin_sec, event_end_sec); +} + +void Parser::setCurrentMsg(const QString &id) { + current_msg_id = id; + history_log.clear(); +} + +// helper functions + +static QVector BIG_ENDIAN_START_BITS = []() { + QVector ret; + for (int i = 0; i < 64; i++) { + for (int j = 7; j >= 0; j--) { + ret.push_back(j + i * 8); + } + } + return ret; +}(); + +int bigEndianStartBitsIndex(int start_bit) { + return BIG_ENDIAN_START_BITS[start_bit]; +} + +int bigEndianBitIndex(int index) { + return BIG_ENDIAN_START_BITS.indexOf(index); +} diff --git a/tools/cabana/parser.h b/tools/cabana/parser.h index fd5ded7c5e..2f8c441059 100644 --- a/tools/cabana/parser.h +++ b/tools/cabana/parser.h @@ -1,17 +1,20 @@ #pragma once +#include +#include + #include +#include #include #include -#include -#include #include "opendbc/can/common.h" #include "opendbc/can/common_dbc.h" #include "tools/replay/replay.h" -const int DATA_LIST_SIZE = 500; -// const int FPS = 20; +const int DATA_LIST_SIZE = 50; +const int FPS = 20; +const static int LOG_SIZE = 25; struct CanData { QString id; @@ -26,7 +29,7 @@ struct CanData { class Parser : public QObject { Q_OBJECT - public: +public: Parser(QObject *parent); ~Parser(); static uint32_t addressFromId(const QString &id); @@ -35,32 +38,57 @@ class Parser : public QObject { void saveDBC(const QString &name) {} void addNewMsg(const Msg &msg); void removeSignal(const QString &id, const QString &sig_name); - const Msg *getMsg(const QString &id) { - return getMsg(addressFromId(id)); - } - const Msg *getMsg(uint32_t address) { + const Signal *getSig(const QString &id, const QString &sig_name); + void setRange(double min, double max); + void resetRange(); + void setCurrentMsg(const QString &id); + inline std::pair range() const { return {begin_sec, end_sec}; } + inline double currentSec() const { return current_sec; } + inline bool isZoomed() const { return is_zoomed; } + inline const Msg *getMsg(const QString &id) { return getMsg(addressFromId(id)); } + inline const Msg *getMsg(uint32_t address) { auto it = msg_map.find(address); return it != msg_map.end() ? it->second : nullptr; } - signals: + +signals: void showPlot(const QString &id, const QString &name); void hidePlot(const QString &id, const QString &name); + void signalRemoved(const QString &id, const QString &sig_name); + void eventsMerged(); + void rangeChanged(double min, double max); void received(std::vector can); void updated(); - public: +public: + Replay *replay = nullptr; + QHash counters; + std::map can_msgs; + QList history_log; + +protected: void recvThread(); void process(std::vector can); + void segmentsMerged(); + + double current_sec = 0.; + std::atomic exit = false; QThread *thread; QString dbc_name; - std::atomic exit = false; - std::map> can_msgs; - std::map counters; - Replay *replay = nullptr; + double begin_sec = 0; + double end_sec = 0; + double event_begin_sec = 0; + double event_end_sec = 0; + bool is_zoomed = false; DBC *dbc = nullptr; std::map msg_map; + QString current_msg_id; }; Q_DECLARE_METATYPE(std::vector); +// TODO: Add helper function in dbc.h +int bigEndianStartBitsIndex(int start_bit); +int bigEndianBitIndex(int index); + extern Parser *parser; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc new file mode 100644 index 0000000000..080b7920de --- /dev/null +++ b/tools/cabana/signaledit.cc @@ -0,0 +1,203 @@ +#include "tools/cabana/signaledit.h" + +#include +#include +#include +#include +#include + +// SignalForm + +SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { + QVBoxLayout *v_layout = new QVBoxLayout(this); + + QHBoxLayout *h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Name"))); + name = new QLineEdit(sig.name.c_str()); + h->addWidget(name); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Size"))); + size = new QSpinBox(); + size->setValue(sig.size); + h->addWidget(size); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Most significant bit"))); + msb = new QSpinBox(); + msb->setValue(sig.msb); + h->addWidget(msb); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Endianness"))); + endianness = new QComboBox(); + endianness->addItems({"Little", "Big"}); + endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1); + h->addWidget(endianness); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("sign"))); + sign = new QComboBox(); + sign->addItems({"Signed", "Unsigned"}); + sign->setCurrentIndex(sig.is_signed ? 0 : 1); + h->addWidget(sign); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Factor"))); + factor = new QSpinBox(); + factor->setValue(sig.factor); + h->addWidget(factor); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Offset"))); + offset = new QSpinBox(); + offset->setValue(sig.offset); + h->addWidget(offset); + v_layout->addLayout(h); + + // TODO: parse the following parameters in opendbc + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Unit"))); + unit = new QLineEdit(); + h->addWidget(unit); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Comment"))); + comment = new QLineEdit(); + h->addWidget(comment); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Minimum value"))); + min_val = new QSpinBox(); + h->addWidget(min_val); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Maximum value"))); + max_val = new QSpinBox(); + h->addWidget(max_val); + v_layout->addLayout(h); + + h = new QHBoxLayout(); + h->addWidget(new QLabel(tr("Value descriptions"))); + val_desc = new QLineEdit(); + h->addWidget(val_desc); + v_layout->addLayout(h); +} + +std::optional SignalForm::getSignal() { + Signal sig = {}; + sig.name = name->text().toStdString(); + sig.size = size->text().toInt(); + sig.offset = offset->text().toDouble(); + sig.factor = factor->text().toDouble(); + sig.msb = msb->text().toInt(); + sig.is_signed = sign->currentIndex() == 0; + sig.is_little_endian = endianness->currentIndex() == 0; + if (sig.is_little_endian) { + sig.lsb = sig.start_bit; + sig.msb = sig.start_bit + sig.size - 1; + } else { + sig.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(sig.start_bit) + sig.size - 1); + sig.msb = sig.start_bit; + } + return (sig.name.empty() || sig.size <= 0) ? std::nullopt : std::optional(sig); +} + +// SignalEdit + +SignalEdit::SignalEdit(const QString &id, const Signal &sig, const QString &color, QWidget *parent) : id(id), name_(sig.name.c_str()), QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + + // title + QHBoxLayout *title_layout = new QHBoxLayout(); + QLabel *icon = new QLabel(">"); + icon->setStyleSheet("font-weight:bold"); + title_layout->addWidget(icon); + title = new ElidedLabel(this); + title->setText(sig.name.c_str()); + title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color)); + connect(title, &ElidedLabel::clicked, [=]() { + edit_container->isVisible() ? edit_container->hide() : edit_container->show(); + icon->setText(edit_container->isVisible() ? "▼" : ">"); + }); + title_layout->addWidget(title); + title_layout->addStretch(); + plot_btn = new QPushButton("📈"); + plot_btn->setStyleSheet("font-size:16px"); + plot_btn->setToolTip(tr("Show Plot")); + plot_btn->setContentsMargins(5, 5, 5, 5); + plot_btn->setFixedSize(30, 30); + QObject::connect(plot_btn, &QPushButton::clicked, [=]() { emit parser->showPlot(id, name_); }); + title_layout->addWidget(plot_btn); + main_layout->addLayout(title_layout); + + edit_container = new QWidget(this); + QVBoxLayout *v_layout = new QVBoxLayout(edit_container); + form = new SignalForm(sig, this); + v_layout->addWidget(form); + + QHBoxLayout *h = new QHBoxLayout(); + remove_btn = new QPushButton(tr("Remove Signal")); + QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); + h->addWidget(remove_btn); + h->addStretch(); + QPushButton *save_btn = new QPushButton(tr("Save")); + QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save); + h->addWidget(save_btn); + v_layout->addLayout(h); + + edit_container->setVisible(false); + main_layout->addWidget(edit_container); +} + +void SignalEdit::save() { + if (auto sig = const_cast(parser->getSig(id, name_))) { + if (auto s = form->getSignal()) { + *sig = *s; + // TODO: reset the chart for sig + } + } +} + +void SignalEdit::remove() { + QMessageBox msgbox; + msgbox.setText(tr("Remove signal")); + msgbox.setInformativeText(tr("Are you sure you want to remove signal '%1'").arg(name_)); + msgbox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); + msgbox.setDefaultButton(QMessageBox::Cancel); + if (msgbox.exec()) { + parser->removeSignal(id, name_); + deleteLater(); + } +} + +// AddSignalDialog + +AddSignalDialog::AddSignalDialog(const QString &id, QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Add signal to %1").arg(parser->getMsg(id)->name.c_str())); + QVBoxLayout *main_layout = new QVBoxLayout(this); + Signal sig = {.name = "untitled"}; + auto form = new SignalForm(sig, this); + main_layout->addWidget(form); + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox); + connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); + connect(buttonBox, &QDialogButtonBox::accepted, [=]() { + if (auto msg = const_cast(parser->getMsg(id))) { + if (auto signal = form->getSignal()) { + msg->sigs.push_back(*signal); + } + } + QDialog::accept(); + }); +} diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h new file mode 100644 index 0000000000..b8140cc93b --- /dev/null +++ b/tools/cabana/signaledit.h @@ -0,0 +1,50 @@ +#pragma once + +#include + +#include +#include +#include +#include +#include + +#include "selfdrive/ui/qt/widgets/controls.h" +#include "tools/cabana/parser.h" + +class SignalForm : public QWidget { + Q_OBJECT + +public: + SignalForm(const Signal &sig, QWidget *parent); + std::optional getSignal(); + + QLineEdit *name, *unit, *comment, *val_desc; + QSpinBox *size, *msb, *lsb, *factor, *offset, *min_val, *max_val; + QComboBox *sign, *endianness; +}; + +class SignalEdit : public QWidget { + Q_OBJECT + +public: + SignalEdit(const QString &id, const Signal &sig, const QString &color, QWidget *parent = nullptr); + void save(); + +protected: + void remove(); + + QString id; + QString name_; + QPushButton *plot_btn; + ElidedLabel *title; + SignalForm *form; + QWidget *edit_container; + QPushButton *remove_btn; +}; + +class AddSignalDialog : public QDialog { + Q_OBJECT + +public: + AddSignalDialog(const QString &id, QWidget *parent); +}; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index caa109eab0..dbf988d8f2 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -3,9 +3,7 @@ #include #include #include -#include #include -#include #include #include "tools/cabana/parser.h" @@ -17,17 +15,19 @@ inline QString formatTime(int seconds) { VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this); - cam_widget->setFixedSize(640, 480); + cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, false, this); + cam_widget->setFixedSize(parent->width(), parent->width() / 1.596); main_layout->addWidget(cam_widget); // slider controls QHBoxLayout *slider_layout = new QHBoxLayout(); - QLabel *time_label = new QLabel("00:00"); + time_label = new QLabel("00:00"); slider_layout->addWidget(time_label); slider = new QSlider(Qt::Horizontal, this); - // slider->setFixedWidth(640); + QObject::connect(slider, &QSlider::sliderMoved, [=]() { + time_label->setText(formatTime(slider->value())); + }); slider->setSingleStep(1); slider->setMaximum(parser->replay->totalSeconds()); QObject::connect(slider, &QSlider::sliderReleased, [=]() { @@ -36,7 +36,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { }); slider_layout->addWidget(slider); - QLabel *total_time_label = new QLabel(formatTime(parser->replay->totalSeconds())); + total_time_label = new QLabel(formatTime(parser->replay->totalSeconds())); slider_layout->addWidget(total_time_label); main_layout->addLayout(slider_layout); @@ -57,9 +57,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { for (float speed : {0.1, 0.5, 1., 2.}) { QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this); btn->setCheckable(true); - QObject::connect(btn, &QPushButton::clicked, [=]() { - parser->replay->setSpeed(speed); - }); + QObject::connect(btn, &QPushButton::clicked, [=]() { parser->replay->setSpeed(speed); }); control_layout->addWidget(btn); group->addButton(btn); if (speed == 1.0) btn->setChecked(true); @@ -67,14 +65,25 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { main_layout->addLayout(control_layout); - QTimer *timer = new QTimer(this); - timer->setInterval(1000); - timer->callOnTimeout([=]() { - int current_seconds = parser->replay->currentSeconds(); - time_label->setText(formatTime(current_seconds)); - if (!slider->isSliderDown()) { - slider->setValue(current_seconds); - } - }); - timer->start(); + QObject::connect(parser, &Parser::rangeChanged, this, &VideoWidget::rangeChanged); + QObject::connect(parser, &Parser::updated, this, &VideoWidget::updateState); +} + +void VideoWidget::rangeChanged(double min, double max) { + if (!parser->isZoomed()) { + min = 0; + max = parser->replay->totalSeconds(); + } + time_label->setText(formatTime(min)); + total_time_label->setText(formatTime(max)); + slider->setMaximum(max); + slider->setValue(parser->currentSec()); +} + +void VideoWidget::updateState() { + if (!slider->isSliderDown()) { + int current_sec = parser->currentSec(); + time_label->setText(formatTime(current_sec)); + slider->setValue(current_sec); + } } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index f0b9e458bd..813516e78f 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -12,6 +13,10 @@ public: VideoWidget(QWidget *parnet = nullptr); protected: + void rangeChanged(double min, double max); + void updateState(); + CameraViewWidget *cam_widget; + QLabel *time_label, *total_time_label; QSlider *slider; }; diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index 9b7a07a83f..e3d5071412 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -46,7 +46,9 @@ LogReader::~LogReader() { #endif } -bool LogReader::load(const std::string &url, std::atomic *abort, bool local_cache, int chunk_size, int retries) { +bool LogReader::load(const std::string &url, std::atomic *abort, + const std::set &allow, + bool local_cache, int chunk_size, int retries) { raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort); if (raw_.empty()) return false; @@ -54,18 +56,26 @@ bool LogReader::load(const std::string &url, std::atomic *abort, bool loca raw_ = decompressBZ2(raw_, abort); if (raw_.empty()) return false; } - return parse(abort); + return parse(allow, abort); } bool LogReader::load(const std::byte *data, size_t size, std::atomic *abort) { raw_.assign((const char *)data, size); - return parse(abort); + return parse({}, abort); } -bool LogReader::parse(std::atomic *abort) { +bool LogReader::parse(const std::set &allow, std::atomic *abort) { try { kj::ArrayPtr words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word)); while (words.size() > 0 && !(abort && *abort)) { + if (!allow.empty()) { + capnp::FlatArrayMessageReader reader(words); + auto which = reader.getRoot().which(); + if (allow.find(which) == allow.end()) { + words = kj::arrayPtr(reader.getEnd(), words.end()); + continue; + } + } #ifdef HAS_MEMORY_RESOURCE Event *evt = new (mbr_) Event(words); diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h index bd666d0a74..010839af22 100644 --- a/tools/replay/logreader.h +++ b/tools/replay/logreader.h @@ -5,6 +5,8 @@ #include #endif +#include + #include "cereal/gen/cpp/log.capnp.h" #include "system/camerad/cameras/camera_common.h" #include "tools/replay/filereader.h" @@ -50,12 +52,13 @@ class LogReader { public: LogReader(size_t memory_pool_block_size = DEFAULT_EVENT_MEMORY_POOL_BLOCK_SIZE); ~LogReader(); - bool load(const std::string &url, std::atomic *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0); + bool load(const std::string &url, std::atomic *abort = nullptr, const std::set &allow = {}, + bool local_cache = false, int chunk_size = -1, int retries = 0); bool load(const std::byte *data, size_t size, std::atomic *abort = nullptr); std::vector events; private: - bool parse(std::atomic *abort); + bool parse(const std::set &allow, std::atomic *abort); std::string raw_; #ifdef HAS_MEMORY_RESOURCE std::pmr::monotonic_buffer_resource *mbr_ = nullptr; diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 1684dfaca9..b64e87a03e 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -19,6 +19,9 @@ Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *s if ((allow.empty() || allow.contains(it.name)) && !block.contains(it.name)) { uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue(); sockets_[which] = it.name; + if (!allow.empty() || !block.empty()) { + allow_list.insert((cereal::Event::Which)which); + } s.push_back(it.name); } } @@ -91,17 +94,17 @@ void Replay::updateEvents(const std::function &lambda) { stream_cv_.notify_one(); } -void Replay::seekTo(int seconds, bool relative) { +void Replay::seekTo(double seconds, bool relative) { seconds = relative ? seconds + currentSeconds() : seconds; updateEvents([&]() { - seconds = std::max(0, seconds); - int seg = seconds / 60; + seconds = std::max(double(0.0), seconds); + int seg = (int)seconds / 60; if (segments_.find(seg) == segments_.end()) { rWarning("can't seek to %d s segment %d is invalid", seconds, seg); return true; } - rInfo("seeking to %d s, segment %d", seconds, seg); + rInfo("seeking to %d s, segment %d", (int)seconds, seg); current_segment_ = seg; cur_mono_time_ = route_start_ts_ + seconds * 1e9; return isSegmentMerged(seg); @@ -122,7 +125,9 @@ void Replay::buildTimeline() { for (int i = 0; i < segments_.size() && !exit_; ++i) { LogReader log; - if (!log.load(route_->at(i).qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; + if (!log.load(route_->at(i).qlog.toStdString(), &exit_, + {cereal::Event::Which::CONTROLS_STATE, cereal::Event::Which::USER_FLAG}, + !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue; for (const Event *e : log.events) { if (e->which == cereal::Event::Which::CONTROLS_STATE) { @@ -215,7 +220,7 @@ void Replay::queueSegment() { if ((seg && !seg->isLoaded()) || !seg) { if (!seg) { rDebug("loading segment %d...", n); - seg = std::make_unique(n, route_->at(n), flags_); + seg = std::make_unique(n, route_->at(n), flags_, allow_list); QObject::connect(seg.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished); } break; @@ -270,6 +275,9 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap:: segments_merged_ = segments_need_merge; return true; }); + if (stream_thread_) { + emit segmentsMerged(); + } } } @@ -306,6 +314,7 @@ void Replay::startStream(const Segment *cur_segment) { camera_server_ = std::make_unique(camera_size); } + emit segmentsMerged(); // start stream thread stream_thread_ = new QThread(); QObject::connect(stream_thread_, &QThread::started, [=]() { stream(); }); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 3327362f97..aa0bbc33e7 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -45,18 +45,19 @@ public: void stop(); void pause(bool pause); void seekToFlag(FindFlag flag); - void seekTo(int seconds, bool relative); + void seekTo(double seconds, bool relative); inline bool isPaused() const { return paused_; } 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; } inline const Route* route() const { return route_.get(); } - inline int currentSeconds() const { return (cur_mono_time_ - route_start_ts_) / 1e9; } + inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; } inline uint64_t routeStartTime() const { return route_start_ts_; } inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; } inline int totalSeconds() const { return segments_.size() * 60; } inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } + inline const std::vector *events() const { return events_.get(); } inline const std::string &carFingerprint() const { return car_fingerprint_; } inline const std::vector> getTimeline() { std::lock_guard lk(timeline_lock); @@ -65,6 +66,7 @@ public: signals: void streamStarted(); + void segmentsMerged(); protected slots: void segmentLoadFinished(bool success); @@ -98,7 +100,7 @@ protected: bool paused_ = false; bool events_updated_ = false; uint64_t route_start_ts_ = 0; - uint64_t cur_mono_time_ = 0; + std::atomic cur_mono_time_ = 0; std::unique_ptr> events_; std::unique_ptr> new_events_; std::vector segments_merged_; @@ -114,6 +116,7 @@ protected: std::mutex timeline_lock; QFuture timeline_future; std::vector> timeline; + std::set allow_list; std::string car_fingerprint_; float speed_ = 1.0; }; diff --git a/tools/replay/route.cc b/tools/replay/route.cc index c91b27ae81..f0d6ec5a12 100644 --- a/tools/replay/route.cc +++ b/tools/replay/route.cc @@ -99,7 +99,9 @@ void Route::addFileToSegment(int n, const QString &file) { // class Segment -Segment::Segment(int n, const SegmentFile &files, uint32_t flags) : seg_num(n), flags(flags) { +Segment::Segment(int n, const SegmentFile &files, uint32_t flags, + const std::set &allow) + : seg_num(n), flags(flags), allow(allow) { // [RoadCam, DriverCam, WideRoadCam, log]. fallback to qcamera/qlog const std::array file_list = { (flags & REPLAY_FLAG_QCAMERA) || files.road_cam.isEmpty() ? files.qcamera : files.road_cam, @@ -130,7 +132,7 @@ void Segment::loadFile(int id, const std::string file) { success = frames[id]->load(file, flags & REPLAY_FLAG_NO_HW_DECODER, &abort_, local_cache, 20 * 1024 * 1024, 3); } else { log = std::make_unique(); - success = log->load(file, &abort_, local_cache, 0, 3); + success = log->load(file, &abort_, allow, local_cache, 0, 3); } if (!success) { diff --git a/tools/replay/route.h b/tools/replay/route.h index 6ca9c3b883..6b78ebad87 100644 --- a/tools/replay/route.h +++ b/tools/replay/route.h @@ -47,7 +47,7 @@ class Segment : public QObject { Q_OBJECT public: - Segment(int n, const SegmentFile &files, uint32_t flags); + Segment(int n, const SegmentFile &files, uint32_t flags, const std::set &allow = {}); ~Segment(); inline bool isLoaded() const { return !loading_ && !abort_; } @@ -65,4 +65,5 @@ protected: std::atomic loading_ = 0; QFutureSynchronizer synchronizer_; uint32_t flags; + std::set allow; }; From cb0b7375b728d1b6e92db68c9ba55f0f54c09a3f Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 5 Oct 2022 21:43:38 -0700 Subject: [PATCH 184/685] Rocket Launcher Model (#25963) * 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300 * compute only 9 tokens: 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/300 * tinygrad: cleanup gather * 1456d261-d232-4654-8885-4d9fde883894/440 6b7d7cec-ead8-40f3-86cc-86d52c9b03fe/700 * empty commit for tests * bump tinygrad * dont use tinygrad matmul for now * bump tinygrad * 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700 * float16 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700 * increase steer rate cost * Revert "increase steer rate cost" This reverts commit 74ce9ab9be7ef17ecfec931f96851b12f37f2336. * fork tinygrad * empty commit for tests * basics * Kinda works * new lat * new tuning * Move LATMPCN so scons compiles * Update long weights * Add tinygrad optim * Update model ref * update weights * Update ref * Try * Error message for field ignore * update model regf * ref commit * Fix onnx test Co-authored-by: Yassine Yousfi --- .gitmodules | 2 +- release/files_common | 1 + selfdrive/controls/lib/drive_helpers.py | 6 -- .../controls/lib/lateral_mpc_lib/lat_mpc.py | 63 ++++++++++--------- selfdrive/controls/lib/lateral_planner.py | 18 +++--- .../lib/longitudinal_mpc_lib/long_mpc.py | 2 +- .../controls/lib/longitudinal_planner.py | 6 +- selfdrive/controls/tests/test_lateral_mpc.py | 5 +- selfdrive/modeld/SConscript | 4 +- selfdrive/modeld/models/driving.cc | 16 +++-- selfdrive/modeld/models/driving.h | 15 ++++- selfdrive/modeld/models/supercombo.onnx | 4 +- selfdrive/modeld/runners/onnx_runner.py | 13 ++-- selfdrive/modeld/thneed/thneed_common.cc | 2 +- selfdrive/test/process_replay/compare_logs.py | 2 +- selfdrive/test/process_replay/model_replay.py | 4 +- .../process_replay/model_replay_ref_commit | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- tinygrad_repo | 2 +- 19 files changed, 93 insertions(+), 76 deletions(-) diff --git a/.gitmodules b/.gitmodules index 26f93ef164..544c95c943 100644 --- a/.gitmodules +++ b/.gitmodules @@ -18,4 +18,4 @@ url = ../../commaai/body.git [submodule "tinygrad"] path = tinygrad_repo - url = https://github.com/geohot/tinygrad.git + url = ../../commaai/tinygrad.git diff --git a/release/files_common b/release/files_common index 0c341eb3f6..07ffaf8501 100644 --- a/release/files_common +++ b/release/files_common @@ -574,3 +574,4 @@ tinygrad_repo/tinygrad/ops.py tinygrad_repo/tinygrad/shapetracker.py tinygrad_repo/tinygrad/tensor.py tinygrad_repo/tinygrad/nn/__init__.py +tinygrad_repo/tinygrad/nn/optim.py diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index e8f9585a6f..f81cd0c40c 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -33,12 +33,6 @@ CRUISE_INTERVAL_SIGN = { } -class MPC_COST_LAT: - PATH = 1.0 - HEADING = 1.0 - STEER_RATE = 1.0 - - def apply_deadzone(error, deadzone): if error > deadzone: error -= deadzone diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index c0e7358160..07efad73c9 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -5,7 +5,6 @@ import numpy as np from casadi import SX, vertcat, sin, cos from common.realtime import sec_since_boot -from selfdrive.controls.lib.drive_helpers import LAT_MPC_N as N from selfdrive.modeld.constants import T_IDXS if __name__ == '__main__': # generating code @@ -18,6 +17,9 @@ EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code") JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json") X_DIM = 4 P_DIM = 2 +N = 16 +COST_E_DIM = 3 +COST_DIM = COST_E_DIM + 1 MODEL_NAME = 'lat' ACADOS_SOLVER_TYPE = 'SQP_RTI' @@ -29,8 +31,8 @@ def gen_lat_model(): x_ego = SX.sym('x_ego') y_ego = SX.sym('y_ego') psi_ego = SX.sym('psi_ego') - curv_ego = SX.sym('curv_ego') - model.x = vertcat(x_ego, y_ego, psi_ego, curv_ego) + psi_rate_ego = SX.sym('psi_rate_ego') + model.x = vertcat(x_ego, y_ego, psi_ego, psi_rate_ego) # parameters v_ego = SX.sym('v_ego') @@ -38,22 +40,22 @@ def gen_lat_model(): model.p = vertcat(v_ego, rotation_radius) # controls - curv_rate = SX.sym('curv_rate') - model.u = vertcat(curv_rate) + psi_accel_ego = SX.sym('psi_accel_ego') + model.u = vertcat(psi_accel_ego) # xdot x_ego_dot = SX.sym('x_ego_dot') y_ego_dot = SX.sym('y_ego_dot') psi_ego_dot = SX.sym('psi_ego_dot') - curv_ego_dot = SX.sym('curv_ego_dot') + psi_rate_ego_dot = SX.sym('psi_rate_ego_dot') - model.xdot = vertcat(x_ego_dot, y_ego_dot, psi_ego_dot, curv_ego_dot) + model.xdot = vertcat(x_ego_dot, y_ego_dot, psi_ego_dot, psi_rate_ego_dot) # dynamics model - f_expl = vertcat(v_ego * cos(psi_ego) - rotation_radius * sin(psi_ego) * (v_ego * curv_ego), - v_ego * sin(psi_ego) + rotation_radius * cos(psi_ego) * (v_ego * curv_ego), - v_ego * curv_ego, - curv_rate) + f_expl = vertcat(v_ego * cos(psi_ego) - rotation_radius * sin(psi_ego) * psi_rate_ego, + v_ego * sin(psi_ego) + rotation_radius * cos(psi_ego) * psi_rate_ego, + psi_rate_ego, + psi_accel_ego) model.f_impl_expr = model.xdot - f_expl model.f_expl_expr = f_expl return model @@ -72,26 +74,28 @@ def gen_lat_ocp(): ocp.cost.cost_type = 'NONLINEAR_LS' ocp.cost.cost_type_e = 'NONLINEAR_LS' - Q = np.diag([0.0, 0.0]) - QR = np.diag([0.0, 0.0, 0.0]) + Q = np.diag(np.zeros(COST_E_DIM)) + QR = np.diag(np.zeros(COST_DIM)) ocp.cost.W = QR ocp.cost.W_e = Q - y_ego, psi_ego = ocp.model.x[1], ocp.model.x[2] - curv_rate = ocp.model.u[0] + y_ego, psi_ego, psi_rate_ego = ocp.model.x[1], ocp.model.x[2], ocp.model.x[3] + psi_rate_ego_dot = ocp.model.u[0] v_ego = ocp.model.p[0] ocp.parameter_values = np.zeros((P_DIM, )) - ocp.cost.yref = np.zeros((3, )) - ocp.cost.yref_e = np.zeros((2, )) + ocp.cost.yref = np.zeros((COST_DIM, )) + ocp.cost.yref_e = np.zeros((COST_E_DIM, )) # TODO hacky weights to keep behavior the same ocp.model.cost_y_expr = vertcat(y_ego, - ((v_ego +5.0) * psi_ego), - ((v_ego + 5.0) * 4.0 * curv_rate)) + ((v_ego + 5.0) * psi_ego), + ((v_ego + 5.0) * psi_rate_ego), + ((v_ego + 5.0) * psi_rate_ego_dot)) ocp.model.cost_y_expr_e = vertcat(y_ego, - ((v_ego +5.0) * psi_ego)) + ((v_ego + 5.0) * psi_ego), + ((v_ego + 5.0) * psi_rate_ego)) # set constraints ocp.constraints.constr_type = 'BGH' @@ -124,10 +128,10 @@ class LateralMpc(): def reset(self, x0=np.zeros(X_DIM)): self.x_sol = np.zeros((N+1, X_DIM)) self.u_sol = np.zeros((N, 1)) - self.yref = np.zeros((N+1, 3)) + self.yref = np.zeros((N+1, COST_DIM)) for i in range(N): self.solver.cost_set(i, "yref", self.yref[i]) - self.solver.cost_set(N, "yref", self.yref[N][:2]) + self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) # Somehow needed for stable init for i in range(N+1): @@ -140,14 +144,13 @@ class LateralMpc(): self.solve_time = 0.0 self.cost = 0 - def set_weights(self, path_weight, heading_weight, steer_rate_weight): - W = np.asfortranarray(np.diag([path_weight, heading_weight, steer_rate_weight])) + def set_weights(self, path_weight, heading_weight, yaw_rate_weight, yaw_accel_cost): + W = np.asfortranarray(np.diag([path_weight, heading_weight, yaw_rate_weight, yaw_accel_cost])) for i in range(N): self.solver.cost_set(i, 'W', W) - #TODO hacky weights to keep behavior the same - self.solver.cost_set(N, 'W', (3/20.)*W[:2,:2]) + self.solver.cost_set(N, 'W', W[:COST_E_DIM,:COST_E_DIM]) - def run(self, x0, p, y_pts, heading_pts, curv_rate_pts): + def run(self, x0, p, y_pts, heading_pts, yaw_rate_pts): x0_cp = np.copy(x0) p_cp = np.copy(p) self.solver.constraints_set(0, "lbx", x0_cp) @@ -155,13 +158,13 @@ class LateralMpc(): self.yref[:,0] = y_pts v_ego = p_cp[0] # rotation_radius = p_cp[1] - self.yref[:,1] = heading_pts*(v_ego+5.0) - self.yref[:,2] = curv_rate_pts * (v_ego+5.0) * 4.0 + self.yref[:,1] = heading_pts * (v_ego+5.0) + self.yref[:,2] = yaw_rate_pts * (v_ego+5.0) for i in range(N): self.solver.cost_set(i, "yref", self.yref[i]) self.solver.set(i, "p", p_cp) self.solver.set(N, "p", p_cp) - self.solver.cost_set(N, "yref", self.yref[N][:2]) + self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM]) t = sec_since_boot() self.solution_status = self.solver.solve() diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 2ad5f784d7..48c98e7350 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -3,7 +3,8 @@ from common.realtime import sec_since_boot, DT_MDL from common.numpy_fast import interp from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from selfdrive.controls.lib.drive_helpers import CONTROL_N, MPC_COST_LAT, LAT_MPC_N +from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N +from selfdrive.controls.lib.drive_helpers import CONTROL_N from selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log @@ -23,7 +24,7 @@ class LateralPlanner: self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3)) self.plan_yaw = np.zeros((TRAJECTORY_SIZE,)) - self.plan_curv_rate = np.zeros((TRAJECTORY_SIZE,)) + self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,)) self.t_idxs = np.arange(TRAJECTORY_SIZE) self.y_pts = np.zeros(TRAJECTORY_SIZE) @@ -44,6 +45,7 @@ class LateralPlanner: self.path_xyz = np.column_stack([md.position.x, md.position.y, md.position.z]) self.t_idxs = np.array(md.position.t) self.plan_yaw = np.array(md.orientation.z) + self.plan_yaw_rate = np.array(md.orientationRate.z) # Lane change logic desire_state = md.meta.desireState @@ -55,24 +57,24 @@ class LateralPlanner: d_path_xyz = self.path_xyz # Heading cost is useful at low speed, otherwise end of plan can be off-heading - heading_cost = interp(v_ego, [5.0, 10.0], [MPC_COST_LAT.HEADING, 0.15]) - self.lat_mpc.set_weights(MPC_COST_LAT.PATH, heading_cost, MPC_COST_LAT.STEER_RATE) + heading_cost = interp(v_ego, [5.0, 10.0], [1.0, 0.15]) + self.lat_mpc.set_weights(1.0, heading_cost, 0.0, .075) y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1]) heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) - curv_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_curv_rate) + yaw_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate) self.y_pts = y_pts assert len(y_pts) == LAT_MPC_N + 1 assert len(heading_pts) == LAT_MPC_N + 1 - assert len(curv_rate_pts) == LAT_MPC_N + 1 + assert len(yaw_rate_pts) == LAT_MPC_N + 1 lateral_factor = max(0, self.factor1 - (self.factor2 * v_ego**2)) p = np.array([v_ego, lateral_factor]) self.lat_mpc.run(self.x0, p, y_pts, heading_pts, - curv_rate_pts) + yaw_rate_pts) # init state for next # mpc.u_sol is the desired curvature rate given x0 curv state. # with x0[3] = measured_curvature, this would be the actual desired rate. @@ -103,7 +105,7 @@ class LateralPlanner: lateralPlan.modelMonoTime = sm.logMonoTime['modelV2'] lateralPlan.dPathPoints = self.y_pts.tolist() lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() - lateralPlan.curvatures = self.lat_mpc.x_sol[0:CONTROL_N, 3].tolist() + lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/sm['carState'].vEgo).tolist() lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] lateralPlan.mpcSolutionValid = bool(plan_solution_valid) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 695222ed4d..2aab4b71af 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -253,7 +253,7 @@ class LongitudinalMpc: cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] elif self.mode == 'blended': - cost_weights = [0., 0.2, 0.25, 1.0, 0.0, 1.0] + cost_weights = [0., 0.1, 0.2, 5.0, 0.0, 1.0] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0] else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index a0363536ca..018136e6f2 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -58,7 +58,6 @@ class LongitudinalPlanner: self.a_desired = init_a self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) - self.t_uniform = np.arange(0.0, T_IDXS_MPC[-1] + 0.5, 0.5) self.v_desired_trajectory = np.zeros(CONTROL_N) self.a_desired_trajectory = np.zeros(CONTROL_N) @@ -76,10 +75,7 @@ class LongitudinalPlanner: x = np.interp(T_IDXS_MPC, T_IDXS, model_msg.position.x) v = np.interp(T_IDXS_MPC, T_IDXS, model_msg.velocity.x) a = np.interp(T_IDXS_MPC, T_IDXS, model_msg.acceleration.x) - # Uniform interp so gradient is less noisy - a_sparse = np.interp(self.t_uniform, T_IDXS, model_msg.acceleration.x) - j_sparse = np.gradient(a_sparse, self.t_uniform) - j = np.interp(T_IDXS_MPC, self.t_uniform, j_sparse) + j = np.zeros(len(T_IDXS_MPC)) else: x = np.zeros(len(T_IDXS_MPC)) v = np.zeros(len(T_IDXS_MPC)) diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py index 4864dbdc06..9b986c053d 100644 --- a/selfdrive/controls/tests/test_lateral_mpc.py +++ b/selfdrive/controls/tests/test_lateral_mpc.py @@ -1,7 +1,8 @@ import unittest import numpy as np from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc -from selfdrive.controls.lib.drive_helpers import LAT_MPC_N, CAR_ROTATION_RADIUS +from selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS +from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0., @@ -9,7 +10,7 @@ def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvatur if lat_mpc is None: lat_mpc = LateralMpc() - lat_mpc.set_weights(1., 1., 1.) + lat_mpc.set_weights(1., 1., 0.0, 1.) y_pts = poly_shift * np.ones(LAT_MPC_N + 1) heading_pts = np.zeros(LAT_MPC_N + 1) diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 246f8c2941..5c02e2b15f 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -71,9 +71,9 @@ if use_thneed and arch == "larch64" or GetOption('pc_thneed'): fn = File("models/supercombo").abspath if GetOption('pc_thneed'): - cmd = f"cd {Dir('#').abspath}/tinygrad_repo && NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed" + cmd = f"cd {Dir('#').abspath}/tinygrad_repo && GPU=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed" else: - cmd = f"cd {Dir('#').abspath}/tinygrad_repo && FLOAT16=1 PYOPENCL_NO_CACHE=1 MATMUL=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed" + cmd = f"cd {Dir('#').abspath}/tinygrad_repo && FLOAT16=1 MATMUL=1 PYOPENCL_NO_CACHE=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed" # is there a better way then listing all of tinygrad? lenv.Command(fn + ".thneed", [fn + ".onnx", diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 8d02eb6b2f..3316e6d114 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -41,11 +41,11 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) { &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, true, false, context); #ifdef TEMPORAL - s->m->addRecurrent(&s->output[OUTPUT_SIZE], TEMPORAL_SIZE); + s->m->addRecurrent(&s->feature_buffer[0], TEMPORAL_SIZE); #endif #ifdef DESIRE - s->m->addDesire(s->pulse_desire, DESIRE_LEN); + s->m->addDesire(s->pulse_desire, DESIRE_LEN*(HISTORY_BUFFER_LEN+1)); #endif #ifdef TRAFFIC_CONVENTION @@ -56,18 +56,20 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) { 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) { #ifdef DESIRE + std::memmove(&s->pulse_desire[0], &s->pulse_desire[DESIRE_LEN], sizeof(float) * DESIRE_LEN*HISTORY_BUFFER_LEN); if (desire_in != NULL) { for (int i = 1; i < DESIRE_LEN; i++) { // Model decides when action is completed // so desire input is just a pulse triggered on rising edge if (desire_in[i] - s->prev_desire[i] > .99) { - s->pulse_desire[i] = desire_in[i]; + s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = desire_in[i]; } else { - s->pulse_desire[i] = 0.0; + s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = 0.0; } s->prev_desire[i] = desire_in[i]; } } +LOGT("Desire enqueued"); #endif int rhd_idx = is_rhd; @@ -92,6 +94,12 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, s->m->execute(); LOGT("Execution finished"); + #ifdef TEMPORAL + std::memmove(&s->feature_buffer[0], &s->feature_buffer[FEATURE_LEN], sizeof(float) * FEATURE_LEN*(HISTORY_BUFFER_LEN-1)); + std::memcpy(&s->feature_buffer[FEATURE_LEN*(HISTORY_BUFFER_LEN-1)], &s->output[OUTPUT_SIZE], sizeof(float) * FEATURE_LEN); + LOGT("Features enqueued"); + #endif + return (ModelOutput*)&s->output; } diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index e2ee812e44..90767384eb 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -16,6 +16,8 @@ #include "selfdrive/modeld/models/commonmodel.h" #include "selfdrive/modeld/runners/run.h" +constexpr int FEATURE_LEN = 2048; +constexpr int HISTORY_BUFFER_LEN = 99; constexpr int DESIRE_LEN = 8; constexpr int DESIRE_PRED_LEN = 4; constexpr int TRAFFIC_CONVENTION_LEN = 2; @@ -233,6 +235,11 @@ struct ModelOutputMeta { }; static_assert(sizeof(ModelOutputMeta) == sizeof(ModelOutputDesireProb) + sizeof(float) + (sizeof(ModelOutputDisengageProb)*DISENGAGE_LEN) + (sizeof(ModelOutputBlinkerProb)*BLINKER_LEN) + (sizeof(ModelOutputDesireProb)*DESIRE_PRED_LEN)); +struct ModelOutputFeatures { + std::array feature; +}; +static_assert(sizeof(ModelOutputFeatures) == (sizeof(float)*FEATURE_LEN)); + struct ModelOutput { const ModelOutputPlans plans; const ModelOutputLaneLines lane_lines; @@ -244,22 +251,24 @@ struct ModelOutput { }; constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); + #ifdef TEMPORAL - constexpr int TEMPORAL_SIZE = 512; + constexpr int TEMPORAL_SIZE = HISTORY_BUFFER_LEN * FEATURE_LEN; #else constexpr int TEMPORAL_SIZE = 0; #endif -constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + TEMPORAL_SIZE; +constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN; // TODO: convert remaining arrays to std::array and update model runners struct ModelState { ModelFrame *frame = nullptr; ModelFrame *wide_frame = nullptr; + std::array feature_buffer = {}; std::array output = {}; std::unique_ptr m; #ifdef DESIRE float prev_desire[DESIRE_LEN] = {}; - float pulse_desire[DESIRE_LEN] = {}; + float pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN+1)] = {}; #endif #ifdef TRAFFIC_CONVENTION float traffic_convention[TRAFFIC_CONVENTION_LEN] = {}; diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 7b11edbe08..37edc36c02 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 sha256:50c7fc8565ac69a4b9a0de122e961326820e78bf13659255a89d0ed04be030d5 -size 95167481 +oid sha256:30f30bc1251c03db135564ecbf7dc0bc96cbb07be0ebd3691edd8d555dc087fa +size 58539693 diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py index ac7cc68814..d4a11a7c0b 100755 --- a/selfdrive/modeld/runners/onnx_runner.py +++ b/selfdrive/modeld/runners/onnx_runner.py @@ -9,6 +9,8 @@ os.environ["OMP_WAIT_POLICY"] = "PASSIVE" import onnxruntime as ort # pylint: disable=import-error +ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8} + def read(sz, tf8=False): dd = [] gt = 0 @@ -18,7 +20,7 @@ def read(sz, tf8=False): assert(len(st) > 0) dd.append(st) gt += len(st) - r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32).astype(np.float32) + r = np.frombuffer(b''.join(dd), dtype=np.uint8 if tf8 else np.float32) if tf8: r = r / 255. return r @@ -29,22 +31,23 @@ def write(d): def run_loop(m, tf8_input=False): ishapes = [[1]+ii.shape[1:] for ii in m.get_inputs()] keys = [x.name for x in m.get_inputs()] + itypes = [ORT_TYPES_TO_NP_TYPES[x.type] for x in m.get_inputs()] # run once to initialize CUDA provider if "CUDAExecutionProvider" in m.get_providers(): - m.run(None, dict(zip(keys, [np.zeros(shp, dtype=np.float32) for shp in ishapes]))) + m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes)]))) print("ready to run onnx model", keys, ishapes, file=sys.stderr) while 1: inputs = [] - for k, shp in zip(keys, ishapes): + for k, shp, itp in zip(keys, ishapes, itypes): ts = np.product(shp) #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr) - inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp)) + inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp).astype(itp)) ret = m.run(None, dict(zip(keys, inputs))) #print(ret, file=sys.stderr) for r in ret: - write(r) + write(r.astype(np.float32)) if __name__ == "__main__": diff --git a/selfdrive/modeld/thneed/thneed_common.cc b/selfdrive/modeld/thneed/thneed_common.cc index 21170b13a6..ecdf1237e3 100644 --- a/selfdrive/modeld/thneed/thneed_common.cc +++ b/selfdrive/modeld/thneed/thneed_common.cc @@ -12,7 +12,7 @@ map, int> g_args_size; map g_program_source; void Thneed::stop() { - printf("Thneed::stop: recorded %lu commands\n", cmds.size()); + //printf("Thneed::stop: recorded %lu commands\n", cmds.size()); record = false; } diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index bf6daf5fed..c14956b1b2 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -41,7 +41,7 @@ def remove_ignored_fields(msg, ignore): elif isinstance(v, numbers.Number): val = 0 else: - raise NotImplementedError + raise NotImplementedError('Error ignoring field') setattr(attr, keys[-1], val) return msg.as_reader() diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index ccd89bea9a..ecfacbf5d2 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" SEGMENT = 0 -MAX_FRAMES = 10 if PC else 1300 +MAX_FRAMES = 100 if PC else 1300 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) @@ -174,7 +174,7 @@ if __name__ == "__main__": 'driverStateV2.dspExecutionTime' ] # TODO this tolerance is absurdly large - tolerance = 5e-1 if PC else None + tolerance = 2.0 if PC else None results: Any = {TEST_ROUTE: {}} log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}} results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 958d3da14d..9727ef3d17 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -c40319a454840d8a2196ec1227d27b536ee14375 +008c0a622b7471c6234690d668f76bcb5dc8d999 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d4d16b726b..0e3cdf797f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1989d8c2a5de94faa3756b7d10fc94e6c063afa5 \ No newline at end of file +e0ffcae8def2fd9c82c547d1f257d4f06a48a3c3 diff --git a/tinygrad_repo b/tinygrad_repo index 2e9b7637b3..82ca9c6666 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 2e9b7637b3c3c8895fda9f964215db3a35fe3441 +Subproject commit 82ca9c66664b5f3739e1881f62cb94b72cf0b1fa From 8b33ee97502cf673d769fb7c2283773dd7c3dd86 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Wed, 5 Oct 2022 23:02:35 -0700 Subject: [PATCH 185/685] Bump tinygrad to master --- tinygrad_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tinygrad_repo b/tinygrad_repo index 82ca9c6666..2993dfe921 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 82ca9c66664b5f3739e1881f62cb94b72cf0b1fa +Subproject commit 2993dfe9219089bd1464741757f0c2ad67fe6a2e From 4cd3753d98bea907929ce09d9f5c218d5fce7653 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 7 Oct 2022 02:20:49 +0800 Subject: [PATCH 186/685] cabana: insert new chart at the top (#25981) * small cleanup * new chart insert at the top --- tools/cabana/chartswidget.cc | 2 +- tools/cabana/mainwin.cc | 1 + tools/cabana/messageswidget.cc | 22 +++++++++++----------- tools/cabana/parser.h | 1 - 4 files changed, 13 insertions(+), 13 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 836eb34946..a504250e6d 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -39,7 +39,7 @@ void ChartsWidget::addChart(const QString &id, const QString &sig_name) { const QString char_name = id + sig_name; if (charts.find(char_name) == charts.end()) { auto chart = new ChartWidget(id, sig_name, this); - main_layout->addWidget(chart); + main_layout->insertWidget(0, chart); charts[char_name] = chart; } } diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 8852987fbe..079f592362 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -5,6 +5,7 @@ MainWindow::MainWindow() : QWidget() { QVBoxLayout *main_layout = new QVBoxLayout(this); + QHBoxLayout *h_layout = new QHBoxLayout(); main_layout->addLayout(h_layout); diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 840ea25810..daeb37eb9f 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -14,20 +14,11 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { for (const auto &name : dbc_names) { combo->addItem(QString::fromStdString(name)); } - connect(combo, &QComboBox::currentTextChanged, [=](const QString &dbc) { - parser->openDBC(dbc); - }); - // For test purpose - combo->setCurrentText("toyota_nodsu_pt_generated"); dbc_file_layout->addWidget(combo); dbc_file_layout->addStretch(); QPushButton *save_btn = new QPushButton(tr("Save DBC"), this); - QObject::connect(save_btn, &QPushButton::clicked, [=]() { - // TODO: save DBC to file - }); dbc_file_layout->addWidget(save_btn); - main_layout->addLayout(dbc_file_layout); filter = new QLineEdit(this); @@ -44,14 +35,23 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { table_widget->setColumnWidth(2, 80); table_widget->setHorizontalHeaderLabels({tr("Name"), tr("ID"), tr("Count"), tr("Bytes")}); table_widget->horizontalHeader()->setStretchLastSection(true); + main_layout->addWidget(table_widget); + + QObject::connect(parser, &Parser::updated, this, &MessagesWidget::updateState); + QObject::connect(save_btn, &QPushButton::clicked, [=]() { + // TODO: save DBC to file + }); + QObject::connect(combo, &QComboBox::currentTextChanged, [=](const QString &dbc) { + parser->openDBC(dbc); + }); QObject::connect(table_widget, &QTableWidget::itemSelectionChanged, [=]() { const CanData *c = &(parser->can_msgs[table_widget->selectedItems()[1]->text()]); parser->setCurrentMsg(c->id); emit msgChanged(c); }); - main_layout->addWidget(table_widget); - connect(parser, &Parser::updated, this, &MessagesWidget::updateState); + // For test purpose + combo->setCurrentText("toyota_nodsu_pt_generated"); } void MessagesWidget::updateState() { diff --git a/tools/cabana/parser.h b/tools/cabana/parser.h index 2f8c441059..4ed64a90c5 100644 --- a/tools/cabana/parser.h +++ b/tools/cabana/parser.h @@ -12,7 +12,6 @@ #include "opendbc/can/common_dbc.h" #include "tools/replay/replay.h" -const int DATA_LIST_SIZE = 50; const int FPS = 20; const static int LOG_SIZE = 25; From 7156633034ac0232b60f79b2d47bf3e4bbaad1c9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 7 Oct 2022 02:21:04 +0800 Subject: [PATCH 187/685] cabana: use QFormLayout (#25982) --- tools/cabana/detailwidget.cc | 19 ++++----- tools/cabana/signaledit.cc | 81 ++++++++++-------------------------- 2 files changed, 30 insertions(+), 70 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index e573a01970..74044cd173 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -3,6 +3,7 @@ #include #include +#include #include #include #include @@ -224,24 +225,20 @@ void HistoryLog::clear() { EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : id(id), QDialog(parent) { setWindowTitle(tr("Edit message")); QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->addWidget(new QLabel(tr("ID: (%1)").arg(id))); + + QFormLayout *form_layout = new QFormLayout(); + form_layout->addRow("ID", new QLabel(id)); auto msg = const_cast(parser->getMsg(id)); - QHBoxLayout *h_layout = new QHBoxLayout(); - h_layout->addWidget(new QLabel(tr("Name"))); - h_layout->addStretch(); name_edit = new QLineEdit(this); name_edit->setText(msg ? msg->name.c_str() : "untitled"); - h_layout->addWidget(name_edit); - main_layout->addLayout(h_layout); + form_layout->addRow(tr("Name"), name_edit); - h_layout = new QHBoxLayout(); - h_layout->addWidget(new QLabel(tr("Size"))); - h_layout->addStretch(); size_spin = new QSpinBox(this); size_spin->setValue(msg ? msg->size : parser->can_msgs[id].dat.size()); - h_layout->addWidget(size_spin); - main_layout->addLayout(h_layout); + form_layout->addRow(tr("Size"), size_spin); + + main_layout->addLayout(form_layout); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); main_layout->addWidget(buttonBox); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 080b7920de..e233b7b3c2 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,6 +1,7 @@ #include "tools/cabana/signaledit.h" #include +#include #include #include #include @@ -9,88 +10,48 @@ // SignalForm SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { - QVBoxLayout *v_layout = new QVBoxLayout(this); + QFormLayout *form_layout = new QFormLayout(this); - QHBoxLayout *h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Name"))); name = new QLineEdit(sig.name.c_str()); - h->addWidget(name); - v_layout->addLayout(h); + form_layout->addRow(tr("Name"), name); - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Size"))); size = new QSpinBox(); size->setValue(sig.size); - h->addWidget(size); - v_layout->addLayout(h); + form_layout->addRow(tr("Size"), size); - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Most significant bit"))); msb = new QSpinBox(); msb->setValue(sig.msb); - h->addWidget(msb); - v_layout->addLayout(h); + form_layout->addRow(tr("Most significant bit"), msb); - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Endianness"))); endianness = new QComboBox(); endianness->addItems({"Little", "Big"}); endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1); - h->addWidget(endianness); - v_layout->addLayout(h); + form_layout->addRow(tr("Endianness"), endianness); - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("sign"))); sign = new QComboBox(); sign->addItems({"Signed", "Unsigned"}); sign->setCurrentIndex(sig.is_signed ? 0 : 1); - h->addWidget(sign); - v_layout->addLayout(h); + form_layout->addRow(tr("sign"), sign); - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Factor"))); factor = new QSpinBox(); factor->setValue(sig.factor); - h->addWidget(factor); - v_layout->addLayout(h); + form_layout->addRow(tr("Factor"), factor); - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Offset"))); offset = new QSpinBox(); offset->setValue(sig.offset); - h->addWidget(offset); - v_layout->addLayout(h); + form_layout->addRow(tr("Offset"), offset); // TODO: parse the following parameters in opendbc - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Unit"))); unit = new QLineEdit(); - h->addWidget(unit); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Comment"))); + form_layout->addRow(tr("Unit"), unit); comment = new QLineEdit(); - h->addWidget(comment); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Minimum value"))); + form_layout->addRow(tr("Comment"), comment); min_val = new QSpinBox(); - h->addWidget(min_val); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Maximum value"))); + form_layout->addRow(tr("Minimum value"), min_val); max_val = new QSpinBox(); - h->addWidget(max_val); - v_layout->addLayout(h); - - h = new QHBoxLayout(); - h->addWidget(new QLabel(tr("Value descriptions"))); + form_layout->addRow(tr("Maximum value"), max_val); val_desc = new QLineEdit(); - h->addWidget(val_desc); - v_layout->addLayout(h); + form_layout->addRow(tr("Value descriptions"), val_desc); } std::optional SignalForm::getSignal() { @@ -126,12 +87,9 @@ SignalEdit::SignalEdit(const QString &id, const Signal &sig, const QString &colo title = new ElidedLabel(this); title->setText(sig.name.c_str()); title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color)); - connect(title, &ElidedLabel::clicked, [=]() { - edit_container->isVisible() ? edit_container->hide() : edit_container->show(); - icon->setText(edit_container->isVisible() ? "▼" : ">"); - }); title_layout->addWidget(title); title_layout->addStretch(); + plot_btn = new QPushButton("📈"); plot_btn->setStyleSheet("font-size:16px"); plot_btn->setToolTip(tr("Show Plot")); @@ -148,16 +106,21 @@ SignalEdit::SignalEdit(const QString &id, const Signal &sig, const QString &colo QHBoxLayout *h = new QHBoxLayout(); remove_btn = new QPushButton(tr("Remove Signal")); - QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); h->addWidget(remove_btn); h->addStretch(); QPushButton *save_btn = new QPushButton(tr("Save")); - QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save); h->addWidget(save_btn); v_layout->addLayout(h); edit_container->setVisible(false); main_layout->addWidget(edit_container); + + QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); + QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save); + QObject::connect(title, &ElidedLabel::clicked, [=]() { + edit_container->isVisible() ? edit_container->hide() : edit_container->show(); + icon->setText(edit_container->isVisible() ? "▼" : ">"); + }); } void SignalEdit::save() { From 2d9e7972598918a72de736e12edbc2967d77e841 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 7 Oct 2022 04:35:56 +0800 Subject: [PATCH 188/685] cabana: Fix the incorrect Y axis (#25984) --- tools/cabana/chartswidget.cc | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index a504250e6d..f964e5606a 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -136,6 +136,7 @@ void ChartWidget::updateSeries() { vals.clear(); vals.reserve(3 * 60 * 100); + double min_y = 0, max_y = 0; uint64_t route_start_time = parser->replay->routeStartTime(); for (auto &evt : *events) { if (evt->which == cereal::Event::Which::CAN) { @@ -147,6 +148,9 @@ void ChartWidget::updateSeries() { val -= ((val >> (sig->size - 1)) & 0x1) ? (1ULL << sig->size) : 0; } double value = val * sig->factor + sig->offset; + if (value < min_y) min_y = value; + if (value > max_y) max_y = value; + double ts = (evt->mono_time - route_start_time) / (double)1e9; // seconds vals.push_back({ts, value}); } @@ -157,6 +161,7 @@ void ChartWidget::updateSeries() { series->replace(vals); auto [begin, end] = parser->range(); chart_view->chart()->axisX()->setRange(begin, end); + chart_view->chart()->axisY()->setRange(min_y * 0.95, max_y * 1.05); } void ChartWidget::rangeChanged(qreal min, qreal max) { From 9935a651157c512c37926b43fdcda3566de11261 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 6 Oct 2022 13:47:09 -0700 Subject: [PATCH 189/685] always enable rawgps on tici (#25987) --- selfdrive/manager/process_config.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 06efdbb960..3f63fbb959 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -43,6 +43,7 @@ procs = [ PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), PythonProcess("laikad", "selfdrive.locationd.laikad"), + PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), @@ -55,11 +56,9 @@ procs = [ PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True), PythonProcess("statsd", "selfdrive.statsd", offroad=True), + # debug procs NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar), PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar), - - # Experimental - PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=(TICI and os.path.isfile("/persist/comma/use-quectel-rawgps"))), ] managed_processes = {p.name: p for p in procs} From 9ec262bbfd09c7cd12773cabab0bb6d933b4d13e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 7 Oct 2022 04:57:11 +0800 Subject: [PATCH 190/685] cabana: Docking and undocking charts (#25983) * floating dock charts * more button * setMinimumSize * move reset zoom button to title bar * show chart count * cleanup * reduce flicker * dont update linemarker if pos not changed * cleanup * remove blank line * always show dock/undock button --- tools/cabana/chartswidget.cc | 125 ++++++++++++++++++++++++++++------- tools/cabana/chartswidget.h | 34 +++++++--- tools/cabana/mainwin.cc | 40 ++++++++--- tools/cabana/mainwin.h | 7 +- tools/cabana/signaledit.cc | 2 - tools/cabana/videowidget.cc | 1 + 6 files changed, 161 insertions(+), 48 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index f964e5606a..3e1a8b8410 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -2,7 +2,6 @@ #include #include -#include #include #include #include @@ -27,30 +26,105 @@ int64_t get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { return ret; } +// ChartsWidget + ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { - main_layout = new QVBoxLayout(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); - connect(parser, &Parser::showPlot, this, &ChartsWidget::addChart); - connect(parser, &Parser::hidePlot, this, &ChartsWidget::removeChart); - connect(parser, &Parser::signalRemoved, this, &ChartsWidget::removeChart); + + // title bar + title_bar = new QWidget(this); + QHBoxLayout *title_layout = new QHBoxLayout(title_bar); + title_label = new QLabel(tr("Charts")); + + title_layout->addWidget(title_label); + title_layout->addStretch(); + + reset_zoom_btn = new QPushButton("⟲", this); + reset_zoom_btn->setVisible(false); + reset_zoom_btn->setFixedSize(30, 30); + reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)")); + title_layout->addWidget(reset_zoom_btn); + + remove_all_btn = new QPushButton(tr("✖")); + remove_all_btn->setVisible(false); + remove_all_btn->setToolTip(tr("Remove all charts")); + remove_all_btn->setFixedSize(30, 30); + title_layout->addWidget(remove_all_btn); + + dock_btn = new QPushButton(); + dock_btn->setFixedSize(30, 30); + updateDockButton(); + title_layout->addWidget(dock_btn); + + main_layout->addWidget(title_bar, 0, Qt::AlignTop); + + // charts + QWidget *charts_container = new QWidget(this); + QVBoxLayout *charts_main = new QVBoxLayout(charts_container); + charts_layout = new QVBoxLayout(); + charts_main->addLayout(charts_layout); + charts_main->addStretch(); + + QScrollArea *charts_scroll = new QScrollArea(this); + charts_scroll->setWidgetResizable(true); + charts_scroll->setWidget(charts_container); + charts_scroll->setFrameShape(QFrame::NoFrame); + charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + + main_layout->addWidget(charts_scroll); + + QObject::connect(parser, &Parser::showPlot, this, &ChartsWidget::addChart); + QObject::connect(parser, &Parser::hidePlot, this, &ChartsWidget::removeChart); + QObject::connect(parser, &Parser::signalRemoved, this, &ChartsWidget::removeChart); + QObject::connect(reset_zoom_btn, &QPushButton::clicked, parser, &Parser::resetRange); + QObject::connect(remove_all_btn, &QPushButton::clicked, this, &ChartsWidget::removeAll); + QObject::connect(dock_btn, &QPushButton::clicked, [=]() { + emit dock(!docking); + docking = !docking; + updateDockButton(); + }); +} + +void ChartsWidget::updateDockButton() { + dock_btn->setText(docking ? "⬈" : "⬋"); + dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); } void ChartsWidget::addChart(const QString &id, const QString &sig_name) { const QString char_name = id + sig_name; if (charts.find(char_name) == charts.end()) { auto chart = new ChartWidget(id, sig_name, this); - main_layout->insertWidget(0, chart); + charts_layout->insertWidget(0, chart); charts[char_name] = chart; } + remove_all_btn->setVisible(true); + reset_zoom_btn->setVisible(true); + title_label->setText(tr("Charts (%1)").arg(charts.size())); } void ChartsWidget::removeChart(const QString &id, const QString &sig_name) { if (auto it = charts.find(id + sig_name); it != charts.end()) { it->second->deleteLater(); charts.erase(it); + if (charts.empty()) { + remove_all_btn->setVisible(false); + reset_zoom_btn->setVisible(false); + } } + title_label->setText(tr("Charts (%1)").arg(charts.size())); +} + +void ChartsWidget::removeAll() { + for (auto [_, chart] : charts) + chart->deleteLater(); + charts.clear(); + remove_all_btn->setVisible(false); + reset_zoom_btn->setVisible(false); } +// ChartWidget + ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *parent) : id(id), sig_name(sig_name), QWidget(parent) { QStackedLayout *stacked = new QStackedLayout(this); stacked->setStackingMode(QStackedLayout::StackAll); @@ -64,17 +138,13 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa header->setStyleSheet("background-color:white"); QHBoxLayout *header_layout = new QHBoxLayout(header); header_layout->setContentsMargins(11, 11, 11, 0); - auto title = new QLabel(tr("%1 %2").arg(parser->getMsg(id)->name.c_str()).arg(id)); + QLabel *title = new QLabel(tr("%1 %2").arg(parser->getMsg(id)->name.c_str()).arg(id)); header_layout->addWidget(title); header_layout->addStretch(); - zoom_label = new QLabel("", this); - header_layout->addWidget(zoom_label); - QPushButton *zoom_in = new QPushButton("↺", this); - zoom_in->setToolTip(tr("reset zoom")); - QObject::connect(zoom_in, &QPushButton::clicked, []() { parser->resetRange(); }); - header_layout->addWidget(zoom_in); QPushButton *remove_btn = new QPushButton("✖", this); + remove_btn->setFixedSize(30, 30); + remove_btn->setToolTip(tr("Remove chart")); QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit parser->hidePlot(id, sig_name); }); @@ -108,7 +178,7 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa chart_layout->addStretch(); stacked->addWidget(chart_widget); - line_marker = new LineMarker(chart, this); + line_marker = new LineMarker(this); stacked->addWidget(line_marker); line_marker->setAttribute(Qt::WA_TransparentForMouseEvents, true); line_marker->raise(); @@ -122,7 +192,15 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa } void ChartWidget::updateState() { - line_marker->update(); + auto chart = chart_view->chart(); + auto axis_x = dynamic_cast(chart->axisX()); + if (axis_x->max() <= axis_x->min()) return; + + int x = chart->plotArea().left() + chart->plotArea().width() * (parser->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); + if (line_marker_x != x) { + line_marker->setX(x); + line_marker_x = x; + } } void ChartWidget::updateSeries() { @@ -182,16 +260,15 @@ void ChartWidget::rangeChanged(qreal min, qreal max) { chart_view->chart()->axisY()->setRange(min_y * 0.95, max_y * 1.05); } -LineMarker::LineMarker(QChart *chart, QWidget *parent) : chart(chart), QWidget(parent) {} +// LineMarker -void LineMarker::paintEvent(QPaintEvent *event) { - auto axis_x = dynamic_cast(chart->axisX()); - if (axis_x->max() <= axis_x->min()) return; +void LineMarker::setX(double x) { + x_pos = x; + update(); +} - double x = chart->plotArea().left() + chart->plotArea().width() * (parser->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); +void LineMarker::paintEvent(QPaintEvent *event) { QPainter p(this); - QPen pen = QPen(Qt::black); - pen.setWidth(2); - p.setPen(pen); - p.drawLine(QPointF{x, 50.}, QPointF{x, (qreal)height() - 11}); + p.setPen(QPen(Qt::black, 2)); + p.drawLine(QPointF{x_pos, 50.}, QPointF{x_pos, (qreal)height() - 11}); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 1be5fdeecb..0413d65e09 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -3,6 +3,7 @@ #include #include +#include #include #include #include @@ -16,11 +17,12 @@ class LineMarker : public QWidget { Q_OBJECT public: - LineMarker(QChart *chart, QWidget *parent); - void paintEvent(QPaintEvent *event) override; + LineMarker(QWidget *parent) : QWidget(parent) {} + void setX(double x); private: - QChart *chart; + void paintEvent(QPaintEvent *event) override; + double x_pos = 0.0; }; class ChartWidget : public QWidget { @@ -30,7 +32,7 @@ public: ChartWidget(const QString &id, const QString &sig_name, QWidget *parent); inline QChart *chart() const { return chart_view->chart(); } -protected: +private: void updateState(); void addData(const CanData &can_data, const Signal &sig); void updateSeries(); @@ -38,9 +40,9 @@ protected: QString id; QString sig_name; - QLabel *zoom_label; QChartView *chart_view = nullptr; LineMarker *line_marker = nullptr; + double line_marker_x = 0.0; QList vals; }; @@ -49,14 +51,26 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); - inline bool hasChart(const QString &id, const QString &sig_name) { - return charts.find(id+sig_name) != charts.end(); - } void addChart(const QString &id, const QString &sig_name); void removeChart(const QString &id, const QString &sig_name); + void removeAll(); + inline bool hasChart(const QString &id, const QString &sig_name) { + return charts.find(id + sig_name) != charts.end(); + } + +signals: + void dock(bool floating); + +private: void updateState(); + void updateDockButton(); -protected: - QVBoxLayout *main_layout; + QWidget *title_bar; + QLabel *title_label; + bool docking = true; + QPushButton *dock_btn; + QPushButton *reset_zoom_btn; + QPushButton *remove_all_btn; + QVBoxLayout *charts_layout; std::map charts; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 079f592362..49e6cd2cca 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,6 +1,7 @@ #include "tools/cabana/mainwin.h" #include +#include #include MainWindow::MainWindow() : QWidget() { @@ -16,23 +17,42 @@ MainWindow::MainWindow() : QWidget() { detail_widget->setFixedWidth(600); h_layout->addWidget(detail_widget); - // right widget + // right widgets QWidget *right_container = new QWidget(this); right_container->setFixedWidth(640); - QVBoxLayout *r_layout = new QVBoxLayout(right_container); + r_layout = new QVBoxLayout(right_container); + video_widget = new VideoWidget(this); - r_layout->addWidget(video_widget); + r_layout->addWidget(video_widget, 0, Qt::AlignTop); charts_widget = new ChartsWidget(this); - QScrollArea *scroll = new QScrollArea(this); - scroll->setWidget(charts_widget); - scroll->setWidgetResizable(true); - scroll->setFrameShape(QFrame::NoFrame); - scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - scroll->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); - r_layout->addWidget(scroll); + r_layout->addWidget(charts_widget); h_layout->addWidget(right_container); QObject::connect(messages_widget, &MessagesWidget::msgChanged, detail_widget, &DetailWidget::setMsg); + QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); +} + +void MainWindow::dockCharts(bool dock) { + charts_widget->setUpdatesEnabled(false); + if (dock && floating_window) { + r_layout->addWidget(charts_widget); + floating_window->deleteLater(); + floating_window = nullptr; + } else if (!dock && !floating_window) { + floating_window = new QWidget(nullptr); + floating_window->setLayout(new QVBoxLayout()); + floating_window->layout()->addWidget(charts_widget); + floating_window->setWindowFlags(Qt::WindowTitleHint | Qt::WindowMaximizeButtonHint | Qt::WindowMinimizeButtonHint); + floating_window->setMinimumSize(QGuiApplication::primaryScreen()->size() / 2); + floating_window->showMaximized(); + } + charts_widget->setUpdatesEnabled(true); +} + +void MainWindow::closeEvent(QCloseEvent *event) { + if (floating_window) + floating_window->deleteLater(); + QWidget::closeEvent(event); } diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 82ecceb02b..bcd15e4d8e 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -1,7 +1,5 @@ #pragma once -#include - #include "tools/cabana/chartswidget.h" #include "tools/cabana/detailwidget.h" #include "tools/cabana/messageswidget.h" @@ -13,10 +11,15 @@ class MainWindow : public QWidget { public: MainWindow(); + void dockCharts(bool dock); protected: + void closeEvent(QCloseEvent *event) override; + VideoWidget *video_widget; MessagesWidget *messages_widget; DetailWidget *detail_widget; ChartsWidget *charts_widget; + QWidget *floating_window = nullptr; + QVBoxLayout *r_layout; }; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index e233b7b3c2..c214adab09 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -91,9 +91,7 @@ SignalEdit::SignalEdit(const QString &id, const Signal &sig, const QString &colo title_layout->addStretch(); plot_btn = new QPushButton("📈"); - plot_btn->setStyleSheet("font-size:16px"); plot_btn->setToolTip(tr("Show Plot")); - plot_btn->setContentsMargins(5, 5, 5, 5); plot_btn->setFixedSize(30, 30); QObject::connect(plot_btn, &QPushButton::clicked, [=]() { emit parser->showPlot(id, name_); }); title_layout->addWidget(plot_btn); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index dbf988d8f2..c8e1ad680f 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -64,6 +64,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { } main_layout->addLayout(control_layout); + setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); QObject::connect(parser, &Parser::rangeChanged, this, &VideoWidget::rangeChanged); QObject::connect(parser, &Parser::updated, this, &VideoWidget::updateState); From e66a70b9e988ae34acff117a686818e913b797f7 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 6 Oct 2022 14:15:36 -0700 Subject: [PATCH 191/685] bump opendbc --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index 9ddcdb22c4..ae2fd934ce 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 9ddcdb22c4929baf310295e832668e6e7fcfa602 +Subproject commit ae2fd934ceb8501c56a0802564c14963dbb201ac From 9e6265ce2188ac48442b07a77e86ca4fd3eba06b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 6 Oct 2022 15:01:57 -0700 Subject: [PATCH 192/685] CI: re-enable power draw test (#25988) * CI: re-enable power draw test * adjust for ngrl --- Jenkinsfile | 2 +- system/hardware/tici/test_power_draw.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index c4038090e1..b9b9eda667 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -127,7 +127,7 @@ pipeline { steps { phone_steps("tici2", [ ["build", "cd selfdrive/manager && ./build.py"], - //["test power draw", "python system/hardware/tici/test_power_draw.py"], + ["test power draw", "python system/hardware/tici/test_power_draw.py"], ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index 4b380372b9..4830975917 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -20,7 +20,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), - Proc('modeld', 1.0, atol=0.15), + Proc('modeld', 1.15, atol=0.2), Proc('dmonitoringmodeld', 0.35), Proc('encoderd', 0.23), ] From 750b96aaedb88defd522a60a4bb5fbfeb46332db Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 7 Oct 2022 06:02:22 +0800 Subject: [PATCH 193/685] cabana: improve time control (#25985) * group signals/slots together * slider:fix wrong minimum * add TODO * moveing to mouse click position * show tickmark * fix seek back to the old pos after sliderReleased * reduce data copied in queued connection * drop packets while seeking * install event filter in streaming * stop replay in dctor --- tools/cabana/detailwidget.cc | 2 +- tools/cabana/messageswidget.cc | 2 +- tools/cabana/parser.cc | 61 ++++++++++++++++------------------ tools/cabana/parser.h | 14 ++++---- tools/cabana/videowidget.cc | 50 ++++++++++++++++++++-------- tools/cabana/videowidget.h | 14 +++++++- tools/replay/replay.cc | 2 ++ tools/replay/replay.h | 10 ++++++ 8 files changed, 100 insertions(+), 55 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 74044cd173..1b6552804e 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -206,7 +206,7 @@ void HistoryLog::updateState() { const auto &c = parser->history_log[i]; auto label = labels[i]; label->setVisible(true); - label->setText(QString("%1 %2").arg(c.ts, 0, 'f', 3).arg(c.hex_dat)); + label->setText(QString("%1 %2").arg(c.ts, 0, 'f', 3).arg(toHex(c.dat))); } for (; i < std::size(labels); ++i) { diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index daeb37eb9f..7de3507b3d 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -83,7 +83,7 @@ void MessagesWidget::updateState() { getTableItem(i, 0)->setText(name); getTableItem(i, 1)->setText(c.id); getTableItem(i, 2)->setText(QString::number(parser->counters[c.id])); - getTableItem(i, 3)->setText(c.hex_dat); + getTableItem(i, 3)->setText(toHex(c.dat)); table_widget->showRow(i); i++; } diff --git a/tools/cabana/parser.cc b/tools/cabana/parser.cc index 3950d8bd57..f4bacbb86d 100644 --- a/tools/cabana/parser.cc +++ b/tools/cabana/parser.cc @@ -6,27 +6,25 @@ Parser *parser = nullptr; +static bool event_filter(const Event *e, void *opaque) { + Parser *p = (Parser*)opaque; + return p->eventFilter(e); +} + Parser::Parser(QObject *parent) : QObject(parent) { parser = this; qRegisterMetaType>(); QObject::connect(this, &Parser::received, this, &Parser::process, Qt::QueuedConnection); - - thread = new QThread(); - connect(thread, &QThread::started, [=]() { recvThread(); }); - QObject::connect(thread, &QThread::finished, thread, &QThread::deleteLater); - thread->start(); } Parser::~Parser() { replay->stop(); - exit = true; - thread->quit(); - thread->wait(); } bool Parser::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); + replay->installEventFilter(event_filter, this); QObject::connect(replay, &Replay::segmentsMerged, this, &Parser::segmentsMerged); if (replay->load()) { replay->start(); @@ -47,9 +45,9 @@ void Parser::openDBC(const QString &name) { void Parser::process(std::vector msgs) { static double prev_update_ts = 0; + for (const auto &can_data : msgs) { can_msgs[can_data.id] = can_data; - current_sec = can_data.ts; ++counters[can_data.id]; if (can_data.id == current_msg_id) { @@ -59,46 +57,45 @@ void Parser::process(std::vector msgs) { history_log.push_front(can_data); } } - double current_ts = millis_since_boot(); - if ((current_ts - prev_update_ts) > 1000.0 / FPS) { - prev_update_ts = current_ts; + double now = millis_since_boot(); + if ((now - prev_update_ts) > 1000.0 / FPS) { + prev_update_ts = now; emit updated(); } if (current_sec < begin_sec || current_sec > end_sec) { // loop replay in selected range. - replay->seekTo(begin_sec, false); + seekTo(begin_sec); } } -void Parser::recvThread() { - AlignedBuffer aligned_buf; - std::unique_ptr context(Context::create()); - std::unique_ptr subscriber(SubSocket::create(context.get(), "can")); - subscriber->setTimeout(100); +bool Parser::eventFilter(const Event *event) { + // drop packets when the GUI thread is calling seekTo. to make sure the current_sec is accurate. + if (!seeking && event->which == cereal::Event::Which::CAN) { + current_sec = (event->mono_time - replay->routeStartTime()) / (double)1e9; - std::vector can; - while (!exit) { - std::unique_ptr msg(subscriber->receive()); - if (!msg) continue; + auto can = event->event.getCan(); + msgs_buf.clear(); + msgs_buf.reserve(can.size()); - capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); - cereal::Event::Reader event = cmsg.getRoot(); - - can.clear(); - can.reserve(event.getCan().size()); - for (const auto &c : event.getCan()) { - CanData &data = can.emplace_back(); + for (const auto &c : can) { + CanData &data = msgs_buf.emplace_back(); data.address = c.getAddress(); data.bus_time = c.getBusTime(); data.source = c.getSrc(); data.dat.append((char *)c.getDat().begin(), c.getDat().size()); - data.hex_dat = data.dat.toHex(' ').toUpper(); data.id = QString("%1:%2").arg(data.source).arg(data.address, 1, 16); - data.ts = (event.getLogMonoTime() - replay->routeStartTime()) / (double)1e9; // seconds + data.ts = current_sec; } - emit received(can); + emit received(msgs_buf); } + return true; +} + +void Parser::seekTo(double ts) { + seeking = true; + replay->seekTo(ts, false); + seeking = false; } void Parser::addNewMsg(const Msg &msg) { diff --git a/tools/cabana/parser.h b/tools/cabana/parser.h index 4ed64a90c5..1632fcf6a6 100644 --- a/tools/cabana/parser.h +++ b/tools/cabana/parser.h @@ -6,7 +6,6 @@ #include #include #include -#include #include "opendbc/can/common.h" #include "opendbc/can/common_dbc.h" @@ -22,7 +21,6 @@ struct CanData { uint16_t bus_time; uint8_t source; QByteArray dat; - QString hex_dat; }; class Parser : public QObject { @@ -32,11 +30,13 @@ public: Parser(QObject *parent); ~Parser(); static uint32_t addressFromId(const QString &id); + bool eventFilter(const Event *event); bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam); void openDBC(const QString &name); void saveDBC(const QString &name) {} void addNewMsg(const Msg &msg); void removeSignal(const QString &id, const QString &sig_name); + void seekTo(double ts); const Signal *getSig(const QString &id, const QString &sig_name); void setRange(double min, double max); void resetRange(); @@ -66,13 +66,11 @@ public: QList history_log; protected: - void recvThread(); void process(std::vector can); void segmentsMerged(); - double current_sec = 0.; - std::atomic exit = false; - QThread *thread; + std::atomic current_sec = 0.; + std::atomic seeking = false; QString dbc_name; double begin_sec = 0; double end_sec = 0; @@ -82,6 +80,7 @@ protected: DBC *dbc = nullptr; std::map msg_map; QString current_msg_id; + std::vector msgs_buf; }; Q_DECLARE_METATYPE(std::vector); @@ -89,5 +88,8 @@ Q_DECLARE_METATYPE(std::vector); // TODO: Add helper function in dbc.h int bigEndianStartBitsIndex(int start_bit); int bigEndianBitIndex(int index); +inline QString toHex(const QByteArray &dat) { + return dat.toHex(' ').toUpper(); +} extern Parser *parser; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index c8e1ad680f..26fb845340 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include @@ -15,6 +16,7 @@ inline QString formatTime(int seconds) { VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + // TODO: figure out why the CameraViewWidget crashed occasionally. cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, false, this); cam_widget->setFixedSize(parent->width(), parent->width() / 1.596); main_layout->addWidget(cam_widget); @@ -24,16 +26,12 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { time_label = new QLabel("00:00"); slider_layout->addWidget(time_label); - slider = new QSlider(Qt::Horizontal, this); - QObject::connect(slider, &QSlider::sliderMoved, [=]() { - time_label->setText(formatTime(slider->value())); - }); - slider->setSingleStep(1); + slider = new Slider(this); + slider->setSingleStep(0); + slider->setMinimum(0); + slider->setTickInterval(60); + slider->setTickPosition(QSlider::TicksBelow); slider->setMaximum(parser->replay->totalSeconds()); - QObject::connect(slider, &QSlider::sliderReleased, [=]() { - time_label->setText(formatTime(slider->value())); - parser->replay->seekTo(slider->value(), false); - }); slider_layout->addWidget(slider); total_time_label = new QLabel(formatTime(parser->replay->totalSeconds())); @@ -45,11 +43,6 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QHBoxLayout *control_layout = new QHBoxLayout(); QPushButton *play = new QPushButton("⏸"); play->setStyleSheet("font-weight:bold"); - QObject::connect(play, &QPushButton::clicked, [=]() { - bool is_paused = parser->replay->isPaused(); - play->setText(is_paused ? "⏸" : "▶"); - parser->replay->pause(!is_paused); - }); control_layout->addWidget(play); QButtonGroup *group = new QButtonGroup(this); @@ -68,6 +61,20 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QObject::connect(parser, &Parser::rangeChanged, this, &VideoWidget::rangeChanged); QObject::connect(parser, &Parser::updated, this, &VideoWidget::updateState); + QObject::connect(slider, &QSlider::sliderMoved, [=]() { time_label->setText(formatTime(slider->value())); }); + QObject::connect(slider, &QSlider::sliderReleased, [this]() { setPosition(slider->value()); }); + QObject::connect(slider, &Slider::setPosition, this, &VideoWidget::setPosition); + + QObject::connect(play, &QPushButton::clicked, [=]() { + bool is_paused = parser->replay->isPaused(); + play->setText(is_paused ? "⏸" : "▶"); + parser->replay->pause(!is_paused); + }); +} + +void VideoWidget::setPosition(int value) { + time_label->setText(formatTime(value)); + parser->seekTo(value); } void VideoWidget::rangeChanged(double min, double max) { @@ -77,6 +84,7 @@ void VideoWidget::rangeChanged(double min, double max) { } time_label->setText(formatTime(min)); total_time_label->setText(formatTime(max)); + slider->setMinimum(min); slider->setMaximum(max); slider->setValue(parser->currentSec()); } @@ -88,3 +96,17 @@ void VideoWidget::updateState() { slider->setValue(current_sec); } } + +// Slider +// TODO: show timeline bar like what replay did. +Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { +} + +void Slider::mousePressEvent(QMouseEvent *e) { + QSlider::mousePressEvent(e); + if (e->button() == Qt::LeftButton && !isSliderDown()) { + int value = minimum() + ((maximum() - minimum()) * e->x()) / width(); + setValue(value); + emit setPosition(value); + } +} diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 813516e78f..a3605459e0 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -6,6 +6,17 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" +class Slider : public QSlider { + Q_OBJECT + +public: + Slider(QWidget *parent); + void mousePressEvent(QMouseEvent* e) override; + +signals: + void setPosition(int value); +}; + class VideoWidget : public QWidget { Q_OBJECT @@ -15,8 +26,9 @@ public: protected: void rangeChanged(double min, double max); void updateState(); + void setPosition(int value); CameraViewWidget *cam_widget; QLabel *time_label, *total_time_label; - QSlider *slider; + Slider *slider; }; diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index b64e87a03e..80e58b47a3 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -325,6 +325,8 @@ void Replay::startStream(const Segment *cur_segment) { } void Replay::publishMessage(const Event *e) { + if (event_filter && event_filter(e, filter_opaque)) return; + if (sm == nullptr) { auto bytes = e->bytes(); int ret = pm->send(sockets_[e->which], (capnp::byte *)bytes.begin(), bytes.size()); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index aa0bbc33e7..725bd1a27e 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -32,6 +32,7 @@ enum class FindFlag { }; enum class TimelineType { None, Engaged, AlertInfo, AlertWarning, AlertCritical, UserFlag }; +typedef bool (*replayEventFilter)(const Event *, void *); class Replay : public QObject { Q_OBJECT @@ -47,6 +48,13 @@ public: void seekToFlag(FindFlag flag); void seekTo(double seconds, bool relative); inline bool isPaused() const { return paused_; } + // the filter is called in streaming thread.try to return quickly from it to avoid blocking streaming. + // the filter function must return true if the event should be filtered. + // otherwise it must return false. + inline void installEventFilter(replayEventFilter filter, void *opaque) { + filter_opaque = opaque; + event_filter = filter; + } 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; } @@ -119,4 +127,6 @@ protected: std::set allow_list; std::string car_fingerprint_; float speed_ = 1.0; + replayEventFilter event_filter = nullptr; + void *filter_opaque = nullptr; }; From e7805eb5c54d336a93af730594ef1ccc725dad82 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 6 Oct 2022 15:24:52 -0700 Subject: [PATCH 194/685] FPv2: fixed fingerprint overrides query result (#25990) * query FW versions if fixed (override after) * skip here * also skip here * and here --- scripts/launch_corolla.sh | 1 + selfdrive/car/car_helpers.py | 2 +- selfdrive/test/profiling/profiler.py | 1 + tools/sim/launch_openpilot.sh | 1 + 4 files changed, 4 insertions(+), 1 deletion(-) diff --git a/scripts/launch_corolla.sh b/scripts/launch_corolla.sh index 0801938e71..146fbacf0a 100755 --- a/scripts/launch_corolla.sh +++ b/scripts/launch_corolla.sh @@ -3,4 +3,5 @@ DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)" export FINGERPRINT="TOYOTA COROLLA TSS2 2019" +export SKIP_FW_QUERY="1" $DIR/../launch_openpilot.sh diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 273364071b..e1c299d5c3 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -81,7 +81,7 @@ def fingerprint(logcan, sendcan): skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) ecu_rx_addrs = set() - if not fixed_fingerprint and not skip_fw_query: + if not skip_fw_query: # Vin query only reliably works through OBDII bus = 1 diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 91226fc577..732a69eebd 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -53,6 +53,7 @@ def profile(proc, func, car='toyota'): msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1")) os.environ['FINGERPRINT'] = fingerprint + os.environ['SKIP_FW_QUERY'] = "1" os.environ['REPLAY'] = "1" def run(sm, pm, can_sock): diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index 15f45b4cc2..adabc40c2e 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -3,6 +3,7 @@ export PASSIVE="0" export NOBOARD="1" export SIMULATION="1" +export SKIP_FW_QUERY="1" export FINGERPRINT="HONDA CIVIC 2016" export BLOCK="camerad,loggerd,encoderd" From cf1e978ad1e1bd339a3d0b43b809918036df6703 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 6 Oct 2022 15:56:41 -0700 Subject: [PATCH 195/685] Fingerprinting: log if using cache (#25989) * Log if using cache or not * log in the same log message --- selfdrive/car/car_helpers.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index e1c299d5c3..4a8fd5fbd9 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -95,16 +95,19 @@ def fingerprint(logcan, sendcan): cloudlog.warning("Using cached CarParams") vin, vin_rx_addr = cached_params.carVin, 0 car_fw = list(cached_params.carFw) + cached = True else: cloudlog.warning("Getting VIN & FW versions") vin_rx_addr, vin = get_vin(logcan, sendcan, bus) ecu_rx_addrs = get_present_ecus(logcan, sendcan) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs) + cached = False exact_fw_match, fw_candidates = match_fw_to_car(car_fw) else: vin, vin_rx_addr = VIN_UNKNOWN, 0 exact_fw_match, fw_candidates, car_fw = True, set(), [] + cached = False if not is_valid_vin(vin): cloudlog.event("Malformed VIN", vin=vin, error=True) @@ -165,7 +168,7 @@ def fingerprint(logcan, sendcan): car_fingerprint = fixed_fingerprint source = car.CarParams.FingerprintSource.fixed - cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, + cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached, fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True) return car_fingerprint, finger, vin, car_fw, source, exact_match From 01d05f66fe5a189209538650dce319b2f7e192ee Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 6 Oct 2022 16:46:15 -0700 Subject: [PATCH 196/685] auto-detect pigeon or quectel (#25991) * auto-detect pigeon or quectel * persistent * fix sim * fix process replay * fix locationd unit tests * fix that Co-authored-by: Comma Device --- common/params.cc | 1 + common/params.h | 4 ++-- common/params_pyx.pyx | 6 +++--- selfdrive/locationd/laikad.py | 2 +- selfdrive/locationd/locationd.cc | 6 +++--- selfdrive/locationd/test/test_locationd.py | 1 + selfdrive/sensord/pigeond.py | 9 +++++++-- selfdrive/test/process_replay/process_replay.py | 1 + tools/sim/bridge.py | 7 +++++-- 9 files changed, 24 insertions(+), 13 deletions(-) diff --git a/common/params.cc b/common/params.cc index d4c5cd7caf..a23c0e003e 100644 --- a/common/params.cc +++ b/common/params.cc @@ -166,6 +166,7 @@ std::unordered_map keys = { {"TermsVersion", PERSISTENT}, {"Timezone", PERSISTENT}, {"TrainingVersion", PERSISTENT}, + {"UbloxAvailable", PERSISTENT}, {"UpdateAvailable", CLEAR_ON_MANAGER_START}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, {"UpdaterState", CLEAR_ON_MANAGER_START}, diff --git a/common/params.h b/common/params.h index 7758a015f6..aecb3ee471 100644 --- a/common/params.h +++ b/common/params.h @@ -29,8 +29,8 @@ public: // helpers for reading values std::string get(const std::string &key, bool block = false); - inline bool getBool(const std::string &key) { - return get(key) == "1"; + inline bool getBool(const std::string &key, bool block = false) { + return get(key, block) == "1"; } std::map readAll(); diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx index bbddda46ea..9d8933609f 100755 --- a/common/params_pyx.pyx +++ b/common/params_pyx.pyx @@ -16,7 +16,7 @@ cdef extern from "common/params.h": cdef cppclass c_Params "Params": c_Params(string) nogil string get(string, bool) nogil - bool getBool(string) nogil + bool getBool(string, bool) nogil int remove(string) nogil int put(string, string) nogil int putBool(string, bool) nogil @@ -68,11 +68,11 @@ cdef class Params: return val if encoding is None else val.decode(encoding) - def get_bool(self, key): + def get_bool(self, key, bool block=False): cdef string k = self.check_key(key) cdef bool r with nogil: - r = self.p.getBool(k) + r = self.p.getBool(k, block) return r def put(self, key, dat): diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index c7f2d2ceac..c4fdfb9871 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -328,7 +328,7 @@ class EphemerisSourceType(IntEnum): def main(sm=None, pm=None): - use_qcom = os.path.isfile("/persist/comma/use-quectel-rawgps") + use_qcom = not Params().get_bool("UbloxAvailable", block=True) if use_qcom: raw_gnss_socket = "qcomGnss" else: diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index ac340fb4aa..9608f4003b 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -492,10 +492,10 @@ void Localizer::determine_gps_mode(double current_time) { int Localizer::locationd_thread() { const char* gps_location_socket; - if (util::file_exists("/persist/comma/use-quectel-rawgps")) { - gps_location_socket = "gpsLocation"; - } else { + if (Params().getBool("UbloxAvailable", true)) { gps_location_socket = "gpsLocationExternal"; + } else { + gps_location_socket = "gpsLocation"; } const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", "carState", "carParams", diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 8841b3e67c..e32861cfae 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -22,6 +22,7 @@ class TestLocationdProc(unittest.TestCase): self.pm = messaging.PubMaster(self.LLD_MSGS) + Params().put_bool("UbloxAvailable", True) managed_processes['locationd'].prepare() managed_processes['locationd'].start() diff --git a/selfdrive/sensord/pigeond.py b/selfdrive/sensord/pigeond.py index f47cefed6c..5fe120c061 100755 --- a/selfdrive/sensord/pigeond.py +++ b/selfdrive/sensord/pigeond.py @@ -116,7 +116,7 @@ class TTYPigeon(): time.sleep(0.001) -def initialize_pigeon(pigeon: TTYPigeon) -> None: +def initialize_pigeon(pigeon: TTYPigeon) -> bool: # try initializing a few times for _ in range(10): try: @@ -198,6 +198,10 @@ def initialize_pigeon(pigeon: TTYPigeon) -> None: break except TimeoutError: cloudlog.warning("Initialization failed, trying again!") + else: + cloudlog.warning("Failed to initialize pigeon") + return False + return True def deinitialize_and_exit(pigeon: Optional[TTYPigeon]): cloudlog.warning("Storing almanac in ublox flash") @@ -236,7 +240,8 @@ def main(): time.sleep(0.5) pigeon = TTYPigeon() - initialize_pigeon(pigeon) + r = initialize_pigeon(pigeon) + Params().put_bool("UbloxAvailable", r) # start receiving data while True: diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 10084bff9f..9d37be4a56 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -417,6 +417,7 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): params.put_bool("DisengageOnAccelerator", True) params.put_bool("WideCameraOnly", False) params.put_bool("DisableLogging", False) + params.put_bool("UbloxAvailable", True) os.environ["NO_RADAR_SLEEP"] = "1" os.environ["REPLAY"] = "1" diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index c400eb93f5..e436e92292 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -244,11 +244,13 @@ class CarlaBridge: def __init__(self, arguments): set_params_enabled() + self.params = Params() + msg = messaging.new_message('liveCalibration') msg.liveCalibration.validBlocks = 20 msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0] - Params().put("CalibrationParams", msg.to_bytes()) - Params().put_bool("WideCameraOnly", not arguments.dual_camera) + self.params.put("CalibrationParams", msg.to_bytes()) + self.params.put_bool("WideCameraOnly", not arguments.dual_camera) self._args = arguments self._carla_objects = [] @@ -363,6 +365,7 @@ class CarlaBridge: gps_bp = blueprint_library.find('sensor.other.gnss') gps = world.spawn_actor(gps_bp, transform, attach_to=vehicle) gps.listen(lambda gps: gps_callback(gps, vehicle_state)) + self.params.put_bool("UbloxAvailable", True) self._carla_objects.extend([imu, gps]) # launch fake car threads From 7c49c44c4ee2e846a275dab1cb5141009d55318e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 6 Oct 2022 16:55:14 -0700 Subject: [PATCH 197/685] fix speed of mock car with qcom gps (#25993) * fix speed of mock car with qcom gps * typo --- selfdrive/car/mock/interface.py | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 36062da1d1..a3194cd79e 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -20,8 +20,7 @@ class CarInterface(CarInterfaceBase): cloudlog.debug("Using Mock Car Interface") - self.gyro = messaging.sub_sock('gyroscope') - self.gps = messaging.sub_sock('gpsLocationExternal') + self.sm = messaging.SubMaster(['gyroscope', 'gpsLocation', 'gpsLocationExternal']) self.speed = 0. self.prev_speed = 0. @@ -45,15 +44,16 @@ 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 - gyro_sensor = messaging.recv_sock(self.gyro) - if gyro_sensor is not None: - self.yaw_rate_meas = -gyro_sensor.gyroscope.gyroUncalibrated.v[0] + if self.sm.updated['gyroscope']: + self.yaw_rate_meas = -self.sm['gyroscope'].gyroUncalibrated.v[0] - gps = messaging.recv_sock(self.gps) - if gps is not None: + gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation' + if self.sm.updated[gps_sock]: self.prev_speed = self.speed - self.speed = gps.gpsLocationExternal.speed + self.speed = self.sm[gps_sock].speed # create message ret = car.CarState.new_message() From 1ecf6f351c35de24affbb1e2cb5675aea1a36f10 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 7 Oct 2022 00:16:18 -0700 Subject: [PATCH 198/685] Divide by 0 bug fix lateral planner (#25995) * Divide by speed correctly * Update * Update lateral_planner.py * Update ref_commit --- selfdrive/controls/lib/lateral_planner.py | 15 +++++++++------ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 10 insertions(+), 7 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 48c98e7350..10e3edbebe 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -75,10 +75,10 @@ class LateralPlanner: y_pts, heading_pts, yaw_rate_pts) - # init state for next - # mpc.u_sol is the desired curvature rate given x0 curv state. - # with x0[3] = measured_curvature, this would be the actual desired rate. - # instead, interpolate x_sol so that x0[3] is the desired curvature for lat_control. + # init state for next iteration + # mpc.u_sol is the desired second derivative of psi given x0 curv state. + # with x0[3] = measured_yaw_rate, this would be the actual desired yaw rate. + # instead, interpolate x_sol so that x0[3] is the desired yaw rate for lat_control. self.x0[3] = interp(DT_MDL, self.t_idxs[:LAT_MPC_N + 1], self.lat_mpc.x_sol[:, 3]) # Check for infeasible MPC solution @@ -105,8 +105,11 @@ class LateralPlanner: lateralPlan.modelMonoTime = sm.logMonoTime['modelV2'] lateralPlan.dPathPoints = self.y_pts.tolist() lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() - lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/sm['carState'].vEgo).tolist() - lateralPlan.curvatureRates = [float(x) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] + + # clip speed for curv calculation at 1m/s, to prevent low speed extremes + clipped_speed = max(1.0, sm['carState'].vEgo) + lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/clipped_speed).tolist() + lateralPlan.curvatureRates = [float(x/clipped_speed) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] lateralPlan.mpcSolutionValid = bool(plan_solution_valid) lateralPlan.solverExecutionTime = self.lat_mpc.solve_time diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0e3cdf797f..78367235e6 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e0ffcae8def2fd9c82c547d1f257d4f06a48a3c3 +f9536e41a6a160bdaa29d42bb164b0e4033857e5 From cfabae28e7554c12c0fcb4beab8b7b3353140316 Mon Sep 17 00:00:00 2001 From: pbkompasz <47194071+pbkompasz@users.noreply.github.com> Date: Fri, 7 Oct 2022 18:41:14 +0300 Subject: [PATCH 199/685] README -> README.md (#26005) --- tools/cabana/{README => README.md} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename tools/cabana/{README => README.md} (100%) diff --git a/tools/cabana/README b/tools/cabana/README.md similarity index 100% rename from tools/cabana/README rename to tools/cabana/README.md From 1f5187892f0854bbc6a7d7799fa0d9ca2284714a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 7 Oct 2022 10:39:11 -0700 Subject: [PATCH 200/685] safer modem manager commands (#25999) Co-authored-by: Comma Device --- selfdrive/sensord/rawgps/rawgpsd.py | 4 ++-- selfdrive/sensord/rawgps/test_rawgps.py | 2 +- system/hardware/tici/hardware.py | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index 5149ab6473..c430acc5e5 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -88,7 +88,7 @@ def try_setup_logs(diag, log_types): def mmcli(cmd: str) -> None: for _ in range(5): try: - subprocess.check_call(f"mmcli -m 0 {cmd}", shell=True) + subprocess.check_call(f"mmcli -m any --timeout 30 {cmd}", shell=True) break except subprocess.CalledProcessError: cloudlog.exception("rawgps.mmcli_command_failed") @@ -151,7 +151,7 @@ def main() -> NoReturn: # wait for ModemManager to come up cloudlog.warning("waiting for modem to come up") while True: - ret = subprocess.call("mmcli -m 0 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True) + ret = subprocess.call("mmcli -m any --timeout 10 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True) if ret == 0: break time.sleep(0.1) diff --git a/selfdrive/sensord/rawgps/test_rawgps.py b/selfdrive/sensord/rawgps/test_rawgps.py index f8dd3ad1e5..5bd0833955 100755 --- a/selfdrive/sensord/rawgps/test_rawgps.py +++ b/selfdrive/sensord/rawgps/test_rawgps.py @@ -40,7 +40,7 @@ class TestRawgpsd(unittest.TestCase): time.sleep(s) managed_processes['rawgpsd'].stop() - ls = subprocess.check_output("mmcli -m 0 --location-status --output-json", shell=True, encoding='utf-8') + ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8') loc_status = json.loads(ls) assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'} diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 340093b604..e2fd20c1be 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -480,7 +480,7 @@ class Tici(HardwareBase): # blue prime config if sim_id.startswith('8901410'): - os.system('mmcli -m 0 --3gpp-set-initial-eps-bearer-settings="apn=Broadband"') + os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn=Broadband"') def get_networks(self): r = {} From 8dbb25e683039e2cd393b574e0fdaa0c894b1104 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 8 Oct 2022 02:28:09 +0800 Subject: [PATCH 201/685] params: remove all files if call clearAll with the ParamKeyType.ALL key. (#26000) * remove all files in dir * fix test case name --- common/params.cc | 11 +++++++---- common/tests/test_util.cc | 17 +++++++++++++++++ common/util.cc | 16 ++++++++++++++++ common/util.h | 1 + 4 files changed, 41 insertions(+), 4 deletions(-) diff --git a/common/params.cc b/common/params.cc index a23c0e003e..155bc88487 100644 --- a/common/params.cc +++ b/common/params.cc @@ -299,10 +299,13 @@ std::map Params::readAll() { void Params::clearAll(ParamKeyType key_type) { FileLock file_lock(params_path + "/.lock"); - std::string path; - for (auto &[key, type] : keys) { - if (type & key_type) { - unlink(getParamPath(key).c_str()); + if (key_type == ALL) { + util::remove_files_in_dir(getParamPath()); + } else { + for (auto &[key, type] : keys) { + if (type & key_type) { + unlink(getParamPath(key).c_str()); + } } } diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc index 25ecf09aa9..b70cc9044a 100644 --- a/common/tests/test_util.cc +++ b/common/tests/test_util.cc @@ -143,3 +143,20 @@ TEST_CASE("util::create_directories") { REQUIRE(util::create_directories("", 0755) == false); } } + +TEST_CASE("util::remove_files_in_dir") { + std::string tmp_dir = "/tmp/test_remove_all_in_dir"; + system("rm /tmp/test_remove_all_in_dir -rf"); + REQUIRE(util::create_directories(tmp_dir, 0755)); + const int tmp_file_cnt = 10; + for (int i = 0; i < tmp_file_cnt; ++i) { + std::string tmp_file = tmp_dir + "/test_XXXXXX"; + int fd = mkstemp((char*)tmp_file.c_str()); + close(fd); + REQUIRE(util::file_exists(tmp_file.c_str())); + } + + REQUIRE(util::read_files_in_dir(tmp_dir).size() == tmp_file_cnt); + util::remove_files_in_dir(tmp_dir); + REQUIRE(util::read_files_in_dir(tmp_dir).empty()); +} diff --git a/common/util.cc b/common/util.cc index 92add63997..b6a8322a27 100644 --- a/common/util.cc +++ b/common/util.cc @@ -97,6 +97,22 @@ std::map read_files_in_dir(const std::string &path) { return ret; } +void remove_files_in_dir(const std::string &path) { + DIR *d = opendir(path.c_str()); + if (!d) return; + + std::string fn; + struct dirent *de = NULL; + while ((de = readdir(d))) { + if (de->d_type != DT_DIR) { + fn = path + "/" + de->d_name; + unlink(fn.c_str()); + } + } + + closedir(d); +} + int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) { int fd = HANDLE_EINTR(open(path, flags, mode)); if (fd == -1) { diff --git a/common/util.h b/common/util.h index f3a24723b4..e13f4dc130 100644 --- a/common/util.h +++ b/common/util.h @@ -80,6 +80,7 @@ std::string dir_name(std::string const& path); // **** file fhelpers ***** std::string read_file(const std::string& fn); std::map read_files_in_dir(const std::string& path); +void remove_files_in_dir(const std::string& path); int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664); FILE* safe_fopen(const char* filename, const char* mode); From beb0f8ac234d28b72c6267d0b4c55fdf81c817b9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 8 Oct 2022 02:28:24 +0800 Subject: [PATCH 202/685] cabana: custom slider to indicate the status of engaged/disengaged/alerts (#26003) * timeline * remove todo * cleanup --- tools/cabana/videowidget.cc | 46 ++++++++++++++++++++++++++++++++++++- tools/cabana/videowidget.h | 5 ++++ 2 files changed, 50 insertions(+), 1 deletion(-) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 26fb845340..7edbe5e38f 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -4,7 +4,9 @@ #include #include #include +#include #include +#include #include #include "tools/cabana/parser.h" @@ -98,8 +100,50 @@ void VideoWidget::updateState() { } // Slider -// TODO: show timeline bar like what replay did. Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { + QTimer *timer = new QTimer(this); + timer->setInterval(2000); + timer->callOnTimeout([this]() { timeline = parser->replay->getTimeline(); }); + timer->start(); +} + +void Slider::paintEvent(QPaintEvent *ev) { + auto getPaintRange = [this](double begin, double end) -> std::pair { + double total_sec = maximum() - minimum(); + int start_pos = ((std::max((double)minimum(), (double)begin) - minimum()) / total_sec) * width(); + int end_pos = ((std::min((double)maximum(), (double)end) - minimum()) / total_sec) * width(); + return {start_pos, end_pos}; + }; + + QPainter p(this); + const int v_margin = 2; + p.fillRect(rect().adjusted(0, v_margin, 0, -v_margin), QColor(0, 0, 128)); + + for (auto [begin, end, type] : timeline) { + if (begin > maximum() || end < minimum()) continue; + + if (type == TimelineType::Engaged) { + auto [start_pos, end_pos] = getPaintRange(begin, end); + p.fillRect(QRect(start_pos, v_margin, end_pos - start_pos, height() - v_margin * 2), QColor(0, 135, 0)); + } + } + for (auto [begin, end, type] : timeline) { + if (type == TimelineType::Engaged || begin > maximum() || end < minimum()) continue; + + auto [start_pos, end_pos] = getPaintRange(begin, end); + if (type == TimelineType::UserFlag) { + p.fillRect(QRect(start_pos, height() - v_margin - 3, end_pos - start_pos, 3), Qt::white); + } else { + QColor color(Qt::green); + if (type != TimelineType::AlertInfo) + color = type == TimelineType::AlertWarning ? Qt::yellow : Qt::red; + + p.fillRect(QRect(start_pos, height() - v_margin - 3, end_pos - start_pos, 3), color); + } + } + p.setPen(QPen(Qt::black, 2)); + qreal x = width() * ((value() - minimum()) / double(maximum() - minimum())); + p.drawLine(QPointF{x, 0.}, QPointF{x, (qreal)height()}); } void Slider::mousePressEvent(QMouseEvent *e) { diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index a3605459e0..188456ecbe 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -5,6 +5,7 @@ #include #include "selfdrive/ui/qt/widgets/cameraview.h" +#include "tools/replay/replay.h" class Slider : public QSlider { Q_OBJECT @@ -15,6 +16,10 @@ public: signals: void setPosition(int value); + +private: + void paintEvent(QPaintEvent *ev) override; + std::vector> timeline; }; class VideoWidget : public QWidget { From 46e741c7cc652a9b1b266c0881ef6f9c30f5a226 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 7 Oct 2022 15:50:35 -0400 Subject: [PATCH 203/685] VW MNB: Add EPS config script support (#26007) --- selfdrive/debug/vw_mqb_config.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index c1068bf067..8c4dbc55ee 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -70,8 +70,8 @@ if __name__ == "__main__": coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0 coding_length = len(current_coding) - # EV_SteerAssisMQB covers the majority of MQB racks (EPS_MQB_ZFLS) - if odx_file == "EV_SteerAssisMQB\x00": + # EV_SteerAssisMQB/MNB cover the majority of MQB racks (EPS_MQB_ZFLS) + if odx_file in ("EV_SteerAssisMQB\x00", "EV_SteerAssisMNB\x00"): coding_variant = "ZF" coding_byte = 0 coding_bit = 4 @@ -111,7 +111,7 @@ if __name__ == "__main__": if args.action in ["enable", "disable"]: print("\nAttempting configuration update") - assert(coding_variant in ("ZF", "APA")) + assert(coding_variant in ("ZF", "APA")) # ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the # bit we care about is always in the same place in the first byte if args.action == "enable": From 8cee561dbfcb6e45f7ecd51adb0df67f4ebba908 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 7 Oct 2022 13:51:55 -0700 Subject: [PATCH 204/685] tombstoned: remove android code --- selfdrive/tombstoned.py | 43 +---------------------------------------- 1 file changed, 1 insertion(+), 42 deletions(-) diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 0045e0766c..61a575f141 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -62,47 +62,6 @@ def get_tombstones(): return files -def report_tombstone_android(fn): - f_size = os.path.getsize(fn) - if f_size > MAX_SIZE: - cloudlog.error(f"Tombstone {fn} too big, {f_size}. Skipping...") - return - - with open(fn, encoding='ISO-8859-1') as f: - contents = f.read() - - message = " ".join(contents.split('\n')[5:7]) - - # Cut off pid/tid, since that varies per run - name_idx = message.find('name') - if name_idx >= 0: - message = message[name_idx:] - - executable = "" - start_exe_idx = message.find('>>> ') - end_exe_idx = message.find(' <<<') - if start_exe_idx >= 0 and end_exe_idx >= 0: - executable = message[start_exe_idx + 4:end_exe_idx] - - # Cut off fault addr - fault_idx = message.find(', fault addr') - if fault_idx >= 0: - message = message[:fault_idx] - - sentry.report_tombstone(fn, message, contents) - - # Copy crashlog to upload folder - clean_path = executable.replace('./', '').replace('/', '_') - date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S") - - new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN] - - crashlog_dir = os.path.join(ROOT, "crash") - mkdirs_exists_ok(crashlog_dir) - - shutil.copy(fn, os.path.join(crashlog_dir, new_fn)) - - def report_tombstone_apport(fn): f_size = os.path.getsize(fn) if f_size > MAX_SIZE: @@ -199,7 +158,7 @@ def main() -> NoReturn: if fn.endswith(".crash"): report_tombstone_apport(fn) else: - report_tombstone_android(fn) + cloudlog.error(f"unknown crash type: {fn}") except Exception: cloudlog.exception(f"Error reporting tombstone {fn}") From 6ce511cc605782c25d45c66b55f859caaf7ce516 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 7 Oct 2022 16:12:58 -0700 Subject: [PATCH 205/685] GM: use ECM brake-pressed threshold (#25970) * This brake position value disengages stock ACC, use it to avoid controls mismatch. 2016-2017 Volt will hit this threshold and disengage, must install new design of brake pedal retaining clip, TSB 16-NA-147. * 80 hz * comment * bump panda * update refs * bump panda * bump panda * bump panda * bump panda to master Co-authored-by: qadmus <42746943+qadmus@users.noreply.github.com> --- panda | 2 +- selfdrive/car/gm/carstate.py | 13 ++++++++----- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 10 insertions(+), 7 deletions(-) diff --git a/panda b/panda index 3334dc21f5..1303af2db2 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 3334dc21f5c55007c5a754dfd8ee5d642be3e2bb +Subproject commit 1303af2db29a72eee180b10c6097fa5b19c29207 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 0bba1d29b8..f96a234dbd 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -40,9 +40,12 @@ class CarState(CarStateBase): else: ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None)) - # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed. - ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0 - ret.brakePressed = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] >= 10 + # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe + # that the brake is being intermittently pressed without user interaction. + # To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold + # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf + ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] / 0xd0 + ret.brakePressed = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] >= 8 # Regen braking is braking if self.CP.transmissionType == TransmissionType.direct: @@ -100,7 +103,7 @@ class CarState(CarStateBase): def get_can_parser(CP): signals = [ # sig_name, sig_address - ("BrakePedalPosition", "EBCMBrakePedalPosition"), + ("BrakePedalPos", "ECMAcceleratorPos"), ("FrontLeftDoor", "BCMDoorBeltStatus"), ("FrontRightDoor", "BCMDoorBeltStatus"), ("RearLeftDoor", "BCMDoorBeltStatus"), @@ -141,7 +144,7 @@ class CarState(CarStateBase): ("ASCMSteeringButton", 33), ("ECMEngineStatus", 100), ("PSCMSteeringAngle", 100), - ("EBCMBrakePedalPosition", 100), + ("ECMAcceleratorPos", 80), ] if CP.transmissionType == TransmissionType.direct: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 78367235e6..a89b4c2d71 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f9536e41a6a160bdaa29d42bb164b0e4033857e5 +338c24158bb28952dcd1554ea91734b4281e2fed \ No newline at end of file From 6c5693e965b9c63f8678f52b9e9b5abe35f23feb Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 7 Oct 2022 17:22:42 -0700 Subject: [PATCH 206/685] faster rocket launcher model (#26009) * cache tokens 1456d261-d232-4654-8885-4d9fde883894/440 e63ab895-2222-4abd-a9a5-af86bb70e260/700 * udpate ref commit * bump tinygrad to master --- selfdrive/modeld/models/driving.h | 2 +- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- tinygrad_repo | 2 +- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 90767384eb..8bb84d0245 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -16,7 +16,7 @@ #include "selfdrive/modeld/models/commonmodel.h" #include "selfdrive/modeld/runners/run.h" -constexpr int FEATURE_LEN = 2048; +constexpr int FEATURE_LEN = 128; constexpr int HISTORY_BUFFER_LEN = 99; constexpr int DESIRE_LEN = 8; constexpr int DESIRE_PRED_LEN = 4; diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 37edc36c02..aee0ac37ff 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 sha256:30f30bc1251c03db135564ecbf7dc0bc96cbb07be0ebd3691edd8d555dc087fa -size 58539693 +oid sha256:c4d37af666344af6bb218e0b939b1152ad3784c15ac79e37bcf0124643c8286a +size 58539563 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 9727ef3d17..2446ec061d 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -008c0a622b7471c6234690d668f76bcb5dc8d999 +c171250d2cc013b3eca1cda4fb62f3d0dda28d4d diff --git a/tinygrad_repo b/tinygrad_repo index 2993dfe921..46f6db7522 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 2993dfe9219089bd1464741757f0c2ad67fe6a2e +Subproject commit 46f6db75228cb7744a3a0a87616bfffeffa93658 From 57a82ced285518cad129ec61814aab48bf51910e Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 7 Oct 2022 17:27:09 -0700 Subject: [PATCH 207/685] rawgpsd: publish ephemerides (#25931) * add svpoly parsing * Publish poly * add source check * add safety check for invalid gpsWeek values * address PR comments * add qcom ephemeris source type * bump cereal and laika Co-authored-by: Kurt Nistelberger --- cereal | 2 +- laika_repo | 2 +- selfdrive/locationd/laikad.py | 52 +++++++++++++++++++++++------ selfdrive/sensord/rawgps/rawgpsd.py | 30 ++++++++++++++--- selfdrive/sensord/rawgps/structs.py | 41 +++++++++++++++++++++++ 5 files changed, 111 insertions(+), 16 deletions(-) diff --git a/cereal b/cereal index 5ba96b6ded..b29717c4c3 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 5ba96b6ded57bcd91e60140ce0036f61370f8512 +Subproject commit b29717c4c328d5cf34d46f682f25267150f82637 diff --git a/laika_repo b/laika_repo index c8bc1fa01b..e1049cde0a 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit c8bc1fa01be9f22592efb991ee52d3d965d21968 +Subproject commit e1049cde0a68f7d4a70b1ebd76befdc0e163ad55 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index c4fdfb9871..2769f394c5 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -16,7 +16,7 @@ from common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed -from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem +from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem, parse_qcom_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom @@ -61,6 +61,7 @@ class Laikad: self.last_pos_fix = [] self.last_pos_residual = [] self.last_pos_fix_t = None + self.gps_week = None self.use_qcom = use_qcom def load_cache(self): @@ -107,11 +108,11 @@ class Laikad: return self.last_pos_fix def is_good_report(self, gnss_msg): - if gnss_msg.which == 'drMeasurementReport' and self.use_qcom: + if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) # TODO support GLONASS return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] - elif gnss_msg.which == 'measurementReport' and not self.use_qcom: + elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: return True else: return False @@ -129,9 +130,28 @@ class Laikad: new_meas = read_raw_ublox(report) return week, tow, new_meas + def is_ephemeris(self, gnss_msg): + if self.use_qcom: + return gnss_msg.which() == 'drSvPoly' + else: + return gnss_msg.which() == 'ephemeris' + + def read_ephemeris(self, gnss_msg): + # TODO this only works on GLONASS + if self.use_qcom: + # TODO this is not robust to gps week rollover + if self.gps_week is None: + return + ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) + else: + ephem = convert_ublox_ephem(gnss_msg.ephemeris) + self.astro_dog.add_navs({ephem.prn: [ephem]}) + self.cache_ephemeris(t=ephem.epoch) + def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): if self.is_good_report(gnss_msg): week, tow, new_meas = self.read_report(gnss_msg) + self.gps_week = week t = gnss_mono_time * 1e-9 if week > 0: @@ -172,12 +192,10 @@ class Laikad: "correctedMeasurements": meas_msgs } return dat - # TODO this only works on GLONASS, qcom needs live ephemeris parsing too - elif gnss_msg.which == 'ephemeris': - ephem = convert_ublox_ephem(gnss_msg.ephemeris) - self.astro_dog.add_navs({ephem.prn: [ephem]}) - self.cache_ephemeris(t=ephem.epoch) - #elif gnss_msg.which == 'ionoData': + elif self.is_ephemeris(gnss_msg): + self.read_ephemeris(gnss_msg) + + #elif gnss_msg.which() == 'ionoData': # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them. def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): @@ -265,9 +283,11 @@ def create_measurement_msg(meas: GNSSMeasurement): c.satVel = meas.sat_vel.tolist() ephem = meas.sat_ephemeris assert ephem is not None + week, time_of_week = -1, -1 if ephem.eph_type == EphemerisType.NAV: source_type = EphemerisSourceType.nav - week, time_of_week = -1, -1 + elif ephem.eph_type == EphemerisType.QCOM_POLY: + source_type = EphemerisSourceType.qcom else: assert ephem.file_epoch is not None week = ephem.file_epoch.week @@ -325,6 +345,7 @@ class EphemerisSourceType(IntEnum): nav = 0 nasaUltraRapid = 1 glonassIacUltraRapid = 2 + qcom = 3 def main(sm=None, pm=None): @@ -348,6 +369,17 @@ def main(sm=None, pm=None): if sm.updated[raw_gnss_socket]: gnss_msg = sm[raw_gnss_socket] + + # TODO: Understand and use remaining unknown constellations + if gnss_msg.which() == "drMeasurementReport": + if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']: + continue + + if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max: + # gpsWeek 65535 is received rarely from quectel, this cannot be + # passed to GnssMeasurements's gpsWeek (Int16) + continue + msg = laikad.process_gnss_msg(gnss_msg, sm.logMonoTime[raw_gnss_socket], block=replay) if msg is not None: pm.send('gnssMeasurements', msg) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index c430acc5e5..c68e7aff99 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -14,12 +14,13 @@ import cereal.messaging as messaging from laika.gps_time import GPSTime from system.swaglog import cloudlog from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, +from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, - oemdre_measurement_report, oemdre_measurement_report_sv, + oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT, - LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT) + LOG_GNSS_POSITION_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT, + LOG_GNSS_OEMDRE_SVPOLY_REPORT) DEBUG = int(os.getenv("DEBUG", "0"))==1 @@ -28,6 +29,7 @@ LOG_TYPES = [ LOG_GNSS_GLONASS_MEASUREMENT_REPORT, LOG_GNSS_OEMDRE_MEASUREMENT_REPORT, LOG_GNSS_POSITION_REPORT, + LOG_GNSS_OEMDRE_SVPOLY_REPORT, ] @@ -146,6 +148,9 @@ def main() -> NoReturn: unpack_oemdre_meas, size_oemdre_meas = dict_unpacker(oemdre_measurement_report, True) unpack_oemdre_meas_sv, size_oemdre_meas_sv = dict_unpacker(oemdre_measurement_report_sv, True) + unpack_svpoly, _ = dict_unpacker(oemdre_svpoly_report, True) + unpack_position, _ = dict_unpacker(position_report) + unpack_position, _ = dict_unpacker(position_report) # wait for ModemManager to come up @@ -258,7 +263,24 @@ def main() -> NoReturn: pm.send('gpsLocation', msg) - if log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]: + elif log_type == LOG_GNSS_OEMDRE_SVPOLY_REPORT: + msg = messaging.new_message('qcomGnss') + dat = unpack_svpoly(log_payload) + dat = relist(dat) + gnss = msg.qcomGnss + gnss.logTs = log_time + gnss.init('drSvPoly') + poly = gnss.drSvPoly + for k,v in dat.items(): + if k == "version": + assert v == 2 + elif k == "flags": + pass + else: + setattr(poly, k, v) + pm.send('qcomGnss', msg) + + elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]: msg = messaging.new_message('qcomGnss') gnss = msg.qcomGnss diff --git a/selfdrive/sensord/rawgps/structs.py b/selfdrive/sensord/rawgps/structs.py index 4bc9eca875..97e3d3d605 100644 --- a/selfdrive/sensord/rawgps/structs.py +++ b/selfdrive/sensord/rawgps/structs.py @@ -56,6 +56,29 @@ oemdre_measurement_report = """ uint8_t source; """ +oemdre_svpoly_report = """ + uint8_t version; + uint16_t sv_id; + int8_t frequency_index; + uint8_t flags; + uint16_t iode; + double t0; + double xyz0[3]; + double xyzN[9]; + float other[4]; + float position_uncertainty; + float iono_delay; + float iono_dot; + float sbas_iono_delay; + float sbas_iono_dot; + float tropo_delay; + float elevation; + float elevation_dot; + float elevation_uncertainty; + double velocity_coeff[12]; +""" + + oemdre_measurement_report_sv = """ uint8_t sv_id; uint8_t unkn; @@ -311,3 +334,21 @@ def dict_unpacker(ss, camelcase = False): nams = [name_to_camelcase(x) for x in nams] sz = calcsize(st) return lambda x: dict(zip(nams, unpack_from(st, x))), sz + +def relist(dat): + list_keys = set() + for key in dat.keys(): + if '[' in key: + list_keys.add(key.split('[')[0]) + list_dict = {} + for list_key in list_keys: + list_dict[list_key] = [] + i = 0 + while True: + key = list_key + f'[{i}]' + if key not in dat: + break + list_dict[list_key].append(dat[key]) + del dat[key] + i += 1 + return {**dat, **list_dict} From fb074378194db28067dbb77e8cd15db6ab5fd882 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 7 Oct 2022 19:15:04 -0700 Subject: [PATCH 208/685] Increase low speed jerk cost (#26008) * Increase low speed jerk cost * Update planner weight * Update ref_commit * Update lateral_planner.py * cleanup and refactor * Update ref_commit --- .../controls/lib/lateral_mpc_lib/lat_mpc.py | 16 ++++----- selfdrive/controls/lib/lateral_planner.py | 35 +++++++++++-------- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 30 insertions(+), 23 deletions(-) diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index 07efad73c9..0cbd576341 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -20,6 +20,7 @@ P_DIM = 2 N = 16 COST_E_DIM = 3 COST_DIM = COST_E_DIM + 1 +SPEED_OFFSET = 10.0 MODEL_NAME = 'lat' ACADOS_SOLVER_TYPE = 'SQP_RTI' @@ -88,14 +89,13 @@ def gen_lat_ocp(): ocp.cost.yref = np.zeros((COST_DIM, )) ocp.cost.yref_e = np.zeros((COST_E_DIM, )) - # TODO hacky weights to keep behavior the same ocp.model.cost_y_expr = vertcat(y_ego, - ((v_ego + 5.0) * psi_ego), - ((v_ego + 5.0) * psi_rate_ego), - ((v_ego + 5.0) * psi_rate_ego_dot)) + ((v_ego + SPEED_OFFSET) * psi_ego), + ((v_ego + SPEED_OFFSET) * psi_rate_ego), + ((v_ego + SPEED_OFFSET) * psi_rate_ego_dot)) ocp.model.cost_y_expr_e = vertcat(y_ego, - ((v_ego + 5.0) * psi_ego), - ((v_ego + 5.0) * psi_rate_ego)) + ((v_ego + SPEED_OFFSET) * psi_ego), + ((v_ego + SPEED_OFFSET) * psi_rate_ego)) # set constraints ocp.constraints.constr_type = 'BGH' @@ -158,8 +158,8 @@ class LateralMpc(): self.yref[:,0] = y_pts v_ego = p_cp[0] # rotation_radius = p_cp[1] - self.yref[:,1] = heading_pts * (v_ego+5.0) - self.yref[:,2] = yaw_rate_pts * (v_ego+5.0) + self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET) + self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET) for i in range(N): self.solver.cost_set(i, "yref", self.yref[i]) self.solver.set(i, "p", p_cp) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 10e3edbebe..d4c832b53b 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -12,6 +12,15 @@ from cereal import log TRAJECTORY_SIZE = 33 CAMERA_OFFSET = 0.04 + +PATH_COST = 1.0 +LATERAL_MOTION_COST = 0.11 +LATERAL_ACCEL_COST = 0.0 +LATERAL_JERK_COST = 0.05 + +MIN_SPEED = 1.5 + + class LateralPlanner: def __init__(self, CP): self.DH = DesireHelper() @@ -36,7 +45,8 @@ class LateralPlanner: self.lat_mpc.reset(x0=self.x0) def update(self, sm): - v_ego = sm['carState'].vEgo + # clip speed , lateral planning is not possible at 0 speed + self.v_ego = max(MIN_SPEED, sm['carState'].vEgo) measured_curvature = sm['controlsState'].curvature # Parse model predictions @@ -56,20 +66,19 @@ class LateralPlanner: self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob) d_path_xyz = self.path_xyz - # Heading cost is useful at low speed, otherwise end of plan can be off-heading - heading_cost = interp(v_ego, [5.0, 10.0], [1.0, 0.15]) - self.lat_mpc.set_weights(1.0, heading_cost, 0.0, .075) + self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST, + LATERAL_ACCEL_COST, LATERAL_JERK_COST) - y_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1]) - heading_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) - yaw_rate_pts = np.interp(v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate) + y_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1]) + heading_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) + yaw_rate_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate) self.y_pts = y_pts assert len(y_pts) == LAT_MPC_N + 1 assert len(heading_pts) == LAT_MPC_N + 1 assert len(yaw_rate_pts) == LAT_MPC_N + 1 - lateral_factor = max(0, self.factor1 - (self.factor2 * v_ego**2)) - p = np.array([v_ego, lateral_factor]) + lateral_factor = max(0, self.factor1 - (self.factor2 * self.v_ego**2)) + p = np.array([self.v_ego, lateral_factor]) self.lat_mpc.run(self.x0, p, y_pts, @@ -86,7 +95,7 @@ class LateralPlanner: t = sec_since_boot() if mpc_nans or self.lat_mpc.solution_status != 0: self.reset_mpc() - self.x0[3] = measured_curvature + self.x0[3] = measured_curvature * self.v_ego if t > self.last_cloudlog_t + 5.0: self.last_cloudlog_t = t cloudlog.warning("Lateral mpc - nan: True") @@ -106,10 +115,8 @@ class LateralPlanner: lateralPlan.dPathPoints = self.y_pts.tolist() lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist() - # clip speed for curv calculation at 1m/s, to prevent low speed extremes - clipped_speed = max(1.0, sm['carState'].vEgo) - lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/clipped_speed).tolist() - lateralPlan.curvatureRates = [float(x/clipped_speed) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] + lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist() + lateralPlan.curvatureRates = [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0] lateralPlan.mpcSolutionValid = bool(plan_solution_valid) lateralPlan.solverExecutionTime = self.lat_mpc.solve_time diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a89b4c2d71..a4a24ca603 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -338c24158bb28952dcd1554ea91734b4281e2fed \ No newline at end of file +f636c68e2b4ed88d3731930cf15b6dee984eb6dd From 36701a82a344447fe33476f42cd83034dbc373a4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 8 Oct 2022 00:02:57 -0700 Subject: [PATCH 209/685] Kia: update Optima platform name (#25852) * https://en.wikipedia.org/wiki/Kia_K5 * it's actually the same generation, but 2019+ is a facelift * g4 * fix * rename --- selfdrive/car/hyundai/hyundaican.py | 2 +- selfdrive/car/hyundai/interface.py | 4 ++-- selfdrive/car/hyundai/values.py | 20 ++++++++++---------- selfdrive/car/tests/routes.py | 4 ++-- selfdrive/car/torque_data/substitute.yaml | 4 ++-- 5 files changed, 17 insertions(+), 17 deletions(-) diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 139a14d5e8..7f3f6a72c5 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -38,7 +38,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 # Likely cars lacking the ability to show individual lane lines in the dash - elif car_fingerprint in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019): + elif car_fingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL): # SysWarning 4 = keep hands on wheel + beep values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 97c1f7a5dc..2d960ed17f 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -202,12 +202,12 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.indi.timeConstantV = [1.4] ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] - elif candidate in (CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.KIA_OPTIMA_H): + elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H): ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - if candidate == CAR.KIA_OPTIMA: + if candidate == CAR.KIA_OPTIMA_G4: ret.minSteerSpeed = 32 * CV.MPH_TO_MS CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_STINGER: diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 52a5088319..a43f17ac00 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -85,8 +85,8 @@ class CAR: KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" - KIA_OPTIMA = "KIA OPTIMA 2016" - KIA_OPTIMA_2019 = "KIA OPTIMA 2019" + KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN" + KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT" KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_SELTOS = "KIA SELTOS 2021" KIA_SORENTO = "KIA SORENTO GT LINE 2018" @@ -155,8 +155,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), ], - CAR.KIA_OPTIMA: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 - CAR.KIA_OPTIMA_2019: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g), + CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 + CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g), CAR.KIA_OPTIMA_H: [ HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years HyundaiCarInfo("Kia Optima Hybrid 2019"), @@ -1136,7 +1136,7 @@ FW_VERSIONS = { b'\xf1\x87954A22D200\xf1\x81T01950A1 \xf1\000T0190XBL T01950A1 DSP2T16X4X950NS8\r\xfe\x9c\x8b', ], }, - CAR.KIA_OPTIMA: { + CAR.KIA_OPTIMA_G4: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4100 ', ], @@ -1150,7 +1150,7 @@ FW_VERSIONS = { b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6J0051\x00\x00\xf1\x006T6J0_C2\x00\x006T6J0051\x00\x00TJF0T20NSB\x00\x00\x00\x00', ], }, - CAR.KIA_OPTIMA_2019: { + CAR.KIA_OPTIMA_G4_FL: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JF__ SCC F-CUP 1.00 1.00 96400-D4110 ', ], @@ -1367,7 +1367,7 @@ CHECKSUM = { FEATURES = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, - "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_2019, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, + "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 @@ -1383,7 +1383,7 @@ HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_N EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022} # 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, CAR.KIA_OPTIMA_2019, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} +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} # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py @@ -1408,8 +1408,8 @@ DBC = { CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_OPTIMA: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_OPTIMA_2019: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None), CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 3ae3a357ce..82c0614493 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -88,8 +88,8 @@ routes = [ CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022), CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1), CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED), - CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA), - CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_2019, segment=0), + CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4), + CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0), CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 92361d37f4..f5e3d1d61d 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -17,8 +17,8 @@ LEXUS RC 2020: LEXUS NX 2020 TOYOTA AVALON HYBRID 2019: TOYOTA AVALON 2019 TOYOTA AVALON HYBRID 2022: TOYOTA AVALON 2022 -KIA OPTIMA 2016: HYUNDAI SONATA 2020 -KIA OPTIMA 2019: HYUNDAI SONATA 2020 +KIA OPTIMA 4TH GEN: HYUNDAI SONATA 2020 +KIA OPTIMA 4TH GEN FACELIFT: HYUNDAI SONATA 2020 KIA OPTIMA HYBRID 2017 & SPORTS 2019: HYUNDAI SONATA 2020 KIA FORTE E 2018 & GT 2021: HYUNDAI SONATA 2020 KIA CEED INTRO ED 2019: HYUNDAI SONATA 2020 From 2e7fa330b346b6435d0b15524f3b5ce878d213de Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sat, 8 Oct 2022 04:07:35 -0700 Subject: [PATCH 210/685] hyundai: fix logging stock AEB events (#25152) --- selfdrive/car/hyundai/carstate.py | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index b9c7327a93..1f2de3286e 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -126,12 +126,12 @@ class CarState(CarStateBase): ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) if not self.CP.openpilotLongitudinalControl: - if self.CP.carFingerprint in FEATURES["use_fca"]: - ret.stockAeb = cp_cruise.vl["FCA11"]["FCA_CmdAct"] != 0 - ret.stockFcw = cp_cruise.vl["FCA11"]["CF_VSM_Warn"] == 2 - else: - ret.stockAeb = cp_cruise.vl["SCC12"]["AEB_CmdAct"] != 0 - ret.stockFcw = cp_cruise.vl["SCC12"]["CF_VSM_Warn"] == 2 + aeb_src = "FCA11" if self.CP.carFingerprint in FEATURES["use_fca"] else "SCC12" + aeb_sig = "FCA_CmdAct" if self.CP.carFingerprint in FEATURES["use_fca"] else "AEB_CmdAct" + aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0 + aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0 + ret.stockFcw = aeb_warning and not aeb_braking + ret.stockAeb = aeb_warning and aeb_braking if self.CP.enableBsm: ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0 @@ -294,12 +294,14 @@ class CarState(CarStateBase): signals += [ ("FCA_CmdAct", "FCA11"), ("CF_VSM_Warn", "FCA11"), + ("CF_VSM_DecCmdAct", "FCA11"), ] checks.append(("FCA11", 50)) else: signals += [ ("AEB_CmdAct", "SCC12"), ("CF_VSM_Warn", "SCC12"), + ("CF_VSM_DecCmdAct", "SCC12"), ] if CP.enableBsm: @@ -383,12 +385,14 @@ class CarState(CarStateBase): signals += [ ("FCA_CmdAct", "FCA11"), ("CF_VSM_Warn", "FCA11"), + ("CF_VSM_DecCmdAct", "FCA11"), ] checks.append(("FCA11", 50)) else: signals += [ ("AEB_CmdAct", "SCC12"), ("CF_VSM_Warn", "SCC12"), + ("CF_VSM_DecCmdAct", "SCC12"), ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) From 2ed82387a5df5b86113d23fc4cc7d7aeadabdb52 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 9 Oct 2022 05:10:00 +0800 Subject: [PATCH 211/685] cabana: fix Incorrect Y-Axis Scale (#26018) --- tools/cabana/chartswidget.cc | 33 +++++++++++++++------------------ tools/cabana/chartswidget.h | 1 + 2 files changed, 16 insertions(+), 18 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 3e1a8b8410..5caa8d5a43 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -194,8 +194,6 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa void ChartWidget::updateState() { auto chart = chart_view->chart(); auto axis_x = dynamic_cast(chart->axisX()); - if (axis_x->max() <= axis_x->min()) return; - int x = chart->plotArea().left() + chart->plotArea().width() * (parser->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); if (line_marker_x != x) { line_marker->setX(x); @@ -214,7 +212,6 @@ void ChartWidget::updateSeries() { vals.clear(); vals.reserve(3 * 60 * 100); - double min_y = 0, max_y = 0; uint64_t route_start_time = parser->replay->routeStartTime(); for (auto &evt : *events) { if (evt->which == cereal::Event::Which::CAN) { @@ -226,9 +223,6 @@ void ChartWidget::updateSeries() { val -= ((val >> (sig->size - 1)) & 0x1) ? (1ULL << sig->size) : 0; } double value = val * sig->factor + sig->offset; - if (value < min_y) min_y = value; - if (value > max_y) max_y = value; - double ts = (evt->mono_time - route_start_time) / (double)1e9; // seconds vals.push_back({ts, value}); } @@ -239,7 +233,7 @@ void ChartWidget::updateSeries() { series->replace(vals); auto [begin, end] = parser->range(); chart_view->chart()->axisX()->setRange(begin, end); - chart_view->chart()->axisY()->setRange(min_y * 0.95, max_y * 1.05); + updateAxisY(); } void ChartWidget::rangeChanged(qreal min, qreal max) { @@ -247,17 +241,20 @@ void ChartWidget::rangeChanged(qreal min, qreal max) { if (axis_x->min() != min || axis_x->max() != max) { axis_x->setRange(min, max); } - // auto zoom on yaxis - double min_y = 0, max_y = 0; - for (auto &p : vals) { - if (p.x() > max) break; - - if (p.x() >= min) { - if (p.y() < min_y) min_y = p.y(); - if (p.y() > max_y) max_y = p.y(); - } - } - chart_view->chart()->axisY()->setRange(min_y * 0.95, max_y * 1.05); + updateAxisY(); +} + +// auto zoom on yaxis +void ChartWidget::updateAxisY() { + const auto axis_x = dynamic_cast(chart_view->chart()->axisX()); + // vals is a sorted list + auto begin = std::lower_bound(vals.begin(), vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); + if (begin == vals.end()) + return; + + auto end = std::upper_bound(vals.begin(), vals.end(), axis_x->max(), [](double x, auto &p) { return x < p.x(); }); + const auto [min, max] = std::minmax_element(begin, end, [](auto &p1, auto &p2) { return p1.y() < p2.y(); }); + chart_view->chart()->axisY()->setRange(min->y(), max->y()); } // LineMarker diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 0413d65e09..81df2237bc 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -37,6 +37,7 @@ private: void addData(const CanData &can_data, const Signal &sig); void updateSeries(); void rangeChanged(qreal min, qreal max); + void updateAxisY(); QString id; QString sig_name; From f31aa6853354226baada15f6a12b57f16bc3853b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 8 Oct 2022 23:28:33 -0700 Subject: [PATCH 212/685] Subaru: log stock FCW (#26012) * log stock FCW * Update selfdrive/car/subaru/carstate.py * never seen 1 (could be aeb?) --- selfdrive/car/subaru/carstate.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 128e4245b2..ba873c48d7 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -58,9 +58,6 @@ class CarState(CarStateBase): ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0 ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS - if self.car_fingerprint not in PREGLOBAL_CARS: - ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3 - if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \ (self.car_fingerprint not in PREGLOBAL_CARS and cp.vl["Dashlights"]["UNITS"] == 1): ret.cruiseState.speed *= CV.MPH_TO_KPH @@ -78,6 +75,8 @@ class CarState(CarStateBase): else: ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1 ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1 + ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3 + ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2 self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam From 754b44e7ceb2b6b029cf511b821f4328b90364f9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 9 Oct 2022 23:44:19 +0800 Subject: [PATCH 213/685] Cabana: increase slider precision to milliseconds (#26025) --- tools/cabana/videowidget.cc | 52 ++++++++++++++++++++++++------------- tools/cabana/videowidget.h | 3 +++ 2 files changed, 37 insertions(+), 18 deletions(-) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 7edbe5e38f..957747584c 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -31,9 +31,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { slider = new Slider(this); slider->setSingleStep(0); slider->setMinimum(0); - slider->setTickInterval(60); - slider->setTickPosition(QSlider::TicksBelow); - slider->setMaximum(parser->replay->totalSeconds()); + slider->setMaximum(parser->replay->totalSeconds() * 1000); slider_layout->addWidget(slider); total_time_label = new QLabel(formatTime(parser->replay->totalSeconds())); @@ -63,7 +61,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QObject::connect(parser, &Parser::rangeChanged, this, &VideoWidget::rangeChanged); QObject::connect(parser, &Parser::updated, this, &VideoWidget::updateState); - QObject::connect(slider, &QSlider::sliderMoved, [=]() { time_label->setText(formatTime(slider->value())); }); + QObject::connect(slider, &QSlider::sliderMoved, [=]() { time_label->setText(formatTime(slider->value() / 1000)); }); QObject::connect(slider, &QSlider::sliderReleased, [this]() { setPosition(slider->value()); }); QObject::connect(slider, &Slider::setPosition, this, &VideoWidget::setPosition); @@ -75,8 +73,8 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { } void VideoWidget::setPosition(int value) { - time_label->setText(formatTime(value)); - parser->seekTo(value); + time_label->setText(formatTime(value / 1000.0)); + parser->seekTo(value / 1000.0); } void VideoWidget::rangeChanged(double min, double max) { @@ -86,16 +84,16 @@ void VideoWidget::rangeChanged(double min, double max) { } time_label->setText(formatTime(min)); total_time_label->setText(formatTime(max)); - slider->setMinimum(min); - slider->setMaximum(max); - slider->setValue(parser->currentSec()); + slider->setMinimum(min * 1000); + slider->setMaximum(max * 1000); + slider->setValue(parser->currentSec() * 1000); } void VideoWidget::updateState() { if (!slider->isSliderDown()) { - int current_sec = parser->currentSec(); + double current_sec = parser->currentSec(); time_label->setText(formatTime(current_sec)); - slider->setValue(current_sec); + slider->setValue(current_sec * 1000); } } @@ -103,10 +101,25 @@ void VideoWidget::updateState() { Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { QTimer *timer = new QTimer(this); timer->setInterval(2000); - timer->callOnTimeout([this]() { timeline = parser->replay->getTimeline(); }); + timer->callOnTimeout([this]() { + timeline = parser->replay->getTimeline(); + update(); + }); timer->start(); } +void Slider::sliderChange(QAbstractSlider::SliderChange change) { + if (change == QAbstractSlider::SliderValueChange) { + qreal x = width() * ((value() - minimum()) / double(maximum() - minimum())); + if (x != slider_x) { + slider_x = x; + update(); + } + } else { + QAbstractSlider::sliderChange(change); + } +} + void Slider::paintEvent(QPaintEvent *ev) { auto getPaintRange = [this](double begin, double end) -> std::pair { double total_sec = maximum() - minimum(); @@ -117,17 +130,21 @@ void Slider::paintEvent(QPaintEvent *ev) { QPainter p(this); const int v_margin = 2; - p.fillRect(rect().adjusted(0, v_margin, 0, -v_margin), QColor(0, 0, 128)); + p.fillRect(rect().adjusted(0, v_margin, 0, -v_margin), QColor(111, 143, 175)); for (auto [begin, end, type] : timeline) { + begin *= 1000; + end *= 1000; if (begin > maximum() || end < minimum()) continue; if (type == TimelineType::Engaged) { auto [start_pos, end_pos] = getPaintRange(begin, end); - p.fillRect(QRect(start_pos, v_margin, end_pos - start_pos, height() - v_margin * 2), QColor(0, 135, 0)); + p.fillRect(QRect(start_pos, v_margin, end_pos - start_pos, height() - v_margin * 2), QColor(0, 163, 108)); } } for (auto [begin, end, type] : timeline) { + begin *= 1000; + end *= 1000; if (type == TimelineType::Engaged || begin > maximum() || end < minimum()) continue; auto [start_pos, end_pos] = getPaintRange(begin, end); @@ -136,14 +153,13 @@ void Slider::paintEvent(QPaintEvent *ev) { } else { QColor color(Qt::green); if (type != TimelineType::AlertInfo) - color = type == TimelineType::AlertWarning ? Qt::yellow : Qt::red; + color = type == TimelineType::AlertWarning ? QColor(255, 195, 0) : QColor(199, 0, 57); p.fillRect(QRect(start_pos, height() - v_margin - 3, end_pos - start_pos, 3), color); } } - p.setPen(QPen(Qt::black, 2)); - qreal x = width() * ((value() - minimum()) / double(maximum() - minimum())); - p.drawLine(QPointF{x, 0.}, QPointF{x, (qreal)height()}); + p.setPen(QPen(QColor(88, 24, 69), 3)); + p.drawLine(QPoint{slider_x, 0}, QPoint{slider_x, height()}); } void Slider::mousePressEvent(QMouseEvent *e) { diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 188456ecbe..060565d322 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -13,6 +13,7 @@ class Slider : public QSlider { public: Slider(QWidget *parent); void mousePressEvent(QMouseEvent* e) override; + void sliderChange(QAbstractSlider::SliderChange change) override; signals: void setPosition(int value); @@ -20,6 +21,8 @@ signals: private: void paintEvent(QPaintEvent *ev) override; std::vector> timeline; + + int slider_x = -1; }; class VideoWidget : public QWidget { From c719b3b7ddd05d8369aab13e11f99af7990c73ea Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 10 Oct 2022 23:24:14 -0700 Subject: [PATCH 214/685] HKG CAN-FD: log temporary steering faults (#26031) * log hkg can-fd temporary steering faults * bump to master --- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 2 ++ 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/opendbc b/opendbc index ae2fd934ce..c35e8139bf 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit ae2fd934ceb8501c56a0802564c14963dbb201ac +Subproject commit c35e8139bf9e9d87b9efb6764ab7e65983e8d33e diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 1f2de3286e..4d60afe1fd 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -180,6 +180,7 @@ class CarState(CarStateBase): 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.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0 ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], cp.vl["BLINKERS"]["RIGHT_LAMP"]) @@ -414,6 +415,7 @@ class CarState(CarStateBase): ("STEERING_ANGLE", "STEERING_SENSORS"), ("STEERING_COL_TORQUE", "MDPS"), ("STEERING_OUT_TORQUE", "MDPS"), + ("LKA_FAULT", "MDPS"), ("CRUISE_ACTIVE", "SCC1"), ("COUNTER", cruise_btn_msg), From 478693771bf2570da0b0370c65c6f4113766eaca Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Tue, 11 Oct 2022 10:27:00 -0700 Subject: [PATCH 215/685] bump tinygrad (#26029) --- tinygrad_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tinygrad_repo b/tinygrad_repo index 46f6db7522..870ea766ee 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 46f6db75228cb7744a3a0a87616bfffeffa93658 +Subproject commit 870ea766eec7a38d7d590c81436f15271ba2667e From 32a4dfe2fe549edff352dc54055cff680c96755f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Oct 2022 12:53:35 -0700 Subject: [PATCH 216/685] Add CarInfo for Elantra GT and i30 (#26034) Fixup car info for Elantra GT/i30 --- selfdrive/car/hyundai/values.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index a43f17ac00..68a16b096e 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -110,7 +110,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_GT_I30: None, # dashcamOnly and same platform as CAR.ELANTRA + CAR.ELANTRA_GT_I30: [ + HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e), + HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e), + ], CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness From e062d2387e37f92121979803e11e9fcbb550b63b Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Tue, 11 Oct 2022 13:17:21 -0700 Subject: [PATCH 217/685] Add missing Corolla TSS2 firmware (#26032) --- 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 0075a483f6..137db5612b 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -757,6 +757,7 @@ FW_VERSIONS = { b'\x03312N6000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00', b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00', + b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00', b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00', b'\x02312K4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02312U5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00', From dbdb3a02a8efb637275ef6d65fa0ab08b51d3b05 Mon Sep 17 00:00:00 2001 From: wjxjmj Date: Wed, 12 Oct 2022 05:16:40 +0800 Subject: [PATCH 218/685] Add ip and port arguments to /tools/sim/bridge.py (#26011) * Add ip and port arguments * Add descriptions of ip and port arguments * Update README.md * Update README.md * prefer host/port options Co-authored-by: Cameron Clough --- tools/sim/README.md | 2 ++ tools/sim/bridge.py | 8 +++++--- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/tools/sim/README.md b/tools/sim/README.md index cb1aea35ac..40603f3f71 100644 --- a/tools/sim/README.md +++ b/tools/sim/README.md @@ -39,6 +39,8 @@ Options: --high_quality Set simulator to higher quality (requires good GPU) --town TOWN Select map to drive in --spawn_point NUM Number of the spawn point to start in + --host HOST Host address of Carla client (127.0.0.1 as default) + --port PORT Port of Carla client (2000 as default) ``` To engage openpilot press 1 a few times while focused on bridge.py to increase the cruise speed. diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index e436e92292..a105ed751e 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -39,6 +39,8 @@ def parse_args(add_args=None): parser.add_argument('--dual_camera', action='store_true') parser.add_argument('--town', type=str, default='Town04_Opt') parser.add_argument('--spawn_point', dest='num_selected_spawn_point', type=int, default=16) + parser.add_argument('--host', dest='host', type=str, default='127.0.0.1') + parser.add_argument('--port', dest='port', type=int, default=2000) return parser.parse_args(add_args) @@ -233,8 +235,8 @@ def can_function_runner(vs: VehicleState, exit_event: threading.Event): i += 1 -def connect_carla_client(): - client = carla.Client("127.0.0.1", 2000) +def connect_carla_client(host: str, port: int): + client = carla.Client(host, port) client.set_timeout(5) return client @@ -291,7 +293,7 @@ class CarlaBridge: self.close() def _run(self, q: Queue): - client = connect_carla_client() + client = connect_carla_client(self._args.host, self._args.port) world = client.load_world(self._args.town) settings = world.get_settings() From 2c9b150761f533a6132fac3639df24bb286386bb Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 11 Oct 2022 14:53:43 -0700 Subject: [PATCH 219/685] Low speed lateral like before (#26022) * Add explicit cost on steering wheel movement * Laxer low speed control * Laxer low speed control * Lower min speed now there is a cost * 3m/s * Similar to old master * Add cost * Crazy high * Update ref * comment --- selfdrive/controls/lib/latcontrol_torque.py | 14 ++++++---- .../controls/lib/lateral_mpc_lib/lat_mpc.py | 28 +++++++++++++------ selfdrive/controls/lib/lateral_planner.py | 10 +++++-- selfdrive/controls/tests/test_lateral_mpc.py | 6 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 41 insertions(+), 19 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index fa1bb480f1..7d656b55a9 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -17,6 +17,8 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # friction in the steering wheel that needs to be overcome to # move it at all, this is compensated for too. +LOW_SPEED_FACTOR = 100 + class LatControlTorque(LatControl): def __init__(self, CP, CI): @@ -55,13 +57,15 @@ class LatControlTorque(LatControl): actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200]) - setpoint = desired_lateral_accel + low_speed_factor * desired_curvature - measurement = actual_lateral_accel + low_speed_factor * actual_curvature + setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature + measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature error = setpoint - measurement gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY - pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, lateral_accel_deadzone, friction_compensation=False) - ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, error, lateral_accel_deadzone, friction_compensation=True) + pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, + lateral_accel_deadzone, friction_compensation=False) + ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, + desired_lateral_accel - actual_lateral_accel, + lateral_accel_deadzone, friction_compensation=True) freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(pid_log.error, diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py index 0cbd576341..9607532ace 100755 --- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py +++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py @@ -19,7 +19,7 @@ X_DIM = 4 P_DIM = 2 N = 16 COST_E_DIM = 3 -COST_DIM = COST_E_DIM + 1 +COST_DIM = COST_E_DIM + 2 SPEED_OFFSET = 10.0 MODEL_NAME = 'lat' ACADOS_SOLVER_TYPE = 'SQP_RTI' @@ -89,13 +89,21 @@ def gen_lat_ocp(): ocp.cost.yref = np.zeros((COST_DIM, )) ocp.cost.yref_e = np.zeros((COST_E_DIM, )) + # Add offset to smooth out low speed control + # TODO unclear if this right solution long term + v_ego_offset = v_ego + SPEED_OFFSET + # TODO there are two costs on psi_rate_ego_dot, one + # is correlated to jerk the other to steering wheel movement + # the steering wheel movement cost is added to prevent excessive + # wheel movements ocp.model.cost_y_expr = vertcat(y_ego, - ((v_ego + SPEED_OFFSET) * psi_ego), - ((v_ego + SPEED_OFFSET) * psi_rate_ego), - ((v_ego + SPEED_OFFSET) * psi_rate_ego_dot)) + v_ego_offset * psi_ego, + v_ego_offset * psi_rate_ego, + v_ego_offset * psi_rate_ego_dot, + psi_rate_ego_dot / (v_ego + 0.1)) ocp.model.cost_y_expr_e = vertcat(y_ego, - ((v_ego + SPEED_OFFSET) * psi_ego), - ((v_ego + SPEED_OFFSET) * psi_rate_ego)) + v_ego_offset * psi_ego, + v_ego_offset * psi_rate_ego) # set constraints ocp.constraints.constr_type = 'BGH' @@ -144,8 +152,12 @@ class LateralMpc(): self.solve_time = 0.0 self.cost = 0 - def set_weights(self, path_weight, heading_weight, yaw_rate_weight, yaw_accel_cost): - W = np.asfortranarray(np.diag([path_weight, heading_weight, yaw_rate_weight, yaw_accel_cost])) + def set_weights(self, path_weight, heading_weight, + lat_accel_weight, lat_jerk_weight, + steering_rate_weight): + W = np.asfortranarray(np.diag([path_weight, heading_weight, + lat_accel_weight, lat_jerk_weight, + steering_rate_weight])) for i in range(N): self.solver.cost_set(i, 'W', W) self.solver.cost_set(N, 'W', W[:COST_E_DIM,:COST_E_DIM]) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index d4c832b53b..9fbfd4a11f 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -17,8 +17,13 @@ PATH_COST = 1.0 LATERAL_MOTION_COST = 0.11 LATERAL_ACCEL_COST = 0.0 LATERAL_JERK_COST = 0.05 +# Extreme steering rate is unpleasant, even +# when it does not cause bad jerk. +# TODO this cost should be lowered when low +# speed lateral control is stable on all cars +STEERING_RATE_COST = 800.0 -MIN_SPEED = 1.5 +MIN_SPEED = .3 class LateralPlanner: @@ -67,7 +72,8 @@ class LateralPlanner: d_path_xyz = self.path_xyz self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST, - LATERAL_ACCEL_COST, LATERAL_JERK_COST) + LATERAL_ACCEL_COST, LATERAL_JERK_COST, + STEERING_RATE_COST) y_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(d_path_xyz, axis=1), d_path_xyz[:, 1]) heading_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw) diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py index 9b986c053d..df5154b2b4 100644 --- a/selfdrive/controls/tests/test_lateral_mpc.py +++ b/selfdrive/controls/tests/test_lateral_mpc.py @@ -10,7 +10,7 @@ def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvatur if lat_mpc is None: lat_mpc = LateralMpc() - lat_mpc.set_weights(1., 1., 0.0, 1.) + lat_mpc.set_weights(1., .1, 0.0, .05, 800) y_pts = poly_shift * np.ones(LAT_MPC_N + 1) heading_pts = np.zeros(LAT_MPC_N + 1) @@ -77,9 +77,9 @@ class TestLateralMpc(unittest.TestCase): def test_switch_convergence(self): lat_mpc = LateralMpc() - sol = run_mpc(lat_mpc=lat_mpc, poly_shift=30.0, v_ref=7.0) + sol = run_mpc(lat_mpc=lat_mpc, poly_shift=3.0, v_ref=7.0) right_psi_deg = np.degrees(sol[:,2]) - sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-30.0, v_ref=7.0) + sol = run_mpc(lat_mpc=lat_mpc, poly_shift=-3.0, v_ref=7.0) left_psi_deg = np.degrees(sol[:,2]) np.testing.assert_almost_equal(right_psi_deg, -left_psi_deg, decimal=3) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a4a24ca603..0d806ae5f1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f636c68e2b4ed88d3731930cf15b6dee984eb6dd +0f0a9aa8fed425468c488a4f8b7581c48d724e67 From 741867813285672a723b8fc53ead65a5cbe5c6dd Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Oct 2022 16:27:46 -0700 Subject: [PATCH 220/685] Use longActive for car-specific override signals (#26030) * add override field to cruiseControl * need to check if long *can* be active * bump cereal to master * revert * better * fix * update refs * rename variable --- cereal | 2 +- selfdrive/car/hyundai/carcontroller.py | 2 +- selfdrive/car/hyundai/hyundaican.py | 6 +++--- selfdrive/controls/controlsd.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 7 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index b29717c4c3..b1003dd012 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit b29717c4c328d5cf34d46f682f25267150f82637 +Subproject commit b1003dd0128a451439d4fe98d098d90e994f81ed diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 6f7cc319e4..4a1f7bcb51 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -133,7 +133,7 @@ class CarController: stopping = actuators.longControlState == LongCtrlState.stopping set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH) can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), - hud_control.leadVisible, set_speed_in_units, stopping, CS.out.gasPressed)) + hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override)) self.accel = accel # 20 Hz LFA MFA message diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 7f3f6a72c5..f4fe8f1126 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -94,7 +94,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0): } return packer.make_can_msg("LFAHDA_MFC", 0, values) -def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, gas_pressed): +def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override): commands = [] scc11_values = { @@ -111,7 +111,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s commands.append(packer.make_can_msg("SCC11", 0, scc11_values)) scc12_values = { - "ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 0, + "ACCMode": 2 if enabled and long_override else 1 if enabled else 0, "StopReq": 1 if stopping else 0, "aReqRaw": accel, "aReqValue": accel, # stock ramps up and down respecting jerk limit until it reaches aReqRaw @@ -127,7 +127,7 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s "ComfortBandLower": 0.0, # stock usually is 0 but sometimes uses higher values "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values - "ACCMode": 2 if enabled and gas_pressed else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage + "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage "ObjGap": 2 if lead_visible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead } commands.append(packer.make_can_msg("SCC14", 0, scc14_values)) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 6ce1156baf..8abb1a02a6 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -705,6 +705,7 @@ class Controls: if len(angular_rate_value) > 2: CC.angularVelocity = angular_rate_value + CC.cruiseControl.override = self.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]: CC.cruiseControl.cancel = True diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0d806ae5f1..db3684fb0b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -0f0a9aa8fed425468c488a4f8b7581c48d724e67 +02c6922762fef41c8188a5a4f1f3267b76651330 \ No newline at end of file From 182c5c48102a8d719402eece658c16f36f3d7046 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 11 Oct 2022 17:41:20 -0700 Subject: [PATCH 221/685] add extra logging for rawgpsd opcode crash --- selfdrive/sensord/rawgps/rawgpsd.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index c68e7aff99..95f8dab1c2 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -179,6 +179,8 @@ def main() -> NoReturn: while 1: opcode, payload = diag.recv() + if opcode != DIAG_LOG_F: + cloudlog.exception(f"Unhandled opcode: {opcode}") assert opcode == DIAG_LOG_F (pending_msgs, log_outer_length), inner_log_packet = unpack_from(' Date: Tue, 11 Oct 2022 18:55:10 -0700 Subject: [PATCH 222/685] GPS test station first unittests (#25950) * init gps test * gps test v1 * add static signal gen script * update readme * remove LD_PRELOAD by using rpath, update values after testing * remove LD_PRELOAD * update fuzzy testing * address comments * cleanup Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/pigeond.py | 99 +++++++++--- tools/gpstest/.gitignore | 2 +- tools/gpstest/README.md | 14 +- tools/gpstest/fuzzy_testing.py | 142 ++++++++++++++++++ tools/gpstest/gpstest.sh | 8 - .../limeGPS/inc_ephem_array_size.patch | 13 ++ tools/gpstest/patches/limeGPS/makefile.patch | 11 ++ .../gpstest/patches/limeSuite/mcu_error.patch | 13 ++ .../patches/limeSuite/reference_print.patch | 13 ++ tools/gpstest/remote_checker.py | 48 ++++++ tools/gpstest/run_static_gps_signal.py | 83 ++++++++++ tools/gpstest/setup.sh | 6 +- tools/gpstest/test_gps.py | 140 +++++++++++++++++ 13 files changed, 547 insertions(+), 45 deletions(-) create mode 100755 tools/gpstest/fuzzy_testing.py delete mode 100755 tools/gpstest/gpstest.sh create mode 100644 tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch create mode 100644 tools/gpstest/patches/limeGPS/makefile.patch create mode 100644 tools/gpstest/patches/limeSuite/mcu_error.patch create mode 100644 tools/gpstest/patches/limeSuite/reference_print.patch create mode 100644 tools/gpstest/remote_checker.py create mode 100755 tools/gpstest/run_static_gps_signal.py create mode 100644 tools/gpstest/test_gps.py diff --git a/selfdrive/sensord/pigeond.py b/selfdrive/sensord/pigeond.py index 5fe120c061..f56af1c705 100755 --- a/selfdrive/sensord/pigeond.py +++ b/selfdrive/sensord/pigeond.py @@ -7,7 +7,7 @@ import struct import requests import urllib.parse from datetime import datetime -from typing import List, Optional +from typing import List, Optional, Tuple from cereal import messaging from common.params import Params @@ -34,7 +34,6 @@ def set_power(enabled: bool) -> None: gpio_set(GPIO.UBLOX_PWR_EN, enabled) gpio_set(GPIO.UBLOX_RST_N, enabled) - def add_ubx_checksum(msg: bytes) -> bytes: A = B = 0 for b in msg[2:]: @@ -115,35 +114,70 @@ class TTYPigeon(): raise TimeoutError('No response from ublox') time.sleep(0.001) + def reset_device(self) -> bool: + # deleting the backup does not always work on first try (mostly on second try) + for _ in range(5): + # device cold start + self.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d") + time.sleep(1) # wait for cold start + init_baudrate(self) + + # clear configuration + self.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x00\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\x5b") + + # clear flash memory (almanac backup) + self.send_with_ack(b"\xB5\x62\x09\x14\x04\x00\x01\x00\x00\x00\x22\xf0") + + # try restoring backup to verify it got deleted + self.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60") + # 1: failed to restore, 2: could restore, 3: no backup + status = self.wait_for_backup_restore_status() + if status == 1 or status == 3: + return True + return False + +def init_baudrate(pigeon: TTYPigeon): + # ublox default setting on startup is 9600 baudrate + pigeon.set_baud(9600) + + # $PUBX,41,1,0007,0003,460800,0*15\r\n + pigeon.send(b"\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A") + time.sleep(0.1) + pigeon.set_baud(460800) + def initialize_pigeon(pigeon: TTYPigeon) -> bool: # try initializing a few times for _ in range(10): try: - pigeon.set_baud(9600) - - # up baud rate - pigeon.send(b"\x24\x50\x55\x42\x58\x2C\x34\x31\x2C\x31\x2C\x30\x30\x30\x37\x2C\x30\x30\x30\x33\x2C\x34\x36\x30\x38\x30\x30\x2C\x30\x2A\x31\x35\x0D\x0A") - time.sleep(0.1) - pigeon.set_baud(460800) - - # other configuration messages - pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F") - pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35") - pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80") - pigeon.send_with_ack(b"\xB5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85") - pigeon.send_with_ack(b"\xB5\x62\x06\x00\x00\x00\x06\x18") - pigeon.send_with_ack(b"\xB5\x62\x06\x00\x01\x00\x01\x08\x22") - pigeon.send_with_ack(b"\xB5\x62\x06\x00\x01\x00\x03\x0A\x24") + + # setup port config + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x03\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x01\x00\x00\x00\x00\x00\x1E\x7F") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x00\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x19\x35") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x01\x00\x00\x00\xC0\x08\x00\x00\x00\x08\x07\x00\x01\x00\x01\x00\x00\x00\x00\x00\xF4\x80") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x14\x00\x04\xFF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x1D\x85") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x00\x00\x06\x18") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x01\x00\x01\x08\x22") + pigeon.send_with_ack(b"\xb5\x62\x06\x00\x01\x00\x03\x0A\x24") + + # UBX-CFG-RATE (0x06 0x08) pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10") + + # UBX-CFG-NAV5 (0x06 0x24) pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") + + # UBX-CFG-ODO (0x06 0x1E) pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37") pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C") pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") + + # UBX-CFG-NAV5 (0x06 0x24) pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84") pigeon.send_with_ack(b"\xB5\x62\x06\x23\x00\x00\x29\x81") pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x00\x00\x24\x72") pigeon.send_with_ack(b"\xB5\x62\x06\x39\x00\x00\x3F\xC3") + + # UBX-CFG-MSG (set message rate) pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x07\x01\x13\x51") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x15\x01\x22\x70") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C") @@ -224,13 +258,11 @@ def deinitialize_and_exit(pigeon: Optional[TTYPigeon]): set_power(False) sys.exit(0) -def main(): - assert TICI, "unsupported hardware for pigeond" +def create_pigeon() -> Tuple[TTYPigeon, messaging.PubMaster]: + pigeon = None # register exit handler - pigeon = None signal.signal(signal.SIGINT, lambda sig, frame: deinitialize_and_exit(pigeon)) - pm = messaging.PubMaster(['ubloxRaw']) # power cycle ublox @@ -240,15 +272,20 @@ def main(): time.sleep(0.5) pigeon = TTYPigeon() - r = initialize_pigeon(pigeon) - Params().put_bool("UbloxAvailable", r) + return pigeon, pm - # start receiving data - while True: +def run_receiving(pigeon: TTYPigeon, pm: messaging.PubMaster, duration: int = 0): + + start_time = time.monotonic() + def end_condition(): + return True if duration == 0 else time.monotonic() - start_time < duration + + while end_condition(): dat = pigeon.receive() if len(dat) > 0: if dat[0] == 0x00: cloudlog.warning("received invalid data from ublox, re-initing!") + init_baudrate(pigeon) initialize_pigeon(pigeon) continue @@ -260,5 +297,17 @@ def main(): # prevent locking up a CPU core if ublox disconnects time.sleep(0.001) + +def main(): + assert TICI, "unsupported hardware for pigeond" + + pigeon, pm = create_pigeon() + init_baudrate(pigeon) + r = initialize_pigeon(pigeon) + Params().put_bool("UbloxAvailable", r) + + # start receiving data + run_receiving(pigeon, pm) + if __name__ == "__main__": main() diff --git a/tools/gpstest/.gitignore b/tools/gpstest/.gitignore index b33aaa403c..f11597286e 100644 --- a/tools/gpstest/.gitignore +++ b/tools/gpstest/.gitignore @@ -1,2 +1,2 @@ LimeGPS/ -LimeSuite/ +LimeSuite/ \ No newline at end of file diff --git a/tools/gpstest/README.md b/tools/gpstest/README.md index 4125bf00af..5aff0ee3d7 100644 --- a/tools/gpstest/README.md +++ b/tools/gpstest/README.md @@ -1,20 +1,18 @@ # GPS test setup +Testing the GPS receiver using GPS spoofing. At the moment only +static location relpay is supported. # Usage ``` -# replaying a static location -./gpstest.sh -e -s - -# replaying a prerecorded route (NMEA cvs file) -./gpstest.sh -e -d +# on host, start gps signal simulation +./run_static_lime.py ``` -If `-e` is not provided the latest ephemeris file will be downloaded from +`run_static_lime.py` downloads the latest ephemeris file from https://cddis.nasa.gov/archive/gnss/data/daily/20xx/brdc/. -(TODO: add auto downloader) -# Hardware Setup +# Hardware Setup * [LimeSDR USB](https://wiki.myriadrf.org/LimeSDR-USB) * Asus AX58BT antenna diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py new file mode 100755 index 0000000000..216e7d0dde --- /dev/null +++ b/tools/gpstest/fuzzy_testing.py @@ -0,0 +1,142 @@ +#!/usr/bin/env python3 +import sys +import time +import random +import datetime as dt +import subprocess as sp +import multiprocessing +import threading +from typing import Tuple, Any + +from laika.downloader import download_nav +from laika.gps_time import GPSTime +from laika.helpers import ConstellationId + +cache_dir = '/tmp/gpstest/' + + +def download_rinex(): + # TODO: check if there is a better way to get the full brdc file for LimeGPS + gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) + utc_time = dt.datetime.utcnow() - dt.timedelta(1) + gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) + return download_nav(gps_time, cache_dir, ConstellationId.GPS) + + +def exec_LimeGPS_bin(rinex_file: str, location: str, duration: int): + # this functions should never return, cause return means, timeout is + # reached or it crashed + try: + cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", location] + sp.check_output(cmd, timeout=duration) + except sp.TimeoutExpired: + print("LimeGPS timeout reached!") + except Exception as e: + print(f"LimeGPS crashed: {str(e)}") + + +def run_lime_gps(rinex_file: str, location: str, duration: int): + print(f"LimeGPS {location} {duration}") + + p = multiprocessing.Process(target=exec_LimeGPS_bin, + args=(rinex_file, location, duration)) + p.start() + return p + + +def get_random_coords(lat, lon) -> Tuple[int, int]: + # jump around the world + # max values, lat: -90 to 90, lon: -180 to 180 + + lat_add = random.random()*20 + 10 + lon_add = random.random()*20 + 20 + + lat = ((lat + lat_add + 90) % 180) - 90 + lon = ((lon + lon_add + 180) % 360) - 180 + return round(lat, 5), round(lon, 5) + +def get_continuous_coords(lat, lon) -> Tuple[int, int]: + # continuously move around the world + + lat_add = random.random()*0.01 + lon_add = random.random()*0.01 + + lat = ((lat + lat_add + 90) % 180) - 90 + lon = ((lon + lon_add + 180) % 360) - 180 + return round(lat, 5), round(lon, 5) + +rc_p: Any = None +def exec_remote_checker(lat, lon, duration): + global rc_p + # TODO: good enough for testing + remote_cmd = "export PYTHONPATH=/data/pythonpath:/data/pythonpath/pyextra && " + remote_cmd += "cd /data/openpilot && " + remote_cmd += f"timeout {duration} /usr/local/pyenv/shims/python tools/gpstest/remote_checker.py " + remote_cmd += f"{lat} {lon}" + + ssh_cmd = ['ssh', '-i', '/home/batman/openpilot/xx/phone/key/id_rsa', + 'comma@192.168.60.130'] + ssh_cmd += [remote_cmd] + + rc_p = sp.Popen(ssh_cmd, stdout=sp.PIPE) + rc_p.wait() + rc_output = rc_p.stdout.read() + print(f"Checker Result: {rc_output.strip().decode('utf-8')}") + + +def run_remote_checker(spoof_proc, lat, lon, duration) -> bool: + checker_thread = threading.Thread(target=exec_remote_checker, args=(lat, lon, duration)) + checker_thread.start() + + tcnt = 0 + while True: + if not checker_thread.is_alive(): + # assume this only happens when the signal got matched + return True + + # the spoofing process has a timeout, kill checker if reached + if not spoof_proc.is_alive(): + rc_p.kill() + # spoofing process died, assume timeout + print("Spoofing process timeout") + return False + + print(f"Time elapsed: {tcnt}[s]", end = "\r") + time.sleep(1) + tcnt += 1 + + +def main(): + continuous_mode = False + if len(sys.argv) == 2 and sys.argv[1] == '-c': + print("Continuous Mode!") + continuous_mode = True + + rinex_file = download_rinex() + + duration = 60*3 # max runtime in seconds + lat, lon = get_random_coords(47.2020, 15.7403) + + while True: + # spoof random location + spoof_proc = run_lime_gps(rinex_file, f"{lat},{lon},100", duration) + start_time = time.monotonic() + + # remote checker runs blocking + if not run_remote_checker(spoof_proc, lat, lon, duration): + # location could not be matched by ublox module + pass + + end_time = time.monotonic() + spoof_proc.terminate() + + # -1 to count process startup + print(f"Time to get Signal: {round(end_time - start_time - 1, 4)}") + + if continuous_mode: + lat, lon = get_continuous_coords(lat, lon) + else: + lat, lon = get_random_coords(lat, lon) + +if __name__ == "__main__": + main() diff --git a/tools/gpstest/gpstest.sh b/tools/gpstest/gpstest.sh deleted file mode 100755 index dfb71fe563..0000000000 --- a/tools/gpstest/gpstest.sh +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash - -LimeGPS_BIN=LimeGPS/LimeGPS -if test -f "$LimeGPS_BIN"; then - LD_PRELOAD=LimeSuite/builddir/src/libLimeSuite.so $LimeGPS_BIN $@ -else - echo "LimeGPS binary not found, run 'setup.sh' first" -fi diff --git a/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch b/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch new file mode 100644 index 0000000000..9a3525d346 --- /dev/null +++ b/tools/gpstest/patches/limeGPS/inc_ephem_array_size.patch @@ -0,0 +1,13 @@ +diff --git a/gpssim.h b/gpssim.h +index c30b227..2ae0802 100644 +--- a/gpssim.h ++++ b/gpssim.h +@@ -75,7 +75,7 @@ + #define SC08 (8) + #define SC16 (16) + +-#define EPHEM_ARRAY_SIZE (13) // for daily GPS broadcast ephemers file (brdc) ++#define EPHEM_ARRAY_SIZE (20) // for daily GPS broadcast ephemers file (brdc) + + /*! \brief Structure representing GPS time */ + typedef struct diff --git a/tools/gpstest/patches/limeGPS/makefile.patch b/tools/gpstest/patches/limeGPS/makefile.patch new file mode 100644 index 0000000000..f99ce551db --- /dev/null +++ b/tools/gpstest/patches/limeGPS/makefile.patch @@ -0,0 +1,11 @@ +diff --git a/makefile b/makefile +index 51bfabf..d0ea1eb 100644 +--- a/makefile ++++ b/makefile +@@ -1,5 +1,4 @@ + CC=gcc -O2 -Wall + + all: limegps.c gpssim.c +- $(CC) -o LimeGPS limegps.c gpssim.c -lm -lpthread -lLimeSuite +- ++ $(CC) -o LimeGPS limegps.c gpssim.c -lm -lpthread -lLimeSuite -I../LimeSuite/src -L../LimeSuite/builddir/src -Wl,-rpath="$(PWD)/../LimeSuite/builddir/src" diff --git a/tools/gpstest/patches/limeSuite/mcu_error.patch b/tools/gpstest/patches/limeSuite/mcu_error.patch new file mode 100644 index 0000000000..91790a4a2b --- /dev/null +++ b/tools/gpstest/patches/limeSuite/mcu_error.patch @@ -0,0 +1,13 @@ +diff --git a/src/lms7002m/LMS7002M_RxTxCalibrations.cpp b/src/lms7002m/LMS7002M_RxTxCalibrations.cpp +index 41a37044..ac29c6b6 100644 +--- a/src/lms7002m/LMS7002M_RxTxCalibrations.cpp ++++ b/src/lms7002m/LMS7002M_RxTxCalibrations.cpp +@@ -254,7 +254,7 @@ int LMS7002M::CalibrateTx(float_type bandwidth_Hz, bool useExtLoopback) + mcuControl->RunProcedure(useExtLoopback ? MCU_FUNCTION_CALIBRATE_TX_EXTLOOPB : MCU_FUNCTION_CALIBRATE_TX); + status = mcuControl->WaitForMCU(1000); + if(status != MCU_BD::MCU_NO_ERROR) +- return ReportError(EINVAL, "Tx Calibration: MCU error %i (%s)", status, MCU_BD::MCUStatusMessage(status)); ++ return -1; //ReportError(EINVAL, "Tx Calibration: MCU error %i (%s)", status, MCU_BD::MCUStatusMessage(status)); + } + + //sync registers to cache diff --git a/tools/gpstest/patches/limeSuite/reference_print.patch b/tools/gpstest/patches/limeSuite/reference_print.patch new file mode 100644 index 0000000000..5bd7cdf1ed --- /dev/null +++ b/tools/gpstest/patches/limeSuite/reference_print.patch @@ -0,0 +1,13 @@ +diff --git a/src/FPGA_common/FPGA_common.cpp b/src/FPGA_common/FPGA_common.cpp +index 4e81f33e..7381c475 100644 +--- a/src/FPGA_common/FPGA_common.cpp ++++ b/src/FPGA_common/FPGA_common.cpp +@@ -946,7 +946,7 @@ double FPGA::DetectRefClk(double fx3Clk) + + if (i == 0) + return -1; +- lime::info("Reference clock %1.2f MHz", clkTbl[i - 1] / 1e6); ++ //lime::info("Reference clock %1.2f MHz", clkTbl[i - 1] / 1e6); + return clkTbl[i - 1]; + } + diff --git a/tools/gpstest/remote_checker.py b/tools/gpstest/remote_checker.py new file mode 100644 index 0000000000..84f6c0c3d9 --- /dev/null +++ b/tools/gpstest/remote_checker.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 +import sys +import time +from typing import List + +import cereal.messaging as messaging +from selfdrive.manager.process_config import managed_processes + +DELTA = 0.001 +# assume running openpilot for now +procs: List[str] = []#"ubloxd", "pigeond"] + + +def main(): + if len(sys.argv) < 3: + print("args: ") + return + + sol_lat = float(sys.argv[1]) + sol_lon = float(sys.argv[2]) + + for p in procs: + managed_processes[p].start() + time.sleep(0.5) # give time to startup + + gps_sock = messaging.sub_sock('gpsLocationExternal', timeout=0.1) + + # analyze until the location changed + while True: + events = messaging.drain_sock(gps_sock) + for e in events: + lat = e.gpsLocationExternal.latitude + lon = e.gpsLocationExternal.longitude + + if abs(lat - sol_lat) < DELTA and abs(lon - sol_lon) < DELTA: + print("MATCH") + return + + for p in procs: + if not managed_processes[p].proc.is_alive(): + print(f"ERROR: '{p}' died") + return + + +if __name__ == "__main__": + main() + for p in procs: + managed_processes[p].stop() diff --git a/tools/gpstest/run_static_gps_signal.py b/tools/gpstest/run_static_gps_signal.py new file mode 100755 index 0000000000..3787038f13 --- /dev/null +++ b/tools/gpstest/run_static_gps_signal.py @@ -0,0 +1,83 @@ +#!/usr/bin/env python3 +import os +import sys +import random +import datetime as dt +import subprocess as sp +from typing import Tuple + +from laika.downloader import download_nav +from laika.gps_time import GPSTime +from laika.helpers import ConstellationId + +cache_dir = '/tmp/gpstest/' + + +def download_rinex(): + # TODO: check if there is a better way to get the full brdc file for LimeGPS + gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) + utc_time = dt.datetime.utcnow() - dt.timedelta(1) + gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) + return download_nav(gps_time, cache_dir, ConstellationId.GPS) + + +def get_random_coords(lat, lon) -> Tuple[int, int]: + # jump around the world + # max values, lat: -90 to 90, lon: -180 to 180 + + lat_add = random.random()*20 + 10 + lon_add = random.random()*20 + 20 + + lat = ((lat + lat_add + 90) % 180) - 90 + lon = ((lon + lon_add + 180) % 360) - 180 + return round(lat, 5), round(lon, 5) + + +def check_availability() -> bool: + cmd = ["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"] + output = sp.check_output(cmd) + + if output.strip() == b"": + return False + + print(f"Device: {output.strip().decode('utf-8')}") + return True + + +def main(): + if not os.path.exists('LimeGPS'): + print("LimeGPS not found run 'setup.sh' first") + return + + if not os.path.exists('LimeSuite'): + print("LimeSuite not found run 'setup.sh' first") + return + + if not check_availability(): + print("No limeSDR device found!") + return + + rinex_file = download_rinex() + lat, lon = get_random_coords(47.2020, 15.7403) + + if len(sys.argv) == 3: + lat = float(sys.argv[1]) + lon = float(sys.argv[2]) + + try: + print(f"starting LimeGPS, Location: {lat},{lon}") + cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},100"] + sp.check_output(cmd, stderr=sp.PIPE) + except KeyboardInterrupt: + print("stopping LimeGPS") + except Exception as e: + out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member + if "Device is busy." in out_stderr: + print("GPS simulation is already running, Device is busy!") + return + + print(f"LimeGPS crashed: {str(e)}") + print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member + +if __name__ == "__main__": + main() diff --git a/tools/gpstest/setup.sh b/tools/gpstest/setup.sh index c893f6aba8..ddf41dd260 100755 --- a/tools/gpstest/setup.sh +++ b/tools/gpstest/setup.sh @@ -9,8 +9,9 @@ if [ ! -d LimeSuite ]; then cd LimeSuite # checkout latest version which has firmware updates available git checkout v20.10.0 + git apply ../patches/limeSuite/* mkdir builddir && cd builddir - cmake .. + cmake -DCMAKE_BUILD_TYPE=Release .. make -j4 cd ../.. fi @@ -18,8 +19,7 @@ fi if [ ! -d LimeGPS ]; then git clone https://github.com/osqzss/LimeGPS.git cd LimeGPS - sed -i 's/LimeSuite/LimeSuite -I..\/LimeSuite\/src -L..\/LimeSuite\/builddir\/src/' makefile + git apply ../patches/limeGPS/* make cd .. fi - diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py new file mode 100644 index 0000000000..f5e19372f7 --- /dev/null +++ b/tools/gpstest/test_gps.py @@ -0,0 +1,140 @@ +#!/usr/bin/env python3 +import time +import unittest +import struct +import numpy as np + +import cereal.messaging as messaging +import selfdrive.sensord.pigeond as pd +from system.hardware import TICI +from selfdrive.test.helpers import with_processes + + +def read_events(service, duration_sec): + service_sock = messaging.sub_sock(service, timeout=0.1) + start_time_sec = time.monotonic() + events = [] + while time.monotonic() - start_time_sec < duration_sec: + events += messaging.drain_sock(service_sock) + time.sleep(0.1) + + assert len(events) != 0, f"No '{service}'events collected!" + return events + + +def verify_ubloxgnss_data(socket: messaging.SubSocket): + start_time = 0 + end_time = 0 + events = messaging.drain_sock(socket) + assert len(events) != 0, "no ublxGnss measurements" + + for event in events: + if event.ubloxGnss.which() != "measurementReport": + continue + + if start_time == 0: + start_time = event.logMonoTime + + if event.ubloxGnss.measurementReport.numMeas != 0: + end_time = event.logMonoTime + break + + assert end_time != 0, "no ublox measurements received!" + + ttfm = (end_time - start_time)/1e9 + assert ttfm < 35, f"Time to first measurement > 35s, {ttfm}" + + # check for satellite count in measurements + sat_count = [] + end_id = events.index(event)# pylint:disable=undefined-loop-variable + for event in events[end_id:]: + if event.ubloxGnss.which() == "measurementReport": + sat_count.append(event.ubloxGnss.measurementReport.numMeas) + + num_sat = int(sum(sat_count)/len(sat_count)) + assert num_sat > 8, f"Not enough satellites {num_sat} (TestBox setup!)" + + +def verify_gps_location(socket: messaging.SubSocket): + buf_lon = [0]*10 + buf_lat = [0]*10 + buf_i = 0 + events = messaging.drain_sock(socket) + assert len(events) != 0, "no gpsLocationExternal measurements" + + start_time = events[0].logMonoTime + end_time = 0 + for event in events: + buf_lon[buf_i % 10] = event.gpsLocationExternal.longitude + buf_lat[buf_i % 10] = event.gpsLocationExternal.latitude + buf_i += 1 + + if buf_i < 9: + continue + + if any([lat == 0 or lon == 0 for lat,lon in zip(buf_lat, buf_lon)]): + continue + + if np.std(buf_lon) < 1e-5 and np.std(buf_lat) < 1e-5: + end_time = event.logMonoTime + break + + assert end_time != 0, "GPS location never converged!" + + ttfl = (end_time - start_time)/1e9 + assert ttfl < 40, f"Time to first location > 40s, {ttfl}" + + hacc = events[-1].gpsLocationExternal.accuracy + vacc = events[-1].gpsLocationExternal.verticalAccuracy + assert hacc < 15, f"Horizontal accuracy too high, {hacc}" + assert vacc < 43, f"Vertical accuracy too high, {vacc}" + + +def verify_time_to_first_fix(pigeon): + # get time to first fix from nav status message + nav_status = b"" + while True: + pigeon.send(b"\xb5\x62\x01\x03\x00\x00\x04\x0d") + nav_status = pigeon.receive() + if nav_status[:4] == b"\xb5\x62\x01\x03": + break + + values = struct.unpack(" 40s, {ttff}" + + +class TestGPS(unittest.TestCase): + @classmethod + def setUpClass(cls): + if not TICI: + raise unittest.SkipTest + + def tearDown(self): + pd.set_power(False) + + @with_processes(['ubloxd']) + def test_ublox_reset(self): + + pigeon, pm = pd.create_pigeon() + pd.init_baudrate(pigeon) + assert pigeon.reset_device(), "Could not reset device!" + + pd.initialize_pigeon(pigeon) + + ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) + gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) + + # receive some messages (restart after cold start takes up to 30seconds) + pd.run_receiving(pigeon, pm, 40) + + verify_ubloxgnss_data(ugs) + verify_gps_location(gle) + + # skip for now, this might hang for a while + #verify_time_to_first_fix(pigeon) + + +if __name__ == "__main__": + unittest.main() \ No newline at end of file From f74fefaffad87471ba1d7fa351d7fd37b9505d4a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Oct 2022 18:59:16 -0700 Subject: [PATCH 223/685] =?UTF-8?q?Hyundai:=20remove=2090=C2=B0=20steering?= =?UTF-8?q?=20lockout=20(#24108)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * avoid 90 degree fault * use 50 frames * no panda mods * clean up * absolutely no faults. zero. zilch. nada * fix initial value and comments * try glitching at double rate instead of two in a row * bump panda * cut for two frames * clean up * bump panda * clean up * not today! * bump panda to master * prefix and simple lat_active * prefix --- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 28 ++++++++++++++++++++++---- selfdrive/car/hyundai/hyundaican.py | 3 ++- 3 files changed, 27 insertions(+), 6 deletions(-) diff --git a/panda b/panda index 1303af2db2..d68b1b0a98 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 1303af2db29a72eee180b10c6097fa5b19c29207 +Subproject commit d68b1b0a98d5cefad438180e3c2ffcdcbcffdd76 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 4a1f7bcb51..2b0d6b9648 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -10,6 +10,12 @@ from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerPar VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState +# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second +# All slightly below EPS thresholds to avoid fault +MAX_ANGLE = 85 +MAX_ANGLE_FRAMES = 89 +MAX_ANGLE_CONSECUTIVE_FRAMES = 2 + def process_hud_alert(enabled, fingerprint, hud_control): sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)) @@ -40,6 +46,7 @@ class CarController: self.CP = CP self.params = CarControllerParams(CP) self.packer = CANPacker(dbc_name) + self.angle_limit_counter = 0 self.frame = 0 self.apply_steer_last = 0 @@ -107,10 +114,23 @@ class CarController: if self.frame % 100 == 0: can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0]) - can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive, - CS.lkas11, sys_warning, sys_state, CC.enabled, - hud_control.leftLaneVisible, hud_control.rightLaneVisible, - left_lane_warning, right_lane_warning)) + # 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: + self.angle_limit_counter += 1 + else: + self.angle_limit_counter = 0 + + # Cut steer actuation bit for two frames and hold torque with induced temporary fault + torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES + lat_active = CC.latActive and not torque_fault + + if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES: + self.angle_limit_counter = 0 + + can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, + torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + left_lane_warning, right_lane_warning)) if not self.CP.openpilotLongitudinalControl: if CC.cruiseControl.cancel: diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index f4fe8f1126..dcb8430976 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -4,7 +4,7 @@ from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf) def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, - lkas11, sys_warning, sys_state, enabled, + torque_fault, lkas11, sys_warning, sys_state, enabled, left_lane, right_lane, left_lane_depart, right_lane_depart): values = lkas11 @@ -14,6 +14,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_LdwsRHWarning"] = right_lane_depart values["CR_Lkas_StrToqReq"] = apply_steer values["CF_Lkas_ActToi"] = steer_req + values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq values["CF_Lkas_MsgCount"] = frame % 0x10 if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, From 6dbfb8e49bde77a5ebddab2c8e084dfb596efd92 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 11 Oct 2022 21:27:09 -0700 Subject: [PATCH 224/685] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index b1003dd012..3eca747334 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit b1003dd0128a451439d4fe98d098d90e994f81ed +Subproject commit 3eca747334ca2138bf35d70399d58d0706a3cbd2 From 0f94d81b7adffa9da5c4632fb5979b27695bbb53 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Oct 2022 22:33:37 -0700 Subject: [PATCH 225/685] GM camera ACC: reduce LKAS faults on startup (#26039) * GM camera ACC: no faults on start up 2.0 And by 2.0 I mean we don't need to wait for blocked msg support to be merged first to merge this without regressing accidental single blocked msg count handling. * Send the camera counter + 1 * Keep updating the first counter until we get a message on the bus * Only update right before sending so sent_lka_steering_cmd is updated first * Update ref_commit --- selfdrive/car/gm/carcontroller.py | 17 ++++++++++------- selfdrive/car/gm/carstate.py | 19 +++++++++++++++---- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 26 insertions(+), 12 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 977d20c5b3..7c883dacc0 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -21,7 +21,8 @@ class CarController: self.frame = 0 self.last_button_frame = 0 - self.lka_steering_cmd_counter_last = -1 + self.lka_steering_cmd_counter = 0 + self.sent_lka_steering_cmd = False self.lka_icon_status_last = (False, False) self.params = CarControllerParams() @@ -44,9 +45,14 @@ class CarController: # Steering (50Hz) # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the # next Panda loopback confirmation in the current CS frame. - if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last: - self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter + if CS.loopback_lka_steering_cmd_updated: + self.lka_steering_cmd_counter += 1 + self.sent_lka_steering_cmd = True elif (self.frame % self.params.STEER_STEP) == 0: + # Initialize ASCMLKASteeringCmd counter using the camera + if not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera: + self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1 + if CC.latActive: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) @@ -54,10 +60,7 @@ class CarController: apply_steer = 0 self.apply_steer_last = apply_steer - # GM EPS faults on any gap in received message counters. To handle transient OP/Panda safety sync issues at the - # moment of disengaging, increment the counter based on the last message known to pass Panda safety checks. - idx = (CS.lka_steering_cmd_counter + 1) % 4 - + idx = self.lka_steering_cmd_counter % 4 can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive)) if self.CP.openpilotLongitudinalControl: diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index f96a234dbd..6d1e2b9d44 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -15,7 +15,8 @@ class CarState(CarStateBase): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"] - self.lka_steering_cmd_counter = 0 + self.loopback_lka_steering_cmd_updated = False + self.camera_lka_steering_cmd_counter = 0 self.buttons_counter = 0 def update(self, pt_cp, cam_cp, loopback_cp): @@ -25,6 +26,11 @@ class CarState(CarStateBase): self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"] self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] + # Variables used for avoiding LKAS faults + self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]) > 0 + if self.CP.networkLocation == NetworkLocation.fwdCamera: + self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] + ret.wheelSpeeds = self.get_wheel_speeds( pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"], pt_cp.vl["EBCMWheelSpdFront"]["FRWheelSpd"], @@ -59,7 +65,6 @@ class CarState(CarStateBase): ret.steeringTorque = pt_cp.vl["PSCMStatus"]["LKADriverAppldTrq"] ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]["LKATorqueDelivered"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD - self.lka_steering_cmd_counter = loopback_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] # 0 inactive, 1 active, 2 temporarily limited, 3 failed self.lkas_status = pt_cp.vl["PSCMStatus"]["LKATorqueDeliveredStatus"] @@ -94,8 +99,14 @@ class CarState(CarStateBase): signals = [] checks = [] if CP.networkLocation == NetworkLocation.fwdCamera: - signals.append(("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus")) - checks.append(("ASCMActiveCruiseControlStatus", 25)) + signals += [ + ("RollingCounter", "ASCMLKASteeringCmd"), + ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"), + ] + checks += [ + ("ASCMLKASteeringCmd", 10), + ("ASCMActiveCruiseControlStatus", 25), + ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index db3684fb0b..6b64fcb5aa 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -02c6922762fef41c8188a5a4f1f3267b76651330 \ No newline at end of file +5fa6a3743f2678eef13267fb946d7a03f2af5824 From 5ad89425a7b4a888ae43228af92b8839f79ec9ec Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 11 Oct 2022 22:55:21 -0700 Subject: [PATCH 226/685] GM camera ACC: log stock aeb/fcw (#26017) * GM camera ACC: log aeb/fcw * order * fix stockAeb --- selfdrive/car/gm/carstate.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 6d1e2b9d44..11c521e863 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -92,6 +92,9 @@ 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 + ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0 + return ret @staticmethod @@ -100,10 +103,13 @@ class CarState(CarStateBase): checks = [] if CP.networkLocation == NetworkLocation.fwdCamera: signals += [ + ("AEBCmdActive", "AEBCmd"), ("RollingCounter", "ASCMLKASteeringCmd"), + ("FCWAlert", "ASCMActiveCruiseControlStatus"), ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"), ] checks += [ + ("AEBCmd", 10), ("ASCMLKASteeringCmd", 10), ("ASCMActiveCruiseControlStatus", 25), ] From 967f0cc9f8afb17c049d893bedc7bd696404082b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 12 Oct 2022 13:05:09 -0700 Subject: [PATCH 227/685] bump opendbc --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index c35e8139bf..04cc54d5e6 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit c35e8139bf9e9d87b9efb6764ab7e65983e8d33e +Subproject commit 04cc54d5e662aaf708f72cabb65507c7dbb5136d From aa3dc7acbe889b62576a2d1eb9c6b076b1cfa6cb Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Wed, 12 Oct 2022 13:31:08 -0700 Subject: [PATCH 228/685] RAV4 2022: Add missing engine FW (#26044) From 23e0360acaefab4d --- 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 137db5612b..819b85d759 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1363,6 +1363,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x700, None): [ b'\x01896634AA0000\x00\x00\x00\x00', + b'\x01896634AA0100\x00\x00\x00\x00', b'\x01896634AA1000\x00\x00\x00\x00', b'\x01896634A88000\x00\x00\x00\x00', b'\x01896634A89000\x00\x00\x00\x00', From 03a065160e176be451cce95073b71bbfce5b4d6a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 12 Oct 2022 13:51:09 -0700 Subject: [PATCH 229/685] ci: only run one instance of each workflow (#26036) only allow one running workflow per event for each branch --- .github/workflows/selfdrive_tests.yaml | 5 +++++ .github/workflows/tools_tests.yaml | 5 +++++ 2 files changed, 10 insertions(+) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index d4971a4339..9c38ba0cbc 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -1,10 +1,15 @@ name: selfdrive + on: push: branches-ignore: - 'testing-closet*' pull_request: +concurrency: + group: ${{ github.workflow }}-${{ github.ref }}-${{ github.event_name }} + cancel-in-progress: true + env: BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 173e208384..c5afaad16c 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -1,8 +1,13 @@ name: tools + on: push: pull_request: +concurrency: + group: ${{ github.workflow }}-${{ github.ref }}-${{ github.event_name }} + cancel-in-progress: true + env: BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl From 0fa1588f6c0bf9c9f1bebde91e02699506389ecd Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 13 Oct 2022 04:55:17 +0800 Subject: [PATCH 230/685] Cabana: stable initial release (#26004) * increase form size & fix wrong charts number * set max axisy to 1.0 if no value * show 'close' button in floating window * alwasy show scroll bar * complete the logs * more * increase size to 50 * keep logs for all messages * more * rename signal * better height * avoid flicker * dont call setupdatesenabled * filter dbc files bye typing * remove all charts if dbc file changed * fix wrong idx * bolder dbc filename * update chart if signal has been edited * new signals signalAdded,signalUpdated * split class Parser into CanMessages and DBCManager * cleanup * updateState after set message * cleanup * emit msgUpdated * clear history log if selected range changed * always update time * change title layout * show selected range hide title bar if no charts less space between title and chart * custome historylogmodel for extreme fast update * move historylog to seperate file * 2 decimal * cleanup cleanup * left click on the chart to set start time * todo * show tooltip for header item&cleanup binaryview add hline to signal form * better paint * cleanup signals/slots * better range if min==max * set historylog's minheight to 300 * 3x faster,sortable message list. * zero copy in queued connection * proxymodel * clear log if loop to the begin * simplify history log * remove icon * remove assets * hide linemarker on initialization * rubber width may less than 0 * dont zoom char if selected range is too small * cleanup messageslist * don't zoom chart if selected range less than 500ms * typo * check boundary * check msg_id * capital first letter * move history log out of scrollarea * Show only one form at a time * auto scroll to header d * reduce msg size entire row clickable rename filter_msgs --- tools/cabana/SConscript | 9 +- tools/cabana/cabana.cc | 6 +- tools/cabana/canmessages.cc | 123 ++++++++++++++++ tools/cabana/canmessages.h | 84 +++++++++++ tools/cabana/chartswidget.cc | 174 ++++++++++++++--------- tools/cabana/chartswidget.h | 25 +++- tools/cabana/dbcmanager.cc | 117 ++++++++++++++++ tools/cabana/dbcmanager.h | 51 +++++++ tools/cabana/detailwidget.cc | 224 ++++++++++++++---------------- tools/cabana/detailwidget.h | 53 ++++--- tools/cabana/historylog.cc | 91 ++++++++++++ tools/cabana/historylog.h | 37 +++++ tools/cabana/mainwin.cc | 7 +- tools/cabana/mainwin.h | 1 - tools/cabana/messageswidget.cc | 132 ++++++++++++------ tools/cabana/messageswidget.h | 38 +++-- tools/cabana/parser.cc | 181 ------------------------ tools/cabana/parser.h | 95 ------------- tools/cabana/signaledit.cc | 69 ++++----- tools/cabana/signaledit.h | 20 ++- tools/cabana/videowidget.cc | 115 ++++++--------- tools/cabana/videowidget.h | 16 +-- tools/replay/main.cc | 2 - tools/replay/replay.h | 2 + tools/replay/tests/test_replay.cc | 1 - 25 files changed, 999 insertions(+), 674 deletions(-) create mode 100644 tools/cabana/canmessages.cc create mode 100644 tools/cabana/canmessages.h create mode 100644 tools/cabana/dbcmanager.cc create mode 100644 tools/cabana/dbcmanager.h create mode 100644 tools/cabana/historylog.cc create mode 100644 tools/cabana/historylog.h delete mode 100644 tools/cabana/parser.cc delete mode 100644 tools/cabana/parser.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index c87e2cdd94..b94741ea9c 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,5 +1,4 @@ -import os -Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', +Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'transformations', 'widgets', 'opendbc') base_frameworks = qt_env['FRAMEWORKS'] @@ -13,8 +12,6 @@ else: qt_libs = ['qt_util', 'Qt5Charts'] + base_libs if arch in ['x86_64', 'Darwin'] and GetOption('extras'): - qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] - - Import('replay_lib') cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs - qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'videowidget.cc', 'signaledit.cc', 'parser.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', + 'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 20cd889023..88b175663f 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -1,14 +1,14 @@ #include #include +#include #include "selfdrive/ui/qt/util.h" #include "tools/cabana/mainwin.h" -const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; - int main(int argc, char *argv[]) { initApp(argc, argv); QApplication app(argc, argv); + app.setStyle(QStyleFactory::create("Fusion")); QCommandLineParser cmd_parser; cmd_parser.addHelpOption(); @@ -22,7 +22,7 @@ int main(int argc, char *argv[]) { } const QString route = args.empty() ? DEMO_ROUTE : args.first(); - Parser p(&app); + CANMessages p(&app); if (!p.loadRoute(route, cmd_parser.value("data_dir"), true)) { return 0; } diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc new file mode 100644 index 0000000000..a55a045981 --- /dev/null +++ b/tools/cabana/canmessages.cc @@ -0,0 +1,123 @@ +#include "tools/cabana/canmessages.h" + +#include + +Q_DECLARE_METATYPE(std::vector); + +CANMessages *can = nullptr; + +CANMessages::CANMessages(QObject *parent) : QObject(parent) { + can = this; + + qRegisterMetaType>(); + QObject::connect(this, &CANMessages::received, this, &CANMessages::process, Qt::QueuedConnection); +} + +CANMessages::~CANMessages() { + replay->stop(); +} + +static bool event_filter(const Event *e, void *opaque) { + CANMessages *c = (CANMessages *)opaque; + return c->eventFilter(e); +} + +bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { + replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); + replay->installEventFilter(event_filter, this); + QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged); + if (replay->load()) { + replay->start(); + return true; + } + return false; +} + +void CANMessages::process(QHash> *messages) { + for (auto it = messages->begin(); it != messages->end(); ++it) { + ++counters[it.key()]; + auto &msgs = can_msgs[it.key()]; + const auto &new_msgs = it.value(); + if (msgs.size() == CAN_MSG_LOG_SIZE || can_msgs[it.key()].size() == 0) { + msgs = std::move(new_msgs); + } else { + msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end())); + while (msgs.size() >= CAN_MSG_LOG_SIZE) { + msgs.pop_back(); + } + } + } + delete messages; + + if (current_sec < begin_sec || current_sec > end_sec) { + // loop replay in selected range. + seekTo(begin_sec); + } else { + emit updated(); + } +} + +bool CANMessages::eventFilter(const Event *event) { + static double prev_update_sec = 0; + // drop packets when the GUI thread is calling seekTo. to make sure the current_sec is accurate. + if (!seeking && event->which == cereal::Event::Which::CAN) { + if (!received_msgs) { + received_msgs.reset(new QHash>); + received_msgs->reserve(1000); + } + + current_sec = (event->mono_time - replay->routeStartTime()) / (double)1e9; + auto can_events = event->event.getCan(); + for (const auto &c : can_events) { + QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16); + auto &list = (*received_msgs)[id]; + while (list.size() >= CAN_MSG_LOG_SIZE) { + list.pop_back(); + } + CanData &data = list.emplace_front(); + data.ts = current_sec; + data.bus_time = c.getBusTime(); + data.dat.append((char *)c.getDat().begin(), c.getDat().size()); + } + + if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / FPS) { + prev_update_sec = current_sec; + // use pointer to avoid data copy in queued connection. + emit received(received_msgs.release()); + } + } + return true; +} + +void CANMessages::seekTo(double ts) { + seeking = true; + replay->seekTo(ts, false); + seeking = false; +} + +void CANMessages::setRange(double min, double max) { + if (begin_sec != min || end_sec != max) { + begin_sec = min; + end_sec = max; + is_zoomed = begin_sec != event_begin_sec || end_sec != event_end_sec; + emit rangeChanged(min, max); + } +} + +void CANMessages::segmentsMerged() { + auto events = replay->events(); + if (!events || events->empty()) return; + + auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; }); + event_begin_sec = it == events->end() ? 0 : ((*it)->mono_time - replay->routeStartTime()) / (double)1e9; + event_end_sec = double(events->back()->mono_time - replay->routeStartTime()) / 1e9; + if (!is_zoomed) { + begin_sec = event_begin_sec; + end_sec = event_end_sec; + } + emit eventsMerged(); +} + +void CANMessages::resetRange() { + setRange(event_begin_sec, event_end_sec); +} diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h new file mode 100644 index 0000000000..a2af2a084c --- /dev/null +++ b/tools/cabana/canmessages.h @@ -0,0 +1,84 @@ +#pragma once + +#include +#include +#include + +#include + +#include "tools/replay/replay.h" + +const int FPS = 10; +const int CAN_MSG_LOG_SIZE = 100; + +struct CanData { + double ts; + uint16_t bus_time; + QByteArray dat; +}; + +class CANMessages : public QObject { + Q_OBJECT + +public: + CANMessages(QObject *parent); + ~CANMessages(); + bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam); + void seekTo(double ts); + void resetRange(); + void setRange(double min, double max); + bool eventFilter(const Event *event); + + inline std::pair range() const { return {begin_sec, end_sec}; } + inline double totalSeconds() const { return replay->totalSeconds(); } + inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } + inline double currentSec() const { return current_sec; } + inline bool isZoomed() const { return is_zoomed; } + inline const std::deque &messages(const QString &id) { return can_msgs[id]; } + inline const CanData &lastMessage(const QString &id) { return can_msgs[id].front(); } + + inline const std::vector *events() const { return replay->events(); } + inline void setSpeed(float speed) { replay->setSpeed(speed); } + inline bool isPaused() const { return replay->isPaused(); } + inline void pause(bool pause) { replay->pause(pause); } + inline const std::vector> getTimeline() { return replay->getTimeline(); } + +signals: + void eventsMerged(); + void rangeChanged(double min, double max); + void updated(); + void received(QHash> *); + +public: + QMap> can_msgs; + std::unique_ptr>> received_msgs = nullptr; + QHash counters; + +protected: + void process(QHash> *); + void segmentsMerged(); + + std::atomic current_sec = 0.; + std::atomic seeking = false; + double begin_sec = 0; + double end_sec = 0; + double event_begin_sec = 0; + double event_end_sec = 0; + bool is_zoomed = false; + Replay *replay = nullptr; +}; + +inline QString toHex(const QByteArray &dat) { + return dat.toHex(' ').toUpper(); +} +inline char toHex(uint value) { + return "0123456789ABCDEF"[value & 0xF]; +} + +inline const QString &getColor(int i) { + static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; + return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; +} + +// A global pointer referring to the unique CANMessages object +extern CANMessages *can; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 5caa8d5a43..e8a27ae18c 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -7,25 +7,6 @@ #include #include -int64_t get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { - int64_t ret = 0; - - int i = sig.msb / 8; - int bits = sig.size; - while (i >= 0 && i < data_size && bits > 0) { - int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; - int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; - int size = msb - lsb + 1; - - uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); - ret |= d << (bits - size); - - bits -= size; - i = sig.is_little_endian ? i - 1 : i + 1; - } - return ret; -} - // ChartsWidget ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { @@ -35,18 +16,22 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { // title bar title_bar = new QWidget(this); QHBoxLayout *title_layout = new QHBoxLayout(title_bar); + title_layout->setContentsMargins(0, 0, 0, 0); title_label = new QLabel(tr("Charts")); title_layout->addWidget(title_label); title_layout->addStretch(); + range_label = new QLabel(); + title_layout->addWidget(range_label); + reset_zoom_btn = new QPushButton("⟲", this); reset_zoom_btn->setVisible(false); reset_zoom_btn->setFixedSize(30, 30); reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)")); title_layout->addWidget(reset_zoom_btn); - remove_all_btn = new QPushButton(tr("✖")); + remove_all_btn = new QPushButton("✖", this); remove_all_btn->setVisible(false); remove_all_btn->setToolTip(tr("Remove all charts")); remove_all_btn->setFixedSize(30, 30); @@ -54,7 +39,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { dock_btn = new QPushButton(); dock_btn->setFixedSize(30, 30); - updateDockButton(); title_layout->addWidget(dock_btn); main_layout->addWidget(title_bar, 0, Qt::AlignTop); @@ -74,53 +58,80 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(charts_scroll); - QObject::connect(parser, &Parser::showPlot, this, &ChartsWidget::addChart); - QObject::connect(parser, &Parser::hidePlot, this, &ChartsWidget::removeChart); - QObject::connect(parser, &Parser::signalRemoved, this, &ChartsWidget::removeChart); - QObject::connect(reset_zoom_btn, &QPushButton::clicked, parser, &Parser::resetRange); + updateTitleBar(); + + QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeChart); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); + QObject::connect(can, &CANMessages::rangeChanged, [this]() { updateTitleBar(); }); + QObject::connect(reset_zoom_btn, &QPushButton::clicked, can, &CANMessages::resetRange); QObject::connect(remove_all_btn, &QPushButton::clicked, this, &ChartsWidget::removeAll); - QObject::connect(dock_btn, &QPushButton::clicked, [=]() { + QObject::connect(dock_btn, &QPushButton::clicked, [this]() { emit dock(!docking); docking = !docking; - updateDockButton(); + updateTitleBar(); }); } -void ChartsWidget::updateDockButton() { +void ChartsWidget::updateTitleBar() { + if (!charts.size()) { + title_bar->setVisible(false); + return; + } + + title_label->setText(tr("Charts (%1)").arg(charts.size())); + + // show select range + if (can->isZoomed()) { + auto [min, max] = can->range(); + range_label->setText(tr("%1 - %2").arg(min, 0, 'f', 2).arg(max, 0, 'f', 2)); + range_label->setVisible(true); + reset_zoom_btn->setEnabled(true); + } else { + reset_zoom_btn->setEnabled(false); + range_label->setVisible(false); + } + dock_btn->setText(docking ? "⬈" : "⬋"); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); + remove_all_btn->setVisible(!charts.empty()); + reset_zoom_btn->setVisible(!charts.empty()); + title_bar->setVisible(true); } void ChartsWidget::addChart(const QString &id, const QString &sig_name) { - const QString char_name = id + sig_name; + const QString char_name = id + ":" + sig_name; if (charts.find(char_name) == charts.end()) { auto chart = new ChartWidget(id, sig_name, this); + QObject::connect(chart, &ChartWidget::remove, [=]() { + removeChart(id, sig_name); + }); charts_layout->insertWidget(0, chart); charts[char_name] = chart; } - remove_all_btn->setVisible(true); - reset_zoom_btn->setVisible(true); - title_label->setText(tr("Charts (%1)").arg(charts.size())); + updateTitleBar(); } void ChartsWidget::removeChart(const QString &id, const QString &sig_name) { - if (auto it = charts.find(id + sig_name); it != charts.end()) { + if (auto it = charts.find(id + ":" + sig_name); it != charts.end()) { it->second->deleteLater(); charts.erase(it); - if (charts.empty()) { - remove_all_btn->setVisible(false); - reset_zoom_btn->setVisible(false); - } } - title_label->setText(tr("Charts (%1)").arg(charts.size())); + updateTitleBar(); } void ChartsWidget::removeAll() { for (auto [_, chart] : charts) chart->deleteLater(); charts.clear(); - remove_all_btn->setVisible(false); - reset_zoom_btn->setVisible(false); + updateTitleBar(); +} + +bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { + if (obj != this && event->type() == QEvent::Close) { + emit dock_btn->clicked(); + return true; + } + return false; } // ChartWidget @@ -138,16 +149,14 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa header->setStyleSheet("background-color:white"); QHBoxLayout *header_layout = new QHBoxLayout(header); header_layout->setContentsMargins(11, 11, 11, 0); - QLabel *title = new QLabel(tr("%1 %2").arg(parser->getMsg(id)->name.c_str()).arg(id)); + QLabel *title = new QLabel(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); header_layout->addWidget(title); header_layout->addStretch(); QPushButton *remove_btn = new QPushButton("✖", this); remove_btn->setFixedSize(30, 30); remove_btn->setToolTip(tr("Remove chart")); - QObject::connect(remove_btn, &QPushButton::clicked, [=]() { - emit parser->hidePlot(id, sig_name); - }); + QObject::connect(remove_btn, &QPushButton::clicked, this, &ChartWidget::remove); header_layout->addWidget(remove_btn); chart_layout->addWidget(header); @@ -163,9 +172,8 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa chart->setTitleFont(font); chart->setMargins({0, 0, 0, 0}); chart->layout()->setContentsMargins(0, 0, 0, 0); - QObject::connect(dynamic_cast(chart->axisX()), &QValueAxis::rangeChanged, parser, &Parser::setRange); - chart_view = new QChartView(chart); + chart_view = new ChartView(chart); chart_view->setFixedHeight(300); chart_view->setRenderHint(QPainter::Antialiasing); chart_view->setRubberBand(QChartView::HorizontalRubberBand); @@ -184,26 +192,28 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa line_marker->raise(); setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); - QObject::connect(parser, &Parser::updated, this, &ChartWidget::updateState); - QObject::connect(parser, &Parser::rangeChanged, this, &ChartWidget::rangeChanged); - QObject::connect(parser, &Parser::eventsMerged, this, &ChartWidget::updateSeries); - + QObject::connect(can, &CANMessages::updated, this, &ChartWidget::updateState); + QObject::connect(can, &CANMessages::rangeChanged, this, &ChartWidget::rangeChanged); + QObject::connect(can, &CANMessages::eventsMerged, this, &ChartWidget::updateSeries); + QObject::connect(dynamic_cast(chart->axisX()), &QValueAxis::rangeChanged, can, &CANMessages::setRange); + QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const QString &msg_id, const QString &sig_name) { + if (this->id == msg_id && this->sig_name == sig_name) + updateSeries(); + }); updateSeries(); } void ChartWidget::updateState() { auto chart = chart_view->chart(); auto axis_x = dynamic_cast(chart->axisX()); - int x = chart->plotArea().left() + chart->plotArea().width() * (parser->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); - if (line_marker_x != x) { - line_marker->setX(x); - line_marker_x = x; - } + + int x = chart->plotArea().left() + chart->plotArea().width() * (can->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); + line_marker->setX(x); } void ChartWidget::updateSeries() { - const Signal *sig = parser->getSig(id, sig_name); - auto events = parser->replay->events(); + const Signal *sig = dbc()->signal(id, sig_name); + auto events = can->events(); if (!sig || !events) return; auto l = id.split(':'); @@ -212,18 +222,14 @@ void ChartWidget::updateSeries() { vals.clear(); vals.reserve(3 * 60 * 100); - uint64_t route_start_time = parser->replay->routeStartTime(); + uint64_t route_start_time = can->routeStartTime(); for (auto &evt : *events) { if (evt->which == cereal::Event::Which::CAN) { for (auto c : evt->event.getCan()) { if (bus == c.getSrc() && address == c.getAddress()) { auto dat = c.getDat(); - int64_t val = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sig); - if (sig->is_signed) { - val -= ((val >> (sig->size - 1)) & 0x1) ? (1ULL << sig->size) : 0; - } - double value = val * sig->factor + sig->offset; - double ts = (evt->mono_time - route_start_time) / (double)1e9; // seconds + double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sig); + double ts = (evt->mono_time / (double)1e9) - route_start_time; // seconds vals.push_back({ts, value}); } } @@ -231,7 +237,7 @@ void ChartWidget::updateSeries() { } QLineSeries *series = (QLineSeries *)chart_view->chart()->series()[0]; series->replace(vals); - auto [begin, end] = parser->range(); + auto [begin, end] = can->range(); chart_view->chart()->axisX()->setRange(begin, end); updateAxisY(); } @@ -247,6 +253,7 @@ void ChartWidget::rangeChanged(qreal min, qreal max) { // auto zoom on yaxis void ChartWidget::updateAxisY() { const auto axis_x = dynamic_cast(chart_view->chart()->axisX()); + const auto axis_y = dynamic_cast(chart_view->chart()->axisY()); // vals is a sorted list auto begin = std::lower_bound(vals.begin(), vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); if (begin == vals.end()) @@ -254,14 +261,45 @@ void ChartWidget::updateAxisY() { auto end = std::upper_bound(vals.begin(), vals.end(), axis_x->max(), [](double x, auto &p) { return x < p.x(); }); const auto [min, max] = std::minmax_element(begin, end, [](auto &p1, auto &p2) { return p1.y() < p2.y(); }); - chart_view->chart()->axisY()->setRange(min->y(), max->y()); + if (min->y() == max->y()) { + if (max->y() < 0) { + axis_y->setRange(max->y(), 0); + } else { + axis_y->setRange(0, max->y() == 0 ? 1 : max->y()); + } + } else { + axis_y->setRange(min->y(), max->y()); + } } +// ChartView + +void ChartView::mouseReleaseEvent(QMouseEvent *event) { + auto rubber = findChild(); + if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { + auto [begin, end] = can->range(); + if (rubber->width() <= 0) { + double seek_to = begin + ((event->pos().x() - chart()->plotArea().x()) / chart()->plotArea().width()) * (end - begin); + can->seekTo(seek_to); + } else if (((double)rubber->width() / chart()->plotArea().width()) * (end - begin) < 0.5) { + // don't zoom if selected range is less than 0.5s + rubber->hide(); + event->accept(); + return; + } + } + // TODO: right-click to reset zoom + QChartView::mouseReleaseEvent(event); +} + + // LineMarker void LineMarker::setX(double x) { - x_pos = x; - update(); + if (x != x_pos) { + x_pos = x; + update(); + } } void LineMarker::paintEvent(QPaintEvent *event) { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 81df2237bc..7dbf0f108b 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -9,7 +9,8 @@ #include #include -#include "tools/cabana/parser.h" +#include "tools/cabana/canmessages.h" +#include "tools/cabana/dbcmanager.h" using namespace QtCharts; @@ -22,7 +23,15 @@ public: private: void paintEvent(QPaintEvent *event) override; - double x_pos = 0.0; + double x_pos = -1; +}; + +class ChartView : public QChartView { + Q_OBJECT + +public: + ChartView(QChart *chart, QWidget *parent = nullptr) : QChartView(chart, parent) {} + void mouseReleaseEvent(QMouseEvent *event) override; }; class ChartWidget : public QWidget { @@ -32,6 +41,9 @@ public: ChartWidget(const QString &id, const QString &sig_name, QWidget *parent); inline QChart *chart() const { return chart_view->chart(); } +signals: + void remove(); + private: void updateState(); void addData(const CanData &can_data, const Signal &sig); @@ -41,9 +53,8 @@ private: QString id; QString sig_name; - QChartView *chart_view = nullptr; + ChartView *chart_view = nullptr; LineMarker *line_marker = nullptr; - double line_marker_x = 0.0; QList vals; }; @@ -54,7 +65,6 @@ public: ChartsWidget(QWidget *parent = nullptr); void addChart(const QString &id, const QString &sig_name); void removeChart(const QString &id, const QString &sig_name); - void removeAll(); inline bool hasChart(const QString &id, const QString &sig_name) { return charts.find(id + sig_name) != charts.end(); } @@ -64,10 +74,13 @@ signals: private: void updateState(); - void updateDockButton(); + void updateTitleBar(); + void removeAll(); + bool eventFilter(QObject *obj, QEvent *event); QWidget *title_bar; QLabel *title_label; + QLabel *range_label; bool docking = true; QPushButton *dock_btn; QPushButton *reset_zoom_btn; diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc new file mode 100644 index 0000000000..1cb6da7fb5 --- /dev/null +++ b/tools/cabana/dbcmanager.cc @@ -0,0 +1,117 @@ +#include "tools/cabana/dbcmanager.h" + +#include + +DBCManager::DBCManager(QObject *parent) : QObject(parent) {} + +DBCManager::~DBCManager() {} + +void DBCManager::open(const QString &dbc_file_name) { + dbc_name = dbc_file_name; + dbc = const_cast(dbc_lookup(dbc_name.toStdString())); + msg_map.clear(); + for (auto &msg : dbc->msgs) { + msg_map[msg.address] = &msg; + } + emit DBCFileChanged(); +} + +void save(const QString &dbc_file_name) { + // TODO: save DBC to file +} + +void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) { + auto m = const_cast(msg(id)); + if (m) { + m->name = name.toStdString(); + m->size = size; + } else { + uint32_t address = addressFromId(id); + dbc->msgs.push_back({.address = address, .name = name.toStdString(), .size = size}); + msg_map[address] = &dbc->msgs.back(); + } + emit msgUpdated(id); +} + +void DBCManager::addSignal(const QString &id, const Signal &sig) { + if (Msg *m = const_cast(msg(id))) { + m->sigs.push_back(sig); + emit signalAdded(id, QString::fromStdString(sig.name)); + } +} + +void DBCManager::updateSignal(const QString &id, const QString &sig_name, const Signal &sig) { + if (Signal *s = const_cast(signal(id, sig_name))) { + *s = sig; + emit signalUpdated(id, sig_name); + } +} + +void DBCManager::removeSignal(const QString &id, const QString &sig_name) { + if (Msg *m = const_cast(msg(id))) { + auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); }); + if (it != m->sigs.end()) { + m->sigs.erase(it); + emit signalRemoved(id, sig_name); + } + } +} + +const Signal *DBCManager::signal(const QString &id, const QString &sig_name) const { + if (auto m = msg(id)) { + auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return sig_name == s.name.c_str(); }); + if (it != m->sigs.end()) + return &(*it); + } + return nullptr; +} + +uint32_t DBCManager::addressFromId(const QString &id) { + return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16); +} + +DBCManager *dbc() { + static DBCManager dbc_manager(nullptr); + return &dbc_manager; +} + +// helper functions + +static QVector BIG_ENDIAN_START_BITS = []() { + QVector ret; + for (int i = 0; i < 64; i++) + for (int j = 7; j >= 0; j--) + ret.push_back(j + i * 8); + return ret; +}(); + +int bigEndianStartBitsIndex(int start_bit) { + return BIG_ENDIAN_START_BITS[start_bit]; +} + +int bigEndianBitIndex(int index) { + return BIG_ENDIAN_START_BITS.indexOf(index); +} + +double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { + int64_t val = 0; + + int i = sig.msb / 8; + int bits = sig.size; + while (i >= 0 && i < data_size && bits > 0) { + int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; + int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; + int size = msb - lsb + 1; + + uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); + val |= d << (bits - size); + + bits -= size; + i = sig.is_little_endian ? i - 1 : i + 1; + } + if (sig.is_signed) { + val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; + } + double value = val * sig.factor + sig.offset; + return value; +} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h new file mode 100644 index 0000000000..06c071be82 --- /dev/null +++ b/tools/cabana/dbcmanager.h @@ -0,0 +1,51 @@ +#pragma once + +#include + +#include "opendbc/can/common_dbc.h" + +class DBCManager : public QObject { + Q_OBJECT + +public: + DBCManager(QObject *parent); + ~DBCManager(); + + void open(const QString &dbc_file_name); + void save(const QString &dbc_file_name); + + const Signal *signal(const QString &id, const QString &sig_name) const; + void addSignal(const QString &id, const Signal &sig); + void updateSignal(const QString &id, const QString &sig_name, const Signal &sig); + void removeSignal(const QString &id, const QString &sig_name); + + static uint32_t addressFromId(const QString &id); + inline static std::vector allDBCNames() { return get_dbc_names(); } + inline QString name() const { return dbc_name; } + + void updateMsg(const QString &id, const QString &name, uint32_t size); + inline const Msg *msg(const QString &id) const { return msg(addressFromId(id)); } + inline const Msg *msg(uint32_t address) const { + auto it = msg_map.find(address); + return it != msg_map.end() ? it->second : nullptr; + } + +signals: + void signalAdded(const QString &id, const QString &sig_name); + void signalRemoved(const QString &id, const QString &sig_name); + void signalUpdated(const QString &id, const QString &sig_name); + void msgUpdated(const QString &id); + void DBCFileChanged(); + +private: + QString dbc_name; + DBC *dbc = nullptr; + std::unordered_map msg_map; +}; + +// TODO: Add helper function in dbc.h +double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); +int bigEndianStartBitsIndex(int start_bit); +int bigEndianBitIndex(int index); + +DBCManager *dbc(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 1b6552804e..7c1847230b 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -1,39 +1,29 @@ #include "tools/cabana/detailwidget.h" -#include #include #include #include +#include #include #include -#include - -#include "selfdrive/ui/qt/util.h" -#include "selfdrive/ui/qt/widgets/scrollview.h" - -inline const QString &getColor(int i) { - static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; - return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; -} // DetailWidget DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - name_label = new QLabel(this); - name_label->setStyleSheet("font-weight:bold;"); - name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - name_label->setAlignment(Qt::AlignCenter); - main_layout->addWidget(name_label); - // title QHBoxLayout *title_layout = new QHBoxLayout(); + title_layout->addWidget(new QLabel("time:")); time_label = new QLabel(this); title_layout->addWidget(time_label); + time_label->setStyleSheet("font-weight:bold"); + title_layout->addStretch(); + name_label = new QLabel(this); + name_label->setStyleSheet("font-weight:bold;"); + title_layout->addWidget(name_label); title_layout->addStretch(); - edit_btn = new QPushButton(tr("Edit"), this); edit_btn->setVisible(false); title_layout->addWidget(edit_btn); @@ -41,79 +31,104 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { // binary view binary_view = new BinaryView(this); - main_layout->addWidget(binary_view); + main_layout->addWidget(binary_view, 0, Qt::AlignTop); + + // signal header + signals_header = new QWidget(this); + QHBoxLayout *signals_header_layout = new QHBoxLayout(signals_header); + signals_header_layout->addWidget(new QLabel(tr("Signals"))); + signals_header_layout->addStretch(); + QPushButton *add_sig_btn = new QPushButton(tr("Add signal"), this); + signals_header_layout->addWidget(add_sig_btn); + signals_header->setVisible(false); + main_layout->addWidget(signals_header); // scroll area - QHBoxLayout *signals_layout = new QHBoxLayout(); - signals_layout->addWidget(new QLabel(tr("Signals"))); - signals_layout->addStretch(); - add_sig_btn = new QPushButton(tr("Add signal"), this); - add_sig_btn->setVisible(false); - signals_layout->addWidget(add_sig_btn); - main_layout->addLayout(signals_layout); - + scroll = new ScrollArea(this); QWidget *container = new QWidget(this); + container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); QVBoxLayout *container_layout = new QVBoxLayout(container); signal_edit_layout = new QVBoxLayout(); signal_edit_layout->setSpacing(2); container_layout->addLayout(signal_edit_layout); - history_log = new HistoryLog(this); - container_layout->addWidget(history_log); - - QScrollArea *scroll = new QScrollArea(this); scroll->setWidget(container); scroll->setWidgetResizable(true); - scroll->setFrameShape(QFrame::NoFrame); scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - scroll->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); - main_layout->addWidget(scroll); + history_log = new HistoryLog(this); + main_layout->addWidget(history_log); + QObject::connect(add_sig_btn, &QPushButton::clicked, this, &DetailWidget::addSignal); QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg); - QObject::connect(parser, &Parser::updated, this, &DetailWidget::updateState); + QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); } -void DetailWidget::setMsg(const CanData *c) { - can_data = c; - clearLayout(signal_edit_layout); - edit_btn->setVisible(true); +void DetailWidget::setMessage(const QString &message_id) { + msg_id = message_id; + for (auto f : signal_forms) { + f->deleteLater(); + } + signal_forms.clear(); - if (auto msg = parser->getMsg(can_data->address)) { - name_label->setText(msg->name.c_str()); - add_sig_btn->setVisible(true); + if (auto msg = dbc()->msg(msg_id)) { for (int i = 0; i < msg->sigs.size(); ++i) { - signal_edit_layout->addWidget(new SignalEdit(can_data->id, msg->sigs[i], getColor(i))); + auto form = new SignalEdit(i, msg_id, msg->sigs[i], getColor(i)); + signal_edit_layout->addWidget(form); + QObject::connect(form, &SignalEdit::showChart, this, &DetailWidget::showChart); + QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); + signal_forms.push_back(form); } + name_label->setText(msg->name.c_str()); + signals_header->setVisible(true); } else { name_label->setText(tr("untitled")); - add_sig_btn->setVisible(false); + signals_header->setVisible(false); } + edit_btn->setVisible(true); - binary_view->setMsg(can_data); - history_log->clear(); + binary_view->setMessage(msg_id); + history_log->setMessage(msg_id); } void DetailWidget::updateState() { - if (!can_data) return; + time_label->setText(QString::number(can->currentSec(), 'f', 3)); + if (msg_id.isEmpty()) return; - time_label->setText(QString("time: %1").arg(can_data->ts, 0, 'f', 3)); - binary_view->setData(can_data->dat); + binary_view->updateState(); history_log->updateState(); } void DetailWidget::editMsg() { - EditMessageDialog dlg(can_data->id, this); + EditMessageDialog dlg(msg_id, this); if (dlg.exec()) { - setMsg(can_data); + setMessage(msg_id); } } void DetailWidget::addSignal() { - AddSignalDialog dlg(can_data->id, this); + AddSignalDialog dlg(msg_id, this); if (dlg.exec()) { - setMsg(can_data); + setMessage(msg_id); + } +} + +void DetailWidget::showForm() { + SignalEdit *sender = qobject_cast(QObject::sender()); + if (sender->isFormVisible()) { + sender->setFormVisible(false); + } else { + for (auto f : signal_forms) { + f->setFormVisible(f == sender); + if (f == sender) { + // scroll to header + QTimer::singleShot(0, [=]() { + const QPoint p = f->mapTo(scroll, QPoint(0, 0)); + scroll->verticalScrollBar()->setValue(p.y() + scroll->verticalScrollBar()->value()); + }); + } + } } } @@ -121,6 +136,7 @@ void DetailWidget::addSignal() { BinaryView::BinaryView(QWidget *parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); table = new QTableWidget(this); table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); table->horizontalHeader()->hide(); @@ -131,9 +147,10 @@ BinaryView::BinaryView(QWidget *parent) { setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); } -void BinaryView::setMsg(const CanData *can_data) { - const Msg *msg = parser->getMsg(can_data->address); - int row_count = msg ? msg->size : can_data->dat.size(); +void BinaryView::setMessage(const QString &message_id) { + msg_id = message_id; + const Msg *msg = dbc()->msg(msg_id); + int row_count = msg ? msg->size : can->lastMessage(msg_id).dat.size(); table->setRowCount(row_count); table->setColumnCount(9); @@ -151,8 +168,8 @@ void BinaryView::setMsg(const CanData *can_data) { } } + // set background color if (msg) { - // set background color for (int i = 0; i < msg->sigs.size(); ++i) { const auto &sig = msg->sigs[i]; int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit); @@ -162,80 +179,44 @@ void BinaryView::setMsg(const CanData *can_data) { } } - setFixedHeight(table->rowHeight(0) * table->rowCount() + 25); + table->setFixedHeight(table->rowHeight(0) * table->rowCount() + table->horizontalHeader()->height() + 2); + updateState(); } -void BinaryView::setData(const QByteArray &binary) { - std::string s; - for (int j = 0; j < binary.size(); ++j) { - s += std::bitset<8>(binary[j]).to_string(); - } +void BinaryView::updateState() { + if (msg_id.isEmpty()) return; + + const auto &binary = can->lastMessage(msg_id).dat; setUpdatesEnabled(false); char hex[3] = {'\0'}; for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < 8; ++j) { - table->item(i, j)->setText(QChar(s[i * 8 + j])); + table->item(i, j)->setText(QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0')); } - sprintf(&hex[0], "%02X", (unsigned char)binary[i]); + hex[0] = toHex(binary[i] >> 4); + hex[1] = toHex(binary[i] & 0xf); table->item(i, 8)->setText(hex); } setUpdatesEnabled(true); } -// HistoryLog - -HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - QLabel *title = new QLabel("TIME BYTES"); - main_layout->addWidget(title); - - QVBoxLayout *message_layout = new QVBoxLayout(); - for (int i = 0; i < std::size(labels); ++i) { - labels[i] = new QLabel(); - labels[i]->setVisible(false); - message_layout->addWidget(labels[i]); - } - main_layout->addLayout(message_layout); - main_layout->addStretch(); -} - -void HistoryLog::updateState() { - int i = 0; - for (; i < parser->history_log.size(); ++i) { - const auto &c = parser->history_log[i]; - auto label = labels[i]; - label->setVisible(true); - label->setText(QString("%1 %2").arg(c.ts, 0, 'f', 3).arg(toHex(c.dat))); - } - - for (; i < std::size(labels); ++i) { - labels[i]->setVisible(false); - } -} - -void HistoryLog::clear() { - setUpdatesEnabled(false); - for (auto l : labels) l->setVisible(false); - setUpdatesEnabled(true); -} - // EditMessageDialog -EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : id(id), QDialog(parent) { +EditMessageDialog::EditMessageDialog(const QString &msg_id, QWidget *parent) : msg_id(msg_id), QDialog(parent) { setWindowTitle(tr("Edit message")); QVBoxLayout *main_layout = new QVBoxLayout(this); QFormLayout *form_layout = new QFormLayout(); - form_layout->addRow("ID", new QLabel(id)); + form_layout->addRow("ID", new QLabel(msg_id)); - auto msg = const_cast(parser->getMsg(id)); + const auto msg = dbc()->msg(msg_id); name_edit = new QLineEdit(this); name_edit->setText(msg ? msg->name.c_str() : "untitled"); form_layout->addRow(tr("Name"), name_edit); size_spin = new QSpinBox(this); - size_spin->setValue(msg ? msg->size : parser->can_msgs[id].dat.size()); + size_spin->setValue(msg ? msg->size : can->lastMessage(msg_id).dat.size()); form_layout->addRow(tr("Size"), size_spin); main_layout->addLayout(form_layout); @@ -243,22 +224,33 @@ EditMessageDialog::EditMessageDialog(const QString &id, QWidget *parent) : id(id auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); main_layout->addWidget(buttonBox); + setFixedWidth(parent->width() * 0.9); + connect(buttonBox, &QDialogButtonBox::accepted, this, &EditMessageDialog::save); connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); } void EditMessageDialog::save() { - if (size_spin->value() <= 0 || name_edit->text().isEmpty()) return; + const QString name = name_edit->text(); + if (size_spin->value() <= 0 || name_edit->text().isEmpty() || name == tr("untitled")) + return; - if (auto msg = const_cast(parser->getMsg(id))) { - msg->name = name_edit->text().toStdString(); - msg->size = size_spin->value(); - } else { - Msg m = {}; - m.address = Parser::addressFromId(id); - m.name = name_edit->text().toStdString(); - m.size = size_spin->value(); - parser->addNewMsg(m); - } + dbc()->updateMsg(msg_id, name, size_spin->value()); QDialog::accept(); } + +// ScrollArea + +bool ScrollArea::eventFilter(QObject *obj, QEvent *ev) { + if (obj == widget() && ev->type() == QEvent::Resize) { + int height = widget()->height() + 4; + setMinimumHeight(height > 480 ? 480 : height); + setMaximumHeight(height); + } + return QScrollArea::eventFilter(obj, ev); +} + +void ScrollArea::setWidget(QWidget *w) { + QScrollArea::setWidget(w); + w->installEventFilter(this); +} diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index b2e7cbf3b7..99fe321012 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -3,35 +3,28 @@ #include #include #include +#include #include #include #include #include "opendbc/can/common.h" #include "opendbc/can/common_dbc.h" -#include "tools/cabana/parser.h" +#include "tools/cabana/canmessages.h" +#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/historylog.h" #include "tools/cabana/signaledit.h" -class HistoryLog : public QWidget { - Q_OBJECT - -public: - HistoryLog(QWidget *parent); - void clear(); - void updateState(); - -private: - QLabel *labels[LOG_SIZE] = {}; -}; - class BinaryView : public QWidget { Q_OBJECT public: BinaryView(QWidget *parent); - void setMsg(const CanData *can_data); - void setData(const QByteArray &binary); + void setMessage(const QString &message_id); + void updateState(); +private: + QString msg_id; QTableWidget *table; }; @@ -39,14 +32,23 @@ class EditMessageDialog : public QDialog { Q_OBJECT public: - EditMessageDialog(const QString &id, QWidget *parent); + EditMessageDialog(const QString &msg_id, QWidget *parent); protected: void save(); + QString msg_id; QLineEdit *name_edit; QSpinBox *size_spin; - QString id; +}; + +class ScrollArea : public QScrollArea { + Q_OBJECT + +public: + ScrollArea(QWidget *parent) : QScrollArea(parent) {} + bool eventFilter(QObject *obj, QEvent *ev) override; + void setWidget(QWidget *w); }; class DetailWidget : public QWidget { @@ -54,17 +56,26 @@ class DetailWidget : public QWidget { public: DetailWidget(QWidget *parent); - void setMsg(const CanData *c); + void setMessage(const QString &message_id); + +signals: + void showChart(const QString &msg_id, const QString &sig_name); + +private slots: + void showForm(); private: - void updateState(); void addSignal(); void editMsg(); + void updateState(); - const CanData *can_data = nullptr; + QString msg_id; QLabel *name_label, *time_label; - QPushButton *edit_btn, *add_sig_btn; + QPushButton *edit_btn; QVBoxLayout *signal_edit_layout; + QWidget *signals_header; + QList signal_forms; HistoryLog *history_log; BinaryView *binary_view; + ScrollArea *scroll; }; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc new file mode 100644 index 0000000000..494e281cb1 --- /dev/null +++ b/tools/cabana/historylog.cc @@ -0,0 +1,91 @@ +#include "tools/cabana/historylog.h" + +#include +#include + +QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { + if (role == Qt::DisplayRole) { + const auto &can_msgs = can->messages(msg_id); + if (index.row() < can_msgs.size()) { + const auto &can_data = can_msgs[index.row()]; + auto msg = dbc()->msg(msg_id); + if (msg && index.column() < msg->sigs.size()) { + return get_raw_value((uint8_t *)can_data.dat.begin(), can_data.dat.size(), msg->sigs[index.column()]); + } else { + return toHex(can_data.dat); + } + } + } + return {}; +} + +void HistoryLogModel::setMessage(const QString &message_id) { + beginResetModel(); + msg_id = message_id; + const auto msg = dbc()->msg(message_id); + column_count = msg && !msg->sigs.empty() ? msg->sigs.size() : 1; + row_count = 0; + endResetModel(); + + updateState(); +} + +QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const { + if (orientation == Qt::Horizontal) { + auto msg = dbc()->msg(msg_id); + if (msg && section < msg->sigs.size()) { + if (role == Qt::BackgroundRole) { + return QBrush(QColor(getColor(section))); + } else if (role == Qt::DisplayRole || role == Qt::ToolTipRole) { + return QString::fromStdString(msg->sigs[section].name); + } + } + } else if (role == Qt::DisplayRole) { + const auto &can_msgs = can->messages(msg_id); + if (section < can_msgs.size()) { + return QString::number(can_msgs[section].ts, 'f', 2); + } + } + return {}; +} + +void HistoryLogModel::updateState() { + if (msg_id.isEmpty()) return; + + const auto &can_msgs = can->messages(msg_id); + int prev_row_count = row_count; + row_count = can_msgs.size(); + int delta = row_count - prev_row_count; + if (delta > 0) { + beginInsertRows({}, prev_row_count, row_count - 1); + endInsertRows(); + } else if (delta < 0) { + beginRemoveRows({}, row_count, prev_row_count - 1); + endRemoveRows(); + } + if (row_count > 0) { + emit dataChanged(index(0, 0), index(row_count - 1, column_count - 1)); + emit headerDataChanged(Qt::Vertical, 0, row_count - 1); + } +} + +HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + model = new HistoryLogModel(this); + table = new QTableView(this); + table->setModel(model); + table->horizontalHeader()->setStretchLastSection(true); + table->setEditTriggers(QAbstractItemView::NoEditTriggers); + table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); + table->verticalHeader()->setStyleSheet("QHeaderView::section {padding-left: 5px; padding-right: 5px;min-width:40px;}"); + main_layout->addWidget(table); +} + +void HistoryLog::setMessage(const QString &message_id) { + model->setMessage(message_id); +} + +void HistoryLog::updateState() { + model->updateState(); +} diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h new file mode 100644 index 0000000000..f3a9046bfa --- /dev/null +++ b/tools/cabana/historylog.h @@ -0,0 +1,37 @@ +#pragma once + +#include + +#include "tools/cabana/canmessages.h" +#include "tools/cabana/dbcmanager.h" + +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; + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; + int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } + +private: + QString msg_id; + int row_count = 0; + int column_count = 0; +}; + +class HistoryLog : public QWidget { + Q_OBJECT + +public: + HistoryLog(QWidget *parent); + void setMessage(const QString &message_id); + void updateState(); + +private: + QTableView *table; + HistoryLogModel *model; +}; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 49e6cd2cca..6fa24ea21d 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,5 +1,6 @@ #include "tools/cabana/mainwin.h" +#include #include #include #include @@ -30,13 +31,15 @@ MainWindow::MainWindow() : QWidget() { h_layout->addWidget(right_container); - QObject::connect(messages_widget, &MessagesWidget::msgChanged, detail_widget, &DetailWidget::setMsg); + QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); + QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); } void MainWindow::dockCharts(bool dock) { charts_widget->setUpdatesEnabled(false); if (dock && floating_window) { + floating_window->removeEventFilter(charts_widget); r_layout->addWidget(charts_widget); floating_window->deleteLater(); floating_window = nullptr; @@ -44,7 +47,7 @@ void MainWindow::dockCharts(bool dock) { floating_window = new QWidget(nullptr); floating_window->setLayout(new QVBoxLayout()); floating_window->layout()->addWidget(charts_widget); - floating_window->setWindowFlags(Qt::WindowTitleHint | Qt::WindowMaximizeButtonHint | Qt::WindowMinimizeButtonHint); + floating_window->installEventFilter(charts_widget); floating_window->setMinimumSize(QGuiApplication::primaryScreen()->size() / 2); floating_window->showMaximized(); } diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index bcd15e4d8e..b0d7c273da 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -3,7 +3,6 @@ #include "tools/cabana/chartswidget.h" #include "tools/cabana/detailwidget.h" #include "tools/cabana/messageswidget.h" -#include "tools/cabana/parser.h" #include "tools/cabana/videowidget.h" class MainWindow : public QWidget { diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 7de3507b3d..eaf84fbace 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,19 +1,32 @@ #include "tools/cabana/messageswidget.h" #include +#include #include +#include #include +#include #include +#include "tools/cabana/dbcmanager.h" + MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + // DBC file selector QHBoxLayout *dbc_file_layout = new QHBoxLayout(); QComboBox *combo = new QComboBox(this); - auto dbc_names = get_dbc_names(); + auto dbc_names = dbc()->allDBCNames(); for (const auto &name : dbc_names) { combo->addItem(QString::fromStdString(name)); } + combo->setEditable(true); + combo->setCurrentText(QString()); + combo->setInsertPolicy(QComboBox::NoInsert); + combo->completer()->setCompletionMode(QCompleter::PopupCompletion); + QFont font; + font.setBold(true); + combo->lineEdit()->setFont(font); dbc_file_layout->addWidget(combo); dbc_file_layout->addStretch(); @@ -21,73 +34,104 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { dbc_file_layout->addWidget(save_btn); main_layout->addLayout(dbc_file_layout); - filter = new QLineEdit(this); + // message filter + QLineEdit *filter = new QLineEdit(this); filter->setPlaceholderText(tr("filter messages")); main_layout->addWidget(filter); - table_widget = new QTableWidget(this); + // message table + table_widget = new QTableView(this); + model = new MessageListModel(this); + QSortFilterProxyModel *proxy_model = new QSortFilterProxyModel(this); + proxy_model->setSourceModel(model); + proxy_model->setFilterCaseSensitivity(Qt::CaseInsensitive); + proxy_model->setDynamicSortFilter(false); + table_widget->setModel(proxy_model); table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); table_widget->setSelectionMode(QAbstractItemView::SingleSelection); table_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); - table_widget->setColumnCount(4); + table_widget->setSortingEnabled(true); table_widget->setColumnWidth(0, 250); table_widget->setColumnWidth(1, 80); table_widget->setColumnWidth(2, 80); - table_widget->setHorizontalHeaderLabels({tr("Name"), tr("ID"), tr("Count"), tr("Bytes")}); table_widget->horizontalHeader()->setStretchLastSection(true); + table_widget->verticalHeader()->hide(); + table_widget->sortByColumn(0, Qt::AscendingOrder); main_layout->addWidget(table_widget); - QObject::connect(parser, &Parser::updated, this, &MessagesWidget::updateState); + // signals/slots + QObject::connect(filter, &QLineEdit::textChanged, proxy_model, &QSortFilterProxyModel::setFilterFixedString); + QObject::connect(can, &CANMessages::updated, model, &MessageListModel::updateState); + QObject::connect(combo, SIGNAL(activated(const QString &)), SLOT(dbcSelectionChanged(const QString &))); QObject::connect(save_btn, &QPushButton::clicked, [=]() { // TODO: save DBC to file }); - QObject::connect(combo, &QComboBox::currentTextChanged, [=](const QString &dbc) { - parser->openDBC(dbc); - }); - QObject::connect(table_widget, &QTableWidget::itemSelectionChanged, [=]() { - const CanData *c = &(parser->can_msgs[table_widget->selectedItems()[1]->text()]); - parser->setCurrentMsg(c->id); - emit msgChanged(c); + QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { + if (current.isValid()) { + emit msgSelectionChanged(table_widget->model()->data(current, Qt::UserRole).toString()); + } }); // For test purpose combo->setCurrentText("toyota_nodsu_pt_generated"); } -void MessagesWidget::updateState() { - auto getTableItem = [=](int row, int col) -> QTableWidgetItem * { - auto item = table_widget->item(row, col); - if (!item) { - item = new QTableWidgetItem(); - item->setFlags(item->flags() ^ Qt::ItemIsEditable); - table_widget->setItem(row, col, item); - } - return item; - }; +void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) { + dbc()->open(dbc_file); + // update detailwidget + auto current = table_widget->selectionModel()->currentIndex(); + if (current.isValid()) { + emit msgSelectionChanged(table_widget->model()->data(current, Qt::UserRole).toString()); + } +} - table_widget->setRowCount(parser->can_msgs.size()); - int i = 0; - QString name, untitled = tr("untitled"); - const QString filter_str = filter->text(); - for (const auto &[_, c] : parser->can_msgs) { - if (auto msg = parser->getMsg(c.address)) { - name = msg->name.c_str(); - } else { - name = untitled; - } - if (!filter_str.isEmpty() && !name.contains(filter_str, Qt::CaseInsensitive)) { - table_widget->hideRow(i++); - continue; +// MessageListModel + +QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { + if (orientation == Qt::Horizontal && role == Qt::DisplayRole) + return (QString[]){"Name", "ID", "Count", "Bytes"}[section]; + else if (orientation == Qt::Vertical && role == Qt::DisplayRole) { + // return QString::number(section); + } + return {}; +} + +QVariant MessageListModel::data(const QModelIndex &index, int role) const { + if (role == Qt::DisplayRole) { + auto it = std::next(can->can_msgs.begin(), index.row()); + if (it != can->can_msgs.end() && !it.value().empty()) { + const auto &d = it.value().front(); + const QString &msg_id = it.key(); + switch (index.column()) { + case 0: { + auto msg = dbc()->msg(msg_id); + QString name = msg ? msg->name.c_str() : "untitled"; + return name; + } + case 1: return msg_id; + case 2: return can->counters[msg_id]; + case 3: return toHex(d.dat); + } } + } else if (role == Qt::UserRole) { + return std::next(can->can_msgs.begin(), index.row()).key(); + } + return {}; +} - getTableItem(i, 0)->setText(name); - getTableItem(i, 1)->setText(c.id); - getTableItem(i, 2)->setText(QString::number(parser->counters[c.id])); - getTableItem(i, 3)->setText(toHex(c.dat)); - table_widget->showRow(i); - i++; +void MessageListModel::updateState() { + int prev_row_count = row_count; + row_count = can->can_msgs.size(); + int delta = row_count - prev_row_count; + if (delta > 0) { + beginInsertRows({}, prev_row_count, row_count - 1); + endInsertRows(); + } else if (delta < 0) { + beginRemoveRows({}, row_count, prev_row_count - 1); + endRemoveRows(); } - if (table_widget->currentRow() == -1) { - table_widget->selectRow(0); + + if (row_count > 0) { + emit dataChanged(index(0, 0), index(row_count - 1, 3)); } } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 1dbb4a1af3..f6487ba2bd 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -1,24 +1,38 @@ #pragma once -#include -#include -#include +#include +#include -#include "tools/cabana/parser.h" +#include "tools/cabana/canmessages.h" + +class MessageListModel : public QAbstractTableModel { +Q_OBJECT + +public: + MessageListModel(QObject *parent) : QAbstractTableModel(parent) {} + QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 4; } + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; + int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } + void updateState(); + +private: + int row_count = 0; +}; class MessagesWidget : public QWidget { Q_OBJECT - public: +public: MessagesWidget(QWidget *parent); - public slots: - void updateState(); +public slots: + void dbcSelectionChanged(const QString &dbc_file); - signals: - void msgChanged(const CanData *id); +signals: + void msgSelectionChanged(const QString &message_id); - protected: - QLineEdit *filter; - QTableWidget *table_widget; +protected: + QTableView *table_widget; + MessageListModel *model; }; diff --git a/tools/cabana/parser.cc b/tools/cabana/parser.cc deleted file mode 100644 index f4bacbb86d..0000000000 --- a/tools/cabana/parser.cc +++ /dev/null @@ -1,181 +0,0 @@ -#include "tools/cabana/parser.h" - -#include - -#include "cereal/messaging/messaging.h" - -Parser *parser = nullptr; - -static bool event_filter(const Event *e, void *opaque) { - Parser *p = (Parser*)opaque; - return p->eventFilter(e); -} - -Parser::Parser(QObject *parent) : QObject(parent) { - parser = this; - - qRegisterMetaType>(); - QObject::connect(this, &Parser::received, this, &Parser::process, Qt::QueuedConnection); -} - -Parser::~Parser() { - replay->stop(); -} - -bool Parser::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { - replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); - replay->installEventFilter(event_filter, this); - QObject::connect(replay, &Replay::segmentsMerged, this, &Parser::segmentsMerged); - if (replay->load()) { - replay->start(); - return true; - } - return false; -} - -void Parser::openDBC(const QString &name) { - dbc_name = name; - dbc = const_cast(dbc_lookup(name.toStdString())); - counters.clear(); - msg_map.clear(); - for (auto &msg : dbc->msgs) { - msg_map[msg.address] = &msg; - } -} - -void Parser::process(std::vector msgs) { - static double prev_update_ts = 0; - - for (const auto &can_data : msgs) { - can_msgs[can_data.id] = can_data; - ++counters[can_data.id]; - - if (can_data.id == current_msg_id) { - while (history_log.size() >= LOG_SIZE) { - history_log.pop_back(); - } - history_log.push_front(can_data); - } - } - double now = millis_since_boot(); - if ((now - prev_update_ts) > 1000.0 / FPS) { - prev_update_ts = now; - emit updated(); - } - - if (current_sec < begin_sec || current_sec > end_sec) { - // loop replay in selected range. - seekTo(begin_sec); - } -} - -bool Parser::eventFilter(const Event *event) { - // drop packets when the GUI thread is calling seekTo. to make sure the current_sec is accurate. - if (!seeking && event->which == cereal::Event::Which::CAN) { - current_sec = (event->mono_time - replay->routeStartTime()) / (double)1e9; - - auto can = event->event.getCan(); - msgs_buf.clear(); - msgs_buf.reserve(can.size()); - - for (const auto &c : can) { - CanData &data = msgs_buf.emplace_back(); - data.address = c.getAddress(); - data.bus_time = c.getBusTime(); - data.source = c.getSrc(); - data.dat.append((char *)c.getDat().begin(), c.getDat().size()); - data.id = QString("%1:%2").arg(data.source).arg(data.address, 1, 16); - data.ts = current_sec; - } - emit received(msgs_buf); - } - return true; -} - -void Parser::seekTo(double ts) { - seeking = true; - replay->seekTo(ts, false); - seeking = false; -} - -void Parser::addNewMsg(const Msg &msg) { - dbc->msgs.push_back(msg); - msg_map[dbc->msgs.back().address] = &dbc->msgs.back(); -} - -void Parser::removeSignal(const QString &id, const QString &sig_name) { - Msg *msg = const_cast(getMsg(id)); - if (!msg) return; - - auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); }); - if (it != msg->sigs.end()) { - msg->sigs.erase(it); - emit signalRemoved(id, sig_name); - } -} - -uint32_t Parser::addressFromId(const QString &id) { - return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16); -} - -const Signal *Parser::getSig(const QString &id, const QString &sig_name) { - if (auto msg = getMsg(id)) { - auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig_name == s.name.c_str(); }); - if (it != msg->sigs.end()) { - return &(*it); - } - } - return nullptr; -} - -void Parser::setRange(double min, double max) { - if (begin_sec != min || end_sec != max) { - begin_sec = min; - end_sec = max; - is_zoomed = begin_sec != event_begin_sec || end_sec != event_end_sec; - emit rangeChanged(min, max); - } -} - -void Parser::segmentsMerged() { - auto events = replay->events(); - if (!events || events->empty()) return; - - auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; }); - event_begin_sec = it == events->end() ? 0 : ((*it)->mono_time - replay->routeStartTime()) / (double)1e9; - event_end_sec = double(events->back()->mono_time - replay->routeStartTime()) / 1e9; - if (!is_zoomed) { - begin_sec = event_begin_sec; - end_sec = event_end_sec; - } - emit eventsMerged(); -} - -void Parser::resetRange() { - setRange(event_begin_sec, event_end_sec); -} - -void Parser::setCurrentMsg(const QString &id) { - current_msg_id = id; - history_log.clear(); -} - -// helper functions - -static QVector BIG_ENDIAN_START_BITS = []() { - QVector ret; - for (int i = 0; i < 64; i++) { - for (int j = 7; j >= 0; j--) { - ret.push_back(j + i * 8); - } - } - return ret; -}(); - -int bigEndianStartBitsIndex(int start_bit) { - return BIG_ENDIAN_START_BITS[start_bit]; -} - -int bigEndianBitIndex(int index) { - return BIG_ENDIAN_START_BITS.indexOf(index); -} diff --git a/tools/cabana/parser.h b/tools/cabana/parser.h deleted file mode 100644 index 1632fcf6a6..0000000000 --- a/tools/cabana/parser.h +++ /dev/null @@ -1,95 +0,0 @@ -#pragma once - -#include -#include - -#include -#include -#include - -#include "opendbc/can/common.h" -#include "opendbc/can/common_dbc.h" -#include "tools/replay/replay.h" - -const int FPS = 20; -const static int LOG_SIZE = 25; - -struct CanData { - QString id; - double ts; - uint32_t address; - uint16_t bus_time; - uint8_t source; - QByteArray dat; -}; - -class Parser : public QObject { - Q_OBJECT - -public: - Parser(QObject *parent); - ~Parser(); - static uint32_t addressFromId(const QString &id); - bool eventFilter(const Event *event); - bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam); - void openDBC(const QString &name); - void saveDBC(const QString &name) {} - void addNewMsg(const Msg &msg); - void removeSignal(const QString &id, const QString &sig_name); - void seekTo(double ts); - const Signal *getSig(const QString &id, const QString &sig_name); - void setRange(double min, double max); - void resetRange(); - void setCurrentMsg(const QString &id); - inline std::pair range() const { return {begin_sec, end_sec}; } - inline double currentSec() const { return current_sec; } - inline bool isZoomed() const { return is_zoomed; } - inline const Msg *getMsg(const QString &id) { return getMsg(addressFromId(id)); } - inline const Msg *getMsg(uint32_t address) { - auto it = msg_map.find(address); - return it != msg_map.end() ? it->second : nullptr; - } - -signals: - void showPlot(const QString &id, const QString &name); - void hidePlot(const QString &id, const QString &name); - void signalRemoved(const QString &id, const QString &sig_name); - void eventsMerged(); - void rangeChanged(double min, double max); - void received(std::vector can); - void updated(); - -public: - Replay *replay = nullptr; - QHash counters; - std::map can_msgs; - QList history_log; - -protected: - void process(std::vector can); - void segmentsMerged(); - - std::atomic current_sec = 0.; - std::atomic seeking = false; - QString dbc_name; - double begin_sec = 0; - double end_sec = 0; - double event_begin_sec = 0; - double event_end_sec = 0; - bool is_zoomed = false; - DBC *dbc = nullptr; - std::map msg_map; - QString current_msg_id; - std::vector msgs_buf; -}; - -Q_DECLARE_METATYPE(std::vector); - -// TODO: Add helper function in dbc.h -int bigEndianStartBitsIndex(int start_bit); -int bigEndianBitIndex(int index); -inline QString toHex(const QByteArray &dat) { - return dat.toHex(' ').toUpper(); -} - -extern Parser *parser; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index c214adab09..3f48450195 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -3,13 +3,12 @@ #include #include #include -#include #include #include // SignalForm -SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { +SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start_bit), QWidget(parent) { QFormLayout *form_layout = new QFormLayout(this); name = new QLineEdit(sig.name.c_str()); @@ -33,7 +32,8 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { sign->setCurrentIndex(sig.is_signed ? 0 : 1); form_layout->addRow(tr("sign"), sign); - factor = new QSpinBox(); + factor = new QDoubleSpinBox(); + factor->setDecimals(3); factor->setValue(sig.factor); form_layout->addRow(tr("Factor"), factor); @@ -46,9 +46,11 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { form_layout->addRow(tr("Unit"), unit); comment = new QLineEdit(); form_layout->addRow(tr("Comment"), comment); - min_val = new QSpinBox(); + min_val = new QDoubleSpinBox(); + factor->setDecimals(3); form_layout->addRow(tr("Minimum value"), min_val); - max_val = new QSpinBox(); + max_val = new QDoubleSpinBox(); + factor->setDecimals(3); form_layout->addRow(tr("Maximum value"), max_val); val_desc = new QLineEdit(); form_layout->addRow(tr("Value descriptions"), val_desc); @@ -56,11 +58,11 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { std::optional SignalForm::getSignal() { Signal sig = {}; + sig.start_bit = start_bit; sig.name = name->text().toStdString(); sig.size = size->text().toInt(); sig.offset = offset->text().toDouble(); sig.factor = factor->text().toDouble(); - sig.msb = msb->text().toInt(); sig.is_signed = sign->currentIndex() == 0; sig.is_little_endian = endianness->currentIndex() == 0; if (sig.is_little_endian) { @@ -75,30 +77,32 @@ std::optional SignalForm::getSignal() { // SignalEdit -SignalEdit::SignalEdit(const QString &id, const Signal &sig, const QString &color, QWidget *parent) : id(id), name_(sig.name.c_str()), QWidget(parent) { +SignalEdit::SignalEdit(int index, const QString &id, const Signal &sig, const QString &color, QWidget *parent) + : id(id), name_(sig.name.c_str()), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); // title QHBoxLayout *title_layout = new QHBoxLayout(); - QLabel *icon = new QLabel(">"); + icon = new QLabel(">"); + icon->setFixedSize(15, 30); icon->setStyleSheet("font-weight:bold"); title_layout->addWidget(icon); title = new ElidedLabel(this); - title->setText(sig.name.c_str()); + title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); + title->setText(QString("%1. %2").arg(index + 1).arg(sig.name.c_str())); title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color)); title_layout->addWidget(title); - title_layout->addStretch(); plot_btn = new QPushButton("📈"); plot_btn->setToolTip(tr("Show Plot")); plot_btn->setFixedSize(30, 30); - QObject::connect(plot_btn, &QPushButton::clicked, [=]() { emit parser->showPlot(id, name_); }); + QObject::connect(plot_btn, &QPushButton::clicked, [=]() { emit showChart(id, name_); }); title_layout->addWidget(plot_btn); main_layout->addLayout(title_layout); - edit_container = new QWidget(this); - QVBoxLayout *v_layout = new QVBoxLayout(edit_container); + form_container = new QWidget(this); + QVBoxLayout *v_layout = new QVBoxLayout(form_container); form = new SignalForm(sig, this); v_layout->addWidget(form); @@ -110,24 +114,27 @@ SignalEdit::SignalEdit(const QString &id, const Signal &sig, const QString &colo h->addWidget(save_btn); v_layout->addLayout(h); - edit_container->setVisible(false); - main_layout->addWidget(edit_container); + form_container->setVisible(false); + main_layout->addWidget(form_container); + + QFrame* hline = new QFrame(); + hline->setFrameShape(QFrame::HLine); + hline->setFrameShadow(QFrame::Sunken); + main_layout->addWidget(hline); QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save); - QObject::connect(title, &ElidedLabel::clicked, [=]() { - edit_container->isVisible() ? edit_container->hide() : edit_container->show(); - icon->setText(edit_container->isVisible() ? "▼" : ">"); - }); + QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); +} + +void SignalEdit::setFormVisible(bool visible) { + form_container->setVisible(visible); + icon->setText(visible ? "▼" : ">"); } void SignalEdit::save() { - if (auto sig = const_cast(parser->getSig(id, name_))) { - if (auto s = form->getSignal()) { - *sig = *s; - // TODO: reset the chart for sig - } - } + if (auto s = form->getSignal()) + dbc()->updateSignal(id, name_, *s); } void SignalEdit::remove() { @@ -137,7 +144,7 @@ void SignalEdit::remove() { msgbox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); msgbox.setDefaultButton(QMessageBox::Cancel); if (msgbox.exec()) { - parser->removeSignal(id, name_); + dbc()->removeSignal(id, name_); deleteLater(); } } @@ -145,19 +152,19 @@ void SignalEdit::remove() { // AddSignalDialog AddSignalDialog::AddSignalDialog(const QString &id, QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Add signal to %1").arg(parser->getMsg(id)->name.c_str())); + setWindowTitle(tr("Add signal to %1").arg(dbc()->msg(id)->name.c_str())); QVBoxLayout *main_layout = new QVBoxLayout(this); Signal sig = {.name = "untitled"}; auto form = new SignalForm(sig, this); main_layout->addWidget(form); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); main_layout->addWidget(buttonBox); + setFixedWidth(parent->width() * 0.9); + connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); connect(buttonBox, &QDialogButtonBox::accepted, [=]() { - if (auto msg = const_cast(parser->getMsg(id))) { - if (auto signal = form->getSignal()) { - msg->sigs.push_back(*signal); - } + if (auto signal = form->getSignal()) { + dbc()->addSignal(id, *signal); } QDialog::accept(); }); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index b8140cc93b..00c13948b7 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -4,12 +4,15 @@ #include #include +#include #include #include #include #include "selfdrive/ui/qt/widgets/controls.h" -#include "tools/cabana/parser.h" + +#include "tools/cabana/canmessages.h" +#include "tools/cabana/dbcmanager.h" class SignalForm : public QWidget { Q_OBJECT @@ -19,17 +22,25 @@ public: std::optional getSignal(); QLineEdit *name, *unit, *comment, *val_desc; - QSpinBox *size, *msb, *lsb, *factor, *offset, *min_val, *max_val; + QSpinBox *size, *msb, *lsb, *offset; + QDoubleSpinBox *factor, *min_val, *max_val; QComboBox *sign, *endianness; + int start_bit = 0; }; class SignalEdit : public QWidget { Q_OBJECT public: - SignalEdit(const QString &id, const Signal &sig, const QString &color, QWidget *parent = nullptr); + SignalEdit(int index, const QString &id, const Signal &sig, const QString &color, QWidget *parent = nullptr); + void setFormVisible(bool show); + inline bool isFormVisible() const { return form_container->isVisible(); } void save(); +signals: + void showChart(const QString &msg_id, const QString &sig_name); + void showFormClicked(); + protected: void remove(); @@ -38,8 +49,9 @@ protected: QPushButton *plot_btn; ElidedLabel *title; SignalForm *form; - QWidget *edit_container; + QWidget *form_container; QPushButton *remove_btn; + QLabel *icon; }; class AddSignalDialog : public QDialog { diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 957747584c..193a6f8788 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -6,11 +6,10 @@ #include #include #include +#include #include #include -#include "tools/cabana/parser.h" - inline QString formatTime(int seconds) { return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh::mm::ss" : "mm::ss"); } @@ -25,18 +24,17 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { // slider controls QHBoxLayout *slider_layout = new QHBoxLayout(); - time_label = new QLabel("00:00"); + QLabel *time_label = new QLabel("00:00"); slider_layout->addWidget(time_label); slider = new Slider(this); slider->setSingleStep(0); slider->setMinimum(0); - slider->setMaximum(parser->replay->totalSeconds() * 1000); + slider->setMaximum(can->totalSeconds() * 1000); slider_layout->addWidget(slider); - total_time_label = new QLabel(formatTime(parser->replay->totalSeconds())); - slider_layout->addWidget(total_time_label); - + end_time_label = new QLabel(formatTime(can->totalSeconds())); + slider_layout->addWidget(end_time_label); main_layout->addLayout(slider_layout); // btn controls @@ -50,51 +48,39 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { for (float speed : {0.1, 0.5, 1., 2.}) { QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this); btn->setCheckable(true); - QObject::connect(btn, &QPushButton::clicked, [=]() { parser->replay->setSpeed(speed); }); + QObject::connect(btn, &QPushButton::clicked, [=]() { can->setSpeed(speed); }); control_layout->addWidget(btn); group->addButton(btn); if (speed == 1.0) btn->setChecked(true); } - main_layout->addLayout(control_layout); - setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); - QObject::connect(parser, &Parser::rangeChanged, this, &VideoWidget::rangeChanged); - QObject::connect(parser, &Parser::updated, this, &VideoWidget::updateState); - QObject::connect(slider, &QSlider::sliderMoved, [=]() { time_label->setText(formatTime(slider->value() / 1000)); }); - QObject::connect(slider, &QSlider::sliderReleased, [this]() { setPosition(slider->value()); }); - QObject::connect(slider, &Slider::setPosition, this, &VideoWidget::setPosition); + setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); + QObject::connect(can, &CANMessages::rangeChanged, this, &VideoWidget::rangeChanged); + QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState); + QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); + QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); QObject::connect(play, &QPushButton::clicked, [=]() { - bool is_paused = parser->replay->isPaused(); + bool is_paused = can->isPaused(); play->setText(is_paused ? "⏸" : "▶"); - parser->replay->pause(!is_paused); + can->pause(!is_paused); }); } -void VideoWidget::setPosition(int value) { - time_label->setText(formatTime(value / 1000.0)); - parser->seekTo(value / 1000.0); -} - void VideoWidget::rangeChanged(double min, double max) { - if (!parser->isZoomed()) { + if (!can->isZoomed()) { min = 0; - max = parser->replay->totalSeconds(); + max = can->totalSeconds(); } - time_label->setText(formatTime(min)); - total_time_label->setText(formatTime(max)); + end_time_label->setText(formatTime(max)); slider->setMinimum(min * 1000); slider->setMaximum(max * 1000); - slider->setValue(parser->currentSec() * 1000); } void VideoWidget::updateState() { - if (!slider->isSliderDown()) { - double current_sec = parser->currentSec(); - time_label->setText(formatTime(current_sec)); - slider->setValue(current_sec * 1000); - } + if (!slider->isSliderDown()) + slider->setValue(can->currentSec() * 1000); } // Slider @@ -102,7 +88,7 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { QTimer *timer = new QTimer(this); timer->setInterval(2000); timer->callOnTimeout([this]() { - timeline = parser->replay->getTimeline(); + timeline = can->getTimeline(); update(); }); timer->start(); @@ -110,7 +96,7 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { void Slider::sliderChange(QAbstractSlider::SliderChange change) { if (change == QAbstractSlider::SliderValueChange) { - qreal x = width() * ((value() - minimum()) / double(maximum() - minimum())); + int x = width() * ((value() - minimum()) / double(maximum() - minimum())); if (x != slider_x) { slider_x = x; update(); @@ -121,45 +107,34 @@ void Slider::sliderChange(QAbstractSlider::SliderChange change) { } void Slider::paintEvent(QPaintEvent *ev) { - auto getPaintRange = [this](double begin, double end) -> std::pair { - double total_sec = maximum() - minimum(); - int start_pos = ((std::max((double)minimum(), (double)begin) - minimum()) / total_sec) * width(); - int end_pos = ((std::min((double)maximum(), (double)end) - minimum()) / total_sec) * width(); - return {start_pos, end_pos}; - }; + static const QColor colors[] = { + [(int)TimelineType::None] = QColor(111, 143, 175), + [(int)TimelineType::Engaged] = QColor(0, 163, 108), + [(int)TimelineType::UserFlag] = Qt::white, + [(int)TimelineType::AlertInfo] = Qt::green, + [(int)TimelineType::AlertWarning] = QColor(255, 195, 0), + [(int)TimelineType::AlertCritical] = QColor(199, 0, 57)}; QPainter p(this); - const int v_margin = 2; - p.fillRect(rect().adjusted(0, v_margin, 0, -v_margin), QColor(111, 143, 175)); - + QRect r = rect().adjusted(0, 4, 0, -4); + p.fillRect(r, colors[(int)TimelineType::None]); + double min = minimum() / 1000.0; + double max = maximum() / 1000.0; for (auto [begin, end, type] : timeline) { - begin *= 1000; - end *= 1000; - if (begin > maximum() || end < minimum()) continue; - - if (type == TimelineType::Engaged) { - auto [start_pos, end_pos] = getPaintRange(begin, end); - p.fillRect(QRect(start_pos, v_margin, end_pos - start_pos, height() - v_margin * 2), QColor(0, 163, 108)); - } + if (begin > max || end < min) + continue; + r.setLeft(((std::max(min, (double)begin) - min) / (max - min)) * width()); + r.setRight(((std::min(max, (double)end) - min) / (max - min)) * width()); + p.fillRect(r, colors[(int)type]); } - for (auto [begin, end, type] : timeline) { - begin *= 1000; - end *= 1000; - if (type == TimelineType::Engaged || begin > maximum() || end < minimum()) continue; - - auto [start_pos, end_pos] = getPaintRange(begin, end); - if (type == TimelineType::UserFlag) { - p.fillRect(QRect(start_pos, height() - v_margin - 3, end_pos - start_pos, 3), Qt::white); - } else { - QColor color(Qt::green); - if (type != TimelineType::AlertInfo) - color = type == TimelineType::AlertWarning ? QColor(255, 195, 0) : QColor(199, 0, 57); - - p.fillRect(QRect(start_pos, height() - v_margin - 3, end_pos - start_pos, 3), color); - } - } - p.setPen(QPen(QColor(88, 24, 69), 3)); - p.drawLine(QPoint{slider_x, 0}, QPoint{slider_x, height()}); + + QStyleOptionSlider opt; + opt.initFrom(this); + opt.minimum = minimum(); + opt.maximum = maximum(); + opt.subControls = QStyle::SC_SliderHandle; + opt.sliderPosition = value(); + style()->drawComplexControl(QStyle::CC_Slider, &opt, &p); } void Slider::mousePressEvent(QMouseEvent *e) { @@ -167,6 +142,6 @@ void Slider::mousePressEvent(QMouseEvent *e) { if (e->button() == Qt::LeftButton && !isSliderDown()) { int value = minimum() + ((maximum() - minimum()) * e->x()) / width(); setValue(value); - emit setPosition(value); + emit sliderReleased(); } } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 060565d322..e80e3b48f9 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -5,24 +5,19 @@ #include #include "selfdrive/ui/qt/widgets/cameraview.h" -#include "tools/replay/replay.h" +#include "tools/cabana/canmessages.h" class Slider : public QSlider { Q_OBJECT public: Slider(QWidget *parent); - void mousePressEvent(QMouseEvent* e) override; + void mousePressEvent(QMouseEvent *e) override; void sliderChange(QAbstractSlider::SliderChange change) override; - -signals: - void setPosition(int value); - -private: - void paintEvent(QPaintEvent *ev) override; - std::vector> timeline; + void paintEvent(QPaintEvent *ev) override; int slider_x = -1; + std::vector> timeline; }; class VideoWidget : public QWidget { @@ -34,9 +29,8 @@ public: protected: void rangeChanged(double min, double max); void updateState(); - void setPosition(int value); CameraViewWidget *cam_widget; - QLabel *time_label, *total_time_label; + QLabel *end_time_label; Slider *slider; }; diff --git a/tools/replay/main.cc b/tools/replay/main.cc index d3d6894877..40dace0c91 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -4,8 +4,6 @@ #include "tools/replay/consoleui.h" #include "tools/replay/replay.h" -const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; - int main(int argc, char *argv[]) { QCoreApplication app(argc, argv); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 725bd1a27e..fbb36bd1ed 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -7,6 +7,8 @@ #include "tools/replay/camera.h" #include "tools/replay/route.h" +const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; + // one segment uses about 100M of memory constexpr int FORWARD_SEGS = 5; diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index d6482c3ca2..5b61b6b6f2 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -9,7 +9,6 @@ #include "tools/replay/replay.h" #include "tools/replay/util.h" -const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3"; From 47b19ff14891947bc5db02f3378b5eceba08ee85 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 12 Oct 2022 16:59:39 -0400 Subject: [PATCH 231/685] VW PQ: Volkswagen Sharan Mk2 / SEAT Alhambra Mk2 (#25839) * initial Sharan support * placeholder torque data * oops * add route * min speeds and PQ default delay --- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + selfdrive/car/volkswagen/interface.py | 7 +++++++ selfdrive/car/volkswagen/values.py | 19 ++++++++++++++++++- 4 files changed, 27 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 82c0614493..ac56cc106b 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -175,6 +175,7 @@ routes = [ CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8), CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS), CarTestRoute("0cd0b7f7e31a3853|2021-11-03--19-30-22", VOLKSWAGEN.POLO_MK6), + CarTestRoute("064d1816e448f8eb|2022-09-29--15-32-34", VOLKSWAGEN.SHARAN_MK2), CarTestRoute("7d82b2f3a9115f1f|2021-10-21--15-39-42", VOLKSWAGEN.TAOS_MK1), CarTestRoute("2744c89a8dda9a51|2021-07-24--21-28-06", VOLKSWAGEN.TCROSS_MK1), CarTestRoute("2cef8a0b898f331a|2021-03-25--20-13-57", VOLKSWAGEN.TIGUAN_MK2), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index b5d1a31193..889eeffb25 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -30,6 +30,7 @@ CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] +VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0] # Dashcam or fallback configured as ideal car diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 821eef44c7..4724fe81bf 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -127,6 +127,13 @@ class CarInterface(CarInterfaceBase): ret.mass = 1230 + STD_CARGO_KG ret.wheelbase = 2.55 + 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 + elif candidate == CAR.TAOS_MK1: ret.mass = 1498 + STD_CARGO_KG ret.wheelbase = 2.69 diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index bdd1b5089d..e0bcd02600 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -116,6 +116,7 @@ class CAR: PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN" # Chassis 3G, Mk8 VW Passat and variants PASSAT_NMS = "VOLKSWAGEN PASSAT NMS" # Chassis A3, North America/China/Mideast NMS Passat, incl. facelift POLO_MK6 = "VOLKSWAGEN POLO 6TH GEN" # Chassis AW, Mk6 VW Polo + SHARAN_MK2 = "VOLKSWAGEN SHARAN 2ND GEN" # Chassis 7N, Mk2 Volkswagen Sharan and SEAT Alhambra TAOS_MK1 = "VOLKSWAGEN TAOS 1ST GEN" # Chassis B2, Mk1 VW Taos and Tharu TCROSS_MK1 = "VOLKSWAGEN T-CROSS 1ST GEN" # Chassis C1, Mk1 VW T-Cross SWB and LWB variants TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN" # Chassis AD/BW, Mk2 VW Tiguan and variants @@ -135,7 +136,7 @@ class CAR: SKODA_OCTAVIA_MK3 = "SKODA OCTAVIA 3RD GEN" # Chassis NE, Mk3 Skoda Octavia and variants -PQ_CARS = {CAR.PASSAT_NMS} +PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2} DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("vw_mqb_2010", None)) @@ -206,6 +207,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), ], + CAR.SHARAN_MK2: [ + VWCarInfo("Volkswagen Sharan 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("SEAT Alhambra 2018-20", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + ], CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), @@ -625,6 +630,18 @@ FW_VERSIONS = { b'\xf1\x872Q0907572R \xf1\x890372', ], }, + CAR.SHARAN_MK2: { + # TODO: Sharan Mk2 EPS and DQ250 auto trans both require KWP2000 support for fingerprinting + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906016HE\xf1\x894635', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x877N0959655D \xf1\x890016\xf1\x82\x0801100705----10--', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0153', + ], + }, CAR.TAOS_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027NJ\xf1\x891445', From ac88ad871a9fba9076eb4d02a57e34ad34839f59 Mon Sep 17 00:00:00 2001 From: Jason Shuler Date: Wed, 12 Oct 2022 17:02:01 -0400 Subject: [PATCH 232/685] GM: disable checks on loopback bus (#26015) * disabling checks on loopback bus * Apply suggestions from code review Co-authored-by: Shane Smiskol --- selfdrive/car/gm/carstate.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 11c521e863..a5f89c58b0 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -177,9 +177,7 @@ class CarState(CarStateBase): ] checks = [ - ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms). - # While active 50 Hz (every 20 ms) is normal - # EPS will tolerate around 200ms when active before faulting + ("ASCMLKASteeringCmd", 0), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK, enforce_checks=False) From 03f06b0e32c823df2321ca4e6b0077b5e112f734 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 12 Oct 2022 14:03:44 -0700 Subject: [PATCH 233/685] ci: don't cancel concurrent workflows for master branch (#26047) don't cancel for master branch --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 9c38ba0cbc..ab70b8e7ef 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -8,7 +8,7 @@ on: concurrency: group: ${{ github.workflow }}-${{ github.ref }}-${{ github.event_name }} - cancel-in-progress: true + cancel-in-progress: ${{ github.ref != 'refs/heads/master' }} env: BASE_IMAGE: openpilot-base From 3c0904a18f4acb852193de9956965df2520104d1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 12 Oct 2022 14:22:40 -0700 Subject: [PATCH 234/685] EV6 longitudinal (#26023) * ev6 long * update refs --- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 94 ++++++++++--------- selfdrive/car/hyundai/carstate.py | 40 +++++---- selfdrive/car/hyundai/hyundaicanfd.py | 109 +++++++++++++++++++++-- selfdrive/car/hyundai/interface.py | 66 ++++++++------ selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 219 insertions(+), 94 deletions(-) diff --git a/panda b/panda index d68b1b0a98..ffb3109e28 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d68b1b0a98d5cefad438180e3c2ffcdcbcffdd76 +Subproject commit ffb3109e28296cc86f1892c4e0690856e28fb35a diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 2b0d6b9648..bcbab2ab94 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -52,17 +52,15 @@ class CarController: self.apply_steer_last = 0 self.car_fingerprint = CP.carFingerprint self.last_button_frame = 0 - self.accel = 0 def update(self, CC, CS): actuators = CC.actuators hud_control = CC.hudControl - # Steering Torque - - # These cars have significantly more torque than most HKG. Limit to 70% of max. + # 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) @@ -72,48 +70,66 @@ class CarController: self.apply_steer_last = apply_steer + # accel + longitudinal + accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) + stopping = actuators.longControlState == LongCtrlState.stopping + set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) + + # HUD messages sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint, hud_control) can_sends = [] + # *** common hyundai stuff *** + + # tester present - w/ no response (keeps relevant ECU disabled) + if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl: + 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]) + + # CAN-FD platforms if self.CP.carFingerprint in CANFD_CAR: + hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2 + hda2_long = hda2 and self.CP.openpilotLongitudinalControl + # steering control - can_sends.append(hyundaicanfd.create_lkas(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer)) + can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer)) - # block LFA on HDA2 - if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.CANFD_HDA2): + # disable LFA on HDA2 + if self.frame % 5 == 0 and hda2: can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4)) # LFA and HDA icons - if self.frame % 2 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_HDA2): - can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, CC.enabled)) + if self.frame % 5 == 0 and (not hda2 or hda2_long): + can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled)) - # button presses - if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: - # cruise cancel - if CC.cruiseControl.cancel: - if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - can_sends.append(hyundaicanfd.create_cruise_info(self.packer, CS.cruise_info_copy, True)) - self.last_button_frame = self.frame - else: - for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL)) - self.last_button_frame = self.frame - - # cruise standstill resume - elif CC.cruiseControl.resume: - if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): - for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) - self.last_button_frame = self.frame - else: - - # tester present - w/ no response (keeps radar disabled) if self.CP.openpilotLongitudinalControl: - if self.frame % 100 == 0: - can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0]) - + can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame)) + if self.frame % 2 == 0: + can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, accel, stopping, CC.cruiseControl.override, + set_speed_in_units)) + else: + # button presses + if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: + # cruise cancel + if CC.cruiseControl.cancel: + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + self.last_button_frame = self.frame + else: + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL)) + self.last_button_frame = self.frame + + # cruise standstill resume + elif CC.cruiseControl.resume: + if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): + for _ in range(20): + can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) + self.last_button_frame = self.frame + else: # 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: self.angle_limit_counter += 1 @@ -143,18 +159,10 @@ class CarController: self.last_button_frame = self.frame if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl: - accel = actuators.accel - - #TODO unclear if this is needed + # TODO: unclear if this is needed jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 - - accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) - - stopping = actuators.longControlState == LongCtrlState.stopping - set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH) can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override)) - self.accel = accel # 20 Hz LFA MFA message if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, @@ -173,7 +181,7 @@ class CarController: new_actuators = actuators.copy() new_actuators.steer = apply_steer / self.params.STEER_MAX - new_actuators.accel = self.accel + new_actuators.accel = accel self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 4d60afe1fd..4c2650c19f 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -30,6 +30,7 @@ class CarState(CarStateBase): else: # preferred and elect gear methods use same definition self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] + self.is_metric = False self.brake_error = False self.buttons_counter = 0 @@ -45,8 +46,8 @@ class CarState(CarStateBase): ret = car.CarState.new_message() cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp - is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0 - speed_conv = CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS + self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0 + speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"], cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]]) @@ -69,7 +70,7 @@ class CarState(CarStateBase): self.cluster_speed_counter = 0 # mimic how dash converts to imperial - if not is_metric: + if not self.is_metric: self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH) ret.vEgoCluster = self.cluster_speed * speed_conv @@ -187,16 +188,19 @@ class CarState(CarStateBase): ret.cruiseState.available = True ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1 - cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam - speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS - ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor - ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 + self.is_metric = cp.vl["CLUSTER_INFO"]["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 if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam + ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor + ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 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"]) self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"] - self.cruise_info_copy = copy.copy(cp_cruise_info.vl["CRUISE_INFO"]) + self.cruise_info_copy = {} if self.CP.flags & HyundaiFlags.CANFD_HDA2: self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) @@ -448,13 +452,18 @@ class CarState(CarStateBase): signals += [ ("ACCELERATOR_PEDAL", "ACCELERATOR"), ("GEAR", "ACCELERATOR"), - ("SET_SPEED", "CRUISE_INFO"), - ("CRUISE_STANDSTILL", "CRUISE_INFO"), ] checks += [ - ("CRUISE_INFO", 50), ("ACCELERATOR", 100), ] + if not CP.openpilotLongitudinalControl: + signals += [ + ("SET_SPEED", "CRUISE_INFO"), + ("CRUISE_STANDSTILL", "CRUISE_INFO"), + ] + checks += [ + ("CRUISE_INFO", 50), + ] else: signals += [ ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"), @@ -478,17 +487,14 @@ class CarState(CarStateBase): ("CRUISE_MAIN", "CRUISE_INFO"), ("CRUISE_STATUS", "CRUISE_INFO"), ("CRUISE_INACTIVE", "CRUISE_INFO"), - ("NEW_SIGNAL_2", "CRUISE_INFO"), + ("ZEROS_9", "CRUISE_INFO"), ("CRUISE_STANDSTILL", "CRUISE_INFO"), - ("NEW_SIGNAL_3", "CRUISE_INFO"), - ("BYTE11", "CRUISE_INFO"), + ("ZEROS_5", "CRUISE_INFO"), + ("DISTANCE_SETTING", "CRUISE_INFO"), ("SET_SPEED", "CRUISE_INFO"), ("NEW_SIGNAL_4", "CRUISE_INFO"), ] - signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(3, 7)] - signals += [(f"BYTE{i}", "CRUISE_INFO") for i in range(13, 31)] - checks = [ ("CRUISE_INFO", 50), ] diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index a53be7627d..9d4e4d4e0d 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,7 +1,17 @@ from selfdrive.car.hyundai.values import HyundaiFlags -def create_lkas(packer, CP, enabled, lat_active, apply_steer): +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 a different harness than the HDA1 and non-HDA variants in order to split + # a different bus, since the steering is done by different ECUs. + return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 + + +def create_steering_messages(packer, CP, enabled, lat_active, apply_steer): + + ret = [] + values = { "LKA_MODE": 2, "LKA_ICON": 2 if enabled else 1, @@ -14,8 +24,14 @@ def create_lkas(packer, CP, enabled, lat_active, apply_steer): "NEW_SIGNAL_2": 0, } - msg = "LKAS" if CP.flags & HyundaiFlags.CANFD_HDA2 else "LFA" - return packer.make_can_msg(msg, 4, values) + if CP.flags & HyundaiFlags.CANFD_HDA2: + if CP.openpilotLongitudinalControl: + ret.append(packer.make_can_msg("LFA", 5, values)) + ret.append(packer.make_can_msg("LKAS", 4, values)) + else: + ret.append(packer.make_can_msg("LFA", 4, values)) + + return ret def create_cam_0x2a4(packer, camera_values): camera_values.update({ @@ -36,11 +52,92 @@ def create_cruise_info(packer, cruise_info_copy, cancel): if cancel: values["CRUISE_STATUS"] = 0 values["CRUISE_INACTIVE"] = 1 - return packer.make_can_msg("CRUISE_INFO", 4, values) + return packer.make_can_msg("CRUISE_INFO", 5, values) -def create_lfahda_cluster(packer, enabled): +def create_lfahda_cluster(packer, CP, enabled): values = { "HDA_ICON": 1 if enabled else 0, "LFA_ICON": 2 if enabled else 0, } - return packer.make_can_msg("LFAHDA_CLUSTER", 4, values) + return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values) + + +def create_acc_control(packer, CP, enabled, accel, stopping, gas_override, set_speed): + cruise_status = 0 if not enabled else (4 if gas_override else 2) + if not enabled or gas_override: + accel = 0 + values = { + "CRUISE_STATUS": cruise_status, + "CRUISE_INACTIVE": 0 if enabled else 1, + "CRUISE_MAIN": 1, + "CRUISE_STANDSTILL": 0, + "STOP_REQ": 1 if stopping else 0, + "ACCEL_REQ": accel, + "ACCEL_REQ2": accel, + "SET_SPEED": set_speed, + "DISTANCE_SETTING": 4, + + "ACC_ObjDist": 1, + "ObjValid": 1, + "OBJ_STATUS": 2, + "SET_ME_2": 0x2, + "SET_ME_3": 0x3, + "SET_ME_TMP_64": 0x64, + + "NEW_SIGNAL_9": 2, + "NEW_SIGNAL_10": 4, + } + + return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values) + + + +def create_adrv_messages(packer, frame): + # messages needed to car happy after disabling + # the ADAS Driving ECU to do longitudinal control + + ret = [] + + values = { + } + ret.append(packer.make_can_msg("ADRV_0x51", 4, values)) + + if frame % 2 == 0: + values = { + 'AEB_SETTING': 0x1, # show AEB disabled icon + 'SET_ME_2': 0x2, + 'SET_ME_FF': 0xff, + 'SET_ME_FC': 0xfc, + 'SET_ME_9': 0x9, + } + ret.append(packer.make_can_msg("ADRV_0x160", 5, values)) + + if frame % 5 == 0: + values = { + 'SET_ME_1C': 0x1c, + 'SET_ME_FF': 0xff, + 'SET_ME_TMP_F': 0xf, + 'SET_ME_TMP_F_2': 0xf, + } + ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values)) + + values = { + 'SET_ME_E1': 0xe1, + 'SET_ME_3A': 0x3a, + } + ret.append(packer.make_can_msg("ADRV_0x200", 5, values)) + + if frame % 20 == 0: + values = { + 'SET_ME_15': 0x15, + } + ret.append(packer.make_can_msg("ADRV_0x345", 5, values)) + + if frame % 100 == 0: + values = { + 'SET_ME_22': 0x22, + 'SET_ME_41': 0x41, + } + ret.append(packer.make_can_msg("ADRV_0x1da", 5, values)) + + return ret diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 2d960ed17f..024d7498fa 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -27,31 +27,24 @@ class CarInterface(CarInterfaceBase): ret.carName = "hyundai" ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None - # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB) - ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR | CANFD_CAR) - ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable - - ret.pcmCruise = not ret.openpilotLongitudinalControl - # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} + if candidate in CANFD_CAR: + # detect HDA2 with LKAS message + if 0x50 in fingerprint[6]: + ret.flags |= HyundaiFlags.CANFD_HDA2.value + else: + # non-HDA2 + if 0x1cf not in fingerprint[4]: + ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value + ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1. - ret.stoppingControl = True - ret.startingState = True - ret.vEgoStarting = 0.1 - ret.startAccel = 2.0 - - ret.longitudinalTuning.kpV = [0.5] - ret.longitudinalTuning.kiV = [0.0] - - ret.longitudinalActuatorDelayLowerBound = 0.5 # s - ret.longitudinalActuatorDelayUpperBound = 0.5 # s if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG @@ -291,20 +284,38 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] - # panda safety config + # *** longitudinal control *** + if candidate in CANFD_CAR: + ret.longitudinalTuning.kpV = [0.1] + ret.longitudinalTuning.kiV = [0.0] + ret.longitudinalActuatorDelayLowerBound = 0.15 + ret.longitudinalActuatorDelayUpperBound = 0.5 + ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2) + else: + ret.longitudinalTuning.kpV = [0.5] + ret.longitudinalTuning.kiV = [0.0] + ret.longitudinalActuatorDelayLowerBound = 0.5 + ret.longitudinalActuatorDelayUpperBound = 0.5 + ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) + ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable + ret.pcmCruise = not ret.openpilotLongitudinalControl + + ret.stoppingControl = True + ret.startingState = True + ret.vEgoStarting = 0.1 + ret.startAccel = 2.0 + + # *** panda safety config *** if candidate in CANFD_CAR: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)] - # detect HDA2 with LKAS message - if 0x50 in fingerprint[6]: - ret.flags |= HyundaiFlags.CANFD_HDA2.value + if ret.openpilotLongitudinalControl: + ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_LONG + if ret.flags & HyundaiFlags.CANFD_HDA2: ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 - else: - # non-HDA2 - if 0x1cf not in fingerprint[4]: - ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS + if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS else: ret.enableBsm = 0x58b in fingerprint[0] @@ -342,7 +353,10 @@ class CarInterface(CarInterfaceBase): @staticmethod def init(CP, logcan, sendcan): if CP.openpilotLongitudinalControl: - disable_ecu(logcan, sendcan, addr=0x7d0, com_cont_req=b'\x28\x83\x01') + addr, bus = 0x7d0, 0 + if CP.flags & HyundaiFlags.CANFD_HDA2.value: + addr, bus = 0x730, 5 + disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01') def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 6b64fcb5aa..4577d3cddf 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -5fa6a3743f2678eef13267fb946d7a03f2af5824 +27022484e3f4c0265ee7243154659b2697de3af7 \ No newline at end of file From 80259f377f8b1aa3a337cccbc3b00bd41898cf44 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 12 Oct 2022 14:23:12 -0700 Subject: [PATCH 235/685] Ford: cleanup and fix button press (#26033) * cleanup * use Veh_V_ActlBrk for vEgoRaw * remove unused CarState.yaw_data * less resume spam * set steering ramp rate * match DBC range * add LCA/TJA notes --- selfdrive/car/ford/carcontroller.py | 50 ++++++++++++++++------------- selfdrive/car/ford/carstate.py | 8 ++--- selfdrive/car/ford/fordcan.py | 29 ++++++++++------- selfdrive/car/ford/interface.py | 9 +++--- selfdrive/car/ford/values.py | 29 ++++++++--------- 5 files changed, 67 insertions(+), 58 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 592d8586ca..f18014601c 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -3,7 +3,7 @@ from cereal import car from common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker from selfdrive.car.ford import fordcan -from selfdrive.car.ford.values import CarControllerParams +from selfdrive.car.ford.values import CANBUS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -16,9 +16,9 @@ def apply_ford_steer_angle_limits(apply_angle, apply_angle_last, vEgo): apply_angle = clip(apply_angle, (apply_angle_last - max_angle_diff), (apply_angle_last + max_angle_diff)) # absolute limit (LatCtlPath_An_Actl) - apply_path_angle = math.radians(apply_angle) / CarControllerParams.STEER_RATIO - apply_path_angle = clip(apply_path_angle, -0.4995, 0.5240) - apply_angle = math.degrees(apply_path_angle) * CarControllerParams.STEER_RATIO + apply_path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO + apply_path_angle = clip(apply_path_angle, -0.5, 0.5235) + apply_angle = math.degrees(apply_path_angle) * CarControllerParams.LKAS_STEER_RATIO return apply_angle @@ -47,40 +47,46 @@ class CarController: ### acc buttons ### if CC.cruiseControl.cancel: can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True)) - elif CC.cruiseControl.resume: + can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main)) + elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True)) - - # if stock lane centering is active or in standby, toggle it off + can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main)) + # if stock lane centering isn't off, send a button press to toggle it off # the stock system checks for steering pressed, and eventually disengages cruise control - if (self.frame % 200) == 0 and CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0: + elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### if CC.latActive: + lca_rq = 1 apply_angle = apply_ford_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo) else: - apply_angle = CS.out.steeringAngleDeg + lca_rq = 0 + apply_angle = 0. # send steering commands at 20Hz if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0: - lca_rq = 1 if CC.latActive else 0 - # use LatCtlPath_An_Actl to actuate steering - # path angle is the car wheel angle, not the steering wheel angle - path_angle = math.radians(apply_angle) / CarControllerParams.STEER_RATIO - - # ramp rate: 0=Slow, 1=Medium, 2=Fast, 3=Immediately - # TODO: try slower ramp speed when driver torque detected - ramp_type = 3 + path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO + + # set slower ramp type when small steering angle change + # 0=Slow, 1=Medium, 2=Fast, 3=Immediately + steer_change = abs(CS.out.steeringAngleDeg - actuators.steeringAngleDeg) + if steer_change < 2.0: + ramp_type = 0 + elif steer_change < 4.0: + ramp_type = 1 + elif steer_change < 6.0: + ramp_type = 2 + else: + ramp_type = 3 precision = 1 # 0=Comfortable, 1=Precise (the stock system always uses comfortable) - offset_roll_compensation_curvature = clip(self.VM.calc_curvature(0, CS.out.vEgo, -CS.yaw_data["VehYaw_W_Actl"]), -0.02, 0.02094) - self.apply_angle_last = apply_angle - can_sends.append(fordcan.create_lka_command(self.packer, apply_angle, 0)) + can_sends.append(fordcan.create_lka_command(self.packer, 0, 0)) can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision, - 0, path_angle, 0, offset_roll_compensation_curvature)) + 0, path_angle, 0, 0)) ### ui ### @@ -99,7 +105,7 @@ class CarController: self.steer_alert_last = steer_alert new_actuators = actuators.copy() - new_actuators.steeringAngleDeg = apply_angle + new_actuators.steeringAngleDeg = self.apply_angle_last self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index a7ea19effc..2276b1208a 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -20,7 +20,7 @@ class CarState(CarStateBase): ret = car.CarState.new_message() # car speed - ret.vEgoRaw = cp.vl["EngVehicleSpThrottle2"]["Veh_V_ActlEng"] * CV.KPH_TO_MS + ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"] ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1 @@ -85,8 +85,6 @@ class CarState(CarStateBase): # Stock values from IPMA so that we can retain some stock functionality self.acc_tja_status_stock_values = cp_cam.vl["ACCDATA_3"] self.lkas_status_stock_values = cp_cam.vl["IPMA_Data"] - # Use stock sensor values - self.yaw_data = cp.vl["Yaw_Data_FD1"] return ret @@ -94,7 +92,7 @@ class CarState(CarStateBase): def get_can_parser(CP): signals = [ # sig_name, sig_address - ("Veh_V_ActlEng", "EngVehicleSpThrottle2"), # ABS vehicle speed (kph) + ("Veh_V_ActlBrk", "BrakeSysFeatures"), # ABS vehicle speed (kph) ("VehYaw_W_Actl", "Yaw_Data_FD1"), # ABS vehicle yaw rate (rad/s) ("VehStop_D_Stat", "DesiredTorqBrk"), # ABS vehicle stopped ("PrkBrkStatus", "DesiredTorqBrk"), # ABS park brake status @@ -156,7 +154,7 @@ class CarState(CarStateBase): checks = [ # sig_address, frequency - ("EngVehicleSpThrottle2", 50), + ("BrakeSysFeatures", 50), ("Yaw_Data_FD1", 100), ("DesiredTorqBrk", 50), ("EngVehicleSpThrottle", 100), diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index b42561df21..373ce096c6 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -8,8 +8,7 @@ def create_lka_command(packer, angle_deg: float, curvature: float): """ Creates a CAN message for the Ford LKAS Command. - This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the - PSCM lockout. + This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout. Frequency is 20Hz. """ @@ -30,12 +29,20 @@ def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path """ Creates a CAN message for the Ford TJA/LCA Command. - This command can apply "Lane Centering" manoeuvres: continuous lane centering - for traffic jam assist and highway driving. It is not subject to the PSCM - lockout. + This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam + assist and highway driving. It is not subject to the PSCM lockout. - The PSCM should be configured to accept TJA/LCA commands before these - commands will be processed. This can be done using tools such as Forscan. + Ford lane centering command uses a third order polynomial to describe the road centerline. The + polynomial is defined by the following coefficients: + c0: lateral offset between the vehicle and the centerline + c1: heading angle between the vehicle and the centerline + c2: curvature of the centerline + c3: rate of change of curvature of the centerline + As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and + speed, the steering angle cannot be easily controlled. + + The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. + This can be done using tools such as Forscan. Frequency is 20Hz. """ @@ -47,7 +54,7 @@ def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] "LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter - "LatCtlPath_An_Actl": path_angle, # Path angle [-0.4995|0.5240] radians + "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter } @@ -108,8 +115,8 @@ def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bo def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): """ - Creates a CAN message for the Ford IPC adaptive cruise, forward collision - warning and traffic jam assist status. + Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam + assist status. Stock functionality is maintained by passing through unmodified signals. @@ -141,7 +148,7 @@ def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, sto return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) -def create_button_command(packer, stock_values: dict, cancel = False, resume = False, tja_toggle = False, bus = CANBUS.camera): +def create_button_command(packer, stock_values: dict, cancel = False, resume = False, tja_toggle = False, bus: int = CANBUS.camera): """ Creates a CAN message for the Ford SCCM buttons/switches. diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 7d4c9eb94c..4943db076f 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -5,8 +5,7 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter from selfdrive.car.interfaces import CarInterfaceBase - -EventName = car.CarEvent.EventName +CarParams = car.CarParams class CarInterface(CarInterfaceBase): @@ -19,10 +18,10 @@ class CarInterface(CarInterfaceBase): ret.carName = "ford" ret.dashcamOnly = True - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] + ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)] # Angle-based steering - ret.steerControlType = car.CarParams.SteerControlType.angle + ret.steerControlType = CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.4 ret.steerLimitTimer = 1.0 tire_stiffness_factor = 1.0 @@ -43,7 +42,7 @@ class CarInterface(CarInterfaceBase): ret.mass = 1350 + STD_CARGO_KG else: - raise ValueError(f"Unsupported car: ${candidate}") + raise ValueError(f"Unsupported car: {candidate}") # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 5820b5c9fd..7b3140fbbf 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,4 +1,4 @@ -from collections import namedtuple +from collections import defaultdict, namedtuple from dataclasses import dataclass from enum import Enum from typing import Dict, List, Union @@ -22,19 +22,17 @@ class CarControllerParams: LKAS_UI_STEP = 100 # Message: ACCDATA_3 ACC_UI_STEP = 5 + # Message: Steering_Data_FD1, but send twice as fast + BUTTONS_STEP = 10 / 2 - STEER_RATIO = 2.75 - STEER_DRIVER_ALLOWANCE = 0.8 + LKAS_STEER_RATIO = 2.75 # Approximate ratio between LatCtlPath_An_Actl and steering angle in radians + # TODO: remove this once we understand how the EPS calculates the steering angle better + STEER_DRIVER_ALLOWANCE = 0.8 # Driver intervention threshold in Nm 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]) -class RADAR: - DELPHI_ESR = 'ford_fusion_2018_adas' - DELPHI_MRR = 'FORD_CADS' - - class CANBUS: main = 0 radar = 1 @@ -47,6 +45,14 @@ class CAR: FOCUS_MK4 = "FORD FOCUS 4TH GEN" +class RADAR: + DELPHI_ESR = 'ford_fusion_2018_adas' + DELPHI_MRR = 'FORD_CADS' + + +DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR)) + + @dataclass class FordCarInfo(CarInfo): package: str = "Co-Pilot360 Assist+" @@ -143,10 +149,3 @@ FW_VERSIONS = { ], }, } - - -DBC = { - CAR.ESCAPE_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR), - CAR.EXPLORER_MK6: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR), - CAR.FOCUS_MK4: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR), -} From 23e78da6a49b8aa43c7d60226aa466a8599be700 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 12 Oct 2022 14:34:43 -0700 Subject: [PATCH 236/685] ci: fix tools workflow --- .github/workflows/tools_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index c5afaad16c..71f6ed50bc 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -6,7 +6,7 @@ on: concurrency: group: ${{ github.workflow }}-${{ github.ref }}-${{ github.event_name }} - cancel-in-progress: true + cancel-in-progress: ${{ github.ref != 'refs/heads/master' }} env: BASE_IMAGE: openpilot-base From 077f0e0a4433e07330e2c1e22bc1774da1d964fc Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 12 Oct 2022 15:11:03 -0700 Subject: [PATCH 237/685] ci: disable concurrency for master branch (#26052) disable concurrency for master branch --- .github/workflows/selfdrive_tests.yaml | 4 ++-- .github/workflows/tools_tests.yaml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index ab70b8e7ef..cd34c6d27c 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -7,8 +7,8 @@ on: pull_request: concurrency: - group: ${{ github.workflow }}-${{ github.ref }}-${{ github.event_name }} - cancel-in-progress: ${{ github.ref != 'refs/heads/master' }} + group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} + cancel-in-progress: true env: BASE_IMAGE: openpilot-base diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 71f6ed50bc..9dc5c05837 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -5,8 +5,8 @@ on: pull_request: concurrency: - group: ${{ github.workflow }}-${{ github.ref }}-${{ github.event_name }} - cancel-in-progress: ${{ github.ref != 'refs/heads/master' }} + group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} + cancel-in-progress: true env: BASE_IMAGE: openpilot-base From 8b5ebbddf684bc7566ae41447face9f2ab053d40 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 12 Oct 2022 15:14:02 -0700 Subject: [PATCH 238/685] build extras together (#26051) * build extras together * don't check here either --- SConstruct | 9 +++++---- tools/cabana/SConscript | 7 +++---- tools/replay/SConscript | 17 ++++++++--------- 3 files changed, 16 insertions(+), 17 deletions(-) diff --git a/SConstruct b/SConstruct index e015218f2a..23ab37dc1e 100644 --- a/SConstruct +++ b/SConstruct @@ -431,11 +431,12 @@ SConscript(['selfdrive/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) SConscript(['selfdrive/navd/SConscript']) -SConscript(['tools/replay/SConscript']) +if arch in ['x86_64', 'Darwin'] or GetOption('extras'): + SConscript(['tools/replay/SConscript']) -opendbc = abspath([File('opendbc/can/libdbc.so')]) -Export('opendbc') -SConscript(['tools/cabana/SConscript']) + opendbc = abspath([File('opendbc/can/libdbc.so')]) + Export('opendbc') + SConscript(['tools/cabana/SConscript']) if GetOption('test'): SConscript('panda/tests/safety/SConscript') diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index b94741ea9c..8dbd4f1d1c 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -11,7 +11,6 @@ else: base_libs.append('OpenCL') qt_libs = ['qt_util', 'Qt5Charts'] + base_libs -if arch in ['x86_64', 'Darwin'] and GetOption('extras'): - cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs - qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', - 'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs +qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', + 'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/replay/SConscript b/tools/replay/SConscript index 9985375688..4ddeb662e0 100644 --- a/tools/replay/SConscript +++ b/tools/replay/SConscript @@ -12,15 +12,14 @@ else: base_libs.append('OpenCL') qt_libs = ['qt_util'] + base_libs -if arch in ['x86_64', 'Darwin'] or GetOption('extras'): - qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] +qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] - replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] +replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] - replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks) - Export('replay_lib') - replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs - qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) +replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks) +Export('replay_lib') +replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs +qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks) - if GetOption('test'): - qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs]) +if GetOption('test'): + qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs]) From 549452f84d0f06a92d5c03b710a300acefe8673d Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 12 Oct 2022 15:14:45 -0700 Subject: [PATCH 239/685] rawgpsd: log + skip unknown responses (#26043) * skip DIAG_EVENT_REPORT_F events * . Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/rawgps/rawgpsd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index 95f8dab1c2..c823ede076 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -180,7 +180,8 @@ def main() -> NoReturn: while 1: opcode, payload = diag.recv() if opcode != DIAG_LOG_F: - cloudlog.exception(f"Unhandled opcode: {opcode}") + cloudlog.error(f"Unhandled opcode: {opcode}") + continue assert opcode == DIAG_LOG_F (pending_msgs, log_outer_length), inner_log_packet = unpack_from(' Date: Wed, 12 Oct 2022 15:40:19 -0700 Subject: [PATCH 240/685] add CAN-FD non-ISO mode support (#25947) CAN FD non-ISO support Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/boardd/boardd.cc | 1 + selfdrive/boardd/panda.cc | 4 ++++ selfdrive/boardd/panda.h | 1 + 4 files changed, 7 insertions(+), 1 deletion(-) diff --git a/panda b/panda index ffb3109e28..2f3e2825e5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ffb3109e28296cc86f1892c4e0690856e28fb35a +Subproject commit 2f3e2825e5ecc8074b4ee9cb9a70df635d09fd10 diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 3e39985c29..77e86f9458 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -407,6 +407,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector cs[j].setCanDataSpeed(can_health.can_data_speed); cs[j].setCanfdEnabled(can_health.canfd_enabled); cs[j].setBrsEnabled(can_health.brs_enabled); + cs[j].setCanfdNonIso(can_health.canfd_non_iso); } // Convert faults bitset to capnp list diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 7ddf15f9ce..0b8630b0c0 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -360,6 +360,10 @@ void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) { usb_write(0xf9, bus, (speed * 10)); } +void Panda::set_canfd_non_iso(uint16_t bus, bool non_iso) { + usb_write(0xfc, bus, non_iso); +} + static uint8_t len_to_dlc(uint8_t len) { if (len <= 8) { return len; diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index a4afbdac1a..c7a0e7a6c1 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -91,6 +91,7 @@ class Panda { void send_heartbeat(bool engaged); void set_can_speed_kbps(uint16_t bus, uint16_t speed); void set_data_speed_kbps(uint16_t bus, uint16_t speed); + void set_canfd_non_iso(uint16_t bus, bool non_iso); void can_send(capnp::List::Reader can_data_list); bool can_receive(std::vector& out_vec); From 135270f65cbde80c06aee1773b9ca802bd32f419 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 12 Oct 2022 19:27:23 -0400 Subject: [PATCH 241/685] Allow car port to define enable buttons (#25793) * Allow car port to define enable buttons * simplify * oops --- selfdrive/car/__init__.py | 15 +-------------- selfdrive/car/interfaces.py | 14 +++++++++++--- selfdrive/car/volkswagen/interface.py | 4 +++- 3 files changed, 15 insertions(+), 18 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 8ff39ceaeb..491c551b1b 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -3,7 +3,7 @@ import capnp from cereal import car from common.numpy_fast import clip -from typing import Dict, List +from typing import Dict # kg of standard extra cargo to count for drive, gas, etc... STD_CARGO_KG = 136. @@ -32,19 +32,6 @@ def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, cap return be -def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder, pcm_cruise: bool = False) -> List[int]: - events = [] - for b in buttonEvents: - # do enable on both accel and decel buttons - if not pcm_cruise: - if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed: - events.append(EventName.buttonEnable) - # do disable on button down - if b.type == ButtonType.cancel and b.pressed: - events.append(EventName.buttonCancel) - return events - - def gen_empty_fingerprint(): return {i: {} for i in range(0, 8)} diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index a789fc6cad..4647a04244 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -10,11 +10,12 @@ 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, create_button_enable_events, gen_empty_fingerprint +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.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel +ButtonType = car.CarState.ButtonEvent.Type GearShifter = car.CarState.GearShifter EventName = car.CarEvent.EventName TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqueTuning, float, float, bool], float] @@ -210,7 +211,8 @@ class CarInterfaceBase(ABC): def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]: pass - def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True): + def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True, + enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)): events = Events() if cs_out.doorOpen: @@ -244,7 +246,13 @@ class CarInterfaceBase(ABC): events.add(EventName.steerOverride) # Handle button presses - events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise)) + for b in cs_out.buttonEvents: + # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port) + if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed): + events.add(EventName.buttonEnable) + # Disable on rising edge of cancel for both stock and OP long + if b.type == ButtonType.cancel and b.pressed: + events.add(EventName.buttonCancel) # Handle permanent and temporary steering faults self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1 diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 4724fe81bf..870f3ab163 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -6,6 +6,7 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter +ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -218,7 +219,8 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType) events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], - pcm_enable=not self.CS.CP.openpilotLongitudinalControl) + pcm_enable=not self.CS.CP.openpilotLongitudinalControl, + enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise)) # Low speed steer alert hysteresis logic if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.): From b65fad9e8f232167bcc0fc9139bd632c573abb60 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 13 Oct 2022 08:04:53 +0800 Subject: [PATCH 242/685] cabana: keep scrollarea frame (#26056) add frame back --- tools/cabana/chartswidget.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index e8a27ae18c..2fc3fecb2a 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -53,7 +53,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QScrollArea *charts_scroll = new QScrollArea(this); charts_scroll->setWidgetResizable(true); charts_scroll->setWidget(charts_container); - charts_scroll->setFrameShape(QFrame::NoFrame); charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); main_layout->addWidget(charts_scroll); From bb61081b70e787d3defe18c74720eb4d5dbb3114 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 12 Oct 2022 20:46:26 -0400 Subject: [PATCH 243/685] VW MQB: DBC updates and cleanup (#26053) * VW MQB: DBC updates and cleanup * bump opendbc after merge --- opendbc | 2 +- selfdrive/car/volkswagen/carcontroller.py | 2 +- selfdrive/car/volkswagen/carstate.py | 9 +++++---- selfdrive/car/volkswagen/pqcan.py | 2 +- selfdrive/car/volkswagen/values.py | 1 + 5 files changed, 9 insertions(+), 7 deletions(-) diff --git a/opendbc b/opendbc index 04cc54d5e6..dde0ff6f44 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 04cc54d5e662aaf708f72cabb65507c7dbb5136d +Subproject commit dde0ff6f4456c167df204bf5ac1e3f2979c844c9 diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index 816933f2f0..fff5548671 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -76,7 +76,7 @@ class CarController: stopping = actuators.longControlState == LongCtrlState.stopping starting = actuators.longControlState == LongCtrlState.starting can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel, - acc_control, stopping, starting, CS.out.cruiseState.standstill)) + acc_control, stopping, starting, CS.esp_hold_confirmation)) # **** HUD Controls ***************************************************** # diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 3e99ca8252..5dc4543c0d 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -110,20 +110,21 @@ class CarState(CarStateBase): ret.cruiseState.available = True ret.cruiseState.enabled = False elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5): - # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5) + # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or brake only (5) ret.cruiseState.available = True ret.cruiseState.enabled = True else: # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7) ret.cruiseState.available = False ret.cruiseState.enabled = False - ret.cruiseState.standstill = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]) + self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]) + ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7) # Update ACC setpoint. When the setpoint is zero or there's an error, the # radar sends a set-speed of ~90.69 m/s / 203mph. if self.CP.pcmCruise: - ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw"] * CV.KPH_TO_MS + ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS if ret.cruiseState.speed > 90: ret.cruiseState.speed = 0 @@ -478,7 +479,7 @@ class CarState(CarStateBase): class MqbExtraSignals: # Additional signal and message lists for optional or bus-portable controllers fwd_radar_signals = [ - ("ACC_Wunschgeschw", "ACC_02"), # ACC set speed + ("ACC_Wunschgeschw_02", "ACC_02"), # ACC set speed ("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 diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 30f3fcf62d..0bcbf6abb3 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -59,7 +59,7 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active): return hud_status -def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, standstill): +def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold): commands = [] values = { diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index e0bcd02600..8c679c7406 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -241,6 +241,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], } + # All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars # with a manual trans won't return transmission firmware, but all other cars will. # From b3324418034fcf09123b614ee2429a4e5bc9d7a5 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 12 Oct 2022 17:47:30 -0700 Subject: [PATCH 244/685] locationd: Fix GPS sensor times with fixed offsets (#25920) * Rewind to qcom time * Fix test * Typo * init unix_time fix * add gps sensor_time_offsets * remove all clocks code and add todo * :emove clocks in unit test * update refs * update refs Co-authored-by: nuwandavek --- selfdrive/locationd/locationd.cc | 28 +++++++++++++--------- selfdrive/locationd/locationd.h | 2 +- selfdrive/locationd/models/live_kf.cc | 2 +- selfdrive/locationd/test/test_locationd.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 21 insertions(+), 14 deletions(-) diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 9608f4003b..e156af5d64 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -20,6 +20,11 @@ const double VALID_POS_STD = 50.0; // m const double MAX_RESET_TRACKER = 5.0; const double SANE_GPS_UNCERTAINTY = 1500.0; // m +// TODO: GPS sensor time offsets are empirically calculated +// They should be replaced with synced time from a real clock +const double GPS_LOCATION_SENSOR_TIME_OFFSET = 0.630; // s +const double GPS_LOCATION_EXTERNAL_SENSOR_TIME_OFFSET = 0.095; // s + static VectorXd floatlist2vector(const capnp::List::Reader& floatlist) { VectorXd res(floatlist.size()); for (int i = 0; i < floatlist.size(); i++) { @@ -257,7 +262,7 @@ void Localizer::input_fake_gps_observations(double current_time) { this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); } -void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log) { +void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) { // ignore the message if the fix is invalid bool gps_invalid_flag = (log.getFlags() % 2 == 0); bool gps_unreasonable = (Vector2d(log.getAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY); @@ -265,13 +270,15 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)); bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); - if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane){ + if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) { this->determine_gps_mode(current_time); return; } + + double sensor_time = current_time - sensor_time_offset; // Process message - this->last_gps_fix = current_time; + this->last_gps_fix = sensor_time; this->gps_mode = true; Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() }; this->converter = std::make_unique(geodetic); @@ -300,14 +307,14 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) { LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset"); this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); - this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat }); + this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat }); } else if (gps_est_error > 100.0) { LOGE("Locationd vs ubloxLocation position difference too large, kalman reset"); this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R); } - this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); - this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); + this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R }); + this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R }); } void Localizer::handle_car_state(double current_time, const cereal::CarState::Reader& log) { @@ -443,9 +450,9 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) { } else if (log.isGyroscope()) { this->handle_sensor(t, log.getGyroscope()); } else if (log.isGpsLocation()) { - this->handle_gps(t, log.getGpsLocation()); + this->handle_gps(t, log.getGpsLocation(), GPS_LOCATION_SENSOR_TIME_OFFSET); } else if (log.isGpsLocationExternal()) { - this->handle_gps(t, log.getGpsLocationExternal()); + this->handle_gps(t, log.getGpsLocationExternal(), GPS_LOCATION_EXTERNAL_SENSOR_TIME_OFFSET); } else if (log.isCarState()) { this->handle_car_state(t, log.getCarState()); } else if (log.isCameraOdometry()) { @@ -497,9 +504,8 @@ int Localizer::locationd_thread() { } else { gps_location_socket = "gpsLocation"; } - const std::initializer_list service_list = {gps_location_socket, - "cameraOdometry", "liveCalibration", "carState", "carParams", - "accelerometer", "gyroscope"}; + const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", + "carState", "carParams", "accelerometer", "gyroscope"}; PubMaster pm({"liveLocationKalman"}); // TODO: remove carParams once we're always sending at 100Hz diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index b17ab04b23..280296b06c 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -46,7 +46,7 @@ public: void handle_msg_bytes(const char *data, const size_t size); void handle_msg(const cereal::Event::Reader& log); void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log); - void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log); + void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset); void handle_car_state(double current_time, const cereal::CarState::Reader& log); void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log); void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log); diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc index 5ff0f26995..f8c03365e1 100755 --- a/selfdrive/locationd/models/live_kf.cc +++ b/selfdrive/locationd/models/live_kf.cc @@ -44,7 +44,7 @@ LiveKalman::LiveKalman() { // init filter this->filter = std::make_shared(this->name, get_mapmat(this->Q), get_mapvec(this->initial_x), get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector(), - std::vector{3}, std::vector(), 0.2); + std::vector{3}, std::vector(), 0.8); } void LiveKalman::init_state(VectorXd& state, VectorXd& covs_diag, double filter_time) { diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index e32861cfae..7569530211 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -53,6 +53,7 @@ class TestLocationdProc(unittest.TestCase): msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0] msg.gpsLocationExternal.latitude = self.lat msg.gpsLocationExternal.longitude = self.lon + msg.gpsLocationExternal.unixTimestampMillis = t * 1e6 msg.gpsLocationExternal.altitude = self.alt elif name == 'cameraOdometry': msg.cameraOdometry.rot = [0.0, 0.0, 0.0] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 4577d3cddf..e01fe2ac3c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -27022484e3f4c0265ee7243154659b2697de3af7 \ No newline at end of file +14bc91c326f75ce48337720668a1744184c46994 \ No newline at end of file From 8809116a2674be71de45996b9f88bda46468694b Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 12 Oct 2022 18:55:35 -0700 Subject: [PATCH 245/685] remove null effect assert --- selfdrive/sensord/rawgps/rawgpsd.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index c823ede076..5a6827a759 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -182,7 +182,6 @@ def main() -> NoReturn: if opcode != DIAG_LOG_F: cloudlog.error(f"Unhandled opcode: {opcode}") continue - assert opcode == DIAG_LOG_F (pending_msgs, log_outer_length), inner_log_packet = unpack_from(' 0: From b31932382d574b4db3c2b9b280d5410823adad1c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 13 Oct 2022 10:31:26 +0800 Subject: [PATCH 246/685] cabana: increase replay's segment cache limit & add setting dialog (#26019) * increase replay's segment cache limit * todo * add settings dialog blank line typo --- tools/cabana/.gitignore | 1 + tools/cabana/canmessages.cc | 36 ++++++++++++++++++++++--- tools/cabana/canmessages.h | 19 +++++++++++-- tools/cabana/mainwin.cc | 54 +++++++++++++++++++++++++++++++++++++ tools/cabana/mainwin.h | 12 +++++++++ tools/replay/replay.cc | 4 +-- tools/replay/replay.h | 5 +++- 7 files changed, 122 insertions(+), 9 deletions(-) diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore index 0c21d5530d..88ffab2717 100644 --- a/tools/cabana/.gitignore +++ b/tools/cabana/.gitignore @@ -2,3 +2,4 @@ moc_* *.moc _cabana +settings diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index a55a045981..b717424ece 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -1,9 +1,11 @@ #include "tools/cabana/canmessages.h" #include +#include Q_DECLARE_METATYPE(std::vector); +Settings settings; CANMessages *can = nullptr; CANMessages::CANMessages(QObject *parent) : QObject(parent) { @@ -11,6 +13,7 @@ CANMessages::CANMessages(QObject *parent) : QObject(parent) { qRegisterMetaType>(); QObject::connect(this, &CANMessages::received, this, &CANMessages::process, Qt::QueuedConnection); + QObject::connect(&settings, &Settings::changed, this, &CANMessages::settingChanged); } CANMessages::~CANMessages() { @@ -24,6 +27,7 @@ static bool event_filter(const Event *e, void *opaque) { bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); + replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->installEventFilter(event_filter, this); QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged); if (replay->load()) { @@ -38,11 +42,11 @@ void CANMessages::process(QHash> *messages) { ++counters[it.key()]; auto &msgs = can_msgs[it.key()]; const auto &new_msgs = it.value(); - if (msgs.size() == CAN_MSG_LOG_SIZE || can_msgs[it.key()].size() == 0) { + if (new_msgs.size() == settings.can_msg_log_size || msgs.empty()) { msgs = std::move(new_msgs); } else { msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end())); - while (msgs.size() >= CAN_MSG_LOG_SIZE) { + while (msgs.size() >= settings.can_msg_log_size) { msgs.pop_back(); } } @@ -71,7 +75,7 @@ bool CANMessages::eventFilter(const Event *event) { for (const auto &c : can_events) { QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16); auto &list = (*received_msgs)[id]; - while (list.size() >= CAN_MSG_LOG_SIZE) { + while (list.size() >= settings.can_msg_log_size) { list.pop_back(); } CanData &data = list.emplace_front(); @@ -80,7 +84,7 @@ bool CANMessages::eventFilter(const Event *event) { data.dat.append((char *)c.getDat().begin(), c.getDat().size()); } - if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / FPS) { + if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / settings.fps) { prev_update_sec = current_sec; // use pointer to avoid data copy in queued connection. emit received(received_msgs.release()); @@ -121,3 +125,27 @@ void CANMessages::segmentsMerged() { void CANMessages::resetRange() { setRange(event_begin_sec, event_end_sec); } + +void CANMessages::settingChanged() { + replay->setSegmentCacheLimit(settings.cached_segment_limit); +} + +// Settings + +Settings::Settings() { + load(); +} + +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); +} + +void Settings::load() { + QSettings s("settings", QSettings::IniFormat); + fps = s.value("fps", 10).toInt(); + can_msg_log_size = s.value("log_size", 100).toInt(); + cached_segment_limit = s.value("cached_segment", 3.).toInt(); +} diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index a2af2a084c..3d33f801a7 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -8,8 +8,21 @@ #include "tools/replay/replay.h" -const int FPS = 10; -const int CAN_MSG_LOG_SIZE = 100; +class Settings : public QObject { + Q_OBJECT + +public: + Settings(); + void save(); + void load(); + + int fps = 10; + int can_msg_log_size = 100; + int cached_segment_limit = 3; + +signals: + void changed(); +}; struct CanData { double ts; @@ -57,6 +70,7 @@ public: protected: void process(QHash> *); void segmentsMerged(); + void settingChanged(); std::atomic current_sec = 0.; std::atomic seeking = false; @@ -82,3 +96,4 @@ inline const QString &getColor(int i) { // A global pointer referring to the unique CANMessages object extern CANMessages *can; +extern Settings settings; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 6fa24ea21d..c9d9c85141 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,7 +1,9 @@ #include "tools/cabana/mainwin.h" #include +#include #include +#include #include #include @@ -23,6 +25,9 @@ MainWindow::MainWindow() : QWidget() { right_container->setFixedWidth(640); r_layout = new QVBoxLayout(right_container); + QPushButton *settings_btn = new QPushButton("Settings"); + r_layout->addWidget(settings_btn, 0, Qt::AlignRight); + video_widget = new VideoWidget(this); r_layout->addWidget(video_widget, 0, Qt::AlignTop); @@ -34,6 +39,7 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); + QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); } void MainWindow::dockCharts(bool dock) { @@ -59,3 +65,51 @@ void MainWindow::closeEvent(QCloseEvent *event) { floating_window->deleteLater(); QWidget::closeEvent(event); } + +void MainWindow::setOption() { + SettingsDlg dlg(this); + dlg.exec(); +} + +// SettingsDlg + +SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Settings")); + QVBoxLayout *main_layout = new QVBoxLayout(this); + QFormLayout *form_layout = new QFormLayout(); + + fps = new QSpinBox(this); + fps->setRange(10, 100); + fps->setSingleStep(10); + 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("Log size"), log_size); + + cached_segment = new QSpinBox(this); + cached_segment->setRange(3, 60); + cached_segment->setSingleStep(1); + cached_segment->setValue(settings.cached_segment_limit); + form_layout->addRow(tr("Cached segments limit"), cached_segment); + + main_layout->addLayout(form_layout); + + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox); + + setFixedWidth(360); + connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save); + connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} + +void SettingsDlg::save() { + settings.fps = fps->value(); + settings.can_msg_log_size = log_size->value(); + settings.cached_segment_limit = cached_segment->value(); + settings.save(); + accept(); +} diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index b0d7c273da..14c4b1dfa9 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -14,6 +14,7 @@ public: protected: void closeEvent(QCloseEvent *event) override; + void setOption(); VideoWidget *video_widget; MessagesWidget *messages_widget; @@ -22,3 +23,14 @@ protected: QWidget *floating_window = nullptr; QVBoxLayout *r_layout; }; + +class SettingsDlg : public QDialog { + Q_OBJECT + +public: + SettingsDlg(QWidget *parent); + void save(); + QSpinBox *fps; + QSpinBox *log_size ; + QSpinBox *cached_segment; +}; diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 80e58b47a3..1337a4ef2c 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -211,7 +211,7 @@ void Replay::queueSegment() { 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 <= FORWARD_SEGS; ++i) { + for (int i = 0; end != segments_.end() && i <= segment_cache_limit + FORWARD_FETCH_SEGS; ++i) { ++end; } // load one segment at a time @@ -250,7 +250,7 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap:: // 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() < 3; ++it) { + 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(); } diff --git a/tools/replay/replay.h b/tools/replay/replay.h index fbb36bd1ed..88c285125a 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_SEGS = 5; +constexpr int FORWARD_FETCH_SEGS = 3; enum REPLAY_FLAGS { REPLAY_FLAG_NONE = 0x0000, @@ -57,6 +57,8 @@ public: filter_opaque = opaque; event_filter = filter; } + inline int segmentCacheLimit() const { return segment_cache_limit; } + inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(3, 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; } @@ -131,4 +133,5 @@ protected: float speed_ = 1.0; replayEventFilter event_filter = nullptr; void *filter_opaque = nullptr; + int segment_cache_limit = 3; }; From 1d8fc4d21caf55368209b7bbafa34327962a6a97 Mon Sep 17 00:00:00 2001 From: jp-solutionz <47436082+jp-solutionz@users.noreply.github.com> Date: Thu, 13 Oct 2022 16:48:22 +1300 Subject: [PATCH 247/685] joystickd: add controller mapping (#25986) * Correct default controller mapping. Current config maps steering to right trigger (ABS_RZ) when using a default xinput controller: https://inputs.readthedocs.io/en/latest/user/hardwaresupport.html This results in default full left steering angle (1) requiring right trigger to return to centre (0) or right (-1). It appears the intended mapping for steering is right thumbstick (ABS_RX). Cancel button is also non-existent on default xinput controller. May be X button (BTN_NORTH) or Right Trigger (ABS_RZ). Tested on Xbox One Controller via USB Cable, Logitech F710 and GameSir T4 Pro. * Update joystickd.py Fixed comment * gamepad configuration * gamepad arg Co-authored-by: Cameron Clough --- tools/joystick/joystickd.py | 26 +++++++++++++++++--------- 1 file changed, 17 insertions(+), 9 deletions(-) diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py index 8374cf8a74..b31dab83fe 100755 --- a/tools/joystick/joystickd.py +++ b/tools/joystick/joystickd.py @@ -38,13 +38,20 @@ class Keyboard: class Joystick: - def __init__(self): + def __init__(self, gamepad=False): # TODO: find a way to get this from API, perhaps "inputs" doesn't support it - self.min_axis_value = {'ABS_Y': 0., 'ABS_RZ': 0.} - self.max_axis_value = {'ABS_Y': 255., 'ABS_RZ': 255.} - self.cancel_button = 'BTN_TRIGGER' - self.axes_values = {'ABS_Y': 0., 'ABS_RZ': 0.} # gb, steer - self.axes_order = ['ABS_Y', 'ABS_RZ'] + if gamepad: + self.cancel_button = 'BTN_NORTH' # (BTN_NORTH=X, ABS_RZ=Right Trigger) + accel_axis = 'ABS_Y' + steer_axis = 'ABS_RX' + else: + self.cancel_button = 'BTN_TRIGGER' + accel_axis = 'ABS_Y' + steer_axis = 'ABS_RZ' + self.min_axis_value = {accel_axis: 0., steer_axis: 0.} + self.max_axis_value = {accel_axis: 255., steer_axis: 255.} + self.axes_values = {accel_axis: 0., steer_axis: 0.} + self.axes_order = [accel_axis, steer_axis] self.cancel = False def update(self): @@ -80,9 +87,8 @@ def send_thread(joystick): requests.get("http://"+os.environ["WEB"]+":5000/control/%f/%f" % tuple([joystick.axes_values[a] for a in joystick.axes_order][::-1]), timeout=None) rk.keep_time() -def joystick_thread(use_keyboard): +def joystick_thread(joystick): Params().put_bool('JoystickDebugMode', True) - joystick = Keyboard() if use_keyboard else Joystick() threading.Thread(target=send_thread, args=(joystick,), daemon=True).start() while True: joystick.update() @@ -92,6 +98,7 @@ if __name__ == '__main__': 'openpilot must be offroad before starting joysticked.', formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument('--keyboard', action='store_true', help='Use your keyboard instead of a joystick') + parser.add_argument('--gamepad', action='store_true', help='Use gamepad configuration instead of joystick') args = parser.parse_args() if not Params().get_bool("IsOffroad") and "ZMQ" not in os.environ and "WEB" not in os.environ: @@ -108,4 +115,5 @@ if __name__ == '__main__': else: print('Using joystick, make sure to run cereal/messaging/bridge on your device if running over the network!') - joystick_thread(args.keyboard) + joystick = Keyboard() if args.keyboard else Joystick(args.gamepad) + joystick_thread(joystick) From c782380fc1cfcbc7b521f14db37a360aef6b53ec Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 12 Oct 2022 21:54:08 -0700 Subject: [PATCH 248/685] Hyundai: share panda flags with CAN-FD platform (#26058) * Hyundai: share panda flags with CAN-FD platform * move that * only set bit * bump panda * panda master * regen + update refs for new param --- panda | 2 +- selfdrive/car/hyundai/interface.py | 19 +++++++------------ selfdrive/car/hyundai/values.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/regen.py | 4 +++- .../test/process_replay/test_processes.py | 2 +- 6 files changed, 14 insertions(+), 17 deletions(-) diff --git a/panda b/panda index 2f3e2825e5..622ce923e9 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2f3e2825e5ecc8074b4ee9cb9a70df635d09fd10 +Subproject commit 622ce923e901c634aab4c29be68638e38b0fcc16 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 024d7498fa..13e93c7d06 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -310,8 +310,6 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)] - if ret.openpilotLongitudinalControl: - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_LONG if ret.flags & HyundaiFlags.CANFD_HDA2: ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: @@ -325,18 +323,16 @@ class CarInterface(CarInterfaceBase): else: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)] - # set appropriate safety param for gas signal - if candidate in HYBRID_CAR: - ret.safetyConfigs[0].safetyParam = 2 - elif candidate in EV_CAR: - ret.safetyConfigs[0].safetyParam = 1 - - if ret.openpilotLongitudinalControl: - ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG - if candidate in CAMERA_SCC_CAR: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC + if ret.openpilotLongitudinalControl: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG + if candidate in HYBRID_CAR: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_HYBRID_GAS + elif candidate in EV_CAR: + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_EV_GAS + ret.centerToFront = ret.wheelbase * 0.4 # TODO: get actual value, for now starting with reasonable value for @@ -347,7 +343,6 @@ class CarInterface(CarInterfaceBase): # 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, tire_stiffness_factor=tire_stiffness_factor) - return ret @staticmethod diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 68a16b096e..ecda51816d 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1383,7 +1383,7 @@ CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_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} # 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} +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 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} diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e01fe2ac3c..6a8f5a273c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -14bc91c326f75ce48337720668a1744184c46994 \ No newline at end of file +1e4bb3f620bddbe6ead966d6f2dd7db3fd730308 \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index eee3745f8e..2653a0126a 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -30,10 +30,11 @@ def replay_panda_states(s, msgs): rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None) smsgs = [m for m in msgs if m.which() in ['pandaStates', 'pandaStateDEPRECATED']] - # TODO: new safety params from flags, remove after getting new routes for Toyota + # TODO: safety param migration should be handled automatically safety_param_migration = { "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL, "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE, + "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2, } # Migrate safety param base on carState @@ -56,6 +57,7 @@ def replay_panda_states(s, msgs): pm.send(s, new_m) else: new_m = m.as_builder() + new_m.pandaStates[-1].safetyParam = safety_param new_m.logMonoTime = int(sec_since_boot() * 1e9) pm.send(s, new_m) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 38ed0e07ad..683387dce8 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -40,7 +40,7 @@ source_segments = [ segments = [ ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"), ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"), - ("HYUNDAI2", "regen11AA43BCA5F|2022-09-27--15-39-54--0"), + ("HYUNDAI2", "regenFA8B5CA9840|2022-10-12--21-47-06--0"), ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"), ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"), ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"), From 4ee0b8196f85b29b735c3319924f3c40cebc86e5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 12 Oct 2022 21:54:53 -0700 Subject: [PATCH 249/685] Hyundai: fix alt CAN-FD cancel (#26057) --- selfdrive/car/hyundai/carcontroller.py | 1 + selfdrive/car/hyundai/carstate.py | 4 +++- selfdrive/car/hyundai/hyundaicanfd.py | 11 ++++++----- 3 files changed, 10 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index bcbab2ab94..a5d995df25 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -117,6 +117,7 @@ class CarController: # cruise cancel if CC.cruiseControl.cancel: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info)) self.last_button_frame = self.frame else: for _ in range(20): diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 4c2650c19f..3752fdebef 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -34,6 +34,8 @@ class CarState(CarStateBase): self.brake_error = False self.buttons_counter = 0 + self.cruise_info = {} + # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz self.cluster_speed = 0 self.cluster_speed_counter = CLUSTER_SAMPLE_RATE @@ -194,13 +196,13 @@ class CarState(CarStateBase): cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 + self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"]) 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"]) self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"] - self.cruise_info_copy = {} if self.CP.flags & HyundaiFlags.CANFD_HDA2: self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index 9d4e4d4e0d..f2cbafdcf0 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -47,12 +47,13 @@ def create_buttons(packer, cnt, btn): } return packer.make_can_msg("CRUISE_BUTTONS", 5, values) -def create_cruise_info(packer, cruise_info_copy, cancel): +def create_acc_cancel(packer, CP, cruise_info_copy): values = cruise_info_copy - if cancel: - values["CRUISE_STATUS"] = 0 - values["CRUISE_INACTIVE"] = 1 - return packer.make_can_msg("CRUISE_INFO", 5, values) + values.update({ + "CRUISE_STATUS": 0, + "CRUISE_INACTIVE": 1, + }) + return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values) def create_lfahda_cluster(packer, CP, enabled): values = { From 82bd082dcd3e9f38a0f7a766242b6979a611a567 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 12 Oct 2022 22:12:24 -0700 Subject: [PATCH 250/685] Hyundai: split alt gas pressed signals by EV and ICE (#26061) --- panda | 2 +- selfdrive/car/hyundai/carstate.py | 22 +++++++++++----------- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/panda b/panda index 622ce923e9..de380961fc 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 622ce923e901c634aab4c29be68638e38b0fcc16 +Subproject commit de380961fcfece68137ea0c4f5dc07f2763a4aaf diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 3752fdebef..948634e974 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -154,7 +154,7 @@ class CarState(CarStateBase): def update_canfd(self, cp, cp_cam): ret = car.CarState.new_message() - if self.CP.flags & HyundaiFlags.CANFD_HDA2: + if self.CP.carFingerprint in EV_CAR: ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. else: ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. @@ -450,22 +450,22 @@ class CarState(CarStateBase): ("DOORS_SEATBELTS", 4), ] - if CP.flags & HyundaiFlags.CANFD_HDA2: + if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl: + signals += [ + ("SET_SPEED", "CRUISE_INFO"), + ("CRUISE_STANDSTILL", "CRUISE_INFO"), + ] + checks += [ + ("CRUISE_INFO", 50), + ] + + if CP.carFingerprint in EV_CAR: signals += [ ("ACCELERATOR_PEDAL", "ACCELERATOR"), - ("GEAR", "ACCELERATOR"), ] checks += [ ("ACCELERATOR", 100), ] - if not CP.openpilotLongitudinalControl: - signals += [ - ("SET_SPEED", "CRUISE_INFO"), - ("CRUISE_STANDSTILL", "CRUISE_INFO"), - ] - checks += [ - ("CRUISE_INFO", 50), - ] else: signals += [ ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"), From 6a602ed41dd0b3712c2440b768220b18b1fcfd10 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 12 Oct 2022 22:12:52 -0700 Subject: [PATCH 251/685] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index de380961fc..c39528d299 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit de380961fcfece68137ea0c4f5dc07f2763a4aaf +Subproject commit c39528d299aae6a1ebbdbccddeae55bc76a534e3 From 7f3c070061da864bd18820ba5589e4ee7fbae0db Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 12 Oct 2022 22:28:07 -0700 Subject: [PATCH 252/685] Hyundai: add missing Elantra Hybrid 2023 FW versions (#26055) * add Hyundai Elantra HEV 2023 fw 8dcf421697cd2cb0|2022-10-12--16-12-21--0 VIN: KMHLN4AJ5PU042417 * add 2023 to docs * delete * fix fingerprint Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 15 +++++++++------ 2 files changed, 10 insertions(+), 7 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 82ef37ae8d..f5cc5acaeb 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -55,7 +55,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| -|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| |Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| |Hyundai|Ioniq 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 ecda51816d..1a8fb14eec 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -109,7 +109,7 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.ELANTRA_GT_I30: [ HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e), HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e), @@ -1218,26 +1218,29 @@ FW_VERSIONS = { ], }, CAR.ELANTRA_HEV_2021: { - (Ecu.fwdCamera, 0x7c4, None) : [ + (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', ], - (Ecu.fwdRadar, 0x7d0, None) : [ + (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\000CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', ], - (Ecu.eps, 0x7d4, None) :[ + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', ], - (Ecu.transmission, 0x7e1, None) :[ + (Ecu.transmission, 0x7e1, None): [ b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000', b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', ], - (Ecu.engine, 0x7e0, None) : [ + (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', ] }, CAR.KONA_HEV: { From bf5f9adcc853c9fef6bdcfed027a588aa1940384 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 12 Oct 2022 22:34:40 -0700 Subject: [PATCH 253/685] boardd: don't multiplex OBD port on external pandas (#26062) don't multiplex on ext pandas --- selfdrive/boardd/boardd.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 77e86f9458..2d613b68ce 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -113,8 +113,9 @@ bool safety_setter_thread(std::vector pandas) { } // set to ELM327 for fingerprinting - for (Panda *panda : pandas) { - panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327); + for (int i = 0; i < pandas.size(); i++) { + const uint16_t safety_param = (i > 0) ? 1U : 0U; + pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); } Params p = Params(); From 649eaf273ff245dbf8279d86d4acb9ea36a9d5d2 Mon Sep 17 00:00:00 2001 From: hoomoose <94947902+hoomoose@users.noreply.github.com> Date: Thu, 13 Oct 2022 10:34:59 -0600 Subject: [PATCH 254/685] Hyundai: support HDA1 EV6 and Ioniq 5 (#25723) it's hda1 time Co-authored-by: Adeeb Shihadeh --- selfdrive/car/hyundai/values.py | 10 ++++++++-- selfdrive/car/tests/routes.py | 3 ++- 2 files changed, 10 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1a8fb14eec..2d5e6792ee 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -141,7 +141,10 @@ 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 2022", "Highway Driving Assist II", harness=Harness.hyundai_q), + CAR.IONIQ_5: [ + HyundaiCarInfo("Hyundai Ioniq 5 2022 (without HDA II)" , "Highway Driving Assist", harness=Harness.hyundai_k), + HyundaiCarInfo("Hyundai Ioniq 5 2022 (with HDA II)", "Highway Driving Assist II", harness=Harness.hyundai_q), + ], CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), # Kia @@ -171,7 +174,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), - CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "Highway Driving Assist II", harness=Harness.hyundai_p), + CAR.KIA_EV6: [ + HyundaiCarInfo("Kia EV6 2022 (without HDA II)", "Highway Driving Assist", harness=Harness.hyundai_l), + HyundaiCarInfo("Kia EV6 2022 (with HDA II)", "Highway Driving Assist II", harness=Harness.hyundai_p) + ], # Genesis CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index ac56cc106b..85787ae88d 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -110,7 +110,8 @@ routes = [ CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), - CarTestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6), + CarTestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6), # HDA2 + CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1 CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), From 40dc05db6db4b5944b9fc43b506148a1c854d423 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 13 Oct 2022 10:40:46 -0700 Subject: [PATCH 255/685] update car compatibility docs changes from 649eaf2 --- docs/CARS.md | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index f5cc5acaeb..77d6b890db 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. -# 206 Supported Cars +# 208 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -57,7 +57,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| -|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| +|Hyundai|Ioniq 5 2022 (with HDA II)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| +|Hyundai|Ioniq 5 2022 (without HDA II)|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |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| @@ -83,7 +84,8 @@ A supported vehicle is one that just works when you install a comma three. All s |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 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| +|Kia|EV6 2022 (with HDA II)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| +|Kia|EV6 2022 (without HDA II)|Highway Driving Assist|Stock|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|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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Niro EV 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| From 41f520c2540a869b6904fd8aa0eb494513b38042 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 13 Oct 2022 11:43:20 -0700 Subject: [PATCH 256/685] don't build cabana unless extras (#26072) don't build cabana on device this caused CI to fail for xx since qt libs aren't installed in CI docker --- SConstruct | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/SConstruct b/SConstruct index 23ab37dc1e..b87327aa20 100644 --- a/SConstruct +++ b/SConstruct @@ -434,9 +434,10 @@ SConscript(['selfdrive/navd/SConscript']) if arch in ['x86_64', 'Darwin'] or GetOption('extras'): SConscript(['tools/replay/SConscript']) - opendbc = abspath([File('opendbc/can/libdbc.so')]) - Export('opendbc') - SConscript(['tools/cabana/SConscript']) + if arch in ['x86_64', 'Darwin'] and GetOption('extras'): + opendbc = abspath([File('opendbc/can/libdbc.so')]) + Export('opendbc') + SConscript(['tools/cabana/SConscript']) if GetOption('test'): SConscript('panda/tests/safety/SConscript') From 2082248b73afedbcddd9f5a83ab4974811454f2a Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 13 Oct 2022 12:48:24 -0700 Subject: [PATCH 257/685] Revert "don't build cabana unless extras (#26072)" This reverts commit 41f520c2540a869b6904fd8aa0eb494513b38042. --- SConstruct | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/SConstruct b/SConstruct index b87327aa20..23ab37dc1e 100644 --- a/SConstruct +++ b/SConstruct @@ -434,10 +434,9 @@ SConscript(['selfdrive/navd/SConscript']) if arch in ['x86_64', 'Darwin'] or GetOption('extras'): SConscript(['tools/replay/SConscript']) - if arch in ['x86_64', 'Darwin'] and GetOption('extras'): - opendbc = abspath([File('opendbc/can/libdbc.so')]) - Export('opendbc') - SConscript(['tools/cabana/SConscript']) + opendbc = abspath([File('opendbc/can/libdbc.so')]) + Export('opendbc') + SConscript(['tools/cabana/SConscript']) if GetOption('test'): SConscript('panda/tests/safety/SConscript') From 5f7d9a519e98b446b14866a8920dd0493b4dce26 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 13 Oct 2022 13:21:35 -0700 Subject: [PATCH 258/685] regen: Refactor log migrate functions to avoid needing azure keys (#26049) * refactor migrate fns to avoid needing to use azure keys on import * move azure key init behind a function * resolve comments --- selfdrive/test/process_replay/regen.py | 3 ++- selfdrive/test/update_ci_routes.py | 20 +++++++++++++------- 2 files changed, 15 insertions(+), 8 deletions(-) diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index 2653a0126a..c9f9c6c362 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -224,13 +224,14 @@ def migrate_sensorEvents(lr, old_logtime=False): m_dat.sensor = evt.sensor m_dat.type = evt.type m_dat.source = evt.source + if old_logtime: + m_dat.timestamp = evt.timestamp setattr(m_dat, evt.which(), getattr(evt, evt.which())) all_msgs.append(m.as_reader()) return all_msgs - def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): lr = migrate_carparams(list(lr)) lr = migrate_sensorEvents(list(lr)) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index a1e8c35f6b..201ffb745a 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -14,11 +14,16 @@ SOURCES = [ (_DATA_ACCOUNT_CI, "commadataci"), ] -DEST_KEY = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci") -SOURCE_KEYS = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES] -SERVICE = BlockBlobService(_DATA_ACCOUNT_CI, sas_token=DEST_KEY) + +def get_azure_keys(): + dest_key = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci") + source_keys = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES] + service = BlockBlobService(_DATA_ACCOUNT_CI, sas_token=dest_key) + return dest_key, source_keys, service + def upload_route(path, exclude_patterns=None): + dest_key, _, _ = get_azure_keys() if exclude_patterns is None: exclude_patterns = ['*/dcamera.hevc'] @@ -29,27 +34,28 @@ def upload_route(path, exclude_patterns=None): "azcopy", "copy", f"{path}/*", - f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{destpath}?{DEST_KEY}", + f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{destpath}?{dest_key}", "--recursive=false", "--overwrite=false", ] + [f"--exclude-pattern={p}" for p in exclude_patterns] subprocess.check_call(cmd) def sync_to_ci_public(route): + dest_key, source_keys, service = get_azure_keys() key_prefix = route.replace('|', '/') dongle_id = key_prefix.split('/')[0] - if next(azureutil.list_all_blobs(SERVICE, "openpilotci", prefix=key_prefix), None) is not None: + if next(azureutil.list_all_blobs(service, "openpilotci", prefix=key_prefix), None) is not None: return True print(f"Uploading {route}") - for (source_account, source_bucket), source_key in zip(SOURCES, SOURCE_KEYS): + for (source_account, source_bucket), source_key in zip(SOURCES, source_keys): print(f"Trying {source_account}/{source_bucket}") cmd = [ "azcopy", "copy", f"https://{source_account}.blob.core.windows.net/{source_bucket}/{key_prefix}?{source_key}", - f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{dongle_id}?{DEST_KEY}", + f"https://{_DATA_ACCOUNT_CI}.blob.core.windows.net/openpilotci/{dongle_id}?{dest_key}", "--recursive=true", "--overwrite=false", "--exclude-pattern=*/dcamera.hevc", From cc6dd18cf0115458f28135b10e3d935ee4119e04 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 14 Oct 2022 04:24:55 +0800 Subject: [PATCH 259/685] Cabana: display the (x,y) values while MouseMove on the chart (#26064) --- tools/cabana/chartswidget.cc | 122 ++++++++++++++++++++++------------- tools/cabana/chartswidget.h | 41 ++++++------ 2 files changed, 96 insertions(+), 67 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 2fc3fecb2a..e704dea95a 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -3,7 +3,6 @@ #include #include #include -#include #include #include @@ -136,8 +135,7 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { // ChartWidget ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *parent) : id(id), sig_name(sig_name), QWidget(parent) { - QStackedLayout *stacked = new QStackedLayout(this); - stacked->setStackingMode(QStackedLayout::StackAll); + QVBoxLayout *main_layout = new QVBoxLayout(this); QWidget *chart_widget = new QWidget(this); QVBoxLayout *chart_layout = new QVBoxLayout(chart_widget); @@ -159,9 +157,23 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa header_layout->addWidget(remove_btn); chart_layout->addWidget(header); + chart_view = new ChartView(id, sig_name, this); + chart_view->setFixedHeight(300); + chart_layout->addWidget(chart_view); + chart_layout->addStretch(); + + main_layout->addWidget(chart_widget); + + setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); +} + +// ChartView + +ChartView::ChartView(const QString &id, const QString &sig_name, QWidget *parent) + : id(id), sig_name(sig_name), QChartView(nullptr, parent) { QLineSeries *series = new QLineSeries(); series->setUseOpenGL(true); - auto chart = new QChart(); + QChart *chart = new QChart(); chart->setTitle(sig_name); chart->addSeries(series); chart->createDefaultAxes(); @@ -172,28 +184,26 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa chart->setMargins({0, 0, 0, 0}); chart->layout()->setContentsMargins(0, 0, 0, 0); - chart_view = new ChartView(chart); - chart_view->setFixedHeight(300); - chart_view->setRenderHint(QPainter::Antialiasing); - chart_view->setRubberBand(QChartView::HorizontalRubberBand); - if (auto rubber = chart_view->findChild()) { + track_line = new QGraphicsLineItem(chart); + track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine)); + value_text = new QGraphicsSimpleTextItem(chart); + value_text->setBrush(Qt::gray); + line_marker = new QGraphicsLineItem(chart); + line_marker->setPen(QPen(Qt::black, 2)); + + setChart(chart); + + setRenderHint(QPainter::Antialiasing); + setRubberBand(QChartView::HorizontalRubberBand); + if (auto rubber = findChild()) { QPalette pal; pal.setBrush(QPalette::Base, QColor(0, 0, 0, 80)); rubber->setPalette(pal); } - chart_layout->addWidget(chart_view); - chart_layout->addStretch(); - stacked->addWidget(chart_widget); - line_marker = new LineMarker(this); - stacked->addWidget(line_marker); - line_marker->setAttribute(Qt::WA_TransparentForMouseEvents, true); - line_marker->raise(); - - setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); - QObject::connect(can, &CANMessages::updated, this, &ChartWidget::updateState); - QObject::connect(can, &CANMessages::rangeChanged, this, &ChartWidget::rangeChanged); - QObject::connect(can, &CANMessages::eventsMerged, this, &ChartWidget::updateSeries); + QObject::connect(can, &CANMessages::updated, this, &ChartView::updateState); + QObject::connect(can, &CANMessages::rangeChanged, this, &ChartView::rangeChanged); + QObject::connect(can, &CANMessages::eventsMerged, this, &ChartView::updateSeries); QObject::connect(dynamic_cast(chart->axisX()), &QValueAxis::rangeChanged, can, &CANMessages::setRange); QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const QString &msg_id, const QString &sig_name) { if (this->id == msg_id && this->sig_name == sig_name) @@ -202,15 +212,13 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa updateSeries(); } -void ChartWidget::updateState() { - auto chart = chart_view->chart(); - auto axis_x = dynamic_cast(chart->axisX()); - - int x = chart->plotArea().left() + chart->plotArea().width() * (can->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); - line_marker->setX(x); +void ChartView::updateState() { + auto axis_x = dynamic_cast(chart()->axisX()); + int x = chart()->plotArea().left() + chart()->plotArea().width() * (can->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); + line_marker->setLine(x, 0, x, height()); } -void ChartWidget::updateSeries() { +void ChartView::updateSeries() { const Signal *sig = dbc()->signal(id, sig_name); auto events = can->events(); if (!sig || !events) return; @@ -234,15 +242,16 @@ void ChartWidget::updateSeries() { } } } - QLineSeries *series = (QLineSeries *)chart_view->chart()->series()[0]; + QLineSeries *series = (QLineSeries *)chart()->series()[0]; series->replace(vals); + series->setPointLabelsColor(Qt::black); auto [begin, end] = can->range(); - chart_view->chart()->axisX()->setRange(begin, end); + chart()->axisX()->setRange(begin, end); updateAxisY(); } -void ChartWidget::rangeChanged(qreal min, qreal max) { - auto axis_x = dynamic_cast(chart_view->chart()->axisX()); +void ChartView::rangeChanged(qreal min, qreal max) { + auto axis_x = dynamic_cast(chart()->axisX()); if (axis_x->min() != min || axis_x->max() != max) { axis_x->setRange(min, max); } @@ -250,9 +259,9 @@ void ChartWidget::rangeChanged(qreal min, qreal max) { } // auto zoom on yaxis -void ChartWidget::updateAxisY() { - const auto axis_x = dynamic_cast(chart_view->chart()->axisX()); - const auto axis_y = dynamic_cast(chart_view->chart()->axisY()); +void ChartView::updateAxisY() { + const auto axis_x = dynamic_cast(chart()->axisX()); + const auto axis_y = dynamic_cast(chart()->axisY()); // vals is a sorted list auto begin = std::lower_bound(vals.begin(), vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); if (begin == vals.end()) @@ -271,7 +280,17 @@ void ChartWidget::updateAxisY() { } } -// ChartView +void ChartView::enterEvent(QEvent *event) { + track_line->setVisible(true); + value_text->setVisible(true); + QChartView::enterEvent(event); +} + +void ChartView::leaveEvent(QEvent *event) { + track_line->setVisible(false); + value_text->setVisible(false); + QChartView::leaveEvent(event); +} void ChartView::mouseReleaseEvent(QMouseEvent *event) { auto rubber = findChild(); @@ -289,20 +308,31 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } // TODO: right-click to reset zoom QChartView::mouseReleaseEvent(event); + line_marker->setVisible(true); } +void ChartView::mouseMoveEvent(QMouseEvent *ev) { + auto rubber = findChild(); + bool show = !(rubber && rubber->isVisible()); -// LineMarker + if (show) { + const auto plot_area = chart()->plotArea(); + float x = std::clamp((float)ev->pos().x(), (float)plot_area.left(), (float)plot_area.right()); + track_line->setLine(x, plot_area.top(), x, plot_area.bottom()); -void LineMarker::setX(double x) { - if (x != x_pos) { - x_pos = x; - update(); + auto [begin, end] = can->range(); + double sec = begin + ((x - plot_area.x()) / plot_area.width()) * (end - begin); + auto value = std::lower_bound(vals.begin(), vals.end(), sec, [](auto &p, double x) { return p.x() < x; }); + value_text->setPos(x + 6, plot_area.bottom() - 25); + if (value != vals.end()) { + value_text->setText(QString("(%1, %2)").arg(value->x(), 0, 'f', 3).arg(value->y())); + } else { + value_text->setText("(--, --)"); + } } -} -void LineMarker::paintEvent(QPaintEvent *event) { - QPainter p(this); - p.setPen(QPen(Qt::black, 2)); - p.drawLine(QPointF{x_pos, 50.}, QPointF{x_pos, (qreal)height() - 11}); + value_text->setVisible(show); + track_line->setVisible(show); + line_marker->setVisible(show); + QChartView::mouseMoveEvent(ev); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 7dbf0f108b..af12560cc9 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -3,6 +3,8 @@ #include #include +#include +#include #include #include #include @@ -14,24 +16,29 @@ using namespace QtCharts; -class LineMarker : public QWidget { -Q_OBJECT +class ChartView : public QChartView { + Q_OBJECT public: - LineMarker(QWidget *parent) : QWidget(parent) {} - void setX(double x); + ChartView(const QString &id, const QString &sig_name, QWidget *parent = nullptr); private: - void paintEvent(QPaintEvent *event) override; - double x_pos = -1; -}; + void mouseReleaseEvent(QMouseEvent *event) override; + void mouseMoveEvent(QMouseEvent *ev) override; + void enterEvent(QEvent *event) override; + void leaveEvent(QEvent *event) override; -class ChartView : public QChartView { - Q_OBJECT + void updateSeries(); + void rangeChanged(qreal min, qreal max); + void updateAxisY(); + void updateState(); -public: - ChartView(QChart *chart, QWidget *parent = nullptr) : QChartView(chart, parent) {} - void mouseReleaseEvent(QMouseEvent *event) override; + QGraphicsLineItem *track_line; + QGraphicsSimpleTextItem *value_text; + QGraphicsLineItem *line_marker; + QList vals; + QString id; + QString sig_name; }; class ChartWidget : public QWidget { @@ -44,18 +51,10 @@ public: signals: void remove(); -private: - void updateState(); - void addData(const CanData &can_data, const Signal &sig); - void updateSeries(); - void rangeChanged(qreal min, qreal max); - void updateAxisY(); - +protected: QString id; QString sig_name; ChartView *chart_view = nullptr; - LineMarker *line_marker = nullptr; - QList vals; }; class ChartsWidget : public QWidget { From a397418ef82957289779cbfbcf9cb138d9f2cd3f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 14 Oct 2022 04:25:21 +0800 Subject: [PATCH 260/685] Cabana: scrollable binary view (#26065) --- tools/cabana/detailwidget.cc | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 7c1847230b..531cd4c665 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -141,17 +141,14 @@ BinaryView::BinaryView(QWidget *parent) { table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); table->horizontalHeader()->hide(); table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - table->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); main_layout->addWidget(table); table->setColumnCount(9); - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); } void BinaryView::setMessage(const QString &message_id) { msg_id = message_id; const Msg *msg = dbc()->msg(msg_id); - int row_count = msg ? msg->size : can->lastMessage(msg_id).dat.size(); - + const int row_count = msg ? msg->size : can->lastMessage(msg_id).dat.size(); table->setRowCount(row_count); table->setColumnCount(9); for (int i = 0; i < table->rowCount(); ++i) { @@ -178,8 +175,7 @@ void BinaryView::setMessage(const QString &message_id) { } } } - - table->setFixedHeight(table->rowHeight(0) * table->rowCount() + table->horizontalHeader()->height() + 2); + table->setFixedHeight(table->rowHeight(0) * std::min(row_count, 8) + 2); updateState(); } From 982ea83cf9accc6aefd05169c420f457b21dcc0a Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Thu, 13 Oct 2022 14:27:59 -0700 Subject: [PATCH 261/685] Added updateZoom function to map_renderer, plus custom style.json (#25997) * Added updateZoom function to map_renderer, plus custom style.json * Render 512x512 maps * Define STYLE_PATH in navd sconscript --- selfdrive/navd/SConscript | 2 ++ selfdrive/navd/map_renderer.cc | 27 ++++++++++++++++++++++----- selfdrive/navd/map_renderer.h | 1 + selfdrive/navd/map_renderer.py | 3 ++- selfdrive/navd/style.json | 1 + 5 files changed, 28 insertions(+), 6 deletions(-) create mode 100644 selfdrive/navd/style.json diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index 4fbe41e80b..b10684eef3 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -11,6 +11,8 @@ if arch in ['larch64', 'x86_64']: rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath] qt_env["RPATH"] += rpath + style_path = File("style.json").abspath + qt_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"') qt_libs = ["qt_widgets", "qt_util", "qmapboxgl"] + base_libs nav_src = ["main.cc", "map_renderer.cc"] diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index d0770cfb48..f85916a4ca 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -1,14 +1,16 @@ #include "selfdrive/navd/map_renderer.h" +#include #include #include #include +#include "common/util.h" #include "common/timing.h" #include "selfdrive/ui/qt/maps/map_helpers.h" -const float ZOOM = 13.5; // Don't go below 13 or features will start to disappear -const int WIDTH = 256; +const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear +const int WIDTH = 512; const int HEIGHT = WIDTH; const int NUM_VIPC_BUFFERS = 4; @@ -35,9 +37,10 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set QOpenGLFramebufferObjectFormat 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)); - m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), ZOOM); - m_map->setStyleUrl("mapbox://styles/commaai/ckvmksrpd4n0a14pfdo5heqzr"); + m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), DEFAULT_ZOOM); + m_map->setStyleJson(style.c_str()); m_map->createRenderer(); m_map->resize(fbo->size()); @@ -82,6 +85,15 @@ void MapRenderer::msgUpdate() { } } +void MapRenderer::updateZoom(float zoom) { + if (m_map.isNull()) { + return; + } + + m_map->setZoom(zoom); + update(); +} + void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) { if (m_map.isNull()) { return; @@ -185,7 +197,7 @@ void MapRenderer::initLayers() { nav["source"] = "navSource"; m_map->addLayer(nav, "road-intersection"); m_map->setPaintProperty("navLayer", "line-color", QColor("grey")); - m_map->setPaintProperty("navLayer", "line-width", 3); + m_map->setPaintProperty("navLayer", "line-width", 5); m_map->setLayoutProperty("navLayer", "line-cap", "round"); } } @@ -210,6 +222,11 @@ extern "C" { return new MapRenderer(settings, false); } + void map_renderer_update_zoom(MapRenderer *inst, float zoom) { + inst->updateZoom(zoom); + QApplication::processEvents(); + } + void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) { inst->updatePosition({lat, lon}, bearing); QApplication::processEvents(); diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 855dc91894..921d871632 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -47,6 +47,7 @@ private: QTimer* timer; public slots: + void updateZoom(float zoom); void updatePosition(QMapbox::Coordinate position, float bearing); void updateRoute(QList coordinates); void msgUpdate(); diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py index 9000622928..079bb028ce 100755 --- a/selfdrive/navd/map_renderer.py +++ b/selfdrive/navd/map_renderer.py @@ -9,7 +9,7 @@ from cffi import FFI from common.ffi_wrapper import suffix from common.basedir import BASEDIR -HEIGHT = WIDTH = 256 +HEIGHT = WIDTH = 512 def get_ffi(): @@ -18,6 +18,7 @@ def get_ffi(): ffi = FFI() ffi.cdef(""" void* map_renderer_init(char *maps_host, char *token); +void map_renderer_update_zoom(void *inst, float zoom); void map_renderer_update_position(void *inst, float lat, float lon, float bearing); void map_renderer_update_route(void *inst, char *polyline); void map_renderer_update(void *inst); diff --git a/selfdrive/navd/style.json b/selfdrive/navd/style.json new file mode 100644 index 0000000000..06bb750d1f --- /dev/null +++ b/selfdrive/navd/style.json @@ -0,0 +1 @@ +{"version": 8, "name": "Navigation Model", "metadata": {"mapbox:type": "default", "mapbox:origin": "monochrome-dark-v1", "mapbox:sdk-support": {"android": "10.0.0", "ios": "10.0.0", "js": "2.3.0"}, "mapbox:autocomposite": true, "mapbox:groups": {"Transit, transit-labels": {"name": "Transit, transit-labels", "collapsed": true}, "Administrative boundaries, admin": {"name": "Administrative boundaries, admin", "collapsed": true}, "Transit, bridges": {"name": "Transit, bridges", "collapsed": true}, "Transit, surface": {"name": "Transit, surface", "collapsed": true}, "Road network, bridges": {"name": "Road network, bridges", "collapsed": false}, "Land, water, & sky, water": {"name": "Land, water, & sky, water", "collapsed": true}, "Road network, tunnels": {"name": "Road network, tunnels", "collapsed": false}, "Road network, road-labels": {"name": "Road network, road-labels", "collapsed": true}, "Buildings, built": {"name": "Buildings, built", "collapsed": true}, "Natural features, natural-labels": {"name": "Natural features, natural-labels", "collapsed": true}, "Road network, surface": {"name": "Road network, surface", "collapsed": false}, "Land, water, & sky, built": {"name": "Land, water, & sky, built", "collapsed": true}, "Place labels, place-labels": {"name": "Place labels, place-labels", "collapsed": true}, "Point of interest labels, poi-labels": {"name": "Point of interest labels, poi-labels", "collapsed": true}, "Road network, tunnels-case": {"name": "Road network, tunnels-case", "collapsed": true}, "Transit, built": {"name": "Transit, built", "collapsed": true}, "Road network, surface-icons": {"name": "Road network, surface-icons", "collapsed": false}, "Land, water, & sky, land": {"name": "Land, water, & sky, land", "collapsed": true}}}, "center": [-117.19189443261149, 32.756553679559985], "zoom": 12.932776547838778, "bearing": 0, "pitch": 0.5017568344510897, "sources": {"composite": {"url": "mapbox://mapbox.mapbox-streets-v8", "type": "vector", "maxzoom": 13}}, "sprite": "mapbox://sprites/commaai/ckvmksrpd4n0a14pfdo5heqzr/bkx9h9tjdf3xedbnjvfo5xnbv", "glyphs": "mapbox://fonts/mapbox/{fontstack}/{range}.pbf", "layers": [{"id": "land", "type": "background", "layout": {"visibility": "none"}, "paint": {"background-color": "rgb(252, 252, 252)"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}}, {"minzoom": 5, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}, "filter": ["==", ["get", "class"], "national_park"], "type": "fill", "source": "composite", "id": "national-park", "paint": {"fill-color": "rgb(240, 240, 240)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 5, 0, 6, 0.5, 10, 0.5]}, "source-layer": "landuse_overlay"}, {"minzoom": 5, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}, "filter": ["match", ["get", "class"], ["park", "airport", "glacier", "pitch", "sand", "facility"], true, false], "type": "fill", "source": "composite", "id": "landuse", "paint": {"fill-color": "rgb(240, 240, 240)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 5, 0, 6, ["match", ["get", "class"], "glacier", 0.5, 1]]}, "source-layer": "landuse"}, {"id": "waterway-shadow", "type": "line", "source": "composite", "source-layer": "waterway", "minzoom": 8, "layout": {"line-cap": ["step", ["zoom"], "butt", 11, "round"], "line-join": "round", "visibility": "none"}, "paint": {"line-color": "rgb(204, 204, 204)", "line-width": ["interpolate", ["exponential", 1.3], ["zoom"], 9, ["match", ["get", "class"], ["canal", "river"], 0.1, 0], 20, ["match", ["get", "class"], ["canal", "river"], 8, 3]], "line-translate": ["interpolate", ["exponential", 1.2], ["zoom"], 7, ["literal", [0, 0]], 16, ["literal", [-1, -1]]], "line-translate-anchor": "viewport", "line-opacity": ["interpolate", ["linear"], ["zoom"], 8, 0, 8.5, 1]}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "water-shadow", "type": "fill", "source": "composite", "source-layer": "water", "layout": {"visibility": "none"}, "paint": {"fill-color": "rgb(204, 204, 204)", "fill-translate": ["interpolate", ["exponential", 1.2], ["zoom"], 7, ["literal", [0, 0]], 16, ["literal", [-1, -1]]], "fill-translate-anchor": "viewport"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "waterway", "type": "line", "source": "composite", "source-layer": "waterway", "minzoom": 8, "layout": {"line-cap": ["step", ["zoom"], "butt", 11, "round"], "line-join": "round", "visibility": "none"}, "paint": {"line-color": "rgb(224, 224, 224)", "line-width": ["interpolate", ["exponential", 1.3], ["zoom"], 9, ["match", ["get", "class"], ["canal", "river"], 0.1, 0], 20, ["match", ["get", "class"], ["canal", "river"], 8, 3]], "line-opacity": ["interpolate", ["linear"], ["zoom"], 8, 0, 8.5, 1]}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "water", "type": "fill", "source": "composite", "source-layer": "water", "layout": {"visibility": "none"}, "paint": {"fill-color": "rgb(224, 224, 224)"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, built"}, "filter": ["all", ["==", ["geometry-type"], "Polygon"], ["==", ["get", "class"], "land"]], "type": "fill", "source": "composite", "id": "land-structure-polygon", "paint": {"fill-color": "rgb(252, 252, 252)"}, "source-layer": "structure"}, {"minzoom": 13, "layout": {"line-cap": "round", "visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, built"}, "filter": ["all", ["==", ["geometry-type"], "LineString"], ["==", ["get", "class"], "land"]], "type": "line", "source": "composite", "id": "land-structure-line", "paint": {"line-width": ["interpolate", ["exponential", 1.99], ["zoom"], 14, 0.75, 20, 40], "line-color": "rgb(252, 252, 252)"}, "source-layer": "structure"}, {"minzoom": 11, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "transit", "mapbox:group": "Transit, built"}, "filter": ["all", ["==", ["geometry-type"], "Polygon"], ["match", ["get", "type"], ["runway", "taxiway", "helipad"], true, false]], "type": "fill", "source": "composite", "id": "aeroway-polygon", "paint": {"fill-color": "rgb(255, 255, 255)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 11, 0, 11.5, 1]}, "source-layer": "aeroway"}, {"minzoom": 9, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "transit", "mapbox:group": "Transit, built"}, "filter": ["==", ["geometry-type"], "LineString"], "type": "line", "source": "composite", "id": "aeroway-line", "paint": {"line-color": "rgb(255, 255, 255)", "line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 9, ["match", ["get", "type"], "runway", 1, 0.5], 18, ["match", ["get", "type"], "runway", 80, 20]]}, "source-layer": "aeroway"}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "buildings", "mapbox:group": "Buildings, built"}, "filter": ["all", ["!=", ["get", "type"], "building:part"], ["==", ["get", "underground"], "false"]], "type": "line", "source": "composite", "id": "building-outline", "paint": {"line-color": "rgb(227, 227, 227)", "line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 15, 0.75, 20, 3], "line-opacity": ["interpolate", ["linear"], ["zoom"], 15, 0, 16, 1]}, "source-layer": "building"}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "buildings", "mapbox:group": "Buildings, built"}, "filter": ["all", ["!=", ["get", "type"], "building:part"], ["==", ["get", "underground"], "false"]], "type": "fill", "source": "composite", "id": "building", "paint": {"fill-color": ["interpolate", ["linear"], ["zoom"], 15, "rgb(242, 242, 242)", 16, "rgb(242, 242, 242)"], "fill-opacity": ["interpolate", ["linear"], ["zoom"], 15, 0, 16, 1], "fill-outline-color": "rgb(227, 227, 227)"}, "source-layer": "building"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["step", ["zoom"], ["match", ["get", "class"], ["street", "street_limited", "primary_link", "track"], true, false], 1, ["match", ["get", "class"], ["street", "street_limited", "track", "primary_link", "secondary_link", "tertiary_link", "service"], true, false]], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-street-minor-low", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 2, "track", 1, 0.5], 18, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 18, 12]], "line-color": "rgb(235, 235, 235)", "line-opacity": ["step", ["zoom"], 1, 14, 0]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["step", ["zoom"], ["match", ["get", "class"], ["street", "street_limited", "primary_link", "track"], true, false], 1, ["match", ["get", "class"], ["street", "street_limited", "track", "primary_link", "secondary_link", "tertiary_link", "service"], true, false]], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-street-minor-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.75, 20, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 2, "track", 1, 0.5], 18, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 18, 12]], "line-opacity": ["step", ["zoom"], 0, 14, 1], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["primary", "secondary", "tertiary"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-primary-secondary-tertiary-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 10, ["match", ["get", "class"], "primary", 1, 0.75], 18, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 5, ["match", ["get", "class"], "primary", 0.75, 0.1], 18, ["match", ["get", "class"], "primary", 32, 26]], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway_link", "trunk_link"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-major-link-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.75, 20, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, 2, 18, 18], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway", "trunk"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-motorway-trunk-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 10, 1, 18, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 5, 0.75, 18, 32], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["==", ["get", "class"], "construction"], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-construction", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 14, 2, 18, 18], "line-color": "rgb(235, 235, 235)", "line-dasharray": ["step", ["zoom"], ["literal", [0.4, 0.8]], 15, ["literal", [0.3, 0.6]], 16, ["literal", [0.2, 0.3]], 17, ["literal", [0.2, 0.25]], 18, ["literal", [0.15, 0.15]]]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway_link", "trunk_link"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-major-link", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, 2, 18, 18], "line-color": "rgb(235, 235, 235)"}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels"}, "filter": ["all", ["==", ["get", 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["step", ["get", "symbolrank"], 10, 6, 9.5, 7, 9], 9, ["step", ["get", "symbolrank"], 21, 6, 16, 7, 13]], "text-transform": "uppercase", "text-font": ["DIN Pro Bold", "Arial Unicode MS Bold"], "text-field": ["step", ["zoom"], ["step", ["get", "symbolrank"], ["coalesce", ["get", "name_en"], ["get", "name"]], 5, ["coalesce", ["get", "abbr"], ["get", "name_en"], ["get", "name"]]], 5, ["coalesce", ["get", "name_en"], ["get", "name"]]], "text-letter-spacing": 0.15, "text-max-width": 6, "visibility": "none"}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 9, "filter": ["match", ["get", "class"], "state", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_state", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], "type": "symbol", "source": "composite", "id": "state-label", "paint": {"text-color": "rgb(184, 184, 184)", "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1}, "source-layer": "place_label"}, {"minzoom": 1, "layout": {"text-line-height": 1.1, "text-size": ["interpolate", ["cubic-bezier", 0.2, 0, 0.7, 1], ["zoom"], 1, ["step", ["get", "symbolrank"], 11, 4, 9, 5, 8], 9, ["step", ["get", "symbolrank"], 22, 4, 19, 5, 17]], "text-radial-offset": ["step", ["zoom"], 0.6, 8, 0], "icon-image": "", "text-font": ["DIN Pro Medium", "Arial Unicode MS Regular"], "text-justify": ["step", ["zoom"], ["match", ["get", "text_anchor"], ["left", "bottom-left", "top-left"], "left", ["right", "bottom-right", "top-right"], "right", "center"], 7, "auto"], "visibility": "none", "text-field": ["coalesce", ["get", "name_en"], ["get", "name"]], "text-max-width": 6}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 10, "filter": ["match", ["get", "class"], "country", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_country", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], "type": "symbol", "source": "composite", "id": "country-label", "paint": {"icon-opacity": ["step", ["zoom"], ["case", ["has", "text_anchor"], 1, 0], 7, 0], "text-color": "rgb(128, 128, 128)", "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1.25}, "source-layer": "place_label"}], "created": "2021-11-05T16:12:04.822Z", "modified": "2021-11-25T13:58:04.167Z", "id": "ckvmksrpd4n0a14pfdo5heqzr", "owner": "commaai", "visibility": "private", "protected": false, "draft": false} \ No newline at end of file From 7e9961b9ac8c8e22197148d3741164c072200d3c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 13 Oct 2022 17:40:07 -0700 Subject: [PATCH 262/685] FPv2: support collecting versions for specific ecus (#25699) * Add VMCU address for EV6 * Rename vmcu * add to tests add to tests * rename to more generic name * more explicit * remove print * Like this much better, removes subtle fingerprinting problems * clean up * add test and clean up * remove hyundai stuffs * global * Fpv2Config class * fix missing fw versions from import order * unused * revert for now * test for fpv2 configs with subtests * subtests don't work that way * remove this * . * intersection * print ecus * shorter * fix typing * use config --- selfdrive/car/chrysler/values.py | 9 ++++----- selfdrive/car/fw_query_definitions.py | 4 +++- selfdrive/car/fw_versions.py | 5 +++++ selfdrive/car/tests/test_fw_fingerprint.py | 7 +++++++ 4 files changed, 19 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 7180ace524..c703ef6cb8 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -166,14 +166,13 @@ FW_QUERY_CONFIG = FwQueryConfig( bus=0, ), ], + extra_ecus=[ + (Ecu.hcp, 0x7e2, None), # manages transmission on hybrids + (Ecu.abs, 0x7e4, None), # alt address for abs on hybrids + ], ) FW_VERSIONS = { - CAR.PACIFICA_2019_HYBRID: { - (Ecu.hcp, 0x7e2, None): [], - (Ecu.abs, 0x7e4, None): [], - }, - CAR.RAM_1500: { (Ecu.combinationMeter, 0x742, None): [ b'68294063AH', diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index c3b74da920..c7e4d4eb30 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -2,7 +2,7 @@ import capnp from dataclasses import dataclass, field import struct -from typing import Dict, List +from typing import Dict, List, Optional, Tuple import panda.python.uds as uds @@ -64,3 +64,5 @@ class FwQueryConfig: requests: List[Request] # Overrides and removes from essential ecus for specific models and ecus (exact matching) non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict) + # Ecus added for data collection, not to be fingerprinted on + extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 7e03f4b020..d3e8eae0de 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -213,6 +213,11 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False): versions = VERSIONS.copy() + + # Each brand can define extra ECUs to query for data collection + for brand, config in FW_QUERY_CONFIGS.items(): + versions[brand]["debug"] = {ecu: [] for ecu in config.extra_ecus} + if query_brand is not None: versions = {query_brand: versions[query_brand]} diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index f0d2744a98..ed323b0563 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -44,6 +44,13 @@ class TestFwFingerprint(unittest.TestCase): duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") + def test_data_collection_ecus(self): + for brand, config in FW_QUERY_CONFIGS.items(): + for car_model, ecus in VERSIONS[brand].items(): + bad_ecus = set(ecus).intersection(config.extra_ecus) + with self.subTest(car_model=car_model): + self.assertFalse(len(bad_ecus), f'{car_model}: Fingerprints contain ECUs added for data collection: {bad_ecus}') + def test_blacklisted_ecus(self): blacklisted_addrs = (0x7c4, 0x7d0) # includes A/C ecu and an unknown ecu for car_model, ecus in FW_VERSIONS.items(): From a02f42959c330d7df45c623b08c285e43c19726d Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 13 Oct 2022 19:45:42 -0700 Subject: [PATCH 263/685] Hyundai docs: fix model name/year formatting (#26074) * fix formatting so that model years can be parsed * generate car docs --- docs/CARS.md | 8 ++++---- selfdrive/car/hyundai/values.py | 8 ++++---- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 77d6b890db..40eef06102 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -57,8 +57,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| -|Hyundai|Ioniq 5 2022 (with HDA II)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| -|Hyundai|Ioniq 5 2022 (without HDA II)|Highway Driving Assist|Stock|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|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| +|Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |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| @@ -84,8 +84,8 @@ A supported vehicle is one that just works when you install a comma three. All s |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 2022 (with HDA II)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| -|Kia|EV6 2022 (without HDA II)|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P| +|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot|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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Niro EV 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 2d5e6792ee..a24992f90f 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -142,8 +142,8 @@ 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 2022 (without HDA II)" , "Highway Driving Assist", harness=Harness.hyundai_k), - HyundaiCarInfo("Hyundai Ioniq 5 2022 (with HDA II)", "Highway Driving Assist II", harness=Harness.hyundai_q), + HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022" , "Highway Driving Assist", harness=Harness.hyundai_k), + HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_q), ], CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), @@ -175,8 +175,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), CAR.KIA_EV6: [ - HyundaiCarInfo("Kia EV6 2022 (without HDA II)", "Highway Driving Assist", harness=Harness.hyundai_l), - HyundaiCarInfo("Kia EV6 2022 (with HDA II)", "Highway Driving Assist II", harness=Harness.hyundai_p) + HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l), + HyundaiCarInfo("Kia EV6 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_p) ], # Genesis From ed87c0f95a42a304c1ebc2892c1c740f147c78c1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 13 Oct 2022 19:50:09 -0700 Subject: [PATCH 264/685] CAN-FD HKG: add ADAS Driving ECU query (#26075) add ADAS Driving ECU query --- 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 a24992f90f..d3a4b8bbb1 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -299,6 +299,9 @@ FW_QUERY_CONFIG = FwQueryConfig( [HYUNDAI_VERSION_RESPONSE], ), ], + extra_ecus=[ + (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms + ], ) FW_VERSIONS = { From 422167cdf96b52eaaf001f27b447f23055e31709 Mon Sep 17 00:00:00 2001 From: Matt Webb Date: Thu, 13 Oct 2022 20:51:57 -0700 Subject: [PATCH 265/685] HKG: add missing FW versions for 2022 Kia EV6 Light (#26071) Fingerprint 2022 Kia EV6 Light --- 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 d3a4b8bbb1..77759f1fa7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1322,11 +1322,13 @@ FW_VERSIONS = { }, CAR.KIA_EV6: { (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', b'\xf1\x00CV IEB \x03 101!\x10\x18 58520-CV100', b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30', + b'\xf1\x00CV1 MDPS R 1.00 1.05 57700-CV000 2425', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', @@ -1334,6 +1336,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027', ], }, From 5d00e5cc71106c6c4a9b25e3a2873e9e0606544c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 14 Oct 2022 15:53:24 -0700 Subject: [PATCH 266/685] GM: remove brake scaling (#26080) * Don't add a weird factor to ret.brake * update refs --- selfdrive/car/gm/carstate.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index a5f89c58b0..f90b130d93 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -50,8 +50,8 @@ class CarState(CarStateBase): # that the brake is being intermittently pressed without user interaction. # To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf - ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] / 0xd0 - ret.brakePressed = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] >= 8 + ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] + ret.brakePressed = ret.brake >= 8 # Regen braking is braking if self.CP.transmissionType == TransmissionType.direct: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 6a8f5a273c..99257fa930 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1e4bb3f620bddbe6ead966d6f2dd7db3fd730308 \ No newline at end of file +1066a612bcaab6103d44ab93ad68397a85d37833 \ No newline at end of file From c0840e0c33257b7ee86ace2c9a0b985ae61ca71c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 14 Oct 2022 16:50:07 -0700 Subject: [PATCH 267/685] Fix refs --- 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 99257fa930..864b7019a0 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1066a612bcaab6103d44ab93ad68397a85d37833 \ No newline at end of file +e5a86c14e2318f2dd218b3985cdbea6f875f7d83 From 91a7bb4ea3f01f40a7d8e88e857d60ef090dad2c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 14 Oct 2022 16:54:13 -0700 Subject: [PATCH 268/685] GM camera ACC: raise brake pressed threshold (#26081) * Different brake pressed thresholds * comment * bump to master --- panda | 2 +- selfdrive/car/gm/carstate.py | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/panda b/panda index c39528d299..5962bcd08a 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c39528d299aae6a1ebbdbccddeae55bc76a534e3 +Subproject commit 5962bcd08ae4e7c5193535efb45cc9c39da52f54 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index f90b130d93..21eb440d7f 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -51,7 +51,12 @@ class CarState(CarStateBase): # To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] - ret.brakePressed = ret.brake >= 8 + if self.CP.networkLocation != NetworkLocation.fwdCamera: + ret.brakePressed = ret.brake >= 8 + else: + # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status. + # Match ECM threshold at a standstill to allow the camera to cancel earlier + ret.brakePressed = ret.brake >= 20 # Regen braking is braking if self.CP.transmissionType == TransmissionType.direct: From 4e82f68de2641e628f0df1aa82e5a5e935c8cce6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 14 Oct 2022 22:21:53 -0700 Subject: [PATCH 269/685] GM camera ACC: prevent fault when engaging at a stop (#26079) * prevent bolt fault * comment * only for camera ACC * fixup alert * bump cereal to master * use new name * Update selfdrive/car/gm/interface.py * Update selfdrive/car/gm/interface.py * Update selfdrive/car/gm/interface.py * only care about prevent engagement when we look at PCM --- cereal | 2 +- selfdrive/car/gm/interface.py | 8 +++++++- selfdrive/controls/lib/events.py | 4 ++++ 3 files changed, 12 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index 3eca747334..5766e645f2 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3eca747334ca2138bf35d70399d58d0706a3cbd2 +Subproject commit 5766e645f2ee2a131b145fb1ea9e3b7c55a4a740 diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 22ea83759a..248828e757 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -212,7 +212,13 @@ class CarInterface(CarInterfaceBase): if ret.cruiseState.standstill: events.add(EventName.resumeRequired) if ret.vEgo < self.CP.minSteerSpeed: - events.add(car.CarEvent.EventName.belowSteerSpeed) + events.add(EventName.belowSteerSpeed) + + if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.pcmCruise: + # The ECM has a higher brake pressed threshold than the camera, causing an + # ACC fault when you engage at a stop with your foot partially on the brake + if ret.vEgoRaw < 0.1 and ret.brake < 20: + events.add(EventName.gmAccFaultedTemp) ret.events = events.to_msg() diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 91f1748ecb..5bfe89b31c 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -811,6 +811,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"), }, + EventName.gmAccFaultedTemp: { + ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"), + }, + EventName.controlsMismatch: { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"), ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"), From deac907cb44230f641fde5ca1ba22d7c5e236d90 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 16 Oct 2022 02:36:09 +0800 Subject: [PATCH 270/685] Cabana: right click on the chart to reset zoom (#26088) --- tools/cabana/chartswidget.cc | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index e704dea95a..5dafd8ec37 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -305,8 +305,14 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { event->accept(); return; } + } else if (event->button() == Qt::RightButton) { + // reset zoom + if (can->isZoomed()) { + can->resetRange(); + event->accept(); + return; + } } - // TODO: right-click to reset zoom QChartView::mouseReleaseEvent(event); line_marker->setVisible(true); } From df6c135cfaabe830d2447800d49daac445660c64 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Sat, 15 Oct 2022 16:15:47 -0300 Subject: [PATCH 271/685] Multilang: Update pt-BR translation. (#26089) * update pt-BR translations * fix some cutoff texts * update pt-BR translations --- selfdrive/ui/translations/main_pt-BR.ts | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 6a772a1f69..8f59bf4715 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -60,11 +60,11 @@ Cellular Metered - + Plano de Dados Limitado Prevent large data uploads when on a metered connection - + Evite grandes uploads de dados quando estiver em uma conexão limitada @@ -476,7 +476,7 @@ trabalho definido PRIME FEATURES: - APRIMORAMENTOS PRIME: + BENEFÍCIOS PRIME: Remote access From 553068f8c3afd9fd2c3a3a412dd20a8e03c6c58f Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Sat, 15 Oct 2022 15:27:34 -0400 Subject: [PATCH 272/685] Hyundai: CAN-FD Hybrid gas pressed signal (#26086) * Hyundai: Gate 0x105 behind hybrid CAN-FD only * Update values.py * bump panda Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/car/hyundai/carstate.py | 4 ++-- selfdrive/car/hyundai/values.py | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/panda b/panda index 5962bcd08a..62868c36a8 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5962bcd08ae4e7c5193535efb45cc9c39da52f54 +Subproject commit 62868c36a80d1f44064da7b47423f0ef331f64e9 diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 948634e974..5da1dd72c8 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -156,7 +156,7 @@ class CarState(CarStateBase): if self.CP.carFingerprint in EV_CAR: ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. - else: + elif self.CP.carFingerprint in HYBRID_CAR: ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. ret.gasPressed = ret.gas > 1e-5 ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1 @@ -466,7 +466,7 @@ class CarState(CarStateBase): checks += [ ("ACCELERATOR", 100), ] - else: + elif CP.carFingerprint in HYBRID_CAR: signals += [ ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"), ] diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 77759f1fa7..734e56c033 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1397,7 +1397,7 @@ CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_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} # 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} # 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 From bf5a6565c0f2d6791606ff906f6ddb4cba27fb18 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 15 Oct 2022 16:05:52 -0700 Subject: [PATCH 273/685] cabana: misc touchups (#26092) * fix time formatting * disable vertical resize * Update tools/cabana/videowidget.cc --- tools/cabana/detailwidget.cc | 2 +- tools/cabana/videowidget.cc | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 531cd4c665..4127b6c3ed 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -1,4 +1,3 @@ - #include "tools/cabana/detailwidget.h" #include @@ -138,6 +137,7 @@ BinaryView::BinaryView(QWidget *parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); table = new QTableWidget(this); + table->verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); table->horizontalHeader()->hide(); table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 193a6f8788..9e2129afaf 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -11,7 +11,7 @@ #include inline QString formatTime(int seconds) { - return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh::mm::ss" : "mm::ss"); + return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { From b654ebdd25bb3903e94ca5cc6f55d53a256f5c06 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Sat, 15 Oct 2022 20:04:35 -0700 Subject: [PATCH 274/685] Refactor model: no klblock (#26035) * ff138dc0-d097-4818-b40e-dba5ba89d5d6/449 13274b7d-b546-4b91-a587-33b4af7dec6a/700 * b1bb39be-c6ce-4744-8e63-92969fda6bfc/449 f3ebfba1-f686-448f-be9b-b4d5010be91c/700 * model ref Co-authored-by: Yassine Yousfi --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index aee0ac37ff..59b8883d2a 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:c4d37af666344af6bb218e0b939b1152ad3784c15ac79e37bcf0124643c8286a -size 58539563 +oid sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d +size 56972617 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 2446ec061d..b3e9c8c488 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -c171250d2cc013b3eca1cda4fb62f3d0dda28d4d +bfb0a2a52212d2aa1619d999aaae97fa7f7ff788 From e25ea8529698053f4c1b915b7e014ebdc499e56a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 16 Oct 2022 22:55:53 +0800 Subject: [PATCH 275/685] Cabana: complete edit functions (#26097) complete forms --- tools/cabana/chartswidget.cc | 105 ++++++++-------- tools/cabana/chartswidget.h | 25 ++-- tools/cabana/dbcmanager.cc | 22 ++-- tools/cabana/dbcmanager.h | 7 +- tools/cabana/detailwidget.cc | 215 ++++++++++++++++++--------------- tools/cabana/detailwidget.h | 42 +++---- tools/cabana/historylog.cc | 5 +- tools/cabana/messageswidget.cc | 20 +-- tools/cabana/signaledit.cc | 74 +++++------- tools/cabana/signaledit.h | 29 ++--- 10 files changed, 260 insertions(+), 284 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 5dafd8ec37..d0f5356fac 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -1,7 +1,6 @@ #include "tools/cabana/chartswidget.h" #include -#include #include #include #include @@ -14,6 +13,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { // title bar title_bar = new QWidget(this); + title_bar->setVisible(false); QHBoxLayout *title_layout = new QHBoxLayout(title_bar); title_layout->setContentsMargins(0, 0, 0, 0); title_label = new QLabel(tr("Charts")); @@ -25,13 +25,11 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { title_layout->addWidget(range_label); reset_zoom_btn = new QPushButton("⟲", this); - reset_zoom_btn->setVisible(false); reset_zoom_btn->setFixedSize(30, 30); reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)")); title_layout->addWidget(reset_zoom_btn); remove_all_btn = new QPushButton("✖", this); - remove_all_btn->setVisible(false); remove_all_btn->setToolTip(tr("Remove all charts")); remove_all_btn->setFixedSize(30, 30); title_layout->addWidget(remove_all_btn); @@ -56,10 +54,20 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(charts_scroll); - updateTitleBar(); - - QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeChart); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); + QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeChart); + QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const Signal *sig) { + if (auto it = charts.find(sig); it != charts.end()) { + it.value()->chart_view->updateSeries(); + } + }); + QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &id) { + for (auto chart : charts) { + if (chart->id == id) + chart->updateTitle(); + } + }); + QObject::connect(can, &CANMessages::rangeChanged, [this]() { updateTitleBar(); }); QObject::connect(reset_zoom_btn, &QPushButton::clicked, can, &CANMessages::resetRange); QObject::connect(remove_all_btn, &QPushButton::clicked, this, &ChartsWidget::removeAll); @@ -71,54 +79,43 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { } void ChartsWidget::updateTitleBar() { - if (!charts.size()) { - title_bar->setVisible(false); - return; - } - - title_label->setText(tr("Charts (%1)").arg(charts.size())); + title_bar->setVisible(!charts.isEmpty()); + if (charts.isEmpty()) return; // show select range + range_label->setVisible(can->isZoomed()); + reset_zoom_btn->setEnabled(can->isZoomed()); if (can->isZoomed()) { auto [min, max] = can->range(); range_label->setText(tr("%1 - %2").arg(min, 0, 'f', 2).arg(max, 0, 'f', 2)); - range_label->setVisible(true); - reset_zoom_btn->setEnabled(true); - } else { - reset_zoom_btn->setEnabled(false); - range_label->setVisible(false); } + title_label->setText(tr("Charts (%1)").arg(charts.size())); dock_btn->setText(docking ? "⬈" : "⬋"); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); - remove_all_btn->setVisible(!charts.empty()); - reset_zoom_btn->setVisible(!charts.empty()); - title_bar->setVisible(true); } -void ChartsWidget::addChart(const QString &id, const QString &sig_name) { - const QString char_name = id + ":" + sig_name; - if (charts.find(char_name) == charts.end()) { - auto chart = new ChartWidget(id, sig_name, this); - QObject::connect(chart, &ChartWidget::remove, [=]() { - removeChart(id, sig_name); - }); +void ChartsWidget::addChart(const QString &id, const Signal *sig) { + if (!charts.contains(sig)) { + auto chart = new ChartWidget(id, sig, this); + QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(sig); }); charts_layout->insertWidget(0, chart); - charts[char_name] = chart; + charts.insert(sig, chart); } updateTitleBar(); } -void ChartsWidget::removeChart(const QString &id, const QString &sig_name) { - if (auto it = charts.find(id + ":" + sig_name); it != charts.end()) { - it->second->deleteLater(); - charts.erase(it); +void ChartsWidget::removeChart(const Signal *sig) { + auto it = charts.find(sig); + if (it != charts.end()) { + it.value()->deleteLater(); + charts.remove(sig); } updateTitleBar(); } void ChartsWidget::removeAll() { - for (auto [_, chart] : charts) + for (auto chart : charts) chart->deleteLater(); charts.clear(); updateTitleBar(); @@ -134,19 +131,16 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { // ChartWidget -ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *parent) : id(id), sig_name(sig_name), QWidget(parent) { +ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) : id(id), signal(sig), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - - QWidget *chart_widget = new QWidget(this); - QVBoxLayout *chart_layout = new QVBoxLayout(chart_widget); - chart_layout->setSpacing(0); - chart_layout->setContentsMargins(0, 0, 0, 0); + main_layout->setSpacing(0); + main_layout->setContentsMargins(0, 0, 0, 0); QWidget *header = new QWidget(this); header->setStyleSheet("background-color:white"); QHBoxLayout *header_layout = new QHBoxLayout(header); header_layout->setContentsMargins(11, 11, 11, 0); - QLabel *title = new QLabel(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); + title = new QLabel(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); header_layout->addWidget(title); header_layout->addStretch(); @@ -155,26 +149,28 @@ ChartWidget::ChartWidget(const QString &id, const QString &sig_name, QWidget *pa remove_btn->setToolTip(tr("Remove chart")); QObject::connect(remove_btn, &QPushButton::clicked, this, &ChartWidget::remove); header_layout->addWidget(remove_btn); - chart_layout->addWidget(header); + main_layout->addWidget(header); - chart_view = new ChartView(id, sig_name, this); + chart_view = new ChartView(id, sig, this); chart_view->setFixedHeight(300); - chart_layout->addWidget(chart_view); - chart_layout->addStretch(); - - main_layout->addWidget(chart_widget); + main_layout->addWidget(chart_view); + main_layout->addStretch(); setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); } +void ChartWidget::updateTitle() { + title->setText(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); +} + // ChartView -ChartView::ChartView(const QString &id, const QString &sig_name, QWidget *parent) - : id(id), sig_name(sig_name), QChartView(nullptr, parent) { +ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) + : id(id), signal(sig), QChartView(nullptr, parent) { QLineSeries *series = new QLineSeries(); series->setUseOpenGL(true); QChart *chart = new QChart(); - chart->setTitle(sig_name); + chart->setTitle(sig->name.c_str()); chart->addSeries(series); chart->createDefaultAxes(); chart->legend()->hide(); @@ -205,10 +201,7 @@ ChartView::ChartView(const QString &id, const QString &sig_name, QWidget *parent QObject::connect(can, &CANMessages::rangeChanged, this, &ChartView::rangeChanged); QObject::connect(can, &CANMessages::eventsMerged, this, &ChartView::updateSeries); QObject::connect(dynamic_cast(chart->axisX()), &QValueAxis::rangeChanged, can, &CANMessages::setRange); - QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const QString &msg_id, const QString &sig_name) { - if (this->id == msg_id && this->sig_name == sig_name) - updateSeries(); - }); + updateSeries(); } @@ -219,9 +212,9 @@ void ChartView::updateState() { } void ChartView::updateSeries() { - const Signal *sig = dbc()->signal(id, sig_name); + chart()->setTitle(signal->name.c_str()); auto events = can->events(); - if (!sig || !events) return; + if (!events) return; auto l = id.split(':'); int bus = l[0].toInt(); @@ -235,7 +228,7 @@ void ChartView::updateSeries() { for (auto c : evt->event.getCan()) { if (bus == c.getSrc() && address == c.getAddress()) { auto dat = c.getDat(); - double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sig); + double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *signal); double ts = (evt->mono_time / (double)1e9) - route_start_time; // seconds vals.push_back({ts, value}); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index af12560cc9..a3c470e960 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -9,7 +9,6 @@ #include #include #include -#include #include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" @@ -20,7 +19,8 @@ class ChartView : public QChartView { Q_OBJECT public: - ChartView(const QString &id, const QString &sig_name, QWidget *parent = nullptr); + ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr); + void updateSeries(); private: void mouseReleaseEvent(QMouseEvent *event) override; @@ -28,7 +28,6 @@ private: void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; - void updateSeries(); void rangeChanged(qreal min, qreal max); void updateAxisY(); void updateState(); @@ -38,22 +37,23 @@ private: QGraphicsLineItem *line_marker; QList vals; QString id; - QString sig_name; + const Signal *signal; }; class ChartWidget : public QWidget { Q_OBJECT public: - ChartWidget(const QString &id, const QString &sig_name, QWidget *parent); - inline QChart *chart() const { return chart_view->chart(); } + ChartWidget(const QString &id, const Signal *sig, QWidget *parent); + void updateTitle(); signals: void remove(); -protected: +public: QString id; - QString sig_name; + const Signal *signal; + QLabel *title; ChartView *chart_view = nullptr; }; @@ -62,11 +62,8 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); - void addChart(const QString &id, const QString &sig_name); - void removeChart(const QString &id, const QString &sig_name); - inline bool hasChart(const QString &id, const QString &sig_name) { - return charts.find(id + sig_name) != charts.end(); - } + void addChart(const QString &id, const Signal *sig); + void removeChart(const Signal *sig); signals: void dock(bool floating); @@ -85,5 +82,5 @@ private: QPushButton *reset_zoom_btn; QPushButton *remove_all_btn; QVBoxLayout *charts_layout; - std::map charts; + QHash charts; }; diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 1cb6da7fb5..5b1bddcabe 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -36,14 +36,17 @@ void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size void DBCManager::addSignal(const QString &id, const Signal &sig) { if (Msg *m = const_cast(msg(id))) { m->sigs.push_back(sig); - emit signalAdded(id, QString::fromStdString(sig.name)); + emit signalAdded(&m->sigs.back()); } } void DBCManager::updateSignal(const QString &id, const QString &sig_name, const Signal &sig) { - if (Signal *s = const_cast(signal(id, sig_name))) { - *s = sig; - emit signalUpdated(id, sig_name); + if (Msg *m = const_cast(msg(id))) { + auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); }); + if (it != m->sigs.end()) { + *it = sig; + emit signalUpdated(&(*it)); + } } } @@ -51,21 +54,12 @@ void DBCManager::removeSignal(const QString &id, const QString &sig_name) { if (Msg *m = const_cast(msg(id))) { auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); }); if (it != m->sigs.end()) { + emit signalRemoved(&(*it)); m->sigs.erase(it); - emit signalRemoved(id, sig_name); } } } -const Signal *DBCManager::signal(const QString &id, const QString &sig_name) const { - if (auto m = msg(id)) { - auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return sig_name == s.name.c_str(); }); - if (it != m->sigs.end()) - return &(*it); - } - return nullptr; -} - uint32_t DBCManager::addressFromId(const QString &id) { return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16); } diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 06c071be82..1f890a39db 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -14,7 +14,6 @@ public: void open(const QString &dbc_file_name); void save(const QString &dbc_file_name); - const Signal *signal(const QString &id, const QString &sig_name) const; void addSignal(const QString &id, const Signal &sig); void updateSignal(const QString &id, const QString &sig_name, const Signal &sig); void removeSignal(const QString &id, const QString &sig_name); @@ -31,9 +30,9 @@ public: } signals: - void signalAdded(const QString &id, const QString &sig_name); - void signalRemoved(const QString &id, const QString &sig_name); - void signalUpdated(const QString &id, const QString &sig_name); + void signalAdded(const Signal *sig); + void signalRemoved(const Signal *sig); + void signalUpdated(const Signal *sig); void msgUpdated(const QString &id); void DBCFileChanged(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 4127b6c3ed..021e1b73cf 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -3,9 +3,9 @@ #include #include #include +#include #include #include -#include // DetailWidget @@ -32,60 +32,52 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { binary_view = new BinaryView(this); main_layout->addWidget(binary_view, 0, Qt::AlignTop); - // signal header - signals_header = new QWidget(this); - QHBoxLayout *signals_header_layout = new QHBoxLayout(signals_header); - signals_header_layout->addWidget(new QLabel(tr("Signals"))); - signals_header_layout->addStretch(); - QPushButton *add_sig_btn = new QPushButton(tr("Add signal"), this); - signals_header_layout->addWidget(add_sig_btn); - signals_header->setVisible(false); - main_layout->addWidget(signals_header); - - // scroll area + // signals + signals_container = new QWidget(this); + signals_container->setLayout(new QVBoxLayout); + signals_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); + scroll = new ScrollArea(this); - QWidget *container = new QWidget(this); - container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); - QVBoxLayout *container_layout = new QVBoxLayout(container); - signal_edit_layout = new QVBoxLayout(); - signal_edit_layout->setSpacing(2); - container_layout->addLayout(signal_edit_layout); - - scroll->setWidget(container); + scroll->setWidget(signals_container); scroll->setWidgetResizable(true); scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); main_layout->addWidget(scroll); + // history log history_log = new HistoryLog(this); main_layout->addWidget(history_log); - QObject::connect(add_sig_btn, &QPushButton::clicked, this, &DetailWidget::addSignal); QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg); + QObject::connect(binary_view, &BinaryView::cellsSelected, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::dbcMsgChanged); } void DetailWidget::setMessage(const QString &message_id) { - msg_id = message_id; - for (auto f : signal_forms) { - f->deleteLater(); + if (msg_id != message_id) { + msg_id = message_id; + dbcMsgChanged(); } - signal_forms.clear(); +} + +void DetailWidget::dbcMsgChanged() { + if (msg_id.isEmpty()) return; + qDeleteAll(signals_container->findChildren()); + QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { for (int i = 0; i < msg->sigs.size(); ++i) { - auto form = new SignalEdit(i, msg_id, msg->sigs[i], getColor(i)); - signal_edit_layout->addWidget(form); - QObject::connect(form, &SignalEdit::showChart, this, &DetailWidget::showChart); + auto form = new SignalEdit(i, msg_id, msg->sigs[i]); + signals_container->layout()->addWidget(form); + QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]]() { emit showChart(msg_id, sig); }); QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); - signal_forms.push_back(form); + QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); + QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); } - name_label->setText(msg->name.c_str()); - signals_header->setVisible(true); - } else { - name_label->setText(tr("untitled")); - signals_header->setVisible(false); + msg_name = msg->name.c_str(); } edit_btn->setVisible(true); + name_label->setText(msg_name); binary_view->setMessage(msg_id); history_log->setMessage(msg_id); @@ -99,60 +91,90 @@ void DetailWidget::updateState() { history_log->updateState(); } -void DetailWidget::editMsg() { - EditMessageDialog dlg(msg_id, this); - if (dlg.exec()) { - setMessage(msg_id); +void DetailWidget::showForm() { + SignalEdit *sender = qobject_cast(QObject::sender()); + for (auto f : signals_container->findChildren()) { + f->setFormVisible(f == sender && !f->isFormVisible()); + if (f == sender) { + QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); }); + } } } -void DetailWidget::addSignal() { - AddSignalDialog dlg(msg_id, this); +void DetailWidget::editMsg() { + auto msg = dbc()->msg(msg_id); + QString name = msg ? msg->name.c_str() : "untitled"; + int size = msg ? msg->size : can->lastMessage(msg_id).dat.size(); + EditMessageDialog dlg(msg_id, name, size, this); if (dlg.exec()) { - setMessage(msg_id); + dbc()->updateMsg(msg_id, dlg.name_edit->text(), dlg.size_spin->value()); + dbcMsgChanged(); } } -void DetailWidget::showForm() { - SignalEdit *sender = qobject_cast(QObject::sender()); - if (sender->isFormVisible()) { - sender->setFormVisible(false); - } else { - for (auto f : signal_forms) { - f->setFormVisible(f == sender); - if (f == sender) { - // scroll to header - QTimer::singleShot(0, [=]() { - const QPoint p = f->mapTo(scroll, QPoint(0, 0)); - scroll->verticalScrollBar()->setValue(p.y() + scroll->verticalScrollBar()->value()); - }); - } +void DetailWidget::addSignal(int start_bit, int size) { + if (dbc()->msg(msg_id)) { + AddSignalDialog dlg(msg_id, start_bit, size, this); + if (dlg.exec()) { + dbc()->addSignal(msg_id, dlg.form->getSignal()); + dbcMsgChanged(); } } } +void DetailWidget::saveSignal() { + SignalEdit *sig_form = qobject_cast(QObject::sender()); + auto s = sig_form->form->getSignal(); + dbc()->updateSignal(msg_id, sig_form->sig_name, s); + // update binary view and history log + binary_view->setMessage(msg_id); + history_log->setMessage(msg_id); +} + +void DetailWidget::removeSignal() { + SignalEdit *sig_form = qobject_cast(QObject::sender()); + QString text = tr("Are you sure you want to remove signal '%1'").arg(sig_form->sig_name); + if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove signal"), text)) { + dbc()->removeSignal(msg_id, sig_form->sig_name); + dbcMsgChanged(); + } +} + // BinaryView -BinaryView::BinaryView(QWidget *parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - table = new QTableWidget(this); - table->verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); - table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); - table->horizontalHeader()->hide(); - table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - main_layout->addWidget(table); - table->setColumnCount(9); +BinaryView::BinaryView(QWidget *parent) : QTableWidget(parent) { + horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); + verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); + horizontalHeader()->hide(); + setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + setColumnCount(9); + + // replace selection model + auto old_model = selectionModel(); + setSelectionModel(new BinarySelectionModel(model())); + delete old_model; +} + +void BinaryView::mouseReleaseEvent(QMouseEvent *event) { + QTableWidget::mouseReleaseEvent(event); + + if (auto items = selectedItems(); !items.isEmpty()) { + int start_bit = items.first()->row() * 8 + items.first()->column(); + int size = items.back()->row() * 8 + items.back()->column() - start_bit + 1; + emit cellsSelected(start_bit, size); + } } void BinaryView::setMessage(const QString &message_id) { msg_id = message_id; + if (msg_id.isEmpty()) return; + const Msg *msg = dbc()->msg(msg_id); - const int row_count = msg ? msg->size : can->lastMessage(msg_id).dat.size(); - table->setRowCount(row_count); - table->setColumnCount(9); - for (int i = 0; i < table->rowCount(); ++i) { - for (int j = 0; j < table->columnCount(); ++j) { + int row_count = msg ? msg->size : can->lastMessage(msg_id).dat.size(); + setRowCount(row_count); + setColumnCount(9); + for (int i = 0; i < rowCount(); ++i) { + for (int j = 0; j < columnCount(); ++j) { auto item = new QTableWidgetItem(); item->setFlags(item->flags() ^ Qt::ItemIsEditable); item->setTextAlignment(Qt::AlignCenter); @@ -160,8 +182,9 @@ void BinaryView::setMessage(const QString &message_id) { QFont font; font.setBold(true); item->setFont(font); + item->setFlags(item->flags() ^ Qt::ItemIsSelectable); } - table->setItem(i, j, item); + setItem(i, j, item); } } @@ -170,71 +193,73 @@ void BinaryView::setMessage(const QString &message_id) { for (int i = 0; i < msg->sigs.size(); ++i) { const auto &sig = msg->sigs[i]; int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit); - for (int j = start; j <= start + sig.size - 1; ++j) { - table->item(j / 8, j % 8)->setBackground(QColor(getColor(i))); + for (int j = start; j <= std::min(start + sig.size - 1, rowCount() * columnCount() - 1); ++j) { + item(j / 8, j % 8)->setBackground(QColor(getColor(i))); } } } - table->setFixedHeight(table->rowHeight(0) * std::min(row_count, 8) + 2); + + setFixedHeight(rowHeight(0) * std::min(row_count, 8) + 2); + clearSelection(); updateState(); } void BinaryView::updateState() { - if (msg_id.isEmpty()) return; - const auto &binary = can->lastMessage(msg_id).dat; - setUpdatesEnabled(false); char hex[3] = {'\0'}; for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < 8; ++j) { - table->item(i, j)->setText(QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0')); + item(i, j)->setText(QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0')); } hex[0] = toHex(binary[i] >> 4); hex[1] = toHex(binary[i] & 0xf); - table->item(i, 8)->setText(hex); + item(i, 8)->setText(hex); } setUpdatesEnabled(true); } +void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) { + QItemSelection new_selection = selection; + if (auto indexes = selection.indexes(); !indexes.isEmpty()) { + auto [begin_idx, end_idx] = (QModelIndex[]){indexes.first(), indexes.back()}; + for (int row = begin_idx.row(); row <= end_idx.row(); ++row) { + int left_col = (row == begin_idx.row()) ? begin_idx.column() : 0; + int right_col = (row == end_idx.row()) ? end_idx.column() : 7; + new_selection.merge({model()->index(row, left_col), model()->index(row, right_col)}, command); + } + } + QItemSelectionModel::select(new_selection, command); +} + // EditMessageDialog -EditMessageDialog::EditMessageDialog(const QString &msg_id, QWidget *parent) : msg_id(msg_id), QDialog(parent) { +EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Edit message")); QVBoxLayout *main_layout = new QVBoxLayout(this); QFormLayout *form_layout = new QFormLayout(); form_layout->addRow("ID", new QLabel(msg_id)); - const auto msg = dbc()->msg(msg_id); - name_edit = new QLineEdit(this); - name_edit->setText(msg ? msg->name.c_str() : "untitled"); + name_edit = new QLineEdit(title, this); form_layout->addRow(tr("Name"), name_edit); size_spin = new QSpinBox(this); - size_spin->setValue(msg ? msg->size : can->lastMessage(msg_id).dat.size()); + // TODO: limit the maximum? + size_spin->setMinimum(1); + size_spin->setValue(size); form_layout->addRow(tr("Size"), size_spin); main_layout->addLayout(form_layout); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); main_layout->addWidget(buttonBox); - setFixedWidth(parent->width() * 0.9); - connect(buttonBox, &QDialogButtonBox::accepted, this, &EditMessageDialog::save); + connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); } -void EditMessageDialog::save() { - const QString name = name_edit->text(); - if (size_spin->value() <= 0 || name_edit->text().isEmpty() || name == tr("untitled")) - return; - - dbc()->updateMsg(msg_id, name, size_spin->value()); - QDialog::accept(); -} - // ScrollArea bool ScrollArea::eventFilter(QObject *obj, QEvent *ev) { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 99fe321012..db174873f7 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -1,12 +1,7 @@ #pragma once -#include -#include -#include #include #include -#include -#include #include "opendbc/can/common.h" #include "opendbc/can/common_dbc.h" @@ -15,29 +10,32 @@ #include "tools/cabana/historylog.h" #include "tools/cabana/signaledit.h" -class BinaryView : public QWidget { - Q_OBJECT +class BinarySelectionModel : public QItemSelectionModel { +public: + BinarySelectionModel(QAbstractItemModel *model = nullptr) : QItemSelectionModel(model) {} + void select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) override; +}; +class BinaryView : public QTableWidget { + Q_OBJECT public: - BinaryView(QWidget *parent); + BinaryView(QWidget *parent = nullptr); + void mouseReleaseEvent(QMouseEvent *event) override; void setMessage(const QString &message_id); void updateState(); +signals: + void cellsSelected(int start_bit, int size); private: QString msg_id; - QTableWidget *table; }; class EditMessageDialog : public QDialog { Q_OBJECT public: - EditMessageDialog(const QString &msg_id, QWidget *parent); + EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent); -protected: - void save(); - - QString msg_id; QLineEdit *name_edit; QSpinBox *size_spin; }; @@ -57,24 +55,24 @@ class DetailWidget : public QWidget { public: DetailWidget(QWidget *parent); void setMessage(const QString &message_id); + void dbcMsgChanged(); signals: - void showChart(const QString &msg_id, const QString &sig_name); - -private slots: - void showForm(); + void showChart(const QString &msg_id, const Signal *sig); + void removeChart(const Signal *sig); private: - void addSignal(); + void addSignal(int start_bit, int size); + void saveSignal(); + void removeSignal(); void editMsg(); + void showForm(); void updateState(); QString msg_id; QLabel *name_label, *time_label; QPushButton *edit_btn; - QVBoxLayout *signal_edit_layout; - QWidget *signals_header; - QList signal_forms; + QWidget *signals_container; HistoryLog *history_log; BinaryView *binary_view; ScrollArea *scroll; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 494e281cb1..5a77b5aa9e 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -52,9 +52,8 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i void HistoryLogModel::updateState() { if (msg_id.isEmpty()) return; - const auto &can_msgs = can->messages(msg_id); int prev_row_count = row_count; - row_count = can_msgs.size(); + row_count = can->messages(msg_id).size(); int delta = row_count - prev_row_count; if (delta > 0) { beginInsertRows({}, prev_row_count, row_count - 1); @@ -64,7 +63,7 @@ void HistoryLogModel::updateState() { endRemoveRows(); } if (row_count > 0) { - emit dataChanged(index(0, 0), index(row_count - 1, column_count - 1)); + emit dataChanged(index(0, 0), index(row_count - 1, column_count - 1), {Qt::DisplayRole}); emit headerDataChanged(Qt::Vertical, 0, row_count - 1); } } diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index eaf84fbace..f10cbf44b4 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -68,7 +68,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { }); QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { if (current.isValid()) { - emit msgSelectionChanged(table_widget->model()->data(current, Qt::UserRole).toString()); + emit msgSelectionChanged(current.data(Qt::UserRole).toString()); } }); @@ -78,11 +78,8 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) { dbc()->open(dbc_file); - // update detailwidget - auto current = table_widget->selectionModel()->currentIndex(); - if (current.isValid()) { - emit msgSelectionChanged(table_widget->model()->data(current, Qt::UserRole).toString()); - } + // TODO: reset model? + table_widget->sortByColumn(0, Qt::AscendingOrder); } // MessageListModel @@ -90,9 +87,6 @@ void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) { QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Horizontal && role == Qt::DisplayRole) return (QString[]){"Name", "ID", "Count", "Bytes"}[section]; - else if (orientation == Qt::Vertical && role == Qt::DisplayRole) { - // return QString::number(section); - } return {}; } @@ -100,17 +94,15 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { auto it = std::next(can->can_msgs.begin(), index.row()); if (it != can->can_msgs.end() && !it.value().empty()) { - const auto &d = it.value().front(); const QString &msg_id = it.key(); switch (index.column()) { case 0: { auto msg = dbc()->msg(msg_id); - QString name = msg ? msg->name.c_str() : "untitled"; - return name; + return msg ? msg->name.c_str() : "untitled"; } case 1: return msg_id; case 2: return can->counters[msg_id]; - case 3: return toHex(d.dat); + case 3: return toHex(it.value().front().dat); } } } else if (role == Qt::UserRole) { @@ -132,6 +124,6 @@ void MessageListModel::updateState() { } if (row_count > 0) { - emit dataChanged(index(0, 0), index(row_count - 1, 3)); + emit dataChanged(index(0, 0), index(row_count - 1, 3), {Qt::DisplayRole}); } } diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 3f48450195..2da3e2eec2 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -3,7 +3,6 @@ #include #include #include -#include #include // SignalForm @@ -15,13 +14,10 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start form_layout->addRow(tr("Name"), name); size = new QSpinBox(); + size->setMinimum(1); size->setValue(sig.size); form_layout->addRow(tr("Size"), size); - msb = new QSpinBox(); - msb->setValue(sig.msb); - form_layout->addRow(tr("Most significant bit"), msb); - endianness = new QComboBox(); endianness->addItems({"Little", "Big"}); endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1); @@ -56,7 +52,8 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start form_layout->addRow(tr("Value descriptions"), val_desc); } -std::optional SignalForm::getSignal() { +Signal SignalForm::getSignal() { + // TODO: Check if the size is valid, and no duplicate name Signal sig = {}; sig.start_bit = start_bit; sig.name = name->text().toStdString(); @@ -72,17 +69,17 @@ std::optional SignalForm::getSignal() { sig.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(sig.start_bit) + sig.size - 1); sig.msb = sig.start_bit; } - return (sig.name.empty() || sig.size <= 0) ? std::nullopt : std::optional(sig); + return sig; } // SignalEdit -SignalEdit::SignalEdit(int index, const QString &id, const Signal &sig, const QString &color, QWidget *parent) - : id(id), name_(sig.name.c_str()), QWidget(parent) { +SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent) + : sig_name(sig.name.c_str()), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); - // title + // title bar QHBoxLayout *title_layout = new QHBoxLayout(); icon = new QLabel(">"); icon->setFixedSize(15, 30); @@ -90,24 +87,25 @@ SignalEdit::SignalEdit(int index, const QString &id, const Signal &sig, const QS title_layout->addWidget(icon); title = new ElidedLabel(this); title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - title->setText(QString("%1. %2").arg(index + 1).arg(sig.name.c_str())); - title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color)); + title->setText(QString("%1. %2").arg(index + 1).arg(sig_name)); + title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); title_layout->addWidget(title); - plot_btn = new QPushButton("📈"); + QPushButton *plot_btn = new QPushButton("📈"); plot_btn->setToolTip(tr("Show Plot")); plot_btn->setFixedSize(30, 30); - QObject::connect(plot_btn, &QPushButton::clicked, [=]() { emit showChart(id, name_); }); + QObject::connect(plot_btn, &QPushButton::clicked, this, &SignalEdit::showChart); title_layout->addWidget(plot_btn); main_layout->addLayout(title_layout); + // signal form form_container = new QWidget(this); QVBoxLayout *v_layout = new QVBoxLayout(form_container); form = new SignalForm(sig, this); v_layout->addWidget(form); QHBoxLayout *h = new QHBoxLayout(); - remove_btn = new QPushButton(tr("Remove Signal")); + QPushButton *remove_btn = new QPushButton(tr("Remove Signal")); h->addWidget(remove_btn); h->addStretch(); QPushButton *save_btn = new QPushButton(tr("Save")); @@ -117,13 +115,19 @@ SignalEdit::SignalEdit(int index, const QString &id, const Signal &sig, const QS form_container->setVisible(false); main_layout->addWidget(form_container); - QFrame* hline = new QFrame(); + // bottom line + QFrame *hline = new QFrame(); hline->setFrameShape(QFrame::HLine); hline->setFrameShadow(QFrame::Sunken); main_layout->addWidget(hline); QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); - QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::save); + QObject::connect(save_btn, &QPushButton::clicked, [=]() { + QString new_name = form->getSignal().name.c_str(); + title->setText(QString("%1. %2").arg(index + 1).arg(new_name)); + emit save(); + sig_name = new_name; + }); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); } @@ -132,40 +136,24 @@ void SignalEdit::setFormVisible(bool visible) { icon->setText(visible ? "▼" : ">"); } -void SignalEdit::save() { - if (auto s = form->getSignal()) - dbc()->updateSignal(id, name_, *s); -} - -void SignalEdit::remove() { - QMessageBox msgbox; - msgbox.setText(tr("Remove signal")); - msgbox.setInformativeText(tr("Are you sure you want to remove signal '%1'").arg(name_)); - msgbox.setStandardButtons(QMessageBox::Ok | QMessageBox::Cancel); - msgbox.setDefaultButton(QMessageBox::Cancel); - if (msgbox.exec()) { - dbc()->removeSignal(id, name_); - deleteLater(); - } -} - // AddSignalDialog -AddSignalDialog::AddSignalDialog(const QString &id, QWidget *parent) : QDialog(parent) { +AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Add signal to %1").arg(dbc()->msg(id)->name.c_str())); QVBoxLayout *main_layout = new QVBoxLayout(this); - Signal sig = {.name = "untitled"}; - auto form = new SignalForm(sig, this); + + Signal sig = { + .name = "untitled", + .start_bit = bigEndianBitIndex(start_bit), + .is_little_endian = false, + .size = size, + }; + form = new SignalForm(sig, this); main_layout->addWidget(form); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); main_layout->addWidget(buttonBox); setFixedWidth(parent->width() * 0.9); connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); - connect(buttonBox, &QDialogButtonBox::accepted, [=]() { - if (auto signal = form->getSignal()) { - dbc()->addSignal(id, *signal); - } - QDialog::accept(); - }); + connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); } diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 00c13948b7..f31408657f 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -1,7 +1,5 @@ #pragma once -#include - #include #include #include @@ -15,14 +13,12 @@ #include "tools/cabana/dbcmanager.h" class SignalForm : public QWidget { - Q_OBJECT - public: SignalForm(const Signal &sig, QWidget *parent); - std::optional getSignal(); + Signal getSignal(); QLineEdit *name, *unit, *comment, *val_desc; - QSpinBox *size, *msb, *lsb, *offset; + QSpinBox *size, *offset; QDoubleSpinBox *factor, *min_val, *max_val; QComboBox *sign, *endianness; int start_bit = 0; @@ -32,31 +28,26 @@ class SignalEdit : public QWidget { Q_OBJECT public: - SignalEdit(int index, const QString &id, const Signal &sig, const QString &color, QWidget *parent = nullptr); + SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent = nullptr); void setFormVisible(bool show); inline bool isFormVisible() const { return form_container->isVisible(); } - void save(); + QString sig_name; + SignalForm *form; signals: - void showChart(const QString &msg_id, const QString &sig_name); + void showChart(); void showFormClicked(); - -protected: void remove(); + void save(); - QString id; - QString name_; - QPushButton *plot_btn; +protected: ElidedLabel *title; - SignalForm *form; QWidget *form_container; - QPushButton *remove_btn; QLabel *icon; }; class AddSignalDialog : public QDialog { - Q_OBJECT - public: - AddSignalDialog(const QString &id, QWidget *parent); + AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent); + SignalForm *form; }; From e3268d88c5226afaf5a300a775b8989bcff18b20 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 16 Oct 2022 23:24:34 +0800 Subject: [PATCH 276/685] cabana: use monospace font for hex string (#26102) specify monospace font for hex string --- tools/cabana/detailwidget.cc | 3 ++- tools/cabana/historylog.cc | 7 ++++++- tools/cabana/messageswidget.cc | 5 +++++ 3 files changed, 13 insertions(+), 2 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 021e1b73cf..a9899ec650 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -1,6 +1,7 @@ #include "tools/cabana/detailwidget.h" #include +#include #include #include #include @@ -179,7 +180,7 @@ void BinaryView::setMessage(const QString &message_id) { item->setFlags(item->flags() ^ Qt::ItemIsEditable); item->setTextAlignment(Qt::AlignCenter); if (j == 8) { - QFont font; + QFont font = QFontDatabase::systemFont(QFontDatabase::FixedFont); font.setBold(true); item->setFont(font); item->setFlags(item->flags() ^ Qt::ItemIsSelectable); diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 5a77b5aa9e..cbb3b6e882 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -1,20 +1,25 @@ #include "tools/cabana/historylog.h" +#include #include #include QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { + auto msg = dbc()->msg(msg_id); if (role == Qt::DisplayRole) { const auto &can_msgs = can->messages(msg_id); if (index.row() < can_msgs.size()) { const auto &can_data = can_msgs[index.row()]; - auto msg = dbc()->msg(msg_id); if (msg && index.column() < msg->sigs.size()) { return get_raw_value((uint8_t *)can_data.dat.begin(), can_data.dat.size(), msg->sigs[index.column()]); } else { return toHex(can_data.dat); } } + } else if (role == Qt::FontRole) { + if (index.column() == 0 && !(msg && msg->sigs.size() > 0)) { + return QFontDatabase::systemFont(QFontDatabase::FixedFont); + } } return {}; } diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index f10cbf44b4..3c9af67ea6 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include #include @@ -107,6 +108,10 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { } } else if (role == Qt::UserRole) { return std::next(can->can_msgs.begin(), index.row()).key(); + } else if (role == Qt::FontRole) { + if (index.column() == 3) { + return QFontDatabase::systemFont(QFontDatabase::FixedFont); + } } return {}; } From d4f9343a2c1f5345dec07a93b25594b588cd9963 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 17 Oct 2022 03:30:23 +0800 Subject: [PATCH 277/685] Cabana: load from high quality video by default (#26100) --- tools/cabana/cabana.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 88b175663f..1096487973 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -14,6 +14,7 @@ int main(int argc, char *argv[]) { cmd_parser.addHelpOption(); 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({"data_dir", "local directory with routes", "data_dir"}); cmd_parser.process(app); const QStringList args = cmd_parser.positionalArguments(); @@ -23,7 +24,7 @@ int main(int argc, char *argv[]) { const QString route = args.empty() ? DEMO_ROUTE : args.first(); CANMessages p(&app); - if (!p.loadRoute(route, cmd_parser.value("data_dir"), true)) { + if (!p.loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) { return 0; } MainWindow w; From d109dda720b502a94f914c1a29ffdea6d01fbc6f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 17 Oct 2022 03:31:26 +0800 Subject: [PATCH 278/685] Cabana: click on video to play/pause (#26099) --- tools/cabana/videowidget.cc | 19 ++++++++++--------- tools/cabana/videowidget.h | 3 +++ 2 files changed, 13 insertions(+), 9 deletions(-) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 9e2129afaf..b6fe8de3e2 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -5,7 +5,6 @@ #include #include #include -#include #include #include #include @@ -39,9 +38,9 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { // btn controls QHBoxLayout *control_layout = new QHBoxLayout(); - QPushButton *play = new QPushButton("⏸"); - play->setStyleSheet("font-weight:bold"); - control_layout->addWidget(play); + play_btn = new QPushButton("⏸"); + play_btn->setStyleSheet("font-weight:bold"); + control_layout->addWidget(play_btn); QButtonGroup *group = new QButtonGroup(this); group->setExclusive(true); @@ -61,11 +60,13 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); - QObject::connect(play, &QPushButton::clicked, [=]() { - bool is_paused = can->isPaused(); - play->setText(is_paused ? "⏸" : "▶"); - can->pause(!is_paused); - }); + QObject::connect(cam_widget, &CameraViewWidget::clicked, [this]() { pause(!can->isPaused()); }); + QObject::connect(play_btn, &QPushButton::clicked, [=]() { pause(!can->isPaused()); }); +} + +void VideoWidget::pause(bool pause) { + play_btn->setText(!pause ? "⏸" : "▶"); + can->pause(pause); } void VideoWidget::rangeChanged(double min, double max) { diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index e80e3b48f9..fd896f1e11 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -29,8 +30,10 @@ public: protected: void rangeChanged(double min, double max); void updateState(); + void pause(bool pause); CameraViewWidget *cam_widget; QLabel *end_time_label; + QPushButton *play_btn; Slider *slider; }; From 00494a44f4fb8f9e18ce82e22bf40fbe6bc1a805 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 16 Oct 2022 15:54:36 -0700 Subject: [PATCH 279/685] CI speedup (#26096) * CI speedup * use the new stuff * push * no regressions * try that * don't let this slip * fix modeld tests * fix linter * modernize prebuilt * cleanup * fix those * increase a bit --- .github/workflows/prebuilt.yaml | 8 +- .github/workflows/selfdrive_tests.yaml | 109 +++++++++--------- .github/workflows/setup/action.yaml | 8 +- .github/workflows/tools_tests.yaml | 45 +++++--- .pre-commit-config.yaml | 1 + release/build_devel.sh | 4 +- selfdrive/modeld/tests/__init__.py | 0 .../modeld/{test => tests}/dmon_lag/repro.cc | 0 .../{test => tests}/snpe_benchmark/.gitignore | 0 .../snpe_benchmark/benchmark.cc | 1 + .../snpe_benchmark/benchmark.sh | 0 .../modeld/{test => tests}/test_modeld.py | 0 .../modeld/{test => tests}/tf_test/build.sh | 0 .../modeld/{test => tests}/tf_test/main.cc | 0 .../{test => tests}/tf_test/pb_loader.py | 0 .../{test => tests}/timing/benchmark.py | 0 16 files changed, 95 insertions(+), 81 deletions(-) create mode 100644 selfdrive/modeld/tests/__init__.py rename selfdrive/modeld/{test => tests}/dmon_lag/repro.cc (100%) rename selfdrive/modeld/{test => tests}/snpe_benchmark/.gitignore (100%) rename selfdrive/modeld/{test => tests}/snpe_benchmark/benchmark.cc (99%) rename selfdrive/modeld/{test => tests}/snpe_benchmark/benchmark.sh (100%) rename selfdrive/modeld/{test => tests}/test_modeld.py (100%) rename selfdrive/modeld/{test => tests}/tf_test/build.sh (100%) rename selfdrive/modeld/{test => tests}/tf_test/main.cc (100%) rename selfdrive/modeld/{test => tests}/tf_test/pb_loader.py (100%) rename selfdrive/modeld/{test => tests}/timing/benchmark.py (100%) diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index b659d4ceee..c8b4c51e38 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -2,7 +2,6 @@ name: prebuilt on: schedule: - cron: '0 * * * *' - workflow_dispatch: env: @@ -11,9 +10,7 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: | - docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true - docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true - docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . jobs: build_prebuilt: @@ -37,8 +34,7 @@ jobs: - name: Build Docker image run: | eval "$BUILD" - docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true - docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot . + DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot . - name: Push to container registry run: | $DOCKER_LOGIN diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index cd34c6d27c..d84779103b 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -18,15 +18,12 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: | - docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true - docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true - docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c BUILD_CL: | - docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true - docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . + DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c UNIT_TEST: coverage run --append -m unittest discover @@ -41,13 +38,10 @@ jobs: steps: - uses: actions/checkout@v3 with: - fetch-depth: 0 submodules: true - name: Build devel run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh - uses: ./.github/workflows/setup - with: - save-cache: true - name: Check submodules if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: release/check-submodules.sh @@ -72,18 +66,20 @@ jobs: build_all: name: build all runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 30 steps: - uses: actions/checkout@v3 with: submodules: true - uses: ./.github/workflows/setup + with: + save-cache: true - name: Build openpilot with all flags run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh" - name: Cleanup scons cache run: | ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \ - scons -j$(nproc) --extras --cache-populate" + scons -j$(nproc) --cache-populate" #build_mac: # name: build macos @@ -145,7 +141,7 @@ jobs: docker_push: name: docker push runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 22 if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast steps: @@ -154,12 +150,14 @@ jobs: submodules: true - name: Build Docker image run: eval "$BUILD" + timeout-minutes: 13 - name: Push to container registry run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest - name: Build CL Docker image run: eval "$BUILD_CL" + timeout-minutes: 4 - name: Push to container registry run: | $DOCKER_LOGIN @@ -168,7 +166,7 @@ jobs: static_analysis: name: static analysis runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 20 steps: - uses: actions/checkout@v3 with: @@ -176,21 +174,23 @@ jobs: - name: Build Docker image run: eval "$BUILD" - name: pre-commit + timeout-minutes: 5 run: ${{ env.RUN }} "pre-commit run --all" valgrind: name: valgrind runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 20 steps: - uses: actions/checkout@v3 with: submodules: true - uses: ./.github/workflows/setup + - name: Build openpilot + run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run valgrind run: | - ${{ env.RUN }} "scons -j$(nproc) && \ - python selfdrive/test/test_valgrind_replay.py" + ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py" - name: Print logs if: always() run: cat selfdrive/test/valgrind_logs.txt @@ -198,16 +198,18 @@ jobs: unit_tests: name: unit tests runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 30 steps: - uses: actions/checkout@v3 with: submodules: true - uses: ./.github/workflows/setup + - name: Build openpilot + run: ${{ env.RUN }} "scons -j$(nproc)" - name: Run unit tests + timeout-minutes: 15 run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ - scons -j$(nproc) && \ $UNIT_TEST common && \ $UNIT_TEST opendbc/can && \ $UNIT_TEST selfdrive/boardd && \ @@ -220,7 +222,6 @@ jobs: $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ $UNIT_TEST system/hardware/tici && \ - $UNIT_TEST selfdrive/modeld && \ $UNIT_TEST tools/lib/tests && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ @@ -239,7 +240,7 @@ jobs: process_replay: name: process replay runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 25 steps: - uses: actions/checkout@v3 with: @@ -251,10 +252,12 @@ jobs: with: path: /tmp/comma_download_cache key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }} + - name: Build openpilot + run: | + ${{ env.RUN }} "scons -j$(nproc)" - name: Run replay run: | - ${{ env.RUN }} "scons -j$(nproc) && \ - CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ + ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \ coverage xml" - name: Print diff if: always() @@ -268,15 +271,14 @@ jobs: - name: Upload reference logs if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }} run: | - ${{ env.RUN }} "scons -j$(nproc) && \ - CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" + ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v2 - model_replay_onnx: - name: model replay onnx + test_modeld: + name: model tests runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 20 steps: - uses: actions/checkout@v3 with: @@ -285,29 +287,41 @@ jobs: - name: Build Docker image # Sim docker is needed to get the OpenCL drivers run: eval "$BUILD_CL" - - name: Run replay + - name: Build openpilot + run: | + ${{ env.RUN }} "scons -j$(nproc)" + - 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 && \ + coverage xml" + - name: Run unit tests + timeout-minutes: 5 run: | - ${{ env.RUN_CL }} "scons -j$(nproc) && \ - ONNXCPU=1 CI=1 coverage run \ - selfdrive/test/process_replay/model_replay.py -j$(nproc) && \ + ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \ coverage xml" + - name: "Upload coverage to Codecov" + uses: codecov/codecov-action@v2 test_longitudinal: name: longitudinal runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 20 steps: - uses: actions/checkout@v3 with: submodules: true - uses: ./.github/workflows/setup + - name: Build openpilot + run: | + ${{ env.RUN }} "scons -j$(nproc)" - name: Test longitudinal run: | ${{ env.RUN }} "mkdir -p selfdrive/test/out && \ - scons -j$(nproc) && \ cd selfdrive/test/longitudinal_maneuvers && \ coverage run ./test_longitudinal.py && \ coverage xml" + timeout-minutes: 2 - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v2 - uses: actions/upload-artifact@v2 @@ -320,7 +334,7 @@ jobs: test_cars: name: cars runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 20 strategy: fail-fast: false matrix: @@ -336,10 +350,12 @@ jobs: with: path: /tmp/comma_download_cache key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }} + - name: Build openpilot + run: ${{ env.RUN }} "scons -j$(nproc)" - name: Test car models + timeout-minutes: 12 run: | - ${{ env.RUN }} "scons -j$(nproc) && \ - coverage run -m pytest selfdrive/car/tests/test_models.py && \ + ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \ coverage xml && \ chmod -R 777 /tmp/comma_download_cache" env: @@ -348,29 +364,10 @@ jobs: - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v2 - docs: - name: build docs - runs-on: ubuntu-20.04 - timeout-minutes: 50 - steps: - - uses: actions/checkout@v3 - with: - submodules: true - - name: Build docker container - run: | - docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true - docker pull $DOCKER_REGISTRY/openpilot-docs:latest || true - DOCKER_BUILDKIT=1 docker build --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . - - name: Push docker container - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' - run: | - $DOCKER_LOGIN - docker push $DOCKER_REGISTRY/openpilot-docs:latest - car_docs_diff: - name: comment on PR with car docs diff + name: PR comments runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 20 if: github.event_name == 'pull_request' steps: - uses: actions/checkout@v3 diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml index 79c4c890ab..186a9d9095 100644 --- a/.github/workflows/setup/action.yaml +++ b/.github/workflows/setup/action.yaml @@ -15,9 +15,9 @@ runs: # build cache - id: date shell: bash - run: echo "::set-output name=date::$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d')" + run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV - shell: bash - run: echo "${{ steps.date.outputs.date }}" + run: echo "$CACHE_COMMIT_DATE" - shell: bash run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false' @@ -27,9 +27,9 @@ runs: uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b with: path: /tmp/scons_cache - key: scons-${{ steps.date.outputs.date }}-${{ github.sha }} + key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }} restore-keys: | - scons-${{ steps.date.outputs.date }}- + scons-${{ env.CACHE_COMMIT_DATE }}- scons- # build our docker image diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 9dc5c05837..549a2f4195 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -2,6 +2,8 @@ name: tools on: push: + branches-ignore: + - 'testing-closet*' pull_request: concurrency: @@ -15,21 +17,20 @@ env: DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: | - docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true - docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true - docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base . + + RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c + BUILD_CL: | - docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base_cl) || true - docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true - docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . - RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e \ - GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c + DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl . + RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c + jobs: plotjuggler: name: plotjuggler runs-on: ubuntu-20.04 - timeout-minutes: 30 + timeout-minutes: 20 steps: - uses: actions/checkout@v3 with: @@ -37,6 +38,7 @@ jobs: - name: Build Docker image run: eval "$BUILD" - name: Unit test + timeout-minutes: 2 run: | ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \ apt-get update && \ @@ -47,7 +49,7 @@ jobs: simulator: name: simulator runs-on: ubuntu-20.04 - timeout-minutes: 50 + timeout-minutes: 30 env: IMAGE_NAME: openpilot-sim if: github.repository == 'commaai/openpilot' @@ -61,12 +63,29 @@ jobs: run: eval "$BUILD" - name: Build base cl image run: eval "$BUILD_CL" - - name: Pull latest simulator image - run: docker pull $DOCKER_REGISTRY/$IMAGE_NAME:latest || true - name: Build simulator image - run: docker build --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . + run: DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim . - name: Push to container registry if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest + + docs: + name: build docs + runs-on: ubuntu-20.04 + timeout-minutes: 25 + steps: + - uses: actions/checkout@v3 + with: + submodules: true + - name: Build docker container + run: | + DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . + - name: Push docker container + if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' + run: | + $DOCKER_LOGIN + docker push $DOCKER_REGISTRY/openpilot-docs:latest + + diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 25b8490f92..85c24b911b 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -53,6 +53,7 @@ repos: types: [python] exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' args: + - -j0 - -rn - -sn - --rcfile=.pylintrc diff --git a/release/build_devel.sh b/release/build_devel.sh index 7108334808..668ac0de19 100755 --- a/release/build_devel.sh +++ b/release/build_devel.sh @@ -22,8 +22,8 @@ pre-commit uninstall || true echo "[-] bringing master-ci and devel in sync T=$SECONDS" cd $TARGET_DIR -git fetch origin master-ci -git fetch origin devel +git fetch --depth 1 origin master-ci +git fetch --depth 1 origin devel git checkout -f --track origin/master-ci git reset --hard master-ci diff --git a/selfdrive/modeld/tests/__init__.py b/selfdrive/modeld/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/modeld/test/dmon_lag/repro.cc b/selfdrive/modeld/tests/dmon_lag/repro.cc similarity index 100% rename from selfdrive/modeld/test/dmon_lag/repro.cc rename to selfdrive/modeld/tests/dmon_lag/repro.cc diff --git a/selfdrive/modeld/test/snpe_benchmark/.gitignore b/selfdrive/modeld/tests/snpe_benchmark/.gitignore similarity index 100% rename from selfdrive/modeld/test/snpe_benchmark/.gitignore rename to selfdrive/modeld/tests/snpe_benchmark/.gitignore diff --git a/selfdrive/modeld/test/snpe_benchmark/benchmark.cc b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc similarity index 99% rename from selfdrive/modeld/test/snpe_benchmark/benchmark.cc rename to selfdrive/modeld/tests/snpe_benchmark/benchmark.cc index 1e2072eea1..021e065d81 100644 --- a/selfdrive/modeld/test/snpe_benchmark/benchmark.cc +++ b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc @@ -102,6 +102,7 @@ void get_testframe(int index, std::unique_ptr &input) { fread(frame_buffer, length, 1, pFile); // std::cout << *(frame_buffer+length/4-1) << std::endl; std::copy(frame_buffer, frame_buffer+(length/4), input->begin()); + fclose(pFile); } void SaveITensor(const std::string& path, const zdl::DlSystem::ITensor* tensor) diff --git a/selfdrive/modeld/test/snpe_benchmark/benchmark.sh b/selfdrive/modeld/tests/snpe_benchmark/benchmark.sh similarity index 100% rename from selfdrive/modeld/test/snpe_benchmark/benchmark.sh rename to selfdrive/modeld/tests/snpe_benchmark/benchmark.sh diff --git a/selfdrive/modeld/test/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py similarity index 100% rename from selfdrive/modeld/test/test_modeld.py rename to selfdrive/modeld/tests/test_modeld.py diff --git a/selfdrive/modeld/test/tf_test/build.sh b/selfdrive/modeld/tests/tf_test/build.sh similarity index 100% rename from selfdrive/modeld/test/tf_test/build.sh rename to selfdrive/modeld/tests/tf_test/build.sh diff --git a/selfdrive/modeld/test/tf_test/main.cc b/selfdrive/modeld/tests/tf_test/main.cc similarity index 100% rename from selfdrive/modeld/test/tf_test/main.cc rename to selfdrive/modeld/tests/tf_test/main.cc diff --git a/selfdrive/modeld/test/tf_test/pb_loader.py b/selfdrive/modeld/tests/tf_test/pb_loader.py similarity index 100% rename from selfdrive/modeld/test/tf_test/pb_loader.py rename to selfdrive/modeld/tests/tf_test/pb_loader.py diff --git a/selfdrive/modeld/test/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py similarity index 100% rename from selfdrive/modeld/test/timing/benchmark.py rename to selfdrive/modeld/tests/timing/benchmark.py From f8091837c92ed096ef3b886d1b09fe758d6ae9f2 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 18 Oct 2022 02:15:03 +0900 Subject: [PATCH 280/685] kor translation update (#26111) --- selfdrive/ui/translations/main_ko.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 86cd8f990a..f84797eb60 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -60,11 +60,11 @@ Cellular Metered - + 데이터 요금제 Prevent large data uploads when on a metered connection - + 데이터 요금제 연결 시 대용량 데이터 업로드 방지 From 93346c31d3728d27eaff56a3068690a47eac86ef Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 01:20:27 +0800 Subject: [PATCH 281/685] Cabana: add chart_height setting (#26066) add chart_height setting --- tools/cabana/canmessages.cc | 5 ++++- tools/cabana/canmessages.h | 1 + tools/cabana/chartswidget.cc | 11 ++++++++++- tools/cabana/chartswidget.h | 1 + tools/cabana/mainwin.cc | 7 +++++++ tools/cabana/mainwin.h | 1 + 6 files changed, 24 insertions(+), 2 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index b717424ece..3cf08eaaa0 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -141,11 +141,14 @@ void Settings::save() { 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); + emit changed(); } void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); can_msg_log_size = s.value("log_size", 100).toInt(); - cached_segment_limit = s.value("cached_segment", 3.).toInt(); + cached_segment_limit = s.value("cached_segment", 3).toInt(); + chart_height = s.value("chart_height", 200).toInt(); } diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 3d33f801a7..7f6955369b 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -19,6 +19,7 @@ public: int fps = 10; int can_msg_log_size = 100; int cached_segment_limit = 3; + int chart_height = 200; signals: void changed(); diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index d0f5356fac..e69729c03a 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -76,6 +76,11 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { docking = !docking; updateTitleBar(); }); + QObject::connect(&settings, &Settings::changed, [this]() { + for (auto chart : charts) { + chart->setHeight(settings.chart_height); + } + }); } void ChartsWidget::updateTitleBar() { @@ -152,7 +157,7 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) main_layout->addWidget(header); chart_view = new ChartView(id, sig, this); - chart_view->setFixedHeight(300); + chart_view->setFixedHeight(settings.chart_height); main_layout->addWidget(chart_view); main_layout->addStretch(); @@ -205,6 +210,10 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) updateSeries(); } +void ChartWidget::setHeight(int height) { + chart_view->setFixedHeight(height); +} + void ChartView::updateState() { auto axis_x = dynamic_cast(chart()->axisX()); int x = chart()->plotArea().left() + chart()->plotArea().width() * (can->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index a3c470e960..3e43409dc4 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -46,6 +46,7 @@ Q_OBJECT public: ChartWidget(const QString &id, const Signal *sig, QWidget *parent); void updateTitle(); + void setHeight(int height); signals: void remove(); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index c9d9c85141..999a4816b0 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -96,6 +96,12 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { cached_segment->setValue(settings.cached_segment_limit); form_layout->addRow(tr("Cached segments limit"), cached_segment); + chart_height = new QSpinBox(this); + chart_height->setRange(100, 500); + chart_height->setSingleStep(10); + chart_height->setValue(settings.chart_height); + form_layout->addRow(tr("Chart height"), chart_height); + main_layout->addLayout(form_layout); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); @@ -110,6 +116,7 @@ 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.save(); accept(); } diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 14c4b1dfa9..594e608b59 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -33,4 +33,5 @@ public: QSpinBox *fps; QSpinBox *log_size ; QSpinBox *cached_segment; + QSpinBox *chart_height; }; From 3a8ddc191fd9a7537254399e3b9e49217de9bf16 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 01:32:31 +0800 Subject: [PATCH 282/685] Move Qt moc files to scons cache directory (#26109) --- SConstruct | 1 + 1 file changed, 1 insertion(+) diff --git a/SConstruct b/SConstruct index 23ab37dc1e..74680c0598 100644 --- a/SConstruct +++ b/SConstruct @@ -327,6 +327,7 @@ qt_flags = [ qt_env['CXXFLAGS'] += qt_flags qt_env['LIBPATH'] += ['#selfdrive/ui'] qt_env['LIBS'] = qt_libs +qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_' if GetOption("clazy"): checks = [ From 6d07268ee5b385010961eab206b0b42a0ae6b5f8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 01:39:07 +0800 Subject: [PATCH 283/685] tools/replay: reduce test running time (#26110) --- tools/replay/tests/test_replay.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 5b61b6b6f2..3fd410bb6e 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -207,8 +207,7 @@ void TestReplay::test_seek() { } TEST_CASE("Replay") { - auto flag = GENERATE(REPLAY_FLAG_NO_FILE_CACHE, REPLAY_FLAG_NONE); - TestReplay replay(DEMO_ROUTE, flag); + TestReplay replay(DEMO_ROUTE, (uint8_t)REPLAY_FLAG_NO_VIPC); REQUIRE(replay.load()); replay.test_seek(); } From 1dffbb629a6b629b3079bcea195f64f389fc5d1d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 10:47:54 -0700 Subject: [PATCH 284/685] GM camera ACC: revert FCW logging (#26114) Revert FCW logging --- selfdrive/car/gm/carstate.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 21eb440d7f..b67b97093a 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -96,9 +96,7 @@ class CarState(CarStateBase): ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL 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 - ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0 return ret @@ -110,7 +108,6 @@ class CarState(CarStateBase): signals += [ ("AEBCmdActive", "AEBCmd"), ("RollingCounter", "ASCMLKASteeringCmd"), - ("FCWAlert", "ASCMActiveCruiseControlStatus"), ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"), ] checks += [ From 9e2a1121ea1103efaceaf52cca83370da73ba988 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 17 Oct 2022 12:55:40 -0700 Subject: [PATCH 285/685] athenad: small tests cleanup (#26037) * test helpers * create file helper * clearer * type * fix default create path * static methods --- selfdrive/athena/tests/test_athenad.py | 68 ++++++++++++++------------ 1 file changed, 36 insertions(+), 32 deletions(-) diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 7f511eecf6..5e86a2e821 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -9,6 +9,7 @@ import threading import queue import unittest from datetime import datetime, timedelta +from typing import Optional from multiprocessing import Process from pathlib import Path @@ -46,12 +47,26 @@ class TestAthenadMethods(unittest.TestCase): else: os.unlink(p) - def wait_for_upload(self): + + # *** test helpers *** + + @staticmethod + def _wait_for_upload(): now = time.time() while time.time() - now < 5: if athenad.upload_queue.qsize() == 0: break + @staticmethod + def _create_file(file: str, parent: Optional[str] = None) -> str: + fn = os.path.join(athenad.ROOT if parent is None else parent, file) + os.makedirs(os.path.dirname(fn), exist_ok=True) + Path(fn).touch() + return fn + + + # *** test cases *** + def test_echo(self): assert dispatcher["echo"]("bob") == "bob" @@ -85,9 +100,7 @@ class TestAthenadMethods(unittest.TestCase): filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc'] files = [f'{route}--{s}/{f}' for s in segments for f in filenames] for file in files: - fn = os.path.join(athenad.ROOT, file) - os.makedirs(os.path.dirname(fn), exist_ok=True) - Path(fn).touch() + self._create_file(file) resp = dispatcher["listDataDirectory"]() self.assertTrue(resp, 'list empty!') @@ -121,16 +134,14 @@ class TestAthenadMethods(unittest.TestCase): self.assertCountEqual(resp, expected) def test_strip_bz2_extension(self): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') if fn.endswith('.bz2'): self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) @with_http_server def test_do_upload(self, host): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') with self.assertRaises(requests.exceptions.ConnectionError): @@ -142,8 +153,7 @@ class TestAthenadMethods(unittest.TestCase): @with_http_server def test_uploadFileToUrl(self, host): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {}) self.assertEqual(resp['enqueued'], 1) @@ -154,8 +164,7 @@ class TestAthenadMethods(unittest.TestCase): @with_http_server def test_uploadFileToUrl_duplicate(self, host): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + self._create_file('qlog.bz2') url1 = f"{host}/qlog.bz2?sig=sig1" dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {}) @@ -172,8 +181,7 @@ class TestAthenadMethods(unittest.TestCase): @with_http_server def test_upload_handler(self, host): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + 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) end_event = threading.Event() @@ -182,7 +190,7 @@ class TestAthenadMethods(unittest.TestCase): athenad.upload_queue.put_nowait(item) try: - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) # TODO: verify that upload actually succeeded @@ -195,8 +203,7 @@ class TestAthenadMethods(unittest.TestCase): def test_upload_handler_retry(self, host, mock_put): for status, retry in ((500, True), (412, False)): mock_put.return_value.status_code = status - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + 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) end_event = threading.Event() @@ -205,7 +212,7 @@ class TestAthenadMethods(unittest.TestCase): athenad.upload_queue.put_nowait(item) try: - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0) @@ -217,8 +224,7 @@ class TestAthenadMethods(unittest.TestCase): def test_upload_handler_timeout(self): """When an upload times out or fails to connect it should be placed back in the queue""" - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + 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) @@ -228,14 +234,14 @@ class TestAthenadMethods(unittest.TestCase): try: athenad.upload_queue.put_nowait(item_no_retry) - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) # Check that upload with retry count exceeded is not put back self.assertEqual(athenad.upload_queue.qsize(), 0) athenad.upload_queue.put_nowait(item) - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) # Check that upload item was put back in the queue with incremented retry count @@ -256,7 +262,7 @@ class TestAthenadMethods(unittest.TestCase): thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) thread.start() try: - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) self.assertEqual(athenad.upload_queue.qsize(), 0) @@ -269,8 +275,7 @@ class TestAthenadMethods(unittest.TestCase): ts = int(t_future.strftime("%s")) * 1000 # Item that would time out if actually uploaded - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True) @@ -279,7 +284,7 @@ class TestAthenadMethods(unittest.TestCase): thread.start() try: athenad.upload_queue.put_nowait(item) - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) self.assertEqual(athenad.upload_queue.qsize(), 0) @@ -292,8 +297,7 @@ class TestAthenadMethods(unittest.TestCase): @with_http_server def test_listUploadQueueCurrent(self, host): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + 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) end_event = threading.Event() @@ -302,7 +306,7 @@ class TestAthenadMethods(unittest.TestCase): try: athenad.upload_queue.put_nowait(item) - self.wait_for_upload() + self._wait_for_upload() items = dispatcher["listUploadQueue"]() self.assertEqual(len(items), 1) @@ -405,9 +409,9 @@ class TestAthenadMethods(unittest.TestCase): def test_get_logs_to_send_sorted(self): fl = list() for i in range(10): - fn = os.path.join(swaglog.SWAGLOG_DIR, f'swaglog.{i:010}') - Path(fn).touch() - fl.append(os.path.basename(fn)) + file = f'swaglog.{i:010}' + self._create_file(file, athenad.SWAGLOG_DIR) + fl.append(file) # ensure the list is all logs except most recent sl = athenad.get_logs_to_send_sorted() From 6c65e9bf9837cb00c5feeb3744232597c5b421bb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 13:50:56 -0700 Subject: [PATCH 286/685] HKG FPv2: whitelist queried Ecus (#26115) * whitelist all ecus * remove engine and fwdCamera from queries they never return to --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 734e56c033..3585fcc313 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -293,10 +293,12 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera], ), Request( [HYUNDAI_VERSION_REQUEST_MULTI], [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), ], extra_ecus=[ From 581835df80dc2cf4d3c0e18fdf9f2772e643da5a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 14:04:29 -0700 Subject: [PATCH 287/685] 2018 Kia Stinger: add missing FW versions (#26117) add missing versions from 1ce52d9487767eae --- 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 3585fcc313..856bf1abd9 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -743,6 +743,7 @@ FW_VERSIONS = { b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00', b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00', + b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', @@ -765,6 +766,8 @@ FW_VERSIONS = { b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', ], }, CAR.PALISADE: { From 60586e0d5835dbb3928321700c9d4d99cdeec216 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 05:39:18 +0800 Subject: [PATCH 288/685] Cabana: align the charts properly (#26116) --- tools/cabana/chartswidget.cc | 20 +++++++++++++++++++- tools/cabana/chartswidget.h | 1 + 2 files changed, 20 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index e69729c03a..3652720e12 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include @@ -183,7 +184,6 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) font.setBold(true); chart->setTitleFont(font); chart->setMargins({0, 0, 0, 0}); - chart->layout()->setContentsMargins(0, 0, 0, 0); track_line = new QGraphicsLineItem(chart); track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine)); @@ -202,14 +202,32 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) rubber->setPalette(pal); } + QTimer *timer = new QTimer(this); + timer->setInterval(100); + timer->setSingleShot(true); + timer->callOnTimeout(this, &ChartView::adjustChartMargins); + QObject::connect(can, &CANMessages::updated, this, &ChartView::updateState); QObject::connect(can, &CANMessages::rangeChanged, this, &ChartView::rangeChanged); QObject::connect(can, &CANMessages::eventsMerged, this, &ChartView::updateSeries); QObject::connect(dynamic_cast(chart->axisX()), &QValueAxis::rangeChanged, can, &CANMessages::setRange); + QObject::connect(chart, &QChart::plotAreaChanged, [=](const QRectF &plotArea) { + // use a singleshot timer to avoid recursion call. + timer->start(); + }); updateSeries(); } +void ChartView::adjustChartMargins() { + // TODO: Remove hardcoded aligned_pos + const int aligned_pos = 60; + if (chart()->plotArea().left() != aligned_pos) { + const float left_margin = chart()->margins().left() + aligned_pos - chart()->plotArea().left(); + chart()->setMargins(QMargins(left_margin, 0, 0, 0)); + } +} + void ChartWidget::setHeight(int height) { chart_view->setFixedHeight(height); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 3e43409dc4..fe2e14db9f 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -27,6 +27,7 @@ private: void mouseMoveEvent(QMouseEvent *ev) override; void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; + void adjustChartMargins(); void rangeChanged(qreal min, qreal max); void updateAxisY(); From c6b8a253e68fc62cd9eb3261e7f08d3cb3d3414d Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 17 Oct 2022 15:36:29 -0700 Subject: [PATCH 289/685] networking: fix metered setting (#26113) when metered set unknown, when unmetered set no --- selfdrive/ui/qt/offroad/wifiManager.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index 62de3041b9..fde8645586 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -368,7 +368,7 @@ void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) { changes = true; } - int meteredInt = metered ? NM_METERED_NO : NM_METERED_UNKNOWN; + int meteredInt = metered ? NM_METERED_UNKNOWN : NM_METERED_NO; if (settings.value("connection").value("metered").toInt() != meteredInt) { qWarning() << "Changing connection.metered to" << meteredInt; settings["connection"]["metered"] = meteredInt; From e6cab24e08323ce1e8d846365a6ca1770a54f851 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 17 Oct 2022 15:38:31 -0700 Subject: [PATCH 290/685] updated: sync submodules (#26121) --- selfdrive/updated.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 9568b28ae3..57f957cfff 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -365,6 +365,7 @@ class Updater: ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"], ["git", "reset", "--hard"], ["git", "clean", "-xdff"], + ["git", "submodule", "sync"], ["git", "submodule", "init"], ["git", "submodule", "update"], ] From 15b8c7d1dc3a75d78c0bbaa4f6b866374f6e8672 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 17 Oct 2022 17:14:38 -0700 Subject: [PATCH 291/685] ui: publish draw times + add test (#26119) * ui: publish draw times + add test * add some checks * adjust * fix linter * update max Co-authored-by: Comma Device --- cereal | 2 +- selfdrive/debug/check_timings.py | 2 +- selfdrive/test/test_onroad.py | 23 +++++++++++++++++++++-- selfdrive/ui/qt/onroad.cc | 10 ++++++++++ selfdrive/ui/qt/onroad.h | 1 + 5 files changed, 34 insertions(+), 4 deletions(-) diff --git a/cereal b/cereal index 5766e645f2..107048c83e 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 5766e645f2ee2a131b145fb1ea9e3b7c55a4a740 +Subproject commit 107048c83ec2f488286a1be314e7aece0a20a6b1 diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py index 083e084ca7..fb8467a3c4 100755 --- a/selfdrive/debug/check_timings.py +++ b/selfdrive/debug/check_timings.py @@ -19,7 +19,7 @@ if __name__ == "__main__": for m in msgs: ts[s].append(m.logMonoTime / 1e6) - if len(ts[s]): + if len(ts[s]) > 2: d = np.diff(ts[s]) print(f"{s:25} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}") time.sleep(1) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index b29ca5d35b..0d3d7b367a 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -120,8 +120,8 @@ class TestOnroad(unittest.TestCase): if "DEBUG" in os.environ: segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) - print(segs[-1]) - cls.lr = list(LogReader(os.path.join(segs[-1], "rlog"))) + print(segs[-2]) + cls.lr = list(LogReader(os.path.join(segs[-2], "rlog"))) return # setup env @@ -187,6 +187,25 @@ class TestOnroad(unittest.TestCase): big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.] self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}") + def test_ui_timings(self): + result = "\n" + result += "------------------------------------------------\n" + result += "-------------- UI Draw Timing ------------------\n" + result += "------------------------------------------------\n" + + ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug'] + result += f"min {min(ts):.2f}ms\n" + result += f"max {max(ts):.2f}ms\n" + result += f"std {np.std(ts):.2f}ms\n" + result += f"mean {np.mean(ts):.2f}ms\n" + result += "------------------------------------------------\n" + print(result) + + self.assertGreater(len(ts), 20*50, "insufficient samples") + self.assertLess(max(ts), 30.) + self.assertLess(np.mean(ts), 10.) + self.assertLess(np.std(ts), 5.) + def test_cpu_usage(self): proclogs = [m for m in self.lr if m.which() == 'procLog'] self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples") diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 0fbfb0cfc2..66bc38dbfc 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -176,6 +176,8 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { // NvgWindow NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) { + pm = std::make_unique>({"uiDebug"}); + engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); } @@ -542,6 +544,8 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV } void NvgWindow::paintGL() { + const double start_draw_t = millis_since_boot(); + UIState *s = uiState(); const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2(); CameraViewWidget::setFrameId(model.getFrameId()); @@ -575,6 +579,12 @@ void NvgWindow::paintGL() { LOGW("slow frame rate: %.2f fps", fps); } prev_draw_t = cur_draw_t; + + // publish debug msg + MessageBuilder msg; + auto m = msg.initEvent().initUiDebug(); + m.setDrawTimeMillis(cur_draw_t - start_draw_t); + pm->send("uiDebug", msg); } void NvgWindow::showEvent(QShowEvent *event) { diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 25920ccc6a..7ed2c9cc4a 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -68,6 +68,7 @@ private: bool has_eu_speed_limit = false; bool v_ego_cluster_seen = false; int status = STATUS_DISENGAGED; + std::unique_ptr pm; protected: void paintGL() override; From cd12ef4aa19a83f88532f5c1a8c3f290b87fcbf8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 08:18:04 +0800 Subject: [PATCH 292/685] cabana: add a splitter between message lists and detailview (#26118) * add a splitter between message lists and detailview * space --- tools/cabana/mainwin.cc | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 999a4816b0..7aea8097cf 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -5,6 +5,7 @@ #include #include #include +#include #include MainWindow::MainWindow() : QWidget() { @@ -13,12 +14,16 @@ MainWindow::MainWindow() : QWidget() { QHBoxLayout *h_layout = new QHBoxLayout(); main_layout->addLayout(h_layout); + QSplitter *splitter = new QSplitter(Qt::Horizontal, this); + messages_widget = new MessagesWidget(this); - h_layout->addWidget(messages_widget); + splitter->addWidget(messages_widget); detail_widget = new DetailWidget(this); - detail_widget->setFixedWidth(600); - h_layout->addWidget(detail_widget); + splitter->addWidget(detail_widget); + + splitter->setSizes({100, 500}); + h_layout->addWidget(splitter); // right widgets QWidget *right_container = new QWidget(this); From 409e8f5f89a38f9893a1f28f8fabd3bf526b46eb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 08:18:24 +0800 Subject: [PATCH 293/685] cabana: faster history log with better stretch mode (#26112) --- tools/cabana/historylog.cc | 59 ++++++++++++++------------------------ tools/cabana/historylog.h | 13 +++++---- 2 files changed, 28 insertions(+), 44 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index cbb3b6e882..c0efbca280 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -5,21 +5,16 @@ #include QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { - auto msg = dbc()->msg(msg_id); + bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); if (role == Qt::DisplayRole) { - const auto &can_msgs = can->messages(msg_id); - if (index.row() < can_msgs.size()) { - const auto &can_data = can_msgs[index.row()]; - if (msg && index.column() < msg->sigs.size()) { - return get_raw_value((uint8_t *)can_data.dat.begin(), can_data.dat.size(), msg->sigs[index.column()]); - } else { - return toHex(can_data.dat); - } - } - } else if (role == Qt::FontRole) { - if (index.column() == 0 && !(msg && msg->sigs.size() > 0)) { - return QFontDatabase::systemFont(QFontDatabase::FixedFont); + const auto &m = can->messages(msg_id)[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(), dbc_msg->sigs[index.column() - 1])) + : toHex(m.dat); + } else if (role == Qt::FontRole && index.column() == 1 && !has_signal) { + return QFontDatabase::systemFont(QFontDatabase::FixedFont); } return {}; } @@ -27,8 +22,8 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { void HistoryLogModel::setMessage(const QString &message_id) { beginResetModel(); msg_id = message_id; - const auto msg = dbc()->msg(message_id); - column_count = msg && !msg->sigs.empty() ? msg->sigs.size() : 1; + dbc_msg = dbc()->msg(message_id); + column_count = (dbc_msg && !dbc_msg->sigs.empty() ? dbc_msg->sigs.size() : 1) + 1; row_count = 0; endResetModel(); @@ -37,18 +32,14 @@ void HistoryLogModel::setMessage(const QString &message_id) { QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Horizontal) { - auto msg = dbc()->msg(msg_id); - if (msg && section < msg->sigs.size()) { - if (role == Qt::BackgroundRole) { - return QBrush(QColor(getColor(section))); - } else if (role == Qt::DisplayRole || role == Qt::ToolTipRole) { - return QString::fromStdString(msg->sigs[section].name); + bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); + if (role == Qt::DisplayRole || role == Qt::ToolTipRole) { + if (section == 0) { + return "Time"; } - } - } else if (role == Qt::DisplayRole) { - const auto &can_msgs = can->messages(msg_id); - if (section < can_msgs.size()) { - return QString::number(can_msgs[section].ts, 'f', 2); + return has_signal ? dbc_msg->sigs[section - 1].name.c_str() : "Data"; + } else if (role == Qt::BackgroundRole && section > 0 && has_signal) { + return QBrush(QColor(getColor(section - 1))); } } return {}; @@ -69,7 +60,6 @@ void HistoryLogModel::updateState() { } if (row_count > 0) { emit dataChanged(index(0, 0), index(row_count - 1, column_count - 1), {Qt::DisplayRole}); - emit headerDataChanged(Qt::Vertical, 0, row_count - 1); } } @@ -79,17 +69,10 @@ HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) { model = new HistoryLogModel(this); table = new QTableView(this); table->setModel(model); - table->horizontalHeader()->setStretchLastSection(true); - table->setEditTriggers(QAbstractItemView::NoEditTriggers); + table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); + table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::Fixed); + table->setColumnWidth(0, 60); + table->verticalHeader()->setVisible(false); table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); - table->verticalHeader()->setStyleSheet("QHeaderView::section {padding-left: 5px; padding-right: 5px;min-width:40px;}"); main_layout->addWidget(table); } - -void HistoryLog::setMessage(const QString &message_id) { - model->setMessage(message_id); -} - -void HistoryLog::updateState() { - model->updateState(); -} diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index f3a9046bfa..bc6d1f9376 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -6,21 +6,22 @@ #include "tools/cabana/dbcmanager.h" class HistoryLogModel : public QAbstractTableModel { -Q_OBJECT + 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; - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } - QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; + 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; } private: QString msg_id; int row_count = 0; - int column_count = 0; + int column_count = 2; + const Msg *dbc_msg = nullptr; }; class HistoryLog : public QWidget { @@ -28,8 +29,8 @@ class HistoryLog : public QWidget { public: HistoryLog(QWidget *parent); - void setMessage(const QString &message_id); - void updateState(); + void setMessage(const QString &message_id) { model->setMessage(message_id); } + void updateState() { model->updateState(); } private: QTableView *table; From 99b16151fcc621832d573b9f7858eb5020f6503a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 08:19:41 +0800 Subject: [PATCH 294/685] Cabana: show MSB/LSB of signals in the BinaryView (#26103) * dispaly msb and lsb in binary view * draw at bottom * move binaryview to seperate files * increase the width of vertical header * re-draw changed cells only * correct lsb/msb position * check bounds * todo --- tools/cabana/SConscript | 2 +- tools/cabana/binaryview.cc | 184 +++++++++++++++++++++++++++++++++++ tools/cabana/binaryview.h | 72 ++++++++++++++ tools/cabana/canmessages.h | 1 + tools/cabana/detailwidget.cc | 98 +------------------ tools/cabana/detailwidget.h | 26 +---- tools/cabana/signaledit.cc | 3 + 7 files changed, 265 insertions(+), 121 deletions(-) create mode 100644 tools/cabana/binaryview.cc create mode 100644 tools/cabana/binaryview.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 8dbd4f1d1c..fd44ecd138 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -12,5 +12,5 @@ else: qt_libs = ['qt_util', 'Qt5Charts'] + base_libs cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs -qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', +qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', 'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc new file mode 100644 index 0000000000..3b962b6de1 --- /dev/null +++ b/tools/cabana/binaryview.cc @@ -0,0 +1,184 @@ +#include "tools/cabana/binaryview.h" + +#include +#include +#include + +#include "tools/cabana/canmessages.h" + +// BinaryView + +const int CELL_HEIGHT = 35; + +BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { + model = new BinaryViewModel(this); + setModel(model); + setItemDelegate(new BinaryItemDelegate(this)); + horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); + horizontalHeader()->hide(); + verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); + setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + + // replace selection model + auto old_model = selectionModel(); + setSelectionModel(new BinarySelectionModel(model)); + delete old_model; + + QObject::connect(model, &QAbstractItemModel::modelReset, [this]() { + setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2); + }); +} + +void BinaryView::mouseReleaseEvent(QMouseEvent *event) { + QTableView::mouseReleaseEvent(event); + + if (auto indexes = selectedIndexes(); !indexes.isEmpty()) { + int start_bit = indexes.first().row() * 8 + indexes.first().column(); + int size = indexes.back().row() * 8 + indexes.back().column() - start_bit + 1; + emit cellsSelected(start_bit, size); + } +} + +void BinaryView::setMessage(const QString &message_id) { + msg_id = message_id; + model->setMessage(message_id); + resizeRowsToContents(); + clearSelection(); + updateState(); +} + +void BinaryView::updateState() { + model->updateState(); +} + +// BinaryViewModel + +void BinaryViewModel::setMessage(const QString &message_id) { + msg_id = message_id; + + beginResetModel(); + items.clear(); + row_count = 0; + + dbc_msg = dbc()->msg(msg_id); + if (dbc_msg) { + row_count = dbc_msg->size; + items.resize(row_count * column_count); + for (int i = 0; i < dbc_msg->sigs.size(); ++i) { + const auto &sig = dbc_msg->sigs[i]; + const int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit); + const int end = start + sig.size - 1; + for (int j = start; j <= end; ++j) { + int idx = column_count * (j / 8) + j % 8; + if (idx >= items.size()) { + qWarning() << "signal " << sig.name.c_str() << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size; + break; + } + if (j == start) { + sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; + } else if (j == end) { + sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; + } + items[idx].bg_color = QColor(getColor(i)); + } + } + } + + endResetModel(); +} + +QModelIndex BinaryViewModel::index(int row, int column, const QModelIndex &parent) const { + return createIndex(row, column, (void *)&items[row * column_count + column]); +} + +Qt::ItemFlags BinaryViewModel::flags(const QModelIndex &index) const { + return (index.column() == column_count - 1) ? Qt::ItemIsEnabled : Qt::ItemIsEnabled | Qt::ItemIsSelectable; +} + +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(); + row_count = binary.size(); + items.clear(); + items.resize(row_count * column_count); + endResetModel(); + } + + char hex[3] = {'\0'}; + for (int i = 0; i < std::min(binary.size(), row_count); ++i) { + for (int j = 0; j < column_count - 1; ++j) { + items[i * column_count + j].val = QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0'); + } + hex[0] = toHex(binary[i] >> 4); + hex[1] = toHex(binary[i] & 0xf); + items[i * column_count + 8].val = hex; + } + + for (int i = 0; i < items.size(); ++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); + } + } +} + +QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const { + if (orientation == Qt::Vertical) { + switch (role) { + case Qt::DisplayRole: return section + 1; + case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT); + case Qt::TextAlignmentRole: return Qt::AlignCenter; + } + } + return {}; +} + +// BinarySelectionModel + +void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) { + QItemSelection new_selection = selection; + if (auto indexes = selection.indexes(); !indexes.isEmpty()) { + auto [begin_idx, end_idx] = (QModelIndex[]){indexes.first(), indexes.back()}; + for (int row = begin_idx.row(); row <= end_idx.row(); ++row) { + int left_col = (row == begin_idx.row()) ? begin_idx.column() : 0; + int right_col = (row == end_idx.row()) ? end_idx.column() : 7; + new_selection.merge({model()->index(row, left_col), model()->index(row, right_col)}, command); + } + } + QItemSelectionModel::select(new_selection, command); +} + +// BinaryItemDelegate + +BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { + // cache fonts and color + small_font.setPointSize(7); + bold_font.setBold(true); + highlight_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 { + auto item = (const BinaryViewModel::Item *)index.internalPointer(); + painter->save(); + // TODO: highlight signal cells on mouse over + painter->fillRect(option.rect, option.state & QStyle::State_Selected ? highlight_color : item->bg_color); + if (index.column() == 8) { + painter->setFont(bold_font); + } + painter->drawText(option.rect, Qt::AlignCenter, item->val); + if (item->is_msb || item->is_lsb) { + 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 new file mode 100644 index 0000000000..631797ca48 --- /dev/null +++ b/tools/cabana/binaryview.h @@ -0,0 +1,72 @@ +#pragma once + +#include +#include + +#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; + +private: + QFont small_font, bold_font; + QColor highlight_color; +}; + +class BinaryViewModel : public QAbstractTableModel { + Q_OBJECT + +public: + BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {} + void setMessage(const QString &message_id); + void updateState(); + Qt::ItemFlags flags(const QModelIndex &index) const; + QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; + QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const; + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; } + int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } + + struct Item { + QColor bg_color = QColor(Qt::white); + bool is_msb = false; + bool is_lsb = false; + QString val = "0"; + }; + +private: + QString msg_id; + const Msg *dbc_msg; + int row_count = 0; + const int column_count = 9; + std::vector items; +}; + +// the default QItemSelectionModel does not support our selection mode. +class BinarySelectionModel : public QItemSelectionModel { + public: + BinarySelectionModel(QAbstractItemModel *model = nullptr) : QItemSelectionModel(model) {} + void select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) override; +}; + +class BinaryView : public QTableView { + Q_OBJECT + +public: + BinaryView(QWidget *parent = nullptr); + void mouseReleaseEvent(QMouseEvent *event) override; + void setMessage(const QString &message_id); + void updateState(); + +signals: + void cellsSelected(int start_bit, int size); + +private: + QString msg_id; + BinaryViewModel *model; +}; diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 7f6955369b..fe71840d74 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -91,6 +91,7 @@ inline char toHex(uint value) { } inline const QString &getColor(int i) { + // TODO: add more colors static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index a9899ec650..60d0632d4c 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -1,13 +1,13 @@ #include "tools/cabana/detailwidget.h" #include -#include #include -#include #include -#include #include +#include "tools/cabana/canmessages.h" +#include "tools/cabana/dbcmanager.h" + // DetailWidget DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { @@ -141,98 +141,6 @@ void DetailWidget::removeSignal() { } } -// BinaryView - -BinaryView::BinaryView(QWidget *parent) : QTableWidget(parent) { - horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); - verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); - horizontalHeader()->hide(); - setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setColumnCount(9); - - // replace selection model - auto old_model = selectionModel(); - setSelectionModel(new BinarySelectionModel(model())); - delete old_model; -} - -void BinaryView::mouseReleaseEvent(QMouseEvent *event) { - QTableWidget::mouseReleaseEvent(event); - - if (auto items = selectedItems(); !items.isEmpty()) { - int start_bit = items.first()->row() * 8 + items.first()->column(); - int size = items.back()->row() * 8 + items.back()->column() - start_bit + 1; - emit cellsSelected(start_bit, size); - } -} - -void BinaryView::setMessage(const QString &message_id) { - msg_id = message_id; - if (msg_id.isEmpty()) return; - - const Msg *msg = dbc()->msg(msg_id); - int row_count = msg ? msg->size : can->lastMessage(msg_id).dat.size(); - setRowCount(row_count); - setColumnCount(9); - for (int i = 0; i < rowCount(); ++i) { - for (int j = 0; j < columnCount(); ++j) { - auto item = new QTableWidgetItem(); - item->setFlags(item->flags() ^ Qt::ItemIsEditable); - item->setTextAlignment(Qt::AlignCenter); - if (j == 8) { - QFont font = QFontDatabase::systemFont(QFontDatabase::FixedFont); - font.setBold(true); - item->setFont(font); - item->setFlags(item->flags() ^ Qt::ItemIsSelectable); - } - setItem(i, j, item); - } - } - - // set background color - if (msg) { - for (int i = 0; i < msg->sigs.size(); ++i) { - const auto &sig = msg->sigs[i]; - int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit); - for (int j = start; j <= std::min(start + sig.size - 1, rowCount() * columnCount() - 1); ++j) { - item(j / 8, j % 8)->setBackground(QColor(getColor(i))); - } - } - } - - setFixedHeight(rowHeight(0) * std::min(row_count, 8) + 2); - clearSelection(); - updateState(); -} - -void BinaryView::updateState() { - const auto &binary = can->lastMessage(msg_id).dat; - setUpdatesEnabled(false); - char hex[3] = {'\0'}; - for (int i = 0; i < binary.size(); ++i) { - for (int j = 0; j < 8; ++j) { - item(i, j)->setText(QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0')); - } - hex[0] = toHex(binary[i] >> 4); - hex[1] = toHex(binary[i] & 0xf); - item(i, 8)->setText(hex); - } - setUpdatesEnabled(true); -} - -void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) { - QItemSelection new_selection = selection; - if (auto indexes = selection.indexes(); !indexes.isEmpty()) { - auto [begin_idx, end_idx] = (QModelIndex[]){indexes.first(), indexes.back()}; - for (int row = begin_idx.row(); row <= end_idx.row(); ++row) { - int left_col = (row == begin_idx.row()) ? begin_idx.column() : 0; - int right_col = (row == end_idx.row()) ? end_idx.column() : 7; - new_selection.merge({model()->index(row, left_col), model()->index(row, right_col)}, command); - } - } - QItemSelectionModel::select(new_selection, command); -} - // EditMessageDialog EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent) : QDialog(parent) { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index db174873f7..9d3b81dcb0 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -1,35 +1,11 @@ #pragma once #include -#include -#include "opendbc/can/common.h" -#include "opendbc/can/common_dbc.h" -#include "tools/cabana/canmessages.h" -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/binaryview.h" #include "tools/cabana/historylog.h" #include "tools/cabana/signaledit.h" -class BinarySelectionModel : public QItemSelectionModel { -public: - BinarySelectionModel(QAbstractItemModel *model = nullptr) : QItemSelectionModel(model) {} - void select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) override; -}; - -class BinaryView : public QTableWidget { - Q_OBJECT -public: - BinaryView(QWidget *parent = nullptr); - void mouseReleaseEvent(QMouseEvent *event) override; - void setMessage(const QString &message_id); - void updateState(); -signals: - void cellsSelected(int start_bit, int size); - -private: - QString msg_id; -}; - class EditMessageDialog : public QDialog { Q_OBJECT diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 2da3e2eec2..b52f83dab6 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -23,6 +23,9 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1); form_layout->addRow(tr("Endianness"), endianness); + form_layout->addRow(tr("lsb"), new QLabel(QString::number(sig.lsb))); + form_layout->addRow(tr("msb"), new QLabel(QString::number(sig.msb))); + sign = new QComboBox(); sign->addItems({"Signed", "Unsigned"}); sign->setCurrentIndex(sig.is_signed ? 0 : 1); From c782e4d796e0981b3717222cb5551911fe40cb7a Mon Sep 17 00:00:00 2001 From: Jake Poznanski Date: Mon, 17 Oct 2022 17:22:47 -0700 Subject: [PATCH 295/685] loggerd: fix length of ArrayPtr in handle_encoder_msg (#26077) --- selfdrive/loggerd/loggerd.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc index e0892e68b4..9beb3c3bf1 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/selfdrive/loggerd/loggerd.cc @@ -55,7 +55,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct int bytes_count = 0; // extract the message - capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize())); + capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word))); auto event = cmsg.getRoot(); auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() : ((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() : From baca1cae1f71c70162374c887cf36d5cf828f2f3 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 17 Oct 2022 18:18:01 -0700 Subject: [PATCH 296/685] UI Onroad widget renames (#26124) Consistent widget naming --- selfdrive/ui/qt/offroad/driverview.cc | 4 +-- selfdrive/ui/qt/offroad/driverview.h | 2 +- selfdrive/ui/qt/onroad.cc | 45 ++++++++++++----------- selfdrive/ui/qt/onroad.h | 6 ++-- selfdrive/ui/qt/widgets/cameraview.cc | 26 +++++++------- selfdrive/ui/qt/widgets/cameraview.h | 6 ++-- selfdrive/ui/translations/main_ar.ts | 2 +- selfdrive/ui/translations/main_ja.ts | 46 ++++++++++++------------ selfdrive/ui/translations/main_ko.ts | 46 ++++++++++++------------ selfdrive/ui/translations/main_nl.ts | 2 +- selfdrive/ui/translations/main_pl.ts | 2 +- selfdrive/ui/translations/main_pt-BR.ts | 46 ++++++++++++------------ selfdrive/ui/translations/main_th.ts | 2 +- selfdrive/ui/translations/main_zh-CHS.ts | 46 ++++++++++++------------ selfdrive/ui/translations/main_zh-CHT.ts | 46 ++++++++++++------------ selfdrive/ui/watch3.cc | 8 ++--- tools/cabana/videowidget.cc | 6 ++-- tools/cabana/videowidget.h | 2 +- 18 files changed, 173 insertions(+), 170 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index be8b84d45e..0ff786fb91 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -12,11 +12,11 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { layout = new QStackedLayout(this); layout->setStackingMode(QStackedLayout::StackAll); - cameraView = new CameraViewWidget("camerad", VISION_STREAM_DRIVER, true, this); + cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this); layout->addWidget(cameraView); scene = new DriverViewScene(this); - connect(cameraView, &CameraViewWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); + connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); layout->addWidget(scene); layout->setCurrentWidget(scene); } diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 5d090ad772..255857970d 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -42,7 +42,7 @@ protected: void mouseReleaseEvent(QMouseEvent* e) override; private: - CameraViewWidget *cameraView; + CameraWidget *cameraView; DriverViewScene *scene; QStackedLayout *layout; }; diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 66bc38dbfc..1f677fc92d 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -18,7 +18,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { stacked_layout->setStackingMode(QStackedLayout::StackAll); main_layout->addLayout(stacked_layout); - nvg = new NvgWindow(VISION_STREAM_ROAD, this); + nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this); QWidget * split_wrapper = new QWidget; split = new QHBoxLayout(split_wrapper); @@ -27,7 +27,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { split->addWidget(nvg); if (getenv("DUAL_CAMERA_VIEW")) { - CameraViewWidget *arCam = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this); + CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this); split->insertWidget(0, arCam); } @@ -173,16 +173,15 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { } } -// NvgWindow -NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) { +AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { pm = std::make_unique>({"uiDebug"}); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); } -void NvgWindow::updateState(const UIState &s) { +void AnnotatedCameraWidget::updateState(const UIState &s) { const int SET_SPEED_NA = 255; const SubMaster &sm = *(s.sm); @@ -234,13 +233,13 @@ void NvgWindow::updateState(const UIState &s) { } if (s.scene.calibration_valid) { - CameraViewWidget::updateCalibration(s.scene.view_from_calib); + CameraWidget::updateCalibration(s.scene.view_from_calib); } else { - CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION); + CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } } -void NvgWindow::drawHud(QPainter &p) { +void AnnotatedCameraWidget::drawHud(QPainter &p) { p.save(); // Header gradient @@ -402,7 +401,11 @@ void NvgWindow::drawHud(QPainter &p) { p.restore(); } -void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { + +// Window that shows camera view and variety of +// info drawn on top + +void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { QRect real_rect = getTextRect(p, 0, text); real_rect.moveCenter({x, y - real_rect.height() / 2}); @@ -410,7 +413,7 @@ void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alp p.drawText(real_rect.x(), real_rect.bottom(), text); } -void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) { +void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) { p.setPen(Qt::NoPen); p.setBrush(bg); p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius); @@ -419,8 +422,8 @@ void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, flo } -void NvgWindow::initializeGL() { - CameraViewWidget::initializeGL(); +void AnnotatedCameraWidget::initializeGL() { + CameraWidget::initializeGL(); qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION)); qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR)); qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER)); @@ -430,8 +433,8 @@ void NvgWindow::initializeGL() { setBackgroundColor(bg_colors[STATUS_DISENGAGED]); } -void NvgWindow::updateFrameMat() { - CameraViewWidget::updateFrameMat(); +void AnnotatedCameraWidget::updateFrameMat() { + CameraWidget::updateFrameMat(); UIState *s = uiState(); int w = width(), h = height(); @@ -448,7 +451,7 @@ void NvgWindow::updateFrameMat() { .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); } -void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { +void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { painter.save(); const UIScene &scene = s->scene; @@ -507,7 +510,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { painter.restore(); } -void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) { +void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) { painter.save(); const float speedBuff = 10.; @@ -543,13 +546,13 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV painter.restore(); } -void NvgWindow::paintGL() { +void AnnotatedCameraWidget::paintGL() { const double start_draw_t = millis_since_boot(); UIState *s = uiState(); const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2(); - CameraViewWidget::setFrameId(model.getFrameId()); - CameraViewWidget::paintGL(); + CameraWidget::setFrameId(model.getFrameId()); + CameraWidget::paintGL(); QPainter painter(this); painter.setRenderHint(QPainter::Antialiasing); @@ -587,8 +590,8 @@ void NvgWindow::paintGL() { pm->send("uiDebug", msg); } -void NvgWindow::showEvent(QShowEvent *event) { - CameraViewWidget::showEvent(event); +void AnnotatedCameraWidget::showEvent(QShowEvent *event) { + CameraWidget::showEvent(event); ui_update_params(uiState()); prev_draw_t = millis_since_boot(); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 7ed2c9cc4a..2a663185f4 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -25,7 +25,7 @@ private: }; // container window for the NVG UI -class NvgWindow : public CameraViewWidget { +class AnnotatedCameraWidget : public CameraWidget { Q_OBJECT Q_PROPERTY(float speed MEMBER speed); Q_PROPERTY(QString speedUnit MEMBER speedUnit); @@ -43,7 +43,7 @@ class NvgWindow : public CameraViewWidget { Q_PROPERTY(int status MEMBER status); public: - explicit NvgWindow(VisionStreamType type, QWidget* parent = 0); + explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0); void updateState(const UIState &s); private: @@ -98,7 +98,7 @@ private: void paintEvent(QPaintEvent *event); void mousePressEvent(QMouseEvent* e) override; OnroadAlerts *alerts; - NvgWindow *nvg; + AnnotatedCameraWidget *nvg; QColor bg = bg_colors[STATUS_DISENGAGED]; QWidget *map = nullptr; QHBoxLayout* split; diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 63d15660a0..200257235d 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -93,14 +93,14 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) } // namespace -CameraViewWidget::CameraViewWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : +CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); - connect(this, &CameraViewWidget::vipcThreadConnected, this, &CameraViewWidget::vipcConnected, Qt::BlockingQueuedConnection); - connect(this, &CameraViewWidget::vipcThreadFrameReceived, this, &CameraViewWidget::vipcFrameReceived); + connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); + connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived); } -CameraViewWidget::~CameraViewWidget() { +CameraWidget::~CameraWidget() { makeCurrent(); if (isValid()) { glDeleteVertexArrays(1, &frame_vao); @@ -111,7 +111,7 @@ CameraViewWidget::~CameraViewWidget() { doneCurrent(); } -void CameraViewWidget::initializeGL() { +void CameraWidget::initializeGL() { initializeOpenGLFunctions(); program = std::make_unique(context()); @@ -161,7 +161,7 @@ void CameraViewWidget::initializeGL() { #endif } -void CameraViewWidget::showEvent(QShowEvent *event) { +void CameraWidget::showEvent(QShowEvent *event) { frames.clear(); if (!vipc_thread) { vipc_thread = new QThread(); @@ -171,7 +171,7 @@ void CameraViewWidget::showEvent(QShowEvent *event) { } } -void CameraViewWidget::hideEvent(QHideEvent *event) { +void CameraWidget::hideEvent(QHideEvent *event) { if (vipc_thread) { vipc_thread->requestInterruption(); vipc_thread->quit(); @@ -180,7 +180,7 @@ void CameraViewWidget::hideEvent(QHideEvent *event) { } } -void CameraViewWidget::updateFrameMat() { +void CameraWidget::updateFrameMat() { int w = width(), h = height(); if (zoomed_view) { @@ -224,12 +224,12 @@ void CameraViewWidget::updateFrameMat() { } } -void CameraViewWidget::updateCalibration(const mat3 &calib) { +void CameraWidget::updateCalibration(const mat3 &calib) { calibration = calib; updateFrameMat(); } -void CameraViewWidget::paintGL() { +void CameraWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); @@ -286,7 +286,7 @@ void CameraViewWidget::paintGL() { glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); } -void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { +void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { makeCurrent(); frames.clear(); stream_width = vipc_client->buffers[0].width; @@ -339,7 +339,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { updateFrameMat(); } -void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { +void CameraWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { frames.push_back(std::make_pair(frame_id, buf)); while (frames.size() > FRAME_BUFFER_SIZE) { frames.pop_front(); @@ -347,7 +347,7 @@ void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { update(); } -void CameraViewWidget::vipcThread() { +void CameraWidget::vipcThread() { VisionStreamType cur_stream_type = stream_type; std::unique_ptr vipc_client; VisionIpcBufExtra meta_main = {0}; diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 081483b649..9bcad935c0 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -23,13 +23,13 @@ const int FRAME_BUFFER_SIZE = 5; static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT); -class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions { +class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { Q_OBJECT public: using QOpenGLWidget::QOpenGLWidget; - explicit CameraViewWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); - ~CameraViewWidget(); + explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); + ~CameraWidget(); void setStreamType(VisionStreamType type) { stream_type = type; } void setBackgroundColor(const QColor &color) { bg = color; } void setFrameId(int frame_id) { draw_frame_id = frame_id; } diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 284208720b..a94d2fbc05 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -493,7 +493,7 @@ location set - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index b39c83c098..314a6b8338 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -67,6 +67,29 @@ + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高速度 + + + SPEED + 速度 + + + LIMIT + 制限速度 + + ConfirmationDialog @@ -406,29 +429,6 @@ location set ﾊﾟｽﾜｰﾄﾞが間違っています - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - 最高速度 - - - SPEED - 速度 - - - LIMIT - 制限速度 - - OffroadHome diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index f84797eb60..021243595e 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -67,6 +67,29 @@ 데이터 요금제 연결 시 대용량 데이터 업로드 방지 + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + MAX + + + SPEED + SPEED + + + LIMIT + LIMIT + + ConfirmationDialog @@ -406,29 +429,6 @@ location set 비밀번호가 틀렸습니다 - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - MAX - - - SPEED - SPEED - - - LIMIT - LIMIT - - OffroadHome diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts index 99646ed749..21bb66d356 100644 --- a/selfdrive/ui/translations/main_nl.ts +++ b/selfdrive/ui/translations/main_nl.ts @@ -489,7 +489,7 @@ ingesteld - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts index 8593d68261..92902d04a9 100644 --- a/selfdrive/ui/translations/main_pl.ts +++ b/selfdrive/ui/translations/main_pl.ts @@ -490,7 +490,7 @@ nie zostało ustawione - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 8f59bf4715..2afdaf3388 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -67,6 +67,29 @@ Evite grandes uploads de dados quando estiver em uma conexão limitada + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + LIMITE + + + SPEED + MAX + + + LIMIT + VELO + + ConfirmationDialog @@ -407,29 +430,6 @@ trabalho definido Senha incorreta - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - LIMITE - - - SPEED - MAX - - - LIMIT - VELO - - OffroadHome diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 7e7fcf2788..d502c3fce1 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -488,7 +488,7 @@ location set - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 1d942387e0..9e7c354444 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -67,6 +67,29 @@ + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高定速 + + + SPEED + SPEED + + + LIMIT + LIMIT + + ConfirmationDialog @@ -404,29 +427,6 @@ location set 密码错误 - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - 最高定速 - - - SPEED - SPEED - - - LIMIT - LIMIT - - OffroadHome diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 816d4fd3cc..513135c7f4 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -67,6 +67,29 @@ + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高 + + + SPEED + 速度 + + + LIMIT + 速限 + + ConfirmationDialog @@ -406,29 +429,6 @@ location set 密碼錯誤 - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - 最高 - - - SPEED - 速度 - - - LIMIT - 速限 - - OffroadHome diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc index d6b5cc67a7..ec35c29b6b 100644 --- a/selfdrive/ui/watch3.cc +++ b/selfdrive/ui/watch3.cc @@ -19,15 +19,15 @@ int main(int argc, char *argv[]) { { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false)); - hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false)); + hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false)); } { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_DRIVER, false)); - hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); } return a.exec(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index b6fe8de3e2..bb90d56570 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -16,8 +16,8 @@ inline QString formatTime(int seconds) { VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - // TODO: figure out why the CameraViewWidget crashed occasionally. - cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, false, this); + // TODO: figure out why the CameraWidget crashed occasionally. + cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this); cam_widget->setFixedSize(parent->width(), parent->width() / 1.596); main_layout->addWidget(cam_widget); @@ -60,7 +60,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); - QObject::connect(cam_widget, &CameraViewWidget::clicked, [this]() { pause(!can->isPaused()); }); + QObject::connect(cam_widget, &CameraWidget::clicked, [this]() { pause(!can->isPaused()); }); QObject::connect(play_btn, &QPushButton::clicked, [=]() { pause(!can->isPaused()); }); } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index fd896f1e11..d6d036c461 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -32,7 +32,7 @@ protected: void updateState(); void pause(bool pause); - CameraViewWidget *cam_widget; + CameraWidget *cam_widget; QLabel *end_time_label; QPushButton *play_btn; Slider *slider; From 755a6c0a46f07cdadb06821ced904af458fbf4e3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 17 Oct 2022 19:15:21 -0700 Subject: [PATCH 297/685] Revert "tools/replay: reduce test running time (#26110)" This reverts commit 6d07268ee5b385010961eab206b0b42a0ae6b5f8. --- tools/replay/tests/test_replay.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 3fd410bb6e..5b61b6b6f2 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -207,7 +207,8 @@ void TestReplay::test_seek() { } TEST_CASE("Replay") { - TestReplay replay(DEMO_ROUTE, (uint8_t)REPLAY_FLAG_NO_VIPC); + auto flag = GENERATE(REPLAY_FLAG_NO_FILE_CACHE, REPLAY_FLAG_NONE); + TestReplay replay(DEMO_ROUTE, flag); REQUIRE(replay.load()); replay.test_seek(); } From d522492ba0b80928adc475c1f37b995834c31a90 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 17 Oct 2022 19:40:06 -0700 Subject: [PATCH 298/685] DM: add use of e2e preds (#26078) * try ml * de56 * j914ef75a * jd1124586 * jd1124586 * d112 * oops * set * update ref * use offset * bump DM power usage * new ref --- .../modeld/models/dmonitoring_model.current | 4 ++-- .../modeld/models/dmonitoring_model.onnx | 4 ++-- .../modeld/models/dmonitoring_model_q.dlc | 4 ++-- selfdrive/monitoring/driver_monitor.py | 21 +++++++++---------- .../process_replay/model_replay_ref_commit | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- system/hardware/tici/test_power_draw.py | 2 +- 7 files changed, 19 insertions(+), 20 deletions(-) diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index d1e7d1136f..065bc7d489 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -ee8f830b-d6a1-42ef-9b1b-50fd0b2faae4 -cac8f7b69d420506707ff7a19d573d5011ef2533 \ No newline at end of file +d1124586-761e-4e18-a771-6b5ef35124fe +6fec774f513a19e44d4316e46ad38277197d45ea \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 4cbd6bb7dd..f8bf94c061 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:932e589e5cce66e5d9f48492426a33c74cd7f352a870d3ddafcede3e9156f30d -size 9157561 +oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b +size 16072278 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index 94632030ed..e4e6fb3347 100644 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3587976a8b7e3be274fa86c2e2233e3e464cad713f5077c4394cd1ddd3c7c6c5 -size 2636965 +oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20 +size 4443461 diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 9ff3125c15..30781f4d1b 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -29,10 +29,10 @@ class DRIVER_MONITOR_SETTINGS(): self._FACE_THRESHOLD = 0.7 self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.9 - self._BLINK_THRESHOLD = 0.87 + self._BLINK_THRESHOLD = 0.895 - self._EE_THRESH11 = 0.75 - self._EE_THRESH12 = 3.25 + self._EE_THRESH11 = 0.275 + self._EE_THRESH12 = 3.0 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 @@ -207,11 +207,11 @@ class DriverStatus(): ee1_dist = self.eev1 > self.ee1_offseter.filtered_stat.M * self.settings._EE_THRESH12 else: ee1_dist = self.eev1 > self.settings._EE_THRESH11 - if self.ee2_calibrated: - ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22 - else: - ee2_dist = self.eev2 < self.settings._EE_THRESH21 - if ee1_dist or ee2_dist: + # if self.ee2_calibrated: + # ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22 + # else: + # ee2_dist = self.eev2 < self.settings._EE_THRESH21 + if ee1_dist: distracted_types.append(DistractedType.DISTRACTED_E2E) return distracted_types @@ -257,12 +257,11 @@ class DriverStatus(): self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.eev1 = driver_data.notReadyProb[1] + self.eev1 = driver_data.notReadyProb[0] self.eev2 = driver_data.readyProb[0] self.distracted_types = self._get_distracted_types() - self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or - DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ + self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std self.driver_distraction_filter.update(self.driver_distracted) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index b3e9c8c488..5bb045ec29 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -bfb0a2a52212d2aa1619d999aaae97fa7f7ff788 +865885fc49b2766326568e5cc7ec06be8a3f6fad diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 864b7019a0..998bf4e756 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e5a86c14e2318f2dd218b3985cdbea6f875f7d83 +6bb7d8baae51d88dd61f0baf561e386664ddd266 \ No newline at end of file diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index 4830975917..2460152998 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -21,7 +21,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), Proc('modeld', 1.15, atol=0.2), - Proc('dmonitoringmodeld', 0.35), + Proc('dmonitoringmodeld', 0.4), Proc('encoderd', 0.23), ] From 988fede1858486ec0679f208540a88533e9296e3 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 12:00:07 +0800 Subject: [PATCH 299/685] cabana: reduce the padding in DetailsView (#26126) --- tools/cabana/binaryview.cc | 4 ++-- tools/cabana/signaledit.cc | 5 ++--- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 3b962b6de1..71175e783e 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -8,7 +8,7 @@ // BinaryView -const int CELL_HEIGHT = 35; +const int CELL_HEIGHT = 30; BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { model = new BinaryViewModel(this); @@ -156,7 +156,7 @@ void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectio BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { // cache fonts and color - small_font.setPointSize(7); + small_font.setPointSize(6); bold_font.setBold(true); highlight_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight); } diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index b52f83dab6..7cace48402 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -85,18 +85,17 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid // title bar QHBoxLayout *title_layout = new QHBoxLayout(); icon = new QLabel(">"); - icon->setFixedSize(15, 30); icon->setStyleSheet("font-weight:bold"); title_layout->addWidget(icon); title = new ElidedLabel(this); title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); title->setText(QString("%1. %2").arg(index + 1).arg(sig_name)); title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); - title_layout->addWidget(title); + title_layout->addWidget(title, 1); QPushButton *plot_btn = new QPushButton("📈"); plot_btn->setToolTip(tr("Show Plot")); - plot_btn->setFixedSize(30, 30); + plot_btn->setFixedSize(20, 20); QObject::connect(plot_btn, &QPushButton::clicked, this, &SignalEdit::showChart); title_layout->addWidget(plot_btn); main_layout->addLayout(title_layout); From b89b881bdccb0fb844c597e9d26b64d36ba4af99 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 12:00:20 +0800 Subject: [PATCH 300/685] cabana: sort DBC list alphabetically (#26127) --- tools/cabana/messageswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 3c9af67ea6..878a852e13 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -21,6 +21,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { for (const auto &name : dbc_names) { combo->addItem(QString::fromStdString(name)); } + combo->model()->sort(0); combo->setEditable(true); combo->setCurrentText(QString()); combo->setInsertPolicy(QComboBox::NoInsert); From 544526edeb343d4b6f9c7c6f2521659c34d37012 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 12:00:36 +0800 Subject: [PATCH 301/685] cabana: fix chart margins (#26125) --- tools/cabana/chartswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 3652720e12..811eae68cb 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -184,6 +184,7 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) font.setBold(true); chart->setTitleFont(font); chart->setMargins({0, 0, 0, 0}); + chart->layout()->setContentsMargins(0, 0, 0, 0); track_line = new QGraphicsLineItem(chart); track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine)); From 60fc7274eb631559f772ea0969e0ec28026e1426 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 21:15:57 -0700 Subject: [PATCH 302/685] =?UTF-8?q?Hyundai=20CAN-FD:=20remove=2090=C2=B0?= =?UTF-8?q?=20steering=20lockout=20(#26045)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * bump panda * bump panda * for CAN-FD too * clean up * bump * adjust safety * fix lat active * bump panda to master * same limits * rm line * bump panda to master --- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 29 +++++++++++++------------- 2 files changed, 16 insertions(+), 15 deletions(-) diff --git a/panda b/panda index 62868c36a8..9ed3f75f67 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 62868c36a80d1f44064da7b47423f0ef331f64e9 +Subproject commit 9ed3f75f67c3e5f00f910c8d7497ebed63851b5a diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index a5d995df25..6b38297eb9 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -90,13 +90,27 @@ class CarController: addr, bus = 0x730, 5 can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus]) + # >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: + self.angle_limit_counter += 1 + else: + self.angle_limit_counter = 0 + + # Cut steer actuation bit for two frames and hold torque with induced temporary fault + torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES + lat_active = CC.latActive and not torque_fault + + if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES: + self.angle_limit_counter = 0 + # CAN-FD platforms if self.CP.carFingerprint in CANFD_CAR: hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2 hda2_long = hda2 and self.CP.openpilotLongitudinalControl # steering control - can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer)) + can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer)) # disable LFA on HDA2 if self.frame % 5 == 0 and hda2: @@ -131,19 +145,6 @@ class CarController: can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: - # 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: - self.angle_limit_counter += 1 - else: - self.angle_limit_counter = 0 - - # Cut steer actuation bit for two frames and hold torque with induced temporary fault - torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES - lat_active = CC.latActive and not torque_fault - - if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES: - self.angle_limit_counter = 0 - can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, From 12058c21c73c7777e260334827b30f4d24c8313d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 12:44:56 +0800 Subject: [PATCH 303/685] cabana: load dbc from paste (#26098) --- opendbc | 2 +- tools/cabana/dbcmanager.cc | 12 ++++++++ tools/cabana/dbcmanager.h | 1 + tools/cabana/messageswidget.cc | 51 ++++++++++++++++++++++++++-------- tools/cabana/messageswidget.h | 13 +++++++++ 5 files changed, 66 insertions(+), 13 deletions(-) diff --git a/opendbc b/opendbc index dde0ff6f44..e37ef84f1a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit dde0ff6f4456c167df204bf5ac1e3f2979c844c9 +Subproject commit e37ef84f1ab848e2bf37f2c755f9e56213ce14e2 diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 5b1bddcabe..fc40fc58e4 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -1,5 +1,6 @@ #include "tools/cabana/dbcmanager.h" +#include #include DBCManager::DBCManager(QObject *parent) : QObject(parent) {} @@ -16,6 +17,17 @@ void DBCManager::open(const QString &dbc_file_name) { emit DBCFileChanged(); } +void DBCManager::open(const QString &name, const QString &content) { + this->dbc_name = name; + std::istringstream stream(content.toStdString()); + dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); + msg_map.clear(); + for (auto &msg : dbc->msgs) { + msg_map[msg.address] = &msg; + } + emit DBCFileChanged(); +} + void save(const QString &dbc_file_name) { // TODO: save DBC to file } diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 1f890a39db..74d935119a 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -12,6 +12,7 @@ public: ~DBCManager(); void open(const QString &dbc_file_name); + void open(const QString &name, const QString &content); void save(const QString &dbc_file_name); void addSignal(const QString &id, const Signal &sig); diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 878a852e13..28f79adad3 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,12 +1,13 @@ #include "tools/cabana/messageswidget.h" -#include #include +#include #include #include #include #include #include +#include #include #include "tools/cabana/dbcmanager.h" @@ -16,20 +17,23 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // DBC file selector QHBoxLayout *dbc_file_layout = new QHBoxLayout(); - QComboBox *combo = new QComboBox(this); + dbc_combo = new QComboBox(this); auto dbc_names = dbc()->allDBCNames(); for (const auto &name : dbc_names) { - combo->addItem(QString::fromStdString(name)); + dbc_combo->addItem(QString::fromStdString(name)); } - combo->model()->sort(0); - combo->setEditable(true); - combo->setCurrentText(QString()); - combo->setInsertPolicy(QComboBox::NoInsert); - combo->completer()->setCompletionMode(QCompleter::PopupCompletion); + dbc_combo->model()->sort(0); + dbc_combo->setEditable(true); + dbc_combo->setCurrentText(QString()); + dbc_combo->setInsertPolicy(QComboBox::NoInsert); + dbc_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); QFont font; font.setBold(true); - combo->lineEdit()->setFont(font); - dbc_file_layout->addWidget(combo); + dbc_combo->lineEdit()->setFont(font); + dbc_file_layout->addWidget(dbc_combo); + + QPushButton *load_from_paste = new QPushButton(tr("Load from paste"), this); + dbc_file_layout->addWidget(load_from_paste); dbc_file_layout->addStretch(); QPushButton *save_btn = new QPushButton(tr("Save DBC"), this); @@ -64,7 +68,8 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // signals/slots QObject::connect(filter, &QLineEdit::textChanged, proxy_model, &QSortFilterProxyModel::setFilterFixedString); QObject::connect(can, &CANMessages::updated, model, &MessageListModel::updateState); - QObject::connect(combo, SIGNAL(activated(const QString &)), SLOT(dbcSelectionChanged(const QString &))); + QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(dbcSelectionChanged(const QString &))); + QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadFromPaste); QObject::connect(save_btn, &QPushButton::clicked, [=]() { // TODO: save DBC to file }); @@ -75,7 +80,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { }); // For test purpose - combo->setCurrentText("toyota_nodsu_pt_generated"); + dbc_combo->setCurrentText("toyota_nodsu_pt_generated"); } void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) { @@ -84,6 +89,14 @@ void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) { table_widget->sortByColumn(0, Qt::AscendingOrder); } +void MessagesWidget::loadFromPaste() { + LoadDBCDialog dlg(this); + if (dlg.exec()) { + dbc()->open("from paste", dlg.dbc_edit->toPlainText()); + dbc_combo->setCurrentText("loaded from paste"); + } +} + // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { @@ -133,3 +146,17 @@ void MessageListModel::updateState() { emit dataChanged(index(0, 0), index(row_count - 1, 3), {Qt::DisplayRole}); } } + +LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + dbc_edit = new QTextEdit(this); + dbc_edit->setAcceptRichText(false); + dbc_edit->setPlaceholderText(tr("paste DBC file here")); + main_layout->addWidget(dbc_edit); + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox); + + setFixedWidth(640); + connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); + connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index f6487ba2bd..1184772f3b 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -1,10 +1,21 @@ #pragma once #include +#include +#include #include +#include #include "tools/cabana/canmessages.h" +class LoadDBCDialog : public QDialog { + Q_OBJECT + +public: + LoadDBCDialog(QWidget *parent); + QTextEdit *dbc_edit; +}; + class MessageListModel : public QAbstractTableModel { Q_OBJECT @@ -28,11 +39,13 @@ public: public slots: void dbcSelectionChanged(const QString &dbc_file); + void loadFromPaste(); signals: void msgSelectionChanged(const QString &message_id); protected: QTableView *table_widget; + QComboBox *dbc_combo; MessageListModel *model; }; From dcd804e2bfe2c29287749eb5777ced5a641c5e62 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 22:47:54 -0700 Subject: [PATCH 304/685] bump opendbc --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index e37ef84f1a..8f245e6ef5 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e37ef84f1ab848e2bf37f2c755f9e56213ce14e2 +Subproject commit 8f245e6ef5e25814d8e6e1f096221f6dfeefe86b From 7bf70bf7d8aaccd23ad0b0a9af8235eb939a617e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 23:04:06 -0700 Subject: [PATCH 305/685] CAN-FD HKG: query FW versions from camera (#26063) * add adas essential ecus * add adas ecu and query * add queries * add name * after * presence of adas ecu * Revert "presence of adas ecu" (POC) This reverts commit ab88a7e7df32e1c02a175b81848bd4112b2e5c69. * no whitelist for debugging * Apply suggestions from code review * add adas response * remove adas version * temp * read pandaStates * works in debug script * only fwdCamera on tucson * fix pandaStates reading * fix test_startup * fix * simpler * use existing socket * pass in number of pandas * need to create sm using outcome of fingerprinting, which uses sm fix * move default argument * use sock * always ignore always ignore * add canfd fingerprint test * Update selfdrive/car/hyundai/tests/test_hyundai.py * set --- selfdrive/car/car_helpers.py | 8 ++-- selfdrive/car/fw_versions.py | 14 +++++-- selfdrive/car/hyundai/tests/test_hyundai.py | 29 ++++++++++++++ selfdrive/car/hyundai/values.py | 42 +++++++-------------- selfdrive/controls/controlsd.py | 30 +++++++-------- selfdrive/controls/tests/test_startup.py | 3 ++ 6 files changed, 74 insertions(+), 52 deletions(-) create mode 100755 selfdrive/car/hyundai/tests/test_hyundai.py diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 4a8fd5fbd9..61e7a3d55d 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -76,7 +76,7 @@ interfaces = load_interfaces(interface_names) # **** for use live only **** -def fingerprint(logcan, sendcan): +def fingerprint(logcan, sendcan, num_pandas): fixed_fingerprint = os.environ.get('FINGERPRINT', "") skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) ecu_rx_addrs = set() @@ -100,7 +100,7 @@ def fingerprint(logcan, sendcan): cloudlog.warning("Getting VIN & FW versions") vin_rx_addr, vin = get_vin(logcan, sendcan, bus) ecu_rx_addrs = get_present_ecus(logcan, sendcan) - car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs) + car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas) cached = False exact_fw_match, fw_candidates = match_fw_to_car(car_fw) @@ -173,8 +173,8 @@ def fingerprint(logcan, sendcan): return car_fingerprint, finger, vin, car_fw, source, exact_match -def get_car(logcan, sendcan): - candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan) +def get_car(logcan, sendcan, num_pandas=1): + candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) if candidate is None: cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index d3e8eae0de..f4d92ab960 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -194,14 +194,14 @@ def get_brand_ecu_matches(ecu_rx_addrs): return brand_matches -def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False): +def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False): """Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" all_car_fw = [] brand_matches = get_brand_ecu_matches(ecu_rx_addrs) for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): - car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress) + car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) all_car_fw.extend(car_fw) # Try to match using FW returned from this brand only matches = match_fw_to_car_exact(build_fw_dict(car_fw)) @@ -211,7 +211,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa return all_car_fw -def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False): +def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False): versions = VERSIONS.copy() # Each brand can define extra ECUs to query for data collection @@ -252,6 +252,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): for brand, r in requests: + # Skip query if no panda available + if r.bus > num_pandas * 4 - 1: + continue + try: addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] @@ -292,6 +296,7 @@ if __name__ == "__main__": args = parser.parse_args() logcan = messaging.sub_sock('can') + pandaStates_sock = messaging.sub_sock('pandaStates') sendcan = messaging.pub_sock('sendcan') extra: Any = None @@ -305,6 +310,7 @@ if __name__ == "__main__": extra = {"any": {"debug": extra}} time.sleep(1.) + num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates) t = time.time() print("Getting vin...") @@ -314,7 +320,7 @@ if __name__ == "__main__": print() t = time.time() - fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True) + fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True) _, candidates = match_fw_to_car(fw_vers) print() diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py new file mode 100755 index 0000000000..a52027f448 --- /dev/null +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python3 +import unittest + +from cereal import car +from selfdrive.car.car_helpers import get_interface_attr +from selfdrive.car.fw_versions import FW_QUERY_CONFIGS +from selfdrive.car.hyundai.values import CANFD_CAR + +Ecu = car.CarParams.Ecu + +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} +VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True) + + +class TestHyundaiFingerprint(unittest.TestCase): + def test_auxiliary_request_ecu_whitelist(self): + # Asserts only auxiliary Ecus can exist in database for CAN-FD cars + config = FW_QUERY_CONFIGS['hyundai'] + whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus if r.bus > 3} + + for car_model in CANFD_CAR: + ecus = {fw[0] for fw in VERSIONS['hyundai'][car_model].keys()} + ecus_not_in_whitelist = ecus - whitelisted_ecus + ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist]) + self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}') + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 856bf1abd9..1599005d1c 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -300,6 +300,19 @@ FW_QUERY_CONFIG = FwQueryConfig( [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), + # CAN-FD queries + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdRadar], + bus=4, + ), + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdCamera, Ecu.adas], + bus=5, + ), ], extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms @@ -1326,15 +1339,6 @@ FW_VERSIONS = { ], }, CAR.KIA_EV6: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', - b'\xf1\x00CV IEB \x03 101!\x10\x18 58520-CV100', - b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30', - b'\xf1\x00CV1 MDPS R 1.00 1.05 57700-CV000 2425', - ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', b'\xf1\x8799110CV000\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', @@ -1346,16 +1350,6 @@ FW_VERSIONS = { ], }, CAR.IONIQ_5: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010', - b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010', - b'\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000', - b'\xf1\x8758520GI000\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106', - b'\xf1\x8757700GI000 \xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106', - ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', b'\xf1\x8799110GI000\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', @@ -1369,16 +1363,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391312MND0', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa', - b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa', - ], }, } diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 8abb1a02a6..cbc54eadb8 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -82,30 +82,30 @@ class Controls: self.log_sock = messaging.sub_sock('androidLog') - if CI is None: - # wait for one pandaState and one CAN packet - print("Waiting for CAN messages...") - get_one_can(self.can_sock) - - self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan']) - else: - self.CI, self.CP = CI, CI.CP - params = Params() - self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) - joystick_packet = ['testJoystick'] if self.joystick_mode else [] - self.sm = sm if self.sm is None: - ignore = [] + ignore = ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] if params.get_bool('WideCameraOnly'): ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', - 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters'] + self.camera_packets + joystick_packet, - ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan']) + 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets, + ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick']) + + if CI is None: + # wait for one pandaState and one CAN packet + print("Waiting for CAN messages...") + get_one_can(self.can_sock) + + num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) + self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], num_pandas) + else: + self.CI, self.CP = CI, CI.CP + + self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) # set alternative experiences from parameters self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator") diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 63af4c7d95..ba2d2f5c02 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -94,6 +94,9 @@ class TestStartup(unittest.TestCase): time.sleep(2) # wait for controlsd to be ready + pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) + time.sleep(0.1) + msg = messaging.new_message('pandaStates', 1) msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno pm.send('pandaStates', msg) From 5b85c2df4e2d855dc8fcb572bda33d2d456841d9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 23:24:34 -0700 Subject: [PATCH 306/685] Tucson Hybrid 4th gen: add missing fwdRadar (#26128) add missing fwdRadar --- 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 1599005d1c..f69273ba55 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1363,6 +1363,9 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + ], }, } From a121212386c94ea5cc93de68b49971ff4e9d5674 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 02:01:21 +0800 Subject: [PATCH 307/685] cabana: fix background refresh issue (#26134) --- tools/cabana/mainwin.cc | 2 -- 1 file changed, 2 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 7aea8097cf..f3c3bf74ae 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -48,7 +48,6 @@ MainWindow::MainWindow() : QWidget() { } void MainWindow::dockCharts(bool dock) { - charts_widget->setUpdatesEnabled(false); if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); r_layout->addWidget(charts_widget); @@ -62,7 +61,6 @@ void MainWindow::dockCharts(bool dock) { floating_window->setMinimumSize(QGuiApplication::primaryScreen()->size() / 2); floating_window->showMaximized(); } - charts_widget->setUpdatesEnabled(true); } void MainWindow::closeEvent(QCloseEvent *event) { From 855099eb86938d683bb58868697c038b7b7ac650 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 02:01:38 +0800 Subject: [PATCH 308/685] cabana: display fingerprint and route on the top right (#26133) --- tools/cabana/canmessages.cc | 3 ++- tools/cabana/canmessages.h | 3 +++ tools/cabana/mainwin.cc | 11 ++++++++++- tools/cabana/videowidget.cc | 1 + 4 files changed, 16 insertions(+), 2 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 3cf08eaaa0..252a8c680c 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -26,7 +26,8 @@ static bool event_filter(const Event *e, void *opaque) { } bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { - replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); + routeName = route; + replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->installEventFilter(event_filter, this); QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged); diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index fe71840d74..58f5ad70b7 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -44,6 +44,8 @@ public: bool eventFilter(const Event *event); inline std::pair range() const { return {begin_sec, end_sec}; } + inline QString route() const { return routeName; } + inline QString carFingerprint() const { return replay->carFingerprint().c_str(); } inline double totalSeconds() const { return replay->totalSeconds(); } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } inline double currentSec() const { return current_sec; } @@ -80,6 +82,7 @@ protected: double event_begin_sec = 0; double event_end_sec = 0; bool is_zoomed = false; + QString routeName; Replay *replay = nullptr; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index f3c3bf74ae..50fcbc455c 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -30,8 +30,16 @@ MainWindow::MainWindow() : QWidget() { right_container->setFixedWidth(640); r_layout = new QVBoxLayout(right_container); + QHBoxLayout *right_hlayout = new QHBoxLayout(); + QLabel *fingerprint_label = new QLabel(this); + right_hlayout->addWidget(fingerprint_label); + + // TODO: click to select another route. + right_hlayout->addWidget(new QLabel(can->route())); QPushButton *settings_btn = new QPushButton("Settings"); - r_layout->addWidget(settings_btn, 0, Qt::AlignRight); + right_hlayout->addWidget(settings_btn, 0, Qt::AlignRight); + + r_layout->addLayout(right_hlayout); video_widget = new VideoWidget(this); r_layout->addWidget(video_widget, 0, Qt::AlignTop); @@ -45,6 +53,7 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); + QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); } void MainWindow::dockCharts(bool dock) { diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index bb90d56570..78965e3e8c 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -15,6 +15,7 @@ inline QString formatTime(int seconds) { VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); // TODO: figure out why the CameraWidget crashed occasionally. cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this); From 826d8a8ae34bfd909535f5edff2229b8b2daf1a6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 18 Oct 2022 11:24:13 -0700 Subject: [PATCH 309/685] GM: match panda & ECM standstill checks (#26095) * gm: match panda standstill check * fix * needs to be <= 10 to avoid a fault, fix for safety tests * fix * fix * bump panda to master --- panda | 2 +- selfdrive/car/gm/carstate.py | 4 +++- selfdrive/car/tests/test_models.py | 2 +- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/panda b/panda index 9ed3f75f67..b95a65df58 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 9ed3f75f67c3e5f00f910c8d7497ebed63851b5a +Subproject commit b95a65df58fea89b42b7c6b4fc85289b93a0bdb2 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index b67b97093a..f531914877 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -8,6 +8,7 @@ from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD TransmissionType = car.CarParams.TransmissionType NetworkLocation = car.CarParams.NetworkLocation +STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS class CarState(CarStateBase): @@ -39,7 +40,8 @@ class CarState(CarStateBase): ) ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.01 + # sample rear wheel speeds, standstill=True if ECM allows engagement with brake + ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1: ret.gearShifter = self.parse_gear_shifter("T") diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index bab9f859e6..e4e141153f 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase): checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available - if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"): + if self.CP.carName not in ("hyundai", "volkswagen", "body"): # TODO: fix standstill mismatches for other makes checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() From 03d259a51742066e1fbbbad1d6ee1b94bd302bc6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 18 Oct 2022 13:52:05 -0700 Subject: [PATCH 310/685] Honda docs: remove global min steer speed (#26138) * remove global min_steer_speed so we can define in carparams * remove 0 defaults --- selfdrive/car/honda/values.py | 31 +++++++++++++++---------------- 1 file changed, 15 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index e48edc42ba..46a8d6a31e 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -105,7 +105,6 @@ class Footnote(Enum): @dataclass class HondaCarInfo(CarInfo): package: str = "Honda Sensing" - min_steer_speed: float = 12. * CV.MPH_TO_MS CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { @@ -114,31 +113,31 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), - CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"), + CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), - HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a), + HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform CAR.CIVIC_2022: [ - HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), - HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), + HondaCarInfo("Honda Civic 2022", "All", harness=Harness.bosch_b), + HondaCarInfo("Honda Civic Hatchback 2022", "All", harness=Harness.bosch_b), ], CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec), - CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec), - CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a), + 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.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring - CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a), - CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec), - CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec), - CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec), - CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec), + 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.ODYSSEY_CHN: None, # Chinese version of Odyssey - CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec), + CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), - CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec), - CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec), - CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec), + CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), + CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", 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), } From 972951f5f4aadf9b4fd2384efa85ca5378fd09f0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 18 Oct 2022 14:07:54 -0700 Subject: [PATCH 311/685] Fix pass by keyword --- 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 46a8d6a31e..638008934a 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -115,7 +115,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { 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.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS, harness=Harness.bosch_a), HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform From 98cac3578b2d0d2e4db283a728f647bc71825bfb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 18 Oct 2022 18:40:47 -0700 Subject: [PATCH 312/685] cabana: fix binary view for can-fd --- 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 71175e783e..32811c4b6f 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -25,7 +25,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { delete old_model; QObject::connect(model, &QAbstractItemModel::modelReset, [this]() { - setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2); + setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 64) + 2); }); } From 9a8bd8c0975673a2831ca8af7629d22063b5f8fa Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 18 Oct 2022 20:46:08 -0700 Subject: [PATCH 313/685] Revert "cabana: fix binary view for can-fd" This reverts commit 98cac3578b2d0d2e4db283a728f647bc71825bfb. --- 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 32811c4b6f..71175e783e 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -25,7 +25,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { delete old_model; QObject::connect(model, &QAbstractItemModel::modelReset, [this]() { - setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 64) + 2); + setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2); }); } From 1548db8962c2555b53843ec361453ece7abdbc16 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 18 Oct 2022 21:25:06 -0700 Subject: [PATCH 314/685] Partial revert, lax torque control (#26146) * Closer to original * Update ref --- selfdrive/controls/lib/latcontrol_torque.py | 2 +- selfdrive/controls/lib/lateral_planner.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 7d656b55a9..51676086ba 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -17,7 +17,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # friction in the steering wheel that needs to be overcome to # move it at all, this is compensated for too. -LOW_SPEED_FACTOR = 100 +LOW_SPEED_FACTOR = 200 class LatControlTorque(LatControl): diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 9fbfd4a11f..29137defd3 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -22,8 +22,7 @@ LATERAL_JERK_COST = 0.05 # TODO this cost should be lowered when low # speed lateral control is stable on all cars STEERING_RATE_COST = 800.0 - -MIN_SPEED = .3 +MIN_SPEED = 1.5 class LateralPlanner: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 998bf4e756..0b4081595b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6bb7d8baae51d88dd61f0baf561e386664ddd266 \ No newline at end of file +1c1287691cbdd866d9e435d5d27f59f6a027d270 From 1bd9632156a78ae947eeaaebe96a08bd5b0cfeeb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 01:02:51 -0700 Subject: [PATCH 315/685] FPv2 tests: consider extra ECUs in brand ECUs (#26149) * Hyundai: add corner radar FW query * add extra ecus to brand ecus * add comment * rev * bumpo * cmt Co-authored-by: Adeeb Shihadeh --- selfdrive/car/tests/test_fw_fingerprint.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index ed323b0563..b9926301f1 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -45,6 +45,7 @@ class TestFwFingerprint(unittest.TestCase): self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") def test_data_collection_ecus(self): + # Asserts no extra ECUs are in the fingerprinting database for brand, config in FW_QUERY_CONFIGS.items(): for car_model, ecus in VERSIONS[brand].items(): bad_ecus = set(ecus).intersection(config.extra_ecus) @@ -80,10 +81,11 @@ class TestFwFingerprint(unittest.TestCase): def test_fw_request_ecu_whitelist(self): for brand, config in FW_QUERY_CONFIGS.items(): with self.subTest(brand=brand): - whitelisted_ecus = set([ecu for r in config.requests for ecu in r.whitelist_ecus]) - brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw]) + whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus} + brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw} + brand_ecus |= {ecu[0] for ecu in config.extra_ecus} - # each ecu in brand's fw versions needs to be whitelisted at least once + # each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once ecus_not_whitelisted = brand_ecus - whitelisted_ecus ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted]) From e46d162b1e5d4414d54d27c54190e7b3116596ba Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 01:28:46 -0700 Subject: [PATCH 316/685] GM camera ACC: show under enable speed alert (#26148) * fix the fault more generically * fix * need this * some clean up * comment and use standstill * comment * add comment * better fix * rm * better (for now) * update docs --- docs/CARS.md | 6 +++--- selfdrive/car/gm/interface.py | 20 +++++++------------- 2 files changed, 10 insertions(+), 16 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 40eef06102..4c65f0007b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -18,8 +18,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Cadillac|Escalade ESV 2016[1](#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|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|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|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Chevrolet|Volt 2017-18[1](#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| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| @@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |GMC|Acadia 2018[1](#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|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 248828e757..e25f203772 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -62,11 +62,14 @@ class CarInterface(CarInterfaceBase): ret.radarOffCan = True # no radar ret.pcmCruise = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM + ret.minEnableSpeed = 5 * CV.KPH_TO_MS else: # ASCM, OBD-II harness ret.openpilotLongitudinalControl = True ret.networkLocation = NetworkLocation.gateway ret.radarOffCan = False ret.pcmCruise = False # stock non-adaptive cruise control is kept off + # supports stop and go, but initial engage must (conservatively) be above 18mph + ret.minEnableSpeed = 18 * CV.MPH_TO_MS # 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 @@ -90,9 +93,6 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz - # supports stop and go, but initial engage must (conservatively) be above 18mph - ret.minEnableSpeed = 18 * CV.MPH_TO_MS - if candidate == CAR.VOLT: ret.mass = 1607. + STD_CARGO_KG ret.wheelbase = 2.69 @@ -153,7 +153,6 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 1.0 elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV): - ret.minEnableSpeed = -1 ret.mass = 1669. + STD_CARGO_KG ret.wheelbase = 2.63779 ret.steerRatio = 16.8 @@ -163,7 +162,6 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SILVERADO: - ret.minEnableSpeed = -1 ret.mass = 2200. + STD_CARGO_KG ret.wheelbase = 3.75 ret.steerRatio = 16.3 @@ -172,7 +170,6 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.EQUINOX: - ret.minEnableSpeed = -1 ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 14.4 @@ -207,19 +204,16 @@ class CarInterface(CarInterfaceBase): GearShifter.eco, GearShifter.manumatic], pcm_enable=self.CP.pcmCruise) - if ret.vEgo < self.CP.minEnableSpeed: + # Enabling at a standstill with brake is allowed + # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs + if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and + self.CP.networkLocation == NetworkLocation.fwdCamera): events.add(EventName.belowEngageSpeed) if ret.cruiseState.standstill: events.add(EventName.resumeRequired) if ret.vEgo < self.CP.minSteerSpeed: events.add(EventName.belowSteerSpeed) - if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.pcmCruise: - # The ECM has a higher brake pressed threshold than the camera, causing an - # ACC fault when you engage at a stop with your foot partially on the brake - if ret.vEgoRaw < 0.1 and ret.brake < 20: - events.add(EventName.gmAccFaultedTemp) - ret.events = events.to_msg() return ret From b1efdab788da77380dfd3f5765bb6cc03ccc3a77 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 01:31:12 -0700 Subject: [PATCH 317/685] Rename gmAccFaultedTemp -> accFaultedTemp --- cereal | 2 +- selfdrive/controls/lib/events.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index 107048c83e..1e3dd70a39 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 107048c83ec2f488286a1be314e7aece0a20a6b1 +Subproject commit 1e3dd70a391bc1bbe437d3eea8be30947f929a75 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 5bfe89b31c..44426620e9 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -811,7 +811,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"), }, - EventName.gmAccFaultedTemp: { + EventName.accFaultedTemp: { ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"), }, From a24e6616c2f701896328c7cba5e6e8e76b42de1e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 23:01:42 +0800 Subject: [PATCH 318/685] Cabana: fix time column was being cutoff (#26156) fix time column --- tools/cabana/historylog.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index c0efbca280..a20845f15f 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -70,7 +70,7 @@ HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) { table = new QTableView(this); table->setModel(model); table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); - table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::Fixed); + table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents); table->setColumnWidth(0, 60); table->verticalHeader()->setVisible(false); table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); From a927d7b0ea25d1fde6a121888f8abd34e2fef867 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 23:02:47 +0800 Subject: [PATCH 319/685] Cabana: warn when DBC message length is wrong (#26154) display warning if message size is incorrect --- tools/cabana/detailwidget.cc | 16 ++++++++++++++++ tools/cabana/detailwidget.h | 3 ++- 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 60d0632d4c..a92969d4d3 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -29,6 +29,17 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { title_layout->addWidget(edit_btn); main_layout->addLayout(title_layout); + // warning + warning_widget = new QWidget(this); + QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); + QLabel *warning_icon = new QLabel(this); + warning_icon->setPixmap(style()->standardIcon(QStyle::SP_MessageBoxWarning).pixmap({16, 16})); + warning_hlayout->addWidget(warning_icon); + warning_label = new QLabel(this); + warning_hlayout->addWidget(warning_label,1, Qt::AlignLeft); + warning_widget->hide(); + main_layout->addWidget(warning_widget); + // binary view binary_view = new BinaryView(this); main_layout->addWidget(binary_view, 0, Qt::AlignTop); @@ -64,6 +75,7 @@ void DetailWidget::setMessage(const QString &message_id) { void DetailWidget::dbcMsgChanged() { if (msg_id.isEmpty()) return; + warning_widget->hide(); qDeleteAll(signals_container->findChildren()); QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { @@ -76,6 +88,10 @@ void DetailWidget::dbcMsgChanged() { QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); } msg_name = msg->name.c_str(); + if (msg->size != can->lastMessage(msg_id).dat.size()) { + warning_label->setText(tr("Message size (%1) is incorrect!").arg(msg->size)); + warning_widget->show(); + } } edit_btn->setVisible(true); name_label->setText(msg_name); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 9d3b81dcb0..07c78caa4a 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -46,7 +46,8 @@ private: void updateState(); QString msg_id; - QLabel *name_label, *time_label; + QLabel *name_label, *time_label, *warning_label; + QWidget *warning_widget; QPushButton *edit_btn; QWidget *signals_container; HistoryLog *history_log; From 3fae3b366087c20621624de8b4f3e00da4de987b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 23:03:14 +0800 Subject: [PATCH 320/685] cabana: use monospaced font for hex in BinaryView (#26153) use fixedfont --- tools/cabana/binaryview.cc | 6 ++++-- tools/cabana/binaryview.h | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 71175e783e..4fc55077da 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -1,6 +1,7 @@ #include "tools/cabana/binaryview.h" #include +#include #include #include @@ -157,7 +158,8 @@ void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectio BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { // cache fonts and color small_font.setPointSize(6); - bold_font.setBold(true); + hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); + hex_font.setBold(true); highlight_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight); } @@ -172,7 +174,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op // TODO: highlight signal cells on mouse over painter->fillRect(option.rect, option.state & QStyle::State_Selected ? highlight_color : item->bg_color); if (index.column() == 8) { - painter->setFont(bold_font); + painter->setFont(hex_font); } painter->drawText(option.rect, Qt::AlignCenter, item->val); if (item->is_msb || item->is_lsb) { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 631797ca48..38f0ddf216 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -14,7 +14,7 @@ public: QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override; private: - QFont small_font, bold_font; + QFont small_font, hex_font; QColor highlight_color; }; From 1211ffbcf22800049682244727984a596395c217 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 23:03:34 +0800 Subject: [PATCH 321/685] cabana: display a clear button in filter string edit box (#26152) display clear button --- tools/cabana/messageswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 28f79adad3..f39ce97684 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -42,6 +42,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // message filter QLineEdit *filter = new QLineEdit(this); + filter->setClearButtonEnabled(true); filter->setPlaceholderText(tr("filter messages")); main_layout->addWidget(filter); From d1495a90903ea3a29f2987af6de996dfbd9ab9ff Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 23:07:01 +0800 Subject: [PATCH 322/685] Cabana: add dialog to find and locate signal values (#26131) * add dialog to find signals * dont close dlg after goto * limit number * cleanup * merge master --- tools/cabana/canmessages.cc | 29 ++++++++++++++ tools/cabana/canmessages.h | 4 ++ tools/cabana/signaledit.cc | 79 ++++++++++++++++++++++++++++++++++++- tools/cabana/signaledit.h | 7 ++++ 4 files changed, 118 insertions(+), 1 deletion(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 252a8c680c..897381b3f2 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -3,6 +3,8 @@ #include #include +#include "tools/cabana/dbcmanager.h" + Q_DECLARE_METATYPE(std::vector); Settings settings; @@ -38,6 +40,33 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool return false; } +QList CANMessages::findSignalValues(const QString &id, const Signal *signal, double value, FindFlags flag, int max_count) { + auto evts = events(); + if (!evts) return {}; + + auto l = id.split(':'); + int bus = l[0].toInt(); + uint32_t address = l[1].toUInt(nullptr, 16); + + QList ret; + ret.reserve(max_count); + for (auto &evt : *evts) { + if (evt->which != cereal::Event::Which::CAN) continue; + + for (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) { ++counters[it.key()]; diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 58f5ad70b7..44131ad5c9 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -5,7 +5,9 @@ #include #include +#include +#include "opendbc/can/common_dbc.h" #include "tools/replay/replay.h" class Settings : public QObject { @@ -35,12 +37,14 @@ 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, bool use_qcam); void seekTo(double ts); void resetRange(); void setRange(double min, double max); + QList findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count); bool eventFilter(const Event *event); inline std::pair range() const { return {begin_sec, end_sec}; } diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 7cace48402..050802d452 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -3,8 +3,12 @@ #include #include #include +#include +#include #include +#include "selfdrive/ui/qt/util.h" + // SignalForm SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start_bit), QWidget(parent) { @@ -93,6 +97,12 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); title_layout->addWidget(title, 1); + QPushButton *seek_btn = new QPushButton("⌕"); + seek_btn->setStyleSheet("font-weight:bold;font-size:20px"); + seek_btn->setToolTip(tr("Find signal values")); + seek_btn->setFixedSize(20, 20); + title_layout->addWidget(seek_btn); + QPushButton *plot_btn = new QPushButton("📈"); plot_btn->setToolTip(tr("Show Plot")); plot_btn->setFixedSize(20, 20); @@ -124,13 +134,17 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid main_layout->addWidget(hline); QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); + QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); QObject::connect(save_btn, &QPushButton::clicked, [=]() { QString new_name = form->getSignal().name.c_str(); title->setText(QString("%1. %2").arg(index + 1).arg(new_name)); emit save(); sig_name = new_name; }); - QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); + QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id, s = &sig]() { + SignalFindDlg dlg(msg_id, s, this); + dlg.exec(); + }); } void SignalEdit::setFormVisible(bool visible) { @@ -159,3 +173,66 @@ AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWi connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); } + +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 f31408657f..f7611747ec 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -51,3 +51,10 @@ public: AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent); SignalForm *form; }; + +class SignalFindDlg : public QDialog { + Q_OBJECT + +public: + SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent); +}; From bc2b247d7116e8c5962e6767732be61846dd6f47 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Oct 2022 02:04:08 +0800 Subject: [PATCH 323/685] Cabana: highlight signal on mouse over (#26157) --- tools/cabana/binaryview.cc | 41 +++++++++++++++++++++++++++++++++--- tools/cabana/binaryview.h | 10 ++++++++- tools/cabana/canmessages.h | 7 ++++++ tools/cabana/detailwidget.cc | 2 ++ tools/cabana/signaledit.cc | 17 ++++++++++++++- tools/cabana/signaledit.h | 7 ++++++ 6 files changed, 79 insertions(+), 5 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 4fc55077da..168edc75f4 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -3,7 +3,9 @@ #include #include #include +#include #include +#include #include "tools/cabana/canmessages.h" @@ -19,6 +21,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { horizontalHeader()->hide(); verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + setMouseTracking(true); // replace selection model auto old_model = selectionModel(); @@ -30,6 +33,24 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { }); } +void BinaryView::highlight(const Signal *sig) { + if (sig != hovered_sig) { + hovered_sig = sig; + model->dataChanged(model->index(0, 0), model->index(model->rowCount() - 1, model->columnCount() - 1)); + emit signalHovered(hovered_sig); + } +} + +void BinaryView::mouseMoveEvent(QMouseEvent *event) { + if (auto index = indexAt(event->pos()); index.isValid()) { + auto item = (BinaryViewModel::Item *)index.internalPointer(); + highlight(item->sig); + if (item->sig) + QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect()); + } + QTableView::mouseMoveEvent(event); +} + void BinaryView::mouseReleaseEvent(QMouseEvent *event) { QTableView::mouseReleaseEvent(event); @@ -40,6 +61,11 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) { } } +void BinaryView::leaveEvent(QEvent *event) { + highlight(nullptr); + QTableView::leaveEvent(event); +} + void BinaryView::setMessage(const QString &message_id) { msg_id = message_id; model->setMessage(message_id); @@ -80,7 +106,8 @@ void BinaryViewModel::setMessage(const QString &message_id) { } else if (j == end) { sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; } - items[idx].bg_color = QColor(getColor(i)); + items[idx].bg_color = getColor(i); + items[idx].sig = &dbc_msg->sigs[i]; } } } @@ -170,9 +197,17 @@ QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { auto item = (const BinaryViewModel::Item *)index.internalPointer(); + BinaryView *bin_view = (BinaryView *)parent(); painter->save(); - // TODO: highlight signal cells on mouse over - painter->fillRect(option.rect, option.state & QStyle::State_Selected ? highlight_color : item->bg_color); + + // background + QColor bg_color = item->sig && bin_view->hoveredSignal() == item->sig ? hoverColor(item->bg_color) : item->bg_color; + if (option.state & QStyle::State_Selected) { + bg_color = highlight_color; + } + painter->fillRect(option.rect, bg_color); + + // text if (index.column() == 8) { painter->setFont(hex_font); } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 38f0ddf216..48eb5eff8a 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -37,6 +37,7 @@ public: bool is_msb = false; bool is_lsb = false; QString val = "0"; + const Signal *sig = nullptr; }; private: @@ -59,14 +60,21 @@ class BinaryView : public QTableView { public: BinaryView(QWidget *parent = nullptr); - void mouseReleaseEvent(QMouseEvent *event) override; void setMessage(const QString &message_id); void updateState(); + void highlight(const Signal *sig); + const Signal *hoveredSignal() const { return hovered_sig; } signals: void cellsSelected(int start_bit, int size); + void signalHovered(const Signal *sig); private: + void mouseMoveEvent(QMouseEvent *event) override; + void mouseReleaseEvent(QMouseEvent *event) override; + void leaveEvent(QEvent *event) override; + QString msg_id; BinaryViewModel *model; + const Signal *hovered_sig = nullptr; }; diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 44131ad5c9..a468fb2956 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -4,6 +4,7 @@ #include #include +#include #include #include @@ -103,6 +104,12 @@ inline const QString &getColor(int i) { return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; } +inline QColor hoverColor(const QColor &color) { + QColor c = color.convertTo(QColor::Hsv); + c.setHsv(color.hue(), 180, 180); + return c; +} + // A global pointer referring to the unique CANMessages object extern CANMessages *can; extern Settings settings; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index a92969d4d3..1f1b73638b 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -86,6 +86,8 @@ void DetailWidget::dbcMsgChanged() { QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); + QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); + QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); } msg_name = msg->name.c_str(); if (msg->size != can->lastMessage(msg_id).dat.size()) { diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 050802d452..d5dccf0e6d 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -82,7 +82,7 @@ Signal SignalForm::getSignal() { // SignalEdit SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent) - : sig_name(sig.name.c_str()), QWidget(parent) { + : sig(&sig), form_idx(index), sig_name(sig.name.c_str()), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); @@ -152,6 +152,21 @@ void SignalEdit::setFormVisible(bool visible) { icon->setText(visible ? "▼" : ">"); } +void SignalEdit::signalHovered(const Signal *s) { + auto color = sig == s ? hoverColor(getColor(form_idx)) : QColor(getColor(form_idx)); + title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color.name())); +} + +void SignalEdit::enterEvent(QEvent *event) { + emit highlight(sig); + QWidget::enterEvent(event); +} + +void SignalEdit::leaveEvent(QEvent *event) { + emit highlight(nullptr); + QWidget::leaveEvent(event); +} + // AddSignalDialog AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent) : QDialog(parent) { diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index f7611747ec..1213b3ec51 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -30,17 +30,24 @@ class SignalEdit : public QWidget { public: SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent = nullptr); void setFormVisible(bool show); + void signalHovered(const Signal *sig); inline bool isFormVisible() const { return form_container->isVisible(); } QString sig_name; SignalForm *form; + int form_idx = 0; + const Signal *sig = nullptr; signals: + void highlight(const Signal *sig); void showChart(); void showFormClicked(); void remove(); void save(); protected: + void enterEvent(QEvent *event) override; + void leaveEvent(QEvent *event) override; + ElidedLabel *title; QWidget *form_container; QLabel *icon; From d2c1bb4238436dd5e39447f367b7ff1dc0b531b8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 14:13:06 -0700 Subject: [PATCH 324/685] Update CI routes: speed up (#26162) * cache get_azure_keys * tqdm --- selfdrive/test/update_ci_routes.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 201ffb745a..933027840d 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -1,6 +1,8 @@ #!/usr/bin/env python3 +from functools import lru_cache import sys import subprocess +from tqdm import tqdm from azure.storage.blob import BlockBlobService # pylint: disable=import-error from selfdrive.car.tests.routes import routes as test_car_models_routes @@ -15,6 +17,7 @@ SOURCES = [ ] +@lru_cache def get_azure_keys(): dest_key = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci") source_keys = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES] @@ -82,7 +85,7 @@ if __name__ == "__main__": to_sync.extend([rt.route for rt in test_car_models_routes]) to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments]) - for r in to_sync: + for r in tqdm(to_sync): if not sync_to_ci_public(r): failed_routes.append(r) From 2ed51e31517e1e1948833cfcf8d2c83471b1e1be Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Oct 2022 05:18:28 +0800 Subject: [PATCH 325/685] Cabana: load DBC from car fingerprint (#26158) * auto load DBC from fingerprint * generate json in scons --- tools/cabana/.gitignore | 2 ++ tools/cabana/SConscript | 1 + tools/cabana/generate_dbc_json.py | 24 +++++++++++++++++++++++ tools/cabana/messageswidget.cc | 32 ++++++++++++++++++++++--------- tools/cabana/messageswidget.h | 7 +++++-- 5 files changed, 55 insertions(+), 11 deletions(-) create mode 100755 tools/cabana/generate_dbc_json.py diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore index 88ffab2717..d7a552eabb 100644 --- a/tools/cabana/.gitignore +++ b/tools/cabana/.gitignore @@ -3,3 +3,5 @@ moc_* _cabana settings +car_fingerprint_to_dbc.json + diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index fd44ecd138..d791466ce7 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -12,5 +12,6 @@ else: qt_libs = ['qt_util', 'Qt5Charts'] + base_libs cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs +qt_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json') qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', 'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/generate_dbc_json.py b/tools/cabana/generate_dbc_json.py new file mode 100755 index 0000000000..cb122e2eb2 --- /dev/null +++ b/tools/cabana/generate_dbc_json.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 +import argparse +import json + +from selfdrive.car.car_helpers import get_interface_attr + + +def generate_dbc_json() -> str: + all_cars_by_brand = get_interface_attr("CAR_INFO") + all_dbcs_by_brand = get_interface_attr("DBC") + dbc_map = {car: all_dbcs_by_brand[brand][car]['pt'] for brand, cars in all_cars_by_brand.items() for car in cars if car != 'mock'} + return json.dumps(dict(sorted(dbc_map.items())), indent=2) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Generate mapping for all car fingerprints to DBC names and outputs json file", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + + parser.add_argument("--out", required=True, help="Generated json filepath") + args = parser.parse_args() + + with open(args.out, 'w') as f: + f.write(generate_dbc_json()) + print(f"Generated and written to {args.out}") diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index f39ce97684..dfe665d750 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -68,9 +68,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // signals/slots QObject::connect(filter, &QLineEdit::textChanged, proxy_model, &QSortFilterProxyModel::setFilterFixedString); + QObject::connect(can, &CANMessages::eventsMerged, this, &MessagesWidget::loadDBCFromFingerprint); QObject::connect(can, &CANMessages::updated, model, &MessageListModel::updateState); - QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(dbcSelectionChanged(const QString &))); - QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadFromPaste); + QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); + QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadDBCFromPaste); QObject::connect(save_btn, &QPushButton::clicked, [=]() { // TODO: save DBC to file }); @@ -80,17 +81,20 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { } }); - // For test purpose - dbc_combo->setCurrentText("toyota_nodsu_pt_generated"); + QFile json_file("./car_fingerprint_to_dbc.json"); + if(json_file.open(QIODevice::ReadOnly)) { + fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); + } } -void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) { - dbc()->open(dbc_file); - // TODO: reset model? - table_widget->sortByColumn(0, Qt::AscendingOrder); +void MessagesWidget::loadDBCFromName(const QString &name) { + dbc()->open(name); + dbc_combo->setCurrentText(name); + // refresh model + model->updateState(); } -void MessagesWidget::loadFromPaste() { +void MessagesWidget::loadDBCFromPaste() { LoadDBCDialog dlg(this); if (dlg.exec()) { dbc()->open("from paste", dlg.dbc_edit->toPlainText()); @@ -98,6 +102,16 @@ void MessagesWidget::loadFromPaste() { } } +void MessagesWidget::loadDBCFromFingerprint() { + auto fingerprint = can->carFingerprint(); + if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) { + auto dbc_name = fingerprint_to_dbc[fingerprint]; + if (dbc_name != QJsonValue::Undefined) { + loadDBCFromName(dbc_name.toString()); + } + } +} + // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 1184772f3b..bef15c2cf7 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include @@ -38,8 +39,9 @@ public: MessagesWidget(QWidget *parent); public slots: - void dbcSelectionChanged(const QString &dbc_file); - void loadFromPaste(); + void loadDBCFromName(const QString &name); + void loadDBCFromFingerprint(); + void loadDBCFromPaste(); signals: void msgSelectionChanged(const QString &message_id); @@ -48,4 +50,5 @@ protected: QTableView *table_widget; QComboBox *dbc_combo; MessageListModel *model; + QJsonDocument fingerprint_to_dbc; }; From f6416e776995df68c5ae43354c9af7c335ed2e26 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 14:21:03 -0700 Subject: [PATCH 326/685] Hyundai HDA2 detection: use ADAS ECU (#26130) * use adas ecu * new route * update refs * new route * update refs * new test routes * bump --- selfdrive/car/hyundai/interface.py | 5 +++-- selfdrive/car/tests/routes.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 4 ++-- 4 files changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 13e93c7d06..cf7063aacc 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -8,6 +8,7 @@ from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu +Ecu = car.CarParams.Ecu ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL) @@ -33,8 +34,8 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} if candidate in CANFD_CAR: - # detect HDA2 with LKAS message - if 0x50 in fingerprint[6]: + # detect HDA2 with ADAS Driving ECU + if Ecu.adas in [fw.ecu for fw in car_fw]: ret.flags |= HyundaiFlags.CANFD_HDA2.value else: # non-HDA2 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 85787ae88d..1dea53a05e 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -97,7 +97,7 @@ routes = [ 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("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), - CarTestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5), + CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2 CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV), CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), @@ -110,7 +110,7 @@ routes = [ CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), - CarTestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6), # HDA2 + CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2 CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1 CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0b4081595b..b0613393ad 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1c1287691cbdd866d9e435d5d27f59f6a027d270 +a87455caf93e91fae0f3704aa476e0732d066b77 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 683387dce8..cecabd8a3a 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI2", "d824e27e8c60172c|2022-09-13--11-26-50--2"), # HYUNDAI.KIA_EV6 + ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"), # HYUNDAI.KIA_EV6 ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 @@ -40,7 +40,7 @@ source_segments = [ segments = [ ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"), ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"), - ("HYUNDAI2", "regenFA8B5CA9840|2022-10-12--21-47-06--0"), + ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"), ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"), ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"), ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"), From 1766cf9fc232e56e54429ff464fa237e913a348c Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 19 Oct 2022 17:31:02 -0400 Subject: [PATCH 327/685] HKG: Car Port for Kia Sportage Hybrid 2023 (#26106) * HKG: Car Port for Kia Sportage Hybrid 2023 * Add torque values * Add test route * Fix CARS.md * cleanup Co-authored-by: Adeeb Shihadeh --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/hyundai/interface.py | 5 +++++ selfdrive/car/hyundai/values.py | 15 +++++++++++++-- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 6 files changed, 23 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 35ed1b9520..51387091b8 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -12,6 +12,7 @@ Version 0.8.17 (2022-XX-XX) * Border turns grey while overriding steering * Added button to bookmark events while driving; view them later in comma connect * AGNOS 6 +* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin! Version 0.8.16 (2022-08-26) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 4c65f0007b..a03da5ca6a 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. -# 208 Supported Cars +# 209 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -100,6 +100,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|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|Sportage Hybrid 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|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|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index cf7063aacc..b1fa8d9e1d 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -248,6 +248,11 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16. tire_stiffness_factor = 0.65 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: + ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only + ret.wheelbase = 2.756 + ret.steerRatio = 13.6 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Genesis elif candidate == CAR.GENESIS_G70: diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index f69273ba55..0c4cf3c743 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -90,6 +90,7 @@ class CAR: KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_SELTOS = "KIA SELTOS 2021" KIA_SORENTO = "KIA SORENTO GT LINE 2018" + KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN" KIA_STINGER = "KIA STINGER GT2 2018" KIA_CEED = "KIA CEED INTRO ED 2019" KIA_EV6 = "KIA EV6 2022" @@ -172,6 +173,7 @@ 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_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_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), CAR.KIA_EV6: [ @@ -1367,6 +1369,14 @@ FW_VERSIONS = { b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', ], }, + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', + ], + }, } CHECKSUM = { @@ -1384,12 +1394,12 @@ FEATURES = { "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_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} # 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} # 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 @@ -1442,4 +1452,5 @@ DBC = { CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 1dea53a05e..8c4efe3061 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -91,6 +91,7 @@ routes = [ CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4), CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0), CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), + CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN), 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), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 889eeffb25..13a0dae7a7 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -32,6 +32,7 @@ CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0] +KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From bd3b2e624617eb8f46990f8f1bb3e061a6387195 Mon Sep 17 00:00:00 2001 From: Kyumin Han Date: Wed, 19 Oct 2022 17:35:57 -0400 Subject: [PATCH 328/685] HKG: Remove Kia Stinger from 255 torque blacklist (#25866) --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0c4cf3c743..0fee3ccc51 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -36,7 +36,7 @@ class CarControllerParams: # If the max stock LKAS request is <384, add your car to this list. elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV, - CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER): + CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO): self.STEER_MAX = 255 # Default for most HKG From 334ee602f53b7645baba41610051c807ffe5bebb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 14:43:12 -0700 Subject: [PATCH 329/685] cabana: add usage to readme --- tools/cabana/README.md | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/tools/cabana/README.md b/tools/cabana/README.md index f64e6b2d2d..99d0d4c9ce 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -6,4 +6,19 @@ Cabana is a tool developed to view raw CAN data. One use for this is creating an ## Usage Instructions +```bash +$ ./cabana -h +Usage: ./_cabana [options] route + +Options: + -h, --help Displays this help. + --demo use a demo route instead of providing your own + --qcam load qcamera + --data_dir local directory with routes + +Arguments: + route the drive to replay. find your drives at + connect.comma.ai +``` + See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana) From 3ee8572d585cf1e56bb00666cb8747dc8f2e77e7 Mon Sep 17 00:00:00 2001 From: hoomoose <94947902+hoomoose@users.noreply.github.com> Date: Wed, 19 Oct 2022 16:19:38 -0600 Subject: [PATCH 330/685] HKG: resume from standstill for HDA1 CAN-FD (#26069) * Cruise Button Press on bus 6 for HDA1 Canfd * use bus helper * Update hyundaicanfd.py * Update hyundaicanfd.py * Update hyundaicanfd.py * Update hyundaicanfd.py * Update selfdrive/car/hyundai/hyundaicanfd.py Co-authored-by: Shane Smiskol * Update selfdrive/car/hyundai/hyundaicanfd.py Co-authored-by: Shane Smiskol * bump panda Co-authored-by: Shane Smiskol Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 9 ++++++--- selfdrive/car/hyundai/hyundaicanfd.py | 8 +++++--- 3 files changed, 12 insertions(+), 7 deletions(-) diff --git a/panda b/panda index b95a65df58..dd751862c3 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b95a65df58fea89b42b7c6b4fc85289b93a0bdb2 +Subproject commit dd751862c34f6a9c9c95748acaf31b8534b42497 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 6b38297eb9..913f683e2c 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -135,14 +135,17 @@ class CarController: self.last_button_frame = self.frame else: for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL)) + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL)) self.last_button_frame = self.frame # cruise standstill resume elif CC.cruiseControl.resume: - if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + # TODO: resume for alt button cars + pass + else: for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index f2cbafdcf0..e1478e6f18 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -3,7 +3,7 @@ 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 a different harness than the HDA1 and non-HDA variants in order to split + # have a different harness than the HDA1 and non-HDA variants in order to split # a different bus, since the steering is done by different ECUs. return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 @@ -39,13 +39,15 @@ def create_cam_0x2a4(packer, camera_values): }) return packer.make_can_msg("CAM_0x2a4", 4, camera_values) -def create_buttons(packer, cnt, btn): +def create_buttons(packer, CP, cnt, btn): values = { "COUNTER": cnt, "SET_ME_1": 1, "CRUISE_BUTTONS": btn, } - return packer.make_can_msg("CRUISE_BUTTONS", 5, values) + + bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6 + return packer.make_can_msg("CRUISE_BUTTONS", bus, values) def create_acc_cancel(packer, CP, cruise_info_copy): values = cruise_info_copy From 017b5b27718afc844bc5c08cff09dfac95d5ba46 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 15:20:55 -0700 Subject: [PATCH 331/685] HKG CAN-FD: query camera on both buses (#26167) fwdCamera is only on bus 4 on HDA1, only bus 5 on HDA2 --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0fee3ccc51..d5b8427f66 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -306,7 +306,7 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdRadar], + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar], bus=4, ), Request( From ffc151ed8facbb6b29c6cf1aa6676f2c59271483 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 15:34:06 -0700 Subject: [PATCH 332/685] no more preserve bucket --- selfdrive/test/update_ci_routes.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 933027840d..a2b971999c 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -12,7 +12,6 @@ from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DA SOURCES = [ (_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION), - (_DATA_ACCOUNT_PRODUCTION, "preserve"), (_DATA_ACCOUNT_CI, "commadataci"), ] From 93e972e6f9907382d62807c5d4c2eb80327ebc43 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 16:55:14 -0700 Subject: [PATCH 333/685] Update RELEASES.md --- RELEASES.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 51387091b8..b424259581 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,9 +2,10 @@ Version 0.8.17 (2022-XX-XX) ======================== * New driving model * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate. +* New driver monitoring model + * New end-to-end distracted trigger * Self-tuning torque lateral controller parameters * Parameters learned live for each car - * Enabled only on Toyota Corolla for now * UI updates * Multi-language in navigation * Matched speeds shown on car's dash @@ -12,6 +13,7 @@ Version 0.8.17 (2022-XX-XX) * Border turns grey while overriding steering * Added button to bookmark events while driving; view them later in comma connect * AGNOS 6 +* tools: new and improved cabana thanks to deanlee! * Kia Sportage Hybrid 2023 support thanks to sunnyhaibin! Version 0.8.16 (2022-08-26) From 1800592f5a4403a38891f8513e6438300a3b5e01 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 19 Oct 2022 17:09:25 -0700 Subject: [PATCH 334/685] DM: finetune e2e policy but keep alert rate (#26168) --- selfdrive/monitoring/driver_monitor.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 30781f4d1b..a2dda5da9d 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -32,7 +32,8 @@ class DRIVER_MONITOR_SETTINGS(): self._BLINK_THRESHOLD = 0.895 self._EE_THRESH11 = 0.275 - self._EE_THRESH12 = 3.0 + self._EE_THRESH12 = 5.5 + self._EE_MAX_OFFSET1 = 0.06 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 @@ -204,7 +205,7 @@ class DriverStatus(): distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: - ee1_dist = self.eev1 > self.ee1_offseter.filtered_stat.M * self.settings._EE_THRESH12 + ee1_dist = self.eev1 > min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1) * self.settings._EE_THRESH12 else: ee1_dist = self.eev1 > self.settings._EE_THRESH11 # if self.ee2_calibrated: From 301a7ce1899a3212900dc6cfb08de6840d276a05 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 20:40:52 -0700 Subject: [PATCH 335/685] GM: make loopback updated check more explicit This previously checked if parser_pyx filled the defaultdict, now it checks the values in the list (same either way) --- selfdrive/car/gm/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index f531914877..b651606b79 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -28,7 +28,7 @@ class CarState(CarStateBase): self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] # Variables used for avoiding LKAS faults - self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]) > 0 + self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 if self.CP.networkLocation == NetworkLocation.fwdCamera: self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] From eaedfb9a66012b82091c4b602184a0078d7f0c25 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 23:31:24 -0700 Subject: [PATCH 336/685] Hyundai CAN-FD: use cruise signals from SCC ECU (#26171) * Hyundai CAN-FD: use cruise signals from SCC ECU * bump panda * bumppanda * update refs --- panda | 2 +- selfdrive/car/hyundai/carstate.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/panda b/panda index dd751862c3..723e60cb43 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit dd751862c34f6a9c9c95748acaf31b8534b42497 +Subproject commit 723e60cb435ad5d3b6a8e99080be46a6590259cd diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 5da1dd72c8..60d434a603 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -189,13 +189,13 @@ class CarState(CarStateBase): cp.vl["BLINKERS"]["RIGHT_LAMP"]) ret.cruiseState.available = True - ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1 self.is_metric = cp.vl["CLUSTER_INFO"]["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 if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 + ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0 self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"]) cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" @@ -452,6 +452,7 @@ class CarState(CarStateBase): if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl: signals += [ + ("CRUISE_STATUS", "CRUISE_INFO"), ("SET_SPEED", "CRUISE_INFO"), ("CRUISE_STANDSTILL", "CRUISE_INFO"), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b0613393ad..84658effee 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a87455caf93e91fae0f3704aa476e0732d066b77 \ No newline at end of file +1f41cd8bbf2431ae89c489a81698120d14a44145 \ No newline at end of file From 63d552cafc6e4728cfe097e7a3f8e3f5cd98a566 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 23:41:54 -0700 Subject: [PATCH 337/685] GM camera ACC: hide take steering alert (#26010) * add all signals * try to forward this PSCMStatus * fixes * see if this works * modify checksum when bit flipped * bump opendbc * so i can test without restarting * bump * bump panda * clean up * comment * also fix this * bump * bump * every 5 seconds * only send our values * fix * try sending everything again (+1 counter) * revert * revert, forward msg * forward * fix that * bump panda * bump panda * fine to not copy * after cancel, pass bus * fix * Revert "fine to not copy" This reverts commit 654ac1a7dad4f7b9b0a3de52768522fb60cc55bd. --- panda | 2 +- selfdrive/car/gm/carcontroller.py | 4 ++++ selfdrive/car/gm/carstate.py | 7 +++++++ selfdrive/car/gm/gmcan.py | 6 ++++++ 4 files changed, 18 insertions(+), 1 deletion(-) diff --git a/panda b/panda index 723e60cb43..54f9390ff5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 723e60cb435ad5d3b6a8e99080be46a6590259cd +Subproject commit 54f9390ff51b4fb0c2b3a81b9cde8727acdd1977 diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 7c883dacc0..dbad355c46 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -117,6 +117,10 @@ class CarController: self.last_button_frame = self.frame can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) + # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1 + if self.frame % 10 == 0: + can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) + # Show green icon when LKA torque is applied, and # alarming orange icon when approaching torque limit. # If not sent again, LKA icon disappears in about 5 seconds. diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index b651606b79..de63f56eab 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -1,3 +1,4 @@ +import copy from cereal import car from common.conversions import Conversions as CV from common.numpy_fast import mean @@ -26,6 +27,7 @@ class CarState(CarStateBase): self.prev_cruise_buttons = self.cruise_buttons self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"] self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] + self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"]) # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 @@ -147,6 +149,11 @@ class CarState(CarStateBase): ("LKADriverAppldTrq", "PSCMStatus"), ("LKATorqueDelivered", "PSCMStatus"), ("LKATorqueDeliveredStatus", "PSCMStatus"), + ("HandsOffSWlDetectionStatus", "PSCMStatus"), + ("HandsOffSWDetectionMode", "PSCMStatus"), + ("LKATotalTorqueDelivered", "PSCMStatus"), + ("PSCMStatusChecksum", "PSCMStatus"), + ("RollingCounter", "PSCMStatus"), ("TractionControlOn", "ESPStatus"), ("ParkBrake", "VehicleIgnitionAlt"), ("CruiseMainOn", "ECMEngineStatus"), diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 20e4c4ab6e..ec046dc3c2 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -7,6 +7,12 @@ def create_buttons(packer, bus, idx, button): } return packer.make_can_msg("ASCMSteeringButton", bus, values) +def create_pscm_status(packer, bus, pscm_status): + checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5 + pscm_status["HandsOffSWlDetectionStatus"] = 1 + pscm_status["PSCMStatusChecksum"] += checksum_mod + return packer.make_can_msg("PSCMStatus", bus, pscm_status) + def create_steering_control(packer, bus, apply_steer, idx, lkas_active): values = { From 5d8840b6ee2302def37b2e6cd8b4c826127fc0f4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Oct 2022 22:56:12 +0800 Subject: [PATCH 338/685] cabana: remove unused metatype (#26175) remove unused metatype --- tools/cabana/canmessages.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 897381b3f2..2ef9dba600 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -13,7 +13,6 @@ CANMessages *can = nullptr; CANMessages::CANMessages(QObject *parent) : QObject(parent) { can = this; - qRegisterMetaType>(); QObject::connect(this, &CANMessages::received, this, &CANMessages::process, Qt::QueuedConnection); QObject::connect(&settings, &Settings::changed, this, &CANMessages::settingChanged); } From b2b27ff7ee00da4b1bffa7bbe95462303b835024 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Oct 2022 22:56:28 +0800 Subject: [PATCH 339/685] cabana: improve signal highlight on hover (#26161) * just change font color * merge master --- tools/cabana/binaryview.cc | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 168edc75f4..c0ebfa9f0a 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -200,16 +200,19 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op BinaryView *bin_view = (BinaryView *)parent(); painter->save(); + bool hover = item->sig && bin_view->hoveredSignal() == item->sig; // background - QColor bg_color = item->sig && bin_view->hoveredSignal() == item->sig ? hoverColor(item->bg_color) : item->bg_color; + QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color; if (option.state & QStyle::State_Selected) { bg_color = highlight_color; } painter->fillRect(option.rect, bg_color); // text - if (index.column() == 8) { + if (index.column() == 8) { // hex column painter->setFont(hex_font); + } else if (hover) { + painter->setPen(Qt::white); } painter->drawText(option.rect, Qt::AlignCenter, item->val); if (item->is_msb || item->is_lsb) { From 998d18783dee2c0d17acd7c5f0ebf82d5ac42d19 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 02:21:22 +0800 Subject: [PATCH 340/685] Cabana: multiple tabs detail view (#26174) --- tools/cabana/detailwidget.cc | 48 ++++++++++++++++++++++++++++-------- tools/cabana/detailwidget.h | 3 +++ 2 files changed, 41 insertions(+), 10 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 1f1b73638b..fdedb066fb 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -12,13 +12,26 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - - // title + main_layout->setSpacing(0); + + // tabbar + tabbar = new QTabBar(this); + tabbar->setTabsClosable(true); + tabbar->setDrawBase(false); + tabbar->setUsesScrollButtons(true); + tabbar->setAutoHide(true); + main_layout->addWidget(tabbar); + + // message title + QFrame *title_frame = new QFrame(); + main_layout->addWidget(title_frame); + QVBoxLayout *frame_layout = new QVBoxLayout(title_frame); + title_frame->setFrameShape(QFrame::StyledPanel); QHBoxLayout *title_layout = new QHBoxLayout(); title_layout->addWidget(new QLabel("time:")); time_label = new QLabel(this); - title_layout->addWidget(time_label); time_label->setStyleSheet("font-weight:bold"); + title_layout->addWidget(time_label); title_layout->addStretch(); name_label = new QLabel(this); name_label->setStyleSheet("font-weight:bold;"); @@ -27,18 +40,18 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { edit_btn = new QPushButton(tr("Edit"), this); edit_btn->setVisible(false); title_layout->addWidget(edit_btn); - main_layout->addLayout(title_layout); + frame_layout->addLayout(title_layout); // warning warning_widget = new QWidget(this); QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); - QLabel *warning_icon = new QLabel(this); + QLabel *warning_icon = new QLabel(this); warning_icon->setPixmap(style()->standardIcon(QStyle::SP_MessageBoxWarning).pixmap({16, 16})); warning_hlayout->addWidget(warning_icon); warning_label = new QLabel(this); - warning_hlayout->addWidget(warning_label,1, Qt::AlignLeft); + warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); warning_widget->hide(); - main_layout->addWidget(warning_widget); + frame_layout->addWidget(warning_widget); // binary view binary_view = new BinaryView(this); @@ -63,13 +76,28 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QObject::connect(binary_view, &BinaryView::cellsSelected, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::dbcMsgChanged); + QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { setMessage(messages[index]); }); + QObject::connect(tabbar, &QTabBar::tabCloseRequested, [=](int index) { + messages.removeAt(index); + tabbar->removeTab(index); + setMessage(messages.isEmpty() ? "" : messages[0]); + }); } void DetailWidget::setMessage(const QString &message_id) { - if (msg_id != message_id) { - msg_id = message_id; - dbcMsgChanged(); + if (message_id.isEmpty()) return; + + int index = messages.indexOf(message_id); + if (index == -1) { + messages.push_back(message_id); + tabbar->addTab(message_id); + index = tabbar->count() - 1; + auto msg = dbc()->msg(message_id); + tabbar->setTabToolTip(index, msg ? msg->name.c_str() : "untitled"); } + tabbar->setCurrentIndex(index); + msg_id = message_id; + dbcMsgChanged(); } void DetailWidget::dbcMsgChanged() { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 07c78caa4a..d935839dc4 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include "tools/cabana/binaryview.h" #include "tools/cabana/historylog.h" @@ -50,6 +51,8 @@ private: QWidget *warning_widget; QPushButton *edit_btn; QWidget *signals_container; + QTabBar *tabbar; + QStringList messages; HistoryLog *history_log; BinaryView *binary_view; ScrollArea *scroll; From 4bf86742e64bbfb826540fbd263c0e250349f49a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 02:22:09 +0800 Subject: [PATCH 341/685] Cabana: move settings to seperate files (#26173) --- tools/cabana/SConscript | 11 ++++-- tools/cabana/canmessages.cc | 24 ----------- tools/cabana/canmessages.h | 20 +--------- tools/cabana/mainwin.cc | 52 ------------------------ tools/cabana/mainwin.h | 12 ------ tools/cabana/settings.cc | 79 +++++++++++++++++++++++++++++++++++++ tools/cabana/settings.h | 35 ++++++++++++++++ 7 files changed, 124 insertions(+), 109 deletions(-) create mode 100644 tools/cabana/settings.cc create mode 100644 tools/cabana/settings.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d791466ce7..4e4e11dbd8 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,3 +1,4 @@ +import os Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'transformations', 'widgets', 'opendbc') @@ -12,6 +13,10 @@ else: qt_libs = ['qt_util', 'Qt5Charts'] + base_libs cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs -qt_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json') -qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', - 'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_env = qt_env.Clone() + +prev_moc_path = cabana_env['QT_MOCHPREFIX'] +cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' +cabana_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json') +cabana_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', + 'canmessages.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 2ef9dba600..3900ad93f7 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -7,7 +7,6 @@ Q_DECLARE_METATYPE(std::vector); -Settings settings; CANMessages *can = nullptr; CANMessages::CANMessages(QObject *parent) : QObject(parent) { @@ -158,26 +157,3 @@ void CANMessages::resetRange() { void CANMessages::settingChanged() { replay->setSegmentCacheLimit(settings.cached_segment_limit); } - -// Settings - -Settings::Settings() { - load(); -} - -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); - emit changed(); -} - -void Settings::load() { - QSettings s("settings", QSettings::IniFormat); - fps = s.value("fps", 10).toInt(); - can_msg_log_size = s.value("log_size", 100).toInt(); - cached_segment_limit = s.value("cached_segment", 3).toInt(); - chart_height = s.value("chart_height", 200).toInt(); -} diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index a468fb2956..84f4e06dfb 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -9,25 +9,9 @@ #include #include "opendbc/can/common_dbc.h" +#include "tools/cabana/settings.h" #include "tools/replay/replay.h" -class Settings : public QObject { - Q_OBJECT - -public: - Settings(); - void save(); - void load(); - - int fps = 10; - int can_msg_log_size = 100; - int cached_segment_limit = 3; - int chart_height = 200; - -signals: - void changed(); -}; - struct CanData { double ts; uint16_t bus_time; @@ -112,4 +96,4 @@ inline QColor hoverColor(const QColor &color) { // A global pointer referring to the unique CANMessages object extern CANMessages *can; -extern Settings settings; + diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 50fcbc455c..9ba69f8a90 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,9 +1,7 @@ #include "tools/cabana/mainwin.h" #include -#include #include -#include #include #include #include @@ -82,53 +80,3 @@ void MainWindow::setOption() { SettingsDlg dlg(this); dlg.exec(); } - -// SettingsDlg - -SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Settings")); - QVBoxLayout *main_layout = new QVBoxLayout(this); - QFormLayout *form_layout = new QFormLayout(); - - fps = new QSpinBox(this); - fps->setRange(10, 100); - fps->setSingleStep(10); - 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("Log size"), log_size); - - cached_segment = new QSpinBox(this); - cached_segment->setRange(3, 60); - cached_segment->setSingleStep(1); - cached_segment->setValue(settings.cached_segment_limit); - form_layout->addRow(tr("Cached segments limit"), cached_segment); - - chart_height = new QSpinBox(this); - chart_height->setRange(100, 500); - chart_height->setSingleStep(10); - chart_height->setValue(settings.chart_height); - form_layout->addRow(tr("Chart height"), chart_height); - - main_layout->addLayout(form_layout); - - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox); - - setFixedWidth(360); - connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save); - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); -} - -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.save(); - accept(); -} diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 594e608b59..792390d5c1 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -23,15 +23,3 @@ protected: QWidget *floating_window = nullptr; QVBoxLayout *r_layout; }; - -class SettingsDlg : public QDialog { - Q_OBJECT - -public: - SettingsDlg(QWidget *parent); - void save(); - QSpinBox *fps; - QSpinBox *log_size ; - QSpinBox *cached_segment; - QSpinBox *chart_height; -}; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc new file mode 100644 index 0000000000..0b36f25fbc --- /dev/null +++ b/tools/cabana/settings.cc @@ -0,0 +1,79 @@ +#include "tools/cabana/settings.h" + +#include +#include +#include + +// Settings +Settings settings; + +Settings::Settings() { + load(); +} + +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); + emit changed(); +} + +void Settings::load() { + QSettings s("settings", QSettings::IniFormat); + fps = s.value("fps", 10).toInt(); + can_msg_log_size = s.value("log_size", 100).toInt(); + cached_segment_limit = s.value("cached_segment", 3).toInt(); + chart_height = s.value("chart_height", 200).toInt(); +} + +// SettingsDlg + +SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Settings")); + QVBoxLayout *main_layout = new QVBoxLayout(this); + QFormLayout *form_layout = new QFormLayout(); + + fps = new QSpinBox(this); + fps->setRange(10, 100); + fps->setSingleStep(10); + 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("Log size"), log_size); + + cached_segment = new QSpinBox(this); + cached_segment->setRange(3, 60); + cached_segment->setSingleStep(1); + cached_segment->setValue(settings.cached_segment_limit); + form_layout->addRow(tr("Cached segments limit"), cached_segment); + + chart_height = new QSpinBox(this); + chart_height->setRange(100, 500); + chart_height->setSingleStep(10); + chart_height->setValue(settings.chart_height); + form_layout->addRow(tr("Chart height"), chart_height); + + main_layout->addLayout(form_layout); + + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox); + + setFixedWidth(360); + connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save); + connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} + +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.save(); + accept(); +} diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h new file mode 100644 index 0000000000..22542fc04c --- /dev/null +++ b/tools/cabana/settings.h @@ -0,0 +1,35 @@ +#pragma once + +#include +#include + +class Settings : public QObject { + Q_OBJECT + +public: + Settings(); + void save(); + void load(); + + int fps = 10; + int can_msg_log_size = 100; + int cached_segment_limit = 3; + int chart_height = 200; + +signals: + void changed(); +}; + +class SettingsDlg : public QDialog { + Q_OBJECT + +public: + SettingsDlg(QWidget *parent); + void save(); + QSpinBox *fps; + QSpinBox *log_size ; + QSpinBox *cached_segment; + QSpinBox *chart_height; +}; + +extern Settings settings; From 85d39ec34ef80ab292eae0ac18600037f7903e44 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 02:23:27 +0800 Subject: [PATCH 342/685] Cabana: dynamic sorting message list (#26150) --- tools/cabana/messageswidget.cc | 106 +++++++++++++++++++++++---------- tools/cabana/messageswidget.h | 16 ++++- 2 files changed, 89 insertions(+), 33 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index dfe665d750..c34d883b3f 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -6,7 +6,6 @@ #include #include #include -#include #include #include @@ -49,27 +48,23 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // message table table_widget = new QTableView(this); model = new MessageListModel(this); - QSortFilterProxyModel *proxy_model = new QSortFilterProxyModel(this); - proxy_model->setSourceModel(model); - proxy_model->setFilterCaseSensitivity(Qt::CaseInsensitive); - proxy_model->setDynamicSortFilter(false); - table_widget->setModel(proxy_model); + table_widget->setModel(model); table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); table_widget->setSelectionMode(QAbstractItemView::SingleSelection); table_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); table_widget->setSortingEnabled(true); + table_widget->sortByColumn(0, Qt::AscendingOrder); table_widget->setColumnWidth(0, 250); table_widget->setColumnWidth(1, 80); table_widget->setColumnWidth(2, 80); table_widget->horizontalHeader()->setStretchLastSection(true); table_widget->verticalHeader()->hide(); - table_widget->sortByColumn(0, Qt::AscendingOrder); main_layout->addWidget(table_widget); // signals/slots - QObject::connect(filter, &QLineEdit::textChanged, proxy_model, &QSortFilterProxyModel::setFilterFixedString); + QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString); QObject::connect(can, &CANMessages::eventsMerged, this, &MessagesWidget::loadDBCFromFingerprint); - QObject::connect(can, &CANMessages::updated, model, &MessageListModel::updateState); + QObject::connect(can, &CANMessages::updated, [this]() { model->updateState(); }); QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadDBCFromPaste); QObject::connect(save_btn, &QPushButton::clicked, [=]() { @@ -122,21 +117,15 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { - auto it = std::next(can->can_msgs.begin(), index.row()); - if (it != can->can_msgs.end() && !it.value().empty()) { - const QString &msg_id = it.key(); - switch (index.column()) { - case 0: { - auto msg = dbc()->msg(msg_id); - return msg ? msg->name.c_str() : "untitled"; - } - case 1: return msg_id; - case 2: return can->counters[msg_id]; - case 3: return toHex(it.value().front().dat); - } + const auto &m = msgs[index.row()]; + switch (index.column()) { + case 0: return m->name; + case 1: return m->id; + case 2: return can->counters[m->id]; + case 3: return toHex(can->lastMessage(m->id).dat); } } else if (role == Qt::UserRole) { - return std::next(can->can_msgs.begin(), index.row()).key(); + return msgs[index.row()]->id; } else if (role == Qt::FontRole) { if (index.column() == 3) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); @@ -145,20 +134,77 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { return {}; } -void MessageListModel::updateState() { - int prev_row_count = row_count; - row_count = can->can_msgs.size(); - int delta = row_count - prev_row_count; +bool MessageListModel::updateMessages(bool sort) { + if (msgs.size() == can->can_msgs.size() && filter_str.isEmpty() && !sort) + return false; + + // update message list + int i = 0; + bool search_id = filter_str.contains(':'); + for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { + const Msg *msg = dbc()->msg(it.key()); + QString msg_name = msg ? msg->name.c_str() : "untitled"; + if (!filter_str.isEmpty() && !(search_id ? it.key() : msg_name).contains(filter_str, Qt::CaseInsensitive)) + continue; + auto &m = i < msgs.size() ? msgs[i] : msgs.emplace_back(new Message); + m->id = it.key(); + m->name = msg_name; + ++i; + } + msgs.resize(i); + + if (sort_column == 0) { + std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + bool ret = l->name < r->name || (l->name == r->name && l->id < r->id); + return sort_order == Qt::AscendingOrder ? ret : !ret; + }); + } else if (sort_column == 1) { + std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + return sort_order == Qt::AscendingOrder ? l->id < r->id : l->id > r->id; + }); + } else if (sort_column == 2) { + std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + uint32_t lcount = can->counters[l->id], rcount = can->counters[r->id]; + bool ret = lcount < rcount || (lcount == rcount && l->id < r->id); + return sort_order == Qt::AscendingOrder ? ret : !ret; + }); + } + return true; +} + +void MessageListModel::updateState(bool sort) { + int prev_row_count = msgs.size(); + auto prev_idx = persistentIndexList(); + QString selected_msg_id = prev_idx.empty() ? "" : prev_idx[0].data(Qt::UserRole).toString(); + + bool msg_updated = updateMessages(sort); + int delta = msgs.size() - prev_row_count; if (delta > 0) { - beginInsertRows({}, prev_row_count, row_count - 1); + beginInsertRows({}, prev_row_count, msgs.size() - 1); endInsertRows(); } else if (delta < 0) { - beginRemoveRows({}, row_count, prev_row_count - 1); + beginRemoveRows({}, msgs.size(), prev_row_count - 1); endRemoveRows(); } - if (row_count > 0) { - emit dataChanged(index(0, 0), index(row_count - 1, 3), {Qt::DisplayRole}); + if (!msgs.empty()) { + if (msg_updated && !prev_idx.isEmpty()) { + // keep selection + auto it = std::find_if(msgs.begin(), msgs.end(), [&](auto &m) { return m->id == selected_msg_id; }); + if (it != msgs.end()) { + for (auto &idx : prev_idx) + changePersistentIndex(idx, index(std::distance(msgs.begin(), it), idx.column())); + } + } + emit dataChanged(index(0, 0), index(msgs.size() - 1, 3), {Qt::DisplayRole}); + } +} + +void MessageListModel::sort(int column, Qt::SortOrder order) { + if (column != columnCount() - 1) { + sort_column = column; + sort_order = order; + updateState(true); } } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index bef15c2cf7..7b6c8e53cf 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -25,11 +25,21 @@ public: QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 4; } QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; - int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } - void updateState(); + int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } + void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; + void updateState(bool sort = false); + void setFilterString(const QString &string) { filter_str = string; } private: - int row_count = 0; + bool updateMessages(bool sort); + + struct Message { + QString id, name; + }; + std::vector> msgs; + QString filter_str; + int sort_column = 0; + Qt::SortOrder sort_order = Qt::AscendingOrder; }; class MessagesWidget : public QWidget { From f957f3391d291c355a789782f00d85aeaa67fabb Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 20 Oct 2022 20:25:20 +0200 Subject: [PATCH 343/685] ui brightness: fix exposure scale factor (#26104) --- selfdrive/ui/ui.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 152c7fbfcd..1a6027bf7f 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -163,7 +163,8 @@ static void update_state(UIState *s) { scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); } if (sm.updated("wideRoadCameraState")) { - scene.light_sensor = 100.0f - sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(); + float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0321) ? 6.0f : 1.0f; + scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; } From d6a0f1c25a44ad5629f491bb0066999eb0a9d357 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 04:09:49 +0800 Subject: [PATCH 344/685] Cabana: drag to adjust signal size (#26172) * drag to adjust signal size * rename * override setSelection * use signal color as selection color while resing * helper funtion * hide tooltip if not in signal * cleanup * cabana: remove unused metatype (#26175) remove unused metatype * cabana: improve signal highlight on hover (#26161) * just change font color * merge master * cleanup --- tools/cabana/binaryview.cc | 100 ++++++++++++++++++++++++----------- tools/cabana/binaryview.h | 18 +++---- tools/cabana/detailwidget.cc | 23 ++++++-- tools/cabana/detailwidget.h | 3 +- 4 files changed, 101 insertions(+), 43 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index c0ebfa9f0a..eee3f90986 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -13,21 +13,23 @@ const int CELL_HEIGHT = 30; +static std::pair getSignalRange(const Signal *s) { + int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); + int to = from + s->size - 1; + return {from, to}; +} + BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { model = new BinaryViewModel(this); setModel(model); - setItemDelegate(new BinaryItemDelegate(this)); + delegate = new BinaryItemDelegate(this); + setItemDelegate(delegate); horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); horizontalHeader()->hide(); verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setMouseTracking(true); - // replace selection model - auto old_model = selectionModel(); - setSelectionModel(new BinarySelectionModel(model)); - delete old_model; - QObject::connect(model, &QAbstractItemModel::modelReset, [this]() { setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2); }); @@ -41,12 +43,42 @@ void BinaryView::highlight(const Signal *sig) { } } +void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) { + QModelIndex tl = indexAt({qMin(rect.left(), rect.right()), qMin(rect.top(), rect.bottom())}); + QModelIndex br = indexAt({qMax(rect.left(), rect.right()), qMax(rect.top(), rect.bottom())}); + if (!tl.isValid() || !br.isValid()) + return; + + if (tl < anchor_index) { + br = anchor_index; + } else if (anchor_index < br) { + tl = anchor_index; + } + QItemSelection selection; + for (int row = tl.row(); row <= br.row(); ++row) { + int left_col = (row == tl.row()) ? tl.column() : 0; + int right_col = (row == br.row()) ? br.column() : 7; + selection.merge({model->index(row, left_col), model->index(row, right_col)}, flags); + } + selectionModel()->select(selection, flags); +} + +void BinaryView::mousePressEvent(QMouseEvent *event) { + delegate->setSelectionColor(style()->standardPalette().color(QPalette::Active, QPalette::Highlight)); + anchor_index = indexAt(event->pos()); + if (getResizingSignal() != nullptr) { + auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); + delegate->setSelectionColor(item->bg_color); + } + QTableView::mousePressEvent(event); +} + void BinaryView::mouseMoveEvent(QMouseEvent *event) { if (auto index = indexAt(event->pos()); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); highlight(item->sig); - if (item->sig) - QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect()); + item->sig ? QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect()) + : QToolTip::hideText(); } QTableView::mouseMoveEvent(event); } @@ -55,10 +87,21 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) { QTableView::mouseReleaseEvent(event); if (auto indexes = selectedIndexes(); !indexes.isEmpty()) { - int start_bit = indexes.first().row() * 8 + indexes.first().column(); - int size = indexes.back().row() * 8 + indexes.back().column() - start_bit + 1; - emit cellsSelected(start_bit, size); + int from = indexes.first().row() * 8 + indexes.first().column(); + int to = indexes.back().row() * 8 + indexes.back().column(); + if (auto sig = getResizingSignal()) { + auto [sig_from, sig_to] = getSignalRange(sig); + if (from >= sig_from && to <= sig_to) { // reduce size + emit(from == sig_from ? resizeSignal(sig, to, sig_to) : resizeSignal(sig, sig_from, from)); + } else { // increase size + emit resizeSignal(sig, std::min(from, sig_from), std::max(to, sig_to)); + } + } else { + emit addSignal(from, to); + } + clearSelection(); } + anchor_index = QModelIndex(); } void BinaryView::leaveEvent(QEvent *event) { @@ -78,6 +121,19 @@ void BinaryView::updateState() { model->updateState(); } +const Signal *BinaryView::getResizingSignal() const { + if (anchor_index.isValid()) { + auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); + if (item && item->sig) { + int archor_pos = anchor_index.row() * 8 + anchor_index.column(); + auto [sig_from, sig_to] = getSignalRange(item->sig); + if (archor_pos == sig_from || archor_pos == sig_to) + return item->sig; + } + } + return nullptr; +} + // BinaryViewModel void BinaryViewModel::setMessage(const QString &message_id) { @@ -93,8 +149,7 @@ void BinaryViewModel::setMessage(const QString &message_id) { items.resize(row_count * column_count); for (int i = 0; i < dbc_msg->sigs.size(); ++i) { const auto &sig = dbc_msg->sigs[i]; - const int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit); - const int end = start + sig.size - 1; + auto [start, end] = getSignalRange(&sig); for (int j = start; j <= end; ++j) { int idx = column_count * (j / 8) + j % 8; if (idx >= items.size()) { @@ -165,21 +220,6 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i return {}; } -// BinarySelectionModel - -void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) { - QItemSelection new_selection = selection; - if (auto indexes = selection.indexes(); !indexes.isEmpty()) { - auto [begin_idx, end_idx] = (QModelIndex[]){indexes.first(), indexes.back()}; - for (int row = begin_idx.row(); row <= end_idx.row(); ++row) { - int left_col = (row == begin_idx.row()) ? begin_idx.column() : 0; - int right_col = (row == end_idx.row()) ? end_idx.column() : 7; - new_selection.merge({model()->index(row, left_col), model()->index(row, right_col)}, command); - } - } - QItemSelectionModel::select(new_selection, command); -} - // BinaryItemDelegate BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { @@ -187,7 +227,7 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa small_font.setPointSize(6); hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); hex_font.setBold(true); - highlight_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight); + selection_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight); } QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -204,7 +244,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op // background QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color; if (option.state & QStyle::State_Selected) { - bg_color = highlight_color; + bg_color = selection_color; } painter->fillRect(option.rect, bg_color); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 48eb5eff8a..8c1a582014 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -12,10 +12,11 @@ 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 highlight_color; + QColor selection_color; }; class BinaryViewModel : public QAbstractTableModel { @@ -48,13 +49,6 @@ private: std::vector items; }; -// the default QItemSelectionModel does not support our selection mode. -class BinarySelectionModel : public QItemSelectionModel { - public: - BinarySelectionModel(QAbstractItemModel *model = nullptr) : QItemSelectionModel(model) {} - void select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) override; -}; - class BinaryView : public QTableView { Q_OBJECT @@ -66,15 +60,21 @@ public: const Signal *hoveredSignal() const { return hovered_sig; } signals: - void cellsSelected(int start_bit, int size); void signalHovered(const Signal *sig); + void addSignal(int from, int size); + void resizeSignal(const Signal *sig, int from, int size); private: + void setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) override; + void mousePressEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void leaveEvent(QEvent *event) override; + const Signal *getResizingSignal() const; QString msg_id; + QModelIndex anchor_index; BinaryViewModel *model; + BinaryItemDelegate *delegate; const Signal *hovered_sig = nullptr; }; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index fdedb066fb..579bb1af75 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -73,7 +73,8 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(history_log); QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg); - QObject::connect(binary_view, &BinaryView::cellsSelected, this, &DetailWidget::addSignal); + QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); + QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::dbcMsgChanged); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { setMessage(messages[index]); }); @@ -159,9 +160,9 @@ void DetailWidget::editMsg() { } } -void DetailWidget::addSignal(int start_bit, int size) { +void DetailWidget::addSignal(int start_bit, int to) { if (dbc()->msg(msg_id)) { - AddSignalDialog dlg(msg_id, start_bit, size, this); + AddSignalDialog dlg(msg_id, start_bit, to - start_bit + 1, this); if (dlg.exec()) { dbc()->addSignal(msg_id, dlg.form->getSignal()); dbcMsgChanged(); @@ -169,6 +170,22 @@ void DetailWidget::addSignal(int start_bit, int size) { } } +void DetailWidget::resizeSignal(const Signal *sig, int from, int to) { + assert(sig != nullptr); + Signal s = *sig; + s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from);; + s.size = to - from + 1; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } + dbc()->updateSignal(msg_id, s.name.c_str(), s); + dbcMsgChanged(); +} + void DetailWidget::saveSignal() { SignalEdit *sig_form = qobject_cast(QObject::sender()); auto s = sig_form->form->getSignal(); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index d935839dc4..02bbb2a9e8 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -39,7 +39,8 @@ signals: void removeChart(const Signal *sig); private: - void addSignal(int start_bit, int size); + void addSignal(int start_bit, int to); + void resizeSignal(const Signal *sig, int from, int to); void saveSignal(); void removeSignal(); void editMsg(); From 68530f18b4cb2a1f20dfb19319d91216c23e00bb Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 20 Oct 2022 13:23:59 -0700 Subject: [PATCH 345/685] ci: don't trigger on pull request sync event (#25900) --- .github/workflows/selfdrive_tests.yaml | 1 + .github/workflows/tools_tests.yaml | 1 + 2 files changed, 2 insertions(+) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index d84779103b..20bf8c3d8e 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -5,6 +5,7 @@ on: branches-ignore: - 'testing-closet*' pull_request: + types: [opened, reopened] concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 549a2f4195..71bad021d0 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -5,6 +5,7 @@ on: branches-ignore: - 'testing-closet*' pull_request: + types: [opened, reopened] concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} From 02a0a1c201e2c203e79669fd927b38768ef645b7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 04:37:27 +0800 Subject: [PATCH 346/685] Cabana: add status bar to main window (#26159) --- tools/cabana/detailwidget.cc | 1 + tools/cabana/mainwin.cc | 43 ++++++++++++++++++++++++++++++++-- tools/cabana/mainwin.h | 10 ++++++++ tools/cabana/messageswidget.cc | 1 + 4 files changed, 53 insertions(+), 2 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 579bb1af75..c7bfdee164 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -12,6 +12,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0); // tabbar diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 9ba69f8a90..2478155fcf 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -6,14 +6,18 @@ #include #include +#include "tools/replay/util.h" + MainWindow::MainWindow() : QWidget() { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(11, 11, 11, 5); + main_layout->setSpacing(0); QHBoxLayout *h_layout = new QHBoxLayout(); + h_layout->setContentsMargins(0, 0, 0, 0); main_layout->addLayout(h_layout); QSplitter *splitter = new QSplitter(Qt::Horizontal, this); - messages_widget = new MessagesWidget(this); splitter->addWidget(messages_widget); @@ -27,7 +31,7 @@ MainWindow::MainWindow() : QWidget() { QWidget *right_container = new QWidget(this); right_container->setFixedWidth(640); r_layout = new QVBoxLayout(right_container); - + r_layout->setContentsMargins(11, 0, 0, 0); QHBoxLayout *right_hlayout = new QHBoxLayout(); QLabel *fingerprint_label = new QLabel(this); right_hlayout->addWidget(fingerprint_label); @@ -47,6 +51,30 @@ MainWindow::MainWindow() : QWidget() { h_layout->addWidget(right_container); + // status bar + status_bar = new QStatusBar(this); + status_bar->setContentsMargins(0, 0, 0, 0); + status_bar->setSizeGripEnabled(true); + progress_bar = new QProgressBar(); + progress_bar->setRange(0, 100); + progress_bar->setTextVisible(true); + progress_bar->setFixedSize({230, 16}); + progress_bar->setVisible(false); + status_bar->addPermanentWidget(progress_bar); + main_layout->addWidget(status_bar); + + qRegisterMetaType("uint64_t"); + qRegisterMetaType("ReplyMsgType"); + installMessageHandler([this](ReplyMsgType type, const std::string msg) { + // use queued connection to recv the log messages from replay. + emit logMessageFromReplay(QString::fromStdString(msg), 3000); + }); + installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) { + emit updateProgressBar(cur, total, success); + }); + + QObject::connect(this, &MainWindow::logMessageFromReplay, status_bar, &QStatusBar::showMessage); + QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); @@ -54,6 +82,17 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); } +void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) { + if (success && cur < total) { + progress_bar->setValue((cur / (double)total) * 100); + progress_bar->setFormat(tr("Downloading %p% (%1)").arg(formattedDataSize(total).c_str())); + progress_bar->show(); + } else { + progress_bar->hide(); + } +} + + void MainWindow::dockCharts(bool dock) { if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 792390d5c1..56d2da145b 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include "tools/cabana/chartswidget.h" #include "tools/cabana/detailwidget.h" #include "tools/cabana/messageswidget.h" @@ -12,8 +15,13 @@ public: MainWindow(); void dockCharts(bool dock); +signals: + void logMessageFromReplay(const QString &msg, int timeout); + void updateProgressBar(uint64_t cur, uint64_t total, bool success); + protected: void closeEvent(QCloseEvent *event) override; + void updateDownloadProgress(uint64_t cur, uint64_t total, bool success); void setOption(); VideoWidget *video_widget; @@ -22,4 +30,6 @@ protected: ChartsWidget *charts_widget; QWidget *floating_window = nullptr; QVBoxLayout *r_layout; + QProgressBar *progress_bar; + QStatusBar *status_bar; }; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index c34d883b3f..46776a4f5d 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -13,6 +13,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); // DBC file selector QHBoxLayout *dbc_file_layout = new QHBoxLayout(); From 4f84b2998579a630e1577e60dd1d30d23261cd28 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 20 Oct 2022 14:34:36 -0700 Subject: [PATCH 347/685] Use same minimum speed for lateral planning and controls (#26177) * Use same speed for lag adjustmenet * One is a nicer number * Update ref --- selfdrive/controls/lib/drive_helpers.py | 3 ++- selfdrive/controls/lib/lateral_planner.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index f81cd0c40c..e74be7199e 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -13,6 +13,7 @@ V_CRUISE_MIN = 8 # kph V_CRUISE_ENABLE_MIN = 40 # kph V_CRUISE_INITIAL = 255 # kph +MIN_SPEED = 1.0 LAT_MPC_N = 16 LON_MPC_N = 32 CONTROL_N = 17 @@ -102,7 +103,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): psis = [0.0]*CONTROL_N curvatures = [0.0]*CONTROL_N curvature_rates = [0.0]*CONTROL_N - v_ego = max(v_ego, 0.1) + v_ego = max(MIN_SPEED, v_ego) # TODO this needs more thought, use .2s extra for now to estimate other delays delay = CP.steerActuatorDelay + .2 diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 29137defd3..932ad49535 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -4,7 +4,7 @@ from common.numpy_fast import interp from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N -from selfdrive.controls.lib.drive_helpers import CONTROL_N +from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED from selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log @@ -22,7 +22,6 @@ LATERAL_JERK_COST = 0.05 # TODO this cost should be lowered when low # speed lateral control is stable on all cars STEERING_RATE_COST = 800.0 -MIN_SPEED = 1.5 class LateralPlanner: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 84658effee..230e81d949 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1f41cd8bbf2431ae89c489a81698120d14a44145 \ No newline at end of file +f5a352666728344ca5065bb44c47c1f5650b4243 From 6b36f73870bebf467971b5e6020e35ddf1a456c9 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Thu, 20 Oct 2022 15:13:58 -0700 Subject: [PATCH 348/685] desire: give the pulse at t=0 (#26180) input desire at t0 --- selfdrive/modeld/models/driving.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 3316e6d114..8b70589036 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -62,9 +62,9 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, // Model decides when action is completed // so desire input is just a pulse triggered on rising edge if (desire_in[i] - s->prev_desire[i] > .99) { - s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = desire_in[i]; + s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = desire_in[i]; } else { - s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = 0.0; + s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = 0.0; } s->prev_desire[i] = desire_in[i]; } From 63035e535bd1c4d269e240a789a2d06a75c45703 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Thu, 20 Oct 2022 21:50:42 -0500 Subject: [PATCH 349/685] Mazda: add missing CX5 2021 FW (#25477) dongle-id: 82c6d952da5e2122 Signed-off-by: Jafar Al-Gharaibeh Signed-off-by: Jafar Al-Gharaibeh Co-authored-by: Shane Smiskol --- selfdrive/car/mazda/values.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 9befad4d0b..921dc7a634 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -98,13 +98,15 @@ FW_VERSIONS = { }, CAR.CX5: { (Ecu.eps, 0x730, None): [ + b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -146,6 +148,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', From c35e2b8e305b2648ce392ffdefd5d90b39ce353e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 20 Oct 2022 19:55:04 -0700 Subject: [PATCH 350/685] Hyundai: common CAN-FD brake pressed signal (#26170) * Hyundai: common CAN-FD brake pressed signal * new name * bump panda * bump opendbc to master * bump opendbc * bump panda * bump panda Co-authored-by: Shane Smiskol --- opendbc | 2 +- panda | 2 +- selfdrive/car/hyundai/carstate.py | 8 ++++---- selfdrive/debug/can_print_changes.py | 8 ++++++-- 4 files changed, 12 insertions(+), 8 deletions(-) diff --git a/opendbc b/opendbc index 8f245e6ef5..7bd94e3ff4 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 8f245e6ef5e25814d8e6e1f096221f6dfeefe86b +Subproject commit 7bd94e3ff4a2890eb69118f0dfadb64f9d32d618 diff --git a/panda b/panda index 54f9390ff5..fcb1a5a8e2 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 54f9390ff51b4fb0c2b3a81b9cde8727acdd1977 +Subproject commit fcb1a5a8e233a8b520c42c58cf8bfaa82753ac5a diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 60d434a603..e27432e23b 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -159,7 +159,7 @@ class CarState(CarStateBase): elif self.CP.carFingerprint in HYBRID_CAR: ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. ret.gasPressed = ret.gas > 1e-5 - ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1 + ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1 ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0 @@ -415,7 +415,6 @@ class CarState(CarStateBase): ("WHEEL_SPEED_4", "WHEEL_SPEEDS"), ("GEAR", "GEAR_SHIFTER"), - ("BRAKE_PRESSED", "BRAKE"), ("STEERING_RATE", "STEERING_SENSORS"), ("STEERING_ANGLE", "STEERING_SENSORS"), @@ -423,7 +422,8 @@ class CarState(CarStateBase): ("STEERING_OUT_TORQUE", "MDPS"), ("LKA_FAULT", "MDPS"), - ("CRUISE_ACTIVE", "SCC1"), + ("DriverBraking", "TCS"), + ("COUNTER", cruise_btn_msg), ("CRUISE_BUTTONS", cruise_btn_msg), ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg), @@ -443,7 +443,7 @@ class CarState(CarStateBase): ("BRAKE", 100), ("STEERING_SENSORS", 100), ("MDPS", 100), - ("SCC1", 50), + ("TCS", 50), (cruise_btn_msg, 50), ("CLUSTER_INFO", 4), ("BLINKERS", 4), diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index b883fbc23f..ff98c20e60 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -54,6 +54,7 @@ def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False): update(new_msgs, bus, dat, low_to_high, high_to_low) else: # Live mode + print(f"Waiting for messages on bus {bus}") try: while 1: can_recv = messaging.drain_sock(logcan) @@ -89,14 +90,17 @@ if __name__ == "__main__": formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0) parser.add_argument("--table", action="store_true", help="Print a cabana-like table") - parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with") + parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with. Use empty quotes to compare against all zeros.") parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init") args = parser.parse_args() init_lr, new_lr = None, None if args.init: - init_lr = logreader_from_route_or_segment(args.init) + if args.init == '': + init_lr = [] + else: + init_lr = logreader_from_route_or_segment(args.init) if args.comp: new_lr = logreader_from_route_or_segment(args.comp) From d828b69e140f5dda2450d40bafe4c018b01a2577 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 20 Oct 2022 20:10:09 -0700 Subject: [PATCH 351/685] Hyundai: add corner radar FW query (#26143) * Hyundai: add corner radar FW query * Add to both, and fix when we look at data * add TODO * comments Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index d5b8427f66..c11bf67d15 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -292,6 +292,8 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4 FW_QUERY_CONFIG = FwQueryConfig( requests=[ + # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD + # CAN queries (OBD-II port) Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], @@ -302,22 +304,23 @@ FW_QUERY_CONFIG = FwQueryConfig( [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), - # CAN-FD queries + # CAN-FD queries (camera) Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar], + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar], bus=4, ), Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.adas], + whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar], bus=5, ), ], extra_ecus=[ - (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms + (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms + (Ecu.cornerRadar, 0x7b7, None), ], ) From 188c2c1c5e1c06d68ae957ab16bcb77e29052f4b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 20 Oct 2022 20:58:58 -0700 Subject: [PATCH 352/685] model replay speedup (#26181) * model replay speedup * less frames too Co-authored-by: Comma Device --- selfdrive/test/process_replay/model_replay.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index ecfacbf5d2..a63ec6489b 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" SEGMENT = 0 -MAX_FRAMES = 100 if PC else 1300 +MAX_FRAMES = 100 if PC else 600 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) @@ -149,9 +149,9 @@ if __name__ == "__main__": # load logs lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT))) frs = { - 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera")), - 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera")), - 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera")) + 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera"), readahead=True), + 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera"), readahead=True), + 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True) } # run replay From 0ac12b82c770504199f0f9ecad8ab9c6a9b3a470 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Fri, 21 Oct 2022 00:24:11 -0700 Subject: [PATCH 353/685] d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700 --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 59b8883d2a..21602ea70a 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 sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d -size 56972617 +oid sha256:9c119aa811a929b3a442dbe8e462a9d88e8bfb9f5809a4e737687fb7380d7e05 +size 45922882 From 3a50d5fd852b6d8938fd7974c6966a649cba7ca5 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Fri, 21 Oct 2022 00:32:34 -0700 Subject: [PATCH 354/685] Revert "d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700" This reverts commit 0ac12b82c770504199f0f9ecad8ab9c6a9b3a470. --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 21602ea70a..59b8883d2a 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9c119aa811a929b3a442dbe8e462a9d88e8bfb9f5809a4e737687fb7380d7e05 -size 45922882 +oid sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d +size 56972617 From 3a70253567cc908204b73cf5df53369b19506b7b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Oct 2022 01:14:15 -0700 Subject: [PATCH 355/685] GM: inactive gas/regen safety (#26184) * Add INACTIVE_REGEN * bump * Update selfdrive/car/gm/carcontroller.py --- panda | 2 +- selfdrive/car/gm/carcontroller.py | 4 ++-- selfdrive/car/gm/values.py | 1 + 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/panda b/panda index fcb1a5a8e2..d51dd496cb 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit fcb1a5a8e233a8b520c42c58cf8bfaa82753ac5a +Subproject commit d51dd496cbdc8665928af40247582bc62dba1f2a diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index dbad355c46..f28a0f7b59 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -67,8 +67,8 @@ class CarController: # Gas/regen, brakes, and UI commands - all at 25Hz if self.frame % 4 == 0: if not CC.longActive: - # Stock ECU sends max regen when not enabled - self.apply_gas = self.params.MAX_ACC_REGEN + # ASCM sends max regen when not enabled + self.apply_gas = self.params.INACTIVE_REGEN self.apply_brake = 0 else: if self.CP.carFingerprint in EV_CAR: diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 999dabfee3..f8f9e7f043 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -30,6 +30,7 @@ class CarControllerParams: ZERO_GAS = 2048 # Coasting MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen + INACTIVE_REGEN = 1404 # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we # perform the closed loop control, and might need some From d25ab3e3663f1e8a7b08348692d6555fac84e73b Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 21 Oct 2022 01:29:58 -0700 Subject: [PATCH 356/685] Wide transform model (#26165) * d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700 * Change model outs * Add cereal * Publish transform * d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700 * Bump cereal to master * Bump cereal to master * Update model ref --- cereal | 2 +- selfdrive/modeld/models/driving.cc | 5 +++ selfdrive/modeld/models/driving.h | 41 ++++--------------- selfdrive/modeld/models/supercombo.onnx | 4 +- .../process_replay/model_replay_ref_commit | 2 +- 5 files changed, 17 insertions(+), 37 deletions(-) diff --git a/cereal b/cereal index 1e3dd70a39..38133307b2 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 1e3dd70a391bc1bbe437d3eea8be30947f929a75 +Subproject commit 38133307b2e6036e76684b39878e79212e545e06 diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 8b70589036..cc4a83de62 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -363,14 +363,19 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe MessageBuilder msg; const auto &v_mean = net_outputs.pose.velocity_mean; const auto &r_mean = net_outputs.pose.rotation_mean; + const auto &t_mean = net_outputs.wide_from_device_euler.mean; const auto &v_std = net_outputs.pose.velocity_std; const auto &r_std = net_outputs.pose.rotation_std; + const auto &t_std = net_outputs.wide_from_device_euler.std; auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); + posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z}); posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); + posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)}); + posenetd.setTimestampEof(timestamp_eof); posenetd.setFrameId(vipc_frame_id); diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 8bb84d0245..64218467df 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -28,7 +28,6 @@ constexpr int BLINKER_LEN = 6; constexpr int META_STRIDE = 7; constexpr int PLAN_MHP_N = 5; -constexpr int STOP_LINE_MHP_N = 3; constexpr int LEAD_MHP_N = 2; constexpr int LEAD_TRAJ_LEN = 6; @@ -151,36 +150,6 @@ struct ModelOutputLeads { }; static_assert(sizeof(ModelOutputLeads) == (sizeof(ModelOutputLeadPrediction)*LEAD_MHP_N) + (sizeof(float)*LEAD_MHP_SELECTION)); -struct ModelOutputStopLineElement { - ModelOutputXYZ position; - ModelOutputXYZ rotation; - float speed; - float time; -}; -static_assert(sizeof(ModelOutputStopLineElement) == (sizeof(ModelOutputXYZ)*2 + sizeof(float)*2)); - -struct ModelOutputStopLinePrediction { - ModelOutputStopLineElement mean; - ModelOutputStopLineElement std; - float prob; -}; -static_assert(sizeof(ModelOutputStopLinePrediction) == (sizeof(ModelOutputStopLineElement)*2 + sizeof(float))); - -struct ModelOutputStopLines { - std::array prediction; - float prob; - - constexpr const ModelOutputStopLinePrediction &get_best_prediction(int t_idx) const { - int max_idx = 0; - for (int i = 1; i < prediction.size(); i++) { - if (prediction[i].prob > prediction[max_idx].prob) { - max_idx = i; - } - } - return prediction[max_idx]; - } -}; -static_assert(sizeof(ModelOutputStopLines) == (sizeof(ModelOutputStopLinePrediction)*STOP_LINE_MHP_N) + sizeof(float)); struct ModelOutputPose { ModelOutputXYZ velocity_mean; @@ -190,6 +159,12 @@ struct ModelOutputPose { }; static_assert(sizeof(ModelOutputPose) == sizeof(ModelOutputXYZ)*4); +struct ModelOutputWideFromDeviceEuler { + ModelOutputXYZ mean; + ModelOutputXYZ std; +}; +static_assert(sizeof(ModelOutputWideFromDeviceEuler) == sizeof(ModelOutputXYZ)*2); + struct ModelOutputDisengageProb { float gas_disengage; float brake_disengage; @@ -245,9 +220,9 @@ struct ModelOutput { const ModelOutputLaneLines lane_lines; const ModelOutputRoadEdges road_edges; const ModelOutputLeads leads; - const ModelOutputStopLines stop_lines; const ModelOutputMeta meta; const ModelOutputPose pose; + const ModelOutputWideFromDeviceEuler wide_from_device_euler; }; constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); @@ -257,7 +232,7 @@ constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); #else constexpr int TEMPORAL_SIZE = 0; #endif -constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN; +constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + 2; // TODO: convert remaining arrays to std::array and update model runners struct ModelState { diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 59b8883d2a..21602ea70a 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 sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d -size 56972617 +oid sha256:9c119aa811a929b3a442dbe8e462a9d88e8bfb9f5809a4e737687fb7380d7e05 +size 45922882 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 5bb045ec29..b5fd11fee8 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -865885fc49b2766326568e5cc7ec06be8a3f6fad +46cb9c522e942d8b25deac90ffdee89efff60ce9 From 931cecf41a5546c0cfd96138f954fa20b8e75d1d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 23:00:49 +0800 Subject: [PATCH 357/685] Canaba: remove unused metatype in canmessage (#26190) remove metatype --- tools/cabana/canmessages.cc | 2 -- tools/cabana/canmessages.h | 1 - 2 files changed, 3 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 3900ad93f7..212a0d9020 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -5,8 +5,6 @@ #include "tools/cabana/dbcmanager.h" -Q_DECLARE_METATYPE(std::vector); - CANMessages *can = nullptr; CANMessages::CANMessages(QObject *parent) : QObject(parent) { diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 84f4e06dfb..7a641a0e32 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -96,4 +96,3 @@ inline QColor hoverColor(const QColor &color) { // A global pointer referring to the unique CANMessages object extern CANMessages *can; - From d0c0972ba44e72f4875ed4f3c6fc3b25fd862b99 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 23:01:26 +0800 Subject: [PATCH 358/685] Cabana: show frequency column in message table (#26189) * show frequency column in message table * add comments --- tools/cabana/canmessages.cc | 12 ++++++++++++ tools/cabana/canmessages.h | 11 ++++++++--- tools/cabana/messageswidget.cc | 22 +++++++++++++++++----- tools/cabana/messageswidget.h | 2 +- 4 files changed, 38 insertions(+), 9 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 212a0d9020..4cc91031ad 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -97,6 +97,12 @@ bool CANMessages::eventFilter(const Event *event) { } current_sec = (event->mono_time - replay->routeStartTime()) / (double)1e9; + if (counters_begin_sec > current_sec) { + // clear counters + counters.clear(); + counters_begin_sec = current_sec; + } + 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); @@ -108,6 +114,12 @@ bool CANMessages::eventFilter(const Event *event) { data.ts = current_sec; data.bus_time = c.getBusTime(); data.dat.append((char *)c.getDat().begin(), c.getDat().size()); + + auto &count = counters[id]; + data.count = ++count; + if (double delta = (current_sec - counters_begin_sec); delta > 0) { + data.freq = count / delta; + } } if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / settings.fps) { diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 7a641a0e32..d1bb1b73b6 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -13,8 +13,10 @@ #include "tools/replay/replay.h" struct CanData { - double ts; - uint16_t bus_time; + double ts = 0.; + uint32_t count = 0; + uint32_t freq = 0; + uint16_t bus_time = 0; QByteArray dat; }; @@ -57,7 +59,6 @@ signals: public: QMap> can_msgs; std::unique_ptr>> received_msgs = nullptr; - QHash counters; protected: void process(QHash> *); @@ -66,6 +67,7 @@ protected: std::atomic current_sec = 0.; std::atomic seeking = false; + double begin_sec = 0; double end_sec = 0; double event_begin_sec = 0; @@ -73,6 +75,9 @@ protected: bool is_zoomed = false; QString routeName; Replay *replay = nullptr; + + double counters_begin_sec = std::numeric_limits::max(); + QHash counters; }; inline QString toHex(const QByteArray &dat) { diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 46776a4f5d..c289f54fc4 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -112,23 +112,25 @@ void MessagesWidget::loadDBCFromFingerprint() { QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Horizontal && role == Qt::DisplayRole) - return (QString[]){"Name", "ID", "Count", "Bytes"}[section]; + return (QString[]){"Name", "ID", "Freq", "Count", "Bytes"}[section]; return {}; } QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { const auto &m = msgs[index.row()]; + auto &can_data = can->lastMessage(m->id); switch (index.column()) { case 0: return m->name; case 1: return m->id; - case 2: return can->counters[m->id]; - case 3: return toHex(can->lastMessage(m->id).dat); + case 2: return can_data.freq; + case 3: return can_data.count; + case 4: return toHex(can_data.dat); } } else if (role == Qt::UserRole) { return msgs[index.row()]->id; } else if (role == Qt::FontRole) { - if (index.column() == 3) { + if (index.column() == columnCount() - 1) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); } } @@ -164,8 +166,18 @@ bool MessageListModel::updateMessages(bool sort) { return sort_order == Qt::AscendingOrder ? l->id < r->id : l->id > r->id; }); } else if (sort_column == 2) { + // sort by frequency std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - uint32_t lcount = can->counters[l->id], rcount = can->counters[r->id]; + uint32_t lfreq = can->lastMessage(l->id).freq; + uint32_t rfreq = can->lastMessage(r->id).freq; + bool ret = lfreq < rfreq || (lfreq == rfreq && l->id < r->id); + return sort_order == Qt::AscendingOrder ? ret : !ret; + }); + } else if (sort_column == 3) { + // sort by count + std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + uint32_t lcount = can->lastMessage(l->id).count; + uint32_t rcount = can->lastMessage(r->id).count; bool ret = lcount < rcount || (lcount == rcount && l->id < r->id); return sort_order == Qt::AscendingOrder ? ret : !ret; }); diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 7b6c8e53cf..fcd4939dac 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -23,7 +23,7 @@ Q_OBJECT public: MessageListModel(QObject *parent) : QAbstractTableModel(parent) {} QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 4; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 5; } QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; From ae1d15094169b5cad2921e5320bc53ce3bcb6b96 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 23:01:55 +0800 Subject: [PATCH 359/685] Cabana: redirect qt logs to status bar (#26187) Redirect qt logs to status bar --- tools/cabana/mainwin.cc | 8 ++++++++ tools/cabana/mainwin.h | 1 + 2 files changed, 9 insertions(+) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 2478155fcf..60a1f7a3a3 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -8,7 +8,15 @@ #include "tools/replay/util.h" +static MainWindow *main_win = nullptr; +void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { + main_win->showStatusMessage(msg); +} + MainWindow::MainWindow() : QWidget() { + main_win = this; + qInstallMessageHandler(qLogMessageHandler); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(11, 11, 11, 5); main_layout->setSpacing(0); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 56d2da145b..63f704dcc8 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -14,6 +14,7 @@ class MainWindow : public QWidget { public: MainWindow(); void dockCharts(bool dock); + void showStatusMessage(const QString &msg, int timeout = 0) { status_bar->showMessage(msg, timeout); } signals: void logMessageFromReplay(const QString &msg, int timeout); From 8697e928fc23dc256c746c1561095e36d86cb964 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 23:31:28 +0800 Subject: [PATCH 360/685] Cabana: Fix unable to display charts for same signals from different buses. (#26191) keep charts in list instead of hash --- tools/cabana/chartswidget.cc | 48 ++++++++++++++++++++++-------------- tools/cabana/chartswidget.h | 8 +++--- 2 files changed, 34 insertions(+), 22 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 811eae68cb..f0bef36f4a 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -55,11 +55,13 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(charts_scroll); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); - QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeChart); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { removeAll(nullptr); }); + QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeAll); QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const Signal *sig) { - if (auto it = charts.find(sig); it != charts.end()) { - it.value()->chart_view->updateSeries(); + for (auto chart : charts) { + if (chart->signal == sig) { + chart->chart_view->updateSeries(); + } } }); QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &id) { @@ -71,7 +73,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &CANMessages::rangeChanged, [this]() { updateTitleBar(); }); QObject::connect(reset_zoom_btn, &QPushButton::clicked, can, &CANMessages::resetRange); - QObject::connect(remove_all_btn, &QPushButton::clicked, this, &ChartsWidget::removeAll); + QObject::connect(remove_all_btn, &QPushButton::clicked, [this]() { removeAll(); }); QObject::connect(dock_btn, &QPushButton::clicked, [this]() { emit dock(!docking); docking = !docking; @@ -102,28 +104,38 @@ void ChartsWidget::updateTitleBar() { } void ChartsWidget::addChart(const QString &id, const Signal *sig) { - if (!charts.contains(sig)) { + auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); + if (it == charts.end()) { auto chart = new ChartWidget(id, sig, this); - QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(sig); }); + QObject::connect(chart, &ChartWidget::remove, this, &ChartsWidget::removeChart); charts_layout->insertWidget(0, chart); - charts.insert(sig, chart); + charts.push_back(chart); } updateTitleBar(); } -void ChartsWidget::removeChart(const Signal *sig) { - auto it = charts.find(sig); - if (it != charts.end()) { - it.value()->deleteLater(); - charts.remove(sig); +void ChartsWidget::removeChart(const QString &msg_id, const Signal *sig) { + QMutableListIterator it(charts); + while (it.hasNext()) { + auto c = it.next(); + if (c->id == msg_id && c->signal == sig) { + c->deleteLater(); + it.remove(); + break; + } } updateTitleBar(); } -void ChartsWidget::removeAll() { - for (auto chart : charts) - chart->deleteLater(); - charts.clear(); +void ChartsWidget::removeAll(const Signal *sig) { + QMutableListIterator it(charts); + while (it.hasNext()) { + auto c = it.next(); + if (sig == nullptr || c->signal == sig) { + c->deleteLater(); + it.remove(); + } + } updateTitleBar(); } @@ -153,7 +165,7 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) QPushButton *remove_btn = new QPushButton("✖", this); remove_btn->setFixedSize(30, 30); remove_btn->setToolTip(tr("Remove chart")); - QObject::connect(remove_btn, &QPushButton::clicked, this, &ChartWidget::remove); + QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); header_layout->addWidget(remove_btn); main_layout->addWidget(header); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index fe2e14db9f..5adbdfcd04 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -50,7 +50,7 @@ public: void setHeight(int height); signals: - void remove(); + void remove(const QString &msg_id, const Signal *sig); public: QString id; @@ -65,7 +65,7 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); void addChart(const QString &id, const Signal *sig); - void removeChart(const Signal *sig); + void removeChart(const QString &id, const Signal *sig); signals: void dock(bool floating); @@ -73,7 +73,7 @@ signals: private: void updateState(); void updateTitleBar(); - void removeAll(); + void removeAll(const Signal *sig = nullptr); bool eventFilter(QObject *obj, QEvent *event); QWidget *title_bar; @@ -84,5 +84,5 @@ private: QPushButton *reset_zoom_btn; QPushButton *remove_all_btn; QVBoxLayout *charts_layout; - QHash charts; + QList charts; }; From 22c5be5ec12f1e94eb56092d123257ca46132124 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 22 Oct 2022 01:33:00 +0800 Subject: [PATCH 361/685] Cabana: fix segment fault in QApplication::notify(QObject*, QEvent*) () (#26194) fix segment fault in QApplication::notify(QObject*, QEvent*) () --- tools/cabana/detailwidget.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index c7bfdee164..039a7c4e55 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -5,6 +5,7 @@ #include #include +#include "selfdrive/ui/qt/util.h" #include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" @@ -106,7 +107,7 @@ void DetailWidget::dbcMsgChanged() { if (msg_id.isEmpty()) return; warning_widget->hide(); - qDeleteAll(signals_container->findChildren()); + clearLayout(signals_container->layout()); QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { for (int i = 0; i < msg->sigs.size(); ++i) { From d75cbf2338f098a9c2143c94a9db8ddce68699b4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 22 Oct 2022 01:33:13 +0800 Subject: [PATCH 362/685] Cabana: fix segfault on exit (#26193) fix segfault on exit --- tools/cabana/mainwin.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 60a1f7a3a3..d0e171c86e 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -10,7 +10,7 @@ static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { - main_win->showStatusMessage(msg); + if (main_win) main_win->showStatusMessage(msg); } MainWindow::MainWindow() : QWidget() { @@ -118,6 +118,7 @@ void MainWindow::dockCharts(bool dock) { } void MainWindow::closeEvent(QCloseEvent *event) { + main_win = nullptr; if (floating_window) floating_window->deleteLater(); QWidget::closeEvent(event); From 0edbbdeaf9e5c8ad23b73089d2871f88ff29509e Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 21 Oct 2022 11:20:52 -0700 Subject: [PATCH 363/685] Modeld: Add comment (#26188) Rename and add comment --- selfdrive/modeld/models/driving.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 64218467df..dd1609b1d1 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -33,6 +33,8 @@ constexpr int LEAD_MHP_N = 2; constexpr int LEAD_TRAJ_LEN = 6; constexpr int LEAD_PRED_DIM = 4; constexpr int LEAD_MHP_SELECTION = 3; +// Padding to get output shape as multiple of 4 +constexpr int PAD_SIZE = 2; struct ModelOutputXYZ { float x; @@ -232,7 +234,7 @@ constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); #else constexpr int TEMPORAL_SIZE = 0; #endif -constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + 2; +constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + PAD_SIZE; // TODO: convert remaining arrays to std::array and update model runners struct ModelState { From 6e257300eac6d5c26a59ef7aaa8976791a7682f5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Oct 2022 12:51:41 -0700 Subject: [PATCH 364/685] Kia: add missing Stinger transmission FW (#26198) Add missing transmission --- 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 c11bf67d15..1eed03923c 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -786,6 +786,7 @@ FW_VERSIONS = { b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', ], }, CAR.PALISADE: { From 68e7f42d68232efb89a5dc882fafa71daab72a28 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 21 Oct 2022 13:11:50 -0700 Subject: [PATCH 365/685] use upstream tinygrad (#26178) * use upstream tinygrad * add networkx to pipfile * Revert "add networkx to pipfile" This reverts commit 6cfa164378fa072b325a27040f0388730771437c. * dont need networkx and update tinygrad * submodule sync * add new thneed file * fix release files Co-authored-by: Adeeb Shihadeh --- .gitmodules | 2 +- release/files_common | 1 + selfdrive/modeld/SConscript | 1 + selfdrive/test/setup_device_ci.sh | 1 + tinygrad_repo | 2 +- 5 files changed, 5 insertions(+), 2 deletions(-) diff --git a/.gitmodules b/.gitmodules index 544c95c943..26f93ef164 100644 --- a/.gitmodules +++ b/.gitmodules @@ -18,4 +18,4 @@ url = ../../commaai/body.git [submodule "tinygrad"] path = tinygrad_repo - url = ../../commaai/tinygrad.git + url = https://github.com/geohot/tinygrad.git diff --git a/release/files_common b/release/files_common index 07ffaf8501..e3c417040c 100644 --- a/release/files_common +++ b/release/files_common @@ -565,6 +565,7 @@ opendbc/tesla_powertrain.dbc tinygrad_repo/openpilot/compile.py tinygrad_repo/accel/opencl/* tinygrad_repo/extra/onnx.py +tinygrad_repo/extra/thneed.py tinygrad_repo/extra/utils.py tinygrad_repo/tinygrad/llops/ops_gpu.py tinygrad_repo/tinygrad/llops/ops_opencl.py diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 5c02e2b15f..f1a8d71881 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -83,6 +83,7 @@ if use_thneed and arch == "larch64" or GetOption('pc_thneed'): "#tinygrad_repo/accel/opencl/ops_opencl.py", "#tinygrad_repo/accel/opencl/preprocessing.py", "#tinygrad_repo/extra/onnx.py", + "#tinygrad_repo/extra/thneed.py", "#tinygrad_repo/extra/utils.py", "#tinygrad_repo/tinygrad/llops/ops_gpu.py", "#tinygrad_repo/tinygrad/llops/ops_opencl.py", diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index a9c6527970..02c7d76637 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -60,6 +60,7 @@ find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm - git reset --hard $GIT_COMMIT git checkout $GIT_COMMIT git clean -xdff +git submodule sync git submodule update --init --recursive git submodule foreach --recursive "git reset --hard && git clean -xdff" diff --git a/tinygrad_repo b/tinygrad_repo index 870ea766ee..8e22d5ee67 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 870ea766eec7a38d7d590c81436f15271ba2667e +Subproject commit 8e22d5ee675277181e1eff644dde9e844fc40fce From a98d105cb95a445f5ec69e783585c56604b09449 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 21 Oct 2022 16:23:56 -0700 Subject: [PATCH 366/685] Pipenv -> poetry (#24858) * Try poetry * Remove casadi for now * Update docker * Copy pipfiles * add casadi back * Too many slashes * New poetry api * Install system * Try again * No more pipenv * new dependencies * updates * poetry 1.2.1, install dev dependencies * keep install pipenv for xx for now? * add pre-commit checks for poetry * poetry lock is too slow * update pip * migrate to poetry groups * update lockfile * don't need to specify dev group unless it is made optional * always install poetry * set POETRY_VIRTUALENVS_CREATE instead, and use pipenv for xx * use env for docs docker image * alphabetical * poetry 1.2.2 * add dev dependencies for typing added in 4e310b80 * remove constraint * fix PIPENV_SYSTEM * remove constraint * don't need this here * bump * bump pipenv adds support for installing local pyprojects (can add openpilot as dependency of xx) * README improvements * probably not necessary * bump pip * maybe not necessary? * revert * don't install openpilot itself into the virtual env * remove PySide2 and shiboken2 reverts c6b749fb96b3b6332fd850e733140357f84d53a4 * remove Pipenv, add xx dependencies, sync system python * add pipenv as xx dep * semver package constraints, use old lockfile versions * fix casadi * remove whitespace Co-authored-by: Adeeb Shihadeh * disable poetry cache * cleanup * prefer config file Co-authored-by: Cameron Clough Co-authored-by: Adeeb Shihadeh --- .github/workflows/selfdrive_tests.yaml | 6 +- .gitignore | 2 + .pre-commit-config.yaml | 4 + Dockerfile.openpilot_base | 6 +- Pipfile | 100 - Pipfile.lock | 3072 --------- docs/docker/Dockerfile | 7 +- poetry.lock | 7963 ++++++++++++++++++++++++ pyproject.toml | 176 + tools/README.md | 9 +- tools/mac_setup.sh | 2 +- update_requirements.sh | 30 +- 12 files changed, 8173 insertions(+), 3204 deletions(-) delete mode 100644 Pipfile delete mode 100644 Pipfile.lock create mode 100644 poetry.lock create mode 100644 pyproject.toml diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 20bf8c3d8e..0693a66164 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -106,7 +106,7 @@ jobs: # /usr/local/Cellar # ~/github_brew_cache_entries.txt # /tmp/scons_cache - # key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }} + # key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }} # restore-keys: macos- # - name: Brew link restored dependencies # run: | @@ -122,11 +122,11 @@ jobs: # - name: Build openpilot # run: | # source tools/openpilot_env.sh - # pipenv run selfdrive/manager/build.py + # poetry run selfdrive/manager/build.py # # # cleanup scons cache # rm -rf /tmp/scons_cache/ - # pipenv run scons -j$(nproc) --cache-populate + # poetry run scons -j$(nproc) --cache-populate # - name: Remove pre-existing Homebrew packages for caching # if: steps.dependency-cache.outputs.cache-hit != 'true' # run: | diff --git a/.gitignore b/.gitignore index 062358ef24..31cef94222 100644 --- a/.gitignore +++ b/.gitignore @@ -83,3 +83,5 @@ selfdrive/modeld/models/*.thneed build/ !**/.gitkeep + +poetry.toml diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 85c24b911b..91b9c61628 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -78,3 +78,7 @@ repos: entry: selfdrive/ui/tests/test_translations.py language: script pass_filenames: false +- repo: https://github.com/python-poetry/poetry + rev: '1.2.2' + hooks: + - id: poetry-check diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 0de3008baf..4cd82259e2 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -12,19 +12,19 @@ ENV LANG en_US.UTF-8 ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 -ENV PIPENV_SYSTEM=1 +ENV POETRY_VIRTUALENVS_CREATE=false ENV PYENV_VERSION=3.8.10 ENV PYENV_ROOT="/root/.pyenv" ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" -COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/ +COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/ COPY tools/ubuntu_setup.sh /tmp/tools/ RUN cd /tmp && \ tools/ubuntu_setup.sh && \ rm -rf /var/lib/apt/lists/* && \ rm -rf /tmp/* && \ rm -rf /root/.cache && \ - pip uninstall -y pipenv && \ + pip uninstall -y poetry && \ # remove unused architectures from gcc for panda cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \ rm -rf arm/ && \ diff --git a/Pipfile b/Pipfile deleted file mode 100644 index 778cf8c33c..0000000000 --- a/Pipfile +++ /dev/null @@ -1,100 +0,0 @@ -[[source]] -name = "pypi" -url = "https://pypi.org/simple" -verify_ssl = true - -[dev-packages] -av = "*" -azure-storage-blob = "~=2.1" -control = "*" -coverage = "*" -dictdiffer = "*" -fastcluster = "*" -hexdump = "*" -hypothesis = "==6.46.7" -inputs = "*" -lru-dict = "*" -markdown-it-py = "*" -matplotlib = "*" -mypy = "*" -myst-parser = "*" -natsort = "*" -numpy = "*" -opencv-python-headless = "*" -parameterized = "*" -paramiko = "*" -pprofile = "*" -pre-commit = "*" -pycurl = "*" -pygame = "*" -pyprof2calltree = "*" -pytest = "*" -pytest-xdist = "*" -reverse_geocoder = "*" -scipy = "*" -sphinx = "*" -sphinx-sitemap = "*" -sphinx-rtd-theme = "*" -breathe = "*" -subprocess32 = "*" -tenacity = "*" -mpld3 = "*" -carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"} -ft4222 = "*" -pandas = "*" -tabulate = "*" -types-pyyaml = "*" -lxml = "*" -types-atomicwrites = "*" -types-pycurl = "*" -types-requests = "*" -types-certifi = "*" - -[packages] -atomicwrites = "*" -casadi = {version = "*", markers="platform_system != 'Darwin'"} -cffi = "*" -crcmod = "*" -cryptography = "*" -Cython = "*" -flake8 = "*" -Flask = "*" -future-fstrings = "*" # for acados -gunicorn = "*" -hexdump = "*" -Jinja2 = "*" -json-rpc = "*" -libusb1 = "*" -nose = "*" -numpy = "*" -protobuf = "==3.20.1" -onnx = "*" -onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"} -pillow = "*" -psutil = "*" -pycapnp = "==1.1.0" -pycryptodome = "*" -PyJWT = "*" -pylint = "*" -pyopencl = "*" -pyserial = "*" -python-dateutil = "*" -PyYAML = "*" -pyzmq = "*" -requests = "*" -scons = "*" -sentry-sdk = "*" -setproctitle = "*" -six = "*" -smbus2 = "*" -sympy = "!=1.6.1" -timezonefinder = "*" -tqdm = "*" -urllib3 = "*" -utm = "*" -websocket_client = "*" -hatanaka = "==2.4" -PySide2 = "*" - -[requires] -python_version = "3.8" diff --git a/Pipfile.lock b/Pipfile.lock deleted file mode 100644 index d033a517cb..0000000000 --- a/Pipfile.lock +++ /dev/null @@ -1,3072 +0,0 @@ -{ - "_meta": { - "hash": { - "sha256": "c406463198490fc40dcac3dd438c77cf36f6fe681793072e96fdecf089ff7639" - }, - "pipfile-spec": 6, - "requires": { - "python_version": "3.8" - }, - "sources": [ - { - "name": "pypi", - "url": "https://pypi.org/simple", - "verify_ssl": true - } - ] - }, - "default": { - "astroid": { - "hashes": [ - "sha256:81f870105d892e73bf535da77a8261aa5bde838fa4ed12bb2f435291a098c581", - "sha256:997e0c735df60d4a4caff27080a3afc51f9bdd693d3572a4a0b7090b645c36c5" - ], - "markers": "python_full_version >= '3.7.2'", - "version": "==2.12.10" - }, - "atomicwrites": { - "hashes": [ - "sha256:81b2c9071a49367a7f770170e5eec8cb66567cfbbc8c73d20ce5ca4a8d71cf11" - ], - "index": "pypi", - "version": "==1.4.1" - }, - "casadi": { - "hashes": [ - "sha256:09e103bb597d46aa338fc57bc49270068a1f07be35f9494c9f796dea4b801aeb", - "sha256:13277151efc76b221de8ca6b5ab7b8bbdd2b0e139f282866840adf88dfe53bc9", - "sha256:1c451a07b2440c00d552e040b6285b6e79b677d2978212368b28b86f5d267669", - "sha256:2322748a8d5e88750fd2fc0abcdc56cfbad1a8cd538fe0e7d7b6d8ce0cb3fa62", - 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The ADAL for Python library makes it easy for python application to authenticate to Azure Active Directory (AAD) in order to access AAD protected web resources." +category = "dev" +optional = false +python-versions = "*" + +[package.dependencies] +cryptography = ">=1.1.0" +PyJWT = ">=1.0.0,<3" +python-dateutil = ">=2.1.0,<3" +requests = ">=2.0.0,<3" + +[[package]] +name = "aenum" +version = "3.1.11" +description = "Advanced Enumerations (compatible with Python's stdlib Enum), NamedTuples, and NamedConstants" +category = "dev" +optional = false +python-versions = "*" + +[[package]] +name = "aiohttp" +version = "3.8.3" +description = "Async http client/server framework (asyncio)" +category = "dev" +optional = false +python-versions = ">=3.6" + +[package.dependencies] +aiosignal = ">=1.1.2" +async-timeout = ">=4.0.0a3,<5.0" +attrs = ">=17.3.0" +charset-normalizer = ">=2.0,<3.0" +frozenlist = ">=1.1.1" +multidict = ">=4.5,<7.0" +yarl = ">=1.0,<2.0" + +[package.extras] +speedups = 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+onnxruntime-gpu = { version = "^1.11.1", markers = "platform_system != 'Darwin'" } +pillow = "^9.2.0" +poetry = "==1.2.2" +protobuf = "==3.20.1" +psutil = "^5.9.1" +pycapnp = "==1.1.0" +pycryptodome = "^3.15.0" +PyJWT = "^2.5.0" +pylint = "^2.15.4" +pyopencl = "^2022.2.4" +pyserial = "^3.5" +python-dateutil = "^2.8.2" +PyYAML = "^6.0" +pyzmq = "^23.2.0" +requests = "^2.28.1" +scons = "^4.3.0" +sentry-sdk = "^1.6.0" +setproctitle = "^1.2.3" +six = "^1.16.0" +smbus2 = "^0.4.2" +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" + + +[tool.poetry.group.dev.dependencies] +av = "^9.2.0" +azure-storage-blob = "~2.1" +breathe = "^4.34.0" +carla = "==0.9.13" +control = "^0.9.2" +coverage = "^6.4.1" +dictdiffer = "^0.9.0" +fastcluster = "^1.2.6" +ft4222 = "^1.4.1" +hexdump = "^3.3" +hypothesis = "==6.46.7" +inputs = "^0.5" +lru-dict = "^1.1.7" +lxml = "^4.9.1" +markdown-it-py = "^2.1.0" +matplotlib = "^3.5.2" +mpld3 = "^0.5.8" +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" } +pandas = "^1.4.3" +parameterized = "^0.8.1" +paramiko = "^2.11.0" +pprofile = "^2.1.0" +pre-commit = "^2.19.0" +pycurl = "^7.45.1" +pygame = "^2.1.2" +pyprof2calltree = "^1.4.5" +pytest = "^7.1.2" +pytest-xdist = "^2.5.0" +reverse_geocoder = "^1.5.1" +scipy = "^1.8.1" +sphinx = "^5.0.2" +sphinx-rtd-theme = "^1.0.0" +sphinx-sitemap = "^2.2.0" +subprocess32 = "^3.5.4" +tabulate = "^0.8.10" +tenacity = "^8.0.1" +types-atomicwrites = "^1.4.5" +types-certifi = "^2021.10.8" +types-pycurl = "^7.45.1" +types-PyYAML = "^6.0" +types-requests = "^2.28.11" + + +[tool.poetry.group.xx] +optional = true + +[tool.poetry.group.xx.dependencies] +aenum = "^3.1.11" +aiohttp = "^3.8.1" +albumentations = "^1.2.1" +apex = { url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" } +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" +cloudpickle = "^2.1.0" +configargparse = "^1.5.3" +cupy-cuda113 = "^10.6.0" +datadog = "^0.44.0" +dotmap = "^1.3.30" +elasticsearch = "^8.3.1" +Flask-Cors = "^3.0.10" +Flask-SocketIO = "^5.2.0" +GeoAlchemy2 = "^0.12.1" +imageio = "^2.19.5" +influxdb-client = "^1.30.0" +ipykernel = "^6.15.1" +ipython = "^8.4.0" +joblib = "^1.1.0" +json-logging-py = "^0.2" +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" +onnxoptimizer = "^0.2.6" +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" +pycuda = "^2022.1" +Pygments = "^2.12.0" +PyMySQL = "~0.9" +pyproj = "^3.3.1" +python-logstash = "^0.4.8" +redis = "^4.3.4" +s2sphere = "^0.2.5" +scikit-image = "^0.19.3" +scikit-learn = "^1.1.1" +segmentation-models-pytorch = "==0.2.1" +simplejson = "^3.17.6" +SQLAlchemy = "^1.4.39" +torch = { url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl" } +torchsummary = "^1.5.1" +torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" } +triton = "^1.1.1" +Werkzeug = "^2.1.2" +zerorpc = { git = "git@github.com:commaai/zerorpc-python.git", branch = "master" } + + +[build-system] +requires = ["poetry-core"] +build-backend = "poetry.core.masonry.api" diff --git a/tools/README.md b/tools/README.md index 59eea3230d..3969deb24d 100644 --- a/tools/README.md +++ b/tools/README.md @@ -6,13 +6,12 @@ openpilot is developed and tested on **Ubuntu 20.04**, which is the primary deve ## Setup your PC - First, clone openpilot: ``` bash cd ~ git clone https://github.com/commaai/openpilot.git -cd openpilot +cd openpilot git submodule update --init ``` @@ -26,10 +25,10 @@ tools/ubuntu_setup.sh tools/mac_setup.sh ``` -Activate a shell with the install Python dependencies: +Activate a shell with the Python dependencies installed: ``` bash -cd openpilot && pipenv shell +cd openpilot && poetry shell ``` Build openpilot with this command: @@ -43,7 +42,7 @@ Neither openpilot nor any of the tools are developed or tested on Windows, but t Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. -GUI applications do not work with WSL out of the box. You will have to either [upgrade your system to Windows 11](https://docs.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) or [set up an Xorg server](https://techcommunity.microsoft.com/t5/windows-dev-appconsult/running-wsl-gui-apps-on-windows-10/ba-p/1493242). +GUI applications do not work with WSL out of the box. You will have to either [upgrade your system to Windows 11](https://docs.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) or [set up an Xorg server](https://techcommunity.microsoft.com/t5/windows-dev-appconsult/running-wsl-gui-apps-on-windows-10/ba-p/1493242). ## CTF diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 214a917f8b..e85292da03 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -88,7 +88,7 @@ eval "$(pyenv init --path)" echo "[ ] installed python dependencies t=$SECONDS" # install casadi -VENV=`pipenv --venv` +VENV=`poetry env info --path` PYTHON_VER=3.8 PYTHON_VERSION=$(cat $ROOT/.python-version) if [ ! -f "$VENV/include/casadi/casadi.hpp" ]; then diff --git a/update_requirements.sh b/update_requirements.sh index 060dca76ef..8571726e10 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -40,27 +40,29 @@ fi eval "$(pyenv init --path)" echo "update pip" -pip install pip==21.3.1 -pip install pipenv==2021.11.23 +pip install pip==22.3 +pip install poetry==1.2.2 -if [ -d "./xx" ]; then - echo "WARNING: using xx Pipfile ******" - export PIPENV_SYSTEM=1 - export PIPENV_PIPFILE=./xx/Pipfile -fi +poetry config virtualenvs.prefer-active-python true --local -if [ -z "$PIPENV_SYSTEM" ]; then - echo "PYTHONPATH=${PWD}" > .env - RUN="pipenv run" -else - RUN="" +POETRY_INSTALL_ARGS="" +if [ -d "./xx" ]; then + echo "WARNING: using xx dependency group, installing globally" + poetry config virtualenvs.create false --local + POETRY_INSTALL_ARGS="--with xx --sync" fi echo "pip packages install..." -pipenv sync --dev -pipenv --clear +poetry install --no-cache --no-root $POETRY_INSTALL_ARGS pyenv rehash +if [ -d "./xx" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ]; then + RUN="" +else + echo "PYTHONPATH=${PWD}" > .env + RUN="poetry run" +fi + echo "pre-commit hooks install..." shopt -s nullglob for f in .pre-commit-config.yaml */.pre-commit-config.yaml; do From dba8e8ec0ee026f73b5a87d2c4b00556fdee58f7 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 21 Oct 2022 18:04:07 -0700 Subject: [PATCH 367/685] Revert "ci: don't trigger on pull request sync event (#25900)" This reverts commit 68530f18b4cb2a1f20dfb19319d91216c23e00bb. --- .github/workflows/selfdrive_tests.yaml | 1 - .github/workflows/tools_tests.yaml | 1 - 2 files changed, 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 0693a66164..e921cd3d00 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -5,7 +5,6 @@ on: branches-ignore: - 'testing-closet*' pull_request: - types: [opened, reopened] concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 71bad021d0..549a2f4195 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -5,7 +5,6 @@ on: branches-ignore: - 'testing-closet*' pull_request: - types: [opened, reopened] concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} From 6efd2c3de3d5b2955f3e7ab5c93701e94ac25537 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Oct 2022 18:15:52 -0700 Subject: [PATCH 368/685] GM camera ACC: cancel after delay (#26197) * add delay to GM camera ACC cancel to avoid FCW and cruise fault * we can revert brake pressed threshold now * bump panda * add proper threshold * bump * bujmp panda --- panda | 2 +- selfdrive/car/gm/carcontroller.py | 10 +++++++++- selfdrive/car/gm/carstate.py | 7 +------ 3 files changed, 11 insertions(+), 8 deletions(-) diff --git a/panda b/panda index d51dd496cb..2db69bc941 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d51dd496cbdc8665928af40247582bc62dba1f2a +Subproject commit 2db69bc94120a3c10f39cdedc9d83315f9ba801e diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index f28a0f7b59..c96b982503 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -10,6 +10,9 @@ from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButt VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation +# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s +CAMERA_CANCEL_DELAY_FRAMES = 10 + class CarController: def __init__(self, dbc_name, CP, VM): @@ -20,6 +23,7 @@ class CarController: self.apply_brake = 0 self.frame = 0 self.last_button_frame = 0 + self.cancel_counter = 0 self.lka_steering_cmd_counter = 0 self.sent_lka_steering_cmd = False @@ -111,9 +115,13 @@ class CarController: can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) else: + # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status. + # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly + self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0 + # Stock longitudinal, integrated at camera if (self.frame - self.last_button_frame) * DT_CTRL > 0.04: - if CC.cruiseControl.cancel: + if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES: self.last_button_frame = self.frame can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index de63f56eab..7cb2274674 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -55,12 +55,7 @@ class CarState(CarStateBase): # To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] - if self.CP.networkLocation != NetworkLocation.fwdCamera: - ret.brakePressed = ret.brake >= 8 - else: - # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status. - # Match ECM threshold at a standstill to allow the camera to cancel earlier - ret.brakePressed = ret.brake >= 20 + ret.brakePressed = ret.brake >= 8 # Regen braking is braking if self.CP.transmissionType == TransmissionType.direct: From 42ef62e39102ca5ad03982232ebadc37928a6ca2 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 21 Oct 2022 20:30:48 -0700 Subject: [PATCH 369/685] Use calibrator to stabilize wide transform (#26201) * Use calibrator to stabilize wide transform * Need array * Needs init * Bump to master * Needs to be arr * publish mshg * Check size * Update ref --- cereal | 2 +- selfdrive/locationd/calibrationd.py | 35 +++++++++++++++++++++--- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 33 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index 38133307b2..79e6e4c26d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 38133307b2e6036e76684b39878e79212e545e06 +Subproject commit 79e6e4c26dd12ba979a5fb872b4e68a707c32203 diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 9e6536f9b5..163c3cfd4d 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -31,6 +31,7 @@ INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration INPUTS_WANTED = 50 # We want a little bit more than we need for stability MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) +WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) # These values are needed to accommodate biggest modelframe PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657]) @@ -67,6 +68,7 @@ class Calibrator: calibration_params = params.get("CalibrationParams") self.wide_camera = params.get_bool('WideCameraOnly') rpy_init = RPY_INIT + wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT valid_blocks = 0 if param_put and calibration_params: @@ -74,24 +76,34 @@ class Calibrator: msg = log.Event.from_bytes(calibration_params) rpy_init = np.array(msg.liveCalibration.rpyCalib) valid_blocks = msg.liveCalibration.validBlocks + wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) except Exception: cloudlog.exception("Error reading cached CalibrationParams") - self.reset(rpy_init, valid_blocks) + self.reset(rpy_init, valid_blocks, wide_from_device_euler) self.update_status() - def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, smooth_from: Optional[np.ndarray] = None) -> None: + def reset(self, rpy_init: np.ndarray = RPY_INIT, + valid_blocks: int = 0, + wide_from_device_euler: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, + smooth_from: Optional[np.ndarray] = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: self.rpy = rpy_init.copy() + if not np.isfinite(wide_from_device_euler).all(): + self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() + else: + self.wide_from_device_euler = wide_from_device_euler.copy() + if not np.isfinite(valid_blocks) or valid_blocks < 0: self.valid_blocks = 0 else: self.valid_blocks = valid_blocks self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) + self.wide_from_device_eulers = np.tile(wide_from_device_euler, (INPUTS_WANTED, 1)) self.idx = 0 self.block_idx = 0 @@ -115,6 +127,8 @@ class Calibrator: if valid_idxs: rpys = self.rpys[valid_idxs] self.rpy = np.mean(rpys, axis=0) + wide_from_device_eulers = self.wide_from_device_eulers[valid_idxs] + self.wide_from_device_euler = np.mean(wide_from_device_eulers, axis=0) max_rpy_calib = np.array(np.max(rpys, axis=0)) min_rpy_calib = np.array(np.min(rpys, axis=0)) self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib) @@ -146,7 +160,10 @@ class Calibrator: else: return self.rpy - def handle_cam_odom(self, trans: List[float], rot: List[float], trans_std: List[float]) -> Optional[np.ndarray]: + def handle_cam_odom(self, trans: List[float], + rot: List[float], + wide_from_device_euler: List[float], + trans_std: List[float]) -> Optional[np.ndarray]: self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) @@ -165,7 +182,15 @@ class Calibrator: new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy))) new_rpy = sanity_clip(new_rpy) - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) + if len(wide_from_device_euler): + new_wide_from_device_euler = np.array(wide_from_device_euler) + else: + new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT + + self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) + self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + + (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) self.idx = (self.idx + 1) % BLOCK_SIZE if self.idx == 0: self.block_idx += 1 @@ -187,6 +212,7 @@ class Calibrator: liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() + liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED @@ -223,6 +249,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, + sm['cameraOdometry'].wideFromDeviceEuler, sm['cameraOdometry'].transStd) if DEBUG and new_rpy is not None: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 230e81d949..d03b897f9d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f5a352666728344ca5065bb44c47c1f5650b4243 +a5c77655fba5563e8128fb655f69b1bbd02198aa From 04b40aad92afaac555c3c7d814699c467d975627 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 21 Oct 2022 21:13:55 -0700 Subject: [PATCH 370/685] ci: run some jobs only on push (#26202) * ci: run some jobs only on push alternative to #25900 * tools too --- .github/workflows/selfdrive_tests.yaml | 11 ++++++++++- .github/workflows/tools_tests.yaml | 5 +---- 2 files changed, 11 insertions(+), 5 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index e921cd3d00..a5f2bf3452 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -33,6 +33,7 @@ jobs: name: build release runs-on: ubuntu-20.04 timeout-minutes: 30 + if: github.event_name == 'push' env: STRIPPED_DIR: /tmp/releasepilot steps: @@ -67,6 +68,7 @@ jobs: name: build all runs-on: ubuntu-20.04 timeout-minutes: 30 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -85,6 +87,7 @@ jobs: # name: build macos # runs-on: macos-latest # timeout-minutes: 60 + # if: github.event_name == 'push' # steps: # - uses: actions/checkout@v3 # with: @@ -142,7 +145,7 @@ jobs: name: docker push runs-on: ubuntu-20.04 timeout-minutes: 22 - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' + if: github.ref == 'refs/heads/master' && github.event_name == 'push' && github.repository == 'commaai/openpilot' needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast steps: - uses: actions/checkout@v3 @@ -167,6 +170,7 @@ jobs: name: static analysis runs-on: ubuntu-20.04 timeout-minutes: 20 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -181,6 +185,7 @@ jobs: name: valgrind runs-on: ubuntu-20.04 timeout-minutes: 20 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -199,6 +204,7 @@ jobs: name: unit tests runs-on: ubuntu-20.04 timeout-minutes: 30 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -279,6 +285,7 @@ jobs: name: model tests runs-on: ubuntu-20.04 timeout-minutes: 20 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -307,6 +314,7 @@ jobs: name: longitudinal runs-on: ubuntu-20.04 timeout-minutes: 20 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -335,6 +343,7 @@ jobs: name: cars runs-on: ubuntu-20.04 timeout-minutes: 20 + if: github.event_name == 'push' strategy: fail-fast: false matrix: diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 549a2f4195..25357e0889 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -4,7 +4,6 @@ on: push: branches-ignore: - 'testing-closet*' - pull_request: concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} @@ -83,9 +82,7 @@ jobs: run: | DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . - name: Push docker container - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' + if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/openpilot-docs:latest - - From 75b7fd0a7d9728dbf84e4cff209cbc44799dbdeb Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Fri, 21 Oct 2022 21:44:47 -0700 Subject: [PATCH 371/685] Revert "Use calibrator to stabilize wide transform (#26201)" This reverts commit 42ef62e39102ca5ad03982232ebadc37928a6ca2. --- cereal | 2 +- selfdrive/locationd/calibrationd.py | 35 +++--------------------- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 6 insertions(+), 33 deletions(-) diff --git a/cereal b/cereal index 79e6e4c26d..38133307b2 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 79e6e4c26dd12ba979a5fb872b4e68a707c32203 +Subproject commit 38133307b2e6036e76684b39878e79212e545e06 diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 163c3cfd4d..9e6536f9b5 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -31,7 +31,6 @@ INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration INPUTS_WANTED = 50 # We want a little bit more than we need for stability MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) -WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) # These values are needed to accommodate biggest modelframe PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657]) @@ -68,7 +67,6 @@ class Calibrator: calibration_params = params.get("CalibrationParams") self.wide_camera = params.get_bool('WideCameraOnly') rpy_init = RPY_INIT - wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT valid_blocks = 0 if param_put and calibration_params: @@ -76,34 +74,24 @@ class Calibrator: msg = log.Event.from_bytes(calibration_params) rpy_init = np.array(msg.liveCalibration.rpyCalib) valid_blocks = msg.liveCalibration.validBlocks - wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) except Exception: cloudlog.exception("Error reading cached CalibrationParams") - self.reset(rpy_init, valid_blocks, wide_from_device_euler) + self.reset(rpy_init, valid_blocks) self.update_status() - def reset(self, rpy_init: np.ndarray = RPY_INIT, - valid_blocks: int = 0, - wide_from_device_euler: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, - smooth_from: Optional[np.ndarray] = None) -> None: + def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, smooth_from: Optional[np.ndarray] = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: self.rpy = rpy_init.copy() - if not np.isfinite(wide_from_device_euler).all(): - self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() - else: - self.wide_from_device_euler = wide_from_device_euler.copy() - if not np.isfinite(valid_blocks) or valid_blocks < 0: self.valid_blocks = 0 else: self.valid_blocks = valid_blocks self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) - self.wide_from_device_eulers = np.tile(wide_from_device_euler, (INPUTS_WANTED, 1)) self.idx = 0 self.block_idx = 0 @@ -127,8 +115,6 @@ class Calibrator: if valid_idxs: rpys = self.rpys[valid_idxs] self.rpy = np.mean(rpys, axis=0) - wide_from_device_eulers = self.wide_from_device_eulers[valid_idxs] - self.wide_from_device_euler = np.mean(wide_from_device_eulers, axis=0) max_rpy_calib = np.array(np.max(rpys, axis=0)) min_rpy_calib = np.array(np.min(rpys, axis=0)) self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib) @@ -160,10 +146,7 @@ class Calibrator: else: return self.rpy - def handle_cam_odom(self, trans: List[float], - rot: List[float], - wide_from_device_euler: List[float], - trans_std: List[float]) -> Optional[np.ndarray]: + def handle_cam_odom(self, trans: List[float], rot: List[float], trans_std: List[float]) -> Optional[np.ndarray]: self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) @@ -182,15 +165,7 @@ class Calibrator: new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy))) new_rpy = sanity_clip(new_rpy) - if len(wide_from_device_euler): - new_wide_from_device_euler = np.array(wide_from_device_euler) - else: - new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT - - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + - (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) - self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + - (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) + self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) self.idx = (self.idx + 1) % BLOCK_SIZE if self.idx == 0: self.block_idx += 1 @@ -212,7 +187,6 @@ class Calibrator: liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() - liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED @@ -249,7 +223,6 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, - sm['cameraOdometry'].wideFromDeviceEuler, sm['cameraOdometry'].transStd) if DEBUG and new_rpy is not None: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d03b897f9d..230e81d949 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a5c77655fba5563e8128fb655f69b1bbd02198aa +f5a352666728344ca5065bb44c47c1f5650b4243 From db6c9b9d456ce6b7246f9002bde05ea6b6f53054 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 21 Oct 2022 23:09:24 -0700 Subject: [PATCH 372/685] install xx deps with XX env (#26205) --- update_requirements.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/update_requirements.sh b/update_requirements.sh index 8571726e10..0967e2dc6c 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -46,7 +46,7 @@ pip install poetry==1.2.2 poetry config virtualenvs.prefer-active-python true --local POETRY_INSTALL_ARGS="" -if [ -d "./xx" ]; then +if [ -d "./xx" ] || [ -n "$XX" ]; then echo "WARNING: using xx dependency group, installing globally" poetry config virtualenvs.create false --local POETRY_INSTALL_ARGS="--with xx --sync" From 66c01801a5223503435f1da366a3a6c4974ef988 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 22 Oct 2022 00:09:37 -0700 Subject: [PATCH 373/685] GM: clean up gmcan (#26206) * camera * clean up gmcan * fix * revv --- selfdrive/car/gm/carcontroller.py | 1 + selfdrive/car/gm/gmcan.py | 43 +++++++++++++++++++------------ 2 files changed, 28 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index c96b982503..b56b3bfca6 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -125,6 +125,7 @@ class CarController: self.last_button_frame = self.frame can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) + if self.CP.networkLocation == NetworkLocation.fwdCamera: # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1 if self.frame % 10 == 0: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index ec046dc3c2..42df2c6afd 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -1,5 +1,6 @@ from selfdrive.car import make_can_msg + def create_buttons(packer, bus, idx, button): values = { "ACCButtons": button, @@ -7,14 +8,15 @@ def create_buttons(packer, bus, idx, button): } return packer.make_can_msg("ASCMSteeringButton", bus, values) + def create_pscm_status(packer, bus, pscm_status): checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5 pscm_status["HandsOffSWlDetectionStatus"] = 1 pscm_status["PSCMStatusChecksum"] += checksum_mod return packer.make_can_msg("PSCMStatus", bus, pscm_status) -def create_steering_control(packer, bus, apply_steer, idx, lkas_active): +def create_steering_control(packer, bus, apply_steer, idx, lkas_active): values = { "LKASteeringCmdActive": lkas_active, "LKASteeringCmd": apply_steer, @@ -24,15 +26,17 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active): return packer.make_can_msg("ASCMLKASteeringCmd", bus, values) + def create_adas_keepalive(bus): dat = b"\x00\x00\x00\x00\x00\x00\x00" return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)] -def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_stop): + +def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop): values = { - "GasRegenCmdActive": acc_engaged, + "GasRegenCmdActive": enabled, "RollingCounter": idx, - "GasRegenCmdActiveInv": 1 - acc_engaged, + "GasRegenCmdActiveInv": 1 - enabled, "GasRegenCmd": throttle, "GasRegenFullStopActive": at_full_stop, "GasRegenAlwaysOne": 1, @@ -47,6 +51,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st return packer.make_can_msg("ASCMGasRegenCmd", bus, values) + def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop): mode = 0x1 if apply_brake > 0: @@ -63,44 +68,48 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff values = { - "RollingCounter" : idx, - "FrictionBrakeMode" : mode, + "RollingCounter": idx, + "FrictionBrakeMode": mode, "FrictionBrakeChecksum": checksum, - "FrictionBrakeCmd" : -apply_brake + "FrictionBrakeCmd": -apply_brake } return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values) -def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw): + +def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw): target_speed = min(target_speed_kph, 255) values = { - "ACCAlwaysOne" : 1, - "ACCResumeButton" : 0, - "ACCSpeedSetpoint" : target_speed, - "ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive" - "ACCCmdActive" : acc_engaged, - "ACCAlwaysOne2" : 1, - "ACCLeadCar" : lead_car_in_sight, + "ACCAlwaysOne": 1, + "ACCResumeButton": 0, + "ACCSpeedSetpoint": target_speed, + "ACCGapLevel": 3 * enabled, # 3 "far", 0 "inactive" + "ACCCmdActive": enabled, + "ACCAlwaysOne2": 1, + "ACCLeadCar": lead_car_in_sight, "FCWAlert": 0x3 if fcw else 0 } return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values) + def create_adas_time_status(bus, tt, idx): dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff, - ((tt & 0xf) << 4) + (idx << 2)] + ((tt & 0xf) << 4) + (idx << 2)] chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3] chksum = chksum & 0xfff dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12] return make_can_msg(0xa1, bytes(dat), bus) + def create_adas_steering_status(bus, idx): dat = [idx << 6, 0xf0, 0x20, 0, 0, 0] chksum = 0x60 + sum(dat) dat += [chksum >> 8, chksum & 0xff] return make_can_msg(0x306, bytes(dat), bus) + def create_adas_accelerometer_speed_status(bus, speed_ms, idx): spd = int(speed_ms * 16) & 0xfff accel = 0 & 0xfff @@ -114,6 +123,7 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx): dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff] return make_can_msg(0x308, bytes(dat), bus) + def create_adas_headlights_status(packer, bus): values = { "Always42": 0x42, @@ -121,6 +131,7 @@ def create_adas_headlights_status(packer, bus): } return packer.make_can_msg("ASCMHeadlight", bus, values) + def create_lka_icon_command(bus, active, critical, steer): if active and steer == 1: if critical: From 8bd512f9d76c8ad789bc80fb807d0ece193cb456 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 22 Oct 2022 00:53:50 -0700 Subject: [PATCH 374/685] deps: zerorpc over https --- poetry.lock | 2 +- pyproject.toml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/poetry.lock b/poetry.lock index 7ad02c58cd..bf5c750069 100644 --- a/poetry.lock +++ b/poetry.lock @@ -4316,7 +4316,7 @@ pyzmq = ">=13.1.0" [package.source] type = "git" -url = "git@github.com:commaai/zerorpc-python.git" +url = "https://github.com/commaai/zerorpc-python.git" reference = "master" resolved_reference = "0e27fd795bb9a7ec9cab81a771a2e35a91e397c9" diff --git a/pyproject.toml b/pyproject.toml index 7855ad0124..cbb5a983f3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -168,7 +168,7 @@ torchsummary = "^1.5.1" torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" } triton = "^1.1.1" Werkzeug = "^2.1.2" -zerorpc = { git = "git@github.com:commaai/zerorpc-python.git", branch = "master" } +zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" } [build-system] From 335351123ab8a34d06bf164b5cf5be9046bf2c3c Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 22 Oct 2022 01:04:22 -0700 Subject: [PATCH 375/685] Revert "ci: run some jobs only on push (#26202)" This reverts commit 04b40aad92afaac555c3c7d814699c467d975627. --- .github/workflows/selfdrive_tests.yaml | 11 +---------- .github/workflows/tools_tests.yaml | 5 ++++- 2 files changed, 5 insertions(+), 11 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a5f2bf3452..e921cd3d00 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -33,7 +33,6 @@ jobs: name: build release runs-on: ubuntu-20.04 timeout-minutes: 30 - if: github.event_name == 'push' env: STRIPPED_DIR: /tmp/releasepilot steps: @@ -68,7 +67,6 @@ jobs: name: build all runs-on: ubuntu-20.04 timeout-minutes: 30 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -87,7 +85,6 @@ jobs: # name: build macos # runs-on: macos-latest # timeout-minutes: 60 - # if: github.event_name == 'push' # steps: # - uses: actions/checkout@v3 # with: @@ -145,7 +142,7 @@ jobs: name: docker push runs-on: ubuntu-20.04 timeout-minutes: 22 - if: github.ref == 'refs/heads/master' && github.event_name == 'push' && github.repository == 'commaai/openpilot' + if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast steps: - uses: actions/checkout@v3 @@ -170,7 +167,6 @@ jobs: name: static analysis runs-on: ubuntu-20.04 timeout-minutes: 20 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -185,7 +181,6 @@ jobs: name: valgrind runs-on: ubuntu-20.04 timeout-minutes: 20 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -204,7 +199,6 @@ jobs: name: unit tests runs-on: ubuntu-20.04 timeout-minutes: 30 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -285,7 +279,6 @@ jobs: name: model tests runs-on: ubuntu-20.04 timeout-minutes: 20 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -314,7 +307,6 @@ jobs: name: longitudinal runs-on: ubuntu-20.04 timeout-minutes: 20 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -343,7 +335,6 @@ jobs: name: cars runs-on: ubuntu-20.04 timeout-minutes: 20 - if: github.event_name == 'push' strategy: fail-fast: false matrix: diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 25357e0889..549a2f4195 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -4,6 +4,7 @@ on: push: branches-ignore: - 'testing-closet*' + pull_request: concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} @@ -82,7 +83,9 @@ jobs: run: | DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . - name: Push docker container - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' + if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/openpilot-docs:latest + + From e7e64be734899fa2cd8f3a2fe178c1aa958dd258 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 22 Oct 2022 16:05:09 +0800 Subject: [PATCH 376/685] cabana: fix incorrect freq&counter (#26207) fix wrong freq --- tools/cabana/canmessages.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 4cc91031ad..defeacd75a 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -65,7 +65,6 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si void CANMessages::process(QHash> *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { - ++counters[it.key()]; auto &msgs = can_msgs[it.key()]; const auto &new_msgs = it.value(); if (new_msgs.size() == settings.can_msg_log_size || msgs.empty()) { From 25b9588019beda1d1d79390bde738097a58b0c0f Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 22 Oct 2022 01:32:27 -0700 Subject: [PATCH 377/685] deps: add missing package einops --- poetry.lock | 66 ++++++++++++++++++++++++++++---------------------- pyproject.toml | 1 + 2 files changed, 38 insertions(+), 29 deletions(-) diff --git a/poetry.lock b/poetry.lock index bf5c750069..41fe2eb18c 100644 --- a/poetry.lock +++ b/poetry.lock @@ -108,6 +108,7 @@ python-versions = "*" [package.source] type = "url" url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" + [[package]] name = "appdirs" version = "1.4.4" @@ -229,7 +230,7 @@ python-versions = ">=3.5" dev = ["cloudpickle", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "mypy (>=0.900,!=0.940)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "sphinx", "sphinx-notfound-page", "zope.interface"] docs = ["furo", "sphinx", "sphinx-notfound-page", "zope.interface"] tests = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "zope.interface"] -tests-no-zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"] +tests_no_zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"] [[package]] name = "av" @@ -530,7 +531,7 @@ optional = false python-versions = ">=3.6.0" [package.extras] -unicode-backport = ["unicodedata2"] +unicode_backport = ["unicodedata2"] [[package]] name = "cleo" @@ -837,6 +838,14 @@ python-versions = ">=3.5.0" [package.dependencies] torch = "*" +[[package]] +name = "einops" +version = "0.5.0" +description = "A new flavour of deep learning operations" +category = "dev" +optional = false +python-versions = ">=3.7" + [[package]] name = "elastic-transport" version = "8.4.0" @@ -1401,7 +1410,7 @@ notebook = ["ipywidgets", "notebook"] parallel = ["ipyparallel"] qtconsole = ["qtconsole"] test = ["pytest (<7.1)", "pytest-asyncio", "testpath"] -test-extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"] +test_extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"] [[package]] name = "ipython-genutils" @@ -1450,9 +1459,9 @@ python-versions = ">=3.6.1,<4.0" [package.extras] colors = ["colorama (>=0.4.3,<0.5.0)"] -pipfile-deprecated-finder = ["pipreqs", "requirementslib"] +pipfile_deprecated_finder = ["pipreqs", "requirementslib"] plugins = ["setuptools"] -requirements-deprecated-finder = ["pip-api", "pipreqs"] +requirements_deprecated_finder = ["pip-api", "pipreqs"] [[package]] name = "itsdangerous" @@ -1883,7 +1892,7 @@ mdurl = ">=0.1,<1.0" [package.extras] benchmarking = ["psutil", "pytest", "pytest-benchmark (>=3.2,<4.0)"] -code-style = ["pre-commit (==2.6)"] +code_style = ["pre-commit (==2.6)"] compare = ["commonmark (>=0.9.1,<0.10.0)", "markdown (>=3.3.6,<3.4.0)", "mistletoe (>=0.8.1,<0.9.0)", "mistune (>=2.0.2,<2.1.0)", "panflute (>=2.1.3,<2.2.0)"] linkify = ["linkify-it-py (>=1.0,<2.0)"] plugins = ["mdit-py-plugins"] @@ -1950,7 +1959,7 @@ python-versions = ">=3.7" markdown-it-py = ">=1.0.0,<3.0.0" [package.extras] -code-style = ["pre-commit"] +code_style = ["pre-commit"] rtd = ["attrs", "myst-parser (>=0.16.1,<0.17.0)", "sphinx-book-theme (>=0.1.0,<0.2.0)"] testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions"] @@ -2160,7 +2169,7 @@ sphinx = ">=4,<6" typing-extensions = "*" [package.extras] -code-style = ["pre-commit (>=2.12,<3.0)"] +code_style = ["pre-commit (>=2.12,<3.0)"] linkify = ["linkify-it-py (>=1.0,<2.0)"] rtd = ["ipython", "sphinx-book-theme", "sphinx-design", "sphinxcontrib.mermaid (>=0.7.1,<0.8.0)", "sphinxext-opengraph (>=0.6.3,<0.7.0)", "sphinxext-rediraffe (>=0.2.7,<0.3.0)"] testing = ["beautifulsoup4", "coverage[toml]", "pytest (>=6,<7)", "pytest-cov", "pytest-param-files (>=0.3.4,<0.4.0)", "pytest-regressions", "sphinx (<5.2)", "sphinx-pytest"] @@ -2479,6 +2488,7 @@ numpy = [ [package.source] type = "url" 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" + [[package]] name = "osmium" version = "3.4.1" @@ -3183,7 +3193,7 @@ optional = false python-versions = ">=3.6" [package.extras] -asyncio-client = ["aiohttp (>=3.4)"] +asyncio_client = ["aiohttp (>=3.4)"] client = ["requests (>=2.21.0)", "websocket-client (>=0.54.0)"] [[package]] @@ -3207,7 +3217,7 @@ bidict = ">=0.21.0" python-engineio = ">=4.3.0" [package.extras] -asyncio-client = ["aiohttp (>=3.4)"] +asyncio_client = ["aiohttp (>=3.4)"] client = ["requests (>=2.21.0)", "websocket-client (>=0.54.0)"] [[package]] @@ -3383,7 +3393,7 @@ urllib3 = ">=1.21.1,<1.27" [package.extras] socks = ["PySocks (>=1.5.6,!=1.5.7)"] -use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"] +use_chardet_on_py3 = ["chardet (>=3.0.2,<6)"] [[package]] name = "requests-oauthlib" @@ -3574,7 +3584,7 @@ falcon = ["falcon (>=1.4)"] fastapi = ["fastapi (>=0.79.0)"] flask = ["blinker (>=1.1)", "flask (>=0.11)"] httpx = ["httpx (>=0.16.0)"] -pure-eval = ["asttokens", "executing", "pure-eval"] +pure_eval = ["asttokens", "executing", "pure-eval"] pyspark = ["pyspark (>=2.4.4)"] quart = ["blinker (>=1.1)", "quart (>=0.16.1)"] rq = ["rq (>=0.6)"] @@ -3840,19 +3850,19 @@ aiomysql = ["aiomysql", "greenlet (!=0.4.17)"] aiosqlite = ["aiosqlite", "greenlet (!=0.4.17)", "typing_extensions (!=3.10.0.1)"] asyncio = ["greenlet (!=0.4.17)"] asyncmy = ["asyncmy (>=0.2.3,!=0.2.4)", "greenlet (!=0.4.17)"] -mariadb-connector = ["mariadb (>=1.0.1,!=1.1.2)"] +mariadb_connector = ["mariadb (>=1.0.1,!=1.1.2)"] mssql = ["pyodbc"] -mssql-pymssql = ["pymssql"] -mssql-pyodbc = ["pyodbc"] +mssql_pymssql = ["pymssql"] +mssql_pyodbc = ["pyodbc"] mypy = ["mypy (>=0.910)", "sqlalchemy2-stubs"] mysql = ["mysqlclient (>=1.4.0)", "mysqlclient (>=1.4.0,<2)"] -mysql-connector = ["mysql-connector-python"] +mysql_connector = ["mysql-connector-python"] oracle = ["cx_oracle (>=7)", "cx_oracle (>=7,<8)"] postgresql = ["psycopg2 (>=2.7)"] -postgresql-asyncpg = ["asyncpg", "greenlet (!=0.4.17)"] -postgresql-pg8000 = ["pg8000 (>=1.16.6,!=1.29.0)"] -postgresql-psycopg2binary = ["psycopg2-binary"] -postgresql-psycopg2cffi = ["psycopg2cffi"] +postgresql_asyncpg = ["asyncpg", "greenlet (!=0.4.17)"] +postgresql_pg8000 = ["pg8000 (>=1.16.6,!=1.29.0)"] +postgresql_psycopg2binary = ["psycopg2-binary"] +postgresql_psycopg2cffi = ["psycopg2cffi"] pymysql = ["pymysql", "pymysql (<1)"] sqlcipher = ["sqlcipher3_binary"] @@ -4033,6 +4043,7 @@ typing-extensions = "*" [package.source] type = "url" url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl" + [[package]] name = "torchsummary" version = "1.5.1" @@ -4062,6 +4073,7 @@ scipy = ["scipy"] [package.source] type = "url" url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" + [[package]] name = "tornado" version = "6.2" @@ -4366,7 +4378,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "f357744f2550b64cbd25e35881d6ec3c1180c90f830eb8d9f53322d6de485561" +content-hash = 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17 00:00:00 2001 From: Cameron Clough Date: Sat, 22 Oct 2022 11:41:45 -0700 Subject: [PATCH 378/685] deps(xx): bump onnxoptimizer --- poetry.lock | 27 ++++++++++++--------------- pyproject.toml | 2 +- 2 files changed, 13 insertions(+), 16 deletions(-) diff --git a/poetry.lock b/poetry.lock index 41fe2eb18c..2dff4fecf1 100644 --- a/poetry.lock +++ b/poetry.lock @@ -2441,7 +2441,7 @@ lint = ["clang-format (==13.0.0)", "flake8", "mypy (==0.782)", "types-protobuf ( [[package]] name = "onnxoptimizer" -version = "0.2.7" +version = "0.3.1" description = "Open Neural Network Exchange" category = "dev" optional = false @@ -4378,7 +4378,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "e596391b3ebe3de6835da44c7a4e9018e5e4c1f5a5450568ebfc156fa2c0ae0c" +content-hash = "76f06d46b1c308e59968994e42193599d8ba3cab6d552460c9c48f282313b64d" [metadata.files] adal = [ @@ -6380,19 +6380,16 @@ onnx = [ {file = 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@@ mpld3 = "^0.5.8" msgpack-python = "^0.5.6" networkx = "~2.3" nvidia-ml-py3 = "^7.352.0" -onnxoptimizer = "^0.2.6" +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" From 8a0475bd3bc4c86777be234d393a4e80da1a5fcd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 22 Oct 2022 16:15:03 -0700 Subject: [PATCH 379/685] cabana: fix BinaryView byte indices --- tools/cabana/binaryview.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index eee3f90986..785e5c4a05 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -212,7 +212,7 @@ void BinaryViewModel::updateState() { QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Vertical) { switch (role) { - case Qt::DisplayRole: return section + 1; + case Qt::DisplayRole: return section; case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT); case Qt::TextAlignmentRole: return Qt::AlignCenter; } From 6d443007bcf47b02972e9b5f0ccc84ba1ff5165d Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 23 Oct 2022 14:03:58 -0400 Subject: [PATCH 380/685] VW MQB: Add FW for 2016 Volkswagen Passat (#26212) --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 8c679c7406..695868452d 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -555,6 +555,7 @@ FW_VERSIONS = { b'\xf1\x8703N906026E \xf1\x892114', b'\xf1\x8704E906023AH\xf1\x893379', b'\xf1\x8704L906026ET\xf1\x891990', + b'\xf1\x8704L906026FP\xf1\x892012', b'\xf1\x8704L906026GA\xf1\x892013', b'\xf1\x8704L906026KD\xf1\x894798', b'\xf1\x873G0906264 \xf1\x890004', @@ -562,6 +563,7 @@ FW_VERSIONS = { (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300043H \xf1\x891601', b'\xf1\x870CW300048R \xf1\x890610', + b'\xf1\x870D9300013A \xf1\x894905', b'\xf1\x870D9300014L \xf1\x895002', b'\xf1\x870D9300041A \xf1\x894801', b'\xf1\x870DD300045T \xf1\x891601', @@ -579,6 +581,7 @@ FW_VERSIONS = { ], (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', From 80c565d9fe9b10a05e34ae867f7711389ae240d1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:38:38 +0800 Subject: [PATCH 381/685] Cabana: no popup when adding a new signal. (#26155) * merge master * GM: make loopback updated check more explicit This previously checked if parser_pyx filled the defaultdict, now it checks the values in the list (same either way) * merge master * continue * continue * check for duplicate name * check duplicate signal name in saveSignal * check signal size * size*8 * cleanup * check size after push_back * install qlog handler at end * remove todo Co-authored-by: Shane Smiskol --- tools/cabana/binaryview.cc | 6 --- tools/cabana/canmessages.cc | 4 +- tools/cabana/dbcmanager.cc | 18 ++++++++ tools/cabana/dbcmanager.h | 2 + tools/cabana/detailwidget.cc | 75 ++++++++++++++++++-------------- tools/cabana/detailwidget.h | 6 +-- tools/cabana/mainwin.cc | 6 +-- tools/cabana/signaledit.cc | 84 +++++++++++++----------------------- tools/cabana/signaledit.h | 23 ++++------ 9 files changed, 108 insertions(+), 116 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 785e5c4a05..915ec8bb8f 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -13,12 +13,6 @@ const int CELL_HEIGHT = 30; -static std::pair getSignalRange(const Signal *s) { - int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); - int to = from + s->size - 1; - return {from, to}; -} - BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { model = new BinaryViewModel(this); setModel(model); diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index defeacd75a..d88f34801b 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -54,9 +54,9 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal); if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) { ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val}); + if (ret.size() >= max_count) + return ret; } - if (ret.size() >= max_count) - return ret; } } } diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index fc40fc58e4..c3fbab0349 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -121,3 +121,21 @@ double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { double value = val * sig.factor + sig.offset; return value; } + +void updateSigSizeParamsFromRange(Signal &s, int from, int to) { + s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from); + s.size = to - from + 1; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } +} + +std::pair getSignalRange(const Signal *s) { + int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); + int to = from + s->size - 1; + return {from, to}; +} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 74d935119a..9e64c4ed53 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -47,5 +47,7 @@ private: double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); int bigEndianStartBitsIndex(int start_bit); int bigEndianBitIndex(int index); +void updateSigSizeParamsFromRange(Signal &s, int from, int to); +std::pair getSignalRange(const Signal *s); DBCManager *dbc(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 039a7c4e55..443b33b521 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -48,7 +48,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { warning_widget = new QWidget(this); QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); QLabel *warning_icon = new QLabel(this); - warning_icon->setPixmap(style()->standardIcon(QStyle::SP_MessageBoxWarning).pixmap({16, 16})); + warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning)); warning_hlayout->addWidget(warning_icon); warning_label = new QLabel(this); warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); @@ -78,7 +78,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::dbcMsgChanged); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); }); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { setMessage(messages[index]); }); QObject::connect(tabbar, &QTabBar::tabCloseRequested, [=](int index) { messages.removeAt(index); @@ -103,7 +103,7 @@ void DetailWidget::setMessage(const QString &message_id) { dbcMsgChanged(); } -void DetailWidget::dbcMsgChanged() { +void DetailWidget::dbcMsgChanged(int show_form_idx) { if (msg_id.isEmpty()) return; warning_widget->hide(); @@ -111,7 +111,7 @@ void DetailWidget::dbcMsgChanged() { QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { for (int i = 0; i < msg->sigs.size(); ++i) { - auto form = new SignalEdit(i, msg_id, msg->sigs[i]); + auto form = new SignalEdit(i, msg_id, &(msg->sigs[i])); signals_container->layout()->addWidget(form); QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]]() { emit showChart(msg_id, sig); }); QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); @@ -119,6 +119,9 @@ void DetailWidget::dbcMsgChanged() { QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); + if (i == show_form_idx) { + QTimer::singleShot(0, [=]() { emit form->showFormClicked(); }); + } } msg_name = msg->name.c_str(); if (msg->size != can->lastMessage(msg_id).dat.size()) { @@ -162,46 +165,54 @@ void DetailWidget::editMsg() { } } -void DetailWidget::addSignal(int start_bit, int to) { - if (dbc()->msg(msg_id)) { - AddSignalDialog dlg(msg_id, start_bit, to - start_bit + 1, this); - if (dlg.exec()) { - dbc()->addSignal(msg_id, dlg.form->getSignal()); - dbcMsgChanged(); +void DetailWidget::addSignal(int from, int to) { + if (auto msg = dbc()->msg(msg_id)) { + Signal sig = {}; + for (int i = 1; /**/; ++i) { + sig.name = "NEW_SIGNAL_" + std::to_string(i); + auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig.name == s.name; }); + if (it == msg->sigs.end()) break; } + sig.is_little_endian = false, + updateSigSizeParamsFromRange(sig, from, to); + dbc()->addSignal(msg_id, sig); + dbcMsgChanged(msg->sigs.size() - 1); } } void DetailWidget::resizeSignal(const Signal *sig, int from, int to) { - assert(sig != nullptr); Signal s = *sig; - s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from);; - s.size = to - from + 1; - if (s.is_little_endian) { - s.lsb = s.start_bit; - s.msb = s.start_bit + s.size - 1; - } else { - s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); - s.msb = s.start_bit; - } - dbc()->updateSignal(msg_id, s.name.c_str(), s); - dbcMsgChanged(); + updateSigSizeParamsFromRange(s, from, to); + saveSignal(sig, s); } -void DetailWidget::saveSignal() { - SignalEdit *sig_form = qobject_cast(QObject::sender()); - auto s = sig_form->form->getSignal(); - dbc()->updateSignal(msg_id, sig_form->sig_name, s); +void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) { + auto msg = dbc()->msg(msg_id); + if (new_sig.name != sig->name) { + auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return s.name == new_sig.name; }); + if (it != msg->sigs.end()) { + QString warning_str = tr("There is already a signal with the same name '%1'").arg(new_sig.name.c_str()); + QMessageBox::warning(this, tr("Failed to save signal"), warning_str); + return; + } + } + + auto [start, end] = getSignalRange(&new_sig); + if (start < 0 || end >= msg->size * 8) { + QString warning_str = tr("Signal size [%1] exceed limit").arg(new_sig.size); + QMessageBox::warning(this, tr("Failed to save signal"), warning_str); + return; + } + + dbc()->updateSignal(msg_id, sig->name.c_str(), new_sig); // update binary view and history log - binary_view->setMessage(msg_id); - history_log->setMessage(msg_id); + dbcMsgChanged(); } -void DetailWidget::removeSignal() { - SignalEdit *sig_form = qobject_cast(QObject::sender()); - QString text = tr("Are you sure you want to remove signal '%1'").arg(sig_form->sig_name); +void DetailWidget::removeSignal(const Signal *sig) { + QString text = tr("Are you sure you want to remove signal '%1'").arg(sig->name.c_str()); if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove signal"), text)) { - dbc()->removeSignal(msg_id, sig_form->sig_name); + dbc()->removeSignal(msg_id, sig->name.c_str()); dbcMsgChanged(); } } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 02bbb2a9e8..5924cdd43f 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -32,7 +32,7 @@ class DetailWidget : public QWidget { public: DetailWidget(QWidget *parent); void setMessage(const QString &message_id); - void dbcMsgChanged(); + void dbcMsgChanged(int show_form_idx = -1); signals: void showChart(const QString &msg_id, const Signal *sig); @@ -41,8 +41,8 @@ signals: private: void addSignal(int start_bit, int to); void resizeSignal(const Signal *sig, int from, int to); - void saveSignal(); - void removeSignal(); + void saveSignal(const Signal *sig, const Signal &new_sig); + void removeSignal(const Signal *sig); void editMsg(); void showForm(); void updateState(); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d0e171c86e..65e7bb1af8 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -14,9 +14,6 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const } MainWindow::MainWindow() : QWidget() { - main_win = this; - qInstallMessageHandler(qLogMessageHandler); - QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(11, 11, 11, 5); main_layout->setSpacing(0); @@ -88,6 +85,9 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); + + main_win = this; + qInstallMessageHandler(qLogMessageHandler); } void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) { diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index d5dccf0e6d..3926cda01f 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -11,7 +12,7 @@ // SignalForm -SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start_bit), QWidget(parent) { +SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { QFormLayout *form_layout = new QFormLayout(this); name = new QLineEdit(sig.name.c_str()); @@ -59,30 +60,9 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start form_layout->addRow(tr("Value descriptions"), val_desc); } -Signal SignalForm::getSignal() { - // TODO: Check if the size is valid, and no duplicate name - Signal sig = {}; - sig.start_bit = start_bit; - sig.name = name->text().toStdString(); - sig.size = size->text().toInt(); - sig.offset = offset->text().toDouble(); - sig.factor = factor->text().toDouble(); - sig.is_signed = sign->currentIndex() == 0; - sig.is_little_endian = endianness->currentIndex() == 0; - if (sig.is_little_endian) { - sig.lsb = sig.start_bit; - sig.msb = sig.start_bit + sig.size - 1; - } else { - sig.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(sig.start_bit) + sig.size - 1); - sig.msb = sig.start_bit; - } - return sig; -} - // SignalEdit -SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent) - : sig(&sig), form_idx(index), sig_name(sig.name.c_str()), QWidget(parent) { +SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent) : msg_id(msg_id), sig(sig), form_idx(index), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); @@ -93,7 +73,7 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid title_layout->addWidget(icon); title = new ElidedLabel(this); title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - title->setText(QString("%1. %2").arg(index + 1).arg(sig_name)); + title->setText(QString("%1. %2").arg(index + 1).arg(sig->name.c_str())); title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); title_layout->addWidget(title, 1); @@ -113,7 +93,7 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid // signal form form_container = new QWidget(this); QVBoxLayout *v_layout = new QVBoxLayout(form_container); - form = new SignalForm(sig, this); + form = new SignalForm(*sig, this); v_layout->addWidget(form); QHBoxLayout *h = new QHBoxLayout(); @@ -133,20 +113,34 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid hline->setFrameShadow(QFrame::Sunken); main_layout->addWidget(hline); - QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); + QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); }); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); - QObject::connect(save_btn, &QPushButton::clicked, [=]() { - QString new_name = form->getSignal().name.c_str(); - title->setText(QString("%1. %2").arg(index + 1).arg(new_name)); - emit save(); - sig_name = new_name; - }); - QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id, s = &sig]() { - SignalFindDlg dlg(msg_id, s, this); + QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal); + QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id]() { + SignalFindDlg dlg(msg_id, this->sig, this); dlg.exec(); }); } +void SignalEdit::saveSignal() { + Signal s = *sig; + s.name = form->name->text().toStdString(); + s.size = form->size->text().toInt(); + s.offset = form->offset->text().toDouble(); + s.factor = form->factor->text().toDouble(); + s.is_signed = form->sign->currentIndex() == 0; + s.is_little_endian = form->endianness->currentIndex() == 0; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } + title->setText(QString("%1. %2").arg(form_idx + 1).arg(form->name->text())); + emit save(this->sig, s); +} + void SignalEdit::setFormVisible(bool visible) { form_container->setVisible(visible); icon->setText(visible ? "▼" : ">"); @@ -167,27 +161,7 @@ void SignalEdit::leaveEvent(QEvent *event) { QWidget::leaveEvent(event); } -// AddSignalDialog - -AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Add signal to %1").arg(dbc()->msg(id)->name.c_str())); - QVBoxLayout *main_layout = new QVBoxLayout(this); - - Signal sig = { - .name = "untitled", - .start_bit = bigEndianBitIndex(start_bit), - .is_little_endian = false, - .size = size, - }; - form = new SignalForm(sig, this); - main_layout->addWidget(form); - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox); - setFixedWidth(parent->width() * 0.9); - - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); - connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); -} +// SignalFindDlg SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Find signal values")); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 1213b3ec51..472453d4b1 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -15,48 +15,41 @@ class SignalForm : public QWidget { public: SignalForm(const Signal &sig, QWidget *parent); - Signal getSignal(); QLineEdit *name, *unit, *comment, *val_desc; QSpinBox *size, *offset; QDoubleSpinBox *factor, *min_val, *max_val; QComboBox *sign, *endianness; - int start_bit = 0; }; class SignalEdit : public QWidget { Q_OBJECT public: - SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent = nullptr); + SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent = nullptr); void setFormVisible(bool show); void signalHovered(const Signal *sig); inline bool isFormVisible() const { return form_container->isVisible(); } - QString sig_name; - SignalForm *form; - int form_idx = 0; - const Signal *sig = nullptr; signals: void highlight(const Signal *sig); void showChart(); void showFormClicked(); - void remove(); - void save(); + void remove(const Signal *sig); + void save(const Signal *sig, const Signal &new_sig); protected: void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; + void saveSignal(); + SignalForm *form; ElidedLabel *title; QWidget *form_container; QLabel *icon; -}; - -class AddSignalDialog : public QDialog { -public: - AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent); - SignalForm *form; + int form_idx = 0; + QString msg_id; + const Signal *sig = nullptr; }; class SignalFindDlg : public QDialog { From 64f89beb0d8d594e10876b2df11cfdba42b8c2c1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:39:06 +0800 Subject: [PATCH 382/685] Cabana: delete all selected cells when shrinking signal (#26211) --- tools/cabana/binaryview.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 915ec8bb8f..ed5f243f08 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -86,7 +86,8 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) { if (auto sig = getResizingSignal()) { auto [sig_from, sig_to] = getSignalRange(sig); if (from >= sig_from && to <= sig_to) { // reduce size - emit(from == sig_from ? resizeSignal(sig, to, sig_to) : resizeSignal(sig, sig_from, from)); + emit(from == sig_from ? resizeSignal(sig, std::min(to + 1, sig_to), sig_to) + : resizeSignal(sig, sig_from, std::max(from - 1, sig_from))); } else { // increase size emit resizeSignal(sig, std::min(from, sig_from), std::max(to, sig_to)); } From 0844662f845130bb536d7c8cad093fffbdefd761 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:39:38 +0800 Subject: [PATCH 383/685] Cabana: use deque::resize() instead of pop_back in loop (#26209) use resize instead of pop_front in loop --- tools/cabana/canmessages.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index d88f34801b..d2141c3630 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -71,8 +71,8 @@ void CANMessages::process(QHash> *messages) { msgs = std::move(new_msgs); } else { msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end())); - while (msgs.size() >= settings.can_msg_log_size) { - msgs.pop_back(); + if (msgs.size() > settings.can_msg_log_size) { + msgs.resize(settings.can_msg_log_size); } } } From 062267f4696c304b6ed0824a3b1046fecdd07e04 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:57:32 +0800 Subject: [PATCH 384/685] replay: reduce test running time (#26160) --- tools/replay/tests/test_replay.cc | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 5b61b6b6f2..30e3c811ee 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -197,8 +197,8 @@ void TestReplay::test_seek() { stream_thread_ = new QThread(this); QEventLoop loop; std::thread thread = std::thread([&]() { - for (int i = 0; i < 50; ++i) { - testSeekTo(random_int(0, 3 * 60)); + for (int i = 0; i < 10; ++i) { + testSeekTo(random_int(0, 1 * 60)); } loop.quit(); }); @@ -207,8 +207,7 @@ void TestReplay::test_seek() { } TEST_CASE("Replay") { - auto flag = GENERATE(REPLAY_FLAG_NO_FILE_CACHE, REPLAY_FLAG_NONE); - TestReplay replay(DEMO_ROUTE, flag); + TestReplay replay(DEMO_ROUTE); REQUIRE(replay.load()); replay.test_seek(); } From 60b666fe3b24495b8a6c51dc016988049803bc2d Mon Sep 17 00:00:00 2001 From: Oxygen Date: Mon, 24 Oct 2022 06:25:50 +0800 Subject: [PATCH 385/685] Add #include in cabana (#26208) * Add #include * fix import order Co-authored-by: Cameron Clough --- tools/cabana/messageswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index c289f54fc4..9b831ad18c 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include #include From 20dced4edcbebfcf496800fb236f0d6f2be26665 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 06:28:25 +0800 Subject: [PATCH 386/685] Cabana: Added ability to highlight and resize overlapped signals (#26210) --- tools/cabana/binaryview.cc | 22 +++++++++++++--------- tools/cabana/binaryview.h | 3 ++- 2 files changed, 15 insertions(+), 10 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index ed5f243f08..5d191d2ca3 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -70,9 +70,10 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { void BinaryView::mouseMoveEvent(QMouseEvent *event) { if (auto index = indexAt(event->pos()); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); - highlight(item->sig); - item->sig ? QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect()) - : QToolTip::hideText(); + const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); + highlight(sig); + sig ? QToolTip::showText(event->globalPos(), sig->name.c_str(), this, rect()) + : QToolTip::hideText(); } QTableView::mouseMoveEvent(event); } @@ -119,11 +120,13 @@ void BinaryView::updateState() { const Signal *BinaryView::getResizingSignal() const { if (anchor_index.isValid()) { auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); - if (item && item->sig) { + if (item && item->sigs.size() > 0) { int archor_pos = anchor_index.row() * 8 + anchor_index.column(); - auto [sig_from, sig_to] = getSignalRange(item->sig); - if (archor_pos == sig_from || archor_pos == sig_to) - return item->sig; + for (auto s : item->sigs) { + auto [sig_from, sig_to] = getSignalRange(s); + if (archor_pos == sig_from || archor_pos == sig_to) + return s; + } } } return nullptr; @@ -157,7 +160,7 @@ void BinaryViewModel::setMessage(const QString &message_id) { sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; } items[idx].bg_color = getColor(i); - items[idx].sig = &dbc_msg->sigs[i]; + items[idx].sigs.push_back(&dbc_msg->sigs[i]); } } } @@ -235,7 +238,8 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op BinaryView *bin_view = (BinaryView *)parent(); painter->save(); - bool hover = item->sig && bin_view->hoveredSignal() == item->sig; + bool hover = std::find_if(item->sigs.begin(), item->sigs.end(), [=](auto s) { return s == bin_view->hoveredSignal(); }) != + item->sigs.end(); // background QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color; if (option.state & QStyle::State_Selected) { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 8c1a582014..e57033b797 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -38,7 +39,7 @@ public: bool is_msb = false; bool is_lsb = false; QString val = "0"; - const Signal *sig = nullptr; + QList sigs; }; private: From 1be5cecfa256c16ae8ec9f71bbcd1a57220bf282 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 23 Oct 2022 15:49:32 -0700 Subject: [PATCH 387/685] add poetry-dotenv-plugin (#26216) --- update_requirements.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/update_requirements.sh b/update_requirements.sh index 0967e2dc6c..8511a0a4d6 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -60,6 +60,7 @@ if [ -d "./xx" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ]; then RUN="" else echo "PYTHONPATH=${PWD}" > .env + poetry self add poetry-dotenv-plugin@^0.1.0 RUN="poetry run" fi From c00afb51be233cb507f18021cf5a44eea32e237e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 24 Oct 2022 10:58:00 -0700 Subject: [PATCH 388/685] Multilang: remove locations (#26223) remove locations from langs not in UI --- selfdrive/ui/translations/main_ar.ts | 391 +++++++-------------------- selfdrive/ui/translations/main_nl.ts | 391 +++++++-------------------- selfdrive/ui/translations/main_pl.ts | 391 +++++++-------------------- selfdrive/ui/translations/main_th.ts | 391 +++++++-------------------- 4 files changed, 408 insertions(+), 1156 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index a94d2fbc05..3c47e6e8e8 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -4,17 +4,14 @@ AbstractAlert - Close أغلق - Snooze Update تأخير التحديث - Reboot and Update إعادة التشغيل والتحديث @@ -22,67 +19,84 @@ AdvancedNetworking - Back خلف - Enable Tethering تمكين الربط - Tethering Password كلمة مرور للربط - - EDIT تعديل - Enter new tethering password أدخل كلمة مرور جديدة للربط - IP Address عنوان IP - Enable Roaming تمكين التجوال - APN Setting إعداد APN - Enter APN أدخل APN - leave blank for automatic configuration اتركه فارغا للتكوين التلقائي + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + الأعلى + + + SPEED + سرعة + + + LIMIT + حد + ConfirmationDialog - - Ok موافق - Cancel إلغاء @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. يجب عليك قبول الشروط والأحكام من أجل استخدام openpilot. - Back خلف - Decline, uninstall %1 رفض ، قم بإلغاء تثبيت %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID معرف دونجل - N/A غير متاح - Serial التسلسلي - Driver Camera كاميرا السائق - PREVIEW لمح - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة معطلة) - Reset Calibration إعادة ضبط المعايرة - RESET إعادة تعيين - Are you sure you want to reset calibration? هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟ - Review Training Guide مراجعة دليل التدريب - REVIEW مراجعة - Review the rules, features, and limitations of openpilot راجع القواعد والميزات والقيود الخاصة بـ openpilot - Are you sure you want to review the training guide? هل أنت متأكد أنك تريد مراجعة دليل التدريب؟ - Regulatory تنظيمية - VIEW عرض - Change Language تغيير اللغة - CHANGE تغيير - Select a language اختر لغة - Reboot اعادة التشغيل - Power Off أطفاء - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. يتطلب openpilot أن يتم تركيب الجهاز في حدود 4 درجات يسارًا أو يمينًا و 5 درجات لأعلى أو 8 درجات لأسفل. يقوم برنامج openpilot بالمعايرة بشكل مستمر ، ونادراً ما تكون إعادة الضبط مطلوبة. - Your device is pointed %1° %2 and %3° %4. جهازك يشير %1° %2 و %3° %4. - down لأسفل - up إلى أعلى - left إلى اليسار - right إلى اليمين - Are you sure you want to reboot? هل أنت متأكد أنك تريد إعادة التشغيل؟ - Disengage to Reboot فك الارتباط لإعادة التشغيل - Are you sure you want to power off? هل أنت متأكد أنك تريد إيقاف التشغيل؟ - Disengage to Power Off فك الارتباط لإيقاف التشغيل @@ -261,32 +242,26 @@ DriveStats - Drives أرقام القيادة - Hours ساعات - ALL TIME في كل وقت - PAST WEEK الأسبوع الماضي - KM كم - Miles اميال @@ -294,7 +269,6 @@ DriverViewScene - camera starting بدء تشغيل الكاميرا @@ -302,12 +276,10 @@ InputDialog - Cancel إلغاء - Need at least %n character(s)! تحتاج على الأقل %n حرف! @@ -322,22 +294,18 @@ Installer - Installing... جارٍ التثبيت ... - Receiving objects: استقبال الكائنات: - Resolving deltas: حل دلتا: - Updating files: جارٍ تحديث الملفات: @@ -345,27 +313,22 @@ MapETA - eta eta - min دق - hr سع - km كم - mi مل @@ -373,22 +336,18 @@ MapInstructions - km كم - m م - mi مل - ft قد @@ -396,48 +355,40 @@ MapPanel - Current Destination الوجهة الحالية - CLEAR مسح - Recent Destinations الوجهات الأخيرة - Try the Navigation Beta جرب التنقل التجريبي - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai احصل على الاتجاهات خطوة بخطوة معروضة والمزيد باستخدام comma الاشتراك الرئيسي. اشترك الآن: https://connect.comma.ai - No home location set لم يتم تعيين موقع المنزل - No work location set لم يتم تعيين موقع العمل - no recent destinations لا توجد وجهات حديثة @@ -445,12 +396,10 @@ location set MapWindow - Map Loading تحميل الخريطة - Waiting for GPS في انتظار GPS @@ -458,12 +407,10 @@ location set MultiOptionDialog - Select اختر - Cancel إلغاء @@ -471,72 +418,33 @@ location set Networking - Advanced متقدم - Enter password أدخل كلمة المرور - - for "%1" ل "%1" - Wrong password كلمة مرور خاطئة - - AnnotatedCameraWidget - - - km/h - km/h - - - - mph - mph - - - - - MAX - الأعلى - - - - - SPEED - سرعة - - - - - LIMIT - حد - - OffroadHome - UPDATE تحديث - ALERTS تنبيهات - ALERT تنبيه @@ -544,22 +452,18 @@ location set PairingPopup - Pair your device to your comma account قم بإقران جهازك بحساب comma الخاص بك - Go to https://connect.comma.ai on your phone اذهب إلى https://connect.comma.ai من هاتفك - Click "add new device" and scan the QR code on the right انقر على "إضافة جهاز جديد" وامسح رمز الاستجابة السريعة على اليمين - Bookmark connect.comma.ai to your home screen to use it like an app ضع إشارة مرجعية على connect.comma.ai على شاشتك الرئيسية لاستخدامه مثل أي تطبيق @@ -567,32 +471,26 @@ location set PrimeAdWidget - Upgrade Now قم بالترقية الآن - Become a comma prime member at connect.comma.ai كن عضوًا comme prime في connect.comma.ai - PRIME FEATURES: ميزات PRIME: - Remote access الوصول عن بعد - 1 year of storage سنة واحدة من التخزين - Developer perks امتيازات المطور @@ -600,22 +498,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ مشترك - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA POINTS @@ -623,27 +517,22 @@ location set QObject - Reboot اعادة التشغيل - Exit أغلق - dashcam dashcam - openpilot openpilot - %n minute(s) ago منذ %n دقيقة @@ -655,7 +544,6 @@ location set - %n hour(s) ago منذ %n ساعة @@ -667,7 +555,6 @@ location set - %n day(s) ago منذ %n يوم @@ -682,47 +569,38 @@ location set Reset - Reset failed. Reboot to try again. فشل إعادة التعيين. أعد التشغيل للمحاولة مرة أخرى. - Are you sure you want to reset your device? هل أنت متأكد أنك تريد إعادة ضبط جهازك؟ - Resetting device... جارٍ إعادة ضبط الجهاز ... - System Reset إعادة تعيين النظام - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. تم تشغيل إعادة تعيين النظام. اضغط على تأكيد لمسح كل المحتوى والإعدادات. اضغط على إلغاء لاستئناف التمهيد. - Cancel إلغاء - Reboot اعادة التشغيل - Confirm تأكيد - Unable to mount data partition. Press confirm to reset your device. تعذر تحميل قسم البيانات. اضغط على تأكيد لإعادة ضبط جهازك. @@ -730,7 +608,6 @@ location set RichTextDialog - Ok موافق @@ -738,33 +615,26 @@ location set SettingsWindow - × x - Device جهاز - - Network شبكة الاتصال - Toggles التبديل - Software برمجة - Navigation ملاحة @@ -772,105 +642,82 @@ location set Setup - WARNING: Low Voltage تحذير: الجهد المنخفض - Power your device in a car with a harness or proceed at your own risk. قم بتشغيل جهازك في سيارة باستخدام أداة تثبيت أو المضي قدمًا على مسؤوليتك الخاصة. - Power off اطفئ الجهاز - - - Continue أكمل - Getting Started ابدء - Before we get on the road, let’s finish installation and cover some details. قبل أن ننطلق على الطريق ، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل. - Connect to Wi-Fi اتصل بشبكة Wi-Fi - - Back خلف - Continue without Wi-Fi استمر بدون Wi-Fi - Waiting for internet في انتظار الاتصال بالإنترنت - Choose Software to Install اختر البرنامج المراد تثبيته - Dashcam Dashcam - Custom Software برامج مخصصة - Enter URL إدخال عنوان الموقع - for Custom Software للبرامج المخصصة - Downloading... جارى التحميل... - Download Failed فشل التنزيل - Ensure the entered URL is valid, and the device’s internet connection is good. تأكد من أن عنوان موقع الويب الذي تم إدخاله صالح ، وأن اتصال الجهاز بالإنترنت جيد. - Reboot device إعادة تشغيل الجهاز - Start over ابدأ من جديد @@ -878,17 +725,14 @@ location set SetupWidget - Finish Setup إنهاء الإعداد - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. قم بإقران جهازك بفاصلة connect (connect.comma.ai) واطلب عرض comma prime الخاص بك. - Pair device إقران الجهاز @@ -896,106 +740,82 @@ location set Sidebar - - CONNECT الاتصال - OFFLINE غير متصل - - ONLINE متصل - ERROR خطأ - - - TEMP درجة الحرارة - HIGH عالي - GOOD جيد - OK موافق - VEHICLE مركبة - NO لا - PANDA PANDA - GPS GPS - SEARCH بحث - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -1003,138 +823,141 @@ location set SoftwarePanel - Git Branch - Git Branch + Git Branch - Git Commit - Git Commit + Git Commit - OS Version - إصدار نظام التشغيل + إصدار نظام التشغيل - Version - إصدار + إصدار - Last Update Check - التحقق من آخر تحديث + التحقق من آخر تحديث - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة. + آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة. - Check for Update - فحص التحديثات + فحص التحديثات - CHECKING - تدقيق + تدقيق - Switch Branch - تبديل الفرع + تبديل الفرع - ENTER - أدخل + أدخل - - The new branch will be pulled the next time the updater runs. - سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث. + سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث. - Enter branch name - أدخل اسم الفرع + أدخل اسم الفرع - UNINSTALL الغاء التثبيت - Uninstall %1 الغاء التثبيت %1 - Are you sure you want to uninstall? هل أنت متأكد أنك تريد إلغاء التثبيت؟ - failed to fetch update - فشل في جلب التحديث + فشل في جلب التحديث - - CHECK تأكد الان + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys SSH Keys - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. تحذير: هذا يمنح SSH الوصول إلى جميع المفاتيح العامة في إعدادات GitHub. لا تدخل أبدًا اسم مستخدم GitHub بخلاف اسم المستخدم الخاص بك. لن يطلب منك موظف comma أبدًا إضافة اسم مستخدم GitHub الخاص به. - - ADD أضف - Enter your GitHub username أدخل اسم مستخدم GitHub الخاص بك - LOADING جار التحميل - REMOVE نزع - Username '%1' has no keys on GitHub لا يحتوي اسم المستخدم '%1' على مفاتيح على GitHub - Request timed out انتهت مهلة الطلب - Username '%1' doesn't exist on GitHub اسم المستخدم '%1' غير موجود على GitHub @@ -1142,7 +965,6 @@ location set SshToggle - Enable SSH تفعيل SSH @@ -1150,22 +972,18 @@ location set TermsPage - Terms & Conditions البنود و الظروف - Decline انحدار - Scroll to accept قم بالتمرير للقبول - Agree موافق @@ -1173,125 +991,125 @@ location set TogglesPanel - Enable openpilot تمكين openpilot - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. استخدم نظام الطيار المفتوح للتحكم التكيفي في ثبات السرعة والحفاظ على مساعدة السائق. انتباهك مطلوب في جميع الأوقات لاستخدام هذه الميزة. يسري تغيير هذا الإعداد عند إيقاف تشغيل السيارة. - Enable Lane Departure Warnings قم بتمكين تحذيرات مغادرة حارة السير - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). تلقي تنبيهات للتوجه مرة أخرى إلى الحارة عندما تنجرف سيارتك فوق خط المسار المكتشف دون تنشيط إشارة الانعطاف أثناء القيادة لمسافة تزيد عن 31 ميلاً في الساعة (50 كم / ساعة). - Use Metric System استخدم النظام المتري - Display speed in km/h instead of mph. عرض السرعة بالكيلو متر في الساعة بدلاً من ميل في الساعة. - Record and Upload Driver Camera تسجيل وتحميل كاميرا السائق - Upload data from the driver facing camera and help improve the driver monitoring algorithm. قم بتحميل البيانات من الكاميرا المواجهة للسائق وساعد في تحسين خوارزمية مراقبة السائق. - Disengage On Accelerator Pedal فك الارتباط على دواسة التسريع - When enabled, pressing the accelerator pedal will disengage openpilot. عند التمكين ، سيؤدي الضغط على دواسة الوقود إلى فصل الطيار المفتوح. - Show ETA in 24h Format إظهار الوقت المقدر للوصول بتنسيق 24 ساعة - Use 24h format instead of am/pm استخدم تنسيق 24 ساعة بدلاً من صباحًا / مساءً - Show Map on Left Side of UI إظهار الخريطة على الجانب الأيسر من واجهة المستخدم - Show map on left side when in split screen view. إظهار الخريطة على الجانب الأيسر عندما تكون في طريقة عرض الشاشة المنقسمة. - openpilot Longitudinal Control - openpilot التحكم الطولي + openpilot التحكم الطولي - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB! + سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required مطلوب التحديث - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. مطلوب تحديث نظام التشغيل. قم بتوصيل جهازك بشبكة Wi-Fi للحصول على أسرع تجربة تحديث. حجم التنزيل 1 غيغابايت تقريبًا. - Connect to Wi-Fi اتصل بشبكة Wi-Fi - Install ثبيت - Back خلف - Loading... جار التحميل... - Reboot اعادة التشغيل - Update failed فشل التحديث @@ -1299,23 +1117,18 @@ location set WifiUI - - Scanning for networks... جارٍ البحث عن شبكات ... - CONNECTING... جارٍ الاتصال ... - FORGET نزع - Forget Wi-Fi Network "%1"? نزع شبكة اWi-Fi "%1"? diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts index 21bb66d356..24d2031f31 100644 --- a/selfdrive/ui/translations/main_nl.ts +++ b/selfdrive/ui/translations/main_nl.ts @@ -4,17 +4,14 @@ AbstractAlert - Close Sluit - Snooze Update Update uitstellen - Reboot and Update Opnieuw Opstarten en Updaten @@ -22,67 +19,84 @@ AdvancedNetworking - Back Terug - Enable Tethering Tethering Inschakelen - Tethering Password Tethering Wachtwoord - - EDIT AANPASSEN - Enter new tethering password Voer nieuw tethering wachtwoord in - IP Address IP Adres - Enable Roaming Roaming Inschakelen - APN Setting APN Instelling - Enter APN Voer APN in - leave blank for automatic configuration laat leeg voor automatische configuratie + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + km/u + + + mph + mph + + + MAX + MAX + + + SPEED + SPEED + + + LIMIT + LIMIT + ConfirmationDialog - - Ok Ok - Cancel Annuleren @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. U moet de Algemene Voorwaarden accepteren om openpilot te gebruiken. - Back Terug - Decline, uninstall %1 Afwijzen, verwijder %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID Dongle ID - N/A Nvt - Serial Serienummer - Driver Camera Bestuurders Camera - PREVIEW BEKIJKEN - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) Bekijk de naar de bestuurder gerichte camera om ervoor te zorgen dat het monitoren van de bestuurder goed zicht heeft. (Voertuig moet uitgschakeld zijn) - Reset Calibration Kalibratie Resetten - RESET RESET - Are you sure you want to reset calibration? Weet u zeker dat u de kalibratie wilt resetten? - Review Training Guide Doorloop de Training Opnieuw - REVIEW BEKIJKEN - Review the rules, features, and limitations of openpilot Bekijk de regels, functies en beperkingen van openpilot - Are you sure you want to review the training guide? Weet u zeker dat u de training opnieuw wilt doorlopen? - Regulatory Regelgeving - VIEW BEKIJKEN - Change Language Taal Wijzigen - CHANGE WIJZIGEN - Select a language Selecteer een taal - Reboot Opnieuw Opstarten - Power Off Uitschakelen - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot vereist dat het apparaat binnen 4° links of rechts en binnen 5° omhoog of 8° omlaag wordt gemonteerd. openpilot kalibreert continu, resetten is zelden nodig. - Your device is pointed %1° %2 and %3° %4. Uw apparaat is gericht op %1° %2 en %3° %4. - down omlaag - up omhoog - left links - right rechts - Are you sure you want to reboot? Weet u zeker dat u opnieuw wilt opstarten? - Disengage to Reboot Deactiveer openpilot om opnieuw op te starten - Are you sure you want to power off? Weet u zeker dat u wilt uitschakelen? - Disengage to Power Off Deactiveer openpilot om uit te schakelen @@ -261,32 +242,26 @@ DriveStats - Drives Ritten - Hours Uren - ALL TIME TOTAAL - PAST WEEK AFGELOPEN WEEK - KM Km - Miles Mijl @@ -294,7 +269,6 @@ DriverViewScene - camera starting Camera wordt gestart @@ -302,12 +276,10 @@ InputDialog - Cancel Annuleren - Need at least %n character(s)! Heeft minstens %n karakter nodig! @@ -318,22 +290,18 @@ Installer - Installing... Installeren... - Receiving objects: Objecten ontvangen: - Resolving deltas: Deltas verwerken: - Updating files: Bestanden bijwerken: @@ -341,27 +309,22 @@ MapETA - eta eta - min min - hr uur - km km - mi mi @@ -369,22 +332,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -392,48 +351,40 @@ MapPanel - Current Destination Huidige Bestemming - CLEAR LEEGMAKEN - Recent Destinations Recente Bestemmingen - Try the Navigation Beta Probeer de Navigatie Bèta - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai Krijg stapsgewijze routebeschrijving en meer met een comma prime abonnement. Meld u nu aan: https://connect.comma.ai - No home location set Geen thuislocatie ingesteld - No work location set Geen werklocatie ingesteld - no recent destinations geen recente bestemmingen @@ -441,12 +392,10 @@ ingesteld MapWindow - Map Loading Kaart wordt geladen - Waiting for GPS Wachten op GPS @@ -454,12 +403,10 @@ ingesteld MultiOptionDialog - Select Selecteer - Cancel Annuleren @@ -467,72 +414,33 @@ ingesteld Networking - Advanced Geavanceerd - Enter password Voer wachtwoord in - - for "%1" voor "%1" - Wrong password Verkeerd wachtwoord - - AnnotatedCameraWidget - - - km/h - km/u - - - - mph - mph - - - - - MAX - MAX - - - - - SPEED - SPEED - - - - - LIMIT - LIMIT - - OffroadHome - UPDATE UPDATE - ALERTS WAARSCHUWINGEN - ALERT WAARSCHUWING @@ -540,22 +448,18 @@ ingesteld PairingPopup - Pair your device to your comma account Koppel uw apparaat aan uw comma-account - Go to https://connect.comma.ai on your phone Ga naar https://connect.comma.ai op uw telefoon - Click "add new device" and scan the QR code on the right Klik op "add new device" en scan de QR-code aan de rechterkant - Bookmark connect.comma.ai to your home screen to use it like an app Voeg connect.comma.ai toe op uw startscherm om het als een app te gebruiken @@ -563,32 +467,26 @@ ingesteld PrimeAdWidget - Upgrade Now Upgrade nu - Become a comma prime member at connect.comma.ai Word een comma prime lid op connect.comma.ai - PRIME FEATURES: PRIME BEVAT: - Remote access Toegang op afstand - 1 year of storage 1 jaar lang opslag - Developer perks Voordelen voor ontwikkelaars @@ -596,22 +494,18 @@ ingesteld PrimeUserWidget - ✓ SUBSCRIBED ✓ GEABONNEERD - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA PUNTEN @@ -619,27 +513,22 @@ ingesteld QObject - Reboot Opnieuw Opstarten - Exit Afsluiten - dashcam dashcam - openpilot openpilot - %n minute(s) ago %n minuut geleden @@ -647,7 +536,6 @@ ingesteld - %n hour(s) ago %n uur geleden @@ -655,7 +543,6 @@ ingesteld - %n day(s) ago %n dag geleden @@ -666,47 +553,38 @@ ingesteld Reset - Reset failed. Reboot to try again. Opnieuw instellen mislukt. Start opnieuw op om opnieuw te proberen. - Are you sure you want to reset your device? Weet u zeker dat u uw apparaat opnieuw wilt instellen? - Resetting device... Apparaat opnieuw instellen... - System Reset Systeemreset - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. Systeemreset geactiveerd. Druk op bevestigen om alle inhoud en instellingen te wissen. Druk op Annuleren om het opstarten te hervatten. - Cancel Annuleren - Reboot Opnieuw Opstarten - Confirm Bevestigen - Unable to mount data partition. Press confirm to reset your device. Kan gegevenspartitie niet koppelen. Druk op bevestigen om uw apparaat te resetten. @@ -714,7 +592,6 @@ ingesteld RichTextDialog - Ok Ok @@ -722,33 +599,26 @@ ingesteld SettingsWindow - × × - Device Apparaat - - Network Netwerk - Toggles Opties - Software Software - Navigation Navigatie @@ -756,105 +626,82 @@ ingesteld Setup - WARNING: Low Voltage WAARCHUWING: Lage Spanning - Power your device in a car with a harness or proceed at your own risk. Voorzie uw apparaat van stroom in een auto met een harnas (car harness) of ga op eigen risico verder. - Power off Uitschakelen - - - Continue Doorgaan - Getting Started Aan de slag - Before we get on the road, let’s finish installation and cover some details. Laten we, voordat we op pad gaan, de installatie afronden en enkele details bespreken. - Connect to Wi-Fi Maak verbinding met Wi-Fi - - Back Terug - Continue without Wi-Fi Doorgaan zonder Wi-Fi - Waiting for internet Wachten op internet - Choose Software to Install Kies Software om te Installeren - Dashcam Dashcam - Custom Software Andere Software - Enter URL Voer URL in - for Custom Software voor Andere Software - Downloading... Downloaden... - Download Failed Downloaden Mislukt - Ensure the entered URL is valid, and the device’s internet connection is good. Zorg ervoor dat de ingevoerde URL geldig is en dat de internetverbinding van het apparaat goed is. - Reboot device Apparaat opnieuw opstarten - Start over Begin opnieuw @@ -862,17 +709,14 @@ ingesteld SetupWidget - Finish Setup Installatie voltooien - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Koppel uw apparaat met comma connect (connect.comma.ai) en claim uw comma prime-aanbieding. - Pair device Apparaat koppelen @@ -880,106 +724,82 @@ ingesteld Sidebar - - CONNECT VERBINDING - OFFLINE OFFLINE - - ONLINE ONLINE - ERROR FOUT - - - TEMP TEMP - HIGH HOOG - GOOD GOED - OK OK - VEHICLE VOERTUIG - NO GEEN - PANDA PANDA - GPS GPS - SEARCH ZOEKEN - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE 4G - 5G 5G @@ -987,138 +807,141 @@ ingesteld SoftwarePanel - Git Branch - Git Branch + Git Branch - Git Commit - Git Commit + Git Commit - OS Version - OS Versie + OS Versie - Version - Versie + Versie - Last Update Check - Laatste Updatecontrole + Laatste Updatecontrole - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - De laatste keer dat openpilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld. + De laatste keer dat openpilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld. - Check for Update - Controleer op Updates + Controleer op Updates - CHECKING - CONTROLEER + CONTROLEER - Switch Branch - Branch Verwisselen + Branch Verwisselen - ENTER - INVOEREN + INVOEREN - - The new branch will be pulled the next time the updater runs. - Tijdens de volgende update wordt de nieuwe branch opgehaald. + Tijdens de volgende update wordt de nieuwe branch opgehaald. - Enter branch name - Voer branch naam in + Voer branch naam in - Uninstall %1 Verwijder %1 - UNINSTALL VERWIJDER - Are you sure you want to uninstall? Weet u zeker dat u de installatie ongedaan wilt maken? - failed to fetch update - ophalen van update mislukt + ophalen van update mislukt - - CHECK CONTROLEER + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys SSH Sleutels - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. Waarschuwing: dit geeft SSH toegang tot alle openbare sleutels in uw GitHub-instellingen. Voer nooit een andere GitHub-gebruikersnaam in dan die van uzelf. Een medewerker van comma zal u NOOIT vragen om zijn GitHub-gebruikersnaam toe te voegen. - - ADD TOEVOEGEN - Enter your GitHub username Voer uw GitHub gebruikersnaam in - LOADING LADEN - REMOVE VERWIJDEREN - Username '%1' has no keys on GitHub Gebruikersnaam '%1' heeft geen SSH sleutels op GitHub - Request timed out Time-out van aanvraag - Username '%1' doesn't exist on GitHub Gebruikersnaam '%1' bestaat niet op GitHub @@ -1126,7 +949,6 @@ ingesteld SshToggle - Enable SSH SSH Inschakelen @@ -1134,22 +956,18 @@ ingesteld TermsPage - Terms & Conditions Algemene Voorwaarden - Decline Afwijzen - Scroll to accept Scroll om te accepteren - Agree Akkoord @@ -1157,125 +975,125 @@ ingesteld TogglesPanel - Enable openpilot openpilot Inschakelen - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. Gebruik het openpilot-systeem voor adaptieve cruisecontrol en rijstrookassistentie. Uw aandacht is te allen tijde vereist om deze functie te gebruiken. Het wijzigen van deze instelling wordt van kracht wanneer de auto wordt uitgeschakeld. - Enable Lane Departure Warnings Waarschuwingen bij Verlaten Rijstrook Inschakelen - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). Ontvang waarschuwingen om terug naar de rijstrook te sturen wanneer uw voertuig over een gedetecteerde rijstrookstreep drijft zonder dat de richtingaanwijzer wordt geactiveerd terwijl u harder rijdt dan 50 km/u (31 mph). - Use Metric System Gebruik Metrisch Systeem - Display speed in km/h instead of mph. Geef snelheid weer in km/u in plaats van mph. - Record and Upload Driver Camera Opnemen en Uploaden van de Bestuurders Camera - Upload data from the driver facing camera and help improve the driver monitoring algorithm. Upload gegevens van de bestuurders camera en help het algoritme voor het monitoren van de bestuurder te verbeteren. - Disengage On Accelerator Pedal Deactiveren Met Gaspedaal - When enabled, pressing the accelerator pedal will disengage openpilot. Indien ingeschakeld, zal het indrukken van het gaspedaal openpilot deactiveren. - Show ETA in 24h Format Toon verwachte aankomsttijd in 24-uurs formaat - Use 24h format instead of am/pm Gebruik 24-uurs formaat in plaats van AM en PM - Show Map on Left Side of UI Toon kaart aan linkerkant van het scherm - Show map on left side when in split screen view. Toon kaart links in gesplitste schermweergave. - openpilot Longitudinal Control - openpilot Longitudinale Controle + openpilot Longitudinale Controle - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld! + openpilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required Update Vereist - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. Een update van het besturingssysteem is vereist. Verbind je apparaat met Wi-Fi voor de snelste update-ervaring. De downloadgrootte is ongeveer 1 GB. - Connect to Wi-Fi Maak verbinding met Wi-Fi - Install Installeer - Back Terug - Loading... Aan het laden... - Reboot Opnieuw Opstarten - Update failed Update mislukt @@ -1283,23 +1101,18 @@ ingesteld WifiUI - - Scanning for networks... Scannen naar netwerken... - CONNECTING... VERBINDEN... - FORGET VERGETEN - Forget Wi-Fi Network "%1"? Vergeet Wi-Fi Netwerk "%1"? diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts index 92902d04a9..bdce181375 100644 --- a/selfdrive/ui/translations/main_pl.ts +++ b/selfdrive/ui/translations/main_pl.ts @@ -4,17 +4,14 @@ AbstractAlert - Close Zamknij - Snooze Update Zaktualizuj później - Reboot and Update Uruchom ponownie i zaktualizuj @@ -22,67 +19,84 @@ AdvancedNetworking - Back Wróć - Enable Tethering Włącz hotspot osobisty - Tethering Password Hasło do hotspotu - - EDIT EDYTUJ - Enter new tethering password Wprowadź nowe hasło do hotspotu - IP Address Adres IP - Enable Roaming Włącz roaming danych - APN Setting Ustawienia APN - Enter APN Wprowadź APN - leave blank for automatic configuration Pozostaw puste, aby użyć domyślnej konfiguracji + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + MAX + + + SPEED + PRĘDKOŚĆ + + + LIMIT + OGRANICZENIE + ConfirmationDialog - - Ok Ok - Cancel Anuluj @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. Aby korzystać z openpilota musisz zaakceptować regulamin. - Back Wróć - Decline, uninstall %1 Odrzuć, odinstaluj %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID ID adaptera - N/A N/A - Serial Numer seryjny - Driver Camera Kamera kierowcy - PREVIEW PODGLĄD - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) Wyświetl podgląd z kamery skierowanej na kierowcę, aby upewnić się, że monitoring kierowcy ma dobry zakres widzenia. (pojazd musi być wyłączony) - Reset Calibration Zresetuj kalibrację - RESET ZRESETUJ - Are you sure you want to reset calibration? Czy na pewno chcesz zresetować kalibrację? - Review Training Guide Zapoznaj się z samouczkiem - REVIEW ZAPOZNAJ SIĘ - Review the rules, features, and limitations of openpilot Zapoznaj się z zasadami, funkcjami i ograniczeniami openpilota - Are you sure you want to review the training guide? Czy na pewno chcesz się zapoznać z samouczkiem? - Regulatory Regulacja - VIEW WIDOK - Change Language Zmień język - CHANGE ZMIEŃ - Select a language Wybierz język - Reboot Uruchom ponownie - Power Off Wyłącz - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot wymaga, aby urządzenie było zamontowane z maksymalnym odchyłem 4° poziomo, 5° w górę oraz 8° w dół. openpilot jest ciągle kalibrowany, rzadko konieczne jest resetowania urządzenia. - Your device is pointed %1° %2 and %3° %4. Twoje urządzenie jest skierowane %1° %2 oraz %3° %4. - down w dół - up w górę - left w lewo - right w prawo - Are you sure you want to reboot? Czy na pewno chcesz uruchomić ponownie urządzenie? - Disengage to Reboot Aby uruchomić ponownie, odłącz sterowanie - Are you sure you want to power off? Czy na pewno chcesz wyłączyć urządzenie? - Disengage to Power Off Aby wyłączyć urządzenie, odłącz sterowanie @@ -261,32 +242,26 @@ DriveStats - Drives Przejazdy - Hours Godziny - ALL TIME CAŁKOWICIE - PAST WEEK OSTATNI TYDZIEŃ - KM KM - Miles Mile @@ -294,7 +269,6 @@ DriverViewScene - camera starting uruchamianie kamery @@ -302,12 +276,10 @@ InputDialog - Cancel Anuluj - Need at least %n character(s)! Wpisana wartość powinna składać się przynajmniej z %n znaku! @@ -319,22 +291,18 @@ Installer - Installing... Instalowanie... - Receiving objects: Odbieranie obiektów: - Resolving deltas: Rozwiązywanie różnic: - Updating files: Aktualizacja plików: @@ -342,27 +310,22 @@ MapETA - eta przewidywany czas - min min - hr godz - km km - mi mi @@ -370,22 +333,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -393,48 +352,40 @@ MapPanel - Current Destination Miejsce docelowe - CLEAR WYCZYŚĆ - Recent Destinations Ostatnie miejsca docelowe - Try the Navigation Beta Wypróbuj nawigację w wersji beta - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai Odblokuj nawigację zakręt po zakęcie i wiele więcej subskrybując comma prime. Zarejestruj się teraz: https://connect.comma.ai - No home location set Lokalizacja domu nie została ustawiona - No work location set Miejsce pracy nie zostało ustawione - no recent destinations brak ostatnich miejsc docelowych @@ -442,12 +393,10 @@ nie zostało ustawione MapWindow - Map Loading Ładowanie Mapy - Waiting for GPS Oczekiwanie na sygnał GPS @@ -455,12 +404,10 @@ nie zostało ustawione MultiOptionDialog - Select Wybierz - Cancel Anuluj @@ -468,72 +415,33 @@ nie zostało ustawione Networking - Advanced Zaawansowane - Enter password Wprowadź hasło - - for "%1" do "%1" - Wrong password Niepoprawne hasło - - AnnotatedCameraWidget - - - km/h - km/h - - - - mph - mph - - - - - MAX - MAX - - - - - SPEED - PRĘDKOŚĆ - - - - - LIMIT - OGRANICZENIE - - OffroadHome - UPDATE UAKTUALNIJ - ALERTS ALERTY - ALERT ALERT @@ -541,22 +449,18 @@ nie zostało ustawione PairingPopup - Pair your device to your comma account Sparuj swoje urzadzenie ze swoim kontem comma - Go to https://connect.comma.ai on your phone Wejdź na stronę https://connect.comma.ai na swoim telefonie - Click "add new device" and scan the QR code on the right Kliknij "add new device" i zeskanuj kod QR znajdujący się po prawej stronie - Bookmark connect.comma.ai to your home screen to use it like an app Dodaj connect.comma.ai do zakładek na swoim ekranie początkowym, aby korzystać z niej jak z aplikacji @@ -564,32 +468,26 @@ nie zostało ustawione PrimeAdWidget - Upgrade Now Uaktualnij teraz - Become a comma prime member at connect.comma.ai Zostań członkiem comma prime na connect.comma.ai - PRIME FEATURES: FUNKCJE PRIME: - Remote access Zdalny dostęp - 1 year of storage 1 rok przechowywania danych - Developer perks Udogodnienia dla programistów @@ -597,22 +495,18 @@ nie zostało ustawione PrimeUserWidget - ✓ SUBSCRIBED ✓ ZASUBSKRYBOWANO - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA POINTS @@ -620,27 +514,22 @@ nie zostało ustawione QObject - Reboot Uruchom Ponownie - Exit Wyjdź - dashcam wideorejestrator - openpilot openpilot - %n minute(s) ago %n minutę temu @@ -649,7 +538,6 @@ nie zostało ustawione - %n hour(s) ago % godzinę temu @@ -658,7 +546,6 @@ nie zostało ustawione - %n day(s) ago %n dzień temu @@ -670,47 +557,38 @@ nie zostało ustawione Reset - Reset failed. Reboot to try again. Wymazywanie zakończone niepowodzeniem. Aby spróbować ponownie, uruchom ponownie urządzenie. - Are you sure you want to reset your device? Czy na pewno chcesz wymazać urządzenie? - Resetting device... Wymazywanie urządzenia... - System Reset Przywróć do ustawień fabrycznych - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. Przywracanie do ustawień fabrycznych. Wciśnij potwierdź, aby usunąć wszystkie dane oraz ustawienia. Wciśnij anuluj, aby wznowić uruchamianie. - Cancel Anuluj - Reboot Uruchom ponownie - Confirm Potwiedź - Unable to mount data partition. Press confirm to reset your device. Partycja nie została zamontowana poprawnie. Wciśnij potwierdź, aby uruchomić ponownie urządzenie. @@ -718,7 +596,6 @@ nie zostało ustawione RichTextDialog - Ok Ok @@ -726,33 +603,26 @@ nie zostało ustawione SettingsWindow - × x - Device Urządzenie - - Network Sieć - Toggles Przełączniki - Software Oprogramowanie - Navigation Nawigacja @@ -760,105 +630,82 @@ nie zostało ustawione Setup - WARNING: Low Voltage OSTRZEŻENIE: Niskie Napięcie - Power your device in a car with a harness or proceed at your own risk. Podłącz swoje urządzenie do zasilania poprzez podłączenienie go do pojazdu lub kontynuuj na własną odpowiedzialność. - Power off Wyłącz - - - Continue Kontynuuj - Getting Started Zacznij - Before we get on the road, let’s finish installation and cover some details. Zanim ruszysz w drogę, dokończ instalację i podaj kilka szczegółów. - Connect to Wi-Fi Połącz z Wi-Fi - - Back Wróć - Continue without Wi-Fi Kontynuuj bez połączenia z Wif-Fi - Waiting for internet Oczekiwanie na połączenie sieciowe - Choose Software to Install Wybierz oprogramowanie do instalacji - Dashcam Wideorejestrator - Custom Software Własne oprogramowanie - Enter URL Wprowadź adres URL - for Custom Software do własnego oprogramowania - Downloading... Pobieranie... - Download Failed Pobieranie nie powiodło się - Ensure the entered URL is valid, and the device’s internet connection is good. Upewnij się, że wpisany adres URL jest poprawny, a połączenie internetowe działa poprawnie. - Reboot device Uruchom ponownie - Start over Zacznij od początku @@ -866,17 +713,14 @@ nie zostało ustawione SetupWidget - Finish Setup Zakończ konfigurację - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Sparuj swoje urządzenie z comma connect (connect.comma.ai) i wybierz swoją ofertę comma prime. - Pair device Sparuj urządzenie @@ -884,106 +728,82 @@ nie zostało ustawione Sidebar - - CONNECT POŁĄCZENIE - OFFLINE OFFLINE - - ONLINE ONLINE - ERROR BŁĄD - - - TEMP TEMP - HIGH WYSOKA - GOOD DOBRA - OK OK - VEHICLE POJAZD - NO BRAK - PANDA PANDA - GPS GPS - SEARCH SZUKAJ - -- -- - Wi-Fi Wi-FI - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -991,138 +811,141 @@ nie zostało ustawione SoftwarePanel - Git Branch - Gałąź Git + Gałąź Git - Git Commit - Git commit + Git commit - OS Version - Wersja systemu + Wersja systemu - Version - Wersja + Wersja - Last Update Check - Ostatnie sprawdzenie aktualizacji + Ostatnie sprawdzenie aktualizacji - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - Ostatni raz kiedy openpilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony. + Ostatni raz kiedy openpilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony. - Check for Update - Sprawdź uaktualnienia + Sprawdź uaktualnienia - CHECKING - SPRAWDZANIE + SPRAWDZANIE - Switch Branch - Zmień gąłąź + Zmień gąłąź - ENTER - WPROWADŹ + WPROWADŹ - - The new branch will be pulled the next time the updater runs. - Nowa gałąź będzie pobrana przy następnym uruchomieniu aktualizatora. + Nowa gałąź będzie pobrana przy następnym uruchomieniu aktualizatora. - Enter branch name - Wprowadź nazwę gałęzi + Wprowadź nazwę gałęzi - Uninstall %1 Odinstaluj %1 - UNINSTALL ODINSTALUJ - Are you sure you want to uninstall? Czy na pewno chcesz odinstalować? - failed to fetch update - pobieranie aktualizacji zakończone niepowodzeniem + pobieranie aktualizacji zakończone niepowodzeniem - - CHECK SPRAWDŹ + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys Klucze SSH - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. Ostrzeżenie: To spowoduje przekazanie dostępu do wszystkich Twoich publicznych kuczy z ustawień GitHuba. Nigdy nie wprowadzaj nazwy użytkownika innej niż swoja. Pracownik comma NIGDY nie poprosi o dodanie swojej nazwy uzytkownika. - - ADD DODAJ - Enter your GitHub username Wpisz swoją nazwę użytkownika GitHub - LOADING ŁADOWANIE - REMOVE USUŃ - Username '%1' has no keys on GitHub Użytkownik '%1' nie posiada żadnych kluczy na GitHubie - Request timed out Limit czasu rządania - Username '%1' doesn't exist on GitHub Użytkownik '%1' nie istnieje na GitHubie @@ -1130,7 +953,6 @@ nie zostało ustawione SshToggle - Enable SSH Włącz SSH @@ -1138,22 +960,18 @@ nie zostało ustawione TermsPage - Terms & Conditions Regulamin - Decline Odrzuć - Scroll to accept Przewiń w dół, aby zaakceptować - Agree Zaakceptuj @@ -1161,125 +979,125 @@ nie zostało ustawione TogglesPanel - Enable openpilot Włącz openpilota - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. Użyj openpilota do zachowania bezpiecznego odstępu między pojazdami i do asystowania w utrzymywaniu pasa ruchu. Twoja pełna uwaga jest wymagana przez cały czas korzystania z tej funkcji. Ustawienie to może być wdrożone wyłącznie wtedy, gdy pojazd jest wyłączony. - Enable Lane Departure Warnings Włącz ostrzeganie przed zmianą pasa ruchu - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). Otrzymuj alerty o powrocie na właściwy pas, kiedy Twój pojazd przekroczy linię bez włączonego kierunkowskazu jadąc powyżej 50 km/h (31 mph). - Use Metric System Korzystaj z systemu metrycznego - Display speed in km/h instead of mph. Wyświetl prędkość w km/h zamiast mph. - Record and Upload Driver Camera Nagraj i prześlij nagranie z kamery kierowcy - Upload data from the driver facing camera and help improve the driver monitoring algorithm. Prześlij dane z kamery skierowanej na kierowcę i pomóż poprawiać algorytm monitorowania kierowcy. - Disengage On Accelerator Pedal Odłącz poprzez naciśnięcie gazu - When enabled, pressing the accelerator pedal will disengage openpilot. Po włączeniu, naciśnięcie na pedał gazu odłączy openpilota. - Show ETA in 24h Format Pokaż oczekiwany czas dojazdu w formacie 24-godzinnym - Use 24h format instead of am/pm Korzystaj z formatu 24-godzinnego zamiast 12-godzinnego - Show Map on Left Side of UI Pokaż mapę po lewej stronie ekranu - Show map on left side when in split screen view. Pokaż mapę po lewej stronie kiedy ekran jest podzielony. - openpilot Longitudinal Control - Kontrola wzdłużna openpilota + Kontrola wzdłużna openpilota - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB! + openpilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required Wymagana Aktualizacja - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. Wymagana aktualizacja systemu operacyjnego. Aby przyspieszyć proces aktualizacji połącz swoje urzeądzenie do Wi-Fi. Rozmiar pobieranej paczki wynosi około 1GB. - Connect to Wi-Fi Połącz się z Wi-Fi - Install Zainstaluj - Back Wróć - Loading... Ładowanie... - Reboot Uruchom ponownie - Update failed Aktualizacja nie powiodła się @@ -1287,23 +1105,18 @@ nie zostało ustawione WifiUI - - Scanning for networks... Wyszukiwanie sieci... - CONNECTING... ŁĄCZENIE... - FORGET ZAPOMNIJ - Forget Wi-Fi Network "%1"? Czy chcesz zapomnieć sieć "%1"? diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index d502c3fce1..5a8bf861df 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -4,17 +4,14 @@ AbstractAlert - Close ปิด - Snooze Update เลื่อนการอัปเดต - Reboot and Update รีบูตและอัปเดต @@ -22,67 +19,84 @@ AdvancedNetworking - Back ย้อนกลับ - Enable Tethering ปล่อยฮอตสปอต - Tethering Password รหัสผ่านฮอตสปอต - - EDIT แก้ไข - Enter new tethering password ป้อนรหัสผ่านฮอตสปอตใหม่ - IP Address หมายเลขไอพี - Enable Roaming เปิดใช้งานโรมมิ่ง - APN Setting ตั้งค่า APN - Enter APN ป้อนค่า APN - leave blank for automatic configuration เว้นว่างเพื่อตั้งค่าอัตโนมัติ + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + กม./ชม. + + + mph + ไมล์/ชม. + + + MAX + สูงสุด + + + SPEED + ความเร็ว + + + LIMIT + จำกัด + ConfirmationDialog - - Ok ตกลง - Cancel ยกเลิก @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. คุณต้องยอมรับเงื่อนไขและข้อตกลง เพื่อใช้งาน openpilot - Back ย้อนกลับ - Decline, uninstall %1 ปฏิเสธ และถอนการติดตั้ง %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID Dongle ID - N/A ไม่มี - Serial ซีเรียล - Driver Camera กล้องฝั่งคนขับ - PREVIEW แสดงภาพ - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) ดูภาพตัวอย่างกล้องที่หันเข้าหาคนขับเพื่อให้แน่ใจว่าการตรวจสอบคนขับมีทัศนวิสัยที่ดี (รถต้องดับเครื่องยนต์) - Reset Calibration รีเซ็ตการคาลิเบรท - RESET รีเซ็ต - Are you sure you want to reset calibration? คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตการคาลิเบรท? - Review Training Guide ทบทวนคู่มือการใช้งาน - REVIEW ทบทวน - Review the rules, features, and limitations of openpilot ตรวจสอบกฎ คุณสมบัติ และข้อจำกัดของ openpilot - Are you sure you want to review the training guide? คุณแน่ใจหรือไม่ว่าต้องการทบทวนคู่มือการใช้งาน? - Regulatory ระเบียบข้อบังคับ - VIEW ดู - Change Language เปลี่ยนภาษา - CHANGE เปลี่ยน - Select a language เลือกภาษา - Reboot รีบูต - Power Off ปิดเครื่อง - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 8° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท - Your device is pointed %1° %2 and %3° %4. อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3° - down ด้านล่าง - up ด้านบน - left ด้านซ้าย - right ด้านขวา - Are you sure you want to reboot? คุณแน่ใจหรือไม่ว่าต้องการรีบูต? - Disengage to Reboot ยกเลิกระบบช่วยขับเพื่อรีบูต - Are you sure you want to power off? คุณแน่ใจหรือไม่ว่าต้องการปิดเครื่อง? - Disengage to Power Off ยกเลิกระบบช่วยขับเพื่อปิดเครื่อง @@ -261,32 +242,26 @@ DriveStats - Drives การขับขี่ - Hours ชั่วโมง - ALL TIME ทั้งหมด - PAST WEEK สัปดาห์ที่ผ่านมา - KM กิโลเมตร - Miles ไมล์ @@ -294,7 +269,6 @@ DriverViewScene - camera starting กำลังเปิดกล้อง @@ -302,12 +276,10 @@ InputDialog - Cancel ยกเลิก - Need at least %n character(s)! ต้องการอย่างน้อย %n ตัวอักษร! @@ -317,22 +289,18 @@ Installer - Installing... กำลังติดตั้ง... - Receiving objects: กำลังรับข้อมูล: - Resolving deltas: การแก้ไขเดลต้า: - Updating files: กำลังอัปเดตไฟล์: @@ -340,27 +308,22 @@ MapETA - eta eta - min นาที - hr ชม. - km กม. - mi ไมล์ @@ -368,22 +331,18 @@ MapInstructions - km กม. - m ม. - mi ไมล์ - ft ฟุต @@ -391,48 +350,40 @@ MapPanel - Current Destination ปลายทางปัจจุบัน - CLEAR ล้างข้อมูล - Recent Destinations ปลายทางล่าสุด - Try the Navigation Beta ลองใช้ระบบนำทาง (เบต้า) - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai รับการแสดงเส้นทางแบบเลี้ยวต่อเลี้ยว และอื่นๆ ด้วยการสมัครบริการ comma prime สมัครเลย: https://connect.comma.ai - No home location set ยังไม่ได้กำหนด ตำแหน่งของบ้าน - No work location set ยังไม่ได้กำหนด ตำแหน่งของที่ทำงาน - no recent destinations ไม่พบปลายทางล่าสุด @@ -440,12 +391,10 @@ location set MapWindow - Map Loading กำลังโหลดแผนที่ - Waiting for GPS กำลังรอสัญญาณ GPS @@ -453,12 +402,10 @@ location set MultiOptionDialog - Select เลือก - Cancel ยกเลิก @@ -466,72 +413,33 @@ location set Networking - Advanced ขั้นสูง - Enter password ใส่รหัสผ่าน - - for "%1" สำหรับ "%1" - Wrong password รหัสผ่านผิด - - AnnotatedCameraWidget - - - km/h - กม./ชม. - - - - mph - ไมล์/ชม. - - - - - MAX - สูงสุด - - - - - SPEED - ความเร็ว - - - - - LIMIT - จำกัด - - OffroadHome - UPDATE อัปเดต - ALERTS การแจ้งเตือน - ALERT การแจ้งเตือน @@ -539,22 +447,18 @@ location set PairingPopup - Pair your device to your comma account จับคู่อุปกรณ์ของคุณกับบัญชี comma ของคุณ - Go to https://connect.comma.ai on your phone ไปที่ https://connect.comma.ai ด้วยโทรศัพท์ของคุณ - Click "add new device" and scan the QR code on the right กดที่ "add new device" และสแกนคิวอาร์โค้ดทางด้านขวา - Bookmark connect.comma.ai to your home screen to use it like an app จดจำ connect.comma.ai โดยการเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็นแอปพลิเคชัน @@ -562,32 +466,26 @@ location set PrimeAdWidget - Upgrade Now อัพเกรดเดี๋ยวนี้ - Become a comma prime member at connect.comma.ai สมัครสมาชิก comma prime ได้ที่ connect.comma.ai - PRIME FEATURES: คุณสมบัติของ PRIME: - Remote access การเข้าถึงระยะไกล - 1 year of storage จัดเก็บข้อมูลนาน 1 ปี - Developer perks สิทธิพิเศษสำหรับนักพัฒนา @@ -595,22 +493,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ สมัครสำเร็จ - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS คะแนน COMMA @@ -618,41 +512,34 @@ location set QObject - Reboot รีบูต - Exit ปิด - dashcam กล้องติดรถยนต์ - openpilot openpilot - %n minute(s) ago %n นาทีที่แล้ว - %n hour(s) ago %n ชั่วโมงที่แล้ว - %n day(s) ago %n วันที่แล้ว @@ -662,47 +549,38 @@ location set Reset - Reset failed. Reboot to try again. การรีเซ็ตล้มเหลว รีบูตเพื่อลองอีกครั้ง - Are you sure you want to reset your device? คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์? - Resetting device... กำลังรีเซ็ตอุปกรณ์... - System Reset รีเซ็ตระบบ - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ - Cancel ยกเลิก - Reboot รีบูต - Confirm ยืนยัน - Unable to mount data partition. Press confirm to reset your device. ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ @@ -710,7 +588,6 @@ location set RichTextDialog - Ok ตกลง @@ -718,33 +595,26 @@ location set SettingsWindow - × × - Device อุปกรณ์ - - Network เครือข่าย - Toggles ตัวเลือก - Software ซอฟต์แวร์ - Navigation การนำทาง @@ -752,105 +622,82 @@ location set Setup - WARNING: Low Voltage คำเตือน: แรงดันแบตเตอรี่ต่ำ - Power your device in a car with a harness or proceed at your own risk. โปรดต่ออุปกรณ์ของคุณเข้ากับสายควบคุมในรถยนต์ หรือดำเนินการด้วยความเสี่ยงของคุณเอง - Power off ปิดเครื่อง - - - Continue ดำเนินการต่อ - Getting Started เริ่มกันเลย - Before we get on the road, let’s finish installation and cover some details. ก่อนออกเดินทาง เรามาทำการติดตั้งซอฟต์แวร์ และตรวจสอบการตั้งค่า - Connect to Wi-Fi เชื่อมต่อ Wi-Fi - - Back ย้อนกลับ - Continue without Wi-Fi ดำเนินการต่อโดยไม่ใช้ Wi-Fi - Waiting for internet กำลังรอสัญญาณอินเตอร์เน็ต - Choose Software to Install เลือกซอฟต์แวร์ที่จะติดตั้ง - Dashcam กล้องติดรถยนต์ - Custom Software ซอฟต์แวร์ที่กำหนดเอง - Enter URL ป้อน URL - for Custom Software สำหรับซอฟต์แวร์ที่กำหนดเอง - Downloading... กำลังดาวน์โหลด... - Download Failed ดาวน์โหลดล้มเหลว - Ensure the entered URL is valid, and the device’s internet connection is good. ตรวจสอบให้แน่ใจว่า URL ที่ป้อนนั้นถูกต้อง และอุปกรณ์เชื่อมต่ออินเทอร์เน็ตอยู่ - Reboot device รีบูตอุปกรณ์ - Start over เริ่มต้นใหม่ @@ -858,17 +705,14 @@ location set SetupWidget - Finish Setup ตั้งค่าเสร็จสิ้น - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ - Pair device จับคู่อุปกรณ์ @@ -876,106 +720,82 @@ location set Sidebar - - CONNECT เชื่อมต่อ - OFFLINE ออฟไลน์ - - ONLINE ออนไลน์ - ERROR เกิดข้อผิดพลาด - - - TEMP อุณหภูมิ - HIGH สูง - GOOD ดี - OK พอใช้ - VEHICLE รถยนต์ - NO ไม่พบ - PANDA PANDA - GPS จีพีเอส - SEARCH ค้นหา - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -983,138 +803,141 @@ location set SoftwarePanel - Git Branch - Git Branch + Git Branch - Git Commit - Git Commit + Git Commit - OS Version - เวอร์ชันระบบปฏิบัติการ + เวอร์ชันระบบปฏิบัติการ - Version - เวอร์ชั่น + เวอร์ชั่น - Last Update Check - ตรวจสอบการอัปเดตล่าสุด + ตรวจสอบการอัปเดตล่าสุด - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น + ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น - Check for Update - ตรวจสอบการอัปเดต + ตรวจสอบการอัปเดต - CHECKING - กำลังตรวจสอบ + กำลังตรวจสอบ - Switch Branch - เปลี่ยน Branch + เปลี่ยน Branch - ENTER - เปลี่ยน + เปลี่ยน - - The new branch will be pulled the next time the updater runs. - Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน + Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน - Enter branch name - ใส่ชื่อ Branch + ใส่ชื่อ Branch - Uninstall %1 ถอนการติดตั้ง %1 - UNINSTALL ถอนการติดตั้ง - Are you sure you want to uninstall? คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง? - failed to fetch update - โหลดข้อมูลอัปเดตไม่สำเร็จ + โหลดข้อมูลอัปเดตไม่สำเร็จ - - CHECK ตรวจสอบ + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys คีย์ SSH - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. คำเตือน: สิ่งนี้ให้สิทธิ์ SSH เข้าถึงคีย์สาธารณะทั้งหมดใน GitHub ของคุณ อย่าป้อนชื่อผู้ใช้ GitHub อื่นนอกเหนือจากของคุณเอง พนักงาน comma จะไม่ขอให้คุณเพิ่มชื่อผู้ใช้ GitHub ของพวกเขา - - ADD เพิ่ม - Enter your GitHub username ป้อนชื่อผู้ใช้ GitHub ของคุณ - LOADING กำลังโหลด - REMOVE ลบ - Username '%1' has no keys on GitHub ชื่อผู้ใช้ '%1' ไม่มีคีย์บน GitHub - Request timed out ตรวจสอบไม่สำเร็จ เนื่องจากใช้เวลามากเกินไป - Username '%1' doesn't exist on GitHub ไม่พบชื่อผู้ใช้ '%1' บน GitHub @@ -1122,7 +945,6 @@ location set SshToggle - Enable SSH เปิดใช้งาน SSH @@ -1130,22 +952,18 @@ location set TermsPage - Terms & Conditions ข้อตกลงและเงื่อนไข - Decline ปฏิเสธ - Scroll to accept เลื่อนเพื่อตอบรับข้อตกลง - Agree ยอมรับ @@ -1153,125 +971,125 @@ location set TogglesPanel - Enable openpilot เปิดใช้งาน openpilot - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. ใช้ระบบ openpilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์ - Enable Lane Departure Warnings เปิดใช้งานการเตือนการออกนอกเลน - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). รับการแจ้งเตือนให้เลี้ยวกลับเข้าเลนเมื่อรถของคุณตรวจพบการข้ามช่องจราจรโดยไม่เปิดสัญญาณไฟเลี้ยวในขณะขับขี่ที่ความเร็วเกิน 31 ไมล์ต่อชั่วโมง (50 กม./ชม) - Use Metric System ใช้ระบบเมตริก - Display speed in km/h instead of mph. แสดงความเร็วเป็น กม./ชม. แทน ไมล์/ชั่วโมง - Record and Upload Driver Camera บันทึกและอัปโหลดภาพจากกล้องคนขับ - Upload data from the driver facing camera and help improve the driver monitoring algorithm. อัปโหลดข้อมูลจากกล้องที่หันหน้าไปทางคนขับ และช่วยปรับปรุงอัลกอริธึมการตรวจสอบผู้ขับขี่ - Disengage On Accelerator Pedal ยกเลิกระบบช่วยขับเมื่อเหยียบคันเร่ง - When enabled, pressing the accelerator pedal will disengage openpilot. เมื่อเปิดใช้งาน การกดแป้นคันเร่งจะเป็นการยกเลิกระบบช่วยขับโดย openpilot - Show ETA in 24h Format แสดงเวลา ETA ในรูปแบบ 24 ชั่วโมง - Use 24h format instead of am/pm ใช้รูปแบบเวลา 24 ชั่วโมง แทน am/pm - Show Map on Left Side of UI แสดงแผนที่ที่ด้านซ้ายของหน้าจอ - Show map on left side when in split screen view. แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ - openpilot Longitudinal Control - openpilot การควบคุมการเร่งและลดความเร็ว + openpilot การควบคุมการเร่งและลดความเร็ว - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB! + openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required จำเป็นต้องอัปเดต - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. จำเป็นต้องมีการอัปเดตระบบปฏิบัติการ เชื่อมต่ออุปกรณ์ของคุณกับ Wi-Fi เพื่อประสบการณ์การอัปเดตที่เร็วที่สุด ขนาดดาวน์โหลดประมาณ 1GB - Connect to Wi-Fi เชื่อมต่อกับ Wi-Fi - Install ติดตั้ง - Back ย้อนกลับ - Loading... กำลังโหลด... - Reboot รีบูต - Update failed การอัปเดตล้มเหลว @@ -1279,23 +1097,18 @@ location set WifiUI - - Scanning for networks... กำลังสแกนหาเครือข่าย... - CONNECTING... กำลังเชื่อมต่อ... - FORGET เลิกใช้ - Forget Wi-Fi Network "%1"? เลิกใช้เครือข่าย Wi-Fi "%1"? From 686506f4003964e230550e100d6a841c2ff5d3ac Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 25 Oct 2022 02:46:07 +0800 Subject: [PATCH 389/685] cabana: stable FPS (#26120) * stable FPS * fix --- tools/cabana/canmessages.cc | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index d2141c3630..1b46bd9da7 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -87,7 +87,7 @@ void CANMessages::process(QHash> *messages) { } bool CANMessages::eventFilter(const Event *event) { - static double prev_update_sec = 0; + static double prev_update_ts = 0; // drop packets when the GUI thread is calling seekTo. to make sure the current_sec is accurate. if (!seeking && event->which == cereal::Event::Which::CAN) { if (!received_msgs) { @@ -121,8 +121,9 @@ bool CANMessages::eventFilter(const Event *event) { } } - if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / settings.fps) { - prev_update_sec = current_sec; + double ts = millis_since_boot(); + if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { + prev_update_ts = ts; // use pointer to avoid data copy in queued connection. emit received(received_msgs.release()); } From 87e0a5dd1a0f58ce119d652808df8888e85ced2a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 25 Oct 2022 02:46:40 +0800 Subject: [PATCH 390/685] Cabana: display overlapping bits warning (#26219) display overlapping bits warning --- tools/cabana/binaryview.cc | 14 ++++++++++++++ tools/cabana/binaryview.h | 2 ++ tools/cabana/detailwidget.cc | 21 ++++++++++++++++----- 3 files changed, 32 insertions(+), 5 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 5d191d2ca3..26fecd8c38 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -132,6 +132,20 @@ const Signal *BinaryView::getResizingSignal() const { return nullptr; } +QSet BinaryView::getOverlappingSignals() const { + QSet overlapping; + for (int i = 0; i < model->rowCount(); ++i) { + for (int j = 0; j < model->columnCount() - 1; ++j) { + auto item = (const BinaryViewModel::Item *)model->index(i, j).internalPointer(); + if (item && item->sigs.size() > 1) { + for (auto s : item->sigs) + overlapping.insert(s); + } + } + } + return overlapping; +} + // BinaryViewModel void BinaryViewModel::setMessage(const QString &message_id) { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index e57033b797..0f58e9ed20 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -59,6 +60,7 @@ public: void updateState(); void highlight(const Signal *sig); const Signal *hoveredSignal() const { return hovered_sig; } + QSet getOverlappingSignals() const; signals: void signalHovered(const Signal *sig); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 443b33b521..7290e4e6ff 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -49,7 +49,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); QLabel *warning_icon = new QLabel(this); warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning)); - warning_hlayout->addWidget(warning_icon); + warning_hlayout->addWidget(warning_icon, 0, Qt::AlignTop); warning_label = new QLabel(this); warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); warning_widget->hide(); @@ -107,6 +107,8 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { if (msg_id.isEmpty()) return; warning_widget->hide(); + QStringList warnings; + clearLayout(signals_container->layout()); QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { @@ -124,16 +126,25 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { } } msg_name = msg->name.c_str(); - if (msg->size != can->lastMessage(msg_id).dat.size()) { - warning_label->setText(tr("Message size (%1) is incorrect!").arg(msg->size)); - warning_widget->show(); - } + if (msg->size != can->lastMessage(msg_id).dat.size()) + warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } edit_btn->setVisible(true); name_label->setText(msg_name); binary_view->setMessage(msg_id); history_log->setMessage(msg_id); + + // Check overlapping bits + if (auto overlapping = binary_view->getOverlappingSignals(); !overlapping.isEmpty()) { + for (auto s : overlapping) + warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); + } + + if (!warnings.isEmpty()) { + warning_label->setText(warnings.join('\n')); + warning_widget->show(); + } } void DetailWidget::updateState() { From 3df83a7809d60cb25122881aadbcbe050374d7c7 Mon Sep 17 00:00:00 2001 From: d3v1n11 <115375208+d3v1n11@users.noreply.github.com> Date: Mon, 24 Oct 2022 14:57:13 -0500 Subject: [PATCH 391/685] Hyundai: add 2020 Palisade FW versions (#26085) * Update values.py * Remove unknown versions Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1eed03923c..96c4201773 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -791,6 +791,7 @@ FW_VERSIONS = { }, CAR.PALISADE: { (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', @@ -804,6 +805,7 @@ FW_VERSIONS = { b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350', b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', @@ -818,6 +820,7 @@ FW_VERSIONS = { ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', @@ -834,6 +837,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', From 92b458c70990572dfefcf29e78c04bac822be56e Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Mon, 24 Oct 2022 21:40:01 -0400 Subject: [PATCH 392/685] HKG: Add FW and Remove from dashcamOnly for 2019 Elantra GT i30 (#25951) * HKG: Add FW for 2019 Elantra GT i30 * Add test route * remove can fp * revert that * actually shares the same platform with the ceed * marketed as Elantra i30 * stash * Revert "stash" This reverts commit 03b164c9dbad53ff22a961d7a93848b8c91d1722. * add car infos * gen docs * combine with elantra * legacy again * update docs Co-authored-by: Adeeb Shihadeh Co-authored-by: Shane Smiskol --- docs/CARS.md | 4 ++- selfdrive/car/hyundai/interface.py | 4 +-- selfdrive/car/hyundai/values.py | 42 +++++++++++++---------- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/torque_data/substitute.yaml | 1 - 5 files changed, 30 insertions(+), 23 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a03da5ca6a..13ac13fe66 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 209 Supported Cars +# 211 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -55,8 +55,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| +|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| |Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index b1fa8d9e1d..114d124a38 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} + ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } if candidate in CANFD_CAR: # detect HDA2 with ADAS Driving ECU @@ -75,7 +75,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.6 * 1.15 tire_stiffness_factor = 0.63 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): + elif candidate == CAR.ELANTRA: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 96c4201773..29d0cb3dce 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -34,7 +34,7 @@ class CarControllerParams: # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. - elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, + elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV, CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO): self.STEER_MAX = 255 @@ -54,7 +54,6 @@ class CAR: ELANTRA = "HYUNDAI ELANTRA 2017" ELANTRA_2021 = "HYUNDAI ELANTRA 2021" ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021" - ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT" HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016" IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019" IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022" @@ -108,13 +107,13 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { - CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), - CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_GT_I30: [ + CAR.ELANTRA: [ + HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e), HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e), ], + CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness @@ -199,15 +198,6 @@ FINGERPRINTS = { CAR.ELANTRA: [{ 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], - CAR.ELANTRA_GT_I30: [{ - 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1193: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1952: 8, 1960: 8, 1988: 8, 2000: 8, 2001: 8, 2005: 8, 2008: 8, 2009: 8, 2013: 8, 2017: 8, 2025: 8 - }, - { - 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8 - }, - { - 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1960: 8, 1990: 8, 1998: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], CAR.HYUNDAI_GENESIS: [{ 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 }, @@ -1214,6 +1204,23 @@ FW_VERSIONS = { b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', ], }, + CAR.ELANTRA: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', + ], + }, CAR.ELANTRA_2021: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', @@ -1394,12 +1401,12 @@ CHECKSUM = { FEATURES = { # which message has the gear - "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, + "use_cluster_gears": {CAR.ELANTRA, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 - "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, + "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, } CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN} @@ -1419,7 +1426,6 @@ DBC = { CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 8c4efe3061..326d80b822 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -23,7 +23,6 @@ non_tested_cars = [ GM.MALIBU, GM.EQUINOX, GM.BOLT_EV, - HYUNDAI.ELANTRA_GT_I30, HYUNDAI.GENESIS_G90, HYUNDAI.KIA_OPTIMA_H, ] @@ -119,6 +118,7 @@ routes = [ CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), + CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA), # 2019 Elantra GT CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021), CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index f5e3d1d61d..acd7526003 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -26,7 +26,6 @@ KIA SELTOS 2021: HYUNDAI SONATA 2020 KIA NIRO HYBRID 2019: KIA NIRO EV 2020 KIA NIRO HYBRID 2021: KIA NIRO EV 2020 HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 -HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019 HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 From e9fcef99e1edace1d4950c9ac58de0b535926709 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 24 Oct 2022 19:08:20 -0700 Subject: [PATCH 393/685] FPv2 tests: test all addrs map to one ECU (#26151) * add test * fix mapping --- selfdrive/car/honda/values.py | 10 +++++----- selfdrive/car/tests/test_fw_fingerprint.py | 11 +++++++++++ 2 files changed, 16 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 638008934a..e0810e0bbb 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -446,7 +446,7 @@ FW_VERSIONS = { b'78109-TED-Q510\x00\x00', b'78109-TEG-A310\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TBA-A020\x00\x00', b'36161-TBA-A030\x00\x00', b'36161-TBA-A040\x00\x00', @@ -964,7 +964,7 @@ FW_VERSIONS = { b'77959-THR-A110\x00\x00', b'77959-THR-X010\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-THR-A020\x00\x00', b'36161-THR-A030\x00\x00', b'36161-THR-A110\x00\x00', @@ -1068,7 +1068,7 @@ FW_VERSIONS = { b'39990-TG7-A070\x00\x00', b'39990-TGS-A230\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TG7-A310\x00\x00', b'36161-TG7-A520\x00\x00', b'36161-TG7-A630\x00\x00', @@ -1176,7 +1176,7 @@ FW_VERSIONS = { b'57114-TX5-A220\x00\x00', b'57114-TX4-A220\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TX5-A030\x00\x00', b'36161-TX4-A030\x00\x00', ], @@ -1273,7 +1273,7 @@ FW_VERSIONS = { b'39990-T6Z-A030\x00\x00', b'39990-T6Z-A050\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-T6Z-A020\x00\x00', b'36161-T6Z-A310\x00\x00', b'36161-T6Z-A420\x00\x00', diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index b9926301f1..2e43103852 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import random import unittest +from collections import defaultdict from parameterized import parameterized from cereal import car @@ -44,6 +45,16 @@ class TestFwFingerprint(unittest.TestCase): duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") + def test_all_addrs_map_to_one_ecu(self): + for brand, cars in VERSIONS.items(): + addr_to_ecu = defaultdict(set) + for ecus in cars.values(): + for ecu_type, addr, sub_addr in ecus.keys(): + addr_to_ecu[(addr, sub_addr)].add(ecu_type) + ecus_for_addr = addr_to_ecu[(addr, sub_addr)] + ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr]) + self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})") + def test_data_collection_ecus(self): # Asserts no extra ECUs are in the fingerprinting database for brand, config in FW_QUERY_CONFIGS.items(): From a22ce68699ef4d6714a2921f19ed7d793ea619a5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 24 Oct 2022 19:37:18 -0700 Subject: [PATCH 394/685] jenkins: disable camerad while new box is built --- Jenkinsfile | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index b9b9eda667..85b4880463 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -137,6 +137,7 @@ pipeline { } } + /* stage('camerad') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { @@ -147,6 +148,7 @@ pipeline { ]) } } + */ stage('replay') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } From 506a150e735e72b5af53d800260a65a821b95949 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 24 Oct 2022 19:37:52 -0700 Subject: [PATCH 395/685] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 38133307b2..1d25fc3f20 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 38133307b2e6036e76684b39878e79212e545e06 +Subproject commit 1d25fc3f202d5ddeee97848480323e9b14f9bdfa From 15595fc8599f0ddf1e72ed02422e9f6d266db1f6 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 24 Oct 2022 20:17:05 -0700 Subject: [PATCH 396/685] Calibrationd: Calibrate wide from device (#26204) * Use calibrator to stabilize wide transform * Need array * Needs init * Needs to be arr * publish mshg * Check size * Update ref * fix calibration param read when no wide calib * need self! --- selfdrive/locationd/calibrationd.py | 34 +++++++++++++++++++++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 31 insertions(+), 5 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 9e6536f9b5..4e996bc3b9 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -31,6 +31,7 @@ INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration INPUTS_WANTED = 50 # We want a little bit more than we need for stability MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) +WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) # These values are needed to accommodate biggest modelframe PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657]) @@ -67,6 +68,7 @@ class Calibrator: calibration_params = params.get("CalibrationParams") self.wide_camera = params.get_bool('WideCameraOnly') rpy_init = RPY_INIT + wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT valid_blocks = 0 if param_put and calibration_params: @@ -74,24 +76,34 @@ class Calibrator: msg = log.Event.from_bytes(calibration_params) rpy_init = np.array(msg.liveCalibration.rpyCalib) valid_blocks = msg.liveCalibration.validBlocks + wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) except Exception: cloudlog.exception("Error reading cached CalibrationParams") - self.reset(rpy_init, valid_blocks) + self.reset(rpy_init, valid_blocks, wide_from_device_euler) self.update_status() - def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, smooth_from: Optional[np.ndarray] = None) -> None: + def reset(self, rpy_init: np.ndarray = RPY_INIT, + valid_blocks: int = 0, + wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, + smooth_from: Optional[np.ndarray] = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: self.rpy = rpy_init.copy() + if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3: + self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() + else: + self.wide_from_device_euler = wide_from_device_euler_init.copy() + if not np.isfinite(valid_blocks) or valid_blocks < 0: self.valid_blocks = 0 else: self.valid_blocks = valid_blocks self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) + self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1)) self.idx = 0 self.block_idx = 0 @@ -113,6 +125,7 @@ class Calibrator: def update_status(self) -> None: valid_idxs = self.get_valid_idxs() if valid_idxs: + self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0) rpys = self.rpys[valid_idxs] self.rpy = np.mean(rpys, axis=0) max_rpy_calib = np.array(np.max(rpys, axis=0)) @@ -146,7 +159,10 @@ class Calibrator: else: return self.rpy - def handle_cam_odom(self, trans: List[float], rot: List[float], trans_std: List[float]) -> Optional[np.ndarray]: + def handle_cam_odom(self, trans: List[float], + rot: List[float], + wide_from_device_euler: List[float], + trans_std: List[float]) -> Optional[np.ndarray]: self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) @@ -165,7 +181,15 @@ class Calibrator: new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy))) new_rpy = sanity_clip(new_rpy) - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) + if len(wide_from_device_euler) == 3: + new_wide_from_device_euler = np.array(wide_from_device_euler) + else: + new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT + + self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) + self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + + (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) self.idx = (self.idx + 1) % BLOCK_SIZE if self.idx == 0: self.block_idx += 1 @@ -187,6 +211,7 @@ class Calibrator: liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() + liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED @@ -223,6 +248,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, + sm['cameraOdometry'].wideFromDeviceEuler, sm['cameraOdometry'].transStd) if DEBUG and new_rpy is not None: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 230e81d949..d03b897f9d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f5a352666728344ca5065bb44c47c1f5650b4243 +a5c77655fba5563e8128fb655f69b1bbd02198aa From 27e315e58f5273da79803ad95737fc15483fef21 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 25 Oct 2022 00:12:49 -0700 Subject: [PATCH 397/685] GM: reduce LKAS faults while inactive (#26196) * send at 10hz when inactive * try to make it fine to switch rates * fix rate * todododo * fine if we skip, we usually send too early * clean up * this may be required, 50Hz is not really needed to sync/initialize * preserves previous behavior (not sure if this makes sense) * Revert "preserves previous behavior (not sure if this makes sense)" This reverts commit 3b297bca72307b5cba09bec4e2cd8e0f2761af42. * Revert "this may be required, 50Hz is not really needed to sync/initialize" This reverts commit a6b4693814214d3f508db922f3b371c402a13995. * rm com * Update ref_commit * gate behind GM Cam * common logic * bet * update refs --- selfdrive/car/gm/carcontroller.py | 16 ++++++++++++---- selfdrive/car/gm/values.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 15 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index b56b3bfca6..a75eb89f25 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -22,6 +22,7 @@ class CarController: self.apply_gas = 0 self.apply_brake = 0 self.frame = 0 + self.last_steer_frame = 0 self.last_button_frame = 0 self.cancel_counter = 0 @@ -46,15 +47,21 @@ class CarController: # Send CAN commands. can_sends = [] - # Steering (50Hz) + # Steering (Active: 50Hz, inactive: 10Hz) + # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked + init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera + steer_step = self.params.INACTIVE_STEER_STEP + if CC.latActive or init_lka_counter: + steer_step = self.params.ACTIVE_STEER_STEP + # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the # next Panda loopback confirmation in the current CS frame. if CS.loopback_lka_steering_cmd_updated: self.lka_steering_cmd_counter += 1 self.sent_lka_steering_cmd = True - elif (self.frame % self.params.STEER_STEP) == 0: - # Initialize ASCMLKASteeringCmd counter using the camera - if not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera: + elif (self.frame - self.last_steer_frame) >= steer_step: + # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus + if init_lka_counter: self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1 if CC.latActive: @@ -63,6 +70,7 @@ class CarController: else: apply_steer = 0 + self.last_steer_frame = self.frame self.apply_steer_last = apply_steer idx = self.lka_steering_cmd_counter % 4 can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive)) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index f8f9e7f043..85e291aaf6 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -11,7 +11,8 @@ Ecu = car.CarParams.Ecu class CarControllerParams: STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output - STEER_STEP = 2 # Control frames per command (50hz) + ACTIVE_STEER_STEP = 2 # Active control frames per command (50hz) + INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz) STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness STEER_DELTA_DOWN = 17 STEER_DRIVER_ALLOWANCE = 50 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d03b897f9d..604abd666c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a5c77655fba5563e8128fb655f69b1bbd02198aa +9d042d06f61c8f48e8c7a4e30001630c14712272 \ No newline at end of file From bc7fc481d57cbdfb8c727a38ba5a32e856315df0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 11:33:02 -0700 Subject: [PATCH 398/685] pj: update thermal layout + layout test (#26224) --- tools/plotjuggler/layouts/thermal_debug.xml | 93 +++++++++++---------- tools/plotjuggler/test_plotjuggler.py | 22 ++++- 2 files changed, 68 insertions(+), 47 deletions(-) diff --git a/tools/plotjuggler/layouts/thermal_debug.xml b/tools/plotjuggler/layouts/thermal_debug.xml index cebda81753..c10b78f1c5 100644 --- a/tools/plotjuggler/layouts/thermal_debug.xml +++ b/tools/plotjuggler/layouts/thermal_debug.xml @@ -1,82 +1,83 @@ - + - + - - + + - - - - - - - - + + + + + + + + - - + + - - - - + + + + - - + + - + - + - - + + - + - - + + - + + - - + + - + - + - - + + - - - - + + + + - - + + - - - - + + + + @@ -92,8 +93,8 @@ - - + + diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index edaec9c80a..8fc032042a 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import os +import glob import signal import subprocess import time @@ -9,12 +10,14 @@ from common.basedir import BASEDIR from common.timeout import Timeout from tools.plotjuggler.juggle import install +PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") + class TestPlotJuggler(unittest.TestCase): def test_demo(self): install() - pj = os.path.join(BASEDIR, "tools/plotjuggler/juggle.py") + pj = os.path.join(PJ_DIR, "juggle.py") p = subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', stderr=subprocess.PIPE, shell=True, start_new_session=True) @@ -29,5 +32,22 @@ class TestPlotJuggler(unittest.TestCase): self.assertEqual(p.poll(), None) os.killpg(os.getpgid(p.pid), signal.SIGTERM) + # TODO: also test that layouts successfully load + def test_layouts(self): + bad_strings = ( + # if a previously loaded file is defined, + # PJ will throw a warning when loading the layout + "fileInfo", + "previouslyLoaded_Datafiles", + ) + for fn in glob.glob(os.path.join(PJ_DIR, "layouts/*")): + name = os.path.basename(fn) + with self.subTest(layout=name): + with open(fn) as f: + layout = f.read() + violations = [s for s in bad_strings if s in layout] + assert len(violations) == 0, f"These should be stripped out of the layout: {str(violations)}" + + if __name__ == "__main__": unittest.main() From 6d30b1ee8314539f66eee000ac7a13ac7ccb506c Mon Sep 17 00:00:00 2001 From: Rewat S <76684800+taperec@users.noreply.github.com> Date: Wed, 26 Oct 2022 02:50:50 +0700 Subject: [PATCH 399/685] Multilang: add missing Thai translations (#26234) --- selfdrive/ui/translations/main_th.ts | 92 +++++----------------------- 1 file changed, 16 insertions(+), 76 deletions(-) diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 5a8bf861df..95880e69c9 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -60,11 +60,11 @@ Cellular Metered - + ลดการส่งข้อมูลผ่านเซลลูล่าร์ Prevent large data uploads when on a metered connection - + ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์ @@ -802,54 +802,6 @@ location set SoftwarePanel - - Git Branch - Git Branch - - - Git Commit - Git Commit - - - OS Version - เวอร์ชันระบบปฏิบัติการ - - - Version - เวอร์ชั่น - - - Last Update Check - ตรวจสอบการอัปเดตล่าสุด - - - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น - - - Check for Update - ตรวจสอบการอัปเดต - - - CHECKING - กำลังตรวจสอบ - - - Switch Branch - เปลี่ยน Branch - - - ENTER - เปลี่ยน - - - The new branch will be pulled the next time the updater runs. - Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน - - - Enter branch name - ใส่ชื่อ Branch - Uninstall %1 ถอนการติดตั้ง %1 @@ -862,45 +814,41 @@ location set Are you sure you want to uninstall? คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง? - - failed to fetch update - โหลดข้อมูลอัปเดตไม่สำเร็จ - CHECK ตรวจสอบ Updates are only downloaded while the car is off. - + ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น Current Version - + เวอร์ชั่นปัจจุบัน Download - + ดาวน์โหลด Install Update - + ติดตั้งตัวอัปเดต INSTALL - + ติดตั้ง Target Branch - + Branch ที่เลือก SELECT - + เลือก Select a branch - + เลือก Branch @@ -1026,37 +974,29 @@ location set Show map on left side when in split screen view. แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ - - openpilot Longitudinal Control - openpilot การควบคุมการเร่งและลดความเร็ว - - - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB! - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - + 🌮 ควบคุมเร่ง/เบรคแบบ End-to-end (อยู่ขั้นพัฒนา) 🌮 Experimental openpilot longitudinal control - + ทดลองใช้ระบบควบคุมการเร่ง/เบรคโดย openpilot <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - + <b>คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในขั้นทดลอง และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</b> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + ให้ openpilot ควบคุมการเร่ง/เบรคแบบ end-to-end โดย openpilot จะขับอย่างที่มนุษย์คิด ระบบยังอยู่ในขั้นทดลอง openpilot longitudinal control is not currently available for this car. - + ขณะนี้ยังไม่มีระบบควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ Enable experimental longitudinal control to enable this. - + เปิดใช้งานระบบควบคุมการเร่ง/เบรคขั้นทดลอง เพื่อเปิดใช้งานสิ่งนี้ From 339253bc05179530e47509e548c482495fbc6e82 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 13:51:23 -0700 Subject: [PATCH 400/685] Hyundai: CAN-FD blindspot signals (#26229) * Hyundai: CAN-FD blindspot signals * fix that * update refs --- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 12 ++++++++++++ selfdrive/car/hyundai/interface.py | 9 +++++++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 21 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 7bd94e3ff4..a95b0ae8a5 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 7bd94e3ff4a2890eb69118f0dfadb64f9d32d618 +Subproject commit a95b0ae8a5244a9d6311bf72aa2a7d63d41b4a9f diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index e27432e23b..ec2b3059a3 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -187,6 +187,9 @@ class CarState(CarStateBase): ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], cp.vl["BLINKERS"]["RIGHT_LAMP"]) + if self.CP.enableBsm: + ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 + ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 ret.cruiseState.available = True self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1 @@ -450,6 +453,15 @@ class CarState(CarStateBase): ("DOORS_SEATBELTS", 4), ] + if CP.enableBsm: + signals += [ + ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), + ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), + ] + checks += [ + ("BLINDSPOTS_REAR_CORNERS", 20), + ] + if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl: signals += [ ("CRUISE_STATUS", "CRUISE_INFO"), diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 114d124a38..147c766008 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -311,6 +311,13 @@ class CarInterface(CarInterfaceBase): ret.vEgoStarting = 0.1 ret.startAccel = 2.0 + # *** feature detection *** + if candidate in CANFD_CAR: + bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4 + ret.enableBsm = 0x1e5 in fingerprint[bus] + else: + ret.enableBsm = 0x58b in fingerprint[0] + # *** panda safety config *** if candidate in CANFD_CAR: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), @@ -321,8 +328,6 @@ class CarInterface(CarInterfaceBase): if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS else: - ret.enableBsm = 0x58b in fingerprint[0] - if candidate in LEGACY_SAFETY_MODE_CAR: # these cars require a special panda safety mode due to missing counters and checksums in the messages ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 604abd666c..44eed18493 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9d042d06f61c8f48e8c7a4e30001630c14712272 \ No newline at end of file +68457035e9223fcbd70bd40966d5a1d9fe4f1567 \ No newline at end of file From 4639862baecfc8ed708827580f441a34731ba137 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 15:21:43 -0700 Subject: [PATCH 401/685] UI: show git commit date (#26240) * show version description while offroad * ui fixups * parse date * cleanup --- selfdrive/ui/qt/home.cc | 16 +++++----------- selfdrive/ui/qt/home.h | 6 +++++- selfdrive/ui/qt/offroad/software_settings.cc | 4 ++-- selfdrive/ui/qt/util.cc | 4 ---- selfdrive/ui/qt/util.h | 1 - selfdrive/ui/qt/widgets/controls.cc | 4 ++-- selfdrive/ui/qt/widgets/controls.h | 2 +- selfdrive/ui/qt/widgets/scrollview.cc | 2 ++ selfdrive/updated.py | 14 +++++++++++--- 9 files changed, 28 insertions(+), 25 deletions(-) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 78bc6aab40..3fe00e6ed9 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -1,11 +1,9 @@ #include "selfdrive/ui/qt/home.h" -#include #include #include #include -#include "common/params.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/drive_stats.h" #include "selfdrive/ui/qt/widgets/prime.h" @@ -109,22 +107,20 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { header_layout->setContentsMargins(15, 15, 15, 0); header_layout->setSpacing(16); - date = new QLabel(); - header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft); - update_notif = new QPushButton(tr("UPDATE")); update_notif->setVisible(false); update_notif->setStyleSheet("background-color: #364DEF;"); QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); }); - header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignRight); + header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); alert_notif = new QPushButton(); alert_notif->setVisible(false); alert_notif->setStyleSheet("background-color: #E22C2C;"); QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); }); - header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignRight); + header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); - header_layout->addWidget(new QLabel(getBrandVersion()), 0, Qt::AlignHCenter | Qt::AlignRight); + version = new ElidedLabel(); + header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight); main_layout->addLayout(header_layout); @@ -184,9 +180,7 @@ void OffroadHome::hideEvent(QHideEvent *event) { } void OffroadHome::refresh() { - QString locale_name = QString(uiState()->language).replace("main_", ""); - QString dateString = QLocale(locale_name).toString(QDateTime::currentDateTime(), "dddd, MMMM d"); - date->setText(dateString); + version->setText(getBrand() + " " + QString::fromStdString(params.get("UpdaterCurrentDescription"))); bool updateAvailable = update_widget->refresh(); int alerts = alerts_widget->refresh(); diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h index 94f1330109..6636da56ec 100644 --- a/selfdrive/ui/qt/home.h +++ b/selfdrive/ui/qt/home.h @@ -7,10 +7,12 @@ #include #include +#include "common/params.h" #include "selfdrive/ui/qt/offroad/driverview.h" #include "selfdrive/ui/qt/body.h" #include "selfdrive/ui/qt/onroad.h" #include "selfdrive/ui/qt/sidebar.h" +#include "selfdrive/ui/qt/widgets/controls.h" #include "selfdrive/ui/qt/widgets/offroad_alerts.h" #include "selfdrive/ui/ui.h" @@ -25,8 +27,10 @@ private: void hideEvent(QHideEvent *event) override; void refresh(); + Params params; + QTimer* timer; - QLabel* date; + ElidedLabel* version; QStackedLayout* center_layout; UpdateAlert *update_widget; OffroadAlert* alerts_widget; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index 4f048241c3..e08a02a4d6 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -145,11 +145,11 @@ void SoftwarePanel::updateLabels() { targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch"))); // current + new versions - versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")).left(40)); + versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription"))); versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes"))); installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable")); - installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")).left(35)); + installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription"))); installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes"))); update(); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index c5697c1045..59903e3376 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -21,10 +21,6 @@ QString getBrand() { return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot"); } -QString getBrandVersion() { - return getBrand() + " v" + getVersion().left(14).trimmed(); -} - QString getUserAgent() { return "openpilot-" + getVersion(); } diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 209f051963..61a27a8669 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -11,7 +11,6 @@ QString getVersion(); QString getBrand(); -QString getBrandVersion(); QString getUserAgent(); std::optional getDongleId(); QMap getSupportedLanguages(); diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index a1ebf57b07..d3b77935df 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -41,7 +41,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons hlayout->addWidget(title_label); // value next to control button - value = new QLabel(); + value = new ElidedLabel(); value->setAlignment(Qt::AlignRight | Qt::AlignVCenter); value->setStyleSheet("color: #aaaaaa"); hlayout->addWidget(value); @@ -70,7 +70,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons } void AbstractControl::hideEvent(QHideEvent *e) { - if(description != nullptr) { + if (description != nullptr) { description->hide(); } } diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index c42716828f..f11f9baf59 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -65,7 +65,7 @@ protected: QPushButton *title_label; private: - QLabel *value; + ElidedLabel *value; QLabel *description = nullptr; }; diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc index bd4309d8d0..5536593016 100644 --- a/selfdrive/ui/qt/widgets/scrollview.cc +++ b/selfdrive/ui/qt/widgets/scrollview.cc @@ -3,6 +3,8 @@ #include #include +// TODO: disable horizontal scrolling and resize + ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) { setWidget(w); setWidgetResizable(true); diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 57f957cfff..c261a92a84 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -280,17 +280,25 @@ class Updater: # Write out current and new version info def get_description(basedir: str) -> str: + if not os.path.exists(basedir): + return "" + version = "" branch = "" commit = "" + commit_date = "" try: branch = self.get_branch(basedir) - commit = self.get_commit_hash(basedir) + commit = self.get_commit_hash(basedir)[:7] with open(os.path.join(basedir, "common", "version.h")) as f: version = f.read().split('"')[1] + + commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip() + dt = datetime.datetime.fromtimestamp(int(commit_unix_ts)) + commit_date = dt.strftime("%b %d") except Exception: - pass - return f"{version} / {branch} / {commit[:7]}" + cloudlog.exception("updater.get_description") + return f"{version} / {branch} / {commit} / {commit_date}" self.params.put("UpdaterCurrentDescription", get_description(BASEDIR)) self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR)) self.params.put("UpdaterNewDescription", get_description(FINALIZED)) From 1be4150089a4ac9281879ddfaccd0f9447c14f3d Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Tue, 25 Oct 2022 17:32:49 -0500 Subject: [PATCH 402/685] Mazda: Add CX-5 2023 to supported cars (#26182) * Mazda: Add CX-5 2023 to supported cars Signed-off-by: Jafar Al-Gharaibeh * add missing cam fw Signed-off-by: Jafar Al-Gharaibeh Co-authored-by: Adeeb Shihadeh --- selfdrive/car/mazda/values.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 921dc7a634..129273efee 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -43,7 +43,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"), CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"), CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"), - CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"), + CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"), } @@ -89,6 +89,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x706, None): [ b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', From 9091e737c8fea44158570e6e15668e30d518d4d3 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Tue, 25 Oct 2022 15:51:39 -0700 Subject: [PATCH 403/685] controlsd: update is_metric live (#26228) * fix speed increment if units changed while driving * don't recreate params Co-authored-by: Adeeb Shihadeh --- selfdrive/controls/controlsd.py | 40 +++++++++++++++++---------------- 1 file changed, 21 insertions(+), 19 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index cbc54eadb8..5172cc4044 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -82,13 +82,13 @@ class Controls: self.log_sock = messaging.sub_sock('androidLog') - params = Params() + self.params = Params() self.sm = sm if self.sm is None: ignore = ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] - if params.get_bool('WideCameraOnly'): + if self.params.get_bool('WideCameraOnly'): ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', @@ -105,22 +105,22 @@ class Controls: else: self.CI, self.CP = CI, CI.CP - self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) + self.joystick_mode = self.params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) # set alternative experiences from parameters - self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator") + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - if self.CP.dashcamOnly and params.get_bool("DashcamOverride"): + if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"): self.CP.dashcamOnly = False # read params - self.is_metric = params.get_bool("IsMetric") - self.is_ldw_enabled = params.get_bool("IsLdwEnabled") - openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle") - passive = params.get_bool("Passive") or not openpilot_enabled_toggle + self.is_metric = self.params.get_bool("IsMetric") + self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") + openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") + passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle # detect sound card presence and ensure successful init sounds_available = HARDWARE.get_sound_card_online() @@ -139,15 +139,15 @@ class Controls: # Write CarParams for radard cp_bytes = self.CP.to_bytes() - params.put("CarParams", cp_bytes) + self.params.put("CarParams", cp_bytes) put_nonblocking("CarParamsCache", cp_bytes) put_nonblocking("CarParamsPersistent", cp_bytes) # cleanup old params if not self.CP.experimentalLongitudinalAvailable: - params.remove("ExperimentalLongitudinalEnabled") + self.params.remove("ExperimentalLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: - params.remove("EndToEndLong") + self.params.remove("EndToEndLong") self.CC = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() @@ -583,9 +583,9 @@ class Controls: """Given the state, this function returns a CarControl packet""" # Update VehicleModel - params = self.sm['liveParameters'] - x = max(params.stiffnessFactor, 0.1) - sr = max(params.steerRatio, 0.1) + lp = self.sm['liveParameters'] + x = max(lp.stiffnessFactor, 0.1) + sr = max(lp.steerRatio, 0.1) self.VM.update_params(x, sr) # Update Torque Params @@ -628,7 +628,7 @@ class Controls: lat_plan.psis, lat_plan.curvatures, lat_plan.curvatureRates) - actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params, + actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.last_actuators, self.steer_limited, self.desired_curvature, self.desired_curvature_rate, self.sm['liveLocationKalman']) else: @@ -768,10 +768,10 @@ class Controls: (self.state == State.softDisabling) # Curvature & Steering angle - params = self.sm['liveParameters'] + lp = self.sm['liveParameters'] - steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg) - curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, params.roll) + steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) + curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) # controlsState dat = messaging.new_message('controlsState') @@ -856,6 +856,8 @@ class Controls: start_time = sec_since_boot() self.prof.checkpoint("Ratekeeper", ignore=True) + self.is_metric = self.params.get_bool("IsMetric") + # Sample data from sockets and get a carState CS = self.data_sample() cloudlog.timestamp("Data sampled") From 87e26b09c17ba029b2054c256acae1c2413a3bd1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 15:57:29 -0700 Subject: [PATCH 404/685] update car docs --- docs/CARS.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index 13ac13fe66..2df2b96e24 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -122,7 +122,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Lexus|RX Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| +|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| |Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B| |Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| From f6bab0cd678e3020c7b0e2257309df69f83de0f0 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 25 Oct 2022 16:09:36 -0700 Subject: [PATCH 405/685] [torqued] Extend to all Toyota and Hyundai cars (#26238) * extend to toyota and hyundai * remove all pid control in hyundai * remove indi tunes * remove toyota lat tunes * release notes * rm tunes.py Co-authored-by: Adeeb Shihadeh --- RELEASES.md | 1 + selfdrive/car/hyundai/interface.py | 94 +------------------------- selfdrive/car/toyota/interface.py | 38 ++++------- selfdrive/car/toyota/tunes.py | 102 ----------------------------- 4 files changed, 15 insertions(+), 220 deletions(-) delete mode 100644 selfdrive/car/toyota/tunes.py diff --git a/RELEASES.md b/RELEASES.md index b424259581..744168c8fb 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -6,6 +6,7 @@ Version 0.8.17 (2022-XX-XX) * New end-to-end distracted trigger * Self-tuning torque lateral controller parameters * Parameters learned live for each car +* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models * UI updates * Multi-language in navigation * Matched speeds shown on car's dash diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 147c766008..6a1d741dec 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -45,141 +45,92 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1. + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]] elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SONATA_LF: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 tire_stiffness_factor = 0.63 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ELANTRA: - ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.ELANTRA_2021: ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ELANTRA_HEV_2021: ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.HYUNDAI_GENESIS: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [3.5] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [2.0] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG ret.wheelbase = 2.6 ret.steerRatio = 13.42 # Spec tire_stiffness_factor = 0.385 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): - ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.IONIQ_PHEV_2019: ret.mass = 1550. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs ret.wheelbase = 2.7 ret.steerRatio = 13.73 - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [2.5] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [3.5] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.VELOSTER: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 * 1.15 tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.TUCSON: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3520. * CV.LB_TO_KG ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 tire_stiffness_factor = 0.385 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.TUCSON_HYBRID_4TH_GEN: ret.mass = 1680. + STD_CARGO_KG # average of all 3 trims ret.wheelbase = 2.756 ret.steerRatio = 16. tire_stiffness_factor = 0.385 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Kia elif candidate == CAR.KIA_SORENTO: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021): - ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1737. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec tire_stiffness_factor = 0.385 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate == CAR.KIA_NIRO_PHEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_SELTOS: @@ -187,15 +138,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.63 ret.steerRatio = 14.56 tire_stiffness_factor = 1 - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [4.] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [3.] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H): ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 @@ -203,92 +145,58 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.5 if candidate == CAR.KIA_OPTIMA_G4: ret.minSteerSpeed = 32 * CV.MPH_TO_MS - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_STINGER: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_FORTE: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_CEED: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1450. + STD_CARGO_KG ret.wheelbase = 2.65 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kf = 0.00005 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_K5_2021: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3228. * CV.LB_TO_KG ret.wheelbase = 2.85 ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_EV6: ret.mass = 2055 + STD_CARGO_KG ret.wheelbase = 2.9 ret.steerRatio = 16. tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.IONIQ_5: ret.mass = 2012 + STD_CARGO_KG ret.wheelbase = 3.0 ret.steerRatio = 16. tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only ret.wheelbase = 2.756 ret.steerRatio = 13.6 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Genesis elif candidate == CAR.GENESIS_G70: - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [2.5] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [3.5] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.56 elif candidate == CAR.GENESIS_G70_2020: - ret.lateralTuning.pid.kf = 0. - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]] ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 12.9 elif candidate == CAR.GENESIS_G80: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate == CAR.GENESIS_G90: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] # *** longitudinal control *** if candidate in CANFD_CAR: diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 28912645ac..0d5acbfff4 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,6 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda -from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -74,7 +73,6 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.035 tire_stiffness_factor = 0.5533 ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.CHR, CAR.CHRH): stop_and_go = True @@ -82,7 +80,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_F) elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): stop_and_go = True @@ -90,8 +87,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): stop_and_go = True @@ -99,7 +94,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): # starting from 2019, all Avalon variants have stop and go @@ -109,7 +103,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - set_lat_tune(ret.lateralTuning, LatTunes.PID_H) elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): stop_and_go = True @@ -117,14 +110,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid - set_lat_tune(ret.lateralTuning, LatTunes.PID_D) - - # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. - # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 - for fw in car_fw: - if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): - set_lat_tune(ret.lateralTuning, LatTunes.PID_I) - break elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): stop_and_go = True @@ -139,7 +124,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.SIENNA: stop_and_go = True @@ -147,14 +131,12 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_J) elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC): ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_L) elif candidate == CAR.LEXUS_CTH: stop_and_go = True @@ -162,7 +144,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 18.6 tire_stiffness_factor = 0.517 ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - set_lat_tune(ret.lateralTuning, LatTunes.PID_M) elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2): stop_and_go = True @@ -170,7 +151,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.PRIUS_TSS2: stop_and_go = True @@ -178,7 +158,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.4 # True steerRatio from older prius tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_N) elif candidate == CAR.MIRAI: stop_and_go = True @@ -186,7 +165,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.8 tire_stiffness_factor = 0.8 ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): stop_and_go = True @@ -194,7 +172,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.2 tire_stiffness_factor = 0.444 ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_J) ret.centerToFront = ret.wheelbase * 0.44 @@ -230,12 +207,23 @@ class CarInterface(CarInterfaceBase): # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED + tune = ret.longitudinalTuning if candidate in TSS2_CAR or ret.enableGasInterceptor: - set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) + tune.deadzoneBP = [0., 8.05] + tune.deadzoneV = [.0, .14] + tune.kpBP = [0., 5., 20.] + tune.kpV = [1.3, 1.0, 0.7] + tune.kiBP = [0., 5., 12., 20., 27.] + tune.kiV = [.35, .23, .20, .17, .1] if candidate in TSS2_CAR: ret.stoppingDecelRate = 0.3 # reach stopping target smoothly else: - set_long_tune(ret.longitudinalTuning, LongTunes.TSS) + tune.deadzoneBP = [0., 9.] + tune.deadzoneV = [.0, .15] + tune.kpBP = [0., 5., 35.] + tune.kiBP = [0., 35.] + tune.kpV = [3.6, 2.4, 1.5] + tune.kiV = [0.54, 0.36] return ret diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py deleted file mode 100644 index b73ab4c8c9..0000000000 --- a/selfdrive/car/toyota/tunes.py +++ /dev/null @@ -1,102 +0,0 @@ -#!/usr/bin/env python3 -from enum import Enum - -class LongTunes(Enum): - TSS2 = 0 - TSS = 1 - -class LatTunes(Enum): - INDI_PRIUS = 0 - LQR_RAV4 = 1 - PID_A = 2 - PID_B = 3 - PID_C = 4 - PID_D = 5 - PID_E = 6 - PID_F = 7 - PID_G = 8 - PID_I = 9 - PID_H = 10 - PID_J = 11 - PID_K = 12 - PID_L = 13 - PID_M = 14 - PID_N = 15 - - -###### LONG ###### -def set_long_tune(tune, name): - # Improved longitudinal tune - if name == LongTunes.TSS2: - tune.deadzoneBP = [0., 8.05] - tune.deadzoneV = [.0, .14] - tune.kpBP = [0., 5., 20.] - tune.kpV = [1.3, 1.0, 0.7] - tune.kiBP = [0., 5., 12., 20., 27.] - tune.kiV = [.35, .23, .20, .17, .1] - # Default longitudinal tune - elif name == LongTunes.TSS: - tune.deadzoneBP = [0., 9.] - tune.deadzoneV = [.0, .15] - tune.kpBP = [0., 5., 35.] - tune.kiBP = [0., 35.] - tune.kpV = [3.6, 2.4, 1.5] - tune.kiV = [0.54, 0.36] - else: - raise NotImplementedError('This longitudinal tune does not exist') - - -###### LAT ###### -def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True): - if 'PID' in str(name): - tune.init('pid') - tune.pid.kiBP = [0.0] - tune.pid.kpBP = [0.0] - if name == LatTunes.PID_A: - tune.pid.kpV = [0.2] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00003 - elif name == LatTunes.PID_C: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.1] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_D: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.1] - tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_F: - tune.pid.kpV = [0.723] - tune.pid.kiV = [0.0428] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_G: - tune.pid.kpV = [0.18] - tune.pid.kiV = [0.015] - tune.pid.kf = 0.00012 - elif name == LatTunes.PID_H: - tune.pid.kpV = [0.17] - tune.pid.kiV = [0.03] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_I: - tune.pid.kpV = [0.15] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00004 - elif name == LatTunes.PID_J: - tune.pid.kpV = [0.19] - tune.pid.kiV = [0.02] - tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_L: - tune.pid.kpV = [0.3] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_M: - tune.pid.kpV = [0.3] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00007 - elif name == LatTunes.PID_N: - tune.pid.kpV = [0.35] - tune.pid.kiV = [0.15] - tune.pid.kf = 0.00007818594 - else: - raise NotImplementedError('This PID tune does not exist') - else: - raise NotImplementedError('This lateral tune does not exist') From dcde942d9fb05575dcc70f0b24f9c3c6b7c220ab Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 25 Oct 2022 16:53:24 -0700 Subject: [PATCH 406/685] Long control: add a_change cost in e2e mode (#26237) Add e2e cost --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 2aab4b71af..49eb5988e2 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -253,7 +253,8 @@ class LongitudinalMpc: cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] elif self.mode == 'blended': - cost_weights = [0., 0.1, 0.2, 5.0, 0.0, 1.0] + a_change_cost = 40.0 if prev_accel_constraint else 0 + cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0] else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') From 45b16570cfca88cef9f9cb82e6376527de786188 Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Tue, 25 Oct 2022 22:43:57 -0700 Subject: [PATCH 407/685] bump panda (#26244) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 2db69bc941..bd8d2481dd 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2db69bc94120a3c10f39cdedc9d83315f9ba801e +Subproject commit bd8d2481dd071df62263e093b2e332a2a404dc87 From 2b7290a14261ca0a745f4cd537de7cc9d11ccb12 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 26 Oct 2022 00:20:30 -0700 Subject: [PATCH 408/685] Model trained with more long noise (#26241) * d8501d20-bb59-4193-aa82-82b2737dedd6/449 d37d320d-7d78-479a-9be2-d58c75284307/700 * Update model ref --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 21602ea70a..49a1c3a3b8 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9c119aa811a929b3a442dbe8e462a9d88e8bfb9f5809a4e737687fb7380d7e05 -size 45922882 +oid sha256:a41d42f92913e6cc3909e505b1220b16d31f7cfca5f8a4e82109577b4151b645 +size 45922983 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index b5fd11fee8..5843a1e174 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -46cb9c522e942d8b25deac90ffdee89efff60ce9 +d2f1711fd58d4f2c25b81bd332270da60ff9636d From b3e0a8c4e05f0c657d63d4825d50d43877b72768 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 26 Oct 2022 14:26:41 -0400 Subject: [PATCH 409/685] Hyundai: Add FW for 2022 Tucson Hybrid (#26239) * Hyundai: Add FW for 2022 Tucson Hybrid * Duplicated FW * Add cornerRadar FW (in a non-HDA too?) * Update selfdrive/car/hyundai/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 29d0cb3dce..98cb72293f 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1379,6 +1379,7 @@ FW_VERSIONS = { CAR.TUCSON_HYBRID_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', From 03ebc3bff57627843bde8b5ea758a54e8b96cb4e Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 26 Oct 2022 11:45:21 -0700 Subject: [PATCH 410/685] [torqued] Update offline values (#26243) * update offline vals * update refs --- selfdrive/car/torque_data/params.yaml | 6 +++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 160f605488..60b1662cee 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -35,7 +35,7 @@ HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.12070193418239 HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] -HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728] +HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185] JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003] @@ -67,8 +67,8 @@ TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234] TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756] TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076] TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652] -TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317] -TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526] +TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514] +TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352] TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796] TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457] TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 44eed18493..ba0f30e5c3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -68457035e9223fcbd70bd40966d5a1d9fe4f1567 \ No newline at end of file +8f2919ba4d8509432e93ff0a44f951254c1ff3fe \ No newline at end of file From d549e1899dbc7f28e0f27db51d875b30caa12ab0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 27 Oct 2022 03:59:16 +0800 Subject: [PATCH 411/685] Cabana: use QLineEdit for double value (#26247) --- tools/cabana/signaledit.cc | 22 +++++++++++++--------- tools/cabana/signaledit.h | 5 ++--- 2 files changed, 15 insertions(+), 12 deletions(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 3926cda01f..1bb5e9e533 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,6 +1,7 @@ #include "tools/cabana/signaledit.h" #include +#include #include #include #include @@ -36,13 +37,16 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { sign->setCurrentIndex(sig.is_signed ? 0 : 1); form_layout->addRow(tr("sign"), sign); - factor = new QDoubleSpinBox(); - factor->setDecimals(3); - factor->setValue(sig.factor); + auto double_validator = new QDoubleValidator(this); + + factor = new QLineEdit(); + factor->setValidator(double_validator); + factor->setText(QString::number(sig.factor)); form_layout->addRow(tr("Factor"), factor); - offset = new QSpinBox(); - offset->setValue(sig.offset); + offset = new QLineEdit(); + offset->setValidator(double_validator); + offset->setText(QString::number(sig.offset)); form_layout->addRow(tr("Offset"), offset); // TODO: parse the following parameters in opendbc @@ -50,11 +54,11 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { form_layout->addRow(tr("Unit"), unit); comment = new QLineEdit(); form_layout->addRow(tr("Comment"), comment); - min_val = new QDoubleSpinBox(); - factor->setDecimals(3); + min_val = new QLineEdit(); + min_val->setValidator(double_validator); form_layout->addRow(tr("Minimum value"), min_val); - max_val = new QDoubleSpinBox(); - factor->setDecimals(3); + max_val = new QLineEdit(); + max_val->setValidator(double_validator); form_layout->addRow(tr("Maximum value"), max_val); val_desc = new QLineEdit(); form_layout->addRow(tr("Value descriptions"), val_desc); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 472453d4b1..71719852f1 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -16,9 +16,8 @@ class SignalForm : public QWidget { public: SignalForm(const Signal &sig, QWidget *parent); - QLineEdit *name, *unit, *comment, *val_desc; - QSpinBox *size, *offset; - QDoubleSpinBox *factor, *min_val, *max_val; + QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val; + QSpinBox *size; QComboBox *sign, *endianness; }; From 728d96924924dd8d4e899ccaba0ed6bcc4a23417 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 27 Oct 2022 03:59:37 +0800 Subject: [PATCH 412/685] Cabana: limit X-axis range from settings (#26213) * limit X-axis range from settings * continue * update range if events merged * update line series by range * cleanup removeChart * cleanup updateAxisy --- tools/cabana/canmessages.cc | 83 ++++-------- tools/cabana/canmessages.h | 33 ++--- tools/cabana/chartswidget.cc | 256 +++++++++++++++++++---------------- tools/cabana/chartswidget.h | 28 +++- tools/cabana/historylog.cc | 5 +- tools/cabana/historylog.h | 1 + tools/cabana/mainwin.cc | 1 + tools/cabana/settings.cc | 15 +- tools/cabana/settings.h | 2 + tools/cabana/videowidget.cc | 5 +- tools/cabana/videowidget.h | 2 +- 11 files changed, 217 insertions(+), 214 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 1b46bd9da7..3ffc29916f 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -28,7 +28,7 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->installEventFilter(event_filter, this); - QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged); + QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged); if (replay->load()) { replay->start(); return true; @@ -63,41 +63,26 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si return ret; } -void CANMessages::process(QHash> *messages) { +void CANMessages::process(QHash *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { - auto &msgs = can_msgs[it.key()]; - const auto &new_msgs = it.value(); - if (new_msgs.size() == settings.can_msg_log_size || msgs.empty()) { - msgs = std::move(new_msgs); - } else { - msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end())); - if (msgs.size() > settings.can_msg_log_size) { - msgs.resize(settings.can_msg_log_size); - } - } + can_msgs[it.key()] = it.value(); } delete messages; - - if (current_sec < begin_sec || current_sec > end_sec) { - // loop replay in selected range. - seekTo(begin_sec); - } else { - emit updated(); - } + emit updated(); } bool CANMessages::eventFilter(const Event *event) { + static std::unique_ptr> new_msgs; static double prev_update_ts = 0; - // drop packets when the GUI thread is calling seekTo. to make sure the current_sec is accurate. - if (!seeking && event->which == cereal::Event::Which::CAN) { - if (!received_msgs) { - received_msgs.reset(new QHash>); - received_msgs->reserve(1000); + + if (event->which == cereal::Event::Which::CAN) { + if (!new_msgs) { + new_msgs.reset(new QHash); + new_msgs->reserve(1000); } - current_sec = (event->mono_time - replay->routeStartTime()) / (double)1e9; - if (counters_begin_sec > current_sec) { - // clear counters + double current_sec = replay->currentSeconds(); + if (counters_begin_sec == 0) { counters.clear(); counters_begin_sec = current_sec; } @@ -105,8 +90,10 @@ bool CANMessages::eventFilter(const Event *event) { auto can_events = event->event.getCan(); for (const auto &c : can_events) { QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16); - auto &list = (*received_msgs)[id]; - while (list.size() >= settings.can_msg_log_size) { + + std::lock_guard lk(lock); + auto &list = received_msgs[id]; + while (list.size() > settings.can_msg_log_size) { list.pop_back(); } CanData &data = list.emplace_front(); @@ -119,49 +106,27 @@ bool CANMessages::eventFilter(const Event *event) { if (double delta = (current_sec - counters_begin_sec); delta > 0) { data.freq = count / delta; } + (*new_msgs)[id] = data; } double ts = millis_since_boot(); if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { prev_update_ts = ts; // use pointer to avoid data copy in queued connection. - emit received(received_msgs.release()); + emit received(new_msgs.release()); } } return true; } -void CANMessages::seekTo(double ts) { - seeking = true; - replay->seekTo(ts, false); - seeking = false; +const std::deque CANMessages::messages(const QString &id) { + std::lock_guard lk(lock); + return received_msgs[id]; } -void CANMessages::setRange(double min, double max) { - if (begin_sec != min || end_sec != max) { - begin_sec = min; - end_sec = max; - is_zoomed = begin_sec != event_begin_sec || end_sec != event_end_sec; - emit rangeChanged(min, max); - } -} - -void CANMessages::segmentsMerged() { - auto events = replay->events(); - if (!events || events->empty()) return; - - auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; }); - event_begin_sec = it == events->end() ? 0 : ((*it)->mono_time - replay->routeStartTime()) / (double)1e9; - event_end_sec = double(events->back()->mono_time - replay->routeStartTime()) / 1e9; - if (!is_zoomed) { - begin_sec = event_begin_sec; - end_sec = event_end_sec; - } - emit eventsMerged(); -} - -void CANMessages::resetRange() { - setRange(event_begin_sec, event_end_sec); +void CANMessages::seekTo(double ts) { + replay->seekTo(ts, false); + counters_begin_sec = 0; } void CANMessages::settingChanged() { diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index d1bb1b73b6..5fbccdbe12 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -2,7 +2,7 @@ #include #include -#include +#include #include #include @@ -29,20 +29,16 @@ public: ~CANMessages(); bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam); void seekTo(double ts); - void resetRange(); - void setRange(double min, double max); QList findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count); bool eventFilter(const Event *event); - inline std::pair range() const { return {begin_sec, end_sec}; } inline QString route() const { return routeName; } inline QString carFingerprint() const { return replay->carFingerprint().c_str(); } inline double totalSeconds() const { return replay->totalSeconds(); } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } - inline double currentSec() const { return current_sec; } - inline bool isZoomed() const { return is_zoomed; } - inline const std::deque &messages(const QString &id) { return can_msgs[id]; } - inline const CanData &lastMessage(const QString &id) { return can_msgs[id].front(); } + inline double currentSec() const { return replay->currentSeconds(); } + const std::deque messages(const QString &id); + inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; } inline const std::vector *events() const { return replay->events(); } inline void setSpeed(float speed) { replay->setSpeed(speed); } @@ -52,32 +48,23 @@ public: signals: void eventsMerged(); - void rangeChanged(double min, double max); void updated(); - void received(QHash> *); + void received(QHash *); public: - QMap> can_msgs; - std::unique_ptr>> received_msgs = nullptr; + QMap can_msgs; protected: - void process(QHash> *); - void segmentsMerged(); + void process(QHash *); void settingChanged(); - std::atomic current_sec = 0.; - std::atomic seeking = false; - - double begin_sec = 0; - double end_sec = 0; - double event_begin_sec = 0; - double event_end_sec = 0; - bool is_zoomed = false; QString routeName; Replay *replay = nullptr; - double counters_begin_sec = std::numeric_limits::max(); + std::mutex lock; + std::atomic counters_begin_sec = 0; QHash counters; + QHash> received_msgs; }; inline QString toHex(const QByteArray &dat) { diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index f0bef36f4a..ea44a4033c 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -1,6 +1,7 @@ #include "tools/cabana/chartswidget.h" #include +#include #include #include #include @@ -57,47 +58,85 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { removeAll(nullptr); }); QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeAll); - QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const Signal *sig) { - for (auto chart : charts) { - if (chart->signal == sig) { - chart->chart_view->updateSeries(); - } - } - }); - QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &id) { - for (auto chart : charts) { - if (chart->id == id) - chart->updateTitle(); + QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartsWidget::signalUpdated); + QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &msg_id) { + for (auto c : charts) { + if (c->id == msg_id) c->updateTitle(); } }); - - QObject::connect(can, &CANMessages::rangeChanged, [this]() { updateTitleBar(); }); - QObject::connect(reset_zoom_btn, &QPushButton::clicked, can, &CANMessages::resetRange); + QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged); + QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState); QObject::connect(remove_all_btn, &QPushButton::clicked, [this]() { removeAll(); }); + QObject::connect(reset_zoom_btn, &QPushButton::clicked, this, &ChartsWidget::zoomReset); QObject::connect(dock_btn, &QPushButton::clicked, [this]() { emit dock(!docking); docking = !docking; updateTitleBar(); }); - QObject::connect(&settings, &Settings::changed, [this]() { - for (auto chart : charts) { - chart->setHeight(settings.chart_height); +} + +void ChartsWidget::eventsMerged() { + if (auto events = can->events(); events && !events->empty()) { + auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; }); + event_range.first = it == events->end() ? 0 : (*it)->mono_time / (double)1e9 - can->routeStartTime(); + event_range.second = it == events->end() ? 0 : events->back()->mono_time / (double)1e9 - can->routeStartTime(); + if (display_range.first == 0 && event_range.second == 0) { + display_range.first = event_range.first; + display_range.second = std::min(event_range.first + settings.max_chart_x_range, event_range.second); } - }); + } +} + +void ChartsWidget::zoomIn(double min, double max) { + zoomed_range = {min, max}; + is_zoomed = zoomed_range != display_range; + updateTitleBar(); + emit rangeChanged(min, max, is_zoomed); + updateState(); +} + +void ChartsWidget::zoomReset() { + zoomIn(display_range.first, display_range.second); +} + +void ChartsWidget::updateState() { + if (charts.isEmpty()) return; + + const double current_sec = can->currentSec(); + if (is_zoomed) { + if (current_sec < zoomed_range.first || current_sec >= zoomed_range.second) { + can->seekTo(zoomed_range.first); + } + } else { + auto prev_range = display_range; + if (current_sec < display_range.first || current_sec >= (display_range.second - 5)) { + // line marker reached the end, or seeked to a timestamp out of range. + display_range.first = current_sec - 5; + } + display_range.first = std::max(display_range.first, event_range.first); + display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second); + if (prev_range != display_range) { + for (auto c : charts) + c->chart_view->updateSeries(display_range); + } + } + + const auto &range = is_zoomed ? zoomed_range : display_range; + for (auto c : charts) { + c->chart_view->setRange(range.first, range.second); + c->chart_view->updateLineMarker(current_sec); + } } void ChartsWidget::updateTitleBar() { title_bar->setVisible(!charts.isEmpty()); if (charts.isEmpty()) return; - // show select range - range_label->setVisible(can->isZoomed()); - reset_zoom_btn->setEnabled(can->isZoomed()); - if (can->isZoomed()) { - auto [min, max] = can->range(); - range_label->setText(tr("%1 - %2").arg(min, 0, 'f', 2).arg(max, 0, 'f', 2)); + range_label->setVisible(is_zoomed); + reset_zoom_btn->setEnabled(is_zoomed); + if (is_zoomed) { + range_label->setText(tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2)); } - title_label->setText(tr("Charts (%1)").arg(charts.size())); dock_btn->setText(docking ? "⬈" : "⬋"); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); @@ -107,23 +146,19 @@ void ChartsWidget::addChart(const QString &id, const Signal *sig) { auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); if (it == charts.end()) { auto chart = new ChartWidget(id, sig, this); - QObject::connect(chart, &ChartWidget::remove, this, &ChartsWidget::removeChart); + chart->chart_view->updateSeries(display_range); + QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(chart); });; + QObject::connect(chart->chart_view, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); + QObject::connect(chart->chart_view, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); charts_layout->insertWidget(0, chart); charts.push_back(chart); } updateTitleBar(); } -void ChartsWidget::removeChart(const QString &msg_id, const Signal *sig) { - QMutableListIterator it(charts); - while (it.hasNext()) { - auto c = it.next(); - if (c->id == msg_id && c->signal == sig) { - c->deleteLater(); - it.remove(); - break; - } - } +void ChartsWidget::removeChart(ChartWidget *chart) { + charts.removeOne(chart); + chart->deleteLater(); updateTitleBar(); } @@ -139,6 +174,17 @@ void ChartsWidget::removeAll(const Signal *sig) { updateTitleBar(); } +void ChartsWidget::signalUpdated(const Signal *sig) { + for (auto c : charts) { + if (c->signal == sig) { + c->updateTitle(); + c->chart_view->updateSeries(display_range); + c->chart_view->setRange(display_range.first, display_range.second, true); + } + } +} + + bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { if (obj != this && event->type() == QEvent::Close) { emit dock_btn->clicked(); @@ -156,17 +202,19 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) QWidget *header = new QWidget(this); header->setStyleSheet("background-color:white"); - QHBoxLayout *header_layout = new QHBoxLayout(header); + QGridLayout *header_layout = new QGridLayout(header); header_layout->setContentsMargins(11, 11, 11, 0); - title = new QLabel(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); - header_layout->addWidget(title); - header_layout->addStretch(); + msg_name_label = new QLabel(this); + msg_name_label->setTextFormat(Qt::RichText); + header_layout->addWidget(msg_name_label, 0, 0, Qt::AlignLeft); + sig_name_label = new QLabel(this); + sig_name_label->setStyleSheet("font-weight:bold"); + header_layout->addWidget(sig_name_label, 0, 1, Qt::AlignCenter); //, 0, Qt::AlignCenter); QPushButton *remove_btn = new QPushButton("✖", this); - remove_btn->setFixedSize(30, 30); + remove_btn->setFixedSize(20, 20); remove_btn->setToolTip(tr("Remove chart")); - QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); - header_layout->addWidget(remove_btn); + header_layout->addWidget(remove_btn, 0, 2, Qt::AlignRight); main_layout->addWidget(header); chart_view = new ChartView(id, sig, this); @@ -175,10 +223,15 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) main_layout->addStretch(); setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); + updateTitle(); + + QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); + QObject::connect(&settings, &Settings::changed, [this]() { chart_view->setFixedHeight(settings.chart_height); }); } void ChartWidget::updateTitle() { - title->setText(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); + msg_name_label->setText(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); + sig_name_label->setText(signal->name.c_str()); } // ChartView @@ -186,15 +239,10 @@ void ChartWidget::updateTitle() { ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) : id(id), signal(sig), QChartView(nullptr, parent) { QLineSeries *series = new QLineSeries(); - series->setUseOpenGL(true); QChart *chart = new QChart(); - chart->setTitle(sig->name.c_str()); chart->addSeries(series); chart->createDefaultAxes(); chart->legend()->hide(); - QFont font; - font.setBold(true); - chart->setTitleFont(font); chart->setMargins({0, 0, 0, 0}); chart->layout()->setContentsMargins(0, 0, 0, 0); @@ -220,16 +268,18 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) timer->setSingleShot(true); timer->callOnTimeout(this, &ChartView::adjustChartMargins); - QObject::connect(can, &CANMessages::updated, this, &ChartView::updateState); - QObject::connect(can, &CANMessages::rangeChanged, this, &ChartView::rangeChanged); - QObject::connect(can, &CANMessages::eventsMerged, this, &ChartView::updateSeries); - QObject::connect(dynamic_cast(chart->axisX()), &QValueAxis::rangeChanged, can, &CANMessages::setRange); QObject::connect(chart, &QChart::plotAreaChanged, [=](const QRectF &plotArea) { // use a singleshot timer to avoid recursion call. timer->start(); }); +} - updateSeries(); +void ChartView::setRange(double min, double max, bool force_update) { + auto axis_x = dynamic_cast(chart()->axisX()); + if (force_update || (min != axis_x->min() || max != axis_x->max())) { + axis_x->setRange(min, max); + updateAxisY(); + } } void ChartView::adjustChartMargins() { @@ -241,18 +291,17 @@ void ChartView::adjustChartMargins() { } } -void ChartWidget::setHeight(int height) { - chart_view->setFixedHeight(height); -} - -void ChartView::updateState() { +void ChartView::updateLineMarker(double current_sec) { auto axis_x = dynamic_cast(chart()->axisX()); - int x = chart()->plotArea().left() + chart()->plotArea().width() * (can->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); - line_marker->setLine(x, 0, x, height()); + int x = chart()->plotArea().left() + + chart()->plotArea().width() * (current_sec - axis_x->min()) / (axis_x->max() - axis_x->min()); + if (int(line_marker->line().x1()) != x) { + line_marker->setLine(x, 0, x, height()); + chart()->update(); + } } -void ChartView::updateSeries() { - chart()->setTitle(signal->name.c_str()); +void ChartView::updateSeries(const std::pair &range) { auto events = can->events(); if (!events) return; @@ -261,15 +310,18 @@ void ChartView::updateSeries() { uint32_t address = l[1].toUInt(nullptr, 16); vals.clear(); - vals.reserve(3 * 60 * 100); - uint64_t route_start_time = can->routeStartTime(); - for (auto &evt : *events) { - if (evt->which == cereal::Event::Which::CAN) { - for (auto c : evt->event.getCan()) { + vals.reserve((range.second - range.first) * 100); // [n]minutes * 100hz + double route_start_time = can->routeStartTime(); + Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + range.first) * 1e9); + auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); + double end_ns = (route_start_time + range.second) * 1e9; + for (auto it = begin; it != events->end() && (*it)->mono_time <= end_ns; ++it) { + if ((*it)->which == cereal::Event::Which::CAN) { + for (auto c : (*it)->event.getCan()) { if (bus == c.getSrc() && address == c.getAddress()) { auto dat = c.getDat(); double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *signal); - double ts = (evt->mono_time / (double)1e9) - route_start_time; // seconds + double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds vals.push_back({ts, value}); } } @@ -277,40 +329,20 @@ void ChartView::updateSeries() { } QLineSeries *series = (QLineSeries *)chart()->series()[0]; series->replace(vals); - series->setPointLabelsColor(Qt::black); - auto [begin, end] = can->range(); - chart()->axisX()->setRange(begin, end); - updateAxisY(); -} - -void ChartView::rangeChanged(qreal min, qreal max) { - auto axis_x = dynamic_cast(chart()->axisX()); - if (axis_x->min() != min || axis_x->max() != max) { - axis_x->setRange(min, max); - } - updateAxisY(); } // auto zoom on yaxis void ChartView::updateAxisY() { const auto axis_x = dynamic_cast(chart()->axisX()); const auto axis_y = dynamic_cast(chart()->axisY()); - // vals is a sorted list auto begin = std::lower_bound(vals.begin(), vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); if (begin == vals.end()) return; auto end = std::upper_bound(vals.begin(), vals.end(), axis_x->max(), [](double x, auto &p) { return x < p.x(); }); const auto [min, max] = std::minmax_element(begin, end, [](auto &p1, auto &p2) { return p1.y() < p2.y(); }); - if (min->y() == max->y()) { - if (max->y() < 0) { - axis_y->setRange(max->y(), 0); - } else { - axis_y->setRange(0, max->y() == 0 ? 1 : max->y()); - } - } else { - axis_y->setRange(min->y(), max->y()); - } + (min->y() == max->y()) ? axis_y->setRange(min->y() - 1, max->y() + 1) + : axis_y->setRange(min->y(), max->y()); } void ChartView::enterEvent(QEvent *event) { @@ -328,39 +360,35 @@ void ChartView::leaveEvent(QEvent *event) { void ChartView::mouseReleaseEvent(QMouseEvent *event) { auto rubber = findChild(); if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { - auto [begin, end] = can->range(); + rubber->hide(); + QRectF rect = rubber->geometry().normalized(); + rect.translate(-chart()->plotArea().topLeft()); + const auto axis_x = dynamic_cast(chart()->axisX()); + double min = axis_x->min() + (rect.left() / chart()->plotArea().width()) * (axis_x->max() - axis_x->min()); + double max = axis_x->min() + (rect.right() / chart()->plotArea().width()) * (axis_x->max() - axis_x->min()); if (rubber->width() <= 0) { - double seek_to = begin + ((event->pos().x() - chart()->plotArea().x()) / chart()->plotArea().width()) * (end - begin); - can->seekTo(seek_to); - } else if (((double)rubber->width() / chart()->plotArea().width()) * (end - begin) < 0.5) { - // don't zoom if selected range is less than 0.5s - rubber->hide(); - event->accept(); - return; + // no rubber dragged, seek to mouse position + can->seekTo(min); + } else if ((max - min) >= 0.5) { + // zoom in if selected range is greater than 0.5s + emit zoomIn(min, max); } } else if (event->button() == Qt::RightButton) { - // reset zoom - if (can->isZoomed()) { - can->resetRange(); - event->accept(); - return; - } + emit zoomReset(); } - QChartView::mouseReleaseEvent(event); - line_marker->setVisible(true); + event->accept(); } void ChartView::mouseMoveEvent(QMouseEvent *ev) { auto rubber = findChild(); - bool show = !(rubber && rubber->isVisible()); - - if (show) { + bool dragging = rubber && rubber->isVisible(); + if (!dragging) { const auto plot_area = chart()->plotArea(); float x = std::clamp((float)ev->pos().x(), (float)plot_area.left(), (float)plot_area.right()); track_line->setLine(x, plot_area.top(), x, plot_area.bottom()); - auto [begin, end] = can->range(); - double sec = begin + ((x - plot_area.x()) / plot_area.width()) * (end - begin); + auto axis_x = dynamic_cast(chart()->axisX()); + double sec = axis_x->min() + ((x - plot_area.x()) / plot_area.width()) * (axis_x->max() - axis_x->min()); auto value = std::lower_bound(vals.begin(), vals.end(), sec, [](auto &p, double x) { return p.x() < x; }); value_text->setPos(x + 6, plot_area.bottom() - 25); if (value != vals.end()) { @@ -369,9 +397,5 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { value_text->setText("(--, --)"); } } - - value_text->setVisible(show); - track_line->setVisible(show); - line_marker->setVisible(show); QChartView::mouseMoveEvent(ev); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 5adbdfcd04..a7c6f4bbd3 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -20,7 +20,13 @@ class ChartView : public QChartView { public: ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr); - void updateSeries(); + void updateSeries(const std::pair &range); + void setRange(double min, double max, bool force_update = false); + void updateLineMarker(double current_sec); + +signals: + void zoomIn(double min, double max); + void zoomReset(); private: void mouseReleaseEvent(QMouseEvent *event) override; @@ -29,9 +35,7 @@ private: void leaveEvent(QEvent *event) override; void adjustChartMargins(); - void rangeChanged(qreal min, qreal max); void updateAxisY(); - void updateState(); QGraphicsLineItem *track_line; QGraphicsSimpleTextItem *value_text; @@ -47,7 +51,6 @@ Q_OBJECT public: ChartWidget(const QString &id, const Signal *sig, QWidget *parent); void updateTitle(); - void setHeight(int height); signals: void remove(const QString &msg_id, const Signal *sig); @@ -55,7 +58,8 @@ signals: public: QString id; const Signal *signal; - QLabel *title; + QLabel *msg_name_label; + QLabel *sig_name_label; ChartView *chart_view = nullptr; }; @@ -65,16 +69,21 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); void addChart(const QString &id, const Signal *sig); - void removeChart(const QString &id, const Signal *sig); + void removeChart(ChartWidget *chart); signals: void dock(bool floating); + void rangeChanged(double min, double max, bool is_zommed); private: + void eventsMerged(); void updateState(); + void zoomIn(double min, double max); + void zoomReset(); + void signalUpdated(const Signal *sig); void updateTitleBar(); void removeAll(const Signal *sig = nullptr); - bool eventFilter(QObject *obj, QEvent *event); + bool eventFilter(QObject *obj, QEvent *event) override; QWidget *title_bar; QLabel *title_label; @@ -85,4 +94,9 @@ private: QPushButton *remove_all_btn; QVBoxLayout *charts_layout; QList charts; + + bool is_zoomed = false; + std::pair event_range; + std::pair display_range; + std::pair zoomed_range; }; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index a20845f15f..8136d0577c 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -7,7 +7,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); if (role == Qt::DisplayRole) { - const auto &m = can->messages(msg_id)[index.row()]; + const auto &m = messages[index.row()]; if (index.column() == 0) { return QString::number(m.ts, 'f', 2); } @@ -49,7 +49,8 @@ void HistoryLogModel::updateState() { if (msg_id.isEmpty()) return; int prev_row_count = row_count; - row_count = can->messages(msg_id).size(); + messages = can->messages(msg_id); + row_count = messages.size(); int delta = row_count - prev_row_count; if (delta > 0) { beginInsertRows({}, prev_row_count, row_count - 1); diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index bc6d1f9376..d39bcf9f1d 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -22,6 +22,7 @@ private: int row_count = 0; int column_count = 2; const Msg *dbc_msg = nullptr; + std::deque messages; }; class HistoryLog : public QWidget { diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 65e7bb1af8..30c7e5e0a2 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -83,6 +83,7 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); + QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 0b36f25fbc..6e9d7f17cc 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -17,6 +17,7 @@ void Settings::save() { s.setValue("log_size", can_msg_log_size); s.setValue("cached_segment", cached_segment_limit); s.setValue("chart_height", chart_height); + s.setValue("max_chart_x_range", max_chart_x_range); emit changed(); } @@ -26,6 +27,7 @@ void Settings::load() { can_msg_log_size = s.value("log_size", 100).toInt(); cached_segment_limit = s.value("cached_segment", 3).toInt(); chart_height = s.value("chart_height", 200).toInt(); + max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); } // SettingsDlg @@ -45,19 +47,25 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { log_size->setRange(50, 500); log_size->setSingleStep(10); log_size->setValue(settings.can_msg_log_size); - form_layout->addRow(tr("Log size"), log_size); + form_layout->addRow(tr("Signal history log size"), log_size); cached_segment = new QSpinBox(this); cached_segment->setRange(3, 60); cached_segment->setSingleStep(1); cached_segment->setValue(settings.cached_segment_limit); - form_layout->addRow(tr("Cached segments limit"), cached_segment); + form_layout->addRow(tr("Cached segments limit(minute)"), cached_segment); + + max_chart_x_range = new QSpinBox(this); + max_chart_x_range->setRange(1, 60); + max_chart_x_range->setSingleStep(1); + max_chart_x_range->setValue(settings.max_chart_x_range / 60); + form_layout->addRow(tr("Chart's max X-axis range(minute)"), max_chart_x_range); chart_height = new QSpinBox(this); chart_height->setRange(100, 500); chart_height->setSingleStep(10); chart_height->setValue(settings.chart_height); - form_layout->addRow(tr("Chart height"), chart_height); + form_layout->addRow(tr("Chart's height"), chart_height); main_layout->addLayout(form_layout); @@ -74,6 +82,7 @@ void SettingsDlg::save() { settings.can_msg_log_size = log_size->value(); settings.cached_segment_limit = cached_segment->value(); settings.chart_height = chart_height->value(); + settings.max_chart_x_range = max_chart_x_range->value() * 60; settings.save(); accept(); } diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 22542fc04c..fa97c49140 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -15,6 +15,7 @@ public: int can_msg_log_size = 100; int cached_segment_limit = 3; int chart_height = 200; + int max_chart_x_range = 3 * 60; // 3 minutes signals: void changed(); @@ -30,6 +31,7 @@ public: QSpinBox *log_size ; QSpinBox *cached_segment; QSpinBox *chart_height; + QSpinBox *max_chart_x_range; }; extern Settings settings; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 78965e3e8c..7180d5ac0f 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -57,7 +57,6 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); - QObject::connect(can, &CANMessages::rangeChanged, this, &VideoWidget::rangeChanged); QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); @@ -70,8 +69,8 @@ void VideoWidget::pause(bool pause) { can->pause(pause); } -void VideoWidget::rangeChanged(double min, double max) { - if (!can->isZoomed()) { +void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { + if (!is_zoomed) { min = 0; max = can->totalSeconds(); } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index d6d036c461..51dae4c76f 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -26,9 +26,9 @@ class VideoWidget : public QWidget { public: VideoWidget(QWidget *parnet = nullptr); + void rangeChanged(double min, double max, bool is_zommed); protected: - void rangeChanged(double min, double max); void updateState(); void pause(bool pause); From 16b7d726b3ff404e4c8df8a3045ff75bbaf63719 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 13:33:12 -0700 Subject: [PATCH 413/685] quectel no sim GPS support (#26227) * add no sim gps support * address comments * remove xtra assistance enabling Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/rawgps/rawgpsd.py | 29 ++++++++++++++++++++++------- 1 file changed, 22 insertions(+), 7 deletions(-) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index 5a6827a759..fa23a161c4 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -87,16 +87,24 @@ def try_setup_logs(diag, log_types): else: raise Exception(f"setup logs failed, {log_types=}") -def mmcli(cmd: str) -> None: +def at_cmd(cmd: str) -> None: for _ in range(5): try: - subprocess.check_call(f"mmcli -m any --timeout 30 {cmd}", shell=True) + subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True) break except subprocess.CalledProcessError: cloudlog.exception("rawgps.mmcli_command_failed") else: raise Exception(f"failed to execute mmcli command {cmd=}") + +def gps_enabled() -> bool: + try: + p = subprocess.check_output("mmcli -m any --command=\"AT+QGPS?\"", shell=True) + return b"QGPS: 1" in p + except subprocess.CalledProcessError as exc: + raise Exception("failed to execute QGPS mmcli command") from exc + def setup_quectel(diag: ModemDiag): # enable OEMDRE in the NV # TODO: it has to reboot for this to take effect @@ -108,11 +116,16 @@ def setup_quectel(diag: ModemDiag): setup_logs(diag, LOG_TYPES) + if gps_enabled(): + at_cmd("AT+QGPSEND") + # disable DPO power savings for more accuracy - mmcli("--command='AT+QGPSCFG=\"dpoenable\",0'") + at_cmd("AT+QGPSCFG=\"dpoenable\",0") # don't automatically turn on GNSS on powerup - mmcli("--command='AT+QGPSCFG=\"autogps\",0'") - mmcli("--location-enable-gps-raw --location-enable-gps-nmea") + at_cmd("AT+QGPSCFG=\"autogps\",0") + + at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") + at_cmd("AT+QGPS=1") # enable OEMDRE mode DIAG_SUBSYS_CMD_F = 75 @@ -134,7 +147,9 @@ def setup_quectel(diag: ModemDiag): )) def teardown_quectel(diag): - mmcli("--location-disable-gps-raw --location-disable-gps-nmea") + at_cmd("AT+QGPSCFG=\"outport\",\"none\"") + if gps_enabled(): + at_cmd("AT+QGPSEND") try_setup_logs(diag, []) @@ -156,7 +171,7 @@ def main() -> NoReturn: # wait for ModemManager to come up cloudlog.warning("waiting for modem to come up") while True: - ret = subprocess.call("mmcli -m any --timeout 10 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True) + ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True) if ret == 0: break time.sleep(0.1) From 9c9281458510f4e34ee5434138086075cf0c8838 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 13:37:11 -0700 Subject: [PATCH 414/685] Improve GPS tests, add qcom tests (#26060) * first ignore * init gps test * make LimeGPS git clone * gps test v1 * add static signal gen script * remove LD_PRELOAD by using rpath, update values after testing * cleanUp * update fuzzy tests * finalize qcom gps tests * add downloader * finalize unit tests * inc limeGPS startup time * loosen init time * add ublox warmstart test * improve location tests Co-authored-by: Kurt Nistelberger --- tools/gpstest/fuzzy_testing.py | 19 +++-- tools/gpstest/remote_checker.py | 18 ++-- tools/gpstest/run_static_gps_signal.py | 83 ------------------- tools/gpstest/run_unittest.sh | 16 ++++ tools/gpstest/simulate_gps_signal.py | 102 +++++++++++++++++++++++ tools/gpstest/test_gps.py | 101 +++++++++++++++++------ tools/gpstest/test_gps_qcom.py | 109 +++++++++++++++++++++++++ 7 files changed, 327 insertions(+), 121 deletions(-) delete mode 100755 tools/gpstest/run_static_gps_signal.py create mode 100755 tools/gpstest/run_unittest.sh create mode 100755 tools/gpstest/simulate_gps_signal.py create mode 100644 tools/gpstest/test_gps_qcom.py diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py index 216e7d0dde..df6691c558 100755 --- a/tools/gpstest/fuzzy_testing.py +++ b/tools/gpstest/fuzzy_testing.py @@ -66,7 +66,7 @@ def get_continuous_coords(lat, lon) -> Tuple[int, int]: return round(lat, 5), round(lon, 5) rc_p: Any = None -def exec_remote_checker(lat, lon, duration): +def exec_remote_checker(lat, lon, duration, ip_addr): global rc_p # TODO: good enough for testing remote_cmd = "export PYTHONPATH=/data/pythonpath:/data/pythonpath/pyextra && " @@ -74,8 +74,8 @@ def exec_remote_checker(lat, lon, duration): remote_cmd += f"timeout {duration} /usr/local/pyenv/shims/python tools/gpstest/remote_checker.py " remote_cmd += f"{lat} {lon}" - ssh_cmd = ['ssh', '-i', '/home/batman/openpilot/xx/phone/key/id_rsa', - 'comma@192.168.60.130'] + ssh_cmd = ["ssh", "-i", "/home/batman/openpilot/xx/phone/key/id_rsa", + f"comma@{ip_addr}"] ssh_cmd += [remote_cmd] rc_p = sp.Popen(ssh_cmd, stdout=sp.PIPE) @@ -84,8 +84,9 @@ def exec_remote_checker(lat, lon, duration): print(f"Checker Result: {rc_output.strip().decode('utf-8')}") -def run_remote_checker(spoof_proc, lat, lon, duration) -> bool: - checker_thread = threading.Thread(target=exec_remote_checker, args=(lat, lon, duration)) +def run_remote_checker(spoof_proc, lat, lon, duration, ip_addr) -> bool: + checker_thread = threading.Thread(target=exec_remote_checker, + args=(lat, lon, duration, ip_addr)) checker_thread.start() tcnt = 0 @@ -107,8 +108,12 @@ def run_remote_checker(spoof_proc, lat, lon, duration) -> bool: def main(): + if len(sys.argv) < 2: + print(f"usage: {sys.argv[0]} [-c]") + ip_addr = sys.argv[1] + continuous_mode = False - if len(sys.argv) == 2 and sys.argv[1] == '-c': + if len(sys.argv) == 3 and sys.argv[2] == '-c': print("Continuous Mode!") continuous_mode = True @@ -123,7 +128,7 @@ def main(): start_time = time.monotonic() # remote checker runs blocking - if not run_remote_checker(spoof_proc, lat, lon, duration): + if not run_remote_checker(spoof_proc, lat, lon, duration, ip_addr): # location could not be matched by ublox module pass diff --git a/tools/gpstest/remote_checker.py b/tools/gpstest/remote_checker.py index 84f6c0c3d9..a649a105c3 100644 --- a/tools/gpstest/remote_checker.py +++ b/tools/gpstest/remote_checker.py @@ -3,6 +3,7 @@ import sys import time from typing import List +from common.params import Params import cereal.messaging as messaging from selfdrive.manager.process_config import managed_processes @@ -12,30 +13,35 @@ procs: List[str] = []#"ubloxd", "pigeond"] def main(): - if len(sys.argv) < 3: + if len(sys.argv) != 4: print("args: ") return - sol_lat = float(sys.argv[1]) - sol_lon = float(sys.argv[2]) + quectel_mod = Params().get_bool("UbloxAvailable") + sol_lat = float(sys.argv[2]) + sol_lon = float(sys.argv[3]) for p in procs: managed_processes[p].start() time.sleep(0.5) # give time to startup - gps_sock = messaging.sub_sock('gpsLocationExternal', timeout=0.1) + socket = 'gpsLocation' if quectel_mod else 'gpsLocationExternal' + gps_sock = messaging.sub_sock(socket, timeout=0.1) # analyze until the location changed while True: events = messaging.drain_sock(gps_sock) for e in events: - lat = e.gpsLocationExternal.latitude - lon = e.gpsLocationExternal.longitude + loc = e.gpsLocation if quectel_mod else e.gpsLocationExternal + lat = loc.latitude + lon = loc.longitude if abs(lat - sol_lat) < DELTA and abs(lon - sol_lon) < DELTA: print("MATCH") return + time.sleep(0.1) + for p in procs: if not managed_processes[p].proc.is_alive(): print(f"ERROR: '{p}' died") diff --git a/tools/gpstest/run_static_gps_signal.py b/tools/gpstest/run_static_gps_signal.py deleted file mode 100755 index 3787038f13..0000000000 --- a/tools/gpstest/run_static_gps_signal.py +++ /dev/null @@ -1,83 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import random -import datetime as dt -import subprocess as sp -from typing import Tuple - -from laika.downloader import download_nav -from laika.gps_time import GPSTime -from laika.helpers import ConstellationId - -cache_dir = '/tmp/gpstest/' - - -def download_rinex(): - # TODO: check if there is a better way to get the full brdc file for LimeGPS - gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) - utc_time = dt.datetime.utcnow() - dt.timedelta(1) - gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) - return download_nav(gps_time, cache_dir, ConstellationId.GPS) - - -def get_random_coords(lat, lon) -> Tuple[int, int]: - # jump around the world - # max values, lat: -90 to 90, lon: -180 to 180 - - lat_add = random.random()*20 + 10 - lon_add = random.random()*20 + 20 - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - return round(lat, 5), round(lon, 5) - - -def check_availability() -> bool: - cmd = ["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"] - output = sp.check_output(cmd) - - if output.strip() == b"": - return False - - print(f"Device: {output.strip().decode('utf-8')}") - return True - - -def main(): - if not os.path.exists('LimeGPS'): - print("LimeGPS not found run 'setup.sh' first") - return - - if not os.path.exists('LimeSuite'): - print("LimeSuite not found run 'setup.sh' first") - return - - if not check_availability(): - print("No limeSDR device found!") - return - - rinex_file = download_rinex() - lat, lon = get_random_coords(47.2020, 15.7403) - - if len(sys.argv) == 3: - lat = float(sys.argv[1]) - lon = float(sys.argv[2]) - - try: - print(f"starting LimeGPS, Location: {lat},{lon}") - cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},100"] - sp.check_output(cmd, stderr=sp.PIPE) - except KeyboardInterrupt: - print("stopping LimeGPS") - except Exception as e: - out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member - if "Device is busy." in out_stderr: - print("GPS simulation is already running, Device is busy!") - return - - print(f"LimeGPS crashed: {str(e)}") - print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member - -if __name__ == "__main__": - main() diff --git a/tools/gpstest/run_unittest.sh b/tools/gpstest/run_unittest.sh new file mode 100755 index 0000000000..d284fa74e5 --- /dev/null +++ b/tools/gpstest/run_unittest.sh @@ -0,0 +1,16 @@ +#!/bin/bash + +# NOTE: can only run inside limeGPS test box! + +# run limeGPS with random static location +timeout 300 ./simulate_gps_signal.py & +gps_PID=$? + +echo "starting limeGPS..." +sleep 10 + +# run unit tests (skipped when module not present) +python -m unittest test_gps.py +python -m unittest test_gps_qcom.py + +kill $gps_PID diff --git a/tools/gpstest/simulate_gps_signal.py b/tools/gpstest/simulate_gps_signal.py new file mode 100755 index 0000000000..f1e5ad2028 --- /dev/null +++ b/tools/gpstest/simulate_gps_signal.py @@ -0,0 +1,102 @@ +#!/usr/bin/env python3 +import os +import random +import argparse +import datetime as dt +import subprocess as sp +from typing import Tuple + +from laika.downloader import download_nav +from laika.gps_time import GPSTime +from laika.helpers import ConstellationId + +cache_dir = '/tmp/gpstest/' + + +def download_rinex(): + # TODO: check if there is a better way to get the full brdc file for LimeGPS + gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) + utc_time = dt.datetime.utcnow() - dt.timedelta(1) + gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) + return download_nav(gps_time, cache_dir, ConstellationId.GPS) + +def get_coords(lat, lon, s1, s2, o1=0, o2=0) -> Tuple[int, int]: + lat_add = random.random()*s1 + o1 + lon_add = random.random()*s2 + o2 + + lat = ((lat + lat_add + 90) % 180) - 90 + lon = ((lon + lon_add + 180) % 360) - 180 + return round(lat, 5), round(lon, 5) + +def get_continuous_coords(lat, lon) -> Tuple[int, int]: + # continuously move around the world + return get_coords(lat, lon, 0.01, 0.01) + +def get_random_coords(lat, lon) -> Tuple[int, int]: + # jump around the world + return get_coords(lat, lon, 20, 20, 10, 20) + +def check_availability() -> bool: + cmd = ["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"] + output = sp.check_output(cmd) + + if output.strip() == b"": + return False + + print(f"Device: {output.strip().decode('utf-8')}") + return True + +def main(lat, lon, jump_sim, contin_sim): + if not os.path.exists('LimeGPS'): + print("LimeGPS not found run 'setup.sh' first") + return + + if not os.path.exists('LimeSuite'): + print("LimeSuite not found run 'setup.sh' first") + return + + if not check_availability(): + print("No limeSDR device found!") + return + + rinex_file = download_rinex() + + if lat == 0 and lon == 0: + lat, lon = get_random_coords(47.2020, 15.7403) + + timeout = None + if jump_sim: + timeout = 30 + + while True: + try: + print(f"starting LimeGPS, Location: {lat},{lon}") + cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},100"] + sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) + except KeyboardInterrupt: + print("stopping LimeGPS") + return + except sp.TimeoutExpired: + print("LimeGPS timeout reached!") + except Exception as e: + out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member + if "Device is busy." in out_stderr: + print("GPS simulation is already running, Device is busy!") + return + + print(f"LimeGPS crashed: {str(e)}") + print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member + + if contin_sim: + lat, lon = get_continuous_coords(lat, lon) + else: + lat, lon = get_random_coords(lat, lon) + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.") + parser.add_argument("lat", type=float, nargs='?', default=0) + parser.add_argument("lon", type=float, nargs='?', default=0) + parser.add_argument("--jump", action="store_true", help="signal that jumps around the world") + parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world") + args = parser.parse_args() + main(args.lat, args.lon, args.jump, args.contin) diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index f5e19372f7..b5d0cdd254 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -2,8 +2,8 @@ import time import unittest import struct -import numpy as np +from common.params import Params import cereal.messaging as messaging import selfdrive.sensord.pigeond as pd from system.hardware import TICI @@ -22,7 +22,20 @@ def read_events(service, duration_sec): return events -def verify_ubloxgnss_data(socket: messaging.SubSocket): +def create_backup(pigeon): + # controlled GNSS stop + pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74") + + # store almanac in flash + pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC") + try: + if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK): + assert False, "Could not store almanac" + except TimeoutError: + pass + + +def verify_ubloxgnss_data(socket: messaging.SubSocket, max_time: int): start_time = 0 end_time = 0 events = messaging.drain_sock(socket) @@ -42,7 +55,7 @@ def verify_ubloxgnss_data(socket: messaging.SubSocket): assert end_time != 0, "no ublox measurements received!" ttfm = (end_time - start_time)/1e9 - assert ttfm < 35, f"Time to first measurement > 35s, {ttfm}" + assert ttfm < max_time, f"Time to first measurement > {max_time}s, {ttfm}" # check for satellite count in measurements sat_count = [] @@ -52,42 +65,31 @@ def verify_ubloxgnss_data(socket: messaging.SubSocket): sat_count.append(event.ubloxGnss.measurementReport.numMeas) num_sat = int(sum(sat_count)/len(sat_count)) - assert num_sat > 8, f"Not enough satellites {num_sat} (TestBox setup!)" + assert num_sat > 5, f"Not enough satellites {num_sat} (TestBox setup!)" -def verify_gps_location(socket: messaging.SubSocket): - buf_lon = [0]*10 - buf_lat = [0]*10 - buf_i = 0 +def verify_gps_location(socket: messaging.SubSocket, max_time: int): events = messaging.drain_sock(socket) assert len(events) != 0, "no gpsLocationExternal measurements" start_time = events[0].logMonoTime end_time = 0 for event in events: - buf_lon[buf_i % 10] = event.gpsLocationExternal.longitude - buf_lat[buf_i % 10] = event.gpsLocationExternal.latitude - buf_i += 1 - - if buf_i < 9: - continue + gps_valid = event.gpsLocationExternal.flags % 2 - if any([lat == 0 or lon == 0 for lat,lon in zip(buf_lat, buf_lon)]): - continue - - if np.std(buf_lon) < 1e-5 and np.std(buf_lat) < 1e-5: + if gps_valid: end_time = event.logMonoTime break assert end_time != 0, "GPS location never converged!" ttfl = (end_time - start_time)/1e9 - assert ttfl < 40, f"Time to first location > 40s, {ttfl}" + assert ttfl < max_time, f"Time to first location > {max_time}s, {ttfl}" hacc = events[-1].gpsLocationExternal.accuracy vacc = events[-1].gpsLocationExternal.verticalAccuracy - assert hacc < 15, f"Horizontal accuracy too high, {hacc}" - assert vacc < 43, f"Vertical accuracy too high, {vacc}" + assert hacc < 20, f"Horizontal accuracy too high, {hacc}" + assert vacc < 45, f"Vertical accuracy too high, {vacc}" def verify_time_to_first_fix(pigeon): @@ -111,11 +113,16 @@ class TestGPS(unittest.TestCase): if not TICI: raise unittest.SkipTest + ublox_available = Params().get_bool("UbloxAvailable") + if not ublox_available: + raise unittest.SkipTest + + def tearDown(self): pd.set_power(False) @with_processes(['ubloxd']) - def test_ublox_reset(self): + def test_a_ublox_reset(self): pigeon, pm = pd.create_pigeon() pd.init_baudrate(pigeon) @@ -127,14 +134,58 @@ class TestGPS(unittest.TestCase): gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) # receive some messages (restart after cold start takes up to 30seconds) - pd.run_receiving(pigeon, pm, 40) + pd.run_receiving(pigeon, pm, 60) + + # store almanac for next test + create_backup(pigeon) - verify_ubloxgnss_data(ugs) - verify_gps_location(gle) + verify_ubloxgnss_data(ugs, 60) + verify_gps_location(gle, 60) # skip for now, this might hang for a while #verify_time_to_first_fix(pigeon) + @with_processes(['ubloxd']) + def test_b_ublox_almanac(self): + pigeon, pm = pd.create_pigeon() + pd.init_baudrate(pigeon) + + # device cold start + pigeon.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d") + time.sleep(1) # wait for cold start + pd.init_baudrate(pigeon) + + # clear configuration + pigeon.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x00\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\x5b") + + # restoring almanac backup + pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60") + status = pigeon.wait_for_backup_restore_status() + assert status == 2, "Could not restore almanac backup" + + pd.initialize_pigeon(pigeon) + + ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) + gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) + + pd.run_receiving(pigeon, pm, 15) + verify_ubloxgnss_data(ugs, 15) + verify_gps_location(gle, 20) + + + @with_processes(['ubloxd']) + def test_c_ublox_startup(self): + pigeon, pm = pd.create_pigeon() + pd.init_baudrate(pigeon) + pd.initialize_pigeon(pigeon) + + ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) + gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) + pd.run_receiving(pigeon, pm, 10) + verify_ubloxgnss_data(ugs, 10) + verify_gps_location(gle, 10) + + if __name__ == "__main__": unittest.main() \ No newline at end of file diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py new file mode 100644 index 0000000000..0909316c5e --- /dev/null +++ b/tools/gpstest/test_gps_qcom.py @@ -0,0 +1,109 @@ +#!/usr/bin/env python3 +import time +import unittest +import subprocess as sp + +from common.params import Params +from system.hardware import TICI +import cereal.messaging as messaging +from selfdrive.manager.process_config import managed_processes + + +def exec_mmcli(cmd): + cmd = "mmcli -m 0 " + cmd + p = sp.Popen(cmd, shell=True, stdout=sp.PIPE, stderr=sp.PIPE) + return p.communicate() + + +def wait_for_location(socket, timeout): + while True: + events = messaging.drain_sock(socket) + for event in events: + if event.gpsLocation.flags % 2: + return False + + timeout -= 1 + if timeout <= 0: + return True + + time.sleep(0.1) + continue + + +class TestGPS(unittest.TestCase): + @classmethod + def setUpClass(cls): + if not TICI: + raise unittest.SkipTest + + ublox_available = Params().get_bool("UbloxAvailable") + if ublox_available: + raise unittest.SkipTest + + @unittest.skip("Skip cold start test due to time") + def test_quectel_cold_start(self): + # delete assistance data to enforce cold start for GNSS + # testing shows that this takes up to 20min + + # invalidate supl setting, cannot be reset + _, err = exec_mmcli("--location-set-supl-server=unittest:1") + + _, err = exec_mmcli("--command='AT+QGPSDEL=0'") + assert len(err) == 0, f"GPSDEL failed: {err}" + + managed_processes['rawgpsd'].start() + start_time = time.monotonic() + glo = messaging.sub_sock("gpsLocation", timeout=0.1) + + timeout = 10*60*25 # 25 minute + timedout = wait_for_location(glo, timeout) + managed_processes['rawgpsd'].stop() + + assert timedout is False, "Waiting for location timed out (25min)!" + + duration = time.monotonic() - start_time + assert duration < 50, f"Received GPS location {duration}!" + + + def test_a_quectel_cold_start_AGPS(self): + _, err = exec_mmcli("--command='AT+QGPSDEL=0'") + assert len(err) == 0, f"GPSDEL failed: {err}" + + # setup AGPS + exec_mmcli("--location-set-supl-server=supl.google.com:7276") + + managed_processes['rawgpsd'].start() + start_time = time.monotonic() + glo = messaging.sub_sock("gpsLocation", timeout=0.1) + + timeout = 10*60*3 # 3 minute + timedout = wait_for_location(glo, timeout) + managed_processes['rawgpsd'].stop() + + assert timedout is False, "Waiting for location timed out (3min)!" + + duration = time.monotonic() - start_time + assert duration < 60, f"Received GPS location {duration}!" + + + def test_b_quectel_startup(self): + + # setup AGPS + exec_mmcli("--location-set-supl-server=supl.google.com:7276") + + managed_processes['rawgpsd'].start() + start_time = time.monotonic() + glo = messaging.sub_sock("gpsLocation", timeout=0.1) + + timeout = 10*60*3 # 3 minute + timedout = wait_for_location(glo, timeout) + managed_processes['rawgpsd'].stop() + + assert timedout is False, "Waiting for location timed out (3min)!" + + duration = time.monotonic() - start_time + assert duration < 60, f"Received GPS location {duration}!" + + +if __name__ == "__main__": + unittest.main() From b80f2efdf29fb5095ea2fa258ec7695730467515 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 26 Oct 2022 14:53:01 -0700 Subject: [PATCH 415/685] No fcw when standstill (#26252) --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 018136e6f2..457065d3b5 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -133,7 +133,7 @@ class LongitudinalPlanner: # TODO counter is only needed because radar is glitchy, remove once radar is gone # TODO write fcw in e2e_long mode - self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 + self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 and not sm['carState'].standstill if self.fcw: cloudlog.info("FCW triggered") From 9e3e49a81f265eefbee32e7d96dbbae3f4b393f1 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 15:11:45 -0700 Subject: [PATCH 416/685] readd camerad tests --- Jenkinsfile | 2 -- 1 file changed, 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 85b4880463..b9b9eda667 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -137,7 +137,6 @@ pipeline { } } - /* stage('camerad') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { @@ -148,7 +147,6 @@ pipeline { ]) } } - */ stage('replay') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } From 6b6162d2c822c717cd62312f51113180c21b5664 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 27 Oct 2022 10:47:32 +0800 Subject: [PATCH 417/685] UI: support switching streams in CameraView (#26248) --- selfdrive/ui/qt/widgets/cameraview.cc | 35 ++++++++++++++++++--------- selfdrive/ui/qt/widgets/cameraview.h | 7 ++++-- 2 files changed, 28 insertions(+), 14 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 200257235d..4f46497776 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -96,8 +96,8 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); - connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); - connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived); + QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); + QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); } CameraWidget::~CameraWidget() { @@ -162,13 +162,13 @@ void CameraWidget::initializeGL() { } void CameraWidget::showEvent(QShowEvent *event) { - frames.clear(); if (!vipc_thread) { vipc_thread = new QThread(); connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); vipc_thread->start(); } + clearFrames(); } void CameraWidget::hideEvent(QHideEvent *event) { @@ -178,6 +178,7 @@ void CameraWidget::hideEvent(QHideEvent *event) { vipc_thread->wait(); vipc_thread = nullptr; } + clearFrames(); } void CameraWidget::updateFrameMat() { @@ -233,6 +234,7 @@ void CameraWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); + std::lock_guard lk(frame_lock); if (frames.empty()) return; int frame_idx = frames.size() - 1; @@ -249,14 +251,14 @@ void CameraWidget::paintGL() { qDebug() << "Skipped frame" << frames[frame_idx].first; } prev_frame_id = frames[frame_idx].first; + VisionBuf *frame = frames[frame_idx].second; + assert(frame != nullptr); glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); glUseProgram(program->programId()); glPixelStorei(GL_UNPACK_ALIGNMENT, 1); - VisionBuf *frame = frames[frame_idx].second; - #ifdef QCOM2 glActiveTexture(GL_TEXTURE0); glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]); @@ -288,7 +290,6 @@ void CameraWidget::paintGL() { void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { makeCurrent(); - frames.clear(); stream_width = vipc_client->buffers[0].width; stream_height = vipc_client->buffers[0].height; stream_stride = vipc_client->buffers[0].stride; @@ -339,11 +340,7 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { updateFrameMat(); } -void CameraWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { - frames.push_back(std::make_pair(frame_id, buf)); - while (frames.size() > FRAME_BUFFER_SIZE) { - frames.pop_front(); - } +void CameraWidget::vipcFrameReceived() { update(); } @@ -354,11 +351,13 @@ void CameraWidget::vipcThread() { while (!QThread::currentThread()->isInterruptionRequested()) { if (!vipc_client || cur_stream_type != stream_type) { + clearFrames(); cur_stream_type = stream_type; vipc_client.reset(new VisionIpcClient(stream_name, cur_stream_type, false)); } if (!vipc_client->connected) { + clearFrames(); if (!vipc_client->connect(false)) { QThread::msleep(100); continue; @@ -367,7 +366,14 @@ void CameraWidget::vipcThread() { } if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) { - emit vipcThreadFrameReceived(buf, meta_main.frame_id); + { + std::lock_guard lk(frame_lock); + frames.push_back(std::make_pair(meta_main.frame_id, buf)); + while (frames.size() > FRAME_BUFFER_SIZE) { + frames.pop_front(); + } + } + emit vipcThreadFrameReceived(); } } @@ -378,3 +384,8 @@ void CameraWidget::vipcThread() { egl_images.clear(); #endif } + +void CameraWidget::clearFrames() { + std::lock_guard lk(frame_lock); + frames.clear(); +} diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 9bcad935c0..ef828f8ff6 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -37,7 +38,7 @@ public: signals: void clicked(); void vipcThreadConnected(VisionIpcClient *); - void vipcThreadFrameReceived(VisionBuf *, quint32); + void vipcThreadFrameReceived(); protected: void paintGL() override; @@ -49,6 +50,7 @@ protected: virtual void updateFrameMat(); void updateCalibration(const mat3 &calib); void vipcThread(); + void clearFrames(); bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; @@ -76,11 +78,12 @@ protected: mat3 calibration = DEFAULT_CALIBRATION; mat3 intrinsic_matrix = fcam_intrinsic_matrix; + std::mutex frame_lock; std::deque> frames; uint32_t draw_frame_id = 0; uint32_t prev_frame_id = 0; protected slots: void vipcConnected(VisionIpcClient *vipc_client); - void vipcFrameReceived(VisionBuf *vipc_client, uint32_t frame_id); + void vipcFrameReceived(); }; From 69b0aa94fa7364265af05936e3e85e94a3c13861 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 26 Oct 2022 20:17:28 -0700 Subject: [PATCH 418/685] Toyota: add missing RAV4 2022 engine FW (#26249) Update values.py --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 819b85d759..07c33d0173 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1367,6 +1367,7 @@ FW_VERSIONS = { b'\x01896634AA1000\x00\x00\x00\x00', b'\x01896634A88000\x00\x00\x00\x00', b'\x01896634A89000\x00\x00\x00\x00', + b'\x01896634A89100\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F0R01100\x00\x00\x00\x00', From 5b455f1d318939470b99ab81d2e20d247db2715d Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 20:22:46 -0700 Subject: [PATCH 419/685] finalize gps tests (#26255) * finalize gps test before adding to ci Co-authored-by: Kurt Nistelberger --- tools/gpstest/run_unittest.sh | 4 ++-- tools/gpstest/test_gps.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/gpstest/run_unittest.sh b/tools/gpstest/run_unittest.sh index d284fa74e5..9f93fdfc9a 100755 --- a/tools/gpstest/run_unittest.sh +++ b/tools/gpstest/run_unittest.sh @@ -3,8 +3,8 @@ # NOTE: can only run inside limeGPS test box! # run limeGPS with random static location -timeout 300 ./simulate_gps_signal.py & -gps_PID=$? +timeout 300 ./simulate_gps_signal.py 32.7518 -117.1962 & +gps_PID=$(ps -aux | grep -m 1 "timeout 300" | cut -d ' ' -f 7) echo "starting limeGPS..." sleep 10 diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index b5d0cdd254..8bc5dc89a8 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -65,7 +65,7 @@ def verify_ubloxgnss_data(socket: messaging.SubSocket, max_time: int): sat_count.append(event.ubloxGnss.measurementReport.numMeas) num_sat = int(sum(sat_count)/len(sat_count)) - assert num_sat > 5, f"Not enough satellites {num_sat} (TestBox setup!)" + assert num_sat >= 5, f"Not enough satellites {num_sat} (TestBox setup!)" def verify_gps_location(socket: messaging.SubSocket, max_time: int): @@ -188,4 +188,4 @@ class TestGPS(unittest.TestCase): if __name__ == "__main__": - unittest.main() \ No newline at end of file + unittest.main() From 5e717c12f11151ca064c6829b75616c0776d0059 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 27 Oct 2022 13:14:26 +0800 Subject: [PATCH 420/685] Cabana:: remove a fixed TODO (#26257) remove a fixed TODO --- tools/cabana/videowidget.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 7180d5ac0f..9a28f71bb9 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -17,7 +17,6 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); - // TODO: figure out why the CameraWidget crashed occasionally. cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this); cam_widget->setFixedSize(parent->width(), parent->width() / 1.596); main_layout->addWidget(cam_widget); From 7c1bb03497f28ad7e014d7df7262f4cfcd2fc738 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 28 Oct 2022 03:57:22 +0800 Subject: [PATCH 421/685] Cabana: set fixed height for statusbar (#26264) --- tools/cabana/mainwin.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 30c7e5e0a2..f127e5f52b 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -23,6 +23,7 @@ MainWindow::MainWindow() : QWidget() { main_layout->addLayout(h_layout); QSplitter *splitter = new QSplitter(Qt::Horizontal, this); + splitter->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); messages_widget = new MessagesWidget(this); splitter->addWidget(messages_widget); @@ -58,6 +59,7 @@ MainWindow::MainWindow() : QWidget() { // status bar status_bar = new QStatusBar(this); + status_bar->setFixedHeight(20); status_bar->setContentsMargins(0, 0, 0, 0); status_bar->setSizeGripEnabled(true); progress_bar = new QProgressBar(); From f04ca9ff3dc1af71a66c2d1d75364938e898ed10 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 28 Oct 2022 03:58:25 +0800 Subject: [PATCH 422/685] Cabana: fix dbc opened twice on startup (#26265) --- tools/cabana/messageswidget.cc | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 9b831ad18c..4975061cc5 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -85,10 +85,12 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { } void MessagesWidget::loadDBCFromName(const QString &name) { - dbc()->open(name); - dbc_combo->setCurrentText(name); - // refresh model - model->updateState(); + if (name != dbc()->name()) { + dbc()->open(name); + dbc_combo->setCurrentText(name); + // re-sort model to refresh column 'Name' + model->updateState(true); + } } void MessagesWidget::loadDBCFromPaste() { From d67965901895432375584d95103ee1afc14f5554 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 28 Oct 2022 04:59:52 +0800 Subject: [PATCH 423/685] Cabana: fix marker z-index (#26254) --- tools/cabana/chartswidget.cc | 3 +++ 1 file changed, 3 insertions(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index ea44a4033c..c7846de069 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -247,10 +247,13 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) chart->layout()->setContentsMargins(0, 0, 0, 0); track_line = new QGraphicsLineItem(chart); + track_line->setZValue(chart->zValue() + 10); track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine)); value_text = new QGraphicsSimpleTextItem(chart); + value_text->setZValue(chart->zValue() + 10); value_text->setBrush(Qt::gray); line_marker = new QGraphicsLineItem(chart); + line_marker->setZValue(chart->zValue() + 10); line_marker->setPen(QPen(Qt::black, 2)); setChart(chart); From fbafde6f1c46b50c219c3ec3121b94ee0848a7be Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 27 Oct 2022 14:04:02 -0700 Subject: [PATCH 424/685] Ford FW batch (#26251) * add Ford Explorer 2022 fw VIN: 1FM5K8GC7NGA85105 8e1bab39e558e773|2022-09-16--02-38-57 * add Ford Escape Titanium PHEV 2021 fw VIN: 1FMCU0LZXMUA80767 f8eaaccd2a90aef8|2022-09-30--15-42-38--0 * add Ford Escape 2020 fw VIN: 1FMCU9DZ9LUA82589 26b2cace68e36212|2022-10-05--18-55-54--0 --- selfdrive/car/ford/values.py | 18 +++++++++++++++--- 1 file changed, 15 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 7b3140fbbf..5114f8d065 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -61,10 +61,10 @@ class FordCarInfo(CarInfo): CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { CAR.ESCAPE_MK4: [ - FordCarInfo("Ford Escape 2020"), - FordCarInfo("Ford Kuga EU", "Driver Assistance Pack"), + FordCarInfo("Ford Escape 2020-21"), + FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"), ], - CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-21"), + CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-22"), CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"), } @@ -87,31 +87,41 @@ FW_QUERY_CONFIG = FwQueryConfig( FW_VERSIONS = { CAR.ESCAPE_MK4: { (Ecu.eps, 0x730, None): [ + b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x706, None): [ b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7E0, None): [ + b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ + b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.EXPLORER_MK6: { (Ecu.eps, 0x730, None): [ b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x760, None): [ b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -123,10 +133,12 @@ FW_VERSIONS = { (Ecu.engine, 0x7E0, None): [ b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.FOCUS_MK4: { From 995c74a994345de3d22c84cd1404aaf4cf8b7e82 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 27 Oct 2022 14:36:47 -0700 Subject: [PATCH 425/685] process replay: test Bolt EUV (camera-ACC platform) (#26270) ADD BOLT TO PROCESS REPLAY --- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index ba0f30e5c3..a3ca4163d5 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -8f2919ba4d8509432e93ff0a44f951254c1ff3fe \ No newline at end of file +fbafde6f1c46b50c219c3ec3121b94ee0848a7be \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index cecabd8a3a..5c754d9312 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -24,10 +24,11 @@ source_segments = [ ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) - ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA + ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA_2018_HYBRID ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"), # CHRYSLER.RAM_1500 ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT + ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 @@ -50,6 +51,7 @@ segments = [ ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"), ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"), ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"), + ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"), ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"), ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"), From ba570b963f18d96ac181882b1f4e1678b992f665 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 28 Oct 2022 05:48:40 +0800 Subject: [PATCH 426/685] Cabana: change the chart theme in setting (#26220) * change the chart theme in setting * change title colors * cleanup --- tools/cabana/chartswidget.cc | 27 ++++++++++++++++++++------- tools/cabana/chartswidget.h | 5 ++++- tools/cabana/settings.cc | 8 ++++++++ tools/cabana/settings.h | 3 +++ 4 files changed, 35 insertions(+), 8 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index c7846de069..3f1dd890c3 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -200,33 +200,31 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) main_layout->setSpacing(0); main_layout->setContentsMargins(0, 0, 0, 0); - QWidget *header = new QWidget(this); - header->setStyleSheet("background-color:white"); + header = new QWidget(this); QGridLayout *header_layout = new QGridLayout(header); header_layout->setContentsMargins(11, 11, 11, 0); msg_name_label = new QLabel(this); msg_name_label->setTextFormat(Qt::RichText); header_layout->addWidget(msg_name_label, 0, 0, Qt::AlignLeft); sig_name_label = new QLabel(this); - sig_name_label->setStyleSheet("font-weight:bold"); header_layout->addWidget(sig_name_label, 0, 1, Qt::AlignCenter); //, 0, Qt::AlignCenter); - QPushButton *remove_btn = new QPushButton("✖", this); + remove_btn = new QPushButton("✖", this); remove_btn->setFixedSize(20, 20); remove_btn->setToolTip(tr("Remove chart")); header_layout->addWidget(remove_btn, 0, 2, Qt::AlignRight); main_layout->addWidget(header); chart_view = new ChartView(id, sig, this); - chart_view->setFixedHeight(settings.chart_height); main_layout->addWidget(chart_view); main_layout->addStretch(); setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); updateTitle(); + updateFromSettings(); QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); - QObject::connect(&settings, &Settings::changed, [this]() { chart_view->setFixedHeight(settings.chart_height); }); + QObject::connect(&settings, &Settings::changed, this, &ChartWidget::updateFromSettings); } void ChartWidget::updateTitle() { @@ -234,12 +232,22 @@ void ChartWidget::updateTitle() { sig_name_label->setText(signal->name.c_str()); } +void ChartWidget::updateFromSettings() { + header->setStyleSheet(settings.chart_theme == 0 ? "background-color:white" : "background-color:#23242c"); + QString color_style = settings.chart_theme == 0 ? "color:black" : "color:white"; + sig_name_label->setStyleSheet("font-weight:bold;" + color_style); + msg_name_label->setStyleSheet(color_style); + remove_btn->setStyleSheet(color_style); + chart_view->updateFromSettings(); +} + // ChartView ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) : id(id), signal(sig), QChartView(nullptr, parent) { QLineSeries *series = new QLineSeries(); QChart *chart = new QChart(); + chart->setBackgroundRoundness(0); chart->addSeries(series); chart->createDefaultAxes(); chart->legend()->hide(); @@ -254,7 +262,6 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) value_text->setBrush(Qt::gray); line_marker = new QGraphicsLineItem(chart); line_marker->setZValue(chart->zValue() + 10); - line_marker->setPen(QPen(Qt::black, 2)); setChart(chart); @@ -277,6 +284,12 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) }); } +void ChartView::updateFromSettings() { + setFixedHeight(settings.chart_height); + chart()->setTheme(settings.chart_theme == 0 ? QChart::ChartThemeLight : QChart::QChart::ChartThemeDark); + line_marker->setPen(QPen(settings.chart_theme == 0 ? Qt::black : Qt::white, 2)); +} + void ChartView::setRange(double min, double max, bool force_update) { auto axis_x = dynamic_cast(chart()->axisX()); if (force_update || (min != axis_x->min() || max != axis_x->max())) { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index a7c6f4bbd3..897ed62c2f 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -23,6 +23,7 @@ public: void updateSeries(const std::pair &range); void setRange(double min, double max, bool force_update = false); void updateLineMarker(double current_sec); + void updateFromSettings(); signals: void zoomIn(double min, double max); @@ -34,7 +35,6 @@ private: void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; void adjustChartMargins(); - void updateAxisY(); QGraphicsLineItem *track_line; @@ -51,6 +51,7 @@ Q_OBJECT public: ChartWidget(const QString &id, const Signal *sig, QWidget *parent); void updateTitle(); + void updateFromSettings(); signals: void remove(const QString &msg_id, const Signal *sig); @@ -58,8 +59,10 @@ signals: public: QString id; const Signal *signal; + QWidget *header; QLabel *msg_name_label; QLabel *sig_name_label; + QPushButton *remove_btn; ChartView *chart_view = nullptr; }; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 6e9d7f17cc..93bc05f20b 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -17,6 +17,7 @@ void Settings::save() { s.setValue("log_size", can_msg_log_size); s.setValue("cached_segment", cached_segment_limit); s.setValue("chart_height", chart_height); + s.setValue("chart_theme", chart_theme); s.setValue("max_chart_x_range", max_chart_x_range); emit changed(); } @@ -27,6 +28,7 @@ void Settings::load() { can_msg_log_size = s.value("log_size", 100).toInt(); cached_segment_limit = s.value("cached_segment", 3).toInt(); chart_height = s.value("chart_height", 200).toInt(); + chart_theme = s.value("chart_theme", 0).toInt(); max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); } @@ -67,6 +69,11 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { chart_height->setValue(settings.chart_height); form_layout->addRow(tr("Chart's height"), chart_height); + chart_theme = new QComboBox(); + chart_theme->addItems({"Light", "Dark"}); + chart_theme->setCurrentIndex(settings.chart_theme == 1 ? 1 : 0); + form_layout->addRow(tr("Chart theme"), chart_theme); + main_layout->addLayout(form_layout); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); @@ -82,6 +89,7 @@ void SettingsDlg::save() { settings.can_msg_log_size = log_size->value(); settings.cached_segment_limit = cached_segment->value(); settings.chart_height = chart_height->value(); + settings.chart_theme = chart_theme->currentIndex(); settings.max_chart_x_range = max_chart_x_range->value() * 60; settings.save(); accept(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index fa97c49140..88eeebc722 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -15,6 +16,7 @@ public: int can_msg_log_size = 100; int cached_segment_limit = 3; int chart_height = 200; + int chart_theme = 0; int max_chart_x_range = 3 * 60; // 3 minutes signals: @@ -31,6 +33,7 @@ public: QSpinBox *log_size ; QSpinBox *cached_segment; QSpinBox *chart_height; + QComboBox *chart_theme; QSpinBox *max_chart_x_range; }; From b158c016cbd58a84e57124f49c657dbba8beb19e Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 27 Oct 2022 16:34:11 -0700 Subject: [PATCH 427/685] [torqued] Update offline values (#26261) * add qlog mode to torqued * update offline valujes from qlogs * resollve comments * update refs * resolve comments --- selfdrive/car/torque_data/override.yaml | 1 - selfdrive/car/torque_data/params.yaml | 29 ++++++++++++------------ selfdrive/locationd/torqued.py | 23 ++++++++++++++----- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 33 insertions(+), 22 deletions(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 13a0dae7a7..460b9a9097 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -21,7 +21,6 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars -KIA EV6 2022: [3.5, 3.0, 0.0] RAM 1500 5TH GEN: [2.0, 2.0, 0.0] RAM HD 5TH GEN: [1.4, 1.4, 0.0] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 60b1662cee..5c828fa669 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -39,17 +39,18 @@ HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.0781366561692759 HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185] JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003] +KIA EV6 2022: [3.2, 3.0, 0.05] KIA K5 2021: [2.405339728085138, 1.460032270828705, 0.11650989850813716] KIA NIRO EV 2020: [2.9215954981365337, 2.1500583840260044, 0.09236802474810267] KIA SORENTO GT LINE 2018: [2.464854685101844, 1.5335274218367956, 0.12056170567599558] KIA STINGER GT2 2018: [2.7499043387418967, 1.849652021986449, 0.12048334239559202] -LEXUS ES 2019: [2.0203086922726112, 2.134803912579666, 0.12757526789308554] -LEXUS ES HYBRID 2019: [2.392442298703042, 1.863360677810788, 0.17690002108856212] +LEXUS ES 2019: [1.935835, 2.134803912579666, 0.093439] +LEXUS ES HYBRID 2019: [2.135678, 1.863360677810788, 0.109627] LEXUS NX 2018: [2.302625600642627, 2.1382378491466625, 0.14986840878892838] LEXUS NX 2020: [2.4331999786982936, 2.1045680431705414, 0.14099899317761067] LEXUS NX HYBRID 2018: [2.4025593501080955, 1.8080446063815507, 0.15349361249519017] LEXUS RX 2016: [1.5876816543130423, 1.0427699298523752, 0.21334066732397142] -LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.2093316728710659] +LEXUS RX 2020: [1.5228812994274734, 1.431102486563665, 0.164117] LEXUS RX HYBRID 2017: [1.6984261557042386, 1.3211501880159107, 0.1820354534928893] LEXUS RX HYBRID 2020: [1.5522309889823778, 1.255230465866663, 0.2220954003055114] MAZDA CX-9 2021: [1.7601682915983443, 1.0889677335154337, 0.17713792194297195] @@ -62,31 +63,31 @@ TOYOTA AVALON 2019: [1.7036141952825095, 1.239619084240008, 0.08459830394899492] TOYOTA AVALON 2022: [2.3154403649717357, 2.7777922854327124, 0.11453999639164605] TOYOTA C-HR 2018: [1.5591084333664578, 1.271271459066948, 0.20259087058453193] TOYOTA C-HR 2021: [1.7678810166088303, 1.3742176337919942, 0.2319674583741509] -TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.13519250664782062] -TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234] -TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756] -TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076] +TOYOTA CAMRY 2018: [2.1172995371905015, 1.7156177222420887, 0.105192506] +TOYOTA CAMRY 2021: [2.446083, 2.3476510120007434, 0.121615] +TOYOTA CAMRY HYBRID 2018: [1.996333, 1.7996193116697359, 0.112565] +TOYOTA CAMRY HYBRID 2021: [2.263582, 2.3901492458927986, 0.115257] TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652] TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514] TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352] TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796] TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457] -TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918] -TOYOTA HIGHLANDER HYBRID 2020: [2.103373061114133, 2.104015182965606, 0.14447040132184993] +TOYOTA HIGHLANDER HYBRID 2018: [1.752033, 1.6433903296845025, 0.144600] +TOYOTA HIGHLANDER HYBRID 2020: [1.901174, 2.104015182965606, 0.14447040132184993] TOYOTA MIRAI 2021: [2.506899832157829, 1.7417213930750164, 0.20182618449440565] -TOYOTA PRIUS 2017: [2.0183401513314294, 1.5023147650693636, 0.20856908464957724] -TOYOTA PRIUS TSS2 2021: [2.327639738920072, 1.9104337425537743, 0.2030762265549664] +TOYOTA PRIUS 2017: [1.746445, 1.5023147650693636, 0.151515] +TOYOTA PRIUS TSS2 2021: [1.972600, 1.9104337425537743, 0.170968] TOYOTA RAV4 2017: [2.085695074355425, 2.2142832316984733, 0.13339165270103975] -TOYOTA RAV4 2019: [2.5038362866776835, 2.0993589721530252, 0.1552425356342368] +TOYOTA RAV4 2019: [2.331293, 2.0993589721530252, 0.129822] TOYOTA RAV4 2019 8965: [2.5084506298290377, 2.4216520504763475, 0.11992835265067918] TOYOTA RAV4 2019 x02: [2.7209621987605024, 2.2148637653781593, 0.10862567142268198] TOYOTA RAV4 HYBRID 2017: [1.9796257271652042, 1.7503987331707576, 0.14628860048885406] TOYOTA RAV4 HYBRID 2019: [2.2271858492309153, 2.074844961405639, 0.14382216826893632] TOYOTA RAV4 HYBRID 2019 8965: [2.1077397198131336, 1.8162215166877735, 0.13891369391200137] TOYOTA RAV4 HYBRID 2019 x02: [2.803624333289342, 2.272367966572498, 0.11364569214387774] -TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.1565442715453653] +TOYOTA RAV4 HYBRID 2022: [2.241883248393209, 1.9304407208090029, 0.112174] TOYOTA RAV4 HYBRID 2022 x02: [3.044930631831037, 2.3979189796380918, 0.14023209146703736] -TOYOTA SIENNA 2018: [1.8660896232147548, 1.3208264576110418, 0.18799149615227198] +TOYOTA SIENNA 2018: [1.689726, 1.3208264576110418, 0.140456] VOLKSWAGEN ARTEON 1ST GEN: [1.45136518053819, 1.3639364049316804, 0.23806361745695032] VOLKSWAGEN ATLAS 1ST GEN: [1.4677006726964945, 1.6733266634075656, 0.12959584092073367] VOLKSWAGEN GOLF 7TH GEN: [1.3750394140491293, 1.5814743077200641, 0.2018321939386586] diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 66af234590..42dff60087 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -16,7 +16,9 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 MIN_POINTS_TOTAL = 4000 +MIN_POINTS_TOTAL_QLOG = 800 FIT_POINTS_TOTAL = 2000 +FIT_POINTS_TOTAL_QLOG = 800 MIN_VEL = 15 # m/s FRICTION_FACTOR = 1.5 # ~85% of data coverage FACTOR_SANITY = 0.3 @@ -26,7 +28,7 @@ MIN_FILTER_DECAY = 50 MAX_FILTER_DECAY = 250 LAT_ACC_THRESHOLD = 1 STEER_BUCKET_BOUNDS = [(-0.5, -0.3), (-0.3, -0.2), (-0.2, -0.1), (-0.1, 0), (0, 0.1), (0.1, 0.2), (0.2, 0.3), (0.3, 0.5)] -MIN_BUCKET_POINTS = [100, 300, 500, 500, 500, 500, 300, 100] +MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100]) MAX_RESETS = 5.0 MAX_INVALID_THRESHOLD = 10 MIN_ENGAGE_BUFFER = 2 # secs @@ -58,10 +60,11 @@ class NPQueue: class PointBuckets: - def __init__(self, x_bounds, min_points): + def __init__(self, x_bounds, min_points, min_points_total): self.x_bounds = x_bounds self.buckets = {bounds: NPQueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds} self.buckets_min_points = {bounds: min_point for bounds, min_point in zip(x_bounds, min_points)} + self.min_points_total = min_points_total def bucket_lengths(self): return [len(v) for v in self.buckets.values()] @@ -70,7 +73,7 @@ class PointBuckets: return sum(self.bucket_lengths()) def is_valid(self): - return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= MIN_POINTS_TOTAL) + return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= self.min_points_total) def add_point(self, x, y): for bound_min, bound_max in self.x_bounds: @@ -90,9 +93,17 @@ class PointBuckets: class TorqueEstimator: - def __init__(self, CP): + def __init__(self, CP, decimated=False): self.hist_len = int(HISTORY / DT_MDL) self.lag = CP.steerActuatorDelay + .2 # from controlsd + if decimated: + self.min_bucket_points = MIN_BUCKET_POINTS / 10 + self.min_points_total = MIN_POINTS_TOTAL_QLOG + self.fit_points = FIT_POINTS_TOTAL_QLOG + else: + self.min_bucket_points = MIN_BUCKET_POINTS + self.min_points_total = MIN_POINTS_TOTAL + self.fit_points = FIT_POINTS_TOTAL self.offline_friction = 0.0 self.offline_latAccelFactor = 0.0 @@ -157,10 +168,10 @@ class TorqueEstimator: self.invalid_values_tracker = 0.0 self.decay = MIN_FILTER_DECAY self.raw_points = defaultdict(lambda: deque(maxlen=self.hist_len)) - self.filtered_points = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=MIN_BUCKET_POINTS) + self.filtered_points = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=self.min_bucket_points, min_points_total=self.min_points_total) def estimate_params(self): - points = self.filtered_points.get_points(FIT_POINTS_TOTAL) + points = self.filtered_points.get_points(self.fit_points) # total least square solution as both x and y are noisy observations # this is empirically the slope of the hysteresis parallelogram as opposed to the line through the diagonals try: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a3ca4163d5..fad9f5e598 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fbafde6f1c46b50c219c3ec3121b94ee0848a7be \ No newline at end of file +f4ea2499a95e198914fd275a8380178e8ff65a31 \ No newline at end of file From c2326a421993534c49aea1efa78e31a6bfa0625c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 27 Oct 2022 16:44:22 -0700 Subject: [PATCH 428/685] process replay: support experimental long (#26233) Support experimental long --- selfdrive/test/process_replay/process_replay.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9d37be4a56..bc55e33cbf 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -456,6 +456,9 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = CP.carFingerprint + if CP.openpilotLongitudinalControl: + params.put_bool("ExperimentalLongitudinalEnabled", True) + def python_replay_process(cfg, lr, fingerprint=None): sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] From 26cb6d09e76baaf0862cdf061013247bb62a197c Mon Sep 17 00:00:00 2001 From: ambientocclusion <1399123+ambientocclusion@users.noreply.github.com> Date: Thu, 27 Oct 2022 17:04:09 -0700 Subject: [PATCH 429/685] Multilang: revise some Japanese translations (#25811) Revise some Japanese translations Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/main_ja.ts | 54 ++++++++++++++-------------- 1 file changed, 27 insertions(+), 27 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 314a6b8338..a11333a54d 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -56,7 +56,7 @@ leave blank for automatic configuration - 空白のままにして、自動設定にします + 自動で設定するには、空白のままにしてください。 Cellular Metered @@ -136,7 +136,7 @@ PREVIEW - 見る + プレビュー Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) @@ -156,7 +156,7 @@ Review Training Guide - 入門書を見る + 使い方の確認 REVIEW @@ -168,7 +168,7 @@ Are you sure you want to review the training guide? - 入門書を見てもよろしいですか？ + 使い方の確認をしますか？ Regulatory @@ -200,11 +200,11 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot は、左または右の4°以内、上の5°または下の8°以内にデバイスを取付ける必要があります。キャリブレーションを引き続きます、リセットはほとんど必要ありません。 + openpilotの本体は、左右4°以内、上5°、下8°以内の角度で取付ける必要があります。継続してキャリブレーションを続けているので、手動でリセットを行う必要はほぼありません。 Your device is pointed %1° %2 and %3° %4. - このデバイスは%2の%1°、%4の%3°に向けます。 + このデバイスは%2 %1°、%4 %3°の向きに設置されています。 down @@ -309,7 +309,7 @@ MapETA eta - 予定到着時間 + 到着予定時間 min @@ -452,15 +452,15 @@ location set Go to https://connect.comma.ai on your phone - モバイルデバイスで「connect.comma.ai」にアクセスして + スマートフォンで「https://connect.comma.ai」にアクセスしてください。 Click "add new device" and scan the QR code on the right - 「新しいデバイスを追加」を押すと、右側のQRコードをスキャンしてください + 「新しいデバイスを追加」を押し、右側のQRコードをスキャンしてください。 Bookmark connect.comma.ai to your home screen to use it like an app - 「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます + 「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます。 @@ -608,7 +608,7 @@ location set Toggles - 切り替え + 機能設定 Software @@ -627,7 +627,7 @@ location set Power your device in a car with a harness or proceed at your own risk. - 自己責任でハーネスから電源を供給してください。 + 自己責任で実行を継続するか、ハーネスから電源を供給してください。 Power off @@ -643,7 +643,7 @@ location set Before we get on the road, let’s finish installation and cover some details. - その前に、インストールを完了し、いくつかの詳細を説明します。 + 道路に向かう前に、インストールを完了して使い方を確認しましょう。 Connect to Wi-Fi @@ -655,7 +655,7 @@ location set Continue without Wi-Fi - Wi-Fi に未接続で続行 + Wi-Fi に接続せずに続行 Waiting for internet @@ -663,7 +663,7 @@ location set Choose Software to Install - インストールするソフトウェアを選びます + インストールするソフトウェアを選択してください Dashcam @@ -710,7 +710,7 @@ location set Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. - デバイスを comma connect (connect.comma.ai)でペアリングし comma prime 特典を申請してください。 + デバイスを comma connect (connect.comma.ai)でペアリングし、comma primeの特典を申請してください。 Pair device @@ -836,7 +836,7 @@ location set UNINSTALL - アンインストール + 実行 Uninstall %1 @@ -859,7 +859,7 @@ location set Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. - 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。コンマのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 + 警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。commaのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。 ADD @@ -871,7 +871,7 @@ location set LOADING - ローディング + 読み込み中 REMOVE @@ -924,7 +924,7 @@ location set Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. - アダプティブクルーズコントロールとレーンキーピングドライバーアシスト（openpilotシステム）。この機能を使用するには、常に注意が必要です。この設定を変更すると、車の電源が切れたときに有効になります。 + openpilotによるアダプティブクルーズコントロールとレーンキーピングドライバーアシストを利用します。この機能を利用する際は、常に前方への注意が必要です。この設定を変更すると、車の電源が切れた時に反映されます。 Enable Lane Departure Warnings @@ -932,11 +932,11 @@ location set Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). - 時速31マイル（50km）を超えるスピードで走行中、ウインカーを作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。 + 時速31マイル（50km）を超えるスピードで走行中、ウインカーを作動させずに検出された車線ライン上に車両が触れた場合、手動で車線内に戻るように警告を行います。 Use Metric System - メートル法を有効化 + メートル法を使用 Display speed in km/h instead of mph. @@ -952,7 +952,7 @@ location set 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 エンドツーエンドのアクセル制御 (超アルファ版) 🌮 + 🌮 エンドツーエンドのアクセル制御 (超α版) 🌮 Experimental openpilot longitudinal control @@ -976,11 +976,11 @@ location set Disengage On Accelerator Pedal - ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ + ｱｸｾﾙを踏むと openpilot を中断 When enabled, pressing the accelerator pedal will disengage openpilot. - 有効な場合は、アクセルを踏むと openpilot をキャンセルします。 + この機能を有効化すると、openpilotを利用中にアクセルを踏むとopenpilotによる運転サポートを中断します。 Show ETA in 24h Format @@ -1003,11 +1003,11 @@ location set Updater Update Required - 更新が必要です + アップデートが必要です An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. - ｵﾍﾟﾚｰﾃｨﾝｸﾞｼｽﾃﾑのアップデートが必要です。Wi-Fi に接続することで、最速のアップデートを体験できます。ダウンロードサイズは約 1GB です。 + ｵﾍﾟﾚｰﾃｨﾝｸﾞｼｽﾃﾑのアップデートが必要です。Wi-Fi に接続してアップデートする事をお勧めします。ダウンロードサイズは約 1GB です。 Connect to Wi-Fi From dbc30c053caacc689e1fafb5e92ff0fcac57db1d Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 27 Oct 2022 17:27:31 -0700 Subject: [PATCH 430/685] UI: fade into wide camera (#26203) * UI: fade into wide camera * handle routes with no wide calib * more cleanup Co-authored-by: Adeeb Shihadeh --- selfdrive/locationd/calibrationd.py | 7 +------ selfdrive/ui/qt/onroad.cc | 8 +++----- selfdrive/ui/qt/widgets/cameraview.cc | 11 ++++++++--- selfdrive/ui/ui.cc | 27 ++++++++++++++++++++++----- selfdrive/ui/ui.h | 4 +++- 5 files changed, 37 insertions(+), 20 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 4e996bc3b9..1c68eb67bd 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -66,7 +66,6 @@ class Calibrator: # Read saved calibration params = Params() calibration_params = params.get("CalibrationParams") - self.wide_camera = params.get_bool('WideCameraOnly') rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT valid_blocks = 0 @@ -166,10 +165,7 @@ class Calibrator: self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) - if self.wide_camera: - angle_std_threshold = 4*MAX_VEL_ANGLE_STD - else: - angle_std_threshold = MAX_VEL_ANGLE_STD + angle_std_threshold = MAX_VEL_ANGLE_STD certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or (self.valid_blocks < INPUTS_NEEDED)) if not (straight_and_fast and certain_if_calib): @@ -185,7 +181,6 @@ class Calibrator: new_wide_from_device_euler = np.array(wide_from_device_euler) else: new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 1f677fc92d..346cb3ab96 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -100,10 +100,6 @@ void OnroadWindow::offroadTransition(bool offroad) { #endif alerts->updateAlert({}, bg); - - // update stream type - bool wide_cam = Params().getBool("WideCameraOnly"); - nvg->setStreamType(wide_cam ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); } void OnroadWindow::paintEvent(QPaintEvent *event) { @@ -232,8 +228,10 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); } + setStreamType(s.scene.wide_cam ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); if (s.scene.calibration_valid) { - CameraWidget::updateCalibration(s.scene.view_from_calib); + auto calib = s.scene.wide_cam ? s.scene.view_from_wide_calib : s.scene.view_from_calib; + CameraWidget::updateCalibration(calib); } else { CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 4f46497776..13225414d0 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -188,12 +188,17 @@ void CameraWidget::updateFrameMat() { if (stream_type == VISION_STREAM_DRIVER) { frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } else { - intrinsic_matrix = (stream_type == VISION_STREAM_WIDE_ROAD) ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; - zoom = (stream_type == VISION_STREAM_WIDE_ROAD) ? 2.5 : 1.1; - // Project point at "infinity" to compute x and y offsets // to ensure this ends up in the middle of the screen + // for narrow come and a little lower for wide cam. // TODO: use proper perspective transform? + if (stream_type == VISION_STREAM_WIDE_ROAD) { + intrinsic_matrix = ecam_intrinsic_matrix; + zoom = 2.0; + } else { + intrinsic_matrix = fcam_intrinsic_matrix; + zoom = 1.1; + } const vec3 inf = {{1000., 0., 0.}}; const vec3 Ep = matvecmul3(calibration, inf); const vec3 Kep = matvecmul3(intrinsic_matrix, Ep); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 1a6027bf7f..d1d72b4dad 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -23,8 +23,8 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, const QRectF clip_region{-margin, -margin, s->fb_w + 2 * margin, s->fb_h + 2 * margin}; const vec3 pt = (vec3){{in_x, in_y, in_z}}; - const vec3 Ep = matvecmul3(s->scene.view_from_calib, pt); - const vec3 KEp = matvecmul3(s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep); + const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt); + const vec3 KEp = matvecmul3(s->scene.wide_cam ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep); // Project. QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]}); @@ -121,17 +121,23 @@ static void update_state(UIState *s) { if (sm.updated("liveCalibration")) { auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib(); + auto wfde_list = sm["liveCalibration"].getLiveCalibration().getWideFromDeviceEuler(); Eigen::Vector3d rpy; - rpy << rpy_list[0], rpy_list[1], rpy_list[2]; + Eigen::Vector3d wfde; + if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2]; + if (wfde_list.size() == 3) wfde << wfde_list[0], wfde_list[1], wfde_list[2]; Eigen::Matrix3d device_from_calib = euler2rot(rpy); + Eigen::Matrix3d wide_from_device = euler2rot(wfde); Eigen::Matrix3d view_from_device; view_from_device << 0,1,0, 0,0,1, 1,0,0; Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib; + Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib ; for (int i = 0; i < 3; i++) { for (int j = 0; j < 3; j++) { scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j); + scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j); } } scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1; @@ -167,6 +173,17 @@ static void update_state(UIState *s) { scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; + + if (sm.updated("carState")) { + float v_ego = sm["carState"].getCarState().getVEgo(); + // TODO: support replays without ecam by using fcam + // Wide or narrow cam dependent on speed + if ((v_ego < 10) || s->wide_cam_only) { + scene.wide_cam = true; + } else if (v_ego > 15) { + scene.wide_cam = false; + } + } } void ui_update_params(UIState *s) { @@ -197,7 +214,7 @@ void UIState::updateStatus() { if (scene.started) { status = STATUS_DISENGAGED; scene.started_frame = sm->frame; - wide_camera = Params().getBool("WideCameraOnly"); + wide_cam_only = Params().getBool("WideCameraOnly"); } started_prev = scene.started; emit offroadTransition(!scene.started); @@ -219,7 +236,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { }); Params params; - wide_camera = params.getBool("WideCameraOnly"); + wide_cam_only = params.getBool("WideCameraOnly"); prime_type = std::atoi(params.get("PrimeType").c_str()); language = QString::fromStdString(params.get("LanguageSetting")); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index f60c26b59a..5a51dda8f8 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -87,7 +87,9 @@ const QColor bg_colors [] = { typedef struct UIScene { bool calibration_valid = false; + bool wide_cam = true; mat3 view_from_calib = DEFAULT_CALIBRATION; + mat3 view_from_wide_calib = DEFAULT_CALIBRATION; cereal::PandaState::PandaType pandaType; // modelV2 @@ -130,7 +132,7 @@ public: QString language; QTransform car_space_transform; - bool wide_camera; + bool wide_cam_only; signals: void uiUpdate(const UIState &s); From f76a390daf677700fbce49253f93412dd44eee0d Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 27 Oct 2022 17:31:15 -0700 Subject: [PATCH 431/685] Eliminate toyota close radar glitches causing no resume (#26272) Eliminate toyota close radar glitches --- selfdrive/controls/lib/radar_helpers.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index bf788190cd..4bb0179267 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -151,7 +151,8 @@ class Cluster(): def potential_low_speed_lead(self, v_ego): # stop for stuff in front of you and low speed, even without model confirmation - return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and self.dRel < 25 + # Radar points closer than 0.75, are almost always glitches on toyota radars + return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and (0.75 < self.dRel < 25) def is_potential_fcw(self, model_prob): return model_prob > .9 From 6698cd48294e94fdb4e09e8943e6505efa29c5d5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 27 Oct 2022 20:53:15 -0700 Subject: [PATCH 432/685] controlsd: steer in old preEnable state (#26269) * controlsd: steer in old preEnable state * bump panda * bump panda * Update ref_commit Co-authored-by: Shane Smiskol --- panda | 2 +- selfdrive/controls/controlsd.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/panda b/panda index bd8d2481dd..187fdee385 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit bd8d2481dd071df62263e093b2e332a2a404dc87 +Subproject commit 187fdee385e59a2a19f85760f529e8e381845dff diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 5172cc4044..1adbba4171 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -254,8 +254,7 @@ class Controls: self.events.add(EventName.pedalPressed) if CS.gasPressed: - self.events.add(EventName.pedalPressedPreEnable if self.disengage_on_accelerator else - EventName.gasPressedOverride) + self.events.add(EventName.gasPressedOverride) if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index fad9f5e598..c7d81c3496 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f4ea2499a95e198914fd275a8380178e8ff65a31 \ No newline at end of file +e56c5a6ac5b87ee6083c9f92921e7198591f7b5d From 8de9bbaa73ea94b966b1161fb630bf3cac72c764 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 29 Oct 2022 01:55:05 +0800 Subject: [PATCH 433/685] Cabana: improve track line (#26231) * improve track line * show text label on the left if reach the right edge * cleanup * cleanup --- tools/cabana/chartswidget.cc | 42 ++++++++++++++++++++++-------------- tools/cabana/chartswidget.h | 6 ++++-- 2 files changed, 30 insertions(+), 18 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 3f1dd890c3..a3cbaf5b30 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -147,7 +147,7 @@ void ChartsWidget::addChart(const QString &id, const Signal *sig) { if (it == charts.end()) { auto chart = new ChartWidget(id, sig, this); chart->chart_view->updateSeries(display_range); - QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(chart); });; + QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(chart); }); QObject::connect(chart->chart_view, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); QObject::connect(chart->chart_view, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); charts_layout->insertWidget(0, chart); @@ -184,7 +184,6 @@ void ChartsWidget::signalUpdated(const Signal *sig) { } } - bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { if (obj != this && event->type() == QEvent::Close) { emit dock_btn->clicked(); @@ -256,10 +255,12 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) track_line = new QGraphicsLineItem(chart); track_line->setZValue(chart->zValue() + 10); - track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine)); - value_text = new QGraphicsSimpleTextItem(chart); + track_line->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); + track_ellipse = new QGraphicsEllipseItem(chart); + track_ellipse->setZValue(chart->zValue() + 10); + track_ellipse->setBrush(Qt::darkGray); + value_text = new QGraphicsTextItem(chart); value_text->setZValue(chart->zValue() + 10); - value_text->setBrush(Qt::gray); line_marker = new QGraphicsLineItem(chart); line_marker->setZValue(chart->zValue() + 10); @@ -364,12 +365,14 @@ void ChartView::updateAxisY() { void ChartView::enterEvent(QEvent *event) { track_line->setVisible(true); value_text->setVisible(true); + track_ellipse->setVisible(true); QChartView::enterEvent(event); } void ChartView::leaveEvent(QEvent *event) { track_line->setVisible(false); value_text->setVisible(false); + track_ellipse->setVisible(false); QChartView::leaveEvent(event); } @@ -397,21 +400,28 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { void ChartView::mouseMoveEvent(QMouseEvent *ev) { auto rubber = findChild(); - bool dragging = rubber && rubber->isVisible(); - if (!dragging) { + bool is_zooming = rubber && rubber->isVisible(); + if (!is_zooming) { const auto plot_area = chart()->plotArea(); - float x = std::clamp((float)ev->pos().x(), (float)plot_area.left(), (float)plot_area.right()); - track_line->setLine(x, plot_area.top(), x, plot_area.bottom()); - auto axis_x = dynamic_cast(chart()->axisX()); - double sec = axis_x->min() + ((x - plot_area.x()) / plot_area.width()) * (axis_x->max() - axis_x->min()); - auto value = std::lower_bound(vals.begin(), vals.end(), sec, [](auto &p, double x) { return p.x() < x; }); - value_text->setPos(x + 6, plot_area.bottom() - 25); + double x = std::clamp((double)ev->pos().x(), plot_area.left(), plot_area.right()-1); + double sec = axis_x->min() + (axis_x->max() - axis_x->min()) * (x - plot_area.left()) / plot_area.width(); + auto value = std::upper_bound(vals.begin(), vals.end(), sec, [](double x, auto &p) { return x < p.x(); }); if (value != vals.end()) { - value_text->setText(QString("(%1, %2)").arg(value->x(), 0, 'f', 3).arg(value->y())); - } else { - value_text->setText("(--, --)"); + QPointF pos = chart()->mapToPosition((*value)); + track_line->setLine(pos.x(), plot_area.top(), pos.x(), plot_area.bottom()); + track_ellipse->setRect(pos.x() - 5, pos.y() - 5, 10, 10); + value_text->setHtml(tr("
%1, %2)
") + .arg(value->x(), 0, 'f', 3).arg(value->y())); + int text_x = pos.x() + 8; + if ((text_x + value_text->boundingRect().width()) > plot_area.right()) { + text_x = pos.x() - value_text->boundingRect().width() - 8; + } + value_text->setPos(text_x, pos.y() - 10); } + track_line->setVisible(value != vals.end()); + value_text->setVisible(value != vals.end()); + track_ellipse->setVisible(value != vals.end()); } QChartView::mouseMoveEvent(ev); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 897ed62c2f..60081dd882 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -3,8 +3,9 @@ #include #include +#include #include -#include +#include #include #include #include @@ -38,7 +39,8 @@ private: void updateAxisY(); QGraphicsLineItem *track_line; - QGraphicsSimpleTextItem *value_text; + QGraphicsEllipseItem *track_ellipse; + QGraphicsTextItem *value_text; QGraphicsLineItem *line_marker; QList vals; QString id; From 8f70a84a417f848793f87d6c79c25f3ce15d5d38 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 28 Oct 2022 23:43:12 +0200 Subject: [PATCH 434/685] QuectelGPS: add supl server (#26259) add supl server Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/rawgps/rawgpsd.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index fa23a161c4..1c65051665 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -124,6 +124,7 @@ def setup_quectel(diag: ModemDiag): # don't automatically turn on GNSS on powerup at_cmd("AT+QGPSCFG=\"autogps\",0") + at_cmd("AT+QGPSSUPLURL=\"supl.google.com:7275\"") at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") at_cmd("AT+QGPS=1") From 5ae213142459a64aac8a1654d1087346b17b87c1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 28 Oct 2022 17:26:25 -0700 Subject: [PATCH 435/685] bump opendbc (#26277) --- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 1 - 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/opendbc b/opendbc index a95b0ae8a5..526e21da66 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit a95b0ae8a5244a9d6311bf72aa2a7d63d41b4a9f +Subproject commit 526e21da666aeeabcf2369c66903a5675fdf933b diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index ec2b3059a3..2e4cb0d25a 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -507,7 +507,6 @@ class CarState(CarStateBase): ("ZEROS_5", "CRUISE_INFO"), ("DISTANCE_SETTING", "CRUISE_INFO"), ("SET_SPEED", "CRUISE_INFO"), - ("NEW_SIGNAL_4", "CRUISE_INFO"), ] checks = [ From 602b90f518e9bc51dccdb75413ff86481dff277d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 29 Oct 2022 10:05:11 +0800 Subject: [PATCH 436/685] UI: reduce frame drops. (#26266) * reduce frame dropping * This mode will not draw the same frame twice * cleanup comment * use previous texture if update is not triggered by vipc thread and without new frame --- selfdrive/ui/qt/widgets/cameraview.cc | 32 ++++++++++----------------- selfdrive/ui/qt/widgets/cameraview.h | 1 - 2 files changed, 12 insertions(+), 21 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 13225414d0..d7591633c9 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -240,24 +240,13 @@ void CameraWidget::paintGL() { glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); std::lock_guard lk(frame_lock); - if (frames.empty()) return; - int frame_idx = frames.size() - 1; - - // Always draw latest frame until sync logic is more stable - // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { - // if (frames[frame_idx].first == draw_frame_id) break; - // } - - // Log duplicate/dropped frames - if (frames[frame_idx].first == prev_frame_id) { - qDebug() << "Drawing same frame twice" << frames[frame_idx].first; - } else if (frames[frame_idx].first != prev_frame_id + 1) { - qDebug() << "Skipped frame" << frames[frame_idx].first; + // use previous texture if update() is called without new frame. + VisionBuf *frame = nullptr; + if (!frames.empty()) { + frame = frames.front().second; + frames.pop_front(); } - prev_frame_id = frames[frame_idx].first; - VisionBuf *frame = frames[frame_idx].second; - assert(frame != nullptr); glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); @@ -266,19 +255,21 @@ void CameraWidget::paintGL() { #ifdef QCOM2 glActiveTexture(GL_TEXTURE0); - glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]); - assert(glGetError() == GL_NO_ERROR); + if (frame) { + glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]); + assert(glGetError() == GL_NO_ERROR); + } #else glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride); glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_2D, textures[0]); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y); + if (frame) glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y); assert(glGetError() == GL_NO_ERROR); glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2); glActiveTexture(GL_TEXTURE0 + 1); glBindTexture(GL_TEXTURE_2D, textures[1]); - glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv); + if (frame) glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv); assert(glGetError() == GL_NO_ERROR); #endif @@ -375,6 +366,7 @@ void CameraWidget::vipcThread() { std::lock_guard lk(frame_lock); frames.push_back(std::make_pair(meta_main.frame_id, buf)); while (frames.size() > FRAME_BUFFER_SIZE) { + qDebug() << "Skipped frame" << frames.front().first; frames.pop_front(); } } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index ef828f8ff6..aff3abc836 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -81,7 +81,6 @@ protected: std::mutex frame_lock; std::deque> frames; uint32_t draw_frame_id = 0; - uint32_t prev_frame_id = 0; protected slots: void vipcConnected(VisionIpcClient *vipc_client); From a622e523b2251472aa59b80eee60cae9fcb1e024 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 29 Oct 2022 12:44:51 +0800 Subject: [PATCH 437/685] Cabana: add tab context menu for 'close other tabs' (#26279) close other tabs --- tools/cabana/detailwidget.cc | 41 ++++++++++++++++++++++++++++++------ tools/cabana/detailwidget.h | 2 +- 2 files changed, 35 insertions(+), 8 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 7290e4e6ff..8839cdd509 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include @@ -22,6 +23,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { tabbar->setDrawBase(false); tabbar->setUsesScrollButtons(true); tabbar->setAutoHide(true); + tabbar->setContextMenuPolicy(Qt::CustomContextMenu); main_layout->addWidget(tabbar); // message title @@ -79,22 +81,47 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); }); - QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { setMessage(messages[index]); }); + QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu); + QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { + if (index != -1 && tabbar->tabText(index) != msg_id) { + setMessage(tabbar->tabText(index)); + } + }); QObject::connect(tabbar, &QTabBar::tabCloseRequested, [=](int index) { - messages.removeAt(index); + if (tabbar->currentIndex() == index) { + tabbar->setCurrentIndex(index == tabbar->count() - 1 ? index - 1 : index + 1); + } tabbar->removeTab(index); - setMessage(messages.isEmpty() ? "" : messages[0]); }); } +void DetailWidget::showTabBarContextMenu(const QPoint &pt) { + int index = tabbar->tabAt(pt); + if (index >= 0) { + QMenu menu(this); + menu.addAction(tr("Close Other Tabs")); + if (menu.exec(tabbar->mapToGlobal(pt))) { + for (int i = tabbar->count() - 1; i >= 0; --i) { + if (i != index) + tabbar->removeTab(i); + } + } + } +} + void DetailWidget::setMessage(const QString &message_id) { if (message_id.isEmpty()) return; - int index = messages.indexOf(message_id); + qWarning() << "setmessage" << message_id; + int index = -1; + for (int i = 0; i < tabbar->count(); ++i) { + if (tabbar->tabText(i) == message_id) { + index = i; + break; + } + } if (index == -1) { - messages.push_back(message_id); - tabbar->addTab(message_id); - index = tabbar->count() - 1; + index = tabbar->addTab(message_id); auto msg = dbc()->msg(message_id); tabbar->setTabToolTip(index, msg ? msg->name.c_str() : "untitled"); } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 5924cdd43f..4ec74eca7e 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -39,6 +39,7 @@ signals: void removeChart(const Signal *sig); private: + void showTabBarContextMenu(const QPoint &pt); void addSignal(int start_bit, int to); void resizeSignal(const Signal *sig, int from, int to); void saveSignal(const Signal *sig, const Signal &new_sig); @@ -53,7 +54,6 @@ private: QPushButton *edit_btn; QWidget *signals_container; QTabBar *tabbar; - QStringList messages; HistoryLog *history_log; BinaryView *binary_view; ScrollArea *scroll; From 5aa0d211f075681e18395d0fd7dd73d8cc44573c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 30 Oct 2022 03:01:08 +0800 Subject: [PATCH 438/685] Cabana: double click the title bar to move binview to a separate column (#26280) * double click to move binview to seperate column * cleanup * double click frame * continue * rename signal * add tooltip * fix layout * don't show last cell's bottom line * increase spliter handle size * cleanup * set resize mode to ResizeToContents * add a split button * cleanup layout&fix space * cleanup * remove hardcoded size * cleanup --- tools/cabana/binaryview.cc | 12 +++++---- tools/cabana/binaryview.h | 1 + tools/cabana/detailwidget.cc | 52 ++++++++++++++++++++++++++++-------- tools/cabana/detailwidget.h | 17 ++++++++++++ tools/cabana/mainwin.cc | 14 +++++----- tools/cabana/mainwin.h | 4 ++- 6 files changed, 75 insertions(+), 25 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 26fecd8c38..91353e9726 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -20,13 +20,15 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { setItemDelegate(delegate); horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); horizontalHeader()->hide(); - verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); + verticalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setMouseTracking(true); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum); +} - QObject::connect(model, &QAbstractItemModel::modelReset, [this]() { - setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2); - }); +QSize BinaryView::sizeHint() const { + QSize sz = QTableView::sizeHint(); + return {sz.width(), model->rowCount() <= 8 ? ((CELL_HEIGHT + 1) * model->rowCount() + 2) : sz.height()}; } void BinaryView::highlight(const Signal *sig) { @@ -108,9 +110,9 @@ void BinaryView::leaveEvent(QEvent *event) { void BinaryView::setMessage(const QString &message_id) { msg_id = message_id; model->setMessage(message_id); - resizeRowsToContents(); clearSelection(); updateState(); + updateGeometry(); } void BinaryView::updateState() { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 0f58e9ed20..060a2eef7f 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -61,6 +61,7 @@ public: void highlight(const Signal *sig); const Signal *hoveredSignal() const { return hovered_sig; } QSet getOverlappingSignals() const; + QSize sizeHint() const override; signals: void signalHovered(const Signal *sig); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 8839cdd509..69b420483d 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -13,10 +13,18 @@ // DetailWidget DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout = new QHBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); - main_layout->setSpacing(0); + right_column = new QVBoxLayout(); + main_layout->addLayout(right_column); + + binary_view_container = new QWidget(this); + binary_view_container->setMinimumWidth(500); + binary_view_container->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred); + QVBoxLayout *bin_layout = new QVBoxLayout(binary_view_container); + bin_layout->setContentsMargins(0, 0, 0, 0); + bin_layout->setSpacing(0); // tabbar tabbar = new QTabBar(this); tabbar->setTabsClosable(true); @@ -24,14 +32,19 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { tabbar->setUsesScrollButtons(true); tabbar->setAutoHide(true); tabbar->setContextMenuPolicy(Qt::CustomContextMenu); - main_layout->addWidget(tabbar); + bin_layout->addWidget(tabbar); - // message title - QFrame *title_frame = new QFrame(); - main_layout->addWidget(title_frame); - QVBoxLayout *frame_layout = new QVBoxLayout(title_frame); + TitleFrame *title_frame = new TitleFrame(this); title_frame->setFrameShape(QFrame::StyledPanel); + title_frame->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); + QVBoxLayout *frame_layout = new QVBoxLayout(title_frame); + + // message title QHBoxLayout *title_layout = new QHBoxLayout(); + split_btn = new QPushButton("⬅", this); + split_btn->setFixedSize(20, 20); + split_btn->setToolTip(tr("Split to two columns")); + title_layout->addWidget(split_btn); title_layout->addWidget(new QLabel("time:")); time_label = new QLabel(this); time_label->setStyleSheet("font-weight:bold"); @@ -56,10 +69,12 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); warning_widget->hide(); frame_layout->addWidget(warning_widget); + bin_layout->addWidget(title_frame); // binary view binary_view = new BinaryView(this); - main_layout->addWidget(binary_view, 0, Qt::AlignTop); + bin_layout->addWidget(binary_view); + right_column->addWidget(binary_view_container); // signals signals_container = new QWidget(this); @@ -70,12 +85,14 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { scroll->setWidget(signals_container); scroll->setWidgetResizable(true); scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - main_layout->addWidget(scroll); + right_column->addWidget(scroll); // history log history_log = new HistoryLog(this); - main_layout->addWidget(history_log); + right_column->addWidget(history_log); + QObject::connect(split_btn, &QPushButton::clicked, this, &DetailWidget::moveBinaryView); + QObject::connect(title_frame, &TitleFrame::doubleClicked, this, &DetailWidget::moveBinaryView); QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg); QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); @@ -112,7 +129,6 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) { void DetailWidget::setMessage(const QString &message_id) { if (message_id.isEmpty()) return; - qWarning() << "setmessage" << message_id; int index = -1; for (int i = 0; i < tabbar->count(); ++i) { if (tabbar->tabText(i) == message_id) { @@ -182,6 +198,20 @@ void DetailWidget::updateState() { history_log->updateState(); } +void DetailWidget::moveBinaryView() { + if (binview_in_left_col) { + right_column->insertWidget(0, binary_view_container); + emit binaryViewMoved(true); + } else { + main_layout->insertWidget(0, binary_view_container); + emit binaryViewMoved(false); + } + split_btn->setText(binview_in_left_col ? "⬅" : "➡"); + split_btn->setToolTip(binview_in_left_col ? tr("Split to two columns") : tr("Move back")); + binary_view->updateGeometry(); + binview_in_left_col = !binview_in_left_col; +} + void DetailWidget::showForm() { SignalEdit *sender = qobject_cast(QObject::sender()); for (auto f : signals_container->findChildren()) { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 4ec74eca7e..3f042bf2b8 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -2,11 +2,21 @@ #include #include +#include #include "tools/cabana/binaryview.h" #include "tools/cabana/historylog.h" #include "tools/cabana/signaledit.h" +class TitleFrame : public QFrame { + Q_OBJECT +public: + TitleFrame(QWidget *parent) : QFrame(parent) {} + void mouseDoubleClickEvent(QMouseEvent *e) { emit doubleClicked(); } +signals: + void doubleClicked(); +}; + class EditMessageDialog : public QDialog { Q_OBJECT @@ -37,6 +47,7 @@ public: signals: void showChart(const QString &msg_id, const Signal *sig); void removeChart(const Signal *sig); + void binaryViewMoved(bool in); private: void showTabBarContextMenu(const QPoint &pt); @@ -47,6 +58,7 @@ private: void editMsg(); void showForm(); void updateState(); + void moveBinaryView(); QString msg_id; QLabel *name_label, *time_label, *warning_label; @@ -54,6 +66,11 @@ private: QPushButton *edit_btn; QWidget *signals_container; QTabBar *tabbar; + QHBoxLayout *main_layout; + QVBoxLayout *right_column; + bool binview_in_left_col = false; + QWidget *binary_view_container; + QPushButton *split_btn; HistoryLog *history_log; BinaryView *binary_view; ScrollArea *scroll; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index f127e5f52b..71ec873551 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -3,14 +3,13 @@ #include #include #include -#include #include #include "tools/replay/util.h" static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { - if (main_win) main_win->showStatusMessage(msg); + if (main_win) emit main_win->showMessage(msg, 0); } MainWindow::MainWindow() : QWidget() { @@ -22,15 +21,14 @@ MainWindow::MainWindow() : QWidget() { h_layout->setContentsMargins(0, 0, 0, 0); main_layout->addLayout(h_layout); - QSplitter *splitter = new QSplitter(Qt::Horizontal, this); - splitter->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); + splitter = new QSplitter(Qt::Horizontal, this); + splitter->setHandleWidth(11); messages_widget = new MessagesWidget(this); splitter->addWidget(messages_widget); detail_widget = new DetailWidget(this); splitter->addWidget(detail_widget); - splitter->setSizes({100, 500}); h_layout->addWidget(splitter); // right widgets @@ -74,16 +72,17 @@ MainWindow::MainWindow() : QWidget() { qRegisterMetaType("ReplyMsgType"); installMessageHandler([this](ReplyMsgType type, const std::string msg) { // use queued connection to recv the log messages from replay. - emit logMessageFromReplay(QString::fromStdString(msg), 3000); + emit showMessage(QString::fromStdString(msg), 3000); }); installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) { emit updateProgressBar(cur, total, success); }); - QObject::connect(this, &MainWindow::logMessageFromReplay, status_bar, &QStatusBar::showMessage); + QObject::connect(this, &MainWindow::showMessage, status_bar, &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); + QObject::connect(detail_widget, &DetailWidget::binaryViewMoved, [this](bool in) { splitter->setSizes({in ? 100 : 0, 500}); }); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); @@ -103,7 +102,6 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe } } - void MainWindow::dockCharts(bool dock) { if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 63f704dcc8..b77744ba9c 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include "tools/cabana/chartswidget.h" @@ -17,7 +18,7 @@ public: void showStatusMessage(const QString &msg, int timeout = 0) { status_bar->showMessage(msg, timeout); } signals: - void logMessageFromReplay(const QString &msg, int timeout); + void showMessage(const QString &msg, int timeout); void updateProgressBar(uint64_t cur, uint64_t total, bool success); protected: @@ -29,6 +30,7 @@ protected: MessagesWidget *messages_widget; DetailWidget *detail_widget; ChartsWidget *charts_widget; + QSplitter *splitter; QWidget *floating_window = nullptr; QVBoxLayout *r_layout; QProgressBar *progress_bar; From 9377448888c181674fdc1b1aa8c3bc485156d3d2 Mon Sep 17 00:00:00 2001 From: Rohit Bernard <43088347+RohitBernard@users.noreply.github.com> Date: Sat, 29 Oct 2022 13:20:37 -0700 Subject: [PATCH 439/685] sim: Converting RGB frames to NV12 format in OpenCL (#26169) * convert carla rgb frames to nv12 * code cleanup * move kernel Co-authored-by: Adeeb Shihadeh --- tools/sim/bridge.py | 5 +- .../rgb_to_yuv.cl => tools/sim/rgb_to_nv12.cl | 46 ++++++++----------- 2 files changed, 21 insertions(+), 30 deletions(-) rename system/camerad/transforms/rgb_to_yuv.cl => tools/sim/rgb_to_nv12.cl (75%) diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index a105ed751e..f72927ba9a 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -82,11 +82,10 @@ class Camerad: self.queue = cl.CommandQueue(self.ctx) cl_arg = f" -DHEIGHT={H} -DWIDTH={W} -DRGB_STRIDE={W * 3} -DUV_WIDTH={W // 2} -DUV_HEIGHT={H // 2} -DRGB_SIZE={W * H} -DCL_DEBUG " - # TODO: move rgb_to_yuv.cl to local dir once the frame stream camera is removed - kernel_fn = os.path.join(BASEDIR, "system", "camerad", "transforms", "rgb_to_yuv.cl") + kernel_fn = os.path.join(BASEDIR, "tools/sim/rgb_to_nv12.cl") with open(kernel_fn) as f: prg = cl.Program(self.ctx, f.read()).build(cl_arg) - self.krnl = prg.rgb_to_yuv + self.krnl = prg.rgb_to_nv12 self.Wdiv4 = W // 4 if (W % 4 == 0) else (W + (4 - W % 4)) // 4 self.Hdiv4 = H // 4 if (H % 4 == 0) else (H + (4 - H % 4)) // 4 diff --git a/system/camerad/transforms/rgb_to_yuv.cl b/tools/sim/rgb_to_nv12.cl similarity index 75% rename from system/camerad/transforms/rgb_to_yuv.cl rename to tools/sim/rgb_to_nv12.cl index 60dbdb4d5e..54816d5d7d 100644 --- a/system/camerad/transforms/rgb_to_yuv.cl +++ b/tools/sim/rgb_to_nv12.cl @@ -29,23 +29,21 @@ inline void convert_4_ys(__global uchar * out_yuv, int yi, const uchar8 rgbs1, c vstore4(yy, 0, out_yuv + yi); } -inline void convert_uv(__global uchar * out_yuv, int ui, int vi, +inline void convert_uv(__global uchar * out_yuv, int uvi, const uchar8 rgbs1, const uchar8 rgbs2) { // U & V: average of 2x2 pixels square const short ab = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3); const short ag = AVERAGE(rgbs1.s1, rgbs1.s4, rgbs2.s1, rgbs2.s4); const short ar = AVERAGE(rgbs1.s2, rgbs1.s5, rgbs2.s2, rgbs2.s5); #ifdef CL_DEBUG - if(ui >= RGB_SIZE + RGB_SIZE / 4) - printf("U overflow, %d >= %d\n", ui, RGB_SIZE + RGB_SIZE / 4); - if(vi >= RGB_SIZE + RGB_SIZE / 2) - printf("V overflow, %d >= %d\n", vi, RGB_SIZE + RGB_SIZE / 2); + if(uvi >= RGB_SIZE + RGB_SIZE / 2) + printf("UV overflow, %d >= %d\n", uvi, RGB_SIZE + RGB_SIZE / 2); #endif - out_yuv[ui] = RGB_TO_U(ar, ag, ab); - out_yuv[vi] = RGB_TO_V(ar, ag, ab); + out_yuv[uvi] = RGB_TO_U(ar, ag, ab); + out_yuv[uvi+1] = RGB_TO_V(ar, ag, ab); } -inline void convert_2_uvs(__global uchar * out_yuv, int ui, int vi, +inline void convert_2_uvs(__global uchar * out_yuv, int uvi, const uchar8 rgbs1, const uchar8 rgbs2, const uchar8 rgbs3, const uchar8 rgbs4) { // U & V: average of 2x2 pixels square const short ab1 = AVERAGE(rgbs1.s0, rgbs1.s3, rgbs2.s0, rgbs2.s3); @@ -54,25 +52,20 @@ inline void convert_2_uvs(__global uchar * out_yuv, int ui, int vi, const short ab2 = AVERAGE(rgbs1.s6, rgbs3.s1, rgbs2.s6, rgbs4.s1); const short ag2 = AVERAGE(rgbs1.s7, rgbs3.s2, rgbs2.s7, rgbs4.s2); const short ar2 = AVERAGE(rgbs3.s0, rgbs3.s3, rgbs4.s0, rgbs4.s3); - uchar2 u2 = (uchar2)( + uchar4 uv = (uchar4)( RGB_TO_U(ar1, ag1, ab1), - RGB_TO_U(ar2, ag2, ab2) - ); - uchar2 v2 = (uchar2)( RGB_TO_V(ar1, ag1, ab1), + RGB_TO_U(ar2, ag2, ab2), RGB_TO_V(ar2, ag2, ab2) ); #ifdef CL_DEBUG1 - if(ui > RGB_SIZE + RGB_SIZE / 4 - 2) - printf("U 2 overflow, %d >= %d\n", ui, RGB_SIZE + RGB_SIZE / 4 - 2); - if(vi > RGB_SIZE + RGB_SIZE / 2 - 2) - printf("V 2 overflow, %d >= %d\n", vi, RGB_SIZE + RGB_SIZE / 2 - 2); + if(uvi > RGB_SIZE + RGB_SIZE / 2 - 4) + printf("UV2 overflow, %d >= %d\n", uvi, RGB_SIZE + RGB_SIZE / 2 - 2); #endif - vstore2(u2, 0, out_yuv + ui); - vstore2(v2, 0, out_yuv + vi); + vstore4(uv, 0, out_yuv + uvi); } -__kernel void rgb_to_yuv(__global uchar const * const rgb, +__kernel void rgb_to_nv12(__global uchar const * const rgb, __global uchar * out_yuv) { const int dx = get_global_id(0); @@ -81,8 +74,7 @@ __kernel void rgb_to_yuv(__global uchar const * const rgb, const int row = mul24(dy, 4); // Current row in rgb image const int bgri_start = mad24(row, RGB_STRIDE, mul24(col, 3)); // Start offset of rgb data being converted const int yi_start = mad24(row, WIDTH, col); // Start offset in the target yuv buffer - int ui = mad24(row / 2, UV_WIDTH, RGB_SIZE + col / 2); - int vi = mad24(row / 2 , UV_WIDTH, RGB_SIZE + UV_WIDTH * UV_HEIGHT + col / 2); + int uvi = mad24(row / 2, WIDTH, RGB_SIZE + col); int num_col = min(WIDTH - col, 4); int num_row = min(HEIGHT - row, 4); if(num_row == 4) { @@ -99,15 +91,15 @@ __kernel void rgb_to_yuv(__global uchar const * const rgb, convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1); convert_4_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0, rgbs2_1); convert_4_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0, rgbs3_1); - convert_2_uvs(out_yuv, ui, vi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); - convert_2_uvs(out_yuv, ui + UV_WIDTH, vi + UV_WIDTH, rgbs2_0, rgbs3_0, rgbs2_1, rgbs3_1); + convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); + convert_2_uvs(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0, rgbs2_1, rgbs3_1); } else if(num_col == 2) { convert_2_ys(out_yuv, yi_start, rgbs0_0); convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0); convert_2_ys(out_yuv, yi_start + WIDTH * 2, rgbs2_0); convert_2_ys(out_yuv, yi_start + WIDTH * 3, rgbs3_0); - convert_uv(out_yuv, ui, vi, rgbs0_0, rgbs1_0); - convert_uv(out_yuv, ui + UV_WIDTH, vi + UV_WIDTH, rgbs2_0, rgbs3_0); + convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0); + convert_uv(out_yuv, uvi + WIDTH, rgbs2_0, rgbs3_0); } } else { const uchar8 rgbs0_0 = vload8(0, rgb + bgri_start); @@ -117,11 +109,11 @@ __kernel void rgb_to_yuv(__global uchar const * const rgb, if(num_col == 4) { convert_4_ys(out_yuv, yi_start, rgbs0_0, rgbs0_1); convert_4_ys(out_yuv, yi_start + WIDTH, rgbs1_0, rgbs1_1); - convert_2_uvs(out_yuv, ui, vi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); + convert_2_uvs(out_yuv, uvi, rgbs0_0, rgbs1_0, rgbs0_1, rgbs1_1); } else if(num_col == 2) { convert_2_ys(out_yuv, yi_start, rgbs0_0); convert_2_ys(out_yuv, yi_start + WIDTH, rgbs1_0); - convert_uv(out_yuv, ui, vi, rgbs0_0, rgbs1_0); + convert_uv(out_yuv, uvi, rgbs0_0, rgbs1_0); } } } From 5de54c35a9017454982c1deda973a8519968d854 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 29 Oct 2022 13:28:14 -0700 Subject: [PATCH 440/685] cabana: fix settings titles --- tools/cabana/settings.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 93bc05f20b..17299ebca4 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -55,19 +55,19 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { cached_segment->setRange(3, 60); cached_segment->setSingleStep(1); cached_segment->setValue(settings.cached_segment_limit); - form_layout->addRow(tr("Cached segments limit(minute)"), cached_segment); + form_layout->addRow(tr("Cached segments limit"), cached_segment); max_chart_x_range = new QSpinBox(this); max_chart_x_range->setRange(1, 60); max_chart_x_range->setSingleStep(1); max_chart_x_range->setValue(settings.max_chart_x_range / 60); - form_layout->addRow(tr("Chart's max X-axis range(minute)"), max_chart_x_range); + form_layout->addRow(tr("Chart range (minutes)"), max_chart_x_range); chart_height = new QSpinBox(this); chart_height->setRange(100, 500); chart_height->setSingleStep(10); chart_height->setValue(settings.chart_height); - form_layout->addRow(tr("Chart's height"), chart_height); + form_layout->addRow(tr("Chart height"), chart_height); chart_theme = new QComboBox(); chart_theme->addItems({"Light", "Dark"}); From 80b088c332808439ea9cfe23557fae5a86fb075c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 30 Oct 2022 22:31:12 +0800 Subject: [PATCH 441/685] Cabana: add save DBC dialog (#26282) * export DBC to text edit * added saveAs & Copy To Clipboard * cleanup * cleanup include * add test case * rename variable * fix precision --- .github/workflows/selfdrive_tests.yaml | 1 + tools/cabana/.gitignore | 2 +- tools/cabana/SConscript | 6 ++- tools/cabana/dbcmanager.cc | 21 +++++++- tools/cabana/dbcmanager.h | 4 +- tools/cabana/messageswidget.cc | 67 ++++++++++++++++++++++---- tools/cabana/messageswidget.h | 11 +++++ tools/cabana/tests/test_cabana | 4 ++ tools/cabana/tests/test_cabana.cc | 35 ++++++++++++++ tools/cabana/tests/test_runner.cc | 10 ++++ 10 files changed, 146 insertions(+), 15 deletions(-) create mode 100755 tools/cabana/tests/test_cabana create mode 100644 tools/cabana/tests/test_cabana.cc create mode 100644 tools/cabana/tests/test_runner.cc diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index e921cd3d00..598f2c592b 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -232,6 +232,7 @@ jobs: ./selfdrive/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ ./tools/replay/tests/test_replay && \ + ./tools/cabana/tests/test_cabana && \ ./system/camerad/test/ae_gray_test && \ coverage xml" - name: "Upload coverage to Codecov" diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore index d7a552eabb..73879ab05d 100644 --- a/tools/cabana/.gitignore +++ b/tools/cabana/.gitignore @@ -4,4 +4,4 @@ moc_* _cabana settings car_fingerprint_to_dbc.json - +tests/_test_cabana diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 4e4e11dbd8..b7321e1f8d 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -18,5 +18,9 @@ cabana_env = qt_env.Clone() prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' cabana_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json') -cabana_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', 'canmessages.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_env.Program('_cabana', ['cabana.cc', cabana_lib], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + +if GetOption('test'): + cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index c3fbab0349..479b14afec 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -28,8 +28,25 @@ void DBCManager::open(const QString &name, const QString &content) { emit DBCFileChanged(); } -void save(const QString &dbc_file_name) { - // TODO: save DBC to file +QString DBCManager::generateDBC() { + if (!dbc) return {}; + + QString dbc_string; + for (auto &m : dbc->msgs) { + dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(m.address).arg(m.name.c_str()).arg(m.size); + for (auto &sig : m.sigs) { + dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [0|0] \"\" XXX\n") + .arg(sig.name.c_str()) + .arg(sig.start_bit) + .arg(sig.size) + .arg(sig.is_little_endian ? '1' : '0') + .arg(sig.is_signed ? '-' : '+') + .arg(sig.factor, 0, 'g', 20) + .arg(sig.offset); + } + dbc_string += "\n"; + } + return dbc_string; } void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) { diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 9e64c4ed53..913445d44e 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -13,8 +13,7 @@ public: void open(const QString &dbc_file_name); void open(const QString &name, const QString &content); - void save(const QString &dbc_file_name); - + QString generateDBC(); void addSignal(const QString &id, const Signal &sig); void updateSignal(const QString &id, const QString &sig_name, const Signal &sig); void removeSignal(const QString &id, const QString &sig_name); @@ -24,6 +23,7 @@ public: inline QString name() const { return dbc_name; } void updateMsg(const QString &id, const QString &name, uint32_t size); + inline const DBC *getDBC() const { return dbc; } inline const Msg *msg(const QString &id) const { return msg(addressFromId(id)); } inline const Msg *msg(uint32_t address) const { auto it = msg_map.find(address); diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 4975061cc5..4d97bba589 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -3,6 +3,8 @@ #include #include #include +#include +#include #include #include #include @@ -69,9 +71,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &CANMessages::updated, [this]() { model->updateState(); }); QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadDBCFromPaste); - QObject::connect(save_btn, &QPushButton::clicked, [=]() { - // TODO: save DBC to file - }); + QObject::connect(save_btn, &QPushButton::clicked, this, &MessagesWidget::saveDBC); QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { if (current.isValid()) { emit msgSelectionChanged(current.data(Qt::UserRole).toString()); @@ -79,7 +79,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { }); QFile json_file("./car_fingerprint_to_dbc.json"); - if(json_file.open(QIODevice::ReadOnly)) { + if (json_file.open(QIODevice::ReadOnly)) { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); } } @@ -103,14 +103,20 @@ void MessagesWidget::loadDBCFromPaste() { void MessagesWidget::loadDBCFromFingerprint() { auto fingerprint = can->carFingerprint(); - if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) { + if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) { auto dbc_name = fingerprint_to_dbc[fingerprint]; - if (dbc_name != QJsonValue::Undefined) { + if (dbc_name != QJsonValue::Undefined) { loadDBCFromName(dbc_name.toString()); } } } +void MessagesWidget::saveDBC() { + SaveDBCDialog dlg(this); + dlg.dbc_edit->setText(dbc()->generateDBC()); + dlg.exec(); +} + // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { @@ -224,6 +230,8 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { } } +// LoadDBCDialog + LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); dbc_edit = new QTextEdit(this); @@ -233,7 +241,48 @@ LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) { auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); main_layout->addWidget(buttonBox); - setFixedWidth(640); - connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); + setMinimumSize({640, 480}); + QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); + QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} + +// SaveDBCDialog + +SaveDBCDialog::SaveDBCDialog(QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Save DBC")); + QVBoxLayout *main_layout = new QVBoxLayout(this); + dbc_edit = new QTextEdit(this); + dbc_edit->setAcceptRichText(false); + main_layout->addWidget(dbc_edit); + + QPushButton *copy_to_clipboard = new QPushButton(tr("Copy To Clipboard"), this); + QPushButton *save_as = new QPushButton(tr("Save As"), this); + + QHBoxLayout *btn_layout = new QHBoxLayout(); + btn_layout->addStretch(); + btn_layout->addWidget(copy_to_clipboard); + btn_layout->addWidget(save_as); + main_layout->addLayout(btn_layout); + setMinimumSize({640, 480}); + + QObject::connect(copy_to_clipboard, &QPushButton::clicked, this, &SaveDBCDialog::copytoClipboard); + QObject::connect(save_as, &QPushButton::clicked, this, &SaveDBCDialog::saveAs); +} + +void SaveDBCDialog::copytoClipboard() { + dbc_edit->selectAll(); + dbc_edit->copy(); + QDialog::accept(); +} + +void SaveDBCDialog::saveAs() { + QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"), + QDir::homePath() + "/untitled.dbc", tr("DBC (*.dbc)")); + if (!file_name.isEmpty()) { + QFile file(file_name); + if (file.open(QIODevice::WriteOnly)) { + file.write(dbc_edit->toPlainText().toUtf8()); + } + QDialog::accept(); + } } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index fcd4939dac..a3d4d860b2 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -17,6 +17,16 @@ public: QTextEdit *dbc_edit; }; +class SaveDBCDialog : public QDialog { + Q_OBJECT + +public: + SaveDBCDialog(QWidget *parent); + void copytoClipboard(); + void saveAs(); + QTextEdit *dbc_edit; +}; + class MessageListModel : public QAbstractTableModel { Q_OBJECT @@ -52,6 +62,7 @@ public slots: void loadDBCFromName(const QString &name); void loadDBCFromFingerprint(); void loadDBCFromPaste(); + void saveDBC(); signals: void msgSelectionChanged(const QString &message_id); diff --git a/tools/cabana/tests/test_cabana b/tools/cabana/tests/test_cabana new file mode 100755 index 0000000000..bac242fbdd --- /dev/null +++ b/tools/cabana/tests/test_cabana @@ -0,0 +1,4 @@ +#!/bin/sh +cd "$(dirname "$0")" +export LD_LIBRARY_PATH="../../../opendbc/can:$LD_LIBRARY_PATH" +exec ./_test_cabana "$1" diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc new file mode 100644 index 0000000000..d0aa2cbb4f --- /dev/null +++ b/tools/cabana/tests/test_cabana.cc @@ -0,0 +1,35 @@ + +#include "catch2/catch.hpp" +#include "tools/cabana/dbcmanager.h" + +TEST_CASE("DBCManager::generateDBC") { + DBCManager dbc_origin(nullptr); + dbc_origin.open("toyota_new_mc_pt_generated"); + QString dbc_string = dbc_origin.generateDBC(); + + DBCManager dbc_from_generated(nullptr); + dbc_from_generated.open("", dbc_string); + + auto dbc = dbc_origin.getDBC(); + auto new_dbc = dbc_from_generated.getDBC(); + REQUIRE(dbc->msgs.size() == new_dbc->msgs.size()); + for (int i = 0; i < dbc->msgs.size(); ++i) { + REQUIRE(dbc->msgs[i].name == new_dbc->msgs[i].name); + REQUIRE(dbc->msgs[i].address == new_dbc->msgs[i].address); + REQUIRE(dbc->msgs[i].size == new_dbc->msgs[i].size); + REQUIRE(dbc->msgs[i].sigs.size() == new_dbc->msgs[i].sigs.size()); + auto &sig = dbc->msgs[i].sigs; + auto &new_sig = new_dbc->msgs[i].sigs; + for (int j = 0; j < sig.size(); ++j) { + REQUIRE(sig[j].name == new_sig[j].name); + REQUIRE(sig[j].start_bit == new_sig[j].start_bit); + REQUIRE(sig[j].msb == new_sig[j].msb); + REQUIRE(sig[j].lsb == new_sig[j].lsb); + REQUIRE(sig[j].size == new_sig[j].size); + REQUIRE(sig[j].is_signed == new_sig[j].is_signed); + REQUIRE(sig[j].factor == new_sig[j].factor); + REQUIRE(sig[j].offset == new_sig[j].offset); + REQUIRE(sig[j].is_little_endian == new_sig[j].is_little_endian); + } + } +} diff --git a/tools/cabana/tests/test_runner.cc b/tools/cabana/tests/test_runner.cc new file mode 100644 index 0000000000..b20ac86c64 --- /dev/null +++ b/tools/cabana/tests/test_runner.cc @@ -0,0 +1,10 @@ +#define CATCH_CONFIG_RUNNER +#include "catch2/catch.hpp" +#include + +int main(int argc, char **argv) { + // unit tests for Qt + QCoreApplication app(argc, argv); + const int res = Catch::Session().run(argc, argv); + return (res < 0xff ? res : 0xff); +} From 9c7e3759441f0dff1200f7946e77f06c6a101c26 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 30 Oct 2022 22:31:43 +0800 Subject: [PATCH 442/685] Cabana: sync button state with chart (#26285) sync button state with charts --- tools/cabana/chartswidget.cc | 14 ++++++++++++-- tools/cabana/chartswidget.h | 5 ++++- tools/cabana/detailwidget.cc | 14 ++++++++++++-- tools/cabana/detailwidget.h | 7 ++++--- tools/cabana/mainwin.cc | 5 ++--- tools/cabana/signaledit.cc | 18 ++++++++++++------ tools/cabana/signaledit.h | 7 +++++-- 7 files changed, 51 insertions(+), 19 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index a3cbaf5b30..21fd71b8ea 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -142,9 +142,11 @@ void ChartsWidget::updateTitleBar() { dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); } -void ChartsWidget::addChart(const QString &id, const Signal *sig) { +void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show) { auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); - if (it == charts.end()) { + if (it != charts.end()) { + if (!show) removeChart((*it)); + } else if (show) { auto chart = new ChartWidget(id, sig, this); chart->chart_view->updateSeries(display_range); QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(chart); }); @@ -152,14 +154,21 @@ void ChartsWidget::addChart(const QString &id, const Signal *sig) { QObject::connect(chart->chart_view, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); charts_layout->insertWidget(0, chart); charts.push_back(chart); + emit chartOpened(chart->id, chart->signal); } updateTitleBar(); } +bool ChartsWidget::isChartOpened(const QString &id, const Signal *sig) { + auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); + return it != charts.end(); +} + void ChartsWidget::removeChart(ChartWidget *chart) { charts.removeOne(chart); chart->deleteLater(); updateTitleBar(); + emit chartClosed(chart->id, chart->signal); } void ChartsWidget::removeAll(const Signal *sig) { @@ -168,6 +177,7 @@ void ChartsWidget::removeAll(const Signal *sig) { auto c = it.next(); if (sig == nullptr || c->signal == sig) { c->deleteLater(); + emit chartClosed(c->id, c->signal); it.remove(); } } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 60081dd882..602d50ca0a 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -73,12 +73,15 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); - void addChart(const QString &id, const Signal *sig); + void showChart(const QString &id, const Signal *sig, bool show); void removeChart(ChartWidget *chart); + bool isChartOpened(const QString &id, const Signal *sig); signals: void dock(bool floating); void rangeChanged(double min, double max, bool is_zommed); + void chartOpened(const QString &id, const Signal *sig); + void chartClosed(const QString &id, const Signal *sig); private: void eventsMerged(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 69b420483d..59e5b5f296 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -12,7 +12,7 @@ // DetailWidget -DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { +DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { main_layout = new QHBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); @@ -110,6 +110,8 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { } tabbar->removeTab(index); }); + QObject::connect(charts, &ChartsWidget::chartOpened, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, true); }); + QObject::connect(charts, &ChartsWidget::chartClosed, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, false); }); } void DetailWidget::showTabBarContextMenu(const QPoint &pt) { @@ -157,13 +159,14 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { if (auto msg = dbc()->msg(msg_id)) { for (int i = 0; i < msg->sigs.size(); ++i) { auto form = new SignalEdit(i, msg_id, &(msg->sigs[i])); + form->setChartOpened(charts->isChartOpened(msg_id, &(msg->sigs[i]))); signals_container->layout()->addWidget(form); - QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]]() { emit showChart(msg_id, sig); }); QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); + QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]](bool show) { charts->showChart(msg_id, sig, show); }); if (i == show_form_idx) { QTimer::singleShot(0, [=]() { emit form->showFormClicked(); }); } @@ -222,6 +225,13 @@ void DetailWidget::showForm() { } } +void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) { + if (id == msg_id) { + for (auto f : signals_container->findChildren()) + if (f->sig == sig) f->setChartOpened(opened); + } +} + void DetailWidget::editMsg() { auto msg = dbc()->msg(msg_id); QString name = msg ? msg->name.c_str() : "untitled"; diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 3f042bf2b8..656aacb106 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -5,6 +5,7 @@ #include #include "tools/cabana/binaryview.h" +#include "tools/cabana/chartswidget.h" #include "tools/cabana/historylog.h" #include "tools/cabana/signaledit.h" @@ -40,16 +41,15 @@ class DetailWidget : public QWidget { Q_OBJECT public: - DetailWidget(QWidget *parent); + DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const QString &message_id); void dbcMsgChanged(int show_form_idx = -1); signals: - void showChart(const QString &msg_id, const Signal *sig); - void removeChart(const Signal *sig); void binaryViewMoved(bool in); private: + void updateChartState(const QString &id, const Signal *sig, bool opened); void showTabBarContextMenu(const QPoint &pt); void addSignal(int start_bit, int to); void resizeSignal(const Signal *sig, int from, int to); @@ -74,4 +74,5 @@ private: HistoryLog *history_log; BinaryView *binary_view; ScrollArea *scroll; + ChartsWidget *charts; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 71ec873551..c2baca4d22 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -26,7 +26,8 @@ MainWindow::MainWindow() : QWidget() { messages_widget = new MessagesWidget(this); splitter->addWidget(messages_widget); - detail_widget = new DetailWidget(this); + charts_widget = new ChartsWidget(this); + detail_widget = new DetailWidget(charts_widget, this); splitter->addWidget(detail_widget); h_layout->addWidget(splitter); @@ -50,7 +51,6 @@ MainWindow::MainWindow() : QWidget() { video_widget = new VideoWidget(this); r_layout->addWidget(video_widget, 0, Qt::AlignTop); - charts_widget = new ChartsWidget(this); r_layout->addWidget(charts_widget); h_layout->addWidget(right_container); @@ -81,7 +81,6 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(this, &MainWindow::showMessage, status_bar, &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); - QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(detail_widget, &DetailWidget::binaryViewMoved, [this](bool in) { splitter->setSizes({in ? 100 : 0, 500}); }); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 1bb5e9e533..ef0a85eba3 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -82,15 +82,14 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWid title_layout->addWidget(title, 1); QPushButton *seek_btn = new QPushButton("⌕"); - seek_btn->setStyleSheet("font-weight:bold;font-size:20px"); + seek_btn->setStyleSheet("QPushButton{font-weight:bold;font-size:18px}"); seek_btn->setToolTip(tr("Find signal values")); - seek_btn->setFixedSize(20, 20); + seek_btn->setFixedSize(25, 25); title_layout->addWidget(seek_btn); - QPushButton *plot_btn = new QPushButton("📈"); - plot_btn->setToolTip(tr("Show Plot")); - plot_btn->setFixedSize(20, 20); - QObject::connect(plot_btn, &QPushButton::clicked, this, &SignalEdit::showChart); + plot_btn = new QPushButton(this); + plot_btn->setStyleSheet("QPushButton {font-size:18px}"); + plot_btn->setFixedSize(25, 25); title_layout->addWidget(plot_btn); main_layout->addLayout(title_layout); @@ -120,6 +119,7 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWid QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); }); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal); + QObject::connect(plot_btn, &QPushButton::clicked, [this]() { emit showChart(!chart_opened); }); QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id]() { SignalFindDlg dlg(msg_id, this->sig, this); dlg.exec(); @@ -145,6 +145,12 @@ void SignalEdit::saveSignal() { emit save(this->sig, s); } +void SignalEdit::setChartOpened(bool opened) { + plot_btn->setText(opened ? "☒" : "📈"); + plot_btn->setToolTip(opened ? tr("Close Plot") :tr("Show Plot")); + chart_opened = opened; +} + void SignalEdit::setFormVisible(bool visible) { form_container->setVisible(visible); icon->setText(visible ? "▼" : ">"); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 71719852f1..e3d38d5b25 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -26,13 +26,15 @@ class SignalEdit : public QWidget { public: SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent = nullptr); + void setChartOpened(bool opened); void setFormVisible(bool show); void signalHovered(const Signal *sig); inline bool isFormVisible() const { return form_container->isVisible(); } + const Signal *sig = nullptr; signals: void highlight(const Signal *sig); - void showChart(); + void showChart(bool show); void showFormClicked(); void remove(const Signal *sig); void save(const Signal *sig, const Signal &new_sig); @@ -48,7 +50,8 @@ protected: QLabel *icon; int form_idx = 0; QString msg_id; - const Signal *sig = nullptr; + bool chart_opened = false; + QPushButton *plot_btn; }; class SignalFindDlg : public QDialog { From 6fed76695cbab39ffbaca2cd5e656e4c5a5badca Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 30 Oct 2022 23:53:02 +0800 Subject: [PATCH 443/685] Cabana: fix possible crash when removing tabs (#26283) fix dead loop --- tools/cabana/detailwidget.cc | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 59e5b5f296..57a3910303 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -104,12 +104,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart setMessage(tabbar->tabText(index)); } }); - QObject::connect(tabbar, &QTabBar::tabCloseRequested, [=](int index) { - if (tabbar->currentIndex() == index) { - tabbar->setCurrentIndex(index == tabbar->count() - 1 ? index - 1 : index + 1); - } - tabbar->removeTab(index); - }); + QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab); QObject::connect(charts, &ChartsWidget::chartOpened, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, true); }); QObject::connect(charts, &ChartsWidget::chartClosed, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, false); }); } @@ -120,9 +115,14 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) { QMenu menu(this); menu.addAction(tr("Close Other Tabs")); if (menu.exec(tabbar->mapToGlobal(pt))) { - for (int i = tabbar->count() - 1; i >= 0; --i) { - if (i != index) - tabbar->removeTab(i); + tabbar->setCurrentIndex(index); + // remove all tabs before the one to keep + for (int i = 0; i < index; ++i) { + tabbar->removeTab(0); + } + // remove all tabs after the one to keep + while (tabbar->count() > 1) { + tabbar->removeTab(1); } } } From eecd6982059211491cb019dca5453dcde9cc1038 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sun, 30 Oct 2022 17:39:40 -0700 Subject: [PATCH 444/685] remove black connecting background --- selfdrive/ui/qt/offroad/networking.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 13697adfb5..5b87d47976 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -256,7 +256,6 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) padding: 27px; padding-left: 43px; padding-right: 43px; - background-color: black; } #ssidLabel { font-size: 55px; From 0c03fb1be4f47facef1bcda9ad3cb97b98636286 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sun, 30 Oct 2022 17:43:15 -0700 Subject: [PATCH 445/685] Revert "remove black connecting background" This reverts commit eecd6982059211491cb019dca5453dcde9cc1038. --- selfdrive/ui/qt/offroad/networking.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 5b87d47976..13697adfb5 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -256,6 +256,7 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) padding: 27px; padding-left: 43px; padding-right: 43px; + background-color: black; } #ssidLabel { font-size: 55px; From c3388d216c33111ae8bd16452016cf8908679c28 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Sun, 30 Oct 2022 23:55:48 -0700 Subject: [PATCH 446/685] Model trained with headlight augmentation (#26284) * d8501d20-bb59-4193-aa82-82b2737dedd6/449 ddfe2a22-fb0e-4ff0-a97f-0157b95eb44d/700 * update ref --- selfdrive/modeld/models/supercombo.onnx | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 49a1c3a3b8..243223eabd 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a41d42f92913e6cc3909e505b1220b16d31f7cfca5f8a4e82109577b4151b645 +oid sha256:dcfad22cecf37275d01a339d96174800c109e9a70f853fdef3e4ef62ed3f4bbe size 45922983 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 5843a1e174..d13ced3a53 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -d2f1711fd58d4f2c25b81bd332270da60ff9636d +49ea844254883ac61caa2ac425f453799aeb28a6 From b727f6cff4968a53dd489e9825b785d97eda66ef Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 31 Oct 2022 08:37:05 -0700 Subject: [PATCH 447/685] EV6 long tuning (#26166) * some matching and jerk limit * update that * one jerk limit * little more * more jerk * bump opendbc * update refs --- opendbc | 2 +- selfdrive/car/hyundai/carcontroller.py | 4 ++- selfdrive/car/hyundai/carstate.py | 38 ++++++++++---------- selfdrive/car/hyundai/hyundaicanfd.py | 44 +++++++++++++----------- selfdrive/car/hyundai/interface.py | 6 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 50 insertions(+), 46 deletions(-) diff --git a/opendbc b/opendbc index 526e21da66..b3dc569994 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 526e21da666aeeabcf2369c66903a5675fdf933b +Subproject commit b3dc569994fd10e4de04afd650980c51ddfce5e1 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 913f683e2c..2f944edc0f 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -49,6 +49,7 @@ class CarController: self.angle_limit_counter = 0 self.frame = 0 + self.accel_last = 0 self.apply_steer_last = 0 self.car_fingerprint = CP.carFingerprint self.last_button_frame = 0 @@ -123,8 +124,9 @@ class CarController: if self.CP.openpilotLongitudinalControl: can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame)) if self.frame % 2 == 0: - can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, accel, stopping, CC.cruiseControl.override, + can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, set_speed_in_units)) + self.accel_last = accel else: # button presses if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 2e4cb0d25a..3cce581868 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -196,10 +196,10 @@ class CarState(CarStateBase): if not self.CP.openpilotLongitudinalControl: speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam - ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor - ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 - ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0 - self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"]) + ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor + ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1 + 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] @@ -464,12 +464,12 @@ class CarState(CarStateBase): if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl: signals += [ - ("CRUISE_STATUS", "CRUISE_INFO"), - ("SET_SPEED", "CRUISE_INFO"), - ("CRUISE_STANDSTILL", "CRUISE_INFO"), + ("ACCMode", "SCC_CONTROL"), + ("VSetDis", "SCC_CONTROL"), + ("CRUISE_STANDSTILL", "SCC_CONTROL"), ] checks += [ - ("CRUISE_INFO", 50), + ("SCC_CONTROL", 50), ] if CP.carFingerprint in EV_CAR: @@ -497,20 +497,20 @@ class CarState(CarStateBase): checks = [("CAM_0x2a4", 20)] else: signals = [ - ("COUNTER", "CRUISE_INFO"), - ("NEW_SIGNAL_1", "CRUISE_INFO"), - ("CRUISE_MAIN", "CRUISE_INFO"), - ("CRUISE_STATUS", "CRUISE_INFO"), - ("CRUISE_INACTIVE", "CRUISE_INFO"), - ("ZEROS_9", "CRUISE_INFO"), - ("CRUISE_STANDSTILL", "CRUISE_INFO"), - ("ZEROS_5", "CRUISE_INFO"), - ("DISTANCE_SETTING", "CRUISE_INFO"), - ("SET_SPEED", "CRUISE_INFO"), + ("COUNTER", "SCC_CONTROL"), + ("NEW_SIGNAL_1", "SCC_CONTROL"), + ("MainMode_ACC", "SCC_CONTROL"), + ("ACCMode", "SCC_CONTROL"), + ("CRUISE_INACTIVE", "SCC_CONTROL"), + ("ZEROS_9", "SCC_CONTROL"), + ("CRUISE_STANDSTILL", "SCC_CONTROL"), + ("ZEROS_5", "SCC_CONTROL"), + ("DISTANCE_SETTING", "SCC_CONTROL"), + ("VSetDis", "SCC_CONTROL"), ] checks = [ - ("CRUISE_INFO", 50), + ("SCC_CONTROL", 50), ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index e1478e6f18..8b53e7c378 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,3 +1,4 @@ +from common.numpy_fast import clip from selfdrive.car.hyundai.values import HyundaiFlags @@ -52,10 +53,9 @@ def create_buttons(packer, CP, cnt, btn): def create_acc_cancel(packer, CP, cruise_info_copy): values = cruise_info_copy values.update({ - "CRUISE_STATUS": 0, - "CRUISE_INACTIVE": 1, + "ACCMode": 4, }) - return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values) + return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) def create_lfahda_cluster(packer, CP, enabled): values = { @@ -65,33 +65,37 @@ def create_lfahda_cluster(packer, CP, enabled): return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values) -def create_acc_control(packer, CP, enabled, accel, stopping, gas_override, set_speed): - cruise_status = 0 if not enabled else (4 if gas_override else 2) +def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed): + jerk = 5 + jn = jerk / 50 if not enabled or gas_override: - accel = 0 + a_val, a_raw = 0, 0 + else: + a_raw = accel + a_val = clip(accel, accel_last - jn, accel_last + jn) + if stopping: + a_raw = 0 + values = { - "CRUISE_STATUS": cruise_status, - "CRUISE_INACTIVE": 0 if enabled else 1, - "CRUISE_MAIN": 1, - "CRUISE_STANDSTILL": 0, - "STOP_REQ": 1 if stopping else 0, - "ACCEL_REQ": accel, - "ACCEL_REQ2": accel, - "SET_SPEED": set_speed, - "DISTANCE_SETTING": 4, + "ACCMode": 0 if not enabled else (2 if gas_override else 1), + "MainMode_ACC": 1, + "StopReq": 1 if stopping else 0, + "aReqValue": a_val, + "aReqRaw": a_raw, + "VSetDis": set_speed, + "JerkLowerLimit": jerk if enabled else 1, "ACC_ObjDist": 1, - "ObjValid": 1, + "ObjValid": 0, "OBJ_STATUS": 2, - "SET_ME_2": 0x2, + "SET_ME_2": 0x4, "SET_ME_3": 0x3, "SET_ME_TMP_64": 0x64, - - "NEW_SIGNAL_9": 2, "NEW_SIGNAL_10": 4, + "DISTANCE_SETTING": 4, } - return packer.make_can_msg("CRUISE_INFO", get_e_can_bus(CP), values) + return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 6a1d741dec..4b4d51f3f1 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -202,14 +202,10 @@ class CarInterface(CarInterfaceBase): if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] - ret.longitudinalActuatorDelayLowerBound = 0.15 - ret.longitudinalActuatorDelayUpperBound = 0.5 ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2) else: ret.longitudinalTuning.kpV = [0.5] ret.longitudinalTuning.kiV = [0.0] - ret.longitudinalActuatorDelayLowerBound = 0.5 - ret.longitudinalActuatorDelayUpperBound = 0.5 ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable ret.pcmCruise = not ret.openpilotLongitudinalControl @@ -218,6 +214,8 @@ class CarInterface(CarInterfaceBase): ret.startingState = True ret.vEgoStarting = 0.1 ret.startAccel = 2.0 + ret.longitudinalActuatorDelayLowerBound = 0.5 + ret.longitudinalActuatorDelayUpperBound = 0.5 # *** feature detection *** if candidate in CANFD_CAR: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index c7d81c3496..0e4ac94784 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e56c5a6ac5b87ee6083c9f92921e7198591f7b5d +fc3a044c567a8702ed1500d745170c365dd6b3d4 \ No newline at end of file From af685851af226041f349212a0344dd00f0c3dd6e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 1 Nov 2022 00:50:27 +0800 Subject: [PATCH 448/685] Cabana: update msg name after load dbc from paste (#26294) update msg name after load dbc from paste --- tools/cabana/messageswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 4d97bba589..205e5347ce 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -98,6 +98,7 @@ void MessagesWidget::loadDBCFromPaste() { if (dlg.exec()) { dbc()->open("from paste", dlg.dbc_edit->toPlainText()); dbc_combo->setCurrentText("loaded from paste"); + model->updateState(true); } } From 23f290941aa16742ba9d9477c4d98533aca15322 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 1 Nov 2022 00:51:41 +0800 Subject: [PATCH 449/685] Cabana: get double precision from std::numeric_limits (#26293) fix precision --- tools/cabana/dbcmanager.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 479b14afec..0ab67dd305 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -1,5 +1,6 @@ #include "tools/cabana/dbcmanager.h" +#include #include #include @@ -41,8 +42,8 @@ QString DBCManager::generateDBC() { .arg(sig.size) .arg(sig.is_little_endian ? '1' : '0') .arg(sig.is_signed ? '-' : '+') - .arg(sig.factor, 0, 'g', 20) - .arg(sig.offset); + .arg(sig.factor, 0, 'g', std::numeric_limits::digits10) + .arg(sig.offset, 0, 'g', std::numeric_limits::digits10); } dbc_string += "\n"; } From 131263a75b1cbf6bff0e01a1561d87d25faae353 Mon Sep 17 00:00:00 2001 From: FAN HANGYU <111691572+MaloneFan@users.noreply.github.com> Date: Tue, 1 Nov 2022 04:13:57 +0800 Subject: [PATCH 450/685] Honda: add Chinese Odyssey FW versions (#25943) * Update values.py add a carFW of odyssey_chn * move after odyssey * common carparams * just ignore Co-authored-by: Shane Smiskol --- selfdrive/car/honda/interface.py | 18 ++++++------------ selfdrive/car/honda/values.py | 17 +++++++++++++++++ selfdrive/car/tests/routes.py | 2 +- 3 files changed, 24 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index c884f586a0..e397f02838 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -220,23 +220,17 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] tire_stiffness_factor = 0.677 - elif candidate == CAR.ODYSSEY: - ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG + elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): + ret.mass = 1900. + STD_CARGO_KG ret.wheelbase = 3.00 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 14.35 # as spec - ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - tire_stiffness_factor = 0.82 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] - - elif candidate == CAR.ODYSSEY_CHN: - ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg - ret.wheelbase = 2.90 - ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY - ret.steerRatio = 14.35 - ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end tire_stiffness_factor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] + if candidate == CAR.ODYSSEY_CHN: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end + else: + ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end elif candidate in (CAR.PILOT, CAR.PASSPORT): ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index e0810e0bbb..2510f2e1ff 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1031,6 +1031,23 @@ FW_VERSIONS = { b'54008-THR-A020\x00\x00', ], }, + CAR.ODYSSEY_CHN: { + (Ecu.eps, 0x18da30f1, None): [ + b'39990-T6D-H220\x00\x00', + ], + (Ecu.gateway, 0x18daeff1, None): [ + b'38897-T6A-J010\x00\x00', + ], + (Ecu.combinationMeter, 0x18da60f1, None): [ + b'78109-T6A-F310\x00\x00', + ], + (Ecu.fwdRadar, 0x18dab0f1, None): [ + b'36161-T6A-P040\x00\x00', + ], + (Ecu.srs, 0x18da53f1, None): [ + b'77959-T6A-P110\x00\x00', + ], + }, CAR.PILOT: { (Ecu.shiftByWire, 0x18da0bf1, None): [ b'54008-TG7-A520\x00\x00', diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 326d80b822..5c6d214bcc 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -25,6 +25,7 @@ non_tested_cars = [ GM.BOLT_EV, HYUNDAI.GENESIS_G90, HYUNDAI.KIA_OPTIMA_H, + HONDA.ODYSSEY_CHN, ] CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,)) @@ -61,7 +62,6 @@ routes = [ CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED), CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV), CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX), - CarTestRoute("81722949a62ea724|2019-04-06--15-19-25", HONDA.ODYSSEY_CHN), CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T CarTestRoute("085ac1d942c35910|2021-03-25--20-11-15", HONDA.ACCORD), # 2021 with new style HUD msgs From d793d3622b72833b27e6f61d64bd3f5a43e70cda Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 31 Oct 2022 13:54:13 -0700 Subject: [PATCH 451/685] test_models: fix runaway memory growth for long running tests (#26295) * delete can msgs * only can msgs --- selfdrive/car/tests/test_models.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index e4e141153f..8cf748e746 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -109,6 +109,10 @@ class TestCarModelBase(unittest.TestCase): assert cls.CP assert cls.CP.carFingerprint == cls.car_model + @classmethod + def tearDownClass(cls): + del cls.can_msgs + def setUp(self): self.CI = self.CarInterface(self.CP, self.CarController, self.CarState) assert self.CI From 3fc373b4e4829b03ddc363741006af0589d97588 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 1 Nov 2022 04:59:16 +0800 Subject: [PATCH 452/685] Cabana: fix mouse freezes / hangs (#26292) * fix mouseReleaseEvent * trigger ci --- tools/cabana/chartswidget.cc | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 21fd71b8ea..56346c6d6e 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -402,10 +402,13 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { // zoom in if selected range is greater than 0.5s emit zoomIn(min, max); } + event->accept(); } else if (event->button() == Qt::RightButton) { emit zoomReset(); + event->accept(); + } else { + QGraphicsView::mouseReleaseEvent(event); } - event->accept(); } void ChartView::mouseMoveEvent(QMouseEvent *ev) { From 4d7bdc271f8e02ca3f1745b442b09937a69ebe2b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 31 Oct 2022 17:45:56 -0700 Subject: [PATCH 453/685] test_models: remove carState test from panda tests (#26298) Update test_models.py --- selfdrive/car/tests/test_models.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 8cf748e746..a9999a4371 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -237,7 +237,6 @@ class TestCarModelBase(unittest.TestCase): # TODO: check rest of panda's carstate (steering, ACC main on, etc.) checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() - checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available if self.CP.carName not in ("hyundai", "volkswagen", "body"): # TODO: fix standstill mismatches for other makes checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() From 39167cccd9a9eb9c0864796196032256ce0c390d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 31 Oct 2022 18:11:18 -0700 Subject: [PATCH 454/685] RAM HD: add missing abs FW (#26300) FW from 8fb5eabf914632ae|2022-08-04--17-28-53 (test route) --- selfdrive/car/chrysler/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index c703ef6cb8..16530ed989 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -241,6 +241,7 @@ FW_VERSIONS = { b'68334977AH', b'68504022AB', b'68530686AB', + b'68504022AC', ], (Ecu.fwdRadar, 0x753, None): [ b'04672895AB', From fe75dd4c09c267d82748359b01c2b94889f17c10 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 31 Oct 2022 18:11:25 -0700 Subject: [PATCH 455/685] Elantra 2021: add missing FW (#26299) add FW for 82e9cdd3f43bf83e|2021-05-15--02-42-51 (test route) --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 98cb72293f..c760c724a9 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1232,6 +1232,7 @@ FW_VERSIONS = { b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106', b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', + b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', @@ -1244,6 +1245,7 @@ FW_VERSIONS = { b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800', b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800', b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800', + b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x00HT6WA280BLHT6VA640A1CCN0N20NS5\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', From d07b7fd7a832832b7f1f167b5dc60a16778d2502 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 31 Oct 2022 18:37:43 -0700 Subject: [PATCH 456/685] PJ: support internal cd:/ paths (#26302) Update juggle.py --- tools/plotjuggler/juggle.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index b7c32d9bf1..1e592da3b1 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -89,7 +89,7 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No query = parse_qs(urlparse(route_or_segment_name).query) route_or_segment_name = query["route"][0] - if route_or_segment_name.startswith(("http://", "https://")) or os.path.isfile(route_or_segment_name): + if route_or_segment_name.startswith(("http://", "https://", "cd:/")) or os.path.isfile(route_or_segment_name): logs = [route_or_segment_name] elif ci: route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True) From 3160493c85cb132abf5acb5e4e22fc4a7c108ef1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 31 Oct 2022 19:44:53 -0700 Subject: [PATCH 457/685] Nissan: match panda standstill (#26301) * move to openpilot * draft * support internal urls * not used * update seg list * regen segment list * regen seg list * fix * check both rear wheels * revert chganges * bump panda * bump padna --- panda | 2 +- selfdrive/car/nissan/carstate.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/panda b/panda index 187fdee385..997e328074 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 187fdee385e59a2a19f85760f529e8e381845dff +Subproject commit 997e328074e4b356c514e8d5e6570f151465d9e8 diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index a5ca237110..d6b6d17d55 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -44,7 +44,7 @@ class CarState(CarStateBase): ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.01 + ret.standstill = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] == 0.0 and cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RR"] == 0.0 if self.CP.carFingerprint == CAR.ALTIMA: ret.cruiseState.enabled = bool(cp.vl["CRUISE_STATE"]["CRUISE_ENABLED"]) From 23d5e5e07fb2c35e00b77a2f5ae5fad84bc71934 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 31 Oct 2022 21:32:17 -0700 Subject: [PATCH 458/685] test_models: speed up test (#26304) * Update test_models.py * Update test_models.py --- selfdrive/car/tests/test_models.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index a9999a4371..b665fbe9c7 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -9,7 +9,7 @@ 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, can_list_to_can_capnp +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 @@ -214,10 +214,10 @@ 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) self.safety.safety_rx_hook(to_send) - self.CI.update(CC, (can_list_to_can_capnp([msg, ]), )) if not self.CP.pcmCruise: self.safety.set_controls_allowed(0) From c171fe9f9a93ef0e6018de5703ed55f307a8cb72 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 31 Oct 2022 23:01:22 -0700 Subject: [PATCH 459/685] UI: draw onroad objects on right frame (#26306) * update before draw * fix a lot of janky * fix more flicker * cleanup * fix flicker when opening settings * simplify --- selfdrive/ui/qt/onroad.cc | 60 ++++++++++++++++---- selfdrive/ui/qt/onroad.h | 3 + selfdrive/ui/qt/widgets/cameraview.cc | 79 ++++++++++++++------------- selfdrive/ui/qt/widgets/cameraview.h | 10 ++-- selfdrive/ui/ui.cc | 28 ++-------- selfdrive/ui/ui.h | 6 ++ 6 files changed, 108 insertions(+), 78 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 346cb3ab96..d3bc931b67 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -227,14 +227,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD()); } - - setStreamType(s.scene.wide_cam ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); - if (s.scene.calibration_valid) { - auto calib = s.scene.wide_cam ? s.scene.view_from_wide_calib : s.scene.view_from_calib; - CameraWidget::updateCalibration(calib); - } else { - CameraWidget::updateCalibration(DEFAULT_CALIBRATION); - } } void AnnotatedCameraWidget::drawHud(QPainter &p) { @@ -545,18 +537,62 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV } void AnnotatedCameraWidget::paintGL() { + UIState *s = uiState(); + SubMaster &sm = *(s->sm); const double start_draw_t = millis_since_boot(); + const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2(); - UIState *s = uiState(); - const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2(); - CameraWidget::setFrameId(model.getFrameId()); - CameraWidget::paintGL(); + // draw camera frame + { + std::lock_guard lk(frame_lock); + + if (frames.empty()) { + if (skip_frame_count > 0) { + skip_frame_count--; + qDebug() << "skipping frame, not ready"; + return; + } + } else { + // skip drawing up to this many frames if we're + // missing camera frames. this smooths out the + // transitions from the narrow and wide cameras + skip_frame_count = 5; + } + + // Wide or narrow cam dependent on speed + float v_ego = sm["carState"].getCarState().getVEgo(); + if ((v_ego < 10) || s->wide_cam_only) { + wide_cam_requested = true; + } else if (v_ego > 15) { + wide_cam_requested = false; + } + // TODO: also detect when ecam vision stream isn't available + // for replay of old routes, never go to widecam + wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; + CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); + + s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; + if (s->scene.calibration_valid) { + auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib; + CameraWidget::updateCalibration(calib); + } else { + CameraWidget::updateCalibration(DEFAULT_CALIBRATION); + } + CameraWidget::setFrameId(model.getFrameId()); + CameraWidget::paintGL(); + } QPainter painter(this); painter.setRenderHint(QPainter::Antialiasing); painter.setPen(Qt::NoPen); if (s->worldObjectsVisible()) { + if (sm.rcv_frame("modelV2") > s->scene.started_frame) { + update_model(s, sm["modelV2"].getModelV2()); + if (sm.rcv_frame("radarState") > s->scene.started_frame) { + update_leads(s, sm["radarState"].getRadarState(), sm["modelV2"].getModelV2().getPosition()); + } + } drawLaneLines(painter, s); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 2a663185f4..7edca6b3d5 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -70,6 +70,9 @@ private: int status = STATUS_DISENGAGED; std::unique_ptr pm; + int skip_frame_count = 0; + bool wide_cam_requested = false; + protected: void paintGL() override; void initializeGL() override; diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index d7591633c9..a606d6893e 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -94,7 +94,7 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) } // namespace CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : - stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { + stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); @@ -124,7 +124,7 @@ void CameraWidget::initializeGL() { GLint frame_pos_loc = program->attributeLocation("aPosition"); GLint frame_texcoord_loc = program->attributeLocation("aTexCoord"); - auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f); + auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f); const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3}; const float frame_coords[4][4] = { {-1.0, -1.0, x2, y1}, // bl @@ -163,36 +163,26 @@ void CameraWidget::initializeGL() { void CameraWidget::showEvent(QShowEvent *event) { if (!vipc_thread) { + clearFrames(); vipc_thread = new QThread(); connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); vipc_thread->start(); } - clearFrames(); -} - -void CameraWidget::hideEvent(QHideEvent *event) { - if (vipc_thread) { - vipc_thread->requestInterruption(); - vipc_thread->quit(); - vipc_thread->wait(); - vipc_thread = nullptr; - } - clearFrames(); } void CameraWidget::updateFrameMat() { int w = width(), h = height(); if (zoomed_view) { - if (stream_type == VISION_STREAM_DRIVER) { + if (active_stream_type == VISION_STREAM_DRIVER) { frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } else { // Project point at "infinity" to compute x and y offsets // to ensure this ends up in the middle of the screen // for narrow come and a little lower for wide cam. // TODO: use proper perspective transform? - if (stream_type == VISION_STREAM_WIDE_ROAD) { + if (active_stream_type == VISION_STREAM_WIDE_ROAD) { intrinsic_matrix = ecam_intrinsic_matrix; zoom = 2.0; } else { @@ -212,11 +202,11 @@ void CameraWidget::updateFrameMat() { x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset); y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset); - float zx = zoom * 2 * intrinsic_matrix.v[2] / width(); - float zy = zoom * 2 * intrinsic_matrix.v[5] / height(); + float zx = zoom * 2 * intrinsic_matrix.v[2] / w; + float zy = zoom * 2 * intrinsic_matrix.v[5] / h; const mat4 frame_transform = {{ - zx, 0.0, 0.0, -x_offset / width() * 2, - 0.0, zy, 0.0, y_offset / height() * 2, + zx, 0.0, 0.0, -x_offset / w * 2, + 0.0, zy, 0.0, y_offset / h * 2, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; @@ -224,7 +214,7 @@ void CameraWidget::updateFrameMat() { } } else if (stream_width > 0 && stream_height > 0) { // fit frame to widget size - float widget_aspect_ratio = (float)width() / height(); + float widget_aspect_ratio = (float)w / h; float frame_aspect_ratio = (float)stream_width / stream_height; frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio); } @@ -232,7 +222,6 @@ void CameraWidget::updateFrameMat() { void CameraWidget::updateCalibration(const mat3 &calib) { calibration = calib; - updateFrameMat(); } void CameraWidget::paintGL() { @@ -240,13 +229,26 @@ void CameraWidget::paintGL() { glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); std::lock_guard lk(frame_lock); + if (frames.empty()) return; + + int frame_idx = frames.size() - 1; + + // Always draw latest frame until sync logic is more stable + // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { + // if (frames[frame_idx].first == draw_frame_id) break; + // } - // use previous texture if update() is called without new frame. - VisionBuf *frame = nullptr; - if (!frames.empty()) { - frame = frames.front().second; - frames.pop_front(); + // Log duplicate/dropped frames + if (frames[frame_idx].first == prev_frame_id) { + qDebug() << "Drawing same frame twice" << frames[frame_idx].first; + } else if (frames[frame_idx].first != prev_frame_id + 1) { + qDebug() << "Skipped frame" << frames[frame_idx].first; } + prev_frame_id = frames[frame_idx].first; + VisionBuf *frame = frames[frame_idx].second; + assert(frame != nullptr); + + updateFrameMat(); glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); @@ -254,22 +256,22 @@ void CameraWidget::paintGL() { glPixelStorei(GL_UNPACK_ALIGNMENT, 1); #ifdef QCOM2 + // no frame copy glActiveTexture(GL_TEXTURE0); - if (frame) { - glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]); - assert(glGetError() == GL_NO_ERROR); - } + glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, egl_images[frame->idx]); + assert(glGetError() == GL_NO_ERROR); #else + // fallback to copy glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride); glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_2D, textures[0]); - if (frame) glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y); + glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width, stream_height, GL_RED, GL_UNSIGNED_BYTE, frame->y); assert(glGetError() == GL_NO_ERROR); glPixelStorei(GL_UNPACK_ROW_LENGTH, stream_stride/2); glActiveTexture(GL_TEXTURE0 + 1); glBindTexture(GL_TEXTURE_2D, textures[1]); - if (frame) glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv); + glTexSubImage2D(GL_TEXTURE_2D, 0, 0, 0, stream_width/2, stream_height/2, GL_RG, GL_UNSIGNED_BYTE, frame->uv); assert(glGetError() == GL_NO_ERROR); #endif @@ -332,8 +334,6 @@ void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { glTexImage2D(GL_TEXTURE_2D, 0, GL_RG8, stream_width/2, stream_height/2, 0, GL_RG, GL_UNSIGNED_BYTE, nullptr); assert(glGetError() == GL_NO_ERROR); #endif - - updateFrameMat(); } void CameraWidget::vipcFrameReceived() { @@ -341,16 +341,18 @@ void CameraWidget::vipcFrameReceived() { } void CameraWidget::vipcThread() { - VisionStreamType cur_stream_type = stream_type; + VisionStreamType cur_stream = requested_stream_type; std::unique_ptr vipc_client; VisionIpcBufExtra meta_main = {0}; while (!QThread::currentThread()->isInterruptionRequested()) { - if (!vipc_client || cur_stream_type != stream_type) { + if (!vipc_client || cur_stream != requested_stream_type) { clearFrames(); - cur_stream_type = stream_type; - vipc_client.reset(new VisionIpcClient(stream_name, cur_stream_type, false)); + qDebug() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; + cur_stream = requested_stream_type;; + vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false)); } + active_stream_type = cur_stream; if (!vipc_client->connected) { clearFrames(); @@ -366,7 +368,6 @@ void CameraWidget::vipcThread() { std::lock_guard lk(frame_lock); frames.push_back(std::make_pair(meta_main.frame_id, buf)); while (frames.size() > FRAME_BUFFER_SIZE) { - qDebug() << "Skipped frame" << frames.front().first; frames.pop_front(); } } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index aff3abc836..0698d1fb9a 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -31,9 +31,10 @@ public: using QOpenGLWidget::QOpenGLWidget; explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); ~CameraWidget(); - void setStreamType(VisionStreamType type) { stream_type = type; } void setBackgroundColor(const QColor &color) { bg = color; } void setFrameId(int frame_id) { draw_frame_id = frame_id; } + void setStreamType(VisionStreamType type) { requested_stream_type = type; } + VisionStreamType getStreamType() { return active_stream_type; } signals: void clicked(); @@ -45,7 +46,6 @@ protected: void initializeGL() override; void resizeGL(int w, int h) override { updateFrameMat(); } void showEvent(QShowEvent *event) override; - void hideEvent(QHideEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } virtual void updateFrameMat(); void updateCalibration(const mat3 &calib); @@ -68,7 +68,8 @@ protected: int stream_width = 0; int stream_height = 0; int stream_stride = 0; - std::atomic stream_type; + std::atomic active_stream_type; + std::atomic requested_stream_type; QThread *vipc_thread = nullptr; // Calibration @@ -78,9 +79,10 @@ protected: mat3 calibration = DEFAULT_CALIBRATION; mat3 intrinsic_matrix = fcam_intrinsic_matrix; - std::mutex frame_lock; + std::recursive_mutex frame_lock; std::deque> frames; uint32_t draw_frame_id = 0; + uint32_t prev_frame_id = 0; protected slots: void vipcConnected(VisionIpcClient *vipc_client); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index d1d72b4dad..821064f81f 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -35,7 +35,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y, return false; } -static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) { +int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) { const auto line_x = line.getX(); int max_idx = 0; for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) { @@ -44,7 +44,7 @@ static int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line return max_idx; } -static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line) { +void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line) { for (int i = 0; i < 2; ++i) { auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo(); if (lead_data.getStatus()) { @@ -54,7 +54,7 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta } } -static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line, +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) { const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ(); @@ -78,7 +78,7 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa *pvd = left_points + right_points; } -static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { +void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) { UIScene &scene = s->scene; auto model_position = model.getPosition(); float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1], @@ -141,14 +141,7 @@ static void update_state(UIState *s) { } } scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1; - } - if (s->worldObjectsVisible()) { - if (sm.updated("modelV2")) { - update_model(s, sm["modelV2"].getModelV2()); - } - if (sm.updated("radarState") && sm.rcv_frame("modelV2") > s->scene.started_frame) { - update_leads(s, sm["radarState"].getRadarState(), sm["modelV2"].getModelV2().getPosition()); - } + scene.calibration_wide_valid = wfde_list.size() == 3; } if (sm.updated("pandaStates")) { auto pandaStates = sm["pandaStates"].getPandaStates(); @@ -173,17 +166,6 @@ static void update_state(UIState *s) { scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; - - if (sm.updated("carState")) { - float v_ego = sm["carState"].getCarState().getVEgo(); - // TODO: support replays without ecam by using fcam - // Wide or narrow cam dependent on speed - if ((v_ego < 10) || s->wide_cam_only) { - scene.wide_cam = true; - } else if (v_ego > 15) { - scene.wide_cam = false; - } - } } void ui_update_params(UIState *s) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 5a51dda8f8..e550afd5f2 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -87,6 +87,7 @@ const QColor bg_colors [] = { typedef struct UIScene { bool calibration_valid = false; + bool calibration_wide_valid = false; bool wide_cam = true; mat3 view_from_calib = DEFAULT_CALIBRATION; mat3 view_from_wide_calib = DEFAULT_CALIBRATION; @@ -181,3 +182,8 @@ public slots: }; void ui_update_params(UIState *s); +int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height); +void update_model(UIState *s, const cereal::ModelDataV2::Reader &model); +void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line); +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); From 0e162cc13b31e136f8a53c0af20dd71c2f84bed7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 31 Oct 2022 23:02:31 -0700 Subject: [PATCH 460/685] test_models: fix Nidec routes that start enabled (#26305) * Update test_models.py * Update test_models.py * fix non-pcmCruise routes where button is left pressed in warmup * more explicit, don't allow multiple continues * revert chjange * -that --- selfdrive/car/tests/test_models.py | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index b665fbe9c7..ee25b8205f 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -219,13 +219,10 @@ class TestCarModelBase(unittest.TestCase): to_send = package_can_msg(msg) self.safety.safety_rx_hook(to_send) - if not self.CP.pcmCruise: - self.safety.set_controls_allowed(0) - controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(lambda: 0) - for can in self.can_msgs: + 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) @@ -234,6 +231,14 @@ class TestCarModelBase(unittest.TestCase): ret = self.safety.safety_rx_hook(to_send) self.assertEqual(1, ret, f"safety rx failed ({ret=}): {to_send}") + # Skip first frame so CS_prev is properly initialized + if idx == 0: + CS_prev = CS + # Button may be left pressed in warm up period + if not self.CP.pcmCruise: + self.safety.set_controls_allowed(0) + continue + # TODO: check rest of panda's carstate (steering, ACC main on, etc.) checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() From d1cf31bced9609f43a518b2c07b0f440ecc2479a Mon Sep 17 00:00:00 2001 From: Ricardo Nuno <47164756+ricardonunosr@users.noreply.github.com> Date: Tue, 1 Nov 2022 15:09:47 +0000 Subject: [PATCH 461/685] sim: add docker kill to openpilot docker (#26310) add docker kill to openpilot docker --- tools/sim/start_openpilot_docker.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh index e48e63574d..dba89b8b70 100755 --- a/tools/sim/start_openpilot_docker.sh +++ b/tools/sim/start_openpilot_docker.sh @@ -20,6 +20,7 @@ else EXTRA_ARGS="${EXTRA_ARGS} -it" fi +docker kill openpilot_client || true docker run --net=host\ --name openpilot_client \ --rm \ From 6ca6a26d4c12ab0813c8474eb1a9bed6f69374ee Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 2 Nov 2022 00:31:47 +0800 Subject: [PATCH 462/685] Cabana: fix update issues when the the replay is paused (#26311) fix state not updated if replay is paused --- tools/cabana/chartswidget.cc | 1 + tools/cabana/messageswidget.cc | 5 +++++ tools/cabana/messageswidget.h | 2 +- 3 files changed, 7 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 56346c6d6e..72c9c40570 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -155,6 +155,7 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show) { charts_layout->insertWidget(0, chart); charts.push_back(chart); emit chartOpened(chart->id, chart->signal); + updateState(); } updateTitleBar(); } diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 205e5347ce..e80a66bce9 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -147,6 +147,11 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { return {}; } +void MessageListModel::setFilterString(const QString &string) { + filter_str = string; + updateState(true); +} + bool MessageListModel::updateMessages(bool sort) { if (msgs.size() == can->can_msgs.size() && filter_str.isEmpty() && !sort) return false; diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index a3d4d860b2..255dce7dc8 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -38,7 +38,7 @@ public: int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; void updateState(bool sort = false); - void setFilterString(const QString &string) { filter_str = string; } + void setFilterString(const QString &string); private: bool updateMessages(bool sort); From b31b0310444e83dc8e151767f57ee21f46f1515b Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 1 Nov 2022 13:00:26 -0400 Subject: [PATCH 463/685] =?UTF-8?q?VW=20MQB:=20Fahrzeugl=C3=A4ngsbeschleun?= =?UTF-8?q?igungssteuerungseinrichtung=20(#22963)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * can I kick it? * bumpity bump bump * bump panda * everybody's gotta be special * attempt at improving stopping/starting * reduce lateral feedforward * tweak gradient and comfort bands * oops * accel from the dept of redundancy dept * bump opendbc * jerk limiter not needed and causing problems * don't leave stop/start flags hung when not enabled * reduce comfort band with lead car * borrow decel comp from HKG * align stopping state thresholds * (re)try letting PI clean up some of this * bump panda * tweaks and comments * elide superfluous import * VW MQB: Longitudinal prereqs * gate this too * bump CI * cleanup * more cleanup; require gateway integration * don't run long state/actuators unless sending message * setpoint visibility in instrument cluster * show fixed lead car if lead visible * hold my beer? * tuning * the code is darkest before the refactor * a little more * set freewheel and stop distance correctly * rounding issue maybe? * ACC_04 Charisma profiles and HUD alerts * fix ACC_04 counter, fix gradient and accel bugs * revert tuning change in upstream focused branch * need 0.5m/s to leave * reduced braking when not absolutely needed * oops * bump panda * match opendbc to master * filter ACC_13, disable secondary accel * bump panda * bump panda * bump opendbc and panda * startAccel is deprecated * testing manual trans min engage speeds * pass stock ACC type to TSK * bump panda * bump opendbc * bump opendbc * test hax for Brake alert * remove ACC_13 with matching panda bump * fix submodule refs * update long control safety param name * bump panda * actuator delay corrected by Mk1 eyeball * a little more * tweak stop/start thresholds * Revert "tweak stop/start thresholds" This reverts commit 60abd57d2025c3218f069dbec4600c8d14033c05. * more lag reduction * bump opendbc * support both analog and digital clusters * tuning adjustments * bump opendbc and panda * accept two button types for resume * support separate set and resume * bump panda * #24706 * partial revert 6b93ac27 * fixes * one more * refactor all the things * follow experimental long refactor * fill in ACC hud status * temp force E2E availability * start cleaning up * comment touchup * gimme some comfort baby * experiment * SnG me maybe? * a little more rollout * is this why I'm not leaving? * turns out you need startAccel to leave * try without ACC_04 * cleanup unused variables * temp hack to standstill handling * temp hack to button handling * trim rollout distance with slower vEgoStopping * ultra fat comfort band due to noisy E2E actuator * I like big changes and I cannot lie * remove lead car display for now * cleanup, drives somewhat better * partial FtS/basic support * diff reduction * not needed * more cleanup * oops * more cleanup * restore lead car visible for PQ * bump panda * better enable button solution * redundant * OP long on *all* the things * OP long on all the things *sometimes* * docs generator a little TOO clever * solve starting-state a different way * try that again * bump panda * oops * follow DBC refactor * retry CI * signal name changed * sync with custom enable button branch * oops * more follow refactor * bump panda * sync opendbc to master * bump panda * updated comments * light P, no I * bump panda * bump panda again * add openpilot long test_models route * bump panda with replay route * temporarily disable experimental long for merge * bump panda to master * resolve conflict? * now can we go to head? * explicit length check * update refs Co-authored-by: Comma Device Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/car/tests/routes.py | 3 +- selfdrive/car/volkswagen/carstate.py | 3 + selfdrive/car/volkswagen/interface.py | 14 +++-- selfdrive/car/volkswagen/mqbcan.py | 70 ++++++++++++++++++++++++ selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 86 insertions(+), 8 deletions(-) diff --git a/panda b/panda index 997e328074..0ca6d9d924 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 997e328074e4b356c514e8d5e6570f151465d9e8 +Subproject commit 0ca6d9d9248f2cea4ef2292671b6980b416c3f4b diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 5c6d214bcc..d833203427 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -172,7 +172,8 @@ routes = [ CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1), - CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7), + CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7), # Stock ACC + CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7), # openpilot longitudinal CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7), CarTestRoute("4d134e099430fba2|2021-03-26--00-26-06", VOLKSWAGEN.PASSAT_MK8), CarTestRoute("3cfdec54aa035f3f|2022-07-19--23-45-10", VOLKSWAGEN.PASSAT_NMS), diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 5dc4543c0d..d09420cf7a 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -105,6 +105,7 @@ class CarState(CarStateBase): ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"]) # Update ACC radar status. + self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"] if pt_cp.vl["TSK_06"]["TSK_Status"] == 2: # ACC okay and enabled, but not currently engaged ret.cruiseState.available = True @@ -480,11 +481,13 @@ 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 ("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 ] diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 870f3ab163..ca6d1fa7f8 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -32,14 +32,13 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 - if 0x440 in fingerprint[0]: # Getriebe_1 + if 0x440 in fingerprint[0] or len(fingerprint[0]) == 0: # Getriebe_1, or empty FP for CI/docs generation ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1 ret.networkLocation = NetworkLocation.gateway - ret.experimentalLongitudinalAvailable = True else: ret.networkLocation = NetworkLocation.fwdCamera @@ -56,7 +55,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 - if 0xAD in fingerprint[0]: # Getriebe_11 + if 0xAD in fingerprint[0] or len(fingerprint[0]) == 0: # Getriebe_11, or empty FP for CI/docs generation ret.transmissionType = TransmissionType.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift ret.transmissionType = TransmissionType.direct @@ -82,7 +81,8 @@ class CarInterface(CarInterfaceBase): # Global longitudinal tuning defaults, can be overridden per-vehicle - if experimental_long and candidate in PQ_CARS: + ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway and False # Disabled for now + if experimental_long and False: # Disabled for now # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required. ret.openpilotLongitudinalControl = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL @@ -90,7 +90,11 @@ class CarInterface(CarInterfaceBase): ret.minEnableSpeed = 4.5 ret.pcmCruise = not ret.openpilotLongitudinalControl - ret.longitudinalActuatorDelayUpperBound = 0.5 # s + ret.stoppingControl = True + ret.startingState = True + ret.startAccel = 1.0 + ret.vEgoStarting = 1.0 + ret.vEgoStopping = 1.0 ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 3819f4f76f..25a710dbb8 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -36,3 +36,73 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=Fa }) return packer.make_can_msg("GRA_ACC_01", bus, values) + + +def acc_control_value(main_switch_on, acc_faulted, long_active): + if acc_faulted: + acc_control = 6 + elif long_active: + acc_control = 3 + elif main_switch_on: + acc_control = 2 + else: + acc_control = 0 + + return acc_control + + +def acc_hud_status_value(main_switch_on, acc_faulted, long_active): + # TODO: happens to resemble the ACC control value for now, but extend this for init/gas override later + return acc_control_value(main_switch_on, acc_faulted, long_active) + + +def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold): + commands = [] + + acc_06_values = { + "ACC_Typ": acc_type, + "ACC_Status_ACC": acc_control, + "ACC_StartStopp_Info": enabled, + "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, + "ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band + "ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band + "ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_Anfahren": starting, + "ACC_Anhalten": stopping, + } + commands.append(packer.make_can_msg("ACC_06", bus, acc_06_values)) + + if starting: + acc_hold_type = 4 # hold release / startup + elif esp_hold: + acc_hold_type = 3 # hold standby + elif stopping: + acc_hold_type = 1 # hold request + else: + acc_hold_type = 0 + + acc_07_values = { + "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) + "ACC_Freilauf_Info": 2 if enabled else 0, + "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact + "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, + "ACC_Anforderung_HMS": acc_hold_type, + "ACC_Anfahren": starting, + "ACC_Anhalten": stopping, + } + commands.append(packer.make_can_msg("ACC_07", bus, acc_07_values)) + + return commands + + +def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible): + 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 + } + + return packer.make_can_msg("ACC_02", bus, values) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0e4ac94784..44594d12e6 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -fc3a044c567a8702ed1500d745170c365dd6b3d4 \ No newline at end of file +dd41df756253a9e711eb0fd0c3e007284f600ee8 \ No newline at end of file From b76829c72550f467447a8a5673dbe442c84dc1f0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 1 Nov 2022 15:55:21 -0700 Subject: [PATCH 464/685] docs: expose available openpilot longitudinal control (#26312) * openpilot -> openpilot available * note for dsu cars * common footnotes * Revert "note for dsu cars" - another PR This reverts commit 7f18742fdaaf5f86a1f1caa041b8b027d4b767cf. * space * better? * Update selfdrive/car/docs_definitions.py Co-authored-by: Adeeb Shihadeh * typo Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 201 +++++++++++++++--------------- selfdrive/car/docs.py | 6 +- selfdrive/car/docs_definitions.py | 17 ++- 3 files changed, 120 insertions(+), 104 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 2df2b96e24..b79ba6a478 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -10,17 +10,17 @@ 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|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Cadillac|Escalade ESV 2016[1](#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| +|Cadillac|Escalade ESV 2016[2](#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|Stock|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|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|Chevrolet|Volt 2017-18[2](#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| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| @@ -28,35 +28,35 @@ A supported vehicle is one that just works when you install a comma three. All s |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| +|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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|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| +|GMC|Acadia 2018[2](#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|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|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| +|Honda|Accord Hybrid 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| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Civic 2019-21|All|openpilot|0 mph|2 mph[2](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|CR-V 2017-22|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|e 2020|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Insight 2019-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| -|Honda|Inspire 2018|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Insight 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| +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| -|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra 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 K| |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|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|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| @@ -65,22 +65,22 @@ A supported vehicle is one that just works when you install a comma three. All s |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| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| +|Hyundai|Kona 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 B| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| |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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I| -|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Hyundai|Santa Fe 2019-20|All|openpilot|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|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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|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 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| +|Hyundai|Santa Fe Plug-in 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| |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| -|Hyundai|Sonata 2020-22|All|openpilot|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|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|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|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 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|Stock|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| @@ -88,38 +88,38 @@ A supported vehicle is one that just works when you install a comma three. All s |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|Stock|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|Stock|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|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|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| -|Kia|Niro EV 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro EV 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Kia|Niro EV 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| -|Kia|Niro EV 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|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| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| +|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| +|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|Sportage Hybrid 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|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|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Kia|Telluride 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|NX 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|NX 2018-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|NX Hybrid 2018-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|NX Hybrid 2018-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX 2016|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX 2016|Lexus Safety System+|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX 2017-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX Hybrid 2017-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| @@ -141,8 +141,8 @@ 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[5](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Karoq 2019-21[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Kamiq 2021[6](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Karoq 2019-21[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| @@ -150,85 +150,86 @@ A supported vehicle is one that just works when you install a comma three. All s |Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |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|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Avalon 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Avalon 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Avalon 2017-18|All|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Avalon 2019-21|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Avalon Hybrid 2019-21|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Avalon Hybrid 2019-21|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |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[4](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Camry 2021-22|All|openpilot|0 mph[4](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.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 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|Corolla 2017-19|All|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Corolla 2017-19|All|Stock[4](#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) 2020-21|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Highlander 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Highlander 2017-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Highlander Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Highlander Hybrid 2017-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Prius 2017-20|All|Stock[3](#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|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Prius 2017-20|All|Stock[4](#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|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Prius Prime 2017-20|All|Stock[4](#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|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 2017-18|All|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 2017-18|All|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 Hybrid 2017-18|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 Hybrid 2017-18|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |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|Stock[3](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Volkswagen|Arteon 2018-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon eHybrid 2020-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon R 2020-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas 2018-23[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas Cross Sport 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|California 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Caravelle 2020[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|CC 2018-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Toyota|Sienna 2018-20|All|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Volkswagen|Arteon 2018-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon eHybrid 2020-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Arteon R 2020-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas 2018-23[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Atlas Cross Sport 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|California 2021[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Caravelle 2020[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|CC 2018-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf 2015-20[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf 2015-20[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf R 2015-19[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Golf R 2015-19[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Jetta 2018-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Jetta GLI 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat 2015-22[6,7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat Alltrack 2015-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat GTE 2015-22[7,8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Polo 2020-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Polo GTI 2020-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|T-Cross 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|T-Roc 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Taos 2022[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont 2018-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont Cross Sport 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont X 2021-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Tiguan 2019-22[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Jetta 2018-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Jetta GLI 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat 2015-22[7,8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat Alltrack 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Passat GTE 2015-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Polo 2020-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Polo GTI 2020-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|T-Cross 2021[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|T-Roc 2021[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Taos 2022[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont 2018-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont Cross Sport 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Teramont X 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|Volkswagen|Tiguan 2019-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -1Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
-22019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-3When 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).
-4openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
-5Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
-6Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-7Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.)
-8Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
+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).
+2Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
+32019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
+4When 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).
+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.
+8Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.)
+9Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
## 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.py b/selfdrive/car/docs.py index e948698cb4..6e271fb5cb 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -9,12 +9,12 @@ from typing import Dict, List from common.basedir import BASEDIR from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.docs_definitions import CarInfo, Column +from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote from selfdrive.car.car_helpers import interfaces, get_interface_attr def get_all_footnotes() -> Dict[Enum, int]: - all_footnotes = [] + all_footnotes = list(CommonFootnote) for footnotes in get_interface_attr("Footnote", ignore_none=True).values(): all_footnotes.extend(footnotes) return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)} @@ -28,7 +28,7 @@ def get_all_car_info() -> List[CarInfo]: all_car_info: List[CarInfo] = [] footnotes = get_all_footnotes() for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): - CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), experimental_long=True) + CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint()) if CP.dashcamOnly or car_info is None: continue diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 015877dcb4..9a2a4b1427 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -71,6 +71,13 @@ class Harness(Enum): CarFootnote = namedtuple("CarFootnote", ["text", "column"], defaults=[None]) +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).", + Column.LONGITUDINAL) + + def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]: # Returns applicable footnotes given current column return [fn for fn in footnotes if fn.value.column == column] @@ -128,11 +135,19 @@ class CarInfo: self.car_name = CP.carName self.car_fingerprint = CP.carFingerprint self.make, self.model, self.years = split_name(self.name) + + op_long = "Stock" + if CP.openpilotLongitudinalControl: + op_long = "openpilot" + elif CP.experimentalLongitudinalAvailable: + op_long = "openpilot available" + self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL) + self.row = { Column.MAKE: self.make, Column.MODEL: self.model, Column.PACKAGE: self.package, - Column.LONGITUDINAL: "openpilot" if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable else "Stock", + Column.LONGITUDINAL: op_long, Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph", Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph", Column.STEERING_TORQUE: Star.EMPTY, From fcd6125debeb97ba4b8870f5945c8215449c00fe Mon Sep 17 00:00:00 2001 From: Mitchell Goff Date: Tue, 1 Nov 2022 19:16:37 -0700 Subject: [PATCH 465/685] Compute zoom level and downsample image in map_renderer.cc (#26315) * Automatically zoom to fixed scale in map_renderer.cc * Always downsample in map_renderer * Remove updateZoom function * Added mapsd to process_config.py (commented out for now) --- selfdrive/manager/process_config.py | 1 + selfdrive/navd/map_renderer.cc | 66 +++++++++++++++++------------ selfdrive/navd/map_renderer.h | 1 - selfdrive/navd/map_renderer.py | 3 +- 4 files changed, 41 insertions(+), 30 deletions(-) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 3f63fbb959..dbccb8d4a9 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -31,6 +31,7 @@ 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("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/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index f85916a4ca..daf89b2636 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -1,5 +1,6 @@ #include "selfdrive/navd/map_renderer.h" +#include #include #include #include @@ -10,11 +11,34 @@ #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 WIDTH = 512; -const int HEIGHT = WIDTH; - +const int RENDER_HEIGHT = 512, RENDER_WIDTH = 512; +const int HEIGHT = 256, WIDTH = 256; 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; fmt.setRenderableType(QSurfaceFormat::OpenGLES); @@ -35,7 +59,7 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set gl_functions->initializeOpenGLFunctions(); QOpenGLFramebufferObjectFormat fbo_format; - fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format)); + fbo.reset(new QOpenGLFramebufferObject(RENDER_WIDTH, RENDER_HEIGHT, fbo_format)); std::string style = util::read_file(STYLE_PATH); m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1)); @@ -45,7 +69,7 @@ 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, WIDTH, HEIGHT); + gl_functions->glViewport(0, 0, RENDER_WIDTH, RENDER_HEIGHT); if (online) { vipc_server.reset(new VisionIpcServer("navd")); @@ -85,22 +109,18 @@ void MapRenderer::msgUpdate() { } } -void MapRenderer::updateZoom(float zoom) { - if (m_map.isNull()) { - return; - } - - m_map->setZoom(zoom); - update(); -} - void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) { if (m_map.isNull()) { 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); + m_map->setCoordinate(position); m_map->setBearing(bearing); + m_map->setZoom(zoom); update(); } @@ -130,15 +150,13 @@ void MapRenderer::sendVipc() { .timestamp_eof = ts, }; - assert(cap.sizeInBytes() >= buf->len); + assert(cap.sizeInBytes() >= buf->len*4); uint8_t* dst = (uint8_t*)buf->addr; uint8_t* src = cap.bits(); - // RGB to greyscale + // 2x downsample + rgb to grayscale memset(dst, 128, buf->len); - for (int i = 0; i < WIDTH * HEIGHT; i++) { - dst[i] = src[i * 3]; - } + downsample(src, dst); vipc_server->send(buf, &extra); @@ -169,9 +187,8 @@ uint8_t* MapRenderer::getImage() { uint8_t* src = cap.bits(); uint8_t* dst = new uint8_t[WIDTH * HEIGHT]; - for (int i = 0; i < WIDTH * HEIGHT; i++) { - dst[i] = src[i * 3]; - } + // 2x downsample + rgb to grayscale + downsample(src, dst); return dst; } @@ -222,11 +239,6 @@ extern "C" { return new MapRenderer(settings, false); } - void map_renderer_update_zoom(MapRenderer *inst, float zoom) { - inst->updateZoom(zoom); - QApplication::processEvents(); - } - void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) { inst->updatePosition({lat, lon}, bearing); QApplication::processEvents(); diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h index 921d871632..855dc91894 100644 --- a/selfdrive/navd/map_renderer.h +++ b/selfdrive/navd/map_renderer.h @@ -47,7 +47,6 @@ private: QTimer* timer; public slots: - void updateZoom(float zoom); void updatePosition(QMapbox::Coordinate position, float bearing); void updateRoute(QList coordinates); void msgUpdate(); diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py index 079bb028ce..9000622928 100755 --- a/selfdrive/navd/map_renderer.py +++ b/selfdrive/navd/map_renderer.py @@ -9,7 +9,7 @@ from cffi import FFI from common.ffi_wrapper import suffix from common.basedir import BASEDIR -HEIGHT = WIDTH = 512 +HEIGHT = WIDTH = 256 def get_ffi(): @@ -18,7 +18,6 @@ def get_ffi(): ffi = FFI() ffi.cdef(""" void* map_renderer_init(char *maps_host, char *token); -void map_renderer_update_zoom(void *inst, float zoom); void map_renderer_update_position(void *inst, float lat, float lon, float bearing); void map_renderer_update_route(void *inst, char *polyline); void map_renderer_update(void *inst); From bdbdd42d5b736c2d10d2e586c382a5989b38a250 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 1 Nov 2022 23:04:13 -0700 Subject: [PATCH 466/685] test_onroad: temp disable max UI draw time check --- selfdrive/test/test_onroad.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 0d3d7b367a..df8112c75f 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -202,9 +202,9 @@ class TestOnroad(unittest.TestCase): print(result) self.assertGreater(len(ts), 20*50, "insufficient samples") - self.assertLess(max(ts), 30.) + #self.assertLess(max(ts), 30.) self.assertLess(np.mean(ts), 10.) - self.assertLess(np.std(ts), 5.) + #self.assertLess(np.std(ts), 5.) def test_cpu_usage(self): proclogs = [m for m in self.lr if m.which() == 'procLog'] From 0f6f305f2da81c30aef849bc55c76e57ebe5e34d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Nov 2022 01:58:15 -0700 Subject: [PATCH 467/685] GM: add longitudinal deadzone (#26323) * add deadzone * Update ref_commit --- selfdrive/car/gm/interface.py | 3 +++ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index e25f203772..905b85436a 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -90,6 +90,9 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kiBP = [0.] ret.longitudinalTuning.kiV = [0.36] + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.15] + ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 44594d12e6..1682d5eb14 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -dd41df756253a9e711eb0fd0c3e007284f600ee8 \ No newline at end of file +7828f8a2e00a5b73471a90850b18874617e82610 From 423d16693a4d805db2035dcd87f120b2902c2c4a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Nov 2022 02:09:54 -0700 Subject: [PATCH 468/685] Toyota: unify deadzone params (#26325) * i'm sure this makes no difference * update refs --- selfdrive/car/toyota/interface.py | 8 +++----- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 0d5acbfff4..e6a7dac412 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -208,18 +208,16 @@ class CarInterface(CarInterfaceBase): ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED tune = ret.longitudinalTuning + tune.deadzoneBP = [0., 9.] + tune.deadzoneV = [.0, .15] if candidate in TSS2_CAR or ret.enableGasInterceptor: - tune.deadzoneBP = [0., 8.05] - tune.deadzoneV = [.0, .14] tune.kpBP = [0., 5., 20.] tune.kpV = [1.3, 1.0, 0.7] tune.kiBP = [0., 5., 12., 20., 27.] tune.kiV = [.35, .23, .20, .17, .1] if candidate in TSS2_CAR: - ret.stoppingDecelRate = 0.3 # reach stopping target smoothly + ret.stoppingDecelRate = 0.3 # reach stopping target smoothly else: - tune.deadzoneBP = [0., 9.] - tune.deadzoneV = [.0, .15] tune.kpBP = [0., 5., 35.] tune.kiBP = [0., 35.] tune.kpV = [3.6, 2.4, 1.5] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1682d5eb14..be8b59f6a4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7828f8a2e00a5b73471a90850b18874617e82610 +46922acfb984342daa35734e4297ff9d2ddfb18b \ No newline at end of file From e3188c0b1fb8bd02cf22a774fa70057424d3d8db Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Nov 2022 02:10:11 -0700 Subject: [PATCH 469/685] PJ: add longitudinal layout (#26324) longitudinal layout --- tools/plotjuggler/layouts/longitudinal.xml | 50 ++++++++++++++++++++++ 1 file changed, 50 insertions(+) create mode 100644 tools/plotjuggler/layouts/longitudinal.xml diff --git a/tools/plotjuggler/layouts/longitudinal.xml b/tools/plotjuggler/layouts/longitudinal.xml new file mode 100644 index 0000000000..ff8f3ad193 --- /dev/null +++ b/tools/plotjuggler/layouts/longitudinal.xml @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 2fb7b4ffad204901033273f6f92f289bbce19f06 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Nov 2022 02:46:29 -0700 Subject: [PATCH 470/685] GM camera ACC: vision-only ACC behind toggle (#25631) * put gm camera voacc behind disable radar toggle * bump panda * bump panda * bump panda * experimental long * fixes * car control notes and fixes for Bolt EUV * might enable stop and go * consistent name * min enable speed seems to be around 5 kph * camera acc can engage under 5 kph if stopped * comment * comment * remove this for now * only real brake * comments * update max brake * bump * clean up/fix * same if * simplify * fix * old comment * no brake_pressed * temporary fault fix * tune longitudinal * update docs * bump panda * GM camera ACC cars have no regen in ACC * cleaner * cleaner * fix * set max gas * fixes * fix LKAS unavailable warning from camera * only camera * bump panda * bump panda * bump panda * bump panda * clean up gmcan * clean up CC * flip * rm * rm comment * clean up * custom starting/stopping probably not needed * Update selfdrive/car/gm/carcontroller.py * fix crash * long tuning * we need long control state to resume * CAMERA_ACC_CAR not needed * no interp on accel * tuning * formatting * formatting * formatting * formatting * formatting * no need to init ccp * makes more sense now --- docs/CARS.md | 6 ++-- selfdrive/car/gm/carcontroller.py | 22 +++++++----- selfdrive/car/gm/gmcan.py | 10 ++++-- selfdrive/car/gm/interface.py | 38 ++++++++++++++------ selfdrive/car/gm/values.py | 44 ++++++++++++++---------- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 78 insertions(+), 44 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index b79ba6a478..af2c3007a4 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -18,8 +18,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Cadillac|Escalade ESV 2016[2](#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|Stock|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|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|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|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[2](#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| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| @@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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| |GMC|Acadia 2018[2](#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|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|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| |Honda|Accord Hybrid 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| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index a75eb89f25..a6cd2f19b9 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -5,10 +5,11 @@ from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_torque_limits from selfdrive.car.gm import gmcan -from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, EV_CAR +from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation +LongCtrlState = car.CarControl.Actuators.LongControlState # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s CAMERA_CANCEL_DELAY_FRAMES = 10 @@ -30,7 +31,7 @@ class CarController: self.sent_lka_steering_cmd = False self.lka_icon_status_last = (False, False) - self.params = CarControllerParams() + self.params = CarControllerParams(self.CP) self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt']) self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar']) @@ -83,20 +84,23 @@ class CarController: self.apply_gas = self.params.INACTIVE_REGEN self.apply_brake = 0 else: - if self.CP.carFingerprint in EV_CAR: - self.apply_gas = int(round(interp(actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) - else: - self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) - self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) + self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) + self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) idx = (self.frame // 4) % 4 at_full_stop = CC.longActive and CS.out.standstill near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) + friction_brake_bus = CanBus.CHASSIS + # GM Camera exceptions + # TODO: can we always check the longControlState? + if self.CP.networkLocation == NetworkLocation.fwdCamera: + at_full_stop = at_full_stop and actuators.longControlState == LongCtrlState.stopping + friction_brake_bus = CanBus.POWERTRAIN + # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop)) - can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop)) + can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP)) # Send dashboard UI commands (ACC status) send_fcw = hud_alert == VisualAlert.fcw diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 42df2c6afd..56c981326f 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -1,4 +1,5 @@ from selfdrive.car import make_can_msg +from selfdrive.car.gm.values import CAR def create_buttons(packer, bus, idx, button): @@ -52,15 +53,20 @@ def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop): return packer.make_can_msg("ASCMGasRegenCmd", bus, values) -def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop): +def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_stop, at_full_stop, CP): mode = 0x1 + + # TODO: Understand this better. Volts and ICE Camera ACC cars are 0x1 when enabled with no brake + if enabled and CP.carFingerprint in (CAR.BOLT_EUV,): + mode = 0x9 + if apply_brake > 0: mode = 0xa if at_full_stop: mode = 0xd # TODO: this is to have GM bringing the car to complete stop, - # but currently it conflicts with OP controls, so turned off. + # but currently it conflicts with OP controls, so turned off. Not set by all cars #elif near_stop: # mode = 0xb diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 905b85436a..9ef7f388ff 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -20,8 +20,7 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D class CarInterface(CarInterfaceBase): @staticmethod def get_pid_accel_limits(CP, current_speed, cruise_speed): - params = CarControllerParams() - return params.ACCEL_MIN, params.ACCEL_MAX + return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer. @staticmethod @@ -56,13 +55,34 @@ class CarInterface(CarInterfaceBase): else: ret.transmissionType = TransmissionType.automatic + ret.longitudinalTuning.deadzoneBP = [0.] + ret.longitudinalTuning.deadzoneV = [0.15] + + ret.longitudinalTuning.kpBP = [5., 35.] + ret.longitudinalTuning.kiBP = [0.] + if candidate in CAMERA_ACC_CAR: - ret.openpilotLongitudinalControl = False + ret.experimentalLongitudinalAvailable = True ret.networkLocation = NetworkLocation.fwdCamera ret.radarOffCan = True # no radar ret.pcmCruise = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM ret.minEnableSpeed = 5 * CV.KPH_TO_MS + + if experimental_long: + ret.pcmCruise = False + ret.openpilotLongitudinalControl = True + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG + + # Tuning + ret.longitudinalTuning.kpV = [2.0, 1.5] + ret.longitudinalTuning.kiV = [0.72] + ret.stopAccel = -2.0 + ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling + ret.vEgoStopping = 0.25 + ret.vEgoStarting = 0.25 + ret.longitudinalActuatorDelayUpperBound = 0.5 + else: # ASCM, OBD-II harness ret.openpilotLongitudinalControl = True ret.networkLocation = NetworkLocation.gateway @@ -71,6 +91,10 @@ class CarInterface(CarInterfaceBase): # supports stop and go, but initial engage must (conservatively) be above 18mph ret.minEnableSpeed = 18 * CV.MPH_TO_MS + # Tuning + ret.longitudinalTuning.kpV = [2.4, 1.5] + ret.longitudinalTuning.kiV = [0.36] + # 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. @@ -85,14 +109,6 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 # Default delay, not measured yet tire_stiffness_factor = 0.444 # not optimized yet - ret.longitudinalTuning.kpBP = [5., 35.] - ret.longitudinalTuning.kpV = [2.4, 1.5] - ret.longitudinalTuning.kiBP = [0.] - ret.longitudinalTuning.kiV = [0.36] - - ret.longitudinalTuning.deadzoneBP = [0.] - ret.longitudinalTuning.deadzoneV = [0.15] - ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 85e291aaf6..eace6b6aca 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -24,15 +24,6 @@ class CarControllerParams: ADAS_KEEPALIVE_STEP = 100 CAMERA_KEEPALIVE_STEP = 100 - # Volt gas/brake lookups - # TODO: These values should be confirmed on non-Volt vehicles. - # MAX_GAS should achieve 2 m/s^2 and MAX_BRAKE with regen should achieve -4.0 m/s^2 - MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill. - ZERO_GAS = 2048 # Coasting - MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen - MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen - INACTIVE_REGEN = 1404 - # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we # perform the closed loop control, and might need some # to apply some more braking if we're on a downhill slope. @@ -41,15 +32,32 @@ class CarControllerParams: ACCEL_MAX = 2. # m/s^2 ACCEL_MIN = -4. # m/s^2 - # ICE has much less engine braking force compared to regen in EVs, - # lower threshold removes some braking deadzone - GAS_LOOKUP_BP = [-0.1, 0., ACCEL_MAX] - EV_GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX] - GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS] - - BRAKE_LOOKUP_BP = [ACCEL_MIN, -0.1] - EV_BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.] - BRAKE_LOOKUP_V = [MAX_BRAKE, 0.] + def __init__(self, CP): + # Gas/brake lookups + self.ZERO_GAS = 2048 # Coasting + self.MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen + + if CP.carFingerprint in CAMERA_ACC_CAR: + self.MAX_GAS = 3400 + self.MAX_ACC_REGEN = 1514 + self.INACTIVE_REGEN = 1554 + # Camera ACC vehicles have no regen while enabled. + # Camera transitions to MAX_ACC_REGEN from ZERO_GAS and uses friction brakes instantly + max_regen_acceleration = 0. + + else: + self.MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill. + self.MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen + self.INACTIVE_REGEN = 1404 + # ICE has much less engine braking force compared to regen in EVs, + # lower threshold removes some braking deadzone + max_regen_acceleration = -1. if CP.carFingerprint in EV_CAR else -0.1 + + self.GAS_LOOKUP_BP = [max_regen_acceleration, 0., self.ACCEL_MAX] + self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, self.MAX_GAS] + + self.BRAKE_LOOKUP_BP = [self.ACCEL_MIN, max_regen_acceleration] + self.BRAKE_LOOKUP_V = [self.MAX_BRAKE, 0.] class CAR: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index be8b59f6a4..7b5d954c43 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -46922acfb984342daa35734e4297ff9d2ddfb18b \ No newline at end of file +d37afafc466661262b34631e32e4c383f1277bc5 \ No newline at end of file From 4c90bb8635d460c1a574f3ab3d7aa264179c197e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 3 Nov 2022 01:45:54 +0800 Subject: [PATCH 471/685] cabana: optimize chart update (#26327) optimize update --- tools/cabana/chartswidget.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 72c9c40570..85284af6fc 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -325,7 +325,6 @@ void ChartView::updateLineMarker(double current_sec) { chart()->plotArea().width() * (current_sec - axis_x->min()) / (axis_x->max() - axis_x->min()); if (int(line_marker->line().x1()) != x) { line_marker->setLine(x, 0, x, height()); - chart()->update(); } } @@ -410,6 +409,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } else { QGraphicsView::mouseReleaseEvent(event); } + setViewportUpdateMode(QGraphicsView::MinimalViewportUpdate); } void ChartView::mouseMoveEvent(QMouseEvent *ev) { @@ -436,6 +436,8 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { track_line->setVisible(value != vals.end()); value_text->setVisible(value != vals.end()); track_ellipse->setVisible(value != vals.end()); + } else { + setViewportUpdateMode(QGraphicsView::FullViewportUpdate); } QChartView::mouseMoveEvent(ev); } From e355d7383fbd1840f1d8f7e56cec3dba6f4f1d2a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 3 Nov 2022 01:46:17 +0800 Subject: [PATCH 472/685] Cabana: add y-axis padding (#26326) add padding --- tools/cabana/chartswidget.cc | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 85284af6fc..3782f381e8 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -368,8 +368,13 @@ void ChartView::updateAxisY() { auto end = std::upper_bound(vals.begin(), vals.end(), axis_x->max(), [](double x, auto &p) { return x < p.x(); }); const auto [min, max] = std::minmax_element(begin, end, [](auto &p1, auto &p2) { return p1.y() < p2.y(); }); - (min->y() == max->y()) ? axis_y->setRange(min->y() - 1, max->y() + 1) - : axis_y->setRange(min->y(), max->y()); + if (max->y() == min->y()) { + 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(); + } } void ChartView::enterEvent(QEvent *event) { From fdd125853fad2909fa2eff37822a0715d3a219c1 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 2 Nov 2022 14:42:29 -0700 Subject: [PATCH 473/685] camerad: fix OX not having vignetting comp (#26329) --- system/camerad/cameras/real_debayer.cl | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl index 59aa488653..cff5ae455b 100644 --- a/system/camerad/cameras/real_debayer.cl +++ b/system/camerad/cameras/real_debayer.cl @@ -72,7 +72,7 @@ float4 val4_from_12(uchar8 pvs, float gain) { float4 pv = {ox03c10_lut[parsed.s0], ox03c10_lut[parsed.s1], ox03c10_lut[parsed.s2], ox03c10_lut[parsed.s3]}; // it's a 24 bit signal, center in the middle 8 bits - return pv*256.0; + return clamp(pv*gain*256.0, 0.0, 1.0); #else // AR // normalize and scale float4 pv = (convert_float4(parsed) - 168.0) / (4096.0 - 168.0); From 0589ff23a52efb90269d270f13a3d921176d377b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 2 Nov 2022 15:51:52 -0700 Subject: [PATCH 474/685] bump up controlsd cpu usage --- selfdrive/test/test_onroad.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index df8112c75f..4021e27de3 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -21,7 +21,7 @@ from tools.lib.logreader import LogReader # Baseline CPU usage by process PROCS = { - "selfdrive.controls.controlsd": 35.0, + "selfdrive.controls.controlsd": 39.0, "./loggerd": 10.0, "./encoderd": 17.0, "./camerad": 14.5, From d58c19c5762545839df97ae282a4c43826e6960d Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Thu, 3 Nov 2022 00:34:02 +0100 Subject: [PATCH 475/685] CI: add LSM-C sensor device (#26303) * add sensord tests to pipeline * . * cleanup * redo * . * address comments * Update Jenkinsfile Co-authored-by: Kurt Nistelberger Co-authored-by: Adeeb Shihadeh --- Jenkinsfile | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index b9b9eda667..ea62ff3c49 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -148,6 +148,16 @@ pipeline { } } + stage('sensord (LSM-C)') { + agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } + steps { + phone_steps("tici-lsmc", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], + ]) + } + } + stage('replay') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { From 21ac65da22dc8bce4ba88a520e8550829ea81ab6 Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Wed, 2 Nov 2022 17:36:29 -0700 Subject: [PATCH 476/685] bump panda (#26334) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 0ca6d9d924..9147cba1af 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0ca6d9d9248f2cea4ef2292671b6980b416c3f4b +Subproject commit 9147cba1af0a8d72379242eb1ce0bfd42ab8075e From e634afb719e9ea787155272b3d2fe64b385bcb7d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Nov 2022 17:55:53 -0700 Subject: [PATCH 477/685] GM: fix fault while moving backwards (#26333) * log signed speed * bump to master * need this * fix * fix... * see if this works * just fault fix (no logging or standstill. tho revisit standstill) * move * Revert "move" This reverts commit c564e74666e3a418ef43a77926c8a38a2bf89511. --- opendbc | 2 +- selfdrive/car/gm/carstate.py | 2 ++ selfdrive/car/gm/interface.py | 5 +++-- 3 files changed, 6 insertions(+), 3 deletions(-) diff --git a/opendbc b/opendbc index b3dc569994..296f190000 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit b3dc569994fd10e4de04afd650980c51ddfce5e1 +Subproject commit 296f190000a2e71408e207ba21a2257cc853ec15 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 7cb2274674..af69307a2c 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -28,6 +28,7 @@ class CarState(CarStateBase): self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"] self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"]) + self.moving_backward = pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0 # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 @@ -139,6 +140,7 @@ class CarState(CarStateBase): ("FRWheelSpd", "EBCMWheelSpdFront"), ("RLWheelSpd", "EBCMWheelSpdRear"), ("RRWheelSpd", "EBCMWheelSpdRear"), + ("MovingBackward", "EBCMWheelSpdRear"), ("PRNDL2", "ECMPRDNL2"), ("ManualMode", "ECMPRDNL2"), ("LKADriverAppldTrq", "PSCMStatus"), diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 9ef7f388ff..2420098b4a 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -225,8 +225,9 @@ class CarInterface(CarInterfaceBase): # Enabling at a standstill with brake is allowed # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs - if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and - self.CP.networkLocation == NetworkLocation.fwdCamera): + below_min_enable_speed = ret.vEgo < self.CP.minEnableSpeed or self.CS.moving_backward + if below_min_enable_speed and not (ret.standstill and ret.brake >= 20 and + self.CP.networkLocation == NetworkLocation.fwdCamera): events.add(EventName.belowEngageSpeed) if ret.cruiseState.standstill: events.add(EventName.resumeRequired) From 735af656a034ea960ece8e346227225adfd6d4b2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Nov 2022 18:56:26 -0700 Subject: [PATCH 478/685] car docs: docs-only footnote flag (#26335) docs-only footnotes --- selfdrive/car/docs_definitions.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 9a2a4b1427..dbe1886917 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -68,14 +68,14 @@ class Harness(Enum): none = "None" -CarFootnote = namedtuple("CarFootnote", ["text", "column"], defaults=[None]) +CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only"], defaults=(None, False)) 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).", - Column.LONGITUDINAL) + Column.LONGITUDINAL, docs_only=True) def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]: From b0656f2c751df64fb3974c66423470b7a59bc1e6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Nov 2022 20:12:35 -0700 Subject: [PATCH 479/685] Toyota: add unsupported DSU car list (#26336) * note for dsu cars * don't hardcode dsu footnote (1/2) * test * revert the experimental long toggle * another day:( * DSU doesn't have to be toyota specific, it's a generic carParam! * this is safe, just make sure it's unknown * these cars do not have OP long for some reason * UNSUPPORTED_DSU_CAR * forgot this * . * . * revert * revert * smaller diff --- selfdrive/car/toyota/carcontroller.py | 5 +++-- selfdrive/car/toyota/carstate.py | 8 ++++---- selfdrive/car/toyota/interface.py | 4 ++-- selfdrive/car/toyota/values.py | 5 ++++- 4 files changed, 13 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index faea08ed3f..4ec9500171 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -5,7 +5,8 @@ from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_comma create_accel_command, create_acc_cancel_command, \ create_fcw_command, create_lta_steer_command from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ - MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams + MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \ + UNSUPPORTED_DSU_CAR from opendbc.can.packer import CANPacker VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -112,7 +113,7 @@ class CarController: lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged # Lexus IS uses a different cancellation message - if pcm_cancel_cmd and self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): + if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: can_sends.append(create_acc_cancel_command(self.packer)) elif self.CP.openpilotLongitudinalControl: can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type)) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 0cfba2b09f..4758149916 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, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE +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): @@ -87,7 +87,7 @@ class CarState(CarStateBase): # 17 is a fault from a prolonged high torque delta between cmd and user ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] == 17 - if self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): + if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: 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"] @@ -112,7 +112,7 @@ class CarState(CarStateBase): # these cars are identified by an ACC_TYPE value of 2. # TODO: it is possible to avoid the lockout and gain stop and go if you # send your own ACC_CONTROL msg on startup with ACC_TYPE set to 1 - if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in (CAR.LEXUS_IS, CAR.LEXUS_RC)) or \ + if (self.CP.carFingerprint not in TSS2_CAR and self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR) or \ (self.CP.carFingerprint in TSS2_CAR and self.acc_type == 1): self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2 @@ -196,7 +196,7 @@ class CarState(CarStateBase): signals.append(("GAS_PEDAL", "GAS_PEDAL")) checks.append(("GAS_PEDAL", 33)) - if CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC): + if CP.carFingerprint in UNSUPPORTED_DSU_CAR: signals.append(("MAIN_ON", "DSU_CRUISE")) signals.append(("SET_SPEED", "DSU_CRUISE")) signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT")) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index e6a7dac412..3ae1efe04f 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,7 @@ 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, CarControllerParams +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 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -189,7 +189,7 @@ class CarInterface(CarInterfaceBase): smartDsu = 0x2FF in fingerprint[0] # In TSS2 cars the camera does long control found_ecus = [fw.ecu for fw in car_fw] - ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR) and (not smartDsu) + ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not smartDsu ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 07c33d0173..acacfaea2d 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1363,7 +1363,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x700, None): [ b'\x01896634AA0000\x00\x00\x00\x00', - b'\x01896634AA0100\x00\x00\x00\x00', + b'\x01896634AA0100\x00\x00\x00\x00', b'\x01896634AA1000\x00\x00\x00\x00', b'\x01896634A88000\x00\x00\x00\x00', b'\x01896634A89000\x00\x00\x00\x00', @@ -2032,6 +2032,9 @@ TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TS NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} +# the DSU uses the AEB message for longitudinal on these cars +UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} + # these cars have a radar which sends ACC messages instead of the camera RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022} From 80e8d76d39b1e1992d1b6cf258aa8d878673ca10 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 2 Nov 2022 20:40:42 -0700 Subject: [PATCH 480/685] car docs: speedup test (#26337) * faster * faster --- selfdrive/car/tests/test_docs.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index b7056df5b3..e56f98f7a8 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -10,8 +10,9 @@ from selfdrive.car.honda.values import CAR as HONDA class TestCarDocs(unittest.TestCase): - def setUp(self): - self.all_cars = get_all_car_info() + @classmethod + def setUpClass(cls): + cls.all_cars = get_all_car_info() def test_generator(self): generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE) From 3e69973819ba337743d4d9c71d31369a761a688d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 3 Nov 2022 01:00:33 -0700 Subject: [PATCH 481/685] car docs: auto-generate footnote for DSU cars (#26321) * note for dsu cars * don't hardcode dsu footnote (1/2) * test * revert the experimental long toggle * another day:( * DSU doesn't have to be toyota specific, it's a generic carParam! * this is safe, just make sure it's unknown * these cars do not have OP long for some reason * UNSUPPORTED_DSU_CAR * forgot this * fix autoResume * fix autoResume 2 --- docs/CARS.md | 62 ++++++++++++------------ selfdrive/car/docs.py | 3 +- selfdrive/car/docs_definitions.py | 13 +++-- selfdrive/car/toyota/interface.py | 4 +- selfdrive/car/toyota/values.py | 52 +++++++++----------- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 70 insertions(+), 66 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index af2c3007a4..ad288a1cc6 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -17,10 +17,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Cadillac|Escalade ESV 2016[2](#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| +|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|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[2](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| +|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| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| @@ -31,12 +31,12 @@ 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| -|GMC|Acadia 2018[2](#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|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| |Honda|Accord Hybrid 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| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[3](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B| @@ -105,21 +105,21 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Sportage Hybrid 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|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|Telluride 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|NX 2018-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|NX Hybrid 2018-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX 2016|Lexus Safety System+|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX 2017-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Lexus|RX Hybrid 2017-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| @@ -150,11 +150,11 @@ A supported vehicle is one that just works when you install a comma three. All s |Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |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|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Avalon 2017-18|All|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Avalon 2019-21|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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| +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Avalon Hybrid 2019-21|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |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| @@ -162,32 +162,32 @@ A supported vehicle is one that just works when you install a comma three. All s |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|Corolla 2017-19|All|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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) 2020-21|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Highlander 2017-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|Highlander 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 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Toyota|Highlander Hybrid 2017-19|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|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|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|Prius 2017-20|All|Stock[4](#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-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|Stock[4](#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-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|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 2017-18|All|Stock[4](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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| +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| -|Toyota|RAV4 Hybrid 2017-18|All|Stock[4](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| +|Toyota|RAV4 Hybrid 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|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |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|Stock[4](#footnotes)|19 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[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Arteon eHybrid 2020-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| |Volkswagen|Arteon R 2020-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| @@ -222,9 +222,9 @@ A supported vehicle is one that just works when you install a comma three. All s 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).
-2Requires a community built ASCM harness. NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).
-32019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.
-4When 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).
+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).
+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.
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index 6e271fb5cb..58afed27eb 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -7,6 +7,7 @@ from enum import Enum from natsort import natsorted from typing import Dict, List +from cereal import car from common.basedir import BASEDIR from selfdrive.car import gen_empty_fingerprint from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote @@ -28,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]: all_car_info: List[CarInfo] = [] footnotes = get_all_footnotes() for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): - CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint()) + CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")]) if CP.dashcamOnly or car_info is None: continue diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index dbe1886917..8e057a1563 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -76,6 +76,10 @@ class CommonFootnote(Enum): "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).", 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).", + Column.LONGITUDINAL) def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]: @@ -137,11 +141,14 @@ class CarInfo: self.make, self.model, self.years = split_name(self.name) op_long = "Stock" - if CP.openpilotLongitudinalControl: + if CP.openpilotLongitudinalControl and not CP.enableDsu: op_long = "openpilot" - elif CP.experimentalLongitudinalAvailable: + elif CP.experimentalLongitudinalAvailable or CP.enableDsu: op_long = "openpilot available" - self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL) + if CP.enableDsu: + self.footnotes.append(CommonFootnote.EXP_LONG_DSU) + else: + self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL) self.row = { Column.MAKE: self.make, diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 3ae1efe04f..02e4caa9d6 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,7 @@ 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 +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.interfaces import CarInterfaceBase @@ -193,9 +193,9 @@ class CarInterface(CarInterfaceBase): ret.enableGasInterceptor = 0x201 in fingerprint[0] # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) + ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR if not ret.openpilotLongitudinalControl: - ret.autoResumeSng = False ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL # we can't use the fingerprint to detect this reliably, since diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index acacfaea2d..9e96118085 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -87,10 +87,6 @@ class CAR: class Footnote(Enum): - 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).", - Column.LONGITUDINAL) CAMRY = CarFootnote( "openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.", Column.FSR_LONGITUDINAL) @@ -107,11 +103,11 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"), CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"), CAR.AVALON: [ - ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]), - ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"), + ToyotaCarInfo("Toyota Avalon 2017-18"), ], - CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]), - CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", footnotes=[Footnote.DSU]), + CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21"), + CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"), CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"), CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"), CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), @@ -120,7 +116,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-22"), CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"), CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"), - CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]), + CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"), CAR.COROLLA_TSS2: [ ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-21", min_enable_speed=7.5), @@ -131,53 +127,53 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarInfo("Lexus UX Hybrid 2019-22"), ], - CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]), + CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-22"), - CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]), + CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"), CAR.PRIUS: [ - ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0", [Footnote.DSU]), - ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), - ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ], - CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]), + CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED), CAR.PRIUS_TSS2: [ ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ], CAR.RAV4: [ - ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]), - ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU]) + ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"), + ToyotaCarInfo("Toyota RAV4 2017-18") ], CAR.RAV4H: [ - ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26", [Footnote.DSU]), - ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]) + ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") ], CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"), CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), - CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU], min_enable_speed=MIN_ACC_SPEED), + CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), # Lexus - CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]), - CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]), + CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), + CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"), CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), - CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]), - CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]), + CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"), + CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"), CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"), CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"), CAR.LEXUS_RX: [ - ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+", footnotes=[Footnote.DSU]), - ToyotaCarInfo("Lexus RX 2017-19", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), + ToyotaCarInfo("Lexus RX 2017-19"), ], CAR.LEXUS_RXH: [ - ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+", footnotes=[Footnote.DSU]), - ToyotaCarInfo("Lexus RX Hybrid 2017-19", footnotes=[Footnote.DSU]), + ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"), + ToyotaCarInfo("Lexus RX Hybrid 2017-19"), ], CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"), CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 7b5d954c43..68bd35c38c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -d37afafc466661262b34631e32e4c383f1277bc5 \ No newline at end of file +01b24beff6855e8c4d2fb0efeeefafb46343e013 From b25e56925c2453464f554bfab57b38f9487a9844 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 4 Nov 2022 01:44:37 +0800 Subject: [PATCH 482/685] Cabana: make whole DetailWidget scrollable (#26340) --- tools/cabana/binaryview.cc | 11 ++--- tools/cabana/binaryview.h | 1 - tools/cabana/detailwidget.cc | 89 +++++++++++------------------------- tools/cabana/detailwidget.h | 27 +---------- tools/cabana/historylog.cc | 21 ++++----- tools/cabana/historylog.h | 4 +- tools/cabana/settings.cc | 2 +- tools/cabana/settings.h | 2 +- 8 files changed, 45 insertions(+), 112 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 91353e9726..875bd034ec 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -20,15 +20,12 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { setItemDelegate(delegate); horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); horizontalHeader()->hide(); - verticalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setMouseTracking(true); + setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents); + setFrameShape(QFrame::NoFrame); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum); -} - -QSize BinaryView::sizeHint() const { - QSize sz = QTableView::sizeHint(); - return {sz.width(), model->rowCount() <= 8 ? ((CELL_HEIGHT + 1) * model->rowCount() + 2) : sz.height()}; + setMouseTracking(true); } void BinaryView::highlight(const Signal *sig) { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 060a2eef7f..0f58e9ed20 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -61,7 +61,6 @@ public: void highlight(const Signal *sig); const Signal *hoveredSignal() const { return hovered_sig; } QSet getOverlappingSignals() const; - QSize sizeHint() const override; signals: void signalHovered(const Signal *sig); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 57a3910303..9bbc442154 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -4,7 +4,9 @@ #include #include #include +#include #include +#include #include "selfdrive/ui/qt/util.h" #include "tools/cabana/canmessages.h" @@ -13,38 +15,26 @@ // DetailWidget DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { - main_layout = new QHBoxLayout(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); + main_layout->setSpacing(0); - right_column = new QVBoxLayout(); - main_layout->addLayout(right_column); - - binary_view_container = new QWidget(this); - binary_view_container->setMinimumWidth(500); - binary_view_container->setSizePolicy(QSizePolicy::Minimum, QSizePolicy::Preferred); - QVBoxLayout *bin_layout = new QVBoxLayout(binary_view_container); - bin_layout->setContentsMargins(0, 0, 0, 0); - bin_layout->setSpacing(0); - // tabbar + // tabbar tabbar = new QTabBar(this); tabbar->setTabsClosable(true); tabbar->setDrawBase(false); tabbar->setUsesScrollButtons(true); tabbar->setAutoHide(true); tabbar->setContextMenuPolicy(Qt::CustomContextMenu); - bin_layout->addWidget(tabbar); + main_layout->addWidget(tabbar); - TitleFrame *title_frame = new TitleFrame(this); + QFrame *title_frame = new QFrame(this); + QVBoxLayout *frame_layout = new QVBoxLayout(title_frame); title_frame->setFrameShape(QFrame::StyledPanel); title_frame->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); - QVBoxLayout *frame_layout = new QVBoxLayout(title_frame); // message title QHBoxLayout *title_layout = new QHBoxLayout(); - split_btn = new QPushButton("⬅", this); - split_btn->setFixedSize(20, 20); - split_btn->setToolTip(tr("Split to two columns")); - title_layout->addWidget(split_btn); title_layout->addWidget(new QLabel("time:")); time_label = new QLabel(this); time_label->setStyleSheet("font-weight:bold"); @@ -62,6 +52,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart // warning warning_widget = new QWidget(this); 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_hlayout->addWidget(warning_icon, 0, Qt::AlignTop); @@ -69,30 +60,33 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); warning_widget->hide(); frame_layout->addWidget(warning_widget); - bin_layout->addWidget(title_frame); + main_layout->addWidget(title_frame); + + QWidget *container = new QWidget(this); + QVBoxLayout *container_layout = new QVBoxLayout(container); + container_layout->setSpacing(0); + container_layout->setContentsMargins(0, 0, 0, 0); + + scroll = new QScrollArea(this); + scroll->setWidget(container); + scroll->setWidgetResizable(true); + scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + main_layout->addWidget(scroll); // binary view binary_view = new BinaryView(this); - bin_layout->addWidget(binary_view); - right_column->addWidget(binary_view_container); + container_layout->addWidget(binary_view); // signals signals_container = new QWidget(this); signals_container->setLayout(new QVBoxLayout); signals_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); - - scroll = new ScrollArea(this); - scroll->setWidget(signals_container); - scroll->setWidgetResizable(true); - scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - right_column->addWidget(scroll); + container_layout->addWidget(signals_container); // history log history_log = new HistoryLog(this); - right_column->addWidget(history_log); + container_layout->addWidget(history_log); - QObject::connect(split_btn, &QPushButton::clicked, this, &DetailWidget::moveBinaryView); - QObject::connect(title_frame, &TitleFrame::doubleClicked, this, &DetailWidget::moveBinaryView); QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg); QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); @@ -146,6 +140,8 @@ void DetailWidget::setMessage(const QString &message_id) { tabbar->setCurrentIndex(index); msg_id = message_id; dbcMsgChanged(); + + scroll->verticalScrollBar()->setValue(0); } void DetailWidget::dbcMsgChanged(int show_form_idx) { @@ -201,27 +197,12 @@ void DetailWidget::updateState() { history_log->updateState(); } -void DetailWidget::moveBinaryView() { - if (binview_in_left_col) { - right_column->insertWidget(0, binary_view_container); - emit binaryViewMoved(true); - } else { - main_layout->insertWidget(0, binary_view_container); - emit binaryViewMoved(false); - } - split_btn->setText(binview_in_left_col ? "⬅" : "➡"); - split_btn->setToolTip(binview_in_left_col ? tr("Split to two columns") : tr("Move back")); - binary_view->updateGeometry(); - binview_in_left_col = !binview_in_left_col; -} - void DetailWidget::showForm() { SignalEdit *sender = qobject_cast(QObject::sender()); for (auto f : signals_container->findChildren()) { f->setFormVisible(f == sender && !f->isFormVisible()); - if (f == sender) { + if (f == sender) QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); }); - } } } @@ -322,19 +303,3 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); } - -// ScrollArea - -bool ScrollArea::eventFilter(QObject *obj, QEvent *ev) { - if (obj == widget() && ev->type() == QEvent::Resize) { - int height = widget()->height() + 4; - setMinimumHeight(height > 480 ? 480 : height); - setMaximumHeight(height); - } - return QScrollArea::eventFilter(obj, ev); -} - -void ScrollArea::setWidget(QWidget *w) { - QScrollArea::setWidget(w); - w->installEventFilter(this); -} diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 656aacb106..d8784f3f14 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -2,22 +2,12 @@ #include #include -#include #include "tools/cabana/binaryview.h" #include "tools/cabana/chartswidget.h" #include "tools/cabana/historylog.h" #include "tools/cabana/signaledit.h" -class TitleFrame : public QFrame { - Q_OBJECT -public: - TitleFrame(QWidget *parent) : QFrame(parent) {} - void mouseDoubleClickEvent(QMouseEvent *e) { emit doubleClicked(); } -signals: - void doubleClicked(); -}; - class EditMessageDialog : public QDialog { Q_OBJECT @@ -28,15 +18,6 @@ public: QSpinBox *size_spin; }; -class ScrollArea : public QScrollArea { - Q_OBJECT - -public: - ScrollArea(QWidget *parent) : QScrollArea(parent) {} - bool eventFilter(QObject *obj, QEvent *ev) override; - void setWidget(QWidget *w); -}; - class DetailWidget : public QWidget { Q_OBJECT @@ -58,7 +39,6 @@ private: void editMsg(); void showForm(); void updateState(); - void moveBinaryView(); QString msg_id; QLabel *name_label, *time_label, *warning_label; @@ -66,13 +46,8 @@ private: QPushButton *edit_btn; QWidget *signals_container; QTabBar *tabbar; - QHBoxLayout *main_layout; - QVBoxLayout *right_column; - bool binview_in_left_col = false; - QWidget *binary_view_container; - QPushButton *split_btn; HistoryLog *history_log; BinaryView *binary_view; - ScrollArea *scroll; + QScrollArea *scroll; ChartsWidget *charts; }; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 8136d0577c..5737421f28 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -64,16 +64,15 @@ void HistoryLogModel::updateState() { } } -HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); +HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { model = new HistoryLogModel(this); - table = new QTableView(this); - table->setModel(model); - table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); - table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents); - table->setColumnWidth(0, 60); - table->verticalHeader()->setVisible(false); - table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); - main_layout->addWidget(table); + setModel(model); + horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); + horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents); + verticalHeader()->setVisible(false); + setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents); + setFrameShape(QFrame::NoFrame); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); + setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index d39bcf9f1d..0bfc409fe1 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -25,15 +25,13 @@ private: std::deque messages; }; -class HistoryLog : public QWidget { +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: - QTableView *table; HistoryLogModel *model; }; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 17299ebca4..bba59c0d74 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -25,7 +25,7 @@ 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", 100).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(); chart_theme = s.value("chart_theme", 0).toInt(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 88eeebc722..cb858de873 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -13,7 +13,7 @@ public: void load(); int fps = 10; - int can_msg_log_size = 100; + int can_msg_log_size = 50; int cached_segment_limit = 3; int chart_height = 200; int chart_theme = 0; From e4ec1d7c4cc65d2f91530776584807eb4b13e59e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 4 Nov 2022 01:44:49 +0800 Subject: [PATCH 483/685] Cabana: update line series concurrently (#26339) update series concurrently --- tools/cabana/chartswidget.cc | 9 ++++++--- tools/cabana/chartswidget.h | 4 ++-- 2 files changed, 8 insertions(+), 5 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 3782f381e8..5bf66ebb2d 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -1,11 +1,13 @@ #include "tools/cabana/chartswidget.h" +#include #include #include #include #include #include #include +#include // ChartsWidget @@ -116,8 +118,9 @@ void ChartsWidget::updateState() { 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) - c->chart_view->updateSeries(display_range); + future_synchronizer.addFuture(QtConcurrent::run(c->chart_view, &ChartView::updateSeries, display_range)); } } @@ -328,7 +331,7 @@ void ChartView::updateLineMarker(double current_sec) { } } -void ChartView::updateSeries(const std::pair &range) { +void ChartView::updateSeries(const std::pair range) { auto events = can->events(); if (!events) return; @@ -337,7 +340,7 @@ void ChartView::updateSeries(const std::pair &range) { uint32_t address = l[1].toUInt(nullptr, 16); vals.clear(); - vals.reserve((range.second - range.first) * 100); // [n]minutes * 100hz + vals.reserve((range.second - range.first) * 1000); // [n]seconds * 1000hz double route_start_time = can->routeStartTime(); Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + range.first) * 1e9); auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 602d50ca0a..ff56008e7d 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -21,7 +21,7 @@ class ChartView : public QChartView { public: ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr); - void updateSeries(const std::pair &range); + void updateSeries(const std::pair range); void setRange(double min, double max, bool force_update = false); void updateLineMarker(double current_sec); void updateFromSettings(); @@ -42,7 +42,7 @@ private: QGraphicsEllipseItem *track_ellipse; QGraphicsTextItem *value_text; QGraphicsLineItem *line_marker; - QList vals; + QVector vals; QString id; const Signal *signal; }; From ad62a448fa7b6608b95adfe29461bac0bf9b9111 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Thu, 3 Nov 2022 13:21:11 -0700 Subject: [PATCH 484/685] [torqued] Set HYUNDAI ELANTRA 2021 Offline vlaues (#26344) change elantra values --- 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 5c828fa669..c2ebadfc7a 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -25,6 +25,7 @@ HONDA ODYSSEY 2018: [1.8774809275211801, 0.8394431662987996, 0.2096978613792822] HONDA PASSPORT 2021: [1.5305538930036766, 0.7956063674638759, 0.19599407381531284] 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 ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index acd7526003..c043c9d455 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -35,7 +35,6 @@ HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 -HYUNDAI ELANTRA 2021: HYUNDAI SONATA 2020 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022 GENESIS G90 2017: GENESIS G70 2018 From 70363e2491ea4150f85b44ff221d3318208581a9 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 4 Nov 2022 04:23:53 +0800 Subject: [PATCH 485/685] Cabana: word wrap header (#26341) * auto wrap header * custom headerview --- tools/cabana/historylog.cc | 17 +++++++++++++++-- tools/cabana/historylog.h | 7 +++++++ 2 files changed, 22 insertions(+), 2 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 5737421f28..7bb2f37699 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -1,9 +1,10 @@ #include "tools/cabana/historylog.h" #include -#include #include +// HistoryLogModel + QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); if (role == Qt::DisplayRole) { @@ -37,7 +38,7 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i if (section == 0) { return "Time"; } - return has_signal ? dbc_msg->sigs[section - 1].name.c_str() : "Data"; + return has_signal ? QString::fromStdString(dbc_msg->sigs[section - 1].name).replace('_', ' ') : "Data"; } else if (role == Qt::BackgroundRole && section > 0 && has_signal) { return QBrush(QColor(getColor(section - 1))); } @@ -64,10 +65,22 @@ void HistoryLogModel::updateState() { } } +// HeaderView + +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}; +} + +// HistoryLog + 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); verticalHeader()->setVisible(false); setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 0bfc409fe1..e1c1319166 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -1,10 +1,17 @@ #pragma once +#include #include #include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" +class HeaderView : public QHeaderView { +public: + HeaderView(Qt::Orientation orientation, QWidget *parent = nullptr) : QHeaderView(orientation, parent) {} + QSize sectionSizeFromContents(int logicalIndex) const; +}; + class HistoryLogModel : public QAbstractTableModel { Q_OBJECT From d172cbbcc8c35b834812871d6768072b9bb1f594 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 3 Nov 2022 16:33:01 -0400 Subject: [PATCH 486/685] VW MQB: Add FW for 2021 Audi Q3 (#26343) * VW MQB: Add FW for 2021 Audi Q3 * update docs --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/values.py | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index ad288a1cc6..e9d7b9c82f 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -14,7 +14,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|Q3 2020-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |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| diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 695868452d..ee5687eb1d 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -227,7 +227,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Audi S3 2015-17"), ], CAR.AUDI_Q2_MK1: VWCarInfo("Audi Q2 2018"), - CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2020-21"), + 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.KAMIQ]), @@ -872,20 +872,24 @@ FW_VERSIONS = { CAR.AUDI_Q3_MK2: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8705E906018N \xf1\x899970', + b'\xf1\x8705L906022M \xf1\x890901', b'\xf1\x8783A906259 \xf1\x890001', b'\xf1\x8783A906259 \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158CN\xf1\x893608', + b'\xf1\x870GC300045D \xf1\x892802', b'\xf1\x870GC300046F \xf1\x892701', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111', + b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111', b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800', + b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572R \xf1\x890372', From aab4b7941665528dd8dbf59eb125cfd377f07250 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Thu, 3 Nov 2022 14:27:45 -0700 Subject: [PATCH 487/685] CI: set OX frame sync tolerance (#26347) * ox tolerate * int * update comments --- system/camerad/test/test_camerad.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index 378d4b7058..3c6d466a69 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -4,12 +4,14 @@ import unittest from collections import defaultdict import cereal.messaging as messaging +from cereal import log from cereal.services import service_list from selfdrive.manager.process_config import managed_processes from system.hardware import TICI TEST_TIMESPAN = 30 -LAG_FRAME_TOLERANCE = 0.5 # ms +LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0321: 0.5, # ARs use synced pulses for frame starts + log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') @@ -62,6 +64,7 @@ class TestCamerad(unittest.TestCase): assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}" def test_frame_sync(self): + sensor_type = [getattr(msgs[0], msgs[0].which()).sensor for frame_id, msgs in self.log_by_frame_id.items()][0].raw frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()} diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()} @@ -69,7 +72,7 @@ class TestCamerad(unittest.TestCase): def get_desc(fid, diff): cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]] return f"{diff=} {cam_times=}" - laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE} + laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[sensor_type]} assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}" if __name__ == "__main__": From c9e65be9b16064c57814218b7c0ebb67a168333f Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Thu, 3 Nov 2022 17:37:21 -0400 Subject: [PATCH 488/685] VW MQB: Harness updates and docs cleanup (#26313) * VW MQB: Harness updates * don't need the variant footnote Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 95 +++++++++++++++--------------- selfdrive/car/volkswagen/values.py | 76 +++++++++++------------- 2 files changed, 82 insertions(+), 89 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index e9d7b9c82f..fa1b54c1c3 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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|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| @@ -129,8 +129,8 @@ 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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|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| @@ -141,13 +141,13 @@ 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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Karoq 2019-21[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Škoda|Kamiq 2021[6](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| +|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|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|Stock|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|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| +|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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| @@ -188,37 +188,37 @@ 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[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon eHybrid 2020-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Arteon R 2020-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas 2018-23[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Atlas Cross Sport 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|California 2021[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Caravelle 2020[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|CC 2018-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf 2015-20[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf R 2015-19[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| -|Volkswagen|Jetta 2018-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Jetta GLI 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat 2015-22[7,8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat Alltrack 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Passat GTE 2015-22[8,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Polo 2020-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Polo GTI 2020-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|T-Cross 2021[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|T-Roc 2021[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Taos 2022[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont 2018-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont Cross Sport 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Teramont X 2021-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| -|Volkswagen|Tiguan 2019-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| +|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| +|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| +|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| +|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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).
@@ -228,8 +228,7 @@ A supported vehicle is one that just works when you install a comma three. All s 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.
-8Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.)
-9Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)
+8Model-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/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index ee5687eb1d..74b111a99e 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -151,75 +151,69 @@ class Footnote(Enum): PASSAT = CarFootnote( "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.", Column.MODEL) - VW_HARNESS = CarFootnote( - "Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma " + - "store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black " + - "(older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway " + - "inside the dashboard, choose \"VW J533 Development\" from the vehicle drop-down for a suitable harness. " + - "(Some newer models are also observed to not have a J533 connector.)", - Column.MODEL) - VW_VARIANT = CarFootnote( - "Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)", - Column.MODEL) + VW_MQB_A0 = CarFootnote( + "Model-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.", + Column.HARNESS) @dataclass class VWCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC) & Lane Assist" - harness: Enum = Harness.vw + harness: Enum = Harness.j533 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.ARTEON_MK1: [ - VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"), - VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"), - VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"), - VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen Arteon 2018-22", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen Arteon R 2020-22", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen Arteon eHybrid 2020-22", video_link="https://youtu.be/FAomFKPFlDA"), + VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"), ], CAR.ATLAS_MK1: [ - VWCarInfo("Volkswagen Atlas 2018-23", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - VWCarInfo("Volkswagen Atlas Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - VWCarInfo("Volkswagen Teramont 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - VWCarInfo("Volkswagen Teramont Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - VWCarInfo("Volkswagen Teramont X 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Atlas 2018-23"), + VWCarInfo("Volkswagen Atlas Cross Sport 2021-22"), + VWCarInfo("Volkswagen Teramont 2018-22"), + VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"), + VWCarInfo("Volkswagen Teramont X 2021-22"), ], CAR.GOLF_MK7: [ VWCarInfo("Volkswagen e-Golf 2014-20"), - VWCarInfo("Volkswagen Golf 2015-20", footnotes=[Footnote.VW_VARIANT]), + VWCarInfo("Volkswagen Golf 2015-20"), VWCarInfo("Volkswagen Golf Alltrack 2015-19"), VWCarInfo("Volkswagen Golf GTD 2015-20"), VWCarInfo("Volkswagen Golf GTE 2015-20"), VWCarInfo("Volkswagen Golf GTI 2015-21"), - VWCarInfo("Volkswagen Golf R 2015-19", footnotes=[Footnote.VW_VARIANT]), + VWCarInfo("Volkswagen Golf R 2015-19"), VWCarInfo("Volkswagen Golf SportsVan 2015-20"), ], CAR.JETTA_MK7: [ - VWCarInfo("Volkswagen Jetta 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - VWCarInfo("Volkswagen Jetta GLI 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Jetta 2018-22"), + VWCarInfo("Volkswagen Jetta GLI 2021-22"), ], CAR.PASSAT_MK8: [ - VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.PASSAT, Footnote.VW_VARIANT], harness=Harness.j533), - VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533), + 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", harness=Harness.j533), + CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"), CAR.POLO_MK6: [ - VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + 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", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - VWCarInfo("SEAT Alhambra 2018-20", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Sharan 2018-22"), + VWCarInfo("SEAT Alhambra 2018-20"), ], - CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"), + 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", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), - VWCarInfo("Volkswagen California 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + VWCarInfo("Volkswagen Caravelle 2020"), + VWCarInfo("Volkswagen California 2021"), ], - CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533), + 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"), @@ -230,10 +224,10 @@ 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.KAMIQ]), - CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21", footnotes=[Footnote.VW_HARNESS]), + 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"), + CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"), CAR.SKODA_OCTAVIA_MK3: [ VWCarInfo("Škoda Octavia 2015, 2018-19"), From ee0dd36a3c775dbd82493c84f4e7272c1eb3fcbd Mon Sep 17 00:00:00 2001 From: Mehmet Tolga Avcioglu Date: Fri, 4 Nov 2022 01:17:36 +0300 Subject: [PATCH 489/685] Kona EV 2022: add missing FW versions (#26278) * add fingerprint for kona electric 2022 * Update selfdrive/car/hyundai/values.py 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 c760c724a9..4415679175 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1052,6 +1052,7 @@ FW_VERSIONS = { b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010', b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010', b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010', + b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010', # TODO: these return from the MULTI request, above return from LONG b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01', b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04', @@ -1061,10 +1062,12 @@ FW_VERSIONS = { b'\xf1\x00OSP LKA AT CND LHD 1.00 1.02 99211-J9110 802', b'\xf1\x00OSP LKA AT EUR RHD 1.00 1.02 99211-J9110 802', b'\xf1\x00OSP LKA AT AUS RHD 1.00 1.04 99211-J9200 904', + b'\xf1\x00OSP LKA AT EUR LHD 1.00 1.04 99211-J9200 904', ], (Ecu.eps, 0x7D4, None): [ b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102', b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102', + b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102', ], (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00YB__ FCA ----- 1.00 1.01 99110-K4500 \x00\x00\x00', From 9a8c7f2453bcb917eb428704c1733f28e5d42d11 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 3 Nov 2022 15:51:14 -0700 Subject: [PATCH 490/685] boardd: remove canfd whitelist --- selfdrive/boardd/panda.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 0b8630b0c0..329ce91c44 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -399,8 +399,7 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data } auto can_data = cmsg.getDat(); uint8_t data_len_code = len_to_dlc(can_data.size()); - assert(can_data.size() <= ((hw_type == cereal::PandaState::PandaType::RED_PANDA || - hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) ? 64 : 8)); + assert(can_data.size() <= 64); assert(can_data.size() == dlc_to_len[data_len_code]); can_header header; From 15828c4feaa69af43867cae89c4de2ca2e8a734b Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 3 Nov 2022 19:02:39 -0700 Subject: [PATCH 491/685] updated: reset working tree in each submodule (#26316) * updated: reset working tree in each submodule * run after fetch too --- selfdrive/updated.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index c261a92a84..9da2a05a11 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -175,7 +175,7 @@ def finalize_update() -> None: shutil.copytree(OVERLAY_MERGED, FINALIZED, symlinks=True) run(["git", "reset", "--hard"], FINALIZED) - run(["git", "submodule", "foreach", "--recursive", "git", "reset"], FINALIZED) + run(["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], FINALIZED) cloudlog.info("Starting git cleanup in finalized update") t = time.monotonic() @@ -374,8 +374,8 @@ class Updater: ["git", "reset", "--hard"], ["git", "clean", "-xdff"], ["git", "submodule", "sync"], - ["git", "submodule", "init"], - ["git", "submodule", "update"], + ["git", "submodule", "update", "--init", "--recursive"], + ["git", "submodule", "foreach", "--recursive", "git", "reset", "--hard"], ] r = [run(cmd, OVERLAY_MERGED) for cmd in cmds] cloudlog.info("git reset success: %s", '\n'.join(r)) From 241d88c018d2acae4dbc71b5a033644959e2b24a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 4 Nov 2022 11:09:14 +0800 Subject: [PATCH 492/685] Cabana: update viewport after mouse released (#26355) update viewport after mouse released --- tools/cabana/chartswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 5bf66ebb2d..7540abbcb2 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -410,6 +410,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { // zoom in if selected range is greater than 0.5s emit zoomIn(min, max); } + viewport()->update(); event->accept(); } else if (event->button() == Qt::RightButton) { emit zoomReset(); From 384f9402374e341843f503f871421a7b43437444 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 3 Nov 2022 23:07:29 -0700 Subject: [PATCH 493/685] ui: fix disappearing path with wide cam (#26354) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * split lat long icons * no overriding border status, consider steering pressed for lat icon, spacing for readability * add engageable back add engageable back add engageable back * all the debugging code 🙃 * revert that stuff * only the fix * comment comment * fix dat * explicit Co-authored-by: Adeeb Shihadeh --- selfdrive/ui/ui.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 821064f81f..e1ef5192b6 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -63,6 +63,8 @@ void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Rea right_points.reserve(max_idx + 1); for (int i = 0; i <= max_idx; i++) { + // highly negative x positions cause flickering, clip to zy plane of camera + if (line_x[i] < 0) continue; QPointF left, right; bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); bool r = calib_frame_to_full_frame(s, line_x[i], line_y[i] + y_off, line_z[i] + z_off, &right); From aebb08e10542758c458c3abb219f8b57485e0b61 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 4 Nov 2022 07:43:30 +0100 Subject: [PATCH 494/685] locationd: add gps sanity check for quectel gps (#26352) * update check * . * . * remove gps kf time check for gps ok * upsi * dont use gps_mode * update refs * Update selfdrive/locationd/locationd.cc Co-authored-by: Shane Smiskol Co-authored-by: Kurt Nistelberger Co-authored-by: Cameron Clough Co-authored-by: Shane Smiskol --- selfdrive/locationd/locationd.cc | 20 ++++++++++++++------ selfdrive/locationd/locationd.h | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 17 insertions(+), 8 deletions(-) diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index e156af5d64..8d9e247655 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -270,15 +270,22 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)); bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); - if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) { + // quectel gps verticalAccuracy is clipped to 500 + bool gps_accuracy_insane_quectel = false; + if (!ublox_available) { + gps_accuracy_insane_quectel = log.getVerticalAccuracy() == 500; + } + + if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane || gps_accuracy_insane_quectel) { + this->gps_valid = false; this->determine_gps_mode(current_time); return; } - + double sensor_time = current_time - sensor_time_offset; // Process message - this->last_gps_fix = sensor_time; + this->gps_valid = true; this->gps_mode = true; Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() }; this->converter = std::make_unique(geodetic); @@ -476,9 +483,8 @@ kj::ArrayPtr Localizer::get_message_bytes(MessageBuilder& msg_build return msg_builder.toBytes(); } - bool Localizer::isGpsOK() { - return this->kf->get_filter_time() - this->last_gps_fix < 1.0; + return this->gps_valid; } void Localizer::determine_gps_mode(double current_time) { @@ -498,8 +504,10 @@ void Localizer::determine_gps_mode(double current_time) { } int Localizer::locationd_thread() { + ublox_available = Params().getBool("UbloxAvailable", true); + const char* gps_location_socket; - if (Params().getBool("UbloxAvailable", true)) { + if (ublox_available) { gps_location_socket = "gpsLocationExternal"; } else { gps_location_socket = "gpsLocation"; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index 280296b06c..d6bb5347c5 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -68,8 +68,9 @@ private: std::unique_ptr converter; int64_t unix_timestamp_millis = 0; - double last_gps_fix = 0; double reset_tracker = 0.0; bool device_fell = false; bool gps_mode = false; + bool gps_valid = false; + bool ublox_available = true; }; diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 68bd35c38c..8eae3ce8b4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -01b24beff6855e8c4d2fb0efeeefafb46343e013 +6abe3ec1ee19710bdd89ce2882b9503d4aff8e7f From 81f6ebebaaeda467fd7a4552711cc1109b33ddd5 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Fri, 4 Nov 2022 01:32:29 -0700 Subject: [PATCH 495/685] [paramsd] Prevent low speed drifting (#26360) * lower active speed for paramsd observations * update refs --- selfdrive/locationd/paramsd.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py index 86672b0460..9bd4ed0837 100755 --- a/selfdrive/locationd/paramsd.py +++ b/selfdrive/locationd/paramsd.py @@ -92,7 +92,7 @@ class ParamsLearner: self.speed = msg.vEgo in_linear_region = abs(self.steering_angle) < 45 or not self.steering_pressed - self.active = self.speed > 5 and in_linear_region + self.active = self.speed > 1 and in_linear_region if self.active: self.kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, np.array([[math.radians(msg.steeringAngleDeg)]])) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8eae3ce8b4..40f3c522de 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6abe3ec1ee19710bdd89ce2882b9503d4aff8e7f +2ba23c5d1c4e0c34295d38f31ed35e3482608b16 \ No newline at end of file From 033ffa4a88bd4632e0e1ba5c4bcd4c4ba43e47bc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 4 Nov 2022 02:30:14 -0700 Subject: [PATCH 496/685] Update comment in ui.cc --- selfdrive/ui/ui.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index e1ef5192b6..945218ec11 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -63,7 +63,7 @@ void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Rea right_points.reserve(max_idx + 1); for (int i = 0; i <= max_idx; i++) { - // highly negative x positions cause flickering, clip to zy plane of camera + // highly negative x positions are drawn above the frame and cause flickering, clip to zy plane of camera if (line_x[i] < 0) continue; QPointF left, right; bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left); From 0e3edf7877e2a219ae67f7e71d36d8458d50f7e4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 5 Nov 2022 02:16:15 +0800 Subject: [PATCH 497/685] Cabana: fix signal list glitch (#26357) * fix signal list glitch * fix glitch when open new msg * reduce spacing * fix binaryview glitch * spacing 3 * create form on demand * dont close form after save * remove timer * remove sizepolicy * cleanup --- tools/cabana/binaryview.cc | 11 +++---- tools/cabana/binaryview.h | 5 ++- tools/cabana/detailwidget.cc | 61 +++++++++++++++++------------------- tools/cabana/detailwidget.h | 1 + tools/cabana/signaledit.cc | 55 +++++++++++++++++++------------- tools/cabana/signaledit.h | 12 ++++--- 6 files changed, 76 insertions(+), 69 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 875bd034ec..ba50b101fc 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -11,7 +11,7 @@ // BinaryView -const int CELL_HEIGHT = 30; +const int CELL_HEIGHT = 26; BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { model = new BinaryViewModel(this); @@ -105,15 +105,9 @@ void BinaryView::leaveEvent(QEvent *event) { } void BinaryView::setMessage(const QString &message_id) { - msg_id = message_id; model->setMessage(message_id); clearSelection(); updateState(); - updateGeometry(); -} - -void BinaryView::updateState() { - model->updateState(); } const Signal *BinaryView::getResizingSignal() const { @@ -176,6 +170,9 @@ void BinaryViewModel::setMessage(const QString &message_id) { items[idx].sigs.push_back(&dbc_msg->sigs[i]); } } + } else { + row_count = can->lastMessage(msg_id).dat.size(); + items.resize(row_count * column_count); } endResetModel(); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 0f58e9ed20..a907a673bf 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -57,10 +57,10 @@ class BinaryView : public QTableView { public: BinaryView(QWidget *parent = nullptr); void setMessage(const QString &message_id); - void updateState(); void highlight(const Signal *sig); - const Signal *hoveredSignal() const { return hovered_sig; } QSet getOverlappingSignals() const; + inline const Signal *hoveredSignal() const { return hovered_sig; } + inline void updateState() { model->updateState(); } signals: void signalHovered(const Signal *sig); @@ -75,7 +75,6 @@ private: void leaveEvent(QEvent *event) override; const Signal *getResizingSignal() const; - QString msg_id; QModelIndex anchor_index; BinaryViewModel *model; BinaryItemDelegate *delegate; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 9bbc442154..f3e3438229 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -31,7 +31,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QFrame *title_frame = new QFrame(this); QVBoxLayout *frame_layout = new QVBoxLayout(title_frame); title_frame->setFrameShape(QFrame::StyledPanel); - title_frame->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); // message title QHBoxLayout *title_layout = new QHBoxLayout(); @@ -80,7 +79,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart // signals signals_container = new QWidget(this); signals_container->setLayout(new QVBoxLayout); - signals_container->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); container_layout->addWidget(signals_container); // history log @@ -147,32 +145,35 @@ void DetailWidget::setMessage(const QString &message_id) { void DetailWidget::dbcMsgChanged(int show_form_idx) { if (msg_id.isEmpty()) return; - warning_widget->hide(); + setUpdatesEnabled(false); QStringList warnings; + for (auto f : signal_list) f->hide(); - clearLayout(signals_container->layout()); - QString msg_name = tr("untitled"); - if (auto msg = dbc()->msg(msg_id)) { + const Msg *msg = dbc()->msg(msg_id); + if (msg) { for (int i = 0; i < msg->sigs.size(); ++i) { - auto form = new SignalEdit(i, msg_id, &(msg->sigs[i])); - form->setChartOpened(charts->isChartOpened(msg_id, &(msg->sigs[i]))); - signals_container->layout()->addWidget(form); - QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); - QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); - QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); - QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); - QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); - QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]](bool show) { charts->showChart(msg_id, sig, show); }); - if (i == show_form_idx) { - QTimer::singleShot(0, [=]() { emit form->showFormClicked(); }); + SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr; + if (!form) { + form = new SignalEdit(i); + QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); + QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); + QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); + QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); + QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); + QObject::connect(form, &SignalEdit::showChart, charts, &ChartsWidget::showChart); + signals_container->layout()->addWidget(form); + signal_list.push_back(form); } + form->setSignal(msg_id, &(msg->sigs[i]), i == show_form_idx); + form->setChartOpened(charts->isChartOpened(msg_id, &(msg->sigs[i]))); + form->show(); } - msg_name = msg->name.c_str(); if (msg->size != can->lastMessage(msg_id).dat.size()) warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } + edit_btn->setVisible(true); - name_label->setText(msg_name); + name_label->setText(msg ? msg->name.c_str() : "untitled"); binary_view->setMessage(msg_id); history_log->setMessage(msg_id); @@ -183,10 +184,9 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); } - if (!warnings.isEmpty()) { - warning_label->setText(warnings.join('\n')); - warning_widget->show(); - } + warning_label->setText(warnings.join('\n')); + warning_widget->setVisible(!warnings.isEmpty()); + setUpdatesEnabled(true); } void DetailWidget::updateState() { @@ -199,18 +199,15 @@ void DetailWidget::updateState() { void DetailWidget::showForm() { SignalEdit *sender = qobject_cast(QObject::sender()); - for (auto f : signals_container->findChildren()) { + setUpdatesEnabled(false); + for (auto f : signal_list) f->setFormVisible(f == sender && !f->isFormVisible()); - if (f == sender) - QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); }); - } + QTimer::singleShot(1, [this]() { setUpdatesEnabled(true); }); } void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) { - if (id == msg_id) { - for (auto f : signals_container->findChildren()) - if (f->sig == sig) f->setChartOpened(opened); - } + for (auto f : signal_list) + if (f->msg_id == id && f->sig == sig) f->setChartOpened(opened); } void DetailWidget::editMsg() { @@ -265,7 +262,7 @@ void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) { dbc()->updateSignal(msg_id, sig->name.c_str(), new_sig); // update binary view and history log - dbcMsgChanged(); + updateState(); } void DetailWidget::removeSignal(const Signal *sig) { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index d8784f3f14..ce3468e472 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -50,4 +50,5 @@ private: BinaryView *binary_view; QScrollArea *scroll; ChartsWidget *charts; + QList signal_list; }; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index ef0a85eba3..ee91887d0a 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -13,40 +13,37 @@ // SignalForm -SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { +SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { QFormLayout *form_layout = new QFormLayout(this); + form_layout->setContentsMargins(0, 0, 0, 0); - name = new QLineEdit(sig.name.c_str()); + name = new QLineEdit(); form_layout->addRow(tr("Name"), name); size = new QSpinBox(); size->setMinimum(1); - size->setValue(sig.size); form_layout->addRow(tr("Size"), size); endianness = new QComboBox(); endianness->addItems({"Little", "Big"}); - endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1); form_layout->addRow(tr("Endianness"), endianness); - form_layout->addRow(tr("lsb"), new QLabel(QString::number(sig.lsb))); - form_layout->addRow(tr("msb"), new QLabel(QString::number(sig.msb))); + ; + form_layout->addRow(tr("lsb"), lsb = new QLabel()); + form_layout->addRow(tr("msb"), msb = new QLabel()); sign = new QComboBox(); sign->addItems({"Signed", "Unsigned"}); - sign->setCurrentIndex(sig.is_signed ? 0 : 1); form_layout->addRow(tr("sign"), sign); auto double_validator = new QDoubleValidator(this); factor = new QLineEdit(); factor->setValidator(double_validator); - factor->setText(QString::number(sig.factor)); form_layout->addRow(tr("Factor"), factor); offset = new QLineEdit(); offset->setValidator(double_validator); - offset->setText(QString::number(sig.offset)); form_layout->addRow(tr("Offset"), offset); // TODO: parse the following parameters in opendbc @@ -66,18 +63,15 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { // SignalEdit -SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent) : msg_id(msg_id), sig(sig), form_idx(index), QWidget(parent) { +SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); // title bar QHBoxLayout *title_layout = new QHBoxLayout(); - icon = new QLabel(">"); - icon->setStyleSheet("font-weight:bold"); + icon = new QLabel(); title_layout->addWidget(icon); title = new ElidedLabel(this); - title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - title->setText(QString("%1. %2").arg(index + 1).arg(sig->name.c_str())); title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); title_layout->addWidget(title, 1); @@ -96,9 +90,6 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWid // signal form form_container = new QWidget(this); QVBoxLayout *v_layout = new QVBoxLayout(form_container); - form = new SignalForm(*sig, this); - v_layout->addWidget(form); - QHBoxLayout *h = new QHBoxLayout(); QPushButton *remove_btn = new QPushButton(tr("Remove Signal")); h->addWidget(remove_btn); @@ -106,8 +97,6 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWid QPushButton *save_btn = new QPushButton(tr("Save")); h->addWidget(save_btn); v_layout->addLayout(h); - - form_container->setVisible(false); main_layout->addWidget(form_container); // bottom line @@ -119,11 +108,19 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWid QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); }); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal); - QObject::connect(plot_btn, &QPushButton::clicked, [this]() { emit showChart(!chart_opened); }); - QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id]() { - SignalFindDlg dlg(msg_id, this->sig, this); + QObject::connect(plot_btn, &QPushButton::clicked, [this]() { emit showChart(msg_id, sig, !chart_opened); }); + QObject::connect(seek_btn, &QPushButton::clicked, [this]() { + SignalFindDlg dlg(msg_id, sig, this); dlg.exec(); }); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); +} + +void SignalEdit::setSignal(const QString &message_id, const Signal *signal, bool show_form) { + msg_id = message_id; + sig = signal; + title->setText(QString("%1. %2").arg(form_idx + 1).arg(sig->name.c_str())); + setFormVisible(show_form); } void SignalEdit::saveSignal() { @@ -152,6 +149,20 @@ void SignalEdit::setChartOpened(bool opened) { } void SignalEdit::setFormVisible(bool visible) { + if (visible) { + if (!form) { + form = new SignalForm(this); + ((QVBoxLayout *)form_container->layout())->insertWidget(0, form); + } + form->name->setText(sig->name.c_str()); + form->size->setValue(sig->size); + form->endianness->setCurrentIndex(sig->is_little_endian ? 0 : 1); + form->sign->setCurrentIndex(sig->is_signed ? 0 : 1); + form->factor->setText(QString::number(sig->factor)); + form->offset->setText(QString::number(sig->offset)); + form->msb->setText(QString::number(sig->msb)); + form->lsb->setText(QString::number(sig->lsb)); + } form_container->setVisible(visible); icon->setText(visible ? "▼" : ">"); } diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index e3d38d5b25..dce9d27479 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -14,9 +14,10 @@ class SignalForm : public QWidget { public: - SignalForm(const Signal &sig, QWidget *parent); + SignalForm(QWidget *parent); QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val; + QLabel *lsb, *msb; QSpinBox *size; QComboBox *sign, *endianness; }; @@ -25,16 +26,18 @@ class SignalEdit : public QWidget { Q_OBJECT public: - SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent = nullptr); + SignalEdit(int index, QWidget *parent = nullptr); + void setSignal(const QString &msg_id, const Signal *sig, bool show_form); void setChartOpened(bool opened); void setFormVisible(bool show); void signalHovered(const Signal *sig); inline bool isFormVisible() const { return form_container->isVisible(); } const Signal *sig = nullptr; + QString msg_id; signals: void highlight(const Signal *sig); - void showChart(bool show); + void showChart(const QString &name, const Signal *sig, bool show); void showFormClicked(); void remove(const Signal *sig); void save(const Signal *sig, const Signal &new_sig); @@ -44,12 +47,11 @@ protected: void leaveEvent(QEvent *event) override; void saveSignal(); - SignalForm *form; + SignalForm *form = nullptr; ElidedLabel *title; QWidget *form_container; QLabel *icon; int form_idx = 0; - QString msg_id; bool chart_opened = false; QPushButton *plot_btn; }; From 9382d5528013417e5261050bd6ccfd6eedf8d51c Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 4 Nov 2022 15:45:35 -0400 Subject: [PATCH 498/685] VW MQB: Enable experimental long (#26359) * VW MQB: Harness updates * don't need the variant footnote * VW MQB: Enable experimental long * autogen doc fixes * rename that --- docs/CARS.md | 95 ++++++++++++++------------- selfdrive/car/volkswagen/interface.py | 10 +-- selfdrive/car/volkswagen/values.py | 21 +++--- 3 files changed, 67 insertions(+), 59 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index fa1b54c1c3..55413e208b 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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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[1,8](#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| |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|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| @@ -129,8 +129,8 @@ 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|Stock|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|Stock|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[1,8](#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| |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| @@ -141,13 +141,13 @@ 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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| -|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|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|Stock|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|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| -|Škoda|Superb 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533| +|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 2015-18|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| |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| @@ -188,37 +188,37 @@ 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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| -|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| -|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[8](#footnotes)| -|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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|Stock|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[1,8](#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| 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).
@@ -228,7 +228,8 @@ A supported vehicle is one that just works when you install a comma three. All s 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.
-8Model-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.
+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.
## 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/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index ca6d1fa7f8..816e7fcf34 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -27,12 +27,14 @@ class CarInterface(CarInterfaceBase): ret.carName = "volkswagen" ret.radarOffCan = True + use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs + if candidate in PQ_CARS: # Set global PQ35/PQ46/NMS parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 - if 0x440 in fingerprint[0] or len(fingerprint[0]) == 0: # Getriebe_1, or empty FP for CI/docs generation + if 0x440 in fingerprint[0] or use_off_car_defaults: # Getriebe_1 ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual @@ -55,7 +57,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 - if 0xAD in fingerprint[0] or len(fingerprint[0]) == 0: # Getriebe_11, or empty FP for CI/docs generation + if 0xAD in fingerprint[0] or use_off_car_defaults: # Getriebe_11 ret.transmissionType = TransmissionType.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift ret.transmissionType = TransmissionType.direct @@ -81,8 +83,8 @@ class CarInterface(CarInterfaceBase): # Global longitudinal tuning defaults, can be overridden per-vehicle - ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway and False # Disabled for now - if experimental_long and False: # Disabled for now + ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or use_off_car_defaults + if experimental_long: # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required. ret.openpilotLongitudinalControl = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 74b111a99e..babaffbcbe 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 +from dataclasses import dataclass, field from enum import Enum from typing import Dict, List, Union @@ -151,6 +151,10 @@ class Footnote(Enum): PASSAT = CarFootnote( "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.", Column.MODEL) + VW_EXP_LONG = CarFootnote ( + "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " + + "are limited to using stock ACC.", + Column.LONGITUDINAL) VW_MQB_A0 = CarFootnote( "Model-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.", @@ -161,6 +165,7 @@ 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]) CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { @@ -192,28 +197,28 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { VWCarInfo("Volkswagen Jetta GLI 2021-22"), ], CAR.PASSAT_MK8: [ - VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]), + VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_EXP_LONG, 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_MQB_A0]), - VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]), + 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]), ], 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_MQB_A0]), + CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_EXP_LONG, 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_MQB_A0]), + CAR.TROC_MK1: VWCarInfo("Volkswagen T-Roc 2021", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]), CAR.AUDI_A3_MK3: [ VWCarInfo("Audi A3 2014-19"), VWCarInfo("Audi A3 Sportback e-tron 2017-18"), @@ -224,10 +229,10 @@ 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_MQB_A0, Footnote.KAMIQ]), + CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_EXP_LONG, 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_MQB_A0]), + CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_EXP_LONG, Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"), CAR.SKODA_OCTAVIA_MK3: [ VWCarInfo("Škoda Octavia 2015, 2018-19"), From 615198bfd09586a763955f13a27af9a84d5b997d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 4 Nov 2022 12:46:06 -0700 Subject: [PATCH 499/685] bump panda (#26362) --- panda | 2 +- poetry.lock | 63 +++++++++++++++++++++++++++++++++----------------- pyproject.toml | 1 + 3 files changed, 44 insertions(+), 22 deletions(-) diff --git a/panda b/panda index 9147cba1af..0b86dfa5fb 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 9147cba1af0a8d72379242eb1ce0bfd42ab8075e +Subproject commit 0b86dfa5fbfcb77a127f980f81484aa7558e8c1e diff --git a/poetry.lock b/poetry.lock index 2dff4fecf1..d79a3f035f 100644 --- a/poetry.lock +++ b/poetry.lock @@ -230,7 +230,7 @@ python-versions = ">=3.5" dev = ["cloudpickle", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "mypy (>=0.900,!=0.940)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "sphinx", "sphinx-notfound-page", "zope.interface"] docs = ["furo", "sphinx", "sphinx-notfound-page", "zope.interface"] tests = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "zope.interface"] -tests_no_zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"] +tests-no-zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"] [[package]] name = "av" @@ -531,7 +531,7 @@ optional = false python-versions = ">=3.6.0" [package.extras] -unicode_backport = ["unicodedata2"] +unicode-backport = ["unicodedata2"] [[package]] name = "cleo" @@ -1410,7 +1410,7 @@ notebook = ["ipywidgets", "notebook"] parallel = ["ipyparallel"] qtconsole = ["qtconsole"] test = ["pytest (<7.1)", "pytest-asyncio", "testpath"] -test_extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"] +test-extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"] [[package]] name = "ipython-genutils" @@ -1459,9 +1459,9 @@ python-versions = ">=3.6.1,<4.0" [package.extras] colors = ["colorama (>=0.4.3,<0.5.0)"] -pipfile_deprecated_finder = ["pipreqs", "requirementslib"] +pipfile-deprecated-finder = ["pipreqs", "requirementslib"] plugins = ["setuptools"] -requirements_deprecated_finder = ["pip-api", "pipreqs"] +requirements-deprecated-finder = ["pip-api", "pipreqs"] [[package]] name = "itsdangerous" @@ -1892,7 +1892,7 @@ mdurl = ">=0.1,<1.0" [package.extras] benchmarking = ["psutil", "pytest", "pytest-benchmark (>=3.2,<4.0)"] -code_style = ["pre-commit (==2.6)"] +code-style = ["pre-commit (==2.6)"] compare = ["commonmark 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insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py index db5bf4d3e6..92a4f1f99b 100644 --- a/selfdrive/controls/lib/longcontrol.py +++ b/selfdrive/controls/lib/longcontrol.py @@ -103,6 +103,7 @@ class LongControl: elif self.long_control_state == LongCtrlState.stopping: if output_accel > self.CP.stopAccel: + output_accel = min(output_accel, 0.0) output_accel -= self.CP.stoppingDecelRate * DT_CTRL self.reset(CS.vEgo) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 40f3c522de..a0cfd2201f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2ba23c5d1c4e0c34295d38f31ed35e3482608b16 \ No newline at end of file +89641653a0fc765105dc1c6a2a995cba2fb3f344 From d257e28479f49339e7f79491ff9d67e9ba034dfe Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 4 Nov 2022 13:52:24 -0700 Subject: [PATCH 501/685] ui: minor e2e path tweaks (#26351) * new e2e path * clean up * fix * 2.5 seconds feels disjointed --- selfdrive/ui/qt/onroad.cc | 17 ++++++++--------- selfdrive/ui/qt/onroad.h | 1 + 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index d3bc931b67..85b55697be 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -170,7 +170,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { } -AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { +AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), accel_filter(UI_FREQ, .5, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { pm = std::make_unique>({"uiDebug"}); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); @@ -463,19 +463,18 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { if (scene.end_to_end_long) { const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration(); float acceleration_future = 0; - if (acceleration.getZ().size() > 16) { - acceleration_future = acceleration.getX()[16]; // 2.5 seconds + if (acceleration.getZ().size() > 10) { + acceleration_future = acceleration.getX()[10]; // 1.0 second } - start_hue = 60; - // speed up: 120, slow down: 0 - end_hue = fmax(fmin(start_hue + acceleration_future * 30, 120), 0); + // speed up: 148, slow down: 0 + start_hue = fmax(fmin(60 + accel_filter.update(acceleration_future) * 80, 148), 0); // FIXME: painter.drawPolygon can be slow if hue is not rounded - end_hue = int(end_hue * 100 + 0.5) / 100; + start_hue = int(start_hue * 100 + 0.5) / 100; bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4)); - bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35)); - bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0)); + bg.setColorAt(0.75, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.35)); + bg.setColorAt(1.0, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.0)); } else { const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation(); float orientation_future = 0; diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 7edca6b3d5..1f6a49bf8c 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -87,6 +87,7 @@ protected: double prev_draw_t = 0; FirstOrderFilter fps_filter; + FirstOrderFilter accel_filter; }; // container for all onroad widgets From 2837e73a70b8b8faba7047db5124a582635439ff Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 4 Nov 2022 14:18:51 -0700 Subject: [PATCH 502/685] DM: compensate for non-calibrated pitch spread (#26348) --- selfdrive/monitoring/driver_monitor.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index a2dda5da9d..48163dcf2a 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -44,6 +44,7 @@ class DRIVER_MONITOR_SETTINGS(): self._POSE_YAW_THRESHOLD_SLACK = 0.5042 self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned + self._PITCH_NATURAL_THRESHOLD = 0.449 self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned self._PITCH_MAX_OFFSET = 0.124 self._PITCH_MIN_OFFSET = -0.0881 @@ -197,7 +198,7 @@ class DriverStatus(): self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET) pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit yaw_error = abs(yaw_error) - if pitch_error > self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch or \ + if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose_calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \ yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw: distracted_types.append(DistractedType.DISTRACTED_POSE) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a0cfd2201f..8bc13f37d4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -89641653a0fc765105dc1c6a2a995cba2fb3f344 +24a8d02b148b7f6d20f641d56a7bed71c244b6e3 \ No newline at end of file From 91a1f1a91e8ac321ad2a69c3a44f41464147fc19 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 4 Nov 2022 15:37:41 -0700 Subject: [PATCH 503/685] ui: toggle confirmation and dialog redesign (#26331) * toggle confirmation * change text * not for e2e * get current description * remove are you sure * merge rich text and confirmation dialogs * add some line breaks * font colour * fix padding a little * revert * updated toggle design --- selfdrive/ui/qt/offroad/settings.cc | 20 +++++++--- selfdrive/ui/qt/widgets/controls.h | 16 +++++++- selfdrive/ui/qt/widgets/input.cc | 50 ++++++------------------ selfdrive/ui/qt/widgets/input.h | 12 +----- selfdrive/ui/translations/main_ja.ts | 18 +++++---- selfdrive/ui/translations/main_ko.ts | 18 +++++---- selfdrive/ui/translations/main_pt-BR.ts | 18 +++++---- selfdrive/ui/translations/main_zh-CHS.ts | 18 +++++---- selfdrive/ui/translations/main_zh-CHT.ts | 18 +++++---- 9 files changed, 97 insertions(+), 91 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index ae878c5419..b154447eb8 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -27,49 +27,56 @@ #include "selfdrive/ui/qt/widgets/input.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { - // param, title, desc, icon - std::vector> toggle_defs{ + // param, title, desc, icon, confirm + std::vector> toggle_defs{ { "OpenpilotEnabledToggle", tr("Enable openpilot"), tr("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."), "../assets/offroad/icon_openpilot.png", + false, }, { "IsLdwEnabled", tr("Enable Lane Departure Warnings"), tr("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)."), "../assets/offroad/icon_warning.png", + false, }, { "IsMetric", tr("Use Metric System"), tr("Display speed in km/h instead of mph."), "../assets/offroad/icon_metric.png", + false, }, { "RecordFront", tr("Record and Upload Driver Camera"), tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."), "../assets/offroad/icon_monitoring.png", + false, }, { "DisengageOnAccelerator", tr("Disengage On Accelerator Pedal"), tr("When enabled, pressing the accelerator pedal will disengage openpilot."), "../assets/offroad/icon_disengage_on_accelerator.svg", + false, }, { "EndToEndLong", tr("🌮 End-to-end longitudinal (extremely alpha) 🌮"), "", "../assets/offroad/icon_road.png", + false, }, { "ExperimentalLongitudinalEnabled", tr("Experimental openpilot longitudinal control"), tr("WARNING: openpilot longitudinal control is experimental for this car and will disable AEB."), "../assets/offroad/icon_speed_limit.png", + true, }, #ifdef ENABLE_MAPS { @@ -77,19 +84,20 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Show ETA in 24h Format"), tr("Use 24h format instead of am/pm"), "../assets/offroad/icon_metric.png", + false, }, { "NavSettingLeftSide", tr("Show Map on Left Side of UI"), tr("Show map on left side when in split screen view."), "../assets/offroad/icon_road.png", + false, }, #endif - }; - for (auto &[param, title, desc, icon] : toggle_defs) { - auto toggle = new ParamControl(param, title, desc, icon, this); + for (auto &[param, title, desc, icon, confirm] : toggle_defs) { + auto toggle = new ParamControl(param, title, desc, icon, confirm, this); bool locked = params.getBool((param + "Lock").toStdString()); toggle->setEnabled(!locked); @@ -181,7 +189,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), ""); connect(regulatoryBtn, &ButtonControl::clicked, [=]() { const std::string txt = util::read_file("../assets/offroad/fcc.html"); - RichTextDialog::alert(QString::fromStdString(txt), this); + ConfirmationDialog::rich(QString::fromStdString(txt), this); }); addItem(regulatoryBtn); } diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index f11f9baf59..243c078f85 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -7,6 +7,7 @@ #include #include "common/params.h" +#include "selfdrive/ui/qt/widgets/input.h" #include "selfdrive/ui/qt/widgets/toggle.h" QFrame *horizontal_line(QWidget *parent = nullptr); @@ -49,6 +50,10 @@ public: value->setText(val); } + const QString getDescription() { + return description->text(); + } + public slots: void showDescription() { description->setVisible(true); @@ -134,10 +139,17 @@ class ParamControl : public ToggleControl { Q_OBJECT public: - ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) { + ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, const bool confirm, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) { key = param.toStdString(); QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) { - params.putBool(key, state); + QString content("

" + title + "



" + "

" + getDescription() + "

"); + ConfirmationDialog dialog(content, tr("Ok"), tr("Cancel"), true, this); + if (!confirm || !state || dialog.exec()) { + params.putBool(key, state); + } else { + toggle.togglePosition(); + } }); } diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index d703825885..897e4b5a05 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -183,17 +183,17 @@ void InputDialog::setMinLength(int length) { // ConfirmationDialog ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text, - QWidget *parent) : QDialogBase(parent) { + const bool rich, QWidget *parent) : QDialogBase(parent) { QFrame *container = new QFrame(this); - container->setStyleSheet("QFrame { border-radius: 0; background-color: #ECECEC; }"); + container->setStyleSheet("QFrame { background-color: #1B1B1B; color: #C9C9C9; }"); QVBoxLayout *main_layout = new QVBoxLayout(container); - main_layout->setContentsMargins(32, 120, 32, 32); + main_layout->setContentsMargins(32, rich ? 32 : 120, 32, 32); QLabel *prompt = new QLabel(prompt_text, this); prompt->setWordWrap(true); - prompt->setAlignment(Qt::AlignHCenter); - prompt->setStyleSheet("font-size: 70px; font-weight: bold; color: black;"); - main_layout->addWidget(prompt, 1, Qt::AlignTop | Qt::AlignHCenter); + prompt->setAlignment(rich ? Qt::AlignLeft : Qt::AlignHCenter); + prompt->setStyleSheet((rich ? "font-size: 42px; font-weight: light;" : "font-size: 70px; font-weight: bold;") + QString(" margin: 45px;")); + main_layout->addWidget(rich ? (QWidget*)new ScrollView(prompt, this) : (QWidget*)prompt, 1, Qt::AlignTop); // cancel + confirm buttons QHBoxLayout *btn_layout = new QHBoxLayout(); @@ -213,49 +213,23 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString } QVBoxLayout *outer_layout = new QVBoxLayout(this); - outer_layout->setContentsMargins(210, 170, 210, 170); + int margin = rich ? 100 : 200; + outer_layout->setContentsMargins(margin, margin, margin, margin); outer_layout->addWidget(container); } bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", parent); + ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", false, parent); return d.exec(); } bool ConfirmationDialog::confirm(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), tr("Cancel"), parent); + ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), tr("Cancel"), false, parent); return d.exec(); } - -// RichTextDialog - -RichTextDialog::RichTextDialog(const QString &prompt_text, const QString &btn_text, - QWidget *parent) : QDialogBase(parent) { - QFrame *container = new QFrame(this); - container->setStyleSheet("QFrame { background-color: #1B1B1B; }"); - QVBoxLayout *main_layout = new QVBoxLayout(container); - main_layout->setContentsMargins(32, 32, 32, 32); - - QLabel *prompt = new QLabel(prompt_text, this); - prompt->setWordWrap(true); - prompt->setAlignment(Qt::AlignLeft); - prompt->setTextFormat(Qt::RichText); - prompt->setStyleSheet("font-size: 42px; font-weight: light; color: #C9C9C9; margin: 45px;"); - main_layout->addWidget(new ScrollView(prompt, this), 1, Qt::AlignTop); - - // confirm button - QPushButton* confirm_btn = new QPushButton(btn_text); - main_layout->addWidget(confirm_btn); - QObject::connect(confirm_btn, &QPushButton::clicked, this, &QDialog::accept); - - QVBoxLayout *outer_layout = new QVBoxLayout(this); - outer_layout->setContentsMargins(100, 100, 100, 100); - outer_layout->addWidget(container); -} - -bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) { - auto d = RichTextDialog(prompt_text, tr("Ok"), parent); +bool ConfirmationDialog::rich(const QString &prompt_text, QWidget *parent) { + ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", true, parent); return d.exec(); } diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h index 6c47a31d87..117e6ca05e 100644 --- a/selfdrive/ui/qt/widgets/input.h +++ b/selfdrive/ui/qt/widgets/input.h @@ -55,18 +55,10 @@ class ConfirmationDialog : public QDialogBase { public: explicit ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, - const QString &cancel_text, QWidget* parent); + const QString &cancel_text, const bool rich, QWidget* parent); static bool alert(const QString &prompt_text, QWidget *parent); static bool confirm(const QString &prompt_text, QWidget *parent); -}; - -// larger ConfirmationDialog for rich text -class RichTextDialog : public QDialogBase { - Q_OBJECT - -public: - explicit RichTextDialog(const QString &prompt_text, const QString &btn_text, QWidget* parent); - static bool alert(const QString &prompt_text, QWidget *parent); + static bool rich(const QString &prompt_text, QWidget *parent); }; class MultiOptionDialog : public QDialogBase { diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index a11333a54d..d3c55b5be4 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -463,6 +463,17 @@ location set 「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます。 + + ParamControl + + Ok + OK + + + Cancel + キャンセル + + PrimeAdWidget @@ -585,13 +596,6 @@ location set 「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。 - - RichTextDialog - - Ok - OK - - SettingsWindow diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 021243595e..4112087f72 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -463,6 +463,17 @@ location set connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오 + + ParamControl + + Ok + 확인 + + + Cancel + 취소 + + PrimeAdWidget @@ -585,13 +596,6 @@ location set 데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다. - - RichTextDialog - - Ok - 확인 - - SettingsWindow diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 2afdaf3388..ab1946e6af 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -464,6 +464,17 @@ trabalho definido Salve connect.comma.ai como sua página inicial para utilizar como um app + + ParamControl + + Ok + OK + + + Cancel + Cancelar + + PrimeAdWidget @@ -589,13 +600,6 @@ trabalho definido Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo. - - RichTextDialog - - Ok - Ok - - SettingsWindow diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 9e7c354444..2baae98669 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -461,6 +461,17 @@ location set 将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它 + + ParamControl + + Ok + 好的 + + + Cancel + 取消 + + PrimeAdWidget @@ -583,13 +594,6 @@ location set 无法挂载数据分区。 确认以重置您的设备。 - - RichTextDialog - - Ok - 好的 - - SettingsWindow diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 513135c7f4..44c231311a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -463,6 +463,17 @@ location set 將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它 + + ParamControl + + Ok + 確定 + + + Cancel + 取消 + + PrimeAdWidget @@ -585,13 +596,6 @@ location set 無法掛載數據分區。請按確認重置您的設備。 - - RichTextDialog - - Ok - 確定 - - SettingsWindow From 31dbd21f07c90182472d00c2d4197947dc83861a Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Fri, 4 Nov 2022 19:32:40 -0400 Subject: [PATCH 504/685] Hyundai: Add FW for 2023 Ioniq 5 HDA2 (#26145) --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 55413e208b..9d279e918e 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -59,7 +59,7 @@ 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|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| +|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| |Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 4415679175..0df9850d0b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -143,7 +143,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { 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" , "Highway Driving Assist", harness=Harness.hyundai_k), - HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_q), + HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q), ], CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), @@ -1379,6 +1379,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', + b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', ], }, CAR.TUCSON_HYBRID_4TH_GEN: { From 06be96cae29bb347da2a9df43976613f3f2cc025 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 4 Nov 2022 16:36:27 -0700 Subject: [PATCH 505/685] boardd: prep for SPI + factor out USB (#26356) * merge origin/spi-panda * just prep * boardd: factor out USB comms * fix those * add to release files * little more --- release/files_common | 2 + selfdrive/boardd/SConscript | 4 +- selfdrive/boardd/boardd.cc | 18 +- selfdrive/boardd/panda.cc | 284 +++++--------------------------- selfdrive/boardd/panda.h | 45 ++--- selfdrive/boardd/panda_comms.cc | 232 ++++++++++++++++++++++++++ selfdrive/boardd/panda_comms.h | 51 ++++++ 7 files changed, 350 insertions(+), 286 deletions(-) create mode 100644 selfdrive/boardd/panda_comms.cc create mode 100644 selfdrive/boardd/panda_comms.h diff --git a/release/files_common b/release/files_common index e3c417040c..61d16a2088 100644 --- a/release/files_common +++ b/release/files_common @@ -90,6 +90,8 @@ selfdrive/boardd/boardd_api_impl.pyx selfdrive/boardd/can_list_to_can_capnp.cc selfdrive/boardd/panda.cc selfdrive/boardd/panda.h +selfdrive/boardd/panda_comms.h +selfdrive/boardd/panda_comms.cc selfdrive/boardd/set_time.py selfdrive/boardd/pandad.py diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript index dcbea03d3c..356b5de663 100644 --- a/selfdrive/boardd/SConscript +++ b/selfdrive/boardd/SConscript @@ -1,9 +1,9 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging') libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] -env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc'], LIBS=libs) +env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc'], LIBS=libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) if GetOption('test'): - env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc'], LIBS=libs) + env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc'], LIBS=libs) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 2d613b68ce..5496902252 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -19,8 +19,6 @@ #include #include -#include - #include "cereal/gen/cpp/car.capnp.h" #include "cereal/messaging/messaging.h" #include "common/params.h" @@ -67,7 +65,7 @@ static std::string get_time_str(const struct tm &time) { bool check_all_connected(const std::vector &pandas) { for (const auto& panda : pandas) { - if (!panda->connected) { + if (!panda->connected()) { do_exit = true; return false; } @@ -184,7 +182,7 @@ bool safety_setter_thread(std::vector pandas) { return true; } -Panda *usb_connect(std::string serial="", uint32_t index=0) { +Panda *connect(std::string serial="", uint32_t index=0) { std::unique_ptr panda; try { panda = std::make_unique(serial, (index * PANDA_BUS_CNT)); @@ -227,9 +225,9 @@ void can_send_thread(std::vector pandas, bool fake_send) { //Dont send if older than 1 second if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) { for (const auto& panda : pandas) { - LOGT("sending sendcan to panda: %s", (panda->usb_serial).c_str()); + LOGT("sending sendcan to panda: %s", (panda->hw_serial).c_str()); panda->can_send(event.getSendcan()); - LOGT("sendcan sent to panda: %s", (panda->usb_serial).c_str()); + LOGT("sendcan sent to panda: %s", (panda->hw_serial).c_str()); } } } @@ -357,7 +355,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector } #endif - if (!panda->comms_healthy) { + if (!panda->comms_healthy()) { evt.setValid(false); } @@ -433,7 +431,7 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) { // build msg MessageBuilder msg; auto evt = msg.initEvent(); - evt.setValid(panda->comms_healthy); + evt.setValid(panda->comms_healthy()); auto ps = evt.initPeripheralState(); ps.setPandaType(panda->hw_type); @@ -526,7 +524,7 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) { FirstOrderFilter integ_lines_filter(0, 30.0, 0.05); - while (!do_exit && panda->connected) { + while (!do_exit && panda->connected()) { cnt++; sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update? @@ -595,7 +593,7 @@ void boardd_main_thread(std::vector serials) { // connect to all provided serials std::vector pandas; for (int i = 0; i < serials.size() && !do_exit; /**/) { - Panda *p = usb_connect(serials[i], i); + Panda *p = connect(serials[i], i); if (!p) { // send empty pandaState & peripheralState and try again send_empty_panda_state(&pm); diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 329ce91c44..e68558632e 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -4,75 +4,15 @@ #include #include -#include #include "cereal/messaging/messaging.h" #include "panda/board/dlc_to_len.h" -#include "common/gpio.h" #include "common/swaglog.h" #include "common/util.h" -static int init_usb_ctx(libusb_context **context) { - assert(context != nullptr); - - int err = libusb_init(context); - if (err != 0) { - LOGE("libusb initialization error"); - return err; - } - -#if LIBUSB_API_VERSION >= 0x01000106 - libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); -#else - libusb_set_debug(*context, 3); -#endif - - return err; -} - - Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { - // init libusb - ssize_t num_devices; - libusb_device **dev_list = NULL; - int err = init_usb_ctx(&ctx); - if (err != 0) { goto fail; } - - // connect by serial - num_devices = libusb_get_device_list(ctx, &dev_list); - if (num_devices < 0) { goto fail; } - for (size_t i = 0; i < num_devices; ++i) { - libusb_device_descriptor desc; - libusb_get_device_descriptor(dev_list[i], &desc); - if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { - int ret = libusb_open(dev_list[i], &dev_handle); - if (dev_handle == NULL || ret < 0) { goto fail; } - - unsigned char desc_serial[26] = { 0 }; - ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); - if (ret < 0) { goto fail; } - - usb_serial = std::string((char *)desc_serial, ret).c_str(); - if (serial.empty() || serial == usb_serial) { - break; - } - libusb_close(dev_handle); - dev_handle = NULL; - } - } - if (dev_handle == NULL) goto fail; - libusb_free_device_list(dev_list, 1); - dev_list = nullptr; - - if (libusb_kernel_driver_active(dev_handle, 0) == 1) { - libusb_detach_kernel_driver(dev_handle, 0); - } - - err = libusb_set_configuration(dev_handle, 1); - if (err != 0) { goto fail; } - - err = libusb_claim_interface(dev_handle, 0); - if (err != 0) { goto fail; } + // TODO: support SPI here one day... + handle = std::make_unique(serial); hw_type = get_hw_type(); @@ -83,194 +23,44 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { (hw_type == cereal::PandaState::PandaType::DOS); return; - -fail: - if (dev_list != NULL) { - libusb_free_device_list(dev_list, 1); - } - cleanup(); - throw std::runtime_error("Error connecting to panda"); } -Panda::~Panda() { - std::lock_guard lk(usb_lock); - cleanup(); - connected = false; +bool Panda::connected() { + return handle->connected; } -void Panda::cleanup() { - if (dev_handle) { - libusb_release_interface(dev_handle, 0); - libusb_close(dev_handle); - } - - if (ctx) { - libusb_exit(ctx); - } +bool Panda::comms_healthy() { + return handle->comms_healthy; } std::vector Panda::list() { - // init libusb - ssize_t num_devices; - libusb_context *context = NULL; - libusb_device **dev_list = NULL; - std::vector serials; - - int err = init_usb_ctx(&context); - if (err != 0) { return serials; } - - num_devices = libusb_get_device_list(context, &dev_list); - if (num_devices < 0) { - LOGE("libusb can't get device list"); - goto finish; - } - for (size_t i = 0; i < num_devices; ++i) { - libusb_device *device = dev_list[i]; - libusb_device_descriptor desc; - libusb_get_device_descriptor(device, &desc); - if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { - libusb_device_handle *handle = NULL; - int ret = libusb_open(device, &handle); - if (ret < 0) { goto finish; } - - unsigned char desc_serial[26] = { 0 }; - ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); - libusb_close(handle); - if (ret < 0) { goto finish; } - - serials.push_back(std::string((char *)desc_serial, ret).c_str()); - } - } - -finish: - if (dev_list != NULL) { - libusb_free_device_list(dev_list, 1); - } - if (context) { - libusb_exit(context); - } - return serials; -} - -void Panda::handle_usb_issue(int err, const char func[]) { - LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func); - if (err == LIBUSB_ERROR_NO_DEVICE) { - LOGE("lost connection"); - connected = false; - } - // TODO: check other errors, is simply retrying okay? -} - -int Panda::usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { - int err; - const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; - - if (!connected) { - return LIBUSB_ERROR_NO_DEVICE; - } - - std::lock_guard lk(usb_lock); - do { - err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); - if (err < 0) handle_usb_issue(err, __func__); - } while (err < 0 && connected); - - return err; -} - -int Panda::usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) { - int err; - const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; - - if (!connected) { - return LIBUSB_ERROR_NO_DEVICE; - } - - std::lock_guard lk(usb_lock); - do { - err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout); - if (err < 0) handle_usb_issue(err, __func__); - } while (err < 0 && connected); - - return err; -} - -int Panda::usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - int err; - int transferred = 0; - - if (!connected) { - return 0; - } - - std::lock_guard lk(usb_lock); - do { - // Try sending can messages. If the receive buffer on the panda is full it will NAK - // and libusb will try again. After 5ms, it will time out. We will drop the messages. - err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); - - if (err == LIBUSB_ERROR_TIMEOUT) { - LOGW("Transmit buffer full"); - break; - } else if (err != 0 || length != transferred) { - handle_usb_issue(err, __func__); - } - } while(err != 0 && connected); - - return transferred; -} - -int Panda::usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - int err; - int transferred = 0; - - if (!connected) { - return 0; - } - - std::lock_guard lk(usb_lock); - - do { - err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); - - if (err == LIBUSB_ERROR_TIMEOUT) { - break; // timeout is okay to exit, recv still happened - } else if (err == LIBUSB_ERROR_OVERFLOW) { - comms_healthy = false; - LOGE_100("overflow got 0x%x", transferred); - } else if (err != 0) { - handle_usb_issue(err, __func__); - } - - } while(err != 0 && connected); - - return transferred; + return PandaUsbHandle::list(); } void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) { - usb_write(0xdc, (uint16_t)safety_model, safety_param); + handle->control_write(0xdc, (uint16_t)safety_model, safety_param); } void Panda::set_alternative_experience(uint16_t alternative_experience) { - usb_write(0xdf, alternative_experience, 0); + handle->control_write(0xdf, alternative_experience, 0); } cereal::PandaState::PandaType Panda::get_hw_type() { unsigned char hw_query[1] = {0}; - usb_read(0xc1, 0, 0, hw_query, 1); + handle->control_read(0xc1, 0, 0, hw_query, 1); return (cereal::PandaState::PandaType)(hw_query[0]); } void Panda::set_rtc(struct tm sys_time) { // tm struct has year defined as years since 1900 - usb_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0); - usb_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0); - usb_write(0xa3, (uint16_t)sys_time.tm_mday, 0); - // usb_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0); - usb_write(0xa5, (uint16_t)sys_time.tm_hour, 0); - usb_write(0xa6, (uint16_t)sys_time.tm_min, 0); - usb_write(0xa7, (uint16_t)sys_time.tm_sec, 0); + handle->control_write(0xa1, (uint16_t)(1900 + sys_time.tm_year), 0); + handle->control_write(0xa2, (uint16_t)(1 + sys_time.tm_mon), 0); + handle->control_write(0xa3, (uint16_t)sys_time.tm_mday, 0); + // handle->control_write(0xa4, (uint16_t)(1 + sys_time.tm_wday), 0); + handle->control_write(0xa5, (uint16_t)sys_time.tm_hour, 0); + handle->control_write(0xa6, (uint16_t)sys_time.tm_min, 0); + handle->control_write(0xa7, (uint16_t)sys_time.tm_sec, 0); } struct tm Panda::get_rtc() { @@ -284,7 +74,7 @@ struct tm Panda::get_rtc() { uint8_t second; } rtc_time = {0}; - usb_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time)); + handle->control_read(0xa0, 0, 0, (unsigned char*)&rtc_time, sizeof(rtc_time)); struct tm new_time = { 0 }; new_time.tm_year = rtc_time.year - 1900; // tm struct has year defined as years since 1900 @@ -298,70 +88,70 @@ struct tm Panda::get_rtc() { } void Panda::set_fan_speed(uint16_t fan_speed) { - usb_write(0xb1, fan_speed, 0); + handle->control_write(0xb1, fan_speed, 0); } uint16_t Panda::get_fan_speed() { uint16_t fan_speed_rpm = 0; - usb_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm)); + handle->control_read(0xb2, 0, 0, (unsigned char*)&fan_speed_rpm, sizeof(fan_speed_rpm)); return fan_speed_rpm; } void Panda::set_ir_pwr(uint16_t ir_pwr) { - usb_write(0xb0, ir_pwr, 0); + handle->control_write(0xb0, ir_pwr, 0); } std::optional Panda::get_state() { health_t health {0}; - int err = usb_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health)); + int err = handle->control_read(0xd2, 0, 0, (unsigned char*)&health, sizeof(health)); return err >= 0 ? std::make_optional(health) : std::nullopt; } std::optional Panda::get_can_state(uint16_t can_number) { can_health_t can_health {0}; - int err = usb_read(0xc2, can_number, 0, (unsigned char*)&can_health, sizeof(can_health)); + int err = handle->control_read(0xc2, can_number, 0, (unsigned char*)&can_health, sizeof(can_health)); return err >= 0 ? std::make_optional(can_health) : std::nullopt; } void Panda::set_loopback(bool loopback) { - usb_write(0xe5, loopback, 0); + handle->control_write(0xe5, loopback, 0); } std::optional> Panda::get_firmware_version() { std::vector fw_sig_buf(128); - int read_1 = usb_read(0xd3, 0, 0, &fw_sig_buf[0], 64); - int read_2 = usb_read(0xd4, 0, 0, &fw_sig_buf[64], 64); + int read_1 = handle->control_read(0xd3, 0, 0, &fw_sig_buf[0], 64); + int read_2 = handle->control_read(0xd4, 0, 0, &fw_sig_buf[64], 64); return ((read_1 == 64) && (read_2 == 64)) ? std::make_optional(fw_sig_buf) : std::nullopt; } std::optional Panda::get_serial() { char serial_buf[17] = {'\0'}; - int err = usb_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16); + int err = handle->control_read(0xd0, 0, 0, (uint8_t*)serial_buf, 16); return err >= 0 ? std::make_optional(serial_buf) : std::nullopt; } void Panda::set_power_saving(bool power_saving) { - usb_write(0xe7, power_saving, 0); + handle->control_write(0xe7, power_saving, 0); } void Panda::enable_deepsleep() { - usb_write(0xfb, 0, 0); + handle->control_write(0xfb, 0, 0); } void Panda::send_heartbeat(bool engaged) { - usb_write(0xf3, engaged, 0); + handle->control_write(0xf3, engaged, 0); } void Panda::set_can_speed_kbps(uint16_t bus, uint16_t speed) { - usb_write(0xde, bus, (speed * 10)); + handle->control_write(0xde, bus, (speed * 10)); } void Panda::set_data_speed_kbps(uint16_t bus, uint16_t speed) { - usb_write(0xf9, bus, (speed * 10)); + handle->control_write(0xf9, bus, (speed * 10)); } void Panda::set_canfd_non_iso(uint16_t bus, bool non_iso) { - usb_write(0xfc, bus, non_iso); + handle->control_write(0xfc, bus, non_iso); } static uint8_t len_to_dlc(uint8_t len) { @@ -422,14 +212,14 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data void Panda::can_send(capnp::List::Reader can_data_list) { pack_can_buffer(can_data_list, [=](uint8_t* data, size_t size) { - usb_bulk_write(3, data, size, 5); + handle->bulk_write(3, data, size, 5); }); } bool Panda::can_receive(std::vector& out_vec) { uint8_t data[RECV_SIZE]; - int recv = usb_bulk_read(0x81, (uint8_t*)data, RECV_SIZE); - if (!comms_healthy) { + int recv = handle->bulk_read(0x81, (uint8_t*)data, RECV_SIZE); + if (!comms_healthy()) { return false; } if (recv == RECV_SIZE) { @@ -444,7 +234,7 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector &o for (int i = 0; i < size; i += USBPACKET_MAX_SIZE) { if (data[i] != i / USBPACKET_MAX_SIZE) { LOGE("CAN: MALFORMED USB RECV PACKET"); - comms_healthy = false; + handle->comms_healthy = false; return false; } int chunk_len = std::min(USBPACKET_MAX_SIZE, (size - i)); diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h index c7a0e7a6c1..5b3cbb9a3e 100644 --- a/selfdrive/boardd/panda.h +++ b/selfdrive/boardd/panda.h @@ -1,26 +1,26 @@ #pragma once -#include #include #include #include #include -#include +#include #include #include -#include - #include "cereal/gen/cpp/car.capnp.h" #include "cereal/gen/cpp/log.capnp.h" #include "panda/board/health.h" +#include "selfdrive/boardd/panda_comms.h" + -#define TIMEOUT 0 #define PANDA_CAN_CNT 3 #define PANDA_BUS_CNT 4 -#define RECV_SIZE (0x4000U) + #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) @@ -37,41 +37,32 @@ struct __attribute__((packed)) can_header { }; struct can_frame { - long address; - std::string dat; - long busTime; - long src; + long address; + std::string dat; + long busTime; + long src; }; + class Panda { - private: - libusb_context *ctx = NULL; - libusb_device_handle *dev_handle = NULL; - std::mutex usb_lock; +private: + std::unique_ptr handle; std::vector recv_buf; - void handle_usb_issue(int err, const char func[]); - void cleanup(); - public: +public: Panda(std::string serial="", uint32_t bus_offset=0); - ~Panda(); - std::string usb_serial; - std::atomic connected = true; - std::atomic comms_healthy = true; + std::string hw_serial; cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN; bool has_rtc = false; const uint32_t bus_offset; + bool connected(); + bool comms_healthy(); + // Static functions static std::vector list(); - // HW communication - int usb_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout=TIMEOUT); - int usb_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout=TIMEOUT); - int usb_bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); - int usb_bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); - // Panda functionality cereal::PandaState::PandaType get_hw_type(); void set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param=0U); diff --git a/selfdrive/boardd/panda_comms.cc b/selfdrive/boardd/panda_comms.cc new file mode 100644 index 0000000000..e73cb69318 --- /dev/null +++ b/selfdrive/boardd/panda_comms.cc @@ -0,0 +1,232 @@ +#include "selfdrive/boardd/panda.h" + +#include +#include + +#include "common/swaglog.h" + +static int init_usb_ctx(libusb_context **context) { + assert(context != nullptr); + + int err = libusb_init(context); + if (err != 0) { + LOGE("libusb initialization error"); + return err; + } + +#if LIBUSB_API_VERSION >= 0x01000106 + libusb_set_option(*context, LIBUSB_OPTION_LOG_LEVEL, LIBUSB_LOG_LEVEL_INFO); +#else + libusb_set_debug(*context, 3); +#endif + + return err; +} + +PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) { + // init libusb + ssize_t num_devices; + libusb_device **dev_list = NULL; + int err = init_usb_ctx(&ctx); + if (err != 0) { goto fail; } + + // connect by serial + num_devices = libusb_get_device_list(ctx, &dev_list); + if (num_devices < 0) { goto fail; } + for (size_t i = 0; i < num_devices; ++i) { + libusb_device_descriptor desc; + libusb_get_device_descriptor(dev_list[i], &desc); + if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { + int ret = libusb_open(dev_list[i], &dev_handle); + if (dev_handle == NULL || ret < 0) { goto fail; } + + unsigned char desc_serial[26] = { 0 }; + ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); + if (ret < 0) { goto fail; } + + auto hw_serial = std::string((char *)desc_serial, ret); + if (serial.empty() || serial == hw_serial) { + break; + } + libusb_close(dev_handle); + dev_handle = NULL; + } + } + if (dev_handle == NULL) goto fail; + libusb_free_device_list(dev_list, 1); + dev_list = nullptr; + + if (libusb_kernel_driver_active(dev_handle, 0) == 1) { + libusb_detach_kernel_driver(dev_handle, 0); + } + + err = libusb_set_configuration(dev_handle, 1); + if (err != 0) { goto fail; } + + err = libusb_claim_interface(dev_handle, 0); + if (err != 0) { goto fail; } + + return; + +fail: + if (dev_list != NULL) { + libusb_free_device_list(dev_list, 1); + } + cleanup(); + throw std::runtime_error("Error connecting to panda"); +} + +PandaUsbHandle::~PandaUsbHandle() { + std::lock_guard lk(hw_lock); + cleanup(); + connected = false; +} + +void PandaUsbHandle::cleanup() { + if (dev_handle) { + libusb_release_interface(dev_handle, 0); + libusb_close(dev_handle); + } + + if (ctx) { + libusb_exit(ctx); + } +} + +std::vector PandaUsbHandle::list() { + // init libusb + ssize_t num_devices; + libusb_context *context = NULL; + libusb_device **dev_list = NULL; + std::vector serials; + + int err = init_usb_ctx(&context); + if (err != 0) { return serials; } + + num_devices = libusb_get_device_list(context, &dev_list); + if (num_devices < 0) { + LOGE("libusb can't get device list"); + goto finish; + } + for (size_t i = 0; i < num_devices; ++i) { + libusb_device *device = dev_list[i]; + libusb_device_descriptor desc; + libusb_get_device_descriptor(device, &desc); + if (desc.idVendor == 0xbbaa && desc.idProduct == 0xddcc) { + libusb_device_handle *handle = NULL; + int ret = libusb_open(device, &handle); + if (ret < 0) { goto finish; } + + unsigned char desc_serial[26] = { 0 }; + ret = libusb_get_string_descriptor_ascii(handle, desc.iSerialNumber, desc_serial, std::size(desc_serial)); + libusb_close(handle); + if (ret < 0) { goto finish; } + + serials.push_back(std::string((char *)desc_serial, ret).c_str()); + } + } + +finish: + if (dev_list != NULL) { + libusb_free_device_list(dev_list, 1); + } + if (context) { + libusb_exit(context); + } + return serials; +} + +void PandaUsbHandle::handle_usb_issue(int err, const char func[]) { + LOGE_100("usb error %d \"%s\" in %s", err, libusb_strerror((enum libusb_error)err), func); + if (err == LIBUSB_ERROR_NO_DEVICE) { + LOGE("lost connection"); + connected = false; + } + // TODO: check other errors, is simply retrying okay? +} + +int PandaUsbHandle::control_write(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned int timeout) { + int err; + const uint8_t bmRequestType = LIBUSB_ENDPOINT_OUT | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; + + if (!connected) { + return LIBUSB_ERROR_NO_DEVICE; + } + + std::lock_guard lk(hw_lock); + do { + err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, NULL, 0, timeout); + if (err < 0) handle_usb_issue(err, __func__); + } while (err < 0 && connected); + + return err; +} + +int PandaUsbHandle::control_read(uint8_t bRequest, uint16_t wValue, uint16_t wIndex, unsigned char *data, uint16_t wLength, unsigned int timeout) { + int err; + const uint8_t bmRequestType = LIBUSB_ENDPOINT_IN | LIBUSB_REQUEST_TYPE_VENDOR | LIBUSB_RECIPIENT_DEVICE; + + if (!connected) { + return LIBUSB_ERROR_NO_DEVICE; + } + + std::lock_guard lk(hw_lock); + do { + err = libusb_control_transfer(dev_handle, bmRequestType, bRequest, wValue, wIndex, data, wLength, timeout); + if (err < 0) handle_usb_issue(err, __func__); + } while (err < 0 && connected); + + return err; +} + +int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + int err; + int transferred = 0; + + if (!connected) { + return 0; + } + + std::lock_guard lk(hw_lock); + do { + // Try sending can messages. If the receive buffer on the panda is full it will NAK + // and libusb will try again. After 5ms, it will time out. We will drop the messages. + err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); + + if (err == LIBUSB_ERROR_TIMEOUT) { + LOGW("Transmit buffer full"); + break; + } else if (err != 0 || length != transferred) { + handle_usb_issue(err, __func__); + } + } while(err != 0 && connected); + + return transferred; +} + +int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + int err; + int transferred = 0; + + if (!connected) { + return 0; + } + + std::lock_guard lk(hw_lock); + + do { + err = libusb_bulk_transfer(dev_handle, endpoint, data, length, &transferred, timeout); + + if (err == LIBUSB_ERROR_TIMEOUT) { + break; // timeout is okay to exit, recv still happened + } else if (err == LIBUSB_ERROR_OVERFLOW) { + comms_healthy = false; + LOGE_100("overflow got 0x%x", transferred); + } else if (err != 0) { + handle_usb_issue(err, __func__); + } + + } while(err != 0 && connected); + + return transferred; +} diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h new file mode 100644 index 0000000000..c5143b16b3 --- /dev/null +++ b/selfdrive/boardd/panda_comms.h @@ -0,0 +1,51 @@ +#pragma once + +#include +#include +#include +#include + +#include + +#define TIMEOUT 0 + + +// comms base class +class PandaCommsHandle { +public: + PandaCommsHandle(std::string serial) {}; + virtual ~PandaCommsHandle() {}; + virtual void cleanup() = 0; + + std::atomic connected = true; + std::atomic comms_healthy = true; + static std::vector list(); + + // HW communication + virtual int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT) = 0; + virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0; + virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; + virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; + +protected: + std::mutex hw_lock; +}; + +class PandaUsbHandle : public PandaCommsHandle { +public: + PandaUsbHandle(std::string serial); + ~PandaUsbHandle(); + int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT); + int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT); + int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + void cleanup(); + + static std::vector list(); + +private: + libusb_context *ctx = NULL; + libusb_device_handle *dev_handle = NULL; + std::vector recv_buf; + void handle_usb_issue(int err, const char func[]); +}; From fa4a36800534ede59850f1d9be1cdd6f023d4707 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sat, 5 Nov 2022 00:44:06 +0100 Subject: [PATCH 506/685] CI: add OX0C310 camerad box (#26318) * update jenkins file * . * revert * Update Jenkinsfile Co-authored-by: Adeeb Shihadeh Co-authored-by: Kurt Nistelberger Co-authored-by: Adeeb Shihadeh --- Jenkinsfile | 15 +++++++++++++-- 1 file changed, 13 insertions(+), 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index ea62ff3c49..0d624954ea 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -137,10 +137,21 @@ pipeline { } } - stage('camerad') { + stage('camerad-ar') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { - phone_steps("tici-party", [ + phone_steps("tici-ar0321", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["test camerad", "python system/camerad/test/test_camerad.py"], + ["test exposure", "python system/camerad/test/test_exposure.py"], + ]) + } + } + + stage('camerad-ox') { + agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } + steps { + phone_steps("tici-ox03c10", [ ["build", "cd selfdrive/manager && ./build.py"], ["test camerad", "python system/camerad/test/test_camerad.py"], ["test exposure", "python system/camerad/test/test_exposure.py"], From 1db915ec1f2a426782b90ab4a2e68c5d31d80a3e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 4 Nov 2022 17:03:41 -0700 Subject: [PATCH 507/685] Hyundai CAN-FD: remove check on unused msg (#26368) remove check on unused msg --- selfdrive/car/hyundai/carstate.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 3cce581868..8ce6aada6b 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -443,7 +443,6 @@ class CarState(CarStateBase): checks = [ ("WHEEL_SPEEDS", 100), ("GEAR_SHIFTER", 100), - ("BRAKE", 100), ("STEERING_SENSORS", 100), ("MDPS", 100), ("TCS", 50), From b22fc70f52f3a9b62c718011819126abd7552f9c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 4 Nov 2022 17:06:34 -0700 Subject: [PATCH 508/685] Hyundai CAN-FD: support ICE alt gears (#26367) * Hyundai: Car Port for Santa Cruz 2022 * bump opendbc * New struct and params for CAN-FD ICE models * fixup! New struct and params for CAN-FD ICE models * bump panda * bump panda * HKG: Car Port for Sportage 2023 * fixup! HKG: Car Port for Sportage 2023 * Kia Sportage 2023: Add FW versions * Longitudinal Control: ICE CAN-FD models * fixup! Longitudinal Control: ICE CAN-FD models * bump panda * fixup! Longitudinal Control: ICE CAN-FD models * Update car info * fixup! Longitudinal Control: ICE CAN-FD models * Gate radar disable behind HDA2 only * Gate radar disable behind camera SCC cars * Update CARS.md * Add FW versions for Santa Cruz 2021 * Test route for Kia Sportage 2023 (openpilot longitudinal enabled) * Test route for Santa Cruz 2021 (openpilot longitudinal enabled) * fixup! Kia Sportage 2023: Add FW versions * HKG: Car Port for Genesis GV70 2023 thanks to @zunichky! Co-authored-by: kyle zunich * Update car info * Add torque param for GENESIS GV70 1ST GEN * Fix CARS.md * Update test route * Remove unnecessary HDA2 checks * Add additional FW versions for Sportage 2023 * Fix Kia Sportage supported MY * Fix MISRA violation * Fix release note * Use IntFlag to gate camera SCC for CAN-FD * Parse 0x1A0 on bus 4 dynamically * bump panda * Car code cleanup * Typo * Add additional 0x1A0 signals to bus 4 * Fix weird bitwise logic * Check 0x1a0 after safety config is set * Revert "Check 0x1a0 after safety config is set" This reverts commit 141bbf79792bcde9cfadbc0680654acf61d8d16f. * Check car list instead * Add GV70 2022 test route * Add fwdRadar FW version for GV70 2022 * Fix CARS.md * Fix CARS.md * Fix CARS.md * new santa cruz route * bump panda to commaai/panda#1031 * bumppanda * some clean up * lets refactor CAMERA_SCC_CAR in another pr * minor clean up * revert car stuff * revert panda * revvy * revvy * it's all ice * revert * revert Co-authored-by: Jason Wen Co-authored-by: kyle zunich Co-authored-by: Adeeb Shihadeh Co-authored-by: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> --- selfdrive/car/hyundai/carstate.py | 10 ++++++---- selfdrive/car/hyundai/interface.py | 3 +++ selfdrive/car/hyundai/values.py | 1 + 3 files changed, 10 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 8ce6aada6b..e83b83f432 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -21,8 +21,9 @@ class CarState(CarStateBase): self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) + self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER" if CP.carFingerprint in CANFD_CAR: - self.shifter_values = can_define.dv["GEAR_SHIFTER"]["GEAR"] + self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"] elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]: self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"] elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: @@ -164,7 +165,7 @@ class CarState(CarStateBase): ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0 - gear = cp.vl["GEAR_SHIFTER"]["GEAR"] + gear = cp.vl[self.gear_msg_canfd]["GEAR"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) # TODO: figure out positions @@ -411,13 +412,14 @@ class CarState(CarStateBase): def get_can_parser_canfd(CP): cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" + gear_msg = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER" signals = [ ("WHEEL_SPEED_1", "WHEEL_SPEEDS"), ("WHEEL_SPEED_2", "WHEEL_SPEEDS"), ("WHEEL_SPEED_3", "WHEEL_SPEEDS"), ("WHEEL_SPEED_4", "WHEEL_SPEEDS"), - ("GEAR", "GEAR_SHIFTER"), + ("GEAR", gear_msg), ("STEERING_RATE", "STEERING_SENSORS"), ("STEERING_ANGLE", "STEERING_SENSORS"), @@ -442,7 +444,7 @@ class CarState(CarStateBase): checks = [ ("WHEEL_SPEEDS", 100), - ("GEAR_SHIFTER", 100), + (gear_msg, 100), ("STEERING_SENSORS", 100), ("MDPS", 100), ("TCS", 50), diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 4b4d51f3f1..7587cfe146 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -41,6 +41,9 @@ class CarInterface(CarInterfaceBase): # non-HDA2 if 0x1cf not in fingerprint[4]: ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value + # ICE cars do not have 0x130; GEARS message on 0x40 instead + if 0x130 not in fingerprint[4]: + ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0df9850d0b..5940036aac 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -47,6 +47,7 @@ class CarControllerParams: class HyundaiFlags(IntFlag): CANFD_HDA2 = 1 CANFD_ALT_BUTTONS = 2 + CANFD_ALT_GEARS = 4 class CAR: From e78280da12c799ca7b5e391c53421607a5df617c Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 4 Nov 2022 17:27:58 -0700 Subject: [PATCH 509/685] ui: set dialog confirm button text (#26365) * ui: set dialog confirm button text * short * blue confirm --- selfdrive/ui/qt/offroad/networking.cc | 2 +- selfdrive/ui/qt/offroad/settings.cc | 8 ++++---- selfdrive/ui/qt/offroad/software_settings.cc | 2 +- selfdrive/ui/qt/widgets/input.cc | 11 ++++++++--- selfdrive/ui/qt/widgets/input.h | 2 +- selfdrive/ui/translations/main_ja.ts | 16 ++++++++++++++++ selfdrive/ui/translations/main_ko.ts | 16 ++++++++++++++++ selfdrive/ui/translations/main_pt-BR.ts | 16 ++++++++++++++++ selfdrive/ui/translations/main_zh-CHS.ts | 16 ++++++++++++++++ selfdrive/ui/translations/main_zh-CHT.ts | 16 ++++++++++++++++ 10 files changed, 95 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 13697adfb5..d69d67edeb 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -314,7 +314,7 @@ void WifiUI::refresh() { QPushButton *forgetBtn = new QPushButton(tr("FORGET")); forgetBtn->setObjectName("forgetBtn"); QObject::connect(forgetBtn, &QPushButton::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), this)) { + if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), tr("Forget"), this)) { wifi->forgetConnection(network.ssid); } }); diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index b154447eb8..51b5ce6bd7 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -169,7 +169,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), ""); connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription); connect(resetCalibBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) { params.remove("CalibrationParams"); } }); @@ -178,7 +178,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { if (!params.getBool("Passive")) { auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot")); connect(retrainingBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), tr("Review"), this)) { emit reviewTrainingGuide(); } }); @@ -266,7 +266,7 @@ void DevicePanel::updateCalibDescription() { void DevicePanel::reboot() { if (!uiState()->engaged()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) { // Check engaged again in case it changed while the dialog was open if (!uiState()->engaged()) { Params().putBool("DoReboot", true); @@ -279,7 +279,7 @@ void DevicePanel::reboot() { void DevicePanel::poweroff() { if (!uiState()->engaged()) { - if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) { // Check engaged again in case it changed while the dialog was open if (!uiState()->engaged()) { Params().putBool("DoShutdown", true); diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index e08a02a4d6..12d62e63fb 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -77,7 +77,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { // uninstall button auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL")); connect(uninstallBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), tr("Uninstall"), this)) { params.putBool("DoUninstall", true); } }); diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 897e4b5a05..75453e1b90 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -185,7 +185,11 @@ void InputDialog::setMinLength(int length) { ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text, const bool rich, QWidget *parent) : QDialogBase(parent) { QFrame *container = new QFrame(this); - container->setStyleSheet("QFrame { background-color: #1B1B1B; color: #C9C9C9; }"); + container->setStyleSheet(R"( + QFrame { background-color: #1B1B1B; color: #C9C9C9; } + #confirm_btn { background-color: #465BEA; } + #confirm_btn:pressed { background-color: #3049F4; } + )"); QVBoxLayout *main_layout = new QVBoxLayout(container); main_layout->setContentsMargins(32, rich ? 32 : 120, 32, 32); @@ -208,6 +212,7 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString if (confirm_text.length()) { QPushButton* confirm_btn = new QPushButton(confirm_text); + confirm_btn->setObjectName("confirm_btn"); btn_layout->addWidget(confirm_btn); QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept); } @@ -223,8 +228,8 @@ bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) { return d.exec(); } -bool ConfirmationDialog::confirm(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), tr("Cancel"), false, parent); +bool ConfirmationDialog::confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent) { + ConfirmationDialog d = ConfirmationDialog(prompt_text, confirm_text, tr("Cancel"), false, parent); return d.exec(); } diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h index 117e6ca05e..e6c0fba86d 100644 --- a/selfdrive/ui/qt/widgets/input.h +++ b/selfdrive/ui/qt/widgets/input.h @@ -57,7 +57,7 @@ public: explicit ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text, const bool rich, QWidget* parent); static bool alert(const QString &prompt_text, QWidget *parent); - static bool confirm(const QString &prompt_text, QWidget *parent); + static bool confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent); static bool rich(const QString &prompt_text, QWidget *parent); }; diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index d3c55b5be4..5ee2d86756 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -238,6 +238,14 @@ Disengage to Power Off openpilot をキャンセルしてシャットダウンができます + + Reset + + + + Review + + DriveStats @@ -854,6 +862,10 @@ location set CHECK 確認 + + Uninstall + + SshControl @@ -1056,5 +1068,9 @@ location set Forget Wi-Fi Network "%1"? Wi-Fiﾈｯﾄﾜｰｸ%1を削除してもよろしいですか？ + + Forget + + diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 4112087f72..397b43f545 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -238,6 +238,14 @@ Disengage to Power Off 전원을 종료하려면 해제하세요 + + Reset + + + + Review + + DriveStats @@ -854,6 +862,10 @@ location set CHECK 확인 + + Uninstall + + SshControl @@ -1056,5 +1068,9 @@ location set Forget Wi-Fi Network "%1"? wifi 네트워크 저장안함 "%1"? + + Forget + + diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index ab1946e6af..6774555b73 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -238,6 +238,14 @@ Disengage to Power Off Desacione para Desligar + + Reset + + + + Review + + DriveStats @@ -858,6 +866,10 @@ trabalho definido CHECK VERIFICAR + + Uninstall + + SshControl @@ -1060,5 +1072,9 @@ trabalho definido Forget Wi-Fi Network "%1"? Esquecer Rede Wi-Fi "%1"? + + Forget + + diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 2baae98669..6189a235e8 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -238,6 +238,14 @@ Disengage to Power Off 取消openpilot以关机 + + Reset + + + + Review + + DriveStats @@ -852,6 +860,10 @@ location set CHECK 查看 + + Uninstall + + SshControl @@ -1054,5 +1066,9 @@ location set Forget Wi-Fi Network "%1"? 忘记WiFi网络 "%1"? + + Forget + + diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 44c231311a..0b0dbe4ae5 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -238,6 +238,14 @@ Disengage to Power Off 請先取消控車才能關機 + + Reset + + + + Review + + DriveStats @@ -854,6 +862,10 @@ location set CHECK 檢查 + + Uninstall + + SshControl @@ -1056,5 +1068,9 @@ location set Forget Wi-Fi Network "%1"? 清除 Wi-Fi 網路 "%1"? + + Forget + + From e4342b5e169127cc17c659665e038b22eb995f23 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Fri, 4 Nov 2022 21:44:38 -0400 Subject: [PATCH 510/685] Hyundai CAN-FD: support 2023 Kia Sportage & 2022 Hyundai Santa Cruz (#25434) * Hyundai: Car Port for Santa Cruz 2022 * bump opendbc * New struct and params for CAN-FD ICE models * fixup! New struct and params for CAN-FD ICE models * bump panda * bump panda * HKG: Car Port for Sportage 2023 * fixup! HKG: Car Port for Sportage 2023 * Kia Sportage 2023: Add FW versions * Longitudinal Control: ICE CAN-FD models * fixup! Longitudinal Control: ICE CAN-FD models * bump panda * fixup! Longitudinal Control: ICE CAN-FD models * Update car info * fixup! Longitudinal Control: ICE CAN-FD models * Gate radar disable behind HDA2 only * Gate radar disable behind camera SCC cars * Update CARS.md * Add FW versions for Santa Cruz 2021 * Test route for Kia Sportage 2023 (openpilot longitudinal enabled) * Test route for Santa Cruz 2021 (openpilot longitudinal enabled) * fixup! Kia Sportage 2023: Add FW versions * HKG: Car Port for Genesis GV70 2023 thanks to @zunichky! Co-authored-by: kyle zunich * Update car info * Add torque param for GENESIS GV70 1ST GEN * Fix CARS.md * Update test route * Remove unnecessary HDA2 checks * Add additional FW versions for Sportage 2023 * Fix Kia Sportage supported MY * Fix MISRA violation * Fix release note * Use IntFlag to gate camera SCC for CAN-FD * Parse 0x1A0 on bus 4 dynamically * bump panda * Car code cleanup * Typo * Add additional 0x1A0 signals to bus 4 * Fix weird bitwise logic * Check 0x1a0 after safety config is set * Revert "Check 0x1a0 after safety config is set" This reverts commit 141bbf79792bcde9cfadbc0680654acf61d8d16f. * Check car list instead * Add GV70 2022 test route * Add fwdRadar FW version for GV70 2022 * Fix CARS.md * Fix CARS.md * Fix CARS.md * new santa cruz route * bump panda to commaai/panda#1031 * bumppanda * some clean up * lets refactor CAMERA_SCC_CAR in another pr * minor clean up * update docs! * GV70 is a radar-SCC car :( (another PR) * fix removed sportage hybrid versions * update docs Co-authored-by: kyle zunich Co-authored-by: Adeeb Shihadeh Co-authored-by: sshane --- RELEASES.md | 2 ++ docs/CARS.md | 4 +++- panda | 2 +- selfdrive/car/hyundai/carstate.py | 21 +++++++++++++++----- selfdrive/car/hyundai/interface.py | 8 ++++++++ selfdrive/car/hyundai/values.py | 26 ++++++++++++++++++++++++- selfdrive/car/tests/routes.py | 2 ++ selfdrive/car/torque_data/override.yaml | 2 ++ 8 files changed, 59 insertions(+), 8 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 744168c8fb..83b3ac46f4 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -15,6 +15,8 @@ Version 0.8.17 (2022-XX-XX) * Added button to bookmark events while driving; view them later in comma connect * AGNOS 6 * tools: new and improved cabana thanks to deanlee! +* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin! +* Kia Sportage 2023 support thanks to sunnyhaibin! * Kia Sportage Hybrid 2023 support thanks to sunnyhaibin! Version 0.8.16 (2022-08-26) diff --git a/docs/CARS.md b/docs/CARS.md index 9d279e918e..c347868968 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. -# 211 Supported Cars +# 213 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -72,6 +72,7 @@ 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 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| @@ -102,6 +103,7 @@ 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|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)|Stock|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|Telluride 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| diff --git a/panda b/panda index 0b86dfa5fb..f3fc343262 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0b86dfa5fbfcb77a127f980f81484aa7558e8c1e +Subproject commit f3fc343262818801f037e9dca1a96ca99d7e64c5 diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index e83b83f432..7cf1515fda 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -155,11 +155,15 @@ class CarState(CarStateBase): def update_canfd(self, cp, cp_cam): ret = car.CarState.new_message() - if self.CP.carFingerprint in EV_CAR: - ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. - elif self.CP.carFingerprint in HYBRID_CAR: - ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. - ret.gasPressed = ret.gas > 1e-5 + if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR): + if self.CP.carFingerprint in EV_CAR: + ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255. + else: + ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. + ret.gasPressed = ret.gas > 1e-5 + else: + ret.gasPressed = bool(cp.vl["ACCELERATOR_BRAKE_ALT"]["ACCELERATOR_PEDAL_PRESSED"]) + ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1 ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 @@ -487,6 +491,13 @@ class CarState(CarStateBase): checks += [ ("ACCELERATOR_ALT", 100), ] + else: + signals += [ + ("ACCELERATOR_PEDAL_PRESSED", "ACCELERATOR_BRAKE_ALT"), + ] + checks += [ + ("ACCELERATOR_BRAKE_ALT", 100), + ] bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 7587cfe146..6c8d0076f1 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -123,6 +123,10 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.756 ret.steerRatio = 16. tire_stiffness_factor = 0.385 + elif candidate == CAR.SANTA_CRUZ_1ST_GEN: + ret.mass = 1870. + STD_CARGO_KG # weight from Limited trim - the only supported trim + ret.wheelbase = 3.000 + ret.steerRatio = 14.2 # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf # Kia elif candidate == CAR.KIA_SORENTO: @@ -141,6 +145,10 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.63 ret.steerRatio = 14.56 tire_stiffness_factor = 1 + elif candidate == CAR.KIA_SPORTAGE_5TH_GEN: + ret.mass = 1700. + STD_CARGO_KG # weight from SX and above trims, average of FWD and AWD versions + ret.wheelbase = 2.756 + ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H): ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 5940036aac..536af7cf01 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -78,6 +78,7 @@ class CAR: SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021" IONIQ_5 = "HYUNDAI IONIQ 5 2022" TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN" + SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN" # Kia KIA_FORTE = "KIA FORTE E 2018 & GT 2021" @@ -89,6 +90,7 @@ class CAR: KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT" KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_SELTOS = "KIA SELTOS 2021" + KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN" KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN" KIA_STINGER = "KIA STINGER GT2 2018" @@ -147,6 +149,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q), ], 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), # Kia CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), @@ -169,6 +172,7 @@ 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_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), @@ -1400,6 +1404,24 @@ FW_VERSIONS = { b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', ], }, + CAR.SANTA_CRUZ_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-K5000 ', + ], + }, + CAR.KIA_SPORTAGE_5TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662', + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', + b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', + ], + }, } CHECKSUM = { @@ -1417,7 +1439,7 @@ 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}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_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} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } @@ -1474,5 +1496,7 @@ DBC = { CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), 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), + CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index d833203427..bf949d3492 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -82,6 +82,7 @@ routes = [ CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80), + CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN), CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE), CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022), CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022), @@ -117,6 +118,7 @@ routes = [ CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), + CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN), CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA), # 2019 Elantra GT CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 460b9a9097..c5a316aaaf 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -31,6 +31,8 @@ CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0] +HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0] +KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.0] KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0] # Dashcam or fallback configured as ideal car From e4cd8a15db6b0e16e06485924395d725ecdc23df Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sat, 5 Nov 2022 04:36:44 +0100 Subject: [PATCH 511/685] sensord: lsm self test (#25855) * lsm self test v1 * add lsm6ds3 accel self test * add self test for lsm6ds3 gyro * add c variant self test * code CleanUp * address PR comments Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/sensors/lsm6ds3_accel.cc | 133 +++++++++++++++++++++ selfdrive/sensord/sensors/lsm6ds3_accel.h | 18 ++- selfdrive/sensord/sensors/lsm6ds3_gyro.cc | 115 +++++++++++++++++- selfdrive/sensord/sensors/lsm6ds3_gyro.h | 12 ++ selfdrive/sensord/tests/test_sensord.py | 5 + 5 files changed, 281 insertions(+), 2 deletions(-) diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc index 27cd4d0c70..c19e3de7ed 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc @@ -1,17 +1,132 @@ #include "lsm6ds3_accel.h" #include +#include +#include #include "common/swaglog.h" #include "common/timing.h" +#include "common/util.h" LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) : I2CSensor(bus, gpio_nr, shared_gpio) {} +void LSM6DS3_Accel::wait_for_data_ready() { + uint8_t drdy = 0; + uint8_t buffer[6]; + + do { + read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); + drdy &= LSM6DS3_ACCEL_DRDY_XLDA; + } while (drdy == 0); + + read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer)); +} + +void LSM6DS3_Accel::read_and_avg_data(float* out_buf) { + uint8_t drdy = 0; + uint8_t buffer[6]; + + float scaling = 0.061f; + if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) { + scaling = 0.122f; + } + + for (int i = 0; i < 5; i++) { + do { + read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); + drdy &= LSM6DS3_ACCEL_DRDY_XLDA; + } while (drdy == 0); + + int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer)); + assert(len == sizeof(buffer)); + + for (int j = 0; j < 3; j++) { + out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * scaling; + } + } + + for (int i = 0; i < 3; i++) { + out_buf[i] /= 5.0f; + } +} + +int LSM6DS3_Accel::self_test(int test_type) { + float val_st_off[3] = {0}; + float val_st_on[3] = {0}; + float test_val[3] = {0}; + uint8_t ODR_FS_MO = LSM6DS3_ACCEL_ODR_52HZ; // full scale: +-2g, ODR: 52Hz + + // prepare sensor for self-test + + // enable block data update and automatic increment + int ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC_BDU); + if (ret < 0) { + return ret; + } + + if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) { + ODR_FS_MO = LSM6DS3_ACCEL_FS_4G | LSM6DS3_ACCEL_ODR_52HZ; + } + ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, ODR_FS_MO); + if (ret < 0) { + return ret; + } + + // wait for stable output, and discard first values + util::sleep_for(100); + wait_for_data_ready(); + read_and_avg_data(val_st_off); + + // enable Self Test positive (or negative) + ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type); + if (ret < 0) { + return ret; + } + + // wait for stable output, and discard first values + util::sleep_for(100); + wait_for_data_ready(); + read_and_avg_data(val_st_on); + + // disable sensor + ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0); + if (ret < 0) { + return ret; + } + + // disable self test + ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0); + if (ret < 0) { + return ret; + } + + // calculate the mg values for self test + for (int i = 0; i < 3; i++) { + test_val[i] = fabs(val_st_on[i] - val_st_off[i]); + } + + // verify test result + for (int i = 0; i < 3; i++) { + if ((LSM6DS3_ACCEL_MIN_ST_LIMIT_mg > test_val[i]) || + (test_val[i] > LSM6DS3_ACCEL_MAX_ST_LIMIT_mg)) { + return -1; + } + } + + return ret; +} + int LSM6DS3_Accel::init() { int ret = 0; uint8_t buffer[1]; uint8_t value = 0; + bool do_self_test = false; + + const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST"); + if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) { + do_self_test = true; + } ret = read_register(LSM6DS3_ACCEL_I2C_REG_ID, buffer, 1); if(ret < 0) { @@ -29,11 +144,29 @@ int LSM6DS3_Accel::init() { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } + ret = self_test(LSM6DS3_ACCEL_POSITIVE_TEST); + if (ret < 0) { + LOGE("LSM6DS3 accel positive self-test failed!"); + if (do_self_test) goto fail; + } + + ret = self_test(LSM6DS3_ACCEL_NEGATIVE_TEST); + if (ret < 0) { + LOGE("LSM6DS3 accel negative self-test failed!"); + if (do_self_test) goto fail; + } + ret = init_gpio(); if (ret < 0) { goto fail; } + // enable continuous update, and automatic increase + ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC); + if (ret < 0) { + goto fail; + } + // TODO: set scale and bandwidth. Default is +- 2G, 50 Hz ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ); if (ret < 0) { diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/selfdrive/sensord/sensors/lsm6ds3_accel.h index 84084fc916..c3f66f5803 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.h +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.h @@ -10,21 +10,37 @@ #define LSM6DS3_ACCEL_I2C_REG_ID 0x0F #define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D #define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL 0x10 +#define LSM6DS3_ACCEL_I2C_REG_CTRL3_C 0x12 +#define LSM6DS3_ACCEL_I2C_REG_CTRL5_C 0x14 +#define LSM6DS3_ACCEL_I2C_REG_CTR9_XL 0x18 #define LSM6DS3_ACCEL_I2C_REG_STAT_REG 0x1E #define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28 // Constants #define LSM6DS3_ACCEL_CHIP_ID 0x69 #define LSM6DS3TRC_ACCEL_CHIP_ID 0x6A +#define LSM6DS3_ACCEL_FS_4G (0b10 << 2) +#define LSM6DS3_ACCEL_ODR_52HZ (0b0011 << 4) #define LSM6DS3_ACCEL_ODR_104HZ (0b0100 << 4) #define LSM6DS3_ACCEL_INT1_DRDY_XL 0b1 #define LSM6DS3_ACCEL_DRDY_XLDA 0b1 #define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7) - +#define LSM6DS3_ACCEL_IF_INC 0b00000100 +#define LSM6DS3_ACCEL_IF_INC_BDU 0b01000100 +#define LSM6DS3_ACCEL_XYZ_DEN 0b11100000 +#define LSM6DS3_ACCEL_POSITIVE_TEST 0b01 +#define LSM6DS3_ACCEL_NEGATIVE_TEST 0b10 +#define LSM6DS3_ACCEL_MIN_ST_LIMIT_mg 90.0f +#define LSM6DS3_ACCEL_MAX_ST_LIMIT_mg 1700.0f class LSM6DS3_Accel : public I2CSensor { uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;} cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; + + // self test functions + int self_test(int test_type); + void wait_for_data_ready(); + void read_and_avg_data(float* val_st_off); public: LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); int init(); diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc index 014a72bb73..f306be0fe8 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc @@ -2,19 +2,120 @@ #include #include +#include #include "common/swaglog.h" #include "common/timing.h" +#include "common/util.h" #define DEG2RAD(x) ((x) * M_PI / 180.0) LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) : I2CSensor(bus, gpio_nr, shared_gpio) {} +void LSM6DS3_Gyro::wait_for_data_ready() { + uint8_t drdy = 0; + uint8_t buffer[6]; + + do { + read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); + drdy &= LSM6DS3_GYRO_DRDY_GDA; + } while (drdy == 0); + + read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); +} + +void LSM6DS3_Gyro::read_and_avg_data(float* out_buf) { + uint8_t drdy = 0; + uint8_t buffer[6]; + + for (int i = 0; i < 5; i++) { + do { + read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy)); + drdy &= LSM6DS3_GYRO_DRDY_GDA; + } while (drdy == 0); + + int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer)); + assert(len == sizeof(buffer)); + + for (int j = 0; j < 3; j++) { + out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * 70.0f; + } + } + + // calculate the mg average values + for (int i = 0; i < 3; i++) { + out_buf[i] /= 5.0f; + } +} + +int LSM6DS3_Gyro::self_test(int test_type) { + float val_st_off[3] = {0}; + float val_st_on[3] = {0}; + float test_val[3] = {0}; + + // prepare sensor for self-test + + // full scale: 2000dps, ODR: 208Hz + int ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_208HZ | LSM6DS3_GYRO_FS_2000dps); + if (ret < 0) { + return ret; + } + + // wait for stable output, and discard first values + util::sleep_for(150); + wait_for_data_ready(); + read_and_avg_data(val_st_off); + + // enable Self Test positive (or negative) + ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type); + if (ret < 0) { + return ret; + } + + // wait for stable output, and discard first values + util::sleep_for(50); + wait_for_data_ready(); + read_and_avg_data(val_st_on); + + // disable sensor + ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0); + if (ret < 0) { + return ret; + } + + // disable self test + ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0); + if (ret < 0) { + return ret; + } + + // calculate the mg values for self test + for (int i = 0; i < 3; i++) { + test_val[i] = fabs(val_st_on[i] - val_st_off[i]); + } + + // verify test result + for (int i = 0; i < 3; i++) { + if ((LSM6DS3_GYRO_MIN_ST_LIMIT_mdps > test_val[i]) || + (test_val[i] > LSM6DS3_GYRO_MAX_ST_LIMIT_mdps)) { + return -1; + } + } + + return ret; +} + int LSM6DS3_Gyro::init() { int ret = 0; uint8_t buffer[1]; uint8_t value = 0; + bool do_self_test = false; + + const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST"); + if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) { + do_self_test = true; + } ret = read_register(LSM6DS3_GYRO_I2C_REG_ID, buffer, 1); if(ret < 0) { @@ -37,6 +138,18 @@ int LSM6DS3_Gyro::init() { goto fail; } + ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST); + if (ret < 0 ) { + LOGE("LSM6DS3 gyro positive self-test failed!"); + if (do_self_test) goto fail; + } + + ret = self_test(LSM6DS3_GYRO_NEGATIVE_TEST); + if (ret < 0) { + LOGE("LSM6DS3 gyro negative self-test failed!"); + if (do_self_test) goto fail; + } + // TODO: set scale. Default is +- 250 deg/s ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ); if (ret < 0) { @@ -65,7 +178,7 @@ fail: int LSM6DS3_Gyro::shutdown() { int ret = 0; - // disable data ready interrupt for accel on INT1 + // disable data ready interrupt for gyro on INT1 uint8_t value = 0; ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1); if (ret < 0) { diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/selfdrive/sensord/sensors/lsm6ds3_gyro.h index 6c61ffcef2..220e6b0cec 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.h @@ -10,21 +10,33 @@ #define LSM6DS3_GYRO_I2C_REG_ID 0x0F #define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D #define LSM6DS3_GYRO_I2C_REG_CTRL2_G 0x11 +#define LSM6DS3_GYRO_I2C_REG_CTRL5_C 0x14 #define LSM6DS3_GYRO_I2C_REG_STAT_REG 0x1E #define LSM6DS3_GYRO_I2C_REG_OUTX_L_G 0x22 +#define LSM6DS3_GYRO_POSITIVE_TEST (0b01 << 2) +#define LSM6DS3_GYRO_NEGATIVE_TEST (0b11 << 2) // Constants #define LSM6DS3_GYRO_CHIP_ID 0x69 #define LSM6DS3TRC_GYRO_CHIP_ID 0x6A +#define LSM6DS3_GYRO_FS_2000dps (0b11 << 2) #define LSM6DS3_GYRO_ODR_104HZ (0b0100 << 4) +#define LSM6DS3_GYRO_ODR_208HZ (0b0101 << 4) #define LSM6DS3_GYRO_INT1_DRDY_G 0b10 #define LSM6DS3_GYRO_DRDY_GDA 0b10 #define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7) +#define LSM6DS3_GYRO_MIN_ST_LIMIT_mdps 150000.0f +#define LSM6DS3_GYRO_MAX_ST_LIMIT_mdps 700000.0f class LSM6DS3_Gyro : public I2CSensor { uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;} cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3; + + // self test functions + int self_test(int test_type); + void wait_for_data_ready(); + void read_and_avg_data(float* val_st_off); public: LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false); int init(); diff --git a/selfdrive/sensord/tests/test_sensord.py b/selfdrive/sensord/tests/test_sensord.py index 82bd28446b..c6fe33129a 100755 --- a/selfdrive/sensord/tests/test_sensord.py +++ b/selfdrive/sensord/tests/test_sensord.py @@ -104,6 +104,9 @@ class TestSensord(unittest.TestCase): # make sure gpiochip0 is readable HARDWARE.initialize_hardware() + # enable LSM self test + os.environ["LSM_SELF_TEST"] = "1" + # read initial sensor values every test case can use os.system("pkill -f ./_sensord") try: @@ -118,6 +121,8 @@ class TestSensord(unittest.TestCase): @classmethod def tearDownClass(cls): managed_processes["sensord"].stop() + if "LSM_SELF_TEST" in os.environ: + del os.environ['LSM_SELF_TEST'] def tearDown(self): managed_processes["sensord"].stop() From 0b385a5650c4e0b06eb83e44bdba3fcff117beeb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 4 Nov 2022 21:04:53 -0700 Subject: [PATCH 512/685] ui: fade to default path color when inactive (#26375) * fade to default path color when inactive * long! --- selfdrive/ui/qt/onroad.cc | 2 +- selfdrive/ui/ui.cc | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 85b55697be..c4e4beb76a 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -463,7 +463,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { if (scene.end_to_end_long) { const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration(); float acceleration_future = 0; - if (acceleration.getZ().size() > 10) { + if (acceleration.getZ().size() > 10 && (*s->sm)["carControl"].getCarControl().getLongActive()) { acceleration_future = acceleration.getX()[10]; // 1.0 second } // speed up: 148, slow down: 0 diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 945218ec11..0198405769 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -214,7 +214,7 @@ void UIState::updateStatus() { UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ - "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", + "modelV2", "carControl", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements", }); From e23a25c3ae82e65b8adad47e799c588cc46bba0e Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Fri, 4 Nov 2022 21:54:06 -0700 Subject: [PATCH 513/685] fix gps test runner --- tools/gpstest/run_unittest.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/gpstest/run_unittest.sh b/tools/gpstest/run_unittest.sh index 9f93fdfc9a..e0ca017a6d 100755 --- a/tools/gpstest/run_unittest.sh +++ b/tools/gpstest/run_unittest.sh @@ -4,7 +4,7 @@ # run limeGPS with random static location timeout 300 ./simulate_gps_signal.py 32.7518 -117.1962 & -gps_PID=$(ps -aux | grep -m 1 "timeout 300" | cut -d ' ' -f 7) +gps_PID=$(ps -aux | grep -m 1 "timeout 300" | awk '{print $2}') echo "starting limeGPS..." sleep 10 From 50fddb52ba2e816123fa89a802a9e603e7407ada Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Sat, 5 Nov 2022 17:44:18 +0900 Subject: [PATCH 514/685] Multilang: kor translation update (#26380) --- selfdrive/ui/translations/main_ko.ts | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 397b43f545..f58c4f34d5 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -240,11 +240,11 @@ Reset - + 리셋 Review - + 다시보기 @@ -475,11 +475,11 @@ location set ParamControl Ok - 확인 + 확인 Cancel - 취소 + 취소 @@ -864,7 +864,7 @@ location set Uninstall - + 삭제 @@ -1070,7 +1070,7 @@ location set Forget - + 저장안함 From 5768af09c06bc5e4774a30e1f94bba32d50721c4 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Sat, 5 Nov 2022 13:24:38 -0700 Subject: [PATCH 515/685] DM: lower bound ee calib (#26370) keep in linear region --- selfdrive/monitoring/driver_monitor.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 48163dcf2a..e3f6a5094d 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -34,6 +34,7 @@ class DRIVER_MONITOR_SETTINGS(): self._EE_THRESH11 = 0.275 self._EE_THRESH12 = 5.5 self._EE_MAX_OFFSET1 = 0.06 + self._EE_MIN_OFFSET1 = 0.025 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 @@ -206,7 +207,7 @@ class DriverStatus(): distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: - ee1_dist = self.eev1 > min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1) * self.settings._EE_THRESH12 + ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) * self.settings._EE_THRESH12 else: ee1_dist = self.eev1 > self.settings._EE_THRESH11 # if self.ee2_calibrated: From e079751f79c5256b1881cb34d1a92d08faa128d7 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 5 Nov 2022 15:05:30 -0700 Subject: [PATCH 516/685] ui: revert e2e path changes (#26382) * Revert "ui: fade to default path color when inactive (#26375)" This reverts commit 0b385a5650c4e0b06eb83e44bdba3fcff117beeb. * Revert "ui: minor e2e path tweaks (#26351)" This reverts commit d257e28479f49339e7f79491ff9d67e9ba034dfe. * stronger colors 45 --- selfdrive/ui/qt/onroad.cc | 17 +++++++++-------- selfdrive/ui/qt/onroad.h | 1 - selfdrive/ui/ui.cc | 2 +- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index c4e4beb76a..bfd2f44561 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -170,7 +170,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { } -AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), accel_filter(UI_FREQ, .5, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { +AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { pm = std::make_unique>({"uiDebug"}); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); @@ -463,18 +463,19 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { if (scene.end_to_end_long) { const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration(); float acceleration_future = 0; - if (acceleration.getZ().size() > 10 && (*s->sm)["carControl"].getCarControl().getLongActive()) { - acceleration_future = acceleration.getX()[10]; // 1.0 second + if (acceleration.getZ().size() > 16) { + acceleration_future = acceleration.getX()[16]; // 2.5 seconds } - // speed up: 148, slow down: 0 - start_hue = fmax(fmin(60 + accel_filter.update(acceleration_future) * 80, 148), 0); + start_hue = 60; + // speed up: 120, slow down: 0 + end_hue = fmax(fmin(start_hue + acceleration_future * 45, 148), 0); // FIXME: painter.drawPolygon can be slow if hue is not rounded - start_hue = int(start_hue * 100 + 0.5) / 100; + end_hue = int(end_hue * 100 + 0.5) / 100; bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4)); - bg.setColorAt(0.75, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.35)); - bg.setColorAt(1.0, QColor::fromHslF(63 / 360., 1.0, 0.68, 0.0)); + bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35)); + bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0)); } else { const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation(); float orientation_future = 0; diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 1f6a49bf8c..7edca6b3d5 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -87,7 +87,6 @@ protected: double prev_draw_t = 0; FirstOrderFilter fps_filter; - FirstOrderFilter accel_filter; }; // container for all onroad widgets diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 0198405769..945218ec11 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -214,7 +214,7 @@ void UIState::updateStatus() { UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ - "modelV2", "carControl", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", + "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements", }); From ac76cc93256578f24db255cefd10c013dd906c28 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 6 Nov 2022 07:52:16 +0800 Subject: [PATCH 517/685] Cabana: cleanup code (#26369) * remove ChartView::enterEvent * cleanup ChartsWidget::removeAll * group graphics items * remove rubber->setPalette * helper function DBCManager::parseId * remove variable name from dbcManager * fix readme/Usage * use QSlider::setRange * cleanup include * use emplace_back * remove varialbe routeName from CanMessages * remove tmp variable * remove blank line * cleanup layout * clean settings layout * connect to streamStarted * cleanup signal/slot --- tools/cabana/README.md | 2 +- tools/cabana/canmessages.cc | 14 +++------- tools/cabana/canmessages.h | 5 ++-- tools/cabana/chartswidget.cc | 47 ++++++++-------------------------- tools/cabana/chartswidget.h | 3 +-- tools/cabana/dbcmanager.cc | 20 ++++++--------- tools/cabana/dbcmanager.h | 7 +++-- tools/cabana/detailwidget.cc | 8 ++---- tools/cabana/detailwidget.h | 3 --- tools/cabana/mainwin.cc | 3 +-- tools/cabana/messageswidget.cc | 2 +- tools/cabana/settings.cc | 7 ++--- tools/cabana/videowidget.cc | 13 +++++----- tools/cabana/videowidget.h | 1 - 14 files changed, 42 insertions(+), 93 deletions(-) diff --git a/tools/cabana/README.md b/tools/cabana/README.md index 99d0d4c9ce..dd131880a6 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -8,7 +8,7 @@ Cabana is a tool developed to view raw CAN data. One use for this is creating an ```bash $ ./cabana -h -Usage: ./_cabana [options] route +Usage: ./cabana [options] route Options: -h, --help Displays this help. diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 3ffc29916f..f1f5c2cd23 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -1,6 +1,5 @@ #include "tools/cabana/canmessages.h" -#include #include #include "tools/cabana/dbcmanager.h" @@ -9,7 +8,6 @@ CANMessages *can = nullptr; CANMessages::CANMessages(QObject *parent) : QObject(parent) { can = this; - QObject::connect(this, &CANMessages::received, this, &CANMessages::process, Qt::QueuedConnection); QObject::connect(&settings, &Settings::changed, this, &CANMessages::settingChanged); } @@ -24,11 +22,11 @@ static bool event_filter(const Event *e, void *opaque) { } bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { - routeName = route; replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->installEventFilter(event_filter, this); QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged); + QObject::connect(replay, &Replay::streamStarted, this, &CANMessages::streamStarted); if (replay->load()) { replay->start(); return true; @@ -40,12 +38,9 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si auto evts = events(); if (!evts) return {}; - auto l = id.split(':'); - int bus = l[0].toInt(); - uint32_t address = l[1].toUInt(nullptr, 16); - QList ret; ret.reserve(max_count); + auto [bus, address] = DBCManager::parseId(id); for (auto &evt : *evts) { if (evt->which != cereal::Event::Which::CAN) continue; @@ -101,10 +96,9 @@ bool CANMessages::eventFilter(const Event *event) { data.bus_time = c.getBusTime(); data.dat.append((char *)c.getDat().begin(), c.getDat().size()); - auto &count = counters[id]; - data.count = ++count; + data.count = ++counters[id]; if (double delta = (current_sec - counters_begin_sec); delta > 0) { - data.freq = count / delta; + data.freq = data.count / delta; } (*new_msgs)[id] = data; } diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 5fbccdbe12..14e2423d01 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -32,7 +32,7 @@ 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 routeName; } + inline QString route() 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; } @@ -47,6 +47,7 @@ public: inline const std::vector> getTimeline() { return replay->getTimeline(); } signals: + void streamStarted(); void eventsMerged(); void updated(); void received(QHash *); @@ -58,9 +59,7 @@ protected: void process(QHash *); void settingChanged(); - QString routeName; Replay *replay = nullptr; - std::mutex lock; std::atomic counters_begin_sec = 0; QHash counters; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 7540abbcb2..6432cb7079 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -176,16 +176,8 @@ void ChartsWidget::removeChart(ChartWidget *chart) { } void ChartsWidget::removeAll(const Signal *sig) { - QMutableListIterator it(charts); - while (it.hasNext()) { - auto c = it.next(); - if (sig == nullptr || c->signal == sig) { - c->deleteLater(); - emit chartClosed(c->id, c->signal); - it.remove(); - } - } - updateTitleBar(); + for (auto c : charts.toVector()) + if (!sig || c->signal == sig) removeChart(c); } void ChartsWidget::signalUpdated(const Signal *sig) { @@ -267,26 +259,21 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) chart->setMargins({0, 0, 0, 0}); chart->layout()->setContentsMargins(0, 0, 0, 0); + line_marker = new QGraphicsLineItem(chart); + line_marker->setZValue(chart->zValue() + 10); + track_line = new QGraphicsLineItem(chart); - track_line->setZValue(chart->zValue() + 10); track_line->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); track_ellipse = new QGraphicsEllipseItem(chart); - track_ellipse->setZValue(chart->zValue() + 10); track_ellipse->setBrush(Qt::darkGray); value_text = new QGraphicsTextItem(chart); - value_text->setZValue(chart->zValue() + 10); - line_marker = new QGraphicsLineItem(chart); - line_marker->setZValue(chart->zValue() + 10); + item_group = scene()->createItemGroup({track_line, track_ellipse, value_text}); + item_group->setZValue(chart->zValue() + 10); setChart(chart); setRenderHint(QPainter::Antialiasing); setRubberBand(QChartView::HorizontalRubberBand); - if (auto rubber = findChild()) { - QPalette pal; - pal.setBrush(QPalette::Base, QColor(0, 0, 0, 80)); - rubber->setPalette(pal); - } QTimer *timer = new QTimer(this); timer->setInterval(100); @@ -335,12 +322,9 @@ void ChartView::updateSeries(const std::pair range) { auto events = can->events(); if (!events) return; - auto l = id.split(':'); - int bus = l[0].toInt(); - uint32_t address = l[1].toUInt(nullptr, 16); - vals.clear(); vals.reserve((range.second - range.first) * 1000); // [n]seconds * 1000hz + auto [bus, address] = DBCManager::parseId(id); double route_start_time = can->routeStartTime(); Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + range.first) * 1e9); auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); @@ -380,17 +364,8 @@ void ChartView::updateAxisY() { } } -void ChartView::enterEvent(QEvent *event) { - track_line->setVisible(true); - value_text->setVisible(true); - track_ellipse->setVisible(true); - QChartView::enterEvent(event); -} - void ChartView::leaveEvent(QEvent *event) { - track_line->setVisible(false); - value_text->setVisible(false); - track_ellipse->setVisible(false); + item_group->setVisible(false); QChartView::leaveEvent(event); } @@ -442,9 +417,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { } value_text->setPos(text_x, pos.y() - 10); } - track_line->setVisible(value != vals.end()); - value_text->setVisible(value != vals.end()); - track_ellipse->setVisible(value != vals.end()); + item_group->setVisible(value != vals.end()); } else { setViewportUpdateMode(QGraphicsView::FullViewportUpdate); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index ff56008e7d..70e0774c3e 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -8,7 +8,6 @@ #include #include #include -#include #include #include "tools/cabana/canmessages.h" @@ -33,11 +32,11 @@ signals: private: void mouseReleaseEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *ev) override; - void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; void adjustChartMargins(); void updateAxisY(); + QGraphicsItemGroup *item_group; QGraphicsLineItem *track_line; QGraphicsEllipseItem *track_ellipse; QGraphicsTextItem *value_text; diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 0ab67dd305..3ddcf41788 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -9,8 +9,7 @@ DBCManager::DBCManager(QObject *parent) : QObject(parent) {} DBCManager::~DBCManager() {} void DBCManager::open(const QString &dbc_file_name) { - dbc_name = dbc_file_name; - dbc = const_cast(dbc_lookup(dbc_name.toStdString())); + dbc = const_cast(dbc_lookup(dbc_file_name.toStdString())); msg_map.clear(); for (auto &msg : dbc->msgs) { msg_map[msg.address] = &msg; @@ -19,7 +18,6 @@ void DBCManager::open(const QString &dbc_file_name) { } void DBCManager::open(const QString &name, const QString &content) { - this->dbc_name = name; std::istringstream stream(content.toStdString()); dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); msg_map.clear(); @@ -51,22 +49,19 @@ QString DBCManager::generateDBC() { } void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) { - auto m = const_cast(msg(id)); - if (m) { + if (auto m = const_cast(msg(id))) { m->name = name.toStdString(); m->size = size; } else { - uint32_t address = addressFromId(id); - dbc->msgs.push_back({.address = address, .name = name.toStdString(), .size = size}); - msg_map[address] = &dbc->msgs.back(); + m = &dbc->msgs.emplace_back(Msg{.address = parseId(id).second, .name = name.toStdString(), .size = size}); + msg_map[m->address] = m; } emit msgUpdated(id); } void DBCManager::addSignal(const QString &id, const Signal &sig) { if (Msg *m = const_cast(msg(id))) { - m->sigs.push_back(sig); - emit signalAdded(&m->sigs.back()); + emit signalAdded(&m->sigs.emplace_back(sig)); } } @@ -90,8 +85,9 @@ void DBCManager::removeSignal(const QString &id, const QString &sig_name) { } } -uint32_t DBCManager::addressFromId(const QString &id) { - return id.mid(id.indexOf(':') + 1).toUInt(nullptr, 16); +std::pair DBCManager::parseId(const QString &id) { + const auto list = id.split(':'); + return {list[0].toInt(), list[1].toUInt(nullptr, 16)}; } DBCManager *dbc() { diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 913445d44e..d8a8da9b7a 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -18,13 +18,13 @@ public: void updateSignal(const QString &id, const QString &sig_name, const Signal &sig); void removeSignal(const QString &id, const QString &sig_name); - static uint32_t addressFromId(const QString &id); + static std::pair parseId(const QString &id); inline static std::vector allDBCNames() { return get_dbc_names(); } - inline QString name() const { return dbc_name; } + inline QString name() const { return dbc ? dbc->name.c_str() : ""; } void updateMsg(const QString &id, const QString &name, uint32_t size); inline const DBC *getDBC() const { return dbc; } - inline const Msg *msg(const QString &id) const { return msg(addressFromId(id)); } + inline const Msg *msg(const QString &id) const { return msg(parseId(id).second); } inline const Msg *msg(uint32_t address) const { auto it = msg_map.find(address); return it != msg_map.end() ? it->second : nullptr; @@ -38,7 +38,6 @@ signals: void DBCFileChanged(); private: - QString dbc_name; DBC *dbc = nullptr; std::unordered_map msg_map; }; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index f3e3438229..db731333d3 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -277,9 +277,7 @@ void DetailWidget::removeSignal(const Signal *sig) { EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Edit message")); - QVBoxLayout *main_layout = new QVBoxLayout(this); - - QFormLayout *form_layout = new QFormLayout(); + QFormLayout *form_layout = new QFormLayout(this); form_layout->addRow("ID", new QLabel(msg_id)); name_edit = new QLineEdit(title, this); @@ -291,10 +289,8 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title size_spin->setValue(size); form_layout->addRow(tr("Size"), size_spin); - main_layout->addLayout(form_layout); - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox); + form_layout->addRow(buttonBox); setFixedWidth(parent->width() * 0.9); connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index ce3468e472..ac32d5952e 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -26,9 +26,6 @@ public: void setMessage(const QString &message_id); void dbcMsgChanged(int show_form_idx = -1); -signals: - void binaryViewMoved(bool in); - private: void updateChartState(const QString &id, const Signal *sig, bool opened); void showTabBarContextMenu(const QPoint &pt); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index c2baca4d22..be643c58d9 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -81,11 +81,10 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(this, &MainWindow::showMessage, status_bar, &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); - QObject::connect(detail_widget, &DetailWidget::binaryViewMoved, [this](bool in) { splitter->setSizes({in ? 100 : 0, 500}); }); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); - QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); + QObject::connect(can, &CANMessages::streamStarted, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); main_win = this; qInstallMessageHandler(qLogMessageHandler); diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index e80a66bce9..3639789239 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -67,7 +67,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // signals/slots QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString); - QObject::connect(can, &CANMessages::eventsMerged, this, &MessagesWidget::loadDBCFromFingerprint); + QObject::connect(can, &CANMessages::streamStarted, this, &MessagesWidget::loadDBCFromFingerprint); QObject::connect(can, &CANMessages::updated, [this]() { model->updateState(); }); QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadDBCFromPaste); diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index bba59c0d74..b173b41df3 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -36,8 +36,7 @@ void Settings::load() { SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Settings")); - QVBoxLayout *main_layout = new QVBoxLayout(this); - QFormLayout *form_layout = new QFormLayout(); + QFormLayout *form_layout = new QFormLayout(this); fps = new QSpinBox(this); fps->setRange(10, 100); @@ -74,10 +73,8 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { chart_theme->setCurrentIndex(settings.chart_theme == 1 ? 1 : 0); form_layout->addRow(tr("Chart theme"), chart_theme); - main_layout->addLayout(form_layout); - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox); + form_layout->addRow(buttonBox); setFixedWidth(360); connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 9a28f71bb9..d5e640b5f7 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -28,11 +28,9 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { slider = new Slider(this); slider->setSingleStep(0); - slider->setMinimum(0); - slider->setMaximum(can->totalSeconds() * 1000); slider_layout->addWidget(slider); - end_time_label = new QLabel(formatTime(can->totalSeconds())); + end_time_label = new QLabel(this); slider_layout->addWidget(end_time_label); main_layout->addLayout(slider_layout); @@ -61,6 +59,10 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); QObject::connect(cam_widget, &CameraWidget::clicked, [this]() { pause(!can->isPaused()); }); QObject::connect(play_btn, &QPushButton::clicked, [=]() { pause(!can->isPaused()); }); + QObject::connect(can, &CANMessages::streamStarted, [this]() { + end_time_label->setText(formatTime(can->totalSeconds())); + slider->setRange(0, can->totalSeconds() * 1000); + }); } void VideoWidget::pause(bool pause) { @@ -74,8 +76,7 @@ void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { max = can->totalSeconds(); } end_time_label->setText(formatTime(max)); - slider->setMinimum(min * 1000); - slider->setMaximum(max * 1000); + slider->setRange(min * 1000, max * 1000); } void VideoWidget::updateState() { @@ -91,7 +92,7 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { timeline = can->getTimeline(); update(); }); - timer->start(); + QObject::connect(can, SIGNAL(streamStarted()), timer, SLOT(start())); } void Slider::sliderChange(QAbstractSlider::SliderChange change) { diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 51dae4c76f..16f60b0b03 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -3,7 +3,6 @@ #include #include #include -#include #include "selfdrive/ui/qt/widgets/cameraview.h" #include "tools/cabana/canmessages.h" From ea5587d1d14e01b7a2aeae34f8abc73886699519 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 7 Nov 2022 03:03:57 +0800 Subject: [PATCH 518/685] Cabana: fix wrong hardcoded column index (#26392) fix wrong column count --- tools/cabana/messageswidget.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 3639789239..9444ea9c48 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -224,7 +224,7 @@ void MessageListModel::updateState(bool sort) { changePersistentIndex(idx, index(std::distance(msgs.begin(), it), idx.column())); } } - emit dataChanged(index(0, 0), index(msgs.size() - 1, 3), {Qt::DisplayRole}); + emit dataChanged(index(0, 0), index(msgs.size() - 1, columnCount() - 1), {Qt::DisplayRole}); } } From 529504e201a4130bad7ff9ab712e01c1341ac349 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 7 Nov 2022 03:05:14 +0800 Subject: [PATCH 519/685] Cabana: move dbc related code from MessagesWidget to MainWin (#26387) * move dbc related code to mainwin * trigger ci --- tools/cabana/mainwin.cc | 138 ++++++++++++++++++++++++++++++++- tools/cabana/mainwin.h | 31 ++++++++ tools/cabana/messageswidget.cc | 133 +------------------------------ tools/cabana/messageswidget.h | 31 -------- 4 files changed, 167 insertions(+), 166 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index be643c58d9..d3d7ff4156 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,7 +1,13 @@ #include "tools/cabana/mainwin.h" #include +#include +#include +#include +#include +#include #include +#include #include #include @@ -23,8 +29,38 @@ MainWindow::MainWindow() : QWidget() { 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); + QHBoxLayout *dbc_file_layout = new QHBoxLayout(); + 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->setEditable(true); + dbc_combo->setCurrentText(QString()); + dbc_combo->setInsertPolicy(QComboBox::NoInsert); + dbc_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); + QFont font; + font.setBold(true); + dbc_combo->lineEdit()->setFont(font); + dbc_file_layout->addWidget(dbc_combo); + + QPushButton *load_from_paste = new QPushButton(tr("Load from paste"), this); + dbc_file_layout->addWidget(load_from_paste); + + dbc_file_layout->addStretch(); + QPushButton *save_btn = new QPushButton(tr("Save DBC"), this); + dbc_file_layout->addWidget(save_btn); + messages_layout->addLayout(dbc_file_layout); + messages_widget = new MessagesWidget(this); - splitter->addWidget(messages_widget); + messages_layout->addWidget(messages_widget); + splitter->addWidget(messages_container); charts_widget = new ChartsWidget(this); detail_widget = new DetailWidget(charts_widget, this); @@ -78,16 +114,55 @@ MainWindow::MainWindow() : QWidget() { emit updateProgressBar(cur, total, success); }); + main_win = this; + qInstallMessageHandler(qLogMessageHandler); + QFile json_file("./car_fingerprint_to_dbc.json"); + if (json_file.open(QIODevice::ReadOnly)) { + fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); + } + + QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); + QObject::connect(load_from_paste, &QPushButton::clicked, this, &MainWindow::loadDBCFromPaste); + QObject::connect(save_btn, &QPushButton::clicked, this, &MainWindow::saveDBC); QObject::connect(this, &MainWindow::showMessage, status_bar, &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); + QObject::connect(can, &CANMessages::streamStarted, this, &MainWindow::loadDBCFromFingerprint); QObject::connect(can, &CANMessages::streamStarted, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); +} - main_win = this; - qInstallMessageHandler(qLogMessageHandler); +void MainWindow::loadDBCFromName(const QString &name) { + if (name != dbc()->name()) { + dbc()->open(name); + dbc_combo->setCurrentText(name); + } +} + +void MainWindow::loadDBCFromPaste() { + LoadDBCDialog dlg(this); + if (dlg.exec()) { + dbc()->open("from paste", dlg.dbc_edit->toPlainText()); + dbc_combo->setCurrentText("loaded from paste"); + } +} + +void MainWindow::loadDBCFromFingerprint() { + auto fingerprint = can->carFingerprint(); + if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) { + auto dbc_name = fingerprint_to_dbc[fingerprint]; + if (dbc_name != QJsonValue::Undefined) { + loadDBCFromName(dbc_name.toString()); + } + } +} + +void MainWindow::saveDBC() { + SaveDBCDialog dlg(this); + dlg.dbc_edit->setText(dbc()->generateDBC()); + dlg.exec(); } void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) { @@ -127,3 +202,60 @@ void MainWindow::setOption() { SettingsDlg dlg(this); dlg.exec(); } + +// LoadDBCDialog + +LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + dbc_edit = new QTextEdit(this); + dbc_edit->setAcceptRichText(false); + dbc_edit->setPlaceholderText(tr("paste DBC file here")); + main_layout->addWidget(dbc_edit); + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox); + + setMinimumSize({640, 480}); + QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); + QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} + +// SaveDBCDialog + +SaveDBCDialog::SaveDBCDialog(QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Save DBC")); + QVBoxLayout *main_layout = new QVBoxLayout(this); + dbc_edit = new QTextEdit(this); + dbc_edit->setAcceptRichText(false); + main_layout->addWidget(dbc_edit); + + QPushButton *copy_to_clipboard = new QPushButton(tr("Copy To Clipboard"), this); + QPushButton *save_as = new QPushButton(tr("Save As"), this); + + QHBoxLayout *btn_layout = new QHBoxLayout(); + btn_layout->addStretch(); + btn_layout->addWidget(copy_to_clipboard); + btn_layout->addWidget(save_as); + main_layout->addLayout(btn_layout); + setMinimumSize({640, 480}); + + QObject::connect(copy_to_clipboard, &QPushButton::clicked, this, &SaveDBCDialog::copytoClipboard); + QObject::connect(save_as, &QPushButton::clicked, this, &SaveDBCDialog::saveAs); +} + +void SaveDBCDialog::copytoClipboard() { + dbc_edit->selectAll(); + dbc_edit->copy(); + QDialog::accept(); +} + +void SaveDBCDialog::saveAs() { + QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"), + QDir::homePath() + "/untitled.dbc", tr("DBC (*.dbc)")); + if (!file_name.isEmpty()) { + QFile file(file_name); + if (file.open(QIODevice::WriteOnly)) { + file.write(dbc_edit->toPlainText().toUtf8()); + } + QDialog::accept(); + } +} diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index b77744ba9c..f6853a5ea3 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -1,8 +1,12 @@ #pragma once +#include +#include +#include #include #include #include +#include #include "tools/cabana/chartswidget.h" #include "tools/cabana/detailwidget.h" @@ -17,6 +21,12 @@ public: void dockCharts(bool dock); void showStatusMessage(const QString &msg, int timeout = 0) { status_bar->showMessage(msg, timeout); } +public slots: + void loadDBCFromName(const QString &name); + void loadDBCFromFingerprint(); + void loadDBCFromPaste(); + void saveDBC(); + signals: void showMessage(const QString &msg, int timeout); void updateProgressBar(uint64_t cur, uint64_t total, bool success); @@ -35,4 +45,25 @@ protected: QVBoxLayout *r_layout; QProgressBar *progress_bar; QStatusBar *status_bar; + QJsonDocument fingerprint_to_dbc; + QComboBox *dbc_combo; +}; + + +class LoadDBCDialog : public QDialog { + Q_OBJECT + +public: + LoadDBCDialog(QWidget *parent); + QTextEdit *dbc_edit; +}; + +class SaveDBCDialog : public QDialog { + Q_OBJECT + +public: + SaveDBCDialog(QWidget *parent); + void copytoClipboard(); + void saveAs(); + QTextEdit *dbc_edit; }; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 9444ea9c48..b2e8e50b55 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,15 +1,8 @@ #include "tools/cabana/messageswidget.h" -#include -#include -#include -#include -#include #include #include #include -#include -#include #include #include "tools/cabana/dbcmanager.h" @@ -18,31 +11,6 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); - // DBC file selector - QHBoxLayout *dbc_file_layout = new QHBoxLayout(); - 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->setEditable(true); - dbc_combo->setCurrentText(QString()); - dbc_combo->setInsertPolicy(QComboBox::NoInsert); - dbc_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); - QFont font; - font.setBold(true); - dbc_combo->lineEdit()->setFont(font); - dbc_file_layout->addWidget(dbc_combo); - - QPushButton *load_from_paste = new QPushButton(tr("Load from paste"), this); - dbc_file_layout->addWidget(load_from_paste); - - dbc_file_layout->addStretch(); - QPushButton *save_btn = new QPushButton(tr("Save DBC"), this); - dbc_file_layout->addWidget(save_btn); - main_layout->addLayout(dbc_file_layout); - // message filter QLineEdit *filter = new QLineEdit(this); filter->setClearButtonEnabled(true); @@ -67,55 +35,13 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // signals/slots QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString); - QObject::connect(can, &CANMessages::streamStarted, this, &MessagesWidget::loadDBCFromFingerprint); QObject::connect(can, &CANMessages::updated, [this]() { model->updateState(); }); - QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); - QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadDBCFromPaste); - QObject::connect(save_btn, &QPushButton::clicked, this, &MessagesWidget::saveDBC); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { model->updateState(true); }); QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { if (current.isValid()) { emit msgSelectionChanged(current.data(Qt::UserRole).toString()); } }); - - QFile json_file("./car_fingerprint_to_dbc.json"); - if (json_file.open(QIODevice::ReadOnly)) { - fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); - } -} - -void MessagesWidget::loadDBCFromName(const QString &name) { - if (name != dbc()->name()) { - dbc()->open(name); - dbc_combo->setCurrentText(name); - // re-sort model to refresh column 'Name' - model->updateState(true); - } -} - -void MessagesWidget::loadDBCFromPaste() { - LoadDBCDialog dlg(this); - if (dlg.exec()) { - dbc()->open("from paste", dlg.dbc_edit->toPlainText()); - dbc_combo->setCurrentText("loaded from paste"); - model->updateState(true); - } -} - -void MessagesWidget::loadDBCFromFingerprint() { - auto fingerprint = can->carFingerprint(); - if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) { - auto dbc_name = fingerprint_to_dbc[fingerprint]; - if (dbc_name != QJsonValue::Undefined) { - loadDBCFromName(dbc_name.toString()); - } - } -} - -void MessagesWidget::saveDBC() { - SaveDBCDialog dlg(this); - dlg.dbc_edit->setText(dbc()->generateDBC()); - dlg.exec(); } // MessageListModel @@ -235,60 +161,3 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { updateState(true); } } - -// LoadDBCDialog - -LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - dbc_edit = new QTextEdit(this); - dbc_edit->setAcceptRichText(false); - dbc_edit->setPlaceholderText(tr("paste DBC file here")); - main_layout->addWidget(dbc_edit); - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox); - - setMinimumSize({640, 480}); - QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); - QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); -} - -// SaveDBCDialog - -SaveDBCDialog::SaveDBCDialog(QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Save DBC")); - QVBoxLayout *main_layout = new QVBoxLayout(this); - dbc_edit = new QTextEdit(this); - dbc_edit->setAcceptRichText(false); - main_layout->addWidget(dbc_edit); - - QPushButton *copy_to_clipboard = new QPushButton(tr("Copy To Clipboard"), this); - QPushButton *save_as = new QPushButton(tr("Save As"), this); - - QHBoxLayout *btn_layout = new QHBoxLayout(); - btn_layout->addStretch(); - btn_layout->addWidget(copy_to_clipboard); - btn_layout->addWidget(save_as); - main_layout->addLayout(btn_layout); - setMinimumSize({640, 480}); - - QObject::connect(copy_to_clipboard, &QPushButton::clicked, this, &SaveDBCDialog::copytoClipboard); - QObject::connect(save_as, &QPushButton::clicked, this, &SaveDBCDialog::saveAs); -} - -void SaveDBCDialog::copytoClipboard() { - dbc_edit->selectAll(); - dbc_edit->copy(); - QDialog::accept(); -} - -void SaveDBCDialog::saveAs() { - QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"), - QDir::homePath() + "/untitled.dbc", tr("DBC (*.dbc)")); - if (!file_name.isEmpty()) { - QFile file(file_name); - if (file.open(QIODevice::WriteOnly)) { - file.write(dbc_edit->toPlainText().toUtf8()); - } - QDialog::accept(); - } -} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 255dce7dc8..450c7003b7 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -1,32 +1,9 @@ #pragma once #include -#include -#include -#include #include -#include #include "tools/cabana/canmessages.h" - -class LoadDBCDialog : public QDialog { - Q_OBJECT - -public: - LoadDBCDialog(QWidget *parent); - QTextEdit *dbc_edit; -}; - -class SaveDBCDialog : public QDialog { - Q_OBJECT - -public: - SaveDBCDialog(QWidget *parent); - void copytoClipboard(); - void saveAs(); - QTextEdit *dbc_edit; -}; - class MessageListModel : public QAbstractTableModel { Q_OBJECT @@ -58,18 +35,10 @@ class MessagesWidget : public QWidget { public: MessagesWidget(QWidget *parent); -public slots: - void loadDBCFromName(const QString &name); - void loadDBCFromFingerprint(); - void loadDBCFromPaste(); - void saveDBC(); - signals: void msgSelectionChanged(const QString &message_id); protected: QTableView *table_widget; - QComboBox *dbc_combo; MessageListModel *model; - QJsonDocument fingerprint_to_dbc; }; From 3dc5dbf103290355b85a146f213f733cbb1dfeb5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 7 Nov 2022 03:05:46 +0800 Subject: [PATCH 520/685] Cabana: move the chart title into graphics view (#26389) remove class ChartWidget --- tools/cabana/chartswidget.cc | 109 ++++++++++++++--------------------- tools/cabana/chartswidget.h | 45 +++++---------- 2 files changed, 55 insertions(+), 99 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 6432cb7079..9a8d95633c 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -2,9 +2,9 @@ #include #include -#include #include #include +#include #include #include #include @@ -13,7 +13,6 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); // title bar title_bar = new QWidget(this); @@ -120,14 +119,14 @@ void ChartsWidget::updateState() { if (prev_range != display_range) { QFutureSynchronizer future_synchronizer; for (auto c : charts) - future_synchronizer.addFuture(QtConcurrent::run(c->chart_view, &ChartView::updateSeries, display_range)); + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, display_range)); } } const auto &range = is_zoomed ? zoomed_range : display_range; for (auto c : charts) { - c->chart_view->setRange(range.first, range.second); - c->chart_view->updateLineMarker(current_sec); + c->setRange(range.first, range.second); + c->updateLineMarker(current_sec); } } @@ -150,11 +149,11 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show) { if (it != charts.end()) { if (!show) removeChart((*it)); } else if (show) { - auto chart = new ChartWidget(id, sig, this); - chart->chart_view->updateSeries(display_range); - QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(chart); }); - QObject::connect(chart->chart_view, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); - QObject::connect(chart->chart_view, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); + auto chart = new ChartView(id, sig, this); + chart->updateSeries(display_range); + QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); + QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); + QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); charts_layout->insertWidget(0, chart); charts.push_back(chart); emit chartOpened(chart->id, chart->signal); @@ -168,7 +167,7 @@ bool ChartsWidget::isChartOpened(const QString &id, const Signal *sig) { return it != charts.end(); } -void ChartsWidget::removeChart(ChartWidget *chart) { +void ChartsWidget::removeChart(ChartView *chart) { charts.removeOne(chart); chart->deleteLater(); updateTitleBar(); @@ -184,8 +183,8 @@ void ChartsWidget::signalUpdated(const Signal *sig) { for (auto c : charts) { if (c->signal == sig) { c->updateTitle(); - c->chart_view->updateSeries(display_range); - c->chart_view->setRange(display_range.first, display_range.second, true); + c->updateSeries(display_range); + c->setRange(display_range.first, display_range.second, true); } } } @@ -198,54 +197,6 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { return false; } -// ChartWidget - -ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) : id(id), signal(sig), QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setSpacing(0); - main_layout->setContentsMargins(0, 0, 0, 0); - - header = new QWidget(this); - QGridLayout *header_layout = new QGridLayout(header); - header_layout->setContentsMargins(11, 11, 11, 0); - msg_name_label = new QLabel(this); - msg_name_label->setTextFormat(Qt::RichText); - header_layout->addWidget(msg_name_label, 0, 0, Qt::AlignLeft); - sig_name_label = new QLabel(this); - header_layout->addWidget(sig_name_label, 0, 1, Qt::AlignCenter); //, 0, Qt::AlignCenter); - - remove_btn = new QPushButton("✖", this); - remove_btn->setFixedSize(20, 20); - remove_btn->setToolTip(tr("Remove chart")); - header_layout->addWidget(remove_btn, 0, 2, Qt::AlignRight); - main_layout->addWidget(header); - - chart_view = new ChartView(id, sig, this); - main_layout->addWidget(chart_view); - main_layout->addStretch(); - - setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); - updateTitle(); - updateFromSettings(); - - QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); - QObject::connect(&settings, &Settings::changed, this, &ChartWidget::updateFromSettings); -} - -void ChartWidget::updateTitle() { - msg_name_label->setText(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); - sig_name_label->setText(signal->name.c_str()); -} - -void ChartWidget::updateFromSettings() { - header->setStyleSheet(settings.chart_theme == 0 ? "background-color:white" : "background-color:#23242c"); - QString color_style = settings.chart_theme == 0 ? "color:black" : "color:white"; - sig_name_label->setStyleSheet("font-weight:bold;" + color_style); - msg_name_label->setStyleSheet(color_style); - remove_btn->setStyleSheet(color_style); - chart_view->updateFromSettings(); -} - // ChartView ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) @@ -256,7 +207,6 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) chart->addSeries(series); chart->createDefaultAxes(); chart->legend()->hide(); - chart->setMargins({0, 0, 0, 0}); chart->layout()->setContentsMargins(0, 0, 0, 0); line_marker = new QGraphicsLineItem(chart); @@ -270,26 +220,51 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) item_group = scene()->createItemGroup({track_line, track_ellipse, value_text}); item_group->setZValue(chart->zValue() + 10); - setChart(chart); + // title + msg_title = new QGraphicsTextItem(chart); + QToolButton *remove_btn = new QToolButton(); + remove_btn->setText("X"); + remove_btn->setAutoRaise(true); + remove_btn->setToolTip(tr("Remove Chart")); + close_btn_proxy = new QGraphicsProxyWidget(chart); + close_btn_proxy->setWidget(remove_btn); + setChart(chart); setRenderHint(QPainter::Antialiasing); setRubberBand(QChartView::HorizontalRubberBand); + updateFromSettings(); + updateTitle(); QTimer *timer = new QTimer(this); timer->setInterval(100); timer->setSingleShot(true); timer->callOnTimeout(this, &ChartView::adjustChartMargins); + QObject::connect(&settings, &Settings::changed, this, &ChartView::updateFromSettings); + QObject::connect(remove_btn, &QToolButton::clicked, [=]() { emit remove(id, sig); }); QObject::connect(chart, &QChart::plotAreaChanged, [=](const QRectF &plotArea) { // use a singleshot timer to avoid recursion call. timer->start(); }); } +void ChartView::resizeEvent(QResizeEvent *event) { + QChartView::resizeEvent(event); + msg_title->setPos(11, 6); + close_btn_proxy->setPos(event->size().width() - close_btn_proxy->size().width() - 11, 8); +} + +void ChartView::updateTitle() { + chart()->setTitle(signal->name.c_str()); + msg_title->setHtml(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); +} + void ChartView::updateFromSettings() { setFixedHeight(settings.chart_height); chart()->setTheme(settings.chart_theme == 0 ? QChart::ChartThemeLight : QChart::QChart::ChartThemeDark); - line_marker->setPen(QPen(settings.chart_theme == 0 ? Qt::black : Qt::white, 2)); + auto color = chart()->titleBrush().color(); + line_marker->setPen(QPen(color, 2)); + msg_title->setDefaultTextColor(color); } void ChartView::setRange(double min, double max, bool force_update) { @@ -305,7 +280,7 @@ void ChartView::adjustChartMargins() { const int aligned_pos = 60; if (chart()->plotArea().left() != aligned_pos) { const float left_margin = chart()->margins().left() + aligned_pos - chart()->plotArea().left(); - chart()->setMargins(QMargins(left_margin, 0, 0, 0)); + chart()->setMargins(QMargins(left_margin, 11, 0, 0)); } } @@ -314,7 +289,7 @@ void ChartView::updateLineMarker(double current_sec) { int x = chart()->plotArea().left() + chart()->plotArea().width() * (current_sec - axis_x->min()) / (axis_x->max() - axis_x->min()); if (int(line_marker->line().x1()) != x) { - line_marker->setLine(x, 0, x, height()); + line_marker->setLine(x, chart()->plotArea().top() - chart()->margins().top() + 3, x, height()); } } @@ -402,7 +377,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { if (!is_zooming) { const auto plot_area = chart()->plotArea(); auto axis_x = dynamic_cast(chart()->axisX()); - double x = std::clamp((double)ev->pos().x(), plot_area.left(), plot_area.right()-1); + double x = std::clamp((double)ev->pos().x(), plot_area.left(), plot_area.right() - 1); double sec = axis_x->min() + (axis_x->max() - axis_x->min()) * (x - plot_area.left()) / plot_area.width(); auto value = std::upper_bound(vals.begin(), vals.end(), sec, [](double x, auto &p) { return x < p.x(); }); if (value != vals.end()) { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 70e0774c3e..4d33e91cb9 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -1,10 +1,9 @@ #pragma once -#include - #include #include #include +#include #include #include #include @@ -24,48 +23,31 @@ public: void setRange(double min, double max, bool force_update = false); void updateLineMarker(double current_sec); void updateFromSettings(); + void updateTitle(); + + QString id; + const Signal *signal; signals: void zoomIn(double min, double max); void zoomReset(); + void remove(const QString &msg_id, const Signal *sig); private: void mouseReleaseEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *ev) override; void leaveEvent(QEvent *event) override; + void resizeEvent(QResizeEvent *event) override; void adjustChartMargins(); void updateAxisY(); QGraphicsItemGroup *item_group; - QGraphicsLineItem *track_line; + QGraphicsLineItem *line_marker, *track_line; QGraphicsEllipseItem *track_ellipse; - QGraphicsTextItem *value_text; - QGraphicsLineItem *line_marker; + QGraphicsTextItem *value_text, *msg_title; + QGraphicsProxyWidget *close_btn_proxy; QVector vals; - QString id; - const Signal *signal; -}; - -class ChartWidget : public QWidget { -Q_OBJECT - -public: - ChartWidget(const QString &id, const Signal *sig, QWidget *parent); - void updateTitle(); - void updateFromSettings(); - -signals: - void remove(const QString &msg_id, const Signal *sig); - -public: - QString id; - const Signal *signal; - QWidget *header; - QLabel *msg_name_label; - QLabel *sig_name_label; - QPushButton *remove_btn; - ChartView *chart_view = nullptr; -}; + }; class ChartsWidget : public QWidget { Q_OBJECT @@ -73,7 +55,7 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); void showChart(const QString &id, const Signal *sig, bool show); - void removeChart(ChartWidget *chart); + void removeChart(ChartView *chart); bool isChartOpened(const QString &id, const Signal *sig); signals: @@ -100,8 +82,7 @@ private: QPushButton *reset_zoom_btn; QPushButton *remove_all_btn; QVBoxLayout *charts_layout; - QList charts; - + QList charts; bool is_zoomed = false; std::pair event_range; std::pair display_range; From cdcc0fb3695d75e781053f9feda6b6b91a08ea86 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 7 Nov 2022 03:06:10 +0800 Subject: [PATCH 521/685] Cabana: Reimplement HistoryLog::sizeHintForColumn to improve performance (#26393) Reimplement sizeHintForColumn to improve performance --- tools/cabana/historylog.cc | 6 +++++- tools/cabana/historylog.h | 3 ++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 7bb2f37699..4b1818cf68 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -1,7 +1,6 @@ #include "tools/cabana/historylog.h" #include -#include // HistoryLogModel @@ -89,3 +88,8 @@ HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); } + +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 +} diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index e1c1319166..e8b0f5a35b 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -9,7 +9,7 @@ class HeaderView : public QHeaderView { public: HeaderView(Qt::Orientation orientation, QWidget *parent = nullptr) : QHeaderView(orientation, parent) {} - QSize sectionSizeFromContents(int logicalIndex) const; + QSize sectionSizeFromContents(int logicalIndex) const override; }; class HistoryLogModel : public QAbstractTableModel { @@ -40,5 +40,6 @@ public: void setMessage(const QString &message_id) { model->setMessage(message_id); } void updateState() { model->updateState(); } private: + int sizeHintForColumn(int column) const override; HistoryLogModel *model; }; From 45891c79079ae4404b8828d9bcfe5cd79bce0c90 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 7 Nov 2022 03:06:42 +0800 Subject: [PATCH 522/685] Cabana: use QToolBar to manage the controls in ChartsView (#26388) use QToolBar --- tools/cabana/chartswidget.cc | 73 +++++++++++++----------------------- tools/cabana/chartswidget.h | 9 ++--- 2 files changed, 30 insertions(+), 52 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 9a8d95633c..b4d6d89e6d 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -8,47 +8,31 @@ #include #include #include +#include // ChartsWidget ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - // title bar - title_bar = new QWidget(this); - title_bar->setVisible(false); - QHBoxLayout *title_layout = new QHBoxLayout(title_bar); - title_layout->setContentsMargins(0, 0, 0, 0); - title_label = new QLabel(tr("Charts")); - - title_layout->addWidget(title_label); - title_layout->addStretch(); - - range_label = new QLabel(); - title_layout->addWidget(range_label); - - reset_zoom_btn = new QPushButton("⟲", this); - reset_zoom_btn->setFixedSize(30, 30); + // toolbar + QToolBar *toolbar = new QToolBar(tr("Charts"), this); + title_label = new QLabel(); + title_label->setSizePolicy(QSizePolicy::Expanding,QSizePolicy::Preferred); + toolbar->addWidget(title_label); + 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)")); - title_layout->addWidget(reset_zoom_btn); - - remove_all_btn = new QPushButton("✖", this); + remove_all_btn = toolbar->addAction("✖"); remove_all_btn->setToolTip(tr("Remove all charts")); - remove_all_btn->setFixedSize(30, 30); - title_layout->addWidget(remove_all_btn); - - dock_btn = new QPushButton(); - dock_btn->setFixedSize(30, 30); - title_layout->addWidget(dock_btn); - - main_layout->addWidget(title_bar, 0, Qt::AlignTop); + dock_btn = toolbar->addAction(""); + main_layout->addWidget(toolbar); + updateToolBar(); // charts QWidget *charts_container = new QWidget(this); - QVBoxLayout *charts_main = new QVBoxLayout(charts_container); - charts_layout = new QVBoxLayout(); - charts_main->addLayout(charts_layout); - charts_main->addStretch(); + charts_layout = new QVBoxLayout(charts_container); + charts_layout->addStretch(); QScrollArea *charts_scroll = new QScrollArea(this); charts_scroll->setWidgetResizable(true); @@ -67,12 +51,12 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { }); QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged); QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState); - QObject::connect(remove_all_btn, &QPushButton::clicked, [this]() { removeAll(); }); - QObject::connect(reset_zoom_btn, &QPushButton::clicked, this, &ChartsWidget::zoomReset); - QObject::connect(dock_btn, &QPushButton::clicked, [this]() { + QObject::connect(remove_all_btn, &QAction::triggered, [this]() { removeAll(); }); + QObject::connect(reset_zoom_btn, &QAction::triggered, this, &ChartsWidget::zoomReset); + QObject::connect(dock_btn, &QAction::triggered, [this]() { emit dock(!docking); docking = !docking; - updateTitleBar(); + updateToolBar(); }); } @@ -91,7 +75,7 @@ void ChartsWidget::eventsMerged() { void ChartsWidget::zoomIn(double min, double max) { zoomed_range = {min, max}; is_zoomed = zoomed_range != display_range; - updateTitleBar(); + updateToolBar(); emit rangeChanged(min, max, is_zoomed); updateState(); } @@ -130,16 +114,11 @@ void ChartsWidget::updateState() { } } -void ChartsWidget::updateTitleBar() { - title_bar->setVisible(!charts.isEmpty()); - if (charts.isEmpty()) return; - - range_label->setVisible(is_zoomed); +void ChartsWidget::updateToolBar() { + remove_all_btn->setEnabled(!charts.isEmpty()); reset_zoom_btn->setEnabled(is_zoomed); - if (is_zoomed) { - range_label->setText(tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2)); - } - title_label->setText(tr("Charts (%1)").arg(charts.size())); + range_label->setText(is_zoomed ? tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : ""); + title_label->setText(charts.size() > 0 ? tr("Charts (%1)").arg(charts.size()) : tr("Charts")); dock_btn->setText(docking ? "⬈" : "⬋"); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); } @@ -159,7 +138,7 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show) { emit chartOpened(chart->id, chart->signal); updateState(); } - updateTitleBar(); + updateToolBar(); } bool ChartsWidget::isChartOpened(const QString &id, const Signal *sig) { @@ -170,7 +149,7 @@ bool ChartsWidget::isChartOpened(const QString &id, const Signal *sig) { void ChartsWidget::removeChart(ChartView *chart) { charts.removeOne(chart); chart->deleteLater(); - updateTitleBar(); + updateToolBar(); emit chartClosed(chart->id, chart->signal); } @@ -191,7 +170,7 @@ void ChartsWidget::signalUpdated(const Signal *sig) { bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { if (obj != this && event->type() == QEvent::Close) { - emit dock_btn->clicked(); + emit dock_btn->triggered(); return true; } return false; diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 4d33e91cb9..e32a6697ce 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -70,17 +70,16 @@ private: void zoomIn(double min, double max); void zoomReset(); void signalUpdated(const Signal *sig); - void updateTitleBar(); + void updateToolBar(); void removeAll(const Signal *sig = nullptr); bool eventFilter(QObject *obj, QEvent *event) override; - QWidget *title_bar; QLabel *title_label; QLabel *range_label; bool docking = true; - QPushButton *dock_btn; - QPushButton *reset_zoom_btn; - QPushButton *remove_all_btn; + QAction *dock_btn; + QAction *reset_zoom_btn; + QAction *remove_all_btn; QVBoxLayout *charts_layout; QList charts; bool is_zoomed = false; From 253e5d7f9d7741e61f010f2ffd6b82a2e908019a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 6 Nov 2022 12:17:07 -0800 Subject: [PATCH 523/685] FCW: less false positives (#26366) * Less FP for FCW * enable fcw for e2e long --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 5 +++-- selfdrive/controls/lib/longitudinal_planner.py | 3 +-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 49eb5988e2..080782ad0f 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -36,7 +36,7 @@ A_EGO_COST = 0. J_EGO_COST = 5.0 A_CHANGE_COST = 200. DANGER_ZONE_COST = 100. -CRASH_DISTANCE = .5 +CRASH_DISTANCE = .25 LEAD_DANGER_FACTOR = 0.75 LIMIT_COST = 1e6 ACADOS_SOLVER_TYPE = 'SQP_RTI' @@ -49,6 +49,7 @@ MAX_T = 10.0 T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1)] T_IDXS = np.array(T_IDXS_LST) +FCW_IDXS = T_IDXS < 5.0 T_DIFFS = np.diff(T_IDXS, prepend=[0.]) MIN_ACCEL = -3.5 MAX_ACCEL = 2.0 @@ -369,7 +370,7 @@ class LongitudinalMpc: self.params[:,4] = T_FOLLOW self.run() - if (np.any(lead_xv_0[:,0] - self.x_sol[:,0] < CRASH_DISTANCE) and + if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and radarstate.leadOne.modelProb > 0.9): self.crash_cnt += 1 else: diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 457065d3b5..5a336d18c9 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -132,8 +132,7 @@ class LongitudinalPlanner: self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution) # TODO counter is only needed because radar is glitchy, remove once radar is gone - # TODO write fcw in e2e_long mode - self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 and not sm['carState'].standstill + self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill if self.fcw: cloudlog.info("FCW triggered") From 1cf293f3a6c02bb44af9ef1e715b005104de1bc1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 7 Nov 2022 23:53:42 +0800 Subject: [PATCH 524/685] Cabana: improve message sorting,filtering and updating. (#26396) * optimize sort/filter/update * helper function msgName * cleanup --- tools/cabana/canmessages.cc | 3 +- tools/cabana/canmessages.h | 1 + tools/cabana/dbcmanager.h | 5 +- tools/cabana/detailwidget.cc | 7 +-- tools/cabana/messageswidget.cc | 108 +++++++++++++-------------------- tools/cabana/messageswidget.h | 13 ++-- 6 files changed, 56 insertions(+), 81 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index f1f5c2cd23..e670ee8c94 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -62,8 +62,9 @@ void CANMessages::process(QHash *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { can_msgs[it.key()] = it.value(); } - delete messages; emit updated(); + emit msgsReceived(messages); + delete messages; } bool CANMessages::eventFilter(const Event *event) { diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 14e2423d01..5ee33bce0d 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -50,6 +50,7 @@ signals: void streamStarted(); void eventsMerged(); void updated(); + void msgsReceived(const QHash *); void received(QHash *); public: diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index d8a8da9b7a..cbe4531d2a 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -48,5 +48,8 @@ int bigEndianStartBitsIndex(int start_bit); int bigEndianBitIndex(int index); void updateSigSizeParamsFromRange(Signal &s, int from, int to); std::pair getSignalRange(const Signal *s); - DBCManager *dbc(); +inline QString msgName(const QString &id, const char *def = "untitled") { + auto msg = dbc()->msg(id); + return msg ? msg->name.c_str() : def; +} diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index db731333d3..18510c86ea 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -132,8 +132,7 @@ void DetailWidget::setMessage(const QString &message_id) { } if (index == -1) { index = tabbar->addTab(message_id); - auto msg = dbc()->msg(message_id); - tabbar->setTabToolTip(index, msg ? msg->name.c_str() : "untitled"); + tabbar->setTabToolTip(index, msgName(message_id)); } tabbar->setCurrentIndex(index); msg_id = message_id; @@ -173,7 +172,7 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { } edit_btn->setVisible(true); - name_label->setText(msg ? msg->name.c_str() : "untitled"); + name_label->setText(msgName(msg_id)); binary_view->setMessage(msg_id); history_log->setMessage(msg_id); @@ -212,7 +211,7 @@ void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool o void DetailWidget::editMsg() { auto msg = dbc()->msg(msg_id); - QString name = msg ? msg->name.c_str() : "untitled"; + QString name = msgName(msg_id); int size = msg ? msg->size : can->lastMessage(msg_id).dat.size(); EditMessageDialog dlg(msg_id, name, size, this); if (dlg.exec()) { diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index b2e8e50b55..f24b6b0317 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -35,13 +35,19 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // signals/slots QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString); - QObject::connect(can, &CANMessages::updated, [this]() { model->updateState(); }); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { model->updateState(true); }); + QObject::connect(can, &CANMessages::msgsReceived, model, &MessageListModel::msgsReceived); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages); + QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages); QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { - if (current.isValid()) { - emit msgSelectionChanged(current.data(Qt::UserRole).toString()); + if (current.isValid() && current.row() < model->msgs.size()) { + current_msg_id = model->msgs[current.row()]; + emit msgSelectionChanged(current_msg_id); } }); + QObject::connect(model, &MessageListModel::modelReset, [this]() { + if (int row = model->msgs.indexOf(current_msg_id); row != -1) + table_widget->selectionModel()->select(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect); + }); } // MessageListModel @@ -54,103 +60,71 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { - const auto &m = msgs[index.row()]; - auto &can_data = can->lastMessage(m->id); + const auto &id = msgs[index.row()]; + auto &can_data = can->lastMessage(id); switch (index.column()) { - case 0: return m->name; - case 1: return m->id; + case 0: return msgName(id); + case 1: return id; case 2: return can_data.freq; case 3: return can_data.count; case 4: return toHex(can_data.dat); } - } else if (role == Qt::UserRole) { - return msgs[index.row()]->id; - } else if (role == Qt::FontRole) { - if (index.column() == columnCount() - 1) { - return QFontDatabase::systemFont(QFontDatabase::FixedFont); - } + } else if (role == Qt::FontRole && index.column() == columnCount() - 1) { + return QFontDatabase::systemFont(QFontDatabase::FixedFont); } return {}; } -void MessageListModel::setFilterString(const QString &string) { +void MessageListModel::setFilterString(const QString &string) { filter_str = string; - updateState(true); -} - -bool MessageListModel::updateMessages(bool sort) { - if (msgs.size() == can->can_msgs.size() && filter_str.isEmpty() && !sort) - return false; - - // update message list - int i = 0; bool search_id = filter_str.contains(':'); + msgs.clear(); for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { - const Msg *msg = dbc()->msg(it.key()); - QString msg_name = msg ? msg->name.c_str() : "untitled"; - if (!filter_str.isEmpty() && !(search_id ? it.key() : msg_name).contains(filter_str, Qt::CaseInsensitive)) - continue; - auto &m = i < msgs.size() ? msgs[i] : msgs.emplace_back(new Message); - m->id = it.key(); - m->name = msg_name; - ++i; + if ((search_id ? it.key() : msgName(it.key())).contains(filter_str, Qt::CaseInsensitive)) + msgs.push_back(it.key()); } - msgs.resize(i); + sortMessages(); +} +void MessageListModel::sortMessages() { + beginResetModel(); if (sort_column == 0) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - bool ret = l->name < r->name || (l->name == r->name && l->id < r->id); + bool ret = std::pair{msgName(l), l} < std::pair{msgName(r), r}; return sort_order == Qt::AscendingOrder ? ret : !ret; }); } else if (sort_column == 1) { std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - return sort_order == Qt::AscendingOrder ? l->id < r->id : l->id > r->id; + return sort_order == Qt::AscendingOrder ? l < r : l > r; }); } else if (sort_column == 2) { - // sort by frequency std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - uint32_t lfreq = can->lastMessage(l->id).freq; - uint32_t rfreq = can->lastMessage(r->id).freq; - bool ret = lfreq < rfreq || (lfreq == rfreq && l->id < r->id); + bool ret = std::pair{can->lastMessage(l).freq, l} < std::pair{can->lastMessage(r).freq, r}; return sort_order == Qt::AscendingOrder ? ret : !ret; }); } else if (sort_column == 3) { - // sort by count std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - uint32_t lcount = can->lastMessage(l->id).count; - uint32_t rcount = can->lastMessage(r->id).count; - bool ret = lcount < rcount || (lcount == rcount && l->id < r->id); + bool ret = std::pair{can->lastMessage(l).count, l} < std::pair{can->lastMessage(r).count, r}; return sort_order == Qt::AscendingOrder ? ret : !ret; }); } - return true; + endResetModel(); } -void MessageListModel::updateState(bool sort) { +void MessageListModel::msgsReceived(const QHash *new_msgs) { int prev_row_count = msgs.size(); - auto prev_idx = persistentIndexList(); - QString selected_msg_id = prev_idx.empty() ? "" : prev_idx[0].data(Qt::UserRole).toString(); - - bool msg_updated = updateMessages(sort); - int delta = msgs.size() - prev_row_count; - if (delta > 0) { - beginInsertRows({}, prev_row_count, msgs.size() - 1); - endInsertRows(); - } else if (delta < 0) { - beginRemoveRows({}, msgs.size(), prev_row_count - 1); - endRemoveRows(); + if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) { + msgs = can->can_msgs.keys(); } - - if (!msgs.empty()) { - if (msg_updated && !prev_idx.isEmpty()) { - // keep selection - auto it = std::find_if(msgs.begin(), msgs.end(), [&](auto &m) { return m->id == selected_msg_id; }); - if (it != msgs.end()) { - for (auto &idx : prev_idx) - changePersistentIndex(idx, index(std::distance(msgs.begin(), it), idx.column())); - } + if (msgs.size() != prev_row_count) { + sortMessages(); + return; + } + for (int i = 0; i < msgs.size(); ++i) { + if (new_msgs->contains(msgs[i])) { + for (int col = 2; col < columnCount(); ++col) + emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole}); } - emit dataChanged(index(0, 0), index(msgs.size() - 1, columnCount() - 1), {Qt::DisplayRole}); } } @@ -158,6 +132,6 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { if (column != columnCount() - 1) { sort_column = column; sort_order = order; - updateState(true); + sortMessages(); } } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 450c7003b7..3a42bed4be 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -4,6 +4,7 @@ #include #include "tools/cabana/canmessages.h" + class MessageListModel : public QAbstractTableModel { Q_OBJECT @@ -14,16 +15,12 @@ public: QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; - void updateState(bool sort = false); void setFilterString(const QString &string); + void msgsReceived(const QHash *new_msgs = nullptr); + void sortMessages(); + QStringList msgs; private: - bool updateMessages(bool sort); - - struct Message { - QString id, name; - }; - std::vector> msgs; QString filter_str; int sort_column = 0; Qt::SortOrder sort_order = Qt::AscendingOrder; @@ -34,11 +31,11 @@ class MessagesWidget : public QWidget { public: MessagesWidget(QWidget *parent); - signals: void msgSelectionChanged(const QString &message_id); protected: QTableView *table_widget; + QString current_msg_id; MessageListModel *model; }; From 1fe45ab3c5bae9983c11a82fed04167802f75b36 Mon Sep 17 00:00:00 2001 From: Alen <3875050+alenl2@users.noreply.github.com> Date: Mon, 7 Nov 2022 23:07:40 +0100 Subject: [PATCH 525/685] Kia EV6: Add EU fwdCamera firmware (#26398) --- 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 536af7cf01..972aad0c90 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1374,6 +1374,7 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.05 99210-CV000 211027', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.06 99210-CV000 220328', b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.05 99210-CV000 211027', + b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328', ], }, CAR.IONIQ_5: { From ed3bf4f12332556c6684141f1a8b2aed6b342ecc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 7 Nov 2022 16:39:53 -0800 Subject: [PATCH 526/685] onroad ui: fix opacity affecting other drawn icons (#26378) * save painter in drawIcon * fix * Update selfdrive/ui/qt/onroad.cc --- selfdrive/ui/qt/onroad.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index bfd2f44561..b4925c2f73 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -404,6 +404,7 @@ void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &t } void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) { + p.setOpacity(1.0); // bg dictates opacity of ellipse p.setPen(Qt::NoPen); p.setBrush(bg); p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius); From ea813a9a7dd1457899d5c1fe5ac67449c674eb0f Mon Sep 17 00:00:00 2001 From: brownspaceman Date: Mon, 7 Nov 2022 16:48:54 -0800 Subject: [PATCH 527/685] Subaru: add missing engine FW for 2019 Impreza (#26385) added fw for 2019 subaru impreza --- selfdrive/car/subaru/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index da5ff1785a..7a1e9a8a3d 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -196,6 +196,7 @@ FW_VERSIONS = { b'\xaa!dt\a', b'\xc5!ar\a', b'\xbe!as\a', + b'\xc5!as\x07', b'\xc5!ds\a', b'\xc5!`s\a', b'\xaa!au\a', From 1b6e37daa64c6fda8eaf0ade26d6d8c11274ef68 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Mon, 7 Nov 2022 19:51:32 -0500 Subject: [PATCH 528/685] Hyundai: update Ioniq 5 HDA I supported model years (#26376) * Hyundai: Add FW for 2023 Ioniq 5 HDA2 * Update values.py * Update CARS.md * Update values.py * Update CARS.md --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index c347868968..7066b94f61 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -60,7 +60,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| -|Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |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| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 972aad0c90..4b2ef474b8 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -145,7 +145,7 @@ 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" , "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_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), From e9eb5d99ff659a3f5e1b4e0bead321c469d8d889 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Mon, 7 Nov 2022 17:01:24 -0800 Subject: [PATCH 529/685] [torqued] Fix high speed oscillations (#26338) * modify low speed factor during high speeds and rescale friction * update refs --- selfdrive/car/interfaces.py | 2 +- selfdrive/controls/lib/latcontrol_torque.py | 8 +++++--- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 4647a04244..982ba40b17 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -23,7 +23,7 @@ TorqueFromLateralAccelCallbackType = Callable[[float, car.CarParams.LateralTorqu MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 -FRICTION_THRESHOLD = 0.2 +FRICTION_THRESHOLD = 0.3 TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 51676086ba..d10d39d945 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -17,7 +17,8 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # friction in the steering wheel that needs to be overcome to # move it at all, this is compensated for too. -LOW_SPEED_FACTOR = 200 +LOW_SPEED_X = [0, 10, 20, 30] +LOW_SPEED_Y = [15, 13, 10, 5] class LatControlTorque(LatControl): @@ -57,8 +58,9 @@ class LatControlTorque(LatControl): actual_lateral_accel = actual_curvature * CS.vEgo ** 2 lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - setpoint = desired_lateral_accel + LOW_SPEED_FACTOR * desired_curvature - measurement = actual_lateral_accel + LOW_SPEED_FACTOR * actual_curvature + low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2 + setpoint = desired_lateral_accel + low_speed_factor * desired_curvature + measurement = actual_lateral_accel + low_speed_factor * actual_curvature error = setpoint - measurement gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 8bc13f37d4..0608a6d14b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -24a8d02b148b7f6d20f641d56a7bed71c244b6e3 \ No newline at end of file +2991a54ea491633f93fae76da4f5f1d265ce311a \ No newline at end of file From f63f0de80a78ade6ad12fe98ea27094035d97457 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Mon, 7 Nov 2022 17:49:36 -0800 Subject: [PATCH 530/685] E2e long model: calibrate model speed to wheel speed (#26395) * calibrate! * Fix test * Fix proc replay * check len * get v_ego from model 8501d20-bb59-4193-aa82-82b2737dedd6/449 609d90f3-65e6-4617-a60c-d6d99eead408/700 * bump cereal * initialize v_model_error * typo * better names * cleanup * bump cereal * update model replay ref commit * bump to cereal master Co-authored-by: Yassine Yousfi --- cereal | 2 +- selfdrive/controls/lib/longitudinal_planner.py | 12 ++++++++---- selfdrive/modeld/models/driving.cc | 11 +++++++++++ selfdrive/modeld/models/driving.h | 9 +++++++++ selfdrive/modeld/models/supercombo.onnx | 4 ++-- .../test/process_replay/model_replay_ref_commit | 2 +- 6 files changed, 32 insertions(+), 8 deletions(-) diff --git a/cereal b/cereal index 1d25fc3f20..cdba1aafec 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 1d25fc3f202d5ddeee97848480323e9b14f9bdfa +Subproject commit cdba1aafec5e36505ef6ace675568e1f15003c47 diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 5a336d18c9..19ea40a8f4 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -58,6 +58,7 @@ class LongitudinalPlanner: self.a_desired = init_a self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) + self.v_model_error = 0.0 self.v_desired_trajectory = np.zeros(CONTROL_N) self.a_desired_trajectory = np.zeros(CONTROL_N) @@ -68,12 +69,12 @@ class LongitudinalPlanner: e2e = self.params.get_bool('EndToEndLong') and self.CP.openpilotLongitudinalControl self.mpc.mode = 'blended' if e2e else 'acc' - def parse_model(self, model_msg): + def parse_model(self, model_msg, model_error): if (len(model_msg.position.x) == 33 and len(model_msg.velocity.x) == 33 and len(model_msg.acceleration.x) == 33): - x = np.interp(T_IDXS_MPC, T_IDXS, model_msg.position.x) - v = np.interp(T_IDXS_MPC, T_IDXS, model_msg.velocity.x) + x = np.interp(T_IDXS_MPC, T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC + v = np.interp(T_IDXS_MPC, T_IDXS, model_msg.velocity.x) - model_error a = np.interp(T_IDXS_MPC, T_IDXS, model_msg.acceleration.x) j = np.zeros(len(T_IDXS_MPC)) else: @@ -112,6 +113,9 @@ class LongitudinalPlanner: # Prevent divergence, smooth in current v_ego self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego)) + # Compute model v_ego error + if len(sm['modelV2'].temporalPose.trans): + self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego if force_slow_decel: # if required so, force a smooth deceleration @@ -124,7 +128,7 @@ class LongitudinalPlanner: self.mpc.set_weights(prev_accel_constraint) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) - x, v, a, j = self.parse_model(sm['modelV2']) + x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) self.mpc.update(sm['carState'], sm['radarState'], v_cruise, x, v, a, j) self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution) diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index cc4a83de62..4015731c42 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -337,6 +337,17 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out for (int i=0; i Date: Mon, 7 Nov 2022 18:25:39 -0800 Subject: [PATCH 531/685] [controlsd] Revert Rav4 TSS2 to PID control (#26403) * revert rav4 tss2 to pid control * Update interface.py --- selfdrive/car/toyota/interface.py | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 02e4caa9d6..6c360fc2c7 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -110,6 +110,19 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kpV = [0.6] + ret.lateralTuning.pid.kiV = [0.1] + ret.lateralTuning.pid.kf = 0.00007818594 + + # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. + # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 + for fw in car_fw: + if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): + ret.lateralTuning.pid.kpV = [0.15] + ret.lateralTuning.pid.kiV = [0.05] + ret.lateralTuning.pid.kf = 0.00004 + break elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): stop_and_go = True From e971bb11c2170d8d6d66f430741d7234a77a0499 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 7 Nov 2022 22:14:47 -0800 Subject: [PATCH 532/685] Hyundai: bump safety params (#26407) * bump panda * bump panda * bump panda * update refs * bump panda * bump panda --- panda | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 4 ++-- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/panda b/panda index f3fc343262..ca681ff829 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit f3fc343262818801f037e9dca1a96ca99d7e64c5 +Subproject commit ca681ff8299c91491558c0e44f4a4779dc0a2998 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0608a6d14b..3120b8a7cf 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2991a54ea491633f93fae76da4f5f1d265ce311a \ No newline at end of file +cf8700aa252d55d4d5b9f5bec136e34151c2de61 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 5c754d9312..c58909bf7f 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"), # HYUNDAI.KIA_EV6 + ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 @@ -41,7 +41,7 @@ source_segments = [ segments = [ ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"), ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"), - ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"), + ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"), ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"), ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"), From d62cdc400ce5f49b22ac42d5e9b74398e7c636b6 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Tue, 8 Nov 2022 02:03:36 -0500 Subject: [PATCH 533/685] HKG: Car Port for Genesis GV70 2022 (#26373) * HKG: Car Port for Genesis GV70 2023 thanks to @zunichky! Co-authored-by: kyle zunich * Update docs * Update selfdrive/car/hyundai/values.py * GV70 does radar SCC, separate them * One more * bump panda * Gate 0x1A0 away from bus 6 * Can't leave out the OG * EV6 non-HDA2 too? * bump panda * bump panda * Check 0x1a0 based on param * bump panda * bump panda * bit simpler * fix bit op * fixes * bump panda to master * cmt * flip Co-authored-by: kyle zunich Co-authored-by: Shane Smiskol --- RELEASES.md | 1 + docs/CARS.md | 3 ++- panda | 2 +- selfdrive/car/hyundai/carstate.py | 16 +++++++++------- selfdrive/car/hyundai/interface.py | 10 +++++++++- selfdrive/car/hyundai/values.py | 17 ++++++++++++++++- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 8 files changed, 40 insertions(+), 11 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 83b3ac46f4..4103361b93 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -15,6 +15,7 @@ Version 0.8.17 (2022-XX-XX) * Added button to bookmark events while driving; view them later in comma connect * AGNOS 6 * tools: new and improved cabana thanks to deanlee! +* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin! * Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin! * Kia Sportage 2023 support thanks to sunnyhaibin! * Kia Sportage Hybrid 2023 support thanks to sunnyhaibin! diff --git a/docs/CARS.md b/docs/CARS.md index 7066b94f61..04f7712016 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. -# 213 Supported Cars +# 214 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -31,6 +31,7 @@ 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| |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| diff --git a/panda b/panda index ca681ff829..1ccdff90c5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ca681ff8299c91491558c0e44f4a4779dc0a2998 +Subproject commit 1ccdff90c564154489a3394691a4830a4ae19027 diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 7cf1515fda..2c309fa0df 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -200,7 +200,7 @@ class CarState(CarStateBase): self.is_metric = cp.vl["CLUSTER_INFO"]["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 if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam + cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1 ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2) @@ -467,7 +467,7 @@ class CarState(CarStateBase): ("BLINDSPOTS_REAR_CORNERS", 20), ] - if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl: + if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl: signals += [ ("ACCMode", "SCC_CONTROL"), ("VSetDis", "SCC_CONTROL"), @@ -504,11 +504,13 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser_canfd(CP): + signals = [] + checks = [] if CP.flags & HyundaiFlags.CANFD_HDA2: - signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)] - checks = [("CAM_0x2a4", 20)] - else: - signals = [ + signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)] + checks += [("CAM_0x2a4", 20)] + elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC: + signals += [ ("COUNTER", "SCC_CONTROL"), ("NEW_SIGNAL_1", "SCC_CONTROL"), ("MainMode_ACC", "SCC_CONTROL"), @@ -521,7 +523,7 @@ class CarState(CarStateBase): ("VSetDis", "SCC_CONTROL"), ] - checks = [ + checks += [ ("SCC_CONTROL", 50), ] diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 6c8d0076f1..0306f7e104 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, 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, CarControllerParams 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 @@ -44,6 +44,8 @@ class CarInterface(CarInterfaceBase): # ICE cars do not have 0x130; GEARS message on 0x40 instead if 0x130 not in fingerprint[4]: ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value + if candidate not in CANFD_RADAR_SCC_CAR: + ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 @@ -200,6 +202,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 12.9 + elif candidate == CAR.GENESIS_GV70_1ST_GEN: + ret.mass = 1950. + STD_CARGO_KG + ret.wheelbase = 2.87 + ret.steerRatio = 14.6 elif candidate == CAR.GENESIS_G80: ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 @@ -244,6 +250,8 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS + if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC: + ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC else: if candidate in LEGACY_SAFETY_MODE_CAR: # these cars require a special panda safety mode due to missing counters and checksums in the messages diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 4b2ef474b8..e5ddc5cac7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -48,6 +48,7 @@ class HyundaiFlags(IntFlag): CANFD_HDA2 = 1 CANFD_ALT_BUTTONS = 2 CANFD_ALT_GEARS = 4 + CANFD_CAMERA_SCC = 8 class CAR: @@ -100,6 +101,7 @@ class CAR: # Genesis GENESIS_G70 = "GENESIS G70 2018" GENESIS_G70_2020 = "GENESIS G70 2020" + GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN" GENESIS_G80 = "GENESIS G80 2017" GENESIS_G90 = "GENESIS G90 2017" @@ -188,6 +190,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { # Genesis 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), CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h), CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c), } @@ -1423,6 +1426,14 @@ FW_VERSIONS = { b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', ], }, + CAR.GENESIS_GV70_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JK1 MFC AT USA LHD 1.00 1.04 99211-AR000 210204', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', + ], + }, } CHECKSUM = { @@ -1440,7 +1451,10 @@ 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}, } -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} +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} + +# The radar does SCC on these cars when HDA I, rather than the camera +CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, } # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } @@ -1500,4 +1514,5 @@ DBC = { CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None), 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), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index bf949d3492..d0051454a6 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -81,6 +81,7 @@ routes = [ CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), 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), CarTestRoute("f0709d2bc6ca451f|2022-10-15--08-13-54", HYUNDAI.SANTA_CRUZ_1ST_GEN), CarTestRoute("4dbd55df87507948|2022-03-01--09-45-38", HYUNDAI.SANTA_FE), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index c5a316aaaf..2ef5a1cd0f 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -34,6 +34,7 @@ HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0] HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0] KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.0] KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0] +GENESIS GV70 1ST GEN: [2.42, 2.42, 0.01] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From 52a644e6564582632559255230c82b550db50c76 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 8 Nov 2022 00:03:23 -0800 Subject: [PATCH 534/685] Toyota: add hysteresis to cluster speed (#26386) * add hysteresis to cluster speed * add minimum cluster scaling * fix * Update ref_commit --- selfdrive/car/toyota/carstate.py | 2 ++ selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 4758149916..a959633281 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -15,6 +15,8 @@ class CarState(CarStateBase): can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) self.shifter_values = can_define.dv["GEAR_PACKET"]["GEAR"] self.eps_torque_scale = EPS_SCALE[CP.carFingerprint] / 100. + self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2. + self.cluster_min_speed = CV.KPH_TO_MS / 2. # On cars with cp.vl["STEER_TORQUE_SENSOR"]["STEER_ANGLE"] # the signal is zeroed to where the steering angle is at start. diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3120b8a7cf..08eb063d41 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -cf8700aa252d55d4d5b9f5bec136e34151c2de61 \ No newline at end of file +caa8fb2a046a6c2c186e66af339212a5fae6b7a4 From 5960ba5def7c42b3944f96cf103a0c4a6e633754 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 8 Nov 2022 12:49:22 -0800 Subject: [PATCH 535/685] UI: widecam only in e2e mode (#26412) --- selfdrive/ui/qt/onroad.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index b4925c2f73..15672d33c1 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -567,6 +567,7 @@ void AnnotatedCameraWidget::paintGL() { } else if (v_ego > 15) { wide_cam_requested = false; } + wide_cam_requested = wide_cam_requested && s->scene.end_to_end_long; // TODO: also detect when ecam vision stream isn't available // for replay of old routes, never go to widecam wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; From 8ba9a5107b353cc0fc5ab3bbab589b70c2fe9aaa Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 8 Nov 2022 13:21:07 -0800 Subject: [PATCH 536/685] boardd: SPI support (#26374) * spi handle * put usb back * handle eintr Co-authored-by: Comma Device --- common/util.cc | 9 ++ common/util.h | 1 + release/files_common | 1 + selfdrive/boardd/SConscript | 4 +- selfdrive/boardd/panda.cc | 6 +- selfdrive/boardd/panda_comms.h | 22 +++ selfdrive/boardd/spi.cc | 252 +++++++++++++++++++++++++++++++ system/hardware/tici/hardware.py | 3 + 8 files changed, 295 insertions(+), 3 deletions(-) create mode 100644 selfdrive/boardd/spi.cc diff --git a/common/util.cc b/common/util.cc index b6a8322a27..010fe8a11a 100644 --- a/common/util.cc +++ b/common/util.cc @@ -1,5 +1,6 @@ #include "common/util.h" +#include #include #include @@ -149,6 +150,14 @@ int safe_fflush(FILE *stream) { return ret; } +int safe_ioctl(int fd, unsigned long request, void *argp) { + int ret; + do { + ret = ioctl(fd, request, argp); + } while ((ret == -1) && (errno == EINTR)); + return ret; +} + std::string readlink(const std::string &path) { char buff[4096]; ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1); diff --git a/common/util.h b/common/util.h index e13f4dc130..b46f7bde4a 100644 --- a/common/util.h +++ b/common/util.h @@ -86,6 +86,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR FILE* safe_fopen(const char* filename, const char* mode); size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream); int safe_fflush(FILE *stream); +int safe_ioctl(int fd, unsigned long request, void *argp); std::string readlink(const std::string& path); bool file_exists(const std::string& fn); diff --git a/release/files_common b/release/files_common index 61d16a2088..26662f1ef1 100644 --- a/release/files_common +++ b/release/files_common @@ -90,6 +90,7 @@ selfdrive/boardd/boardd_api_impl.pyx selfdrive/boardd/can_list_to_can_capnp.cc selfdrive/boardd/panda.cc selfdrive/boardd/panda.h +selfdrive/boardd/spi.cc selfdrive/boardd/panda_comms.h selfdrive/boardd/panda_comms.cc selfdrive/boardd/set_time.py diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript index 356b5de663..d99e67a9f0 100644 --- a/selfdrive/boardd/SConscript +++ b/selfdrive/boardd/SConscript @@ -1,9 +1,9 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging') libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] -env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc'], LIBS=libs) +env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) if GetOption('test'): - env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc'], LIBS=libs) + env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index e68558632e..deccee3e76 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -12,7 +12,11 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { // TODO: support SPI here one day... - handle = std::make_unique(serial); + if (serial.find("spi") != std::string::npos) { + handle = std::make_unique(serial); + } else { + handle = std::make_unique(serial); + } hw_type = get_hw_type(); diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index c5143b16b3..08d0c1a2af 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -8,6 +8,7 @@ #include #define TIMEOUT 0 +#define SPI_BUF_SIZE 1024 // comms base class @@ -49,3 +50,24 @@ private: std::vector recv_buf; void handle_usb_issue(int err, const char func[]); }; + +class PandaSpiHandle : public PandaCommsHandle { +public: + PandaSpiHandle(std::string serial); + ~PandaSpiHandle(); + int control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout=TIMEOUT); + int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT); + int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT); + void cleanup(); + + static std::vector list(); + +private: + int spi_fd = -1; + int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); + int wait_for_ack(); + + uint8_t tx_buf[SPI_BUF_SIZE]; + uint8_t rx_buf[SPI_BUF_SIZE]; +}; diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc new file mode 100644 index 0000000000..1ec5e89c71 --- /dev/null +++ b/selfdrive/boardd/spi.cc @@ -0,0 +1,252 @@ +#include +#include + +#include +#include + +#include "common/util.h" +#include "common/swaglog.h" +#include "selfdrive/boardd/panda_comms.h" + + +#define SPI_SYNC 0x5AU +#define SPI_HACK 0x79U +#define SPI_DACK 0x85U +#define SPI_NACK 0x1FU +#define SPI_CHECKSUM_START 0xABU + +struct __attribute__((packed)) spi_header { + uint8_t sync; + uint8_t endpoint; + uint16_t tx_len; + uint16_t max_rx_len; +}; + +struct __attribute__((packed)) spi_control_packet { + uint16_t request; + uint16_t param1; + uint16_t param2; + uint16_t length; +}; + + +PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { + LOGD("opening SPI panda: %s", serial.c_str()); + + int err; + uint32_t spi_mode = SPI_MODE_0; + uint32_t spi_speed = 30000000; + uint8_t spi_bits_per_word = 8; + + spi_fd = open(serial.c_str(), O_RDWR); + if (spi_fd < 0) { + LOGE("failed setting SPI mode %d", err); + goto fail; + } + + // SPI settings + err = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode); + if (err < 0) { + LOGE("failed setting SPI mode %d", err); + goto fail; + } + + err = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); + if (err < 0) { + LOGE("failed setting SPI speed"); + goto fail; + } + + err = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word); + if (err < 0) { + LOGE("failed setting SPI bits per word"); + goto fail; + } + + return; + +fail: + cleanup(); + throw std::runtime_error("Error connecting to panda"); +} + +PandaSpiHandle::~PandaSpiHandle() { + std::lock_guard lk(hw_lock); + cleanup(); +} + +void PandaSpiHandle::cleanup() { + if (spi_fd != -1) { + close(spi_fd); + spi_fd = -1; + } +} + + + +int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) { + int err; + + std::lock_guard lk(hw_lock); + do { + spi_control_packet packet = { + .request = request, + .param1 = param1, + .param2 = param2, + .length = 0 + }; + + // TODO: handle error + err = spi_transfer(0, (uint8_t *) &packet, sizeof(packet), NULL, 0); + } while (err < 0 && connected); + + return err; +} + +int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) { + int err; + + std::lock_guard lk(hw_lock); + do { + spi_control_packet packet = { + .request = request, + .param1 = param1, + .param2 = param2, + .length = length + }; + + // TODO: handle error + err = spi_transfer(0, (uint8_t *) &packet, sizeof(packet), data, length); + } while (err < 0 && connected); + + return err; +} + +int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + return 0; +} + +int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { + return 0; +} + +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++) { + data[data_len] ^= data[i]; + } +} + + +int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { + int ret; + uint16_t rx_data_len; + + // needs to be less, since we need to have space for the checksum + assert(tx_len < SPI_BUF_SIZE); + assert(max_rx_len < SPI_BUF_SIZE); + + spi_header header = { + .sync = SPI_SYNC, + .endpoint = endpoint, + .tx_len = tx_len, + .max_rx_len = max_rx_len + }; + + spi_ioc_transfer transfer = { + .tx_buf = (uint64_t)tx_buf, + .rx_buf = (uint64_t)rx_buf + }; + + // Send header + memcpy(tx_buf, &header, sizeof(header)); + add_checksum(tx_buf, sizeof(header)); + transfer.len = sizeof(header) + 1; + ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to send header"); + goto transfer_fail; + } + + // Wait for (N)ACK + tx_buf[0] = 0x12; + transfer.len = 1; + while (true) { + ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to send ACK request"); + goto transfer_fail; + } + + if (rx_buf[0] == SPI_HACK) { + break; + } else if (rx_buf[0] == SPI_NACK) { + LOGW("SPI: got header NACK"); + goto transfer_fail; + } + } + + // Send data + if (tx_data != NULL) { + memcpy(tx_buf, tx_data, tx_len); + } + add_checksum(tx_buf, tx_len); + transfer.len = tx_len + 1; + ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to send data"); + goto transfer_fail; + } + + // Wait for (N)ACK + tx_buf[0] = 0xab; + transfer.len = 1; + while (true) { + ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to send ACK request"); + goto transfer_fail; + } + + if (rx_buf[0] == SPI_DACK) { + break; + } else if (rx_buf[0] == SPI_NACK) { + LOGE("SPI: got data NACK"); + goto transfer_fail; + } + } + + // Read data len + transfer.len = 2; + ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to read rx data len"); + goto transfer_fail; + } + rx_data_len = *(uint16_t *)rx_buf; + assert(rx_data_len < SPI_BUF_SIZE); + + // Read data + transfer.len = rx_data_len + 1; + ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to read rx data"); + goto transfer_fail; + } + // TODO: check checksum + + if (rx_data != NULL) { + memcpy(rx_data, rx_buf, rx_data_len); + } + ret = rx_data_len; + +transfer_fail: + return ret; +} diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index e2fd20c1be..c5b931ddae 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -431,6 +431,9 @@ class Tici(HardwareBase): def initialize_hardware(self): self.amplifier.initialize_configuration() + # TODO: this should go in AGNOS + os.system("sudo chmod 666 /dev/spidev0.0") + # Allow thermald to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") From 4ec1c7e614a2ca3fbf38f302a82b87d112d06b02 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 8 Nov 2022 22:51:16 +0100 Subject: [PATCH 537/685] CI: camera box update (#26414) * check if all frames are laggy * apply tolerance Co-authored-by: Kurt Nistelberger --- system/camerad/test/test_camerad.py | 13 +++++++++---- 1 file changed, 9 insertions(+), 4 deletions(-) diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py index 3c6d466a69..6c2ef1c7bc 100755 --- a/system/camerad/test/test_camerad.py +++ b/system/camerad/test/test_camerad.py @@ -11,7 +11,7 @@ from system.hardware import TICI TEST_TIMESPAN = 30 LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0321: 0.5, # ARs use synced pulses for frame starts - log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame + log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState') @@ -68,12 +68,17 @@ class TestCamerad(unittest.TestCase): frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()} diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()} - def get_desc(fid, diff): cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]] - return f"{diff=} {cam_times=}" + return (diff, cam_times) laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[sensor_type]} - assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}" + + def in_tol(diff): + return 50 - LAG_FRAME_TOLERANCE[sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[sensor_type] + if len(laggy_frames) != 0 and all( in_tol(laggy_frames[lf][0]) for lf in laggy_frames): + print("TODO: handle camera out of sync") + else: + assert len(laggy_frames) == 0, f"Frames not synced properly: {laggy_frames=}" if __name__ == "__main__": unittest.main() From 1181efb288db18420e5a376ed5dba53eadf8c2cb Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 8 Nov 2022 23:01:07 +0100 Subject: [PATCH 538/685] CI: update qcom tests (#26404) update qcom tests Co-authored-by: Kurt Nistelberger --- tools/gpstest/test_gps_qcom.py | 33 ++------------------------------- 1 file changed, 2 insertions(+), 31 deletions(-) diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py index 0909316c5e..b3ce93fc81 100644 --- a/tools/gpstest/test_gps_qcom.py +++ b/tools/gpstest/test_gps_qcom.py @@ -40,14 +40,10 @@ class TestGPS(unittest.TestCase): if ublox_available: raise unittest.SkipTest - @unittest.skip("Skip cold start test due to time") - def test_quectel_cold_start(self): + def test_a_quectel_cold_start(self): # delete assistance data to enforce cold start for GNSS # testing shows that this takes up to 20min - # invalidate supl setting, cannot be reset - _, err = exec_mmcli("--location-set-supl-server=unittest:1") - _, err = exec_mmcli("--command='AT+QGPSDEL=0'") assert len(err) == 0, f"GPSDEL failed: {err}" @@ -55,27 +51,6 @@ class TestGPS(unittest.TestCase): start_time = time.monotonic() glo = messaging.sub_sock("gpsLocation", timeout=0.1) - timeout = 10*60*25 # 25 minute - timedout = wait_for_location(glo, timeout) - managed_processes['rawgpsd'].stop() - - assert timedout is False, "Waiting for location timed out (25min)!" - - duration = time.monotonic() - start_time - assert duration < 50, f"Received GPS location {duration}!" - - - def test_a_quectel_cold_start_AGPS(self): - _, err = exec_mmcli("--command='AT+QGPSDEL=0'") - assert len(err) == 0, f"GPSDEL failed: {err}" - - # setup AGPS - exec_mmcli("--location-set-supl-server=supl.google.com:7276") - - managed_processes['rawgpsd'].start() - start_time = time.monotonic() - glo = messaging.sub_sock("gpsLocation", timeout=0.1) - timeout = 10*60*3 # 3 minute timedout = wait_for_location(glo, timeout) managed_processes['rawgpsd'].stop() @@ -87,15 +62,11 @@ class TestGPS(unittest.TestCase): def test_b_quectel_startup(self): - - # setup AGPS - exec_mmcli("--location-set-supl-server=supl.google.com:7276") - managed_processes['rawgpsd'].start() start_time = time.monotonic() glo = messaging.sub_sock("gpsLocation", timeout=0.1) - timeout = 10*60*3 # 3 minute + timeout = 10*60 # 1 minute timedout = wait_for_location(glo, timeout) managed_processes['rawgpsd'].stop() From 9a3f46805104c4bcb5cffa304b9b322874ccf412 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 8 Nov 2022 14:45:01 -0800 Subject: [PATCH 539/685] experimental mode (#26416) * experimental mode * rename param * red lights --- RELEASES.md | 8 +++- common/params.cc | 2 +- selfdrive/controls/controlsd.py | 2 +- .../controls/lib/longitudinal_planner.py | 2 +- selfdrive/controls/tests/test_cruise_speed.py | 2 +- .../controls/tests/test_following_distance.py | 2 +- .../test_longitudinal.py | 4 +- selfdrive/ui/qt/offroad/settings.cc | 41 +++++++++++-------- selfdrive/ui/qt/onroad.cc | 4 +- selfdrive/ui/translations/main_ja.ts | 24 +++++------ selfdrive/ui/translations/main_ko.ts | 24 +++++------ selfdrive/ui/translations/main_pt-BR.ts | 24 +++++------ selfdrive/ui/translations/main_zh-CHS.ts | 24 +++++------ selfdrive/ui/translations/main_zh-CHT.ts | 24 +++++------ selfdrive/ui/ui.cc | 2 +- selfdrive/ui/ui.h | 2 +- 16 files changed, 101 insertions(+), 90 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 4103361b93..e175050eaf 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,9 +1,13 @@ -Version 0.8.17 (2022-XX-XX) +Version 0.8.17 (2022-11-XX) ======================== * New driving model * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate. * New driver monitoring model * New end-to-end distracted trigger +* Experimental driving mode + * End-to-end longitudinal control + * Stops for red lights and stop signs + * openpilot defaults to chill mode, enable experimental in settings * Self-tuning torque lateral controller parameters * Parameters learned live for each car * Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models @@ -12,7 +16,7 @@ Version 0.8.17 (2022-XX-XX) * Matched speeds shown on car's dash * Improved update experience * Border turns grey while overriding steering - * Added button to bookmark events while driving; view them later in comma connect + * Bookmark events while driving; view them in comma connect * AGNOS 6 * tools: new and improved cabana thanks to deanlee! * Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin! diff --git a/common/params.cc b/common/params.cc index 155bc88487..e17d1f1b13 100644 --- a/common/params.cc +++ b/common/params.cc @@ -102,7 +102,7 @@ std::unordered_map keys = { {"DashcamOverride", PERSISTENT}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, - {"EndToEndLong", PERSISTENT}, + {"ExperimentalMode", PERSISTENT}, {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT}, diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 1adbba4171..0bdaadf6ef 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -147,7 +147,7 @@ class Controls: if not self.CP.experimentalLongitudinalAvailable: self.params.remove("ExperimentalLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: - self.params.remove("EndToEndLong") + self.params.remove("ExperimentalMode") self.CC = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 19ea40a8f4..2fa13bfb15 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -66,7 +66,7 @@ class LongitudinalPlanner: self.solverExecutionTime = 0.0 def read_param(self): - e2e = self.params.get_bool('EndToEndLong') and self.CP.openpilotLongitudinalControl + e2e = self.params.get_bool('ExperimentalMode') and self.CP.openpilotLongitudinalControl self.mpc.mode = 'blended' if e2e else 'acc' def parse_model(self, model_msg, model_error): diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index a972bfb073..ca070f1c3f 100644 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -26,7 +26,7 @@ class TestCruiseSpeed(unittest.TestCase): def test_cruise_speed(self): params = Params() for e2e in [False, True]: - params.put_bool("EndToEndLong", e2e) + params.put_bool("ExperimentalMode", e2e) for speed in np.arange(5, 40, 5): print(f'Testing {speed} m/s') cruise_speed = float(speed) diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py index 3534f58235..0535caab84 100644 --- a/selfdrive/controls/tests/test_following_distance.py +++ b/selfdrive/controls/tests/test_following_distance.py @@ -27,7 +27,7 @@ class TestFollowingDistance(unittest.TestCase): def test_following_distance(self): params = Params() for e2e in [False, True]: - params.put_bool("EndToEndLong", e2e) + params.put_bool("ExperimentalMode", e2e) for speed in np.arange(0, 40, 5): print(f'Testing {speed} m/s') v_lead = float(speed) diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index c7c2915878..7cc95b104a 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -143,11 +143,11 @@ def run_maneuver_worker(k): params = Params() man = maneuvers[k] - params.put_bool("EndToEndLong", True) + params.put_bool("ExperimentalMode", True) print(man.title, ' in e2e mode') valid, _ = man.evaluate() self.assertTrue(valid, msg=man.title) - params.put_bool("EndToEndLong", False) + params.put_bool("ExperimentalMode", False) print(man.title, ' in acc mode') valid, _ = man.evaluate() self.assertTrue(valid, msg=man.title) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 51b5ce6bd7..29069155b2 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -36,6 +36,21 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/offroad/icon_openpilot.png", false, }, + { + "ExperimentalMode", + tr("Experimental mode"), + "", + "../assets/offroad/icon_road.png", + false, + }, + { + "ExperimentalLongitudinalEnabled", + tr("Experimental openpilot longitudinal control"), + tr("WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.
\ + openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control."), + "../assets/offroad/icon_speed_limit.png", + true, + }, { "IsLdwEnabled", tr("Enable Lane Departure Warnings"), @@ -64,20 +79,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/offroad/icon_disengage_on_accelerator.svg", false, }, - { - "EndToEndLong", - tr("🌮 End-to-end longitudinal (extremely alpha) 🌮"), - "", - "../assets/offroad/icon_road.png", - false, - }, - { - "ExperimentalLongitudinalEnabled", - tr("Experimental openpilot longitudinal control"), - tr("WARNING: openpilot longitudinal control is experimental for this car and will disable AEB."), - "../assets/offroad/icon_speed_limit.png", - true, - }, #ifdef ENABLE_MAPS { "NavSettingTime24h", @@ -116,9 +117,15 @@ void TogglesPanel::showEvent(QShowEvent *event) { } void TogglesPanel::updateToggles() { - auto e2e_toggle = toggles["EndToEndLong"]; + auto e2e_toggle = toggles["ExperimentalMode"]; auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"]; - const QString e2e_description = tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental."); + const QString e2e_description = tr("\ + openpilot defaults to driving in chill mode.\ + Experimental mode enables alpha-level features that aren't ready for chill mode. \ + Experimental features are listed below:\ +
\ +

🌮 End-to-End Longitudinal Control 🌮

\ + 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."); auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { @@ -140,7 +147,7 @@ void TogglesPanel::updateToggles() { } else { // no long for now e2e_toggle->setEnabled(false); - params.remove("EndToEndLong"); + params.remove("ExperimentalMode"); const QString no_long = tr("openpilot longitudinal control is not currently available for this car."); const QString exp_long = tr("Enable experimental longitudinal control to enable this."); diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 15672d33c1..37c1913743 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -461,7 +461,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { // paint path QLinearGradient bg(0, height(), 0, height() / 4); float start_hue, end_hue; - if (scene.end_to_end_long) { + if (scene.experimental_mode) { const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration(); float acceleration_future = 0; if (acceleration.getZ().size() > 16) { @@ -567,7 +567,7 @@ void AnnotatedCameraWidget::paintGL() { } else if (v_ego > 15) { wide_cam_requested = false; } - wide_cam_requested = wide_cam_requested && s->scene.end_to_end_long; + wide_cam_requested = wide_cam_requested && s->scene.experimental_mode; // TODO: also detect when ecam vision stream isn't available // for replay of old routes, never go to widecam wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 5ee2d86756..039ad7b2a4 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -966,22 +966,10 @@ location set Upload data from the driver facing camera and help improve the driver monitoring algorithm. 車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。 - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 エンドツーエンドのアクセル制御 (超α版) 🌮 - Experimental openpilot longitudinal control 実験段階のopenpilotによるアクセル制御 - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - <b>警告: openpilotによるアクセル制御は実験段階であり、AEBを無効化します。</b> - - - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - アクセルとブレーキの制御をopenpilotに任せます。openpilotが人間と同じように運転します。最初期の実験段階です。 - openpilot longitudinal control is not currently available for this car. openpilotによるアクセル制御は、この車では現在利用できません。 @@ -1014,6 +1002,18 @@ location set Show map on left side when in split screen view. 分割画面表示の場合、ディスプレイの左側にマップを表示します。 + + Experimental mode + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + + + + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. + + Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index f58c4f34d5..e9b4943650 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -966,22 +966,10 @@ location set Upload data from the driver facing camera and help improve the driver monitoring algorithm. 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 e2e 롱컨트롤 사용 (매우 실험적) 🌮 - Experimental openpilot longitudinal control openpilot 롱컨트롤 (실험적) - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - <b>경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다.</b> - - - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - 주행모델이 가속과 감속을 제어하도록 하면 openpilot은 운전자가 생각하는것처럼 운전합니다. (매우 실험적) - openpilot longitudinal control is not currently available for this car. 현재 이 차량에는 openpilot 롱컨트롤을 사용할 수 없습니다. @@ -1014,6 +1002,18 @@ location set Show map on left side when in split screen view. 분할 화면 보기에서 지도를 왼쪽에 표시합니다. + + Experimental mode + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + + + + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. + + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 6774555b73..a5187af50f 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -970,22 +970,10 @@ trabalho definido Upload data from the driver facing camera and help improve the driver monitoring algorithm. Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor. - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 End-to-end longitudinal (experimental) 🌮 - Experimental openpilot longitudinal control Controle longitudinal experimental openpilot - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - <b>AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB.</b> - - - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - Deixe o modelo controlar o acelerador e os freios. openpilot irá conduzir como pensa que um humano faria. Super experimental. - openpilot longitudinal control is not currently available for this car. controle longitudinal openpilot não está disponível para este carro. @@ -1018,6 +1006,18 @@ trabalho definido Show map on left side when in split screen view. Exibir mapa do lado esquerdo quando a tela for dividida. + + Experimental mode + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + + + + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 6189a235e8..44e707e49c 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -964,22 +964,10 @@ location set Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。 - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 端对端纵向控制（实验性功能） 🌮 - Experimental openpilot longitudinal control - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - - - - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - 让驾驶模型直接控制油门和刹车，openpilot将会模仿人类司机的驾驶方式。该功能仍非常实验性。 - openpilot longitudinal control is not currently available for this car. @@ -1012,6 +1000,18 @@ location set Show map on left side when in split screen view. 在分屏模式中，将地图置于屏幕左侧。 + + Experimental mode + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + + + + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 0b0dbe4ae5..274cff3a5a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -966,22 +966,10 @@ location set Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 - - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - 🌮 端對端縱向控制（實驗性功能） 🌮 - Experimental openpilot longitudinal control 使用 openpilot 縱向控制（實驗） - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - <b>注意：這台車的 openpilot 縱向控制仍然是實驗中的功能，開啟這功能將會關閉自動緊急煞車 (AEB)。</b> - - - Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - 讓駕駛模型直接控製油門和剎車，openpilot將會模仿人類司機的駕駛方式。該功能仍非常實驗性。 - openpilot longitudinal control is not currently available for this car. openpilot 縱向控制目前不適用於這輛車。 @@ -1014,6 +1002,18 @@ location set Show map on left side when in split screen view. 進入分割畫面後，地圖將會顯示在畫面的左側。 + + Experimental mode + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + + + + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. + + Updater diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 945218ec11..970448359e 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -174,7 +174,7 @@ void ui_update_params(UIState *s) { auto params = Params(); s->scene.is_metric = params.getBool("IsMetric"); s->scene.map_on_left = params.getBool("NavSettingLeftSide"); - s->scene.end_to_end_long = params.getBool("EndToEndLong"); + s->scene.experimental_mode = params.getBool("ExperimentalMode"); } void UIState::updateStatus() { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index e550afd5f2..38e2ffe3ce 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -104,7 +104,7 @@ typedef struct UIScene { QPointF lead_vertices[2]; float light_sensor; - bool started, ignition, is_metric, map_on_left, longitudinal_control, end_to_end_long; + bool started, ignition, is_metric, map_on_left, longitudinal_control, experimental_mode; uint64_t started_frame; } UIScene; From 191b8081b2a9f3f9db0131edd270e40166570cfa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 8 Nov 2022 20:52:35 -0800 Subject: [PATCH 540/685] GM Camera: use ECM brake pressed bit (#26400) * GM camera: use ECM brake pressed bit * bump panda and use more reliable bit * bump panda * back to ECMEngineStatus * bump * Update selfdrive/car/gm/carstate.py * bump panda * Update ref_commit --- panda | 2 +- selfdrive/car/gm/carstate.py | 14 +++++++++----- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 11 insertions(+), 7 deletions(-) diff --git a/panda b/panda index 1ccdff90c5..281eb7731b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 1ccdff90c564154489a3394691a4830a4ae19027 +Subproject commit 281eb7731b4338fef049977593fdf3315adf09e9 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index af69307a2c..f4b3f88e99 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -51,12 +51,15 @@ class CarState(CarStateBase): else: ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None)) - # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe - # that the brake is being intermittently pressed without user interaction. - # To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold - # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] - ret.brakePressed = ret.brake >= 8 + if self.CP.networkLocation == NetworkLocation.fwdCamera: + ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0 + else: + # Some Volt 2016-17 have loose brake pedal push rod retainers which causes the ECM to believe + # that the brake is being intermittently pressed without user interaction. + # To avoid a cruise fault we need to use a conservative brake position threshold + # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf + ret.brakePressed = ret.brake >= 8 # Regen braking is braking if self.CP.transmissionType == TransmissionType.direct: @@ -154,6 +157,7 @@ class CarState(CarStateBase): ("TractionControlOn", "ESPStatus"), ("ParkBrake", "VehicleIgnitionAlt"), ("CruiseMainOn", "ECMEngineStatus"), + ("BrakePressed", "ECMEngineStatus"), ] checks = [ diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 08eb063d41..da954d76a6 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -caa8fb2a046a6c2c186e66af339212a5fae6b7a4 +372a67c524342bbf15e22f0caea08d2038973281 From 9f1fe1193c4779f692028e1b054d4c76b6e55119 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 8 Nov 2022 21:57:01 -0800 Subject: [PATCH 541/685] Update RELEASES.md --- RELEASES.md | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index e175050eaf..18817bda4d 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,7 +1,11 @@ Version 0.8.17 (2022-11-XX) ======================== * New driving model - * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate. + * Internal feature space information content increased tenfold during training (to ~700 bits), this makes the model dramatically more accurate + * Less reliance on previous frames makes model more reactive and snappy + * Trained in new reprojective simulator + * Model trained in openpilot was trained in 36hrs from scratch, compared to around 1 week of previous releases + * Model training now simulates lateral and longitudinal behavior, this allows openpilot to slow down for turns, stop at traffic lights, etc,... in experimental mode * New driver monitoring model * New end-to-end distracted trigger * Experimental driving mode From 34f580e75ee148398e6a44980053c20bf10f9797 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 9 Nov 2022 04:55:37 -0500 Subject: [PATCH 542/685] VW PQ: Fix exception with openpilot longitudinal (#26417) * VW PQ: Fix exception in long control * move default value to init --- selfdrive/car/volkswagen/carstate.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index d09420cf7a..def14ab019 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -12,6 +12,7 @@ class CarState(CarStateBase): super().__init__(CP) self.CCP = CarControllerParams(CP) self.button_states = {button.event_type: False for button in self.CCP.BUTTONS} + self.esp_hold_confirmation = False def create_button_events(self, pt_cp, buttons): button_events = [] From fc872271ae73a0139be6b085b90467c2e8d83c66 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 10 Nov 2022 03:10:57 +0800 Subject: [PATCH 543/685] Cabana: add menu bar to main window (#26419) * add menu bar * show DBC name in title * cleanup --- tools/cabana/chartswidget.cc | 1 + tools/cabana/mainwin.cc | 197 ++++++++++++++--------------------- tools/cabana/mainwin.h | 36 ++----- 3 files changed, 87 insertions(+), 147 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index b4d6d89e6d..812a805810 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -14,6 +14,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); // toolbar QToolBar *toolbar = new QToolBar(tr("Charts"), this); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d3d7ff4156..9b85ba7e8d 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,14 +1,17 @@ #include "tools/cabana/mainwin.h" #include +#include #include -#include #include #include #include #include -#include +#include +#include +#include #include +#include #include #include "tools/replay/util.h" @@ -18,15 +21,13 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const if (main_win) emit main_win->showMessage(msg, 0); } -MainWindow::MainWindow() : QWidget() { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(11, 11, 11, 5); +MainWindow::MainWindow() : QMainWindow() { + setWindowTitle("Cabana"); + QWidget *central_widget = new QWidget(this); + QHBoxLayout *main_layout = new QHBoxLayout(central_widget); + main_layout->setContentsMargins(11, 11, 11, 0); main_layout->setSpacing(0); - QHBoxLayout *h_layout = new QHBoxLayout(); - h_layout->setContentsMargins(0, 0, 0, 0); - main_layout->addLayout(h_layout); - splitter = new QSplitter(Qt::Horizontal, this); splitter->setHandleWidth(11); @@ -34,7 +35,6 @@ MainWindow::MainWindow() : QWidget() { QWidget *messages_container = new QWidget(this); QVBoxLayout *messages_layout = new QVBoxLayout(messages_container); messages_layout->setContentsMargins(0, 0, 0, 0); - QHBoxLayout *dbc_file_layout = new QHBoxLayout(); dbc_combo = new QComboBox(this); auto dbc_names = dbc()->allDBCNames(); for (const auto &name : dbc_names) { @@ -42,21 +42,9 @@ MainWindow::MainWindow() : QWidget() { } dbc_combo->model()->sort(0); dbc_combo->setEditable(true); - dbc_combo->setCurrentText(QString()); dbc_combo->setInsertPolicy(QComboBox::NoInsert); dbc_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); - QFont font; - font.setBold(true); - dbc_combo->lineEdit()->setFont(font); - dbc_file_layout->addWidget(dbc_combo); - - QPushButton *load_from_paste = new QPushButton(tr("Load from paste"), this); - dbc_file_layout->addWidget(load_from_paste); - - dbc_file_layout->addStretch(); - QPushButton *save_btn = new QPushButton(tr("Save DBC"), this); - dbc_file_layout->addWidget(save_btn); - messages_layout->addLayout(dbc_file_layout); + messages_layout->addWidget(dbc_combo); messages_widget = new MessagesWidget(this); messages_layout->addWidget(messages_widget); @@ -65,8 +53,7 @@ MainWindow::MainWindow() : QWidget() { charts_widget = new ChartsWidget(this); detail_widget = new DetailWidget(charts_widget, this); splitter->addWidget(detail_widget); - - h_layout->addWidget(splitter); + main_layout->addWidget(splitter); // right widgets QWidget *right_container = new QWidget(this); @@ -74,35 +61,21 @@ MainWindow::MainWindow() : QWidget() { r_layout = new QVBoxLayout(right_container); r_layout->setContentsMargins(11, 0, 0, 0); QHBoxLayout *right_hlayout = new QHBoxLayout(); - QLabel *fingerprint_label = new QLabel(this); - right_hlayout->addWidget(fingerprint_label); + fingerprint_label = new QLabel(this); + right_hlayout->addWidget(fingerprint_label, 0, Qt::AlignLeft); // TODO: click to select another route. - right_hlayout->addWidget(new QLabel(can->route())); - QPushButton *settings_btn = new QPushButton("Settings"); - right_hlayout->addWidget(settings_btn, 0, Qt::AlignRight); - + right_hlayout->addWidget(new QLabel(can->route()), 0, Qt::AlignRight); r_layout->addLayout(right_hlayout); video_widget = new VideoWidget(this); r_layout->addWidget(video_widget, 0, Qt::AlignTop); - r_layout->addWidget(charts_widget); + main_layout->addWidget(right_container); - h_layout->addWidget(right_container); - - // status bar - status_bar = new QStatusBar(this); - status_bar->setFixedHeight(20); - status_bar->setContentsMargins(0, 0, 0, 0); - status_bar->setSizeGripEnabled(true); - progress_bar = new QProgressBar(); - progress_bar->setRange(0, 100); - progress_bar->setTextVisible(true); - progress_bar->setFixedSize({230, 16}); - progress_bar->setVisible(false); - status_bar->addPermanentWidget(progress_bar); - main_layout->addWidget(status_bar); + setCentralWidget(central_widget); + createActions(); + createStatusBar(); qRegisterMetaType("uint64_t"); qRegisterMetaType("ReplyMsgType"); @@ -122,35 +95,65 @@ MainWindow::MainWindow() : QWidget() { } QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); - QObject::connect(load_from_paste, &QPushButton::clicked, this, &MainWindow::loadDBCFromPaste); - QObject::connect(save_btn, &QPushButton::clicked, this, &MainWindow::saveDBC); - QObject::connect(this, &MainWindow::showMessage, status_bar, &QStatusBar::showMessage); + QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage); QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); - QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); QObject::connect(can, &CANMessages::streamStarted, this, &MainWindow::loadDBCFromFingerprint); - QObject::connect(can, &CANMessages::streamStarted, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { + dbc_combo->setCurrentText(QFileInfo(dbc()->name()).baseName()); + setWindowTitle(tr("%1 - Cabana").arg(dbc()->name())); + }); +} + +void MainWindow::createActions() { + QMenu *file_menu = menuBar()->addMenu(tr("&File")); + file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::loadDBCFromFile); + file_menu->addAction(tr("Load DBC From Clipboard"), this, &MainWindow::loadDBCFromClipboard); + file_menu->addSeparator(); + file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveDBCToFile); + file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard); + file_menu->addSeparator(); + file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption); + QMenu *help_menu = menuBar()->addMenu(tr("&Help")); + help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt); +} + +void MainWindow::createStatusBar() { + progress_bar = new QProgressBar(); + progress_bar->setRange(0, 100); + progress_bar->setTextVisible(true); + progress_bar->setFixedSize({230, 16}); + progress_bar->setVisible(false); + statusBar()->addPermanentWidget(progress_bar); } void MainWindow::loadDBCFromName(const QString &name) { - if (name != dbc()->name()) { + if (name != dbc()->name()) dbc()->open(name); - dbc_combo->setCurrentText(name); - } } -void MainWindow::loadDBCFromPaste() { - LoadDBCDialog dlg(this); - if (dlg.exec()) { - dbc()->open("from paste", dlg.dbc_edit->toPlainText()); - dbc_combo->setCurrentText("loaded from paste"); +void MainWindow::loadDBCFromFile() { + QString file_name = QFileDialog::getOpenFileName(this, tr("Open File"), QDir::homePath(), "DBC (*.dbc)"); + if (!file_name.isEmpty()) { + QFile file(file_name); + if (file.open(QIODevice::ReadOnly)) { + auto dbc_name = QFileInfo(file_name).baseName(); + dbc()->open(dbc_name, file.readAll()); + } } } +void MainWindow::loadDBCFromClipboard() { + QString dbc_str = QGuiApplication::clipboard()->text(); + dbc()->open("From Clipboard", dbc_str); + QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); +} + void MainWindow::loadDBCFromFingerprint() { auto fingerprint = can->carFingerprint(); + fingerprint_label->setText(fingerprint); if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) { auto dbc_name = fingerprint_to_dbc[fingerprint]; if (dbc_name != QJsonValue::Undefined) { @@ -159,14 +162,23 @@ void MainWindow::loadDBCFromFingerprint() { } } -void MainWindow::saveDBC() { - SaveDBCDialog dlg(this); - dlg.dbc_edit->setText(dbc()->generateDBC()); - dlg.exec(); +void MainWindow::saveDBCToFile() { + QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"), + QDir::homePath() + "/untitled.dbc", tr("DBC (*.dbc)")); + if (!file_name.isEmpty()) { + QFile file(file_name); + if (file.open(QIODevice::WriteOnly)) + file.write(dbc()->generateDBC().toUtf8()); + } +} + +void MainWindow::saveDBCToClipboard() { + QGuiApplication::clipboard()->setText(dbc()->generateDBC()); + QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!")); } void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) { - if (success && cur < total) { + if (success && cur < total) { progress_bar->setValue((cur / (double)total) * 100); progress_bar->setFormat(tr("Downloading %p% (%1)").arg(formattedDataSize(total).c_str())); progress_bar->show(); @@ -202,60 +214,3 @@ void MainWindow::setOption() { SettingsDlg dlg(this); dlg.exec(); } - -// LoadDBCDialog - -LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - dbc_edit = new QTextEdit(this); - dbc_edit->setAcceptRichText(false); - dbc_edit->setPlaceholderText(tr("paste DBC file here")); - main_layout->addWidget(dbc_edit); - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox); - - setMinimumSize({640, 480}); - QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); - QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); -} - -// SaveDBCDialog - -SaveDBCDialog::SaveDBCDialog(QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Save DBC")); - QVBoxLayout *main_layout = new QVBoxLayout(this); - dbc_edit = new QTextEdit(this); - dbc_edit->setAcceptRichText(false); - main_layout->addWidget(dbc_edit); - - QPushButton *copy_to_clipboard = new QPushButton(tr("Copy To Clipboard"), this); - QPushButton *save_as = new QPushButton(tr("Save As"), this); - - QHBoxLayout *btn_layout = new QHBoxLayout(); - btn_layout->addStretch(); - btn_layout->addWidget(copy_to_clipboard); - btn_layout->addWidget(save_as); - main_layout->addLayout(btn_layout); - setMinimumSize({640, 480}); - - QObject::connect(copy_to_clipboard, &QPushButton::clicked, this, &SaveDBCDialog::copytoClipboard); - QObject::connect(save_as, &QPushButton::clicked, this, &SaveDBCDialog::saveAs); -} - -void SaveDBCDialog::copytoClipboard() { - dbc_edit->selectAll(); - dbc_edit->copy(); - QDialog::accept(); -} - -void SaveDBCDialog::saveAs() { - QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"), - QDir::homePath() + "/untitled.dbc", tr("DBC (*.dbc)")); - if (!file_name.isEmpty()) { - QFile file(file_name); - if (file.open(QIODevice::WriteOnly)) { - file.write(dbc_edit->toPlainText().toUtf8()); - } - QDialog::accept(); - } -} diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index f6853a5ea3..bb9280c3ea 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -1,37 +1,40 @@ #pragma once #include -#include #include +#include #include #include #include -#include #include "tools/cabana/chartswidget.h" #include "tools/cabana/detailwidget.h" #include "tools/cabana/messageswidget.h" #include "tools/cabana/videowidget.h" -class MainWindow : public QWidget { +class MainWindow : public QMainWindow { Q_OBJECT public: MainWindow(); void dockCharts(bool dock); - void showStatusMessage(const QString &msg, int timeout = 0) { status_bar->showMessage(msg, timeout); } + void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); } public slots: void loadDBCFromName(const QString &name); void loadDBCFromFingerprint(); - void loadDBCFromPaste(); - void saveDBC(); + void loadDBCFromFile(); + void loadDBCFromClipboard(); + void saveDBCToFile(); + void saveDBCToClipboard(); signals: void showMessage(const QString &msg, int timeout); void updateProgressBar(uint64_t cur, uint64_t total, bool success); protected: + void createActions(); + void createStatusBar(); void closeEvent(QCloseEvent *event) override; void updateDownloadProgress(uint64_t cur, uint64_t total, bool success); void setOption(); @@ -44,26 +47,7 @@ protected: QWidget *floating_window = nullptr; QVBoxLayout *r_layout; QProgressBar *progress_bar; - QStatusBar *status_bar; + QLabel *fingerprint_label; QJsonDocument fingerprint_to_dbc; QComboBox *dbc_combo; }; - - -class LoadDBCDialog : public QDialog { - Q_OBJECT - -public: - LoadDBCDialog(QWidget *parent); - QTextEdit *dbc_edit; -}; - -class SaveDBCDialog : public QDialog { - Q_OBJECT - -public: - SaveDBCDialog(QWidget *parent); - void copytoClipboard(); - void saveAs(); - QTextEdit *dbc_edit; -}; From c64e2c228a57dd82685f9ca4251c49e953e1ac69 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 9 Nov 2022 12:09:55 -0800 Subject: [PATCH 544/685] [controlsd] Toyota Rav4 TSS2 bugfix (#26421) bugfix toyota rav4 pid init values --- selfdrive/car/toyota/interface.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 6c360fc2c7..3f4edb36d2 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -111,6 +111,8 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kiBP = [0.0] + ret.lateralTuning.pid.kpBP = [0.0] ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.1] ret.lateralTuning.pid.kf = 0.00007818594 From 0ca9d1810c39d96ec0ebefc80df16dd68eb3387e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 12:10:08 -0800 Subject: [PATCH 545/685] interrfaces: more complete PID tests (#26422) * more complete PID tests * doesn't need to be fancy * less fancy --- selfdrive/car/tests/test_car_interfaces.py | 21 ++++++++++++--------- 1 file changed, 12 insertions(+), 9 deletions(-) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index aabf652c8c..8d22173671 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -34,15 +34,18 @@ class TestCarInterfaces(unittest.TestCase): self.assertGreater(car_params.maxLateralAccel, 0) if car_params.steerControlType != car.CarParams.SteerControlType.angle: - tuning = car_params.lateralTuning.which() - if tuning == 'pid': - self.assertTrue(len(car_params.lateralTuning.pid.kpV)) - elif tuning == 'torque': - kf = car_params.lateralTuning.torque.kf - self.assertTrue(not math.isnan(kf) and kf > 0) - self.assertTrue(not math.isnan(car_params.lateralTuning.torque.friction)) - elif tuning == 'indi': - self.assertTrue(len(car_params.lateralTuning.indi.outerLoopGainV)) + tune = car_params.lateralTuning + if tune.which() == 'pid': + self.assertTrue(not math.isnan(tune.pid.kf) and tune.pid.kf > 0) + self.assertTrue(len(tune.pid.kpV) > 0 and len(tune.pid.kpV) == len(tune.pid.kpBP)) + self.assertTrue(len(tune.pid.kiV) > 0 and len(tune.pid.kiV) == len(tune.pid.kiBP)) + + elif tune.which() == 'torque': + self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0) + self.assertTrue(not math.isnan(tune.torque.friction)) + + elif tune.which() == 'indi': + self.assertTrue(len(tune.indi.outerLoopGainV)) # Run car interface CC = car.CarControl.new_message() From 59bf2fc0085420b13b7854d1a106c1706d7df265 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 10 Nov 2022 06:19:11 +0800 Subject: [PATCH 546/685] Cabana: support deleting message (#26418) delete message --- tools/cabana/chartswidget.cc | 8 ++++-- tools/cabana/dbcmanager.cc | 33 ++++++++++++++++-------- tools/cabana/dbcmanager.h | 5 +++- tools/cabana/detailwidget.cc | 46 +++++++++++++++++++++------------- tools/cabana/detailwidget.h | 5 +++- tools/cabana/messageswidget.cc | 9 ++++--- 6 files changed, 71 insertions(+), 35 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 812a805810..3a170bccdc 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -45,9 +45,13 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { removeAll(nullptr); }); QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeAll); QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartsWidget::signalUpdated); - QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &msg_id) { + QObject::connect(dbc(), &DBCManager::msgRemoved, [this](uint32_t address) { + for (auto c : charts.toVector()) + if (DBCManager::parseId(c->id).second == address) removeChart(c); + }); + QObject::connect(dbc(), &DBCManager::msgUpdated, [this](uint32_t address) { for (auto c : charts) { - if (c->id == msg_id) c->updateTitle(); + if (DBCManager::parseId(c->id).second == address) c->updateTitle(); } }); QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged); diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 3ddcf41788..184fab38eb 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -10,21 +10,21 @@ DBCManager::~DBCManager() {} void DBCManager::open(const QString &dbc_file_name) { dbc = const_cast(dbc_lookup(dbc_file_name.toStdString())); - msg_map.clear(); - for (auto &msg : dbc->msgs) { - msg_map[msg.address] = &msg; - } + updateMsgMap(); emit DBCFileChanged(); } void DBCManager::open(const QString &name, const QString &content) { std::istringstream stream(content.toStdString()); dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); + updateMsgMap(); + emit DBCFileChanged(); +} + +void DBCManager::updateMsgMap() { msg_map.clear(); - for (auto &msg : dbc->msgs) { + for (auto &msg : dbc->msgs) msg_map[msg.address] = &msg; - } - emit DBCFileChanged(); } QString DBCManager::generateDBC() { @@ -49,14 +49,25 @@ QString DBCManager::generateDBC() { } void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) { - if (auto m = const_cast(msg(id))) { + auto [bus, address] = parseId(id); + if (auto m = const_cast(msg(address))) { m->name = name.toStdString(); m->size = size; } else { - m = &dbc->msgs.emplace_back(Msg{.address = parseId(id).second, .name = name.toStdString(), .size = size}); - msg_map[m->address] = m; + m = &dbc->msgs.emplace_back(Msg{.address = address, .name = name.toStdString(), .size = size}); + msg_map[address] = m; + } + emit msgUpdated(address); +} + +void DBCManager::removeMsg(const QString &id) { + uint32_t address = parseId(id).second; + auto it = std::find_if(dbc->msgs.begin(), dbc->msgs.end(), [address](auto &m) { return m.address == address; }); + if (it != dbc->msgs.end()) { + dbc->msgs.erase(it); + updateMsgMap(); + emit msgRemoved(address); } - emit msgUpdated(id); } void DBCManager::addSignal(const QString &id, const Signal &sig) { diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index cbe4531d2a..2b6aca41d7 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -23,6 +23,7 @@ public: inline QString name() const { return dbc ? dbc->name.c_str() : ""; } void updateMsg(const QString &id, const QString &name, uint32_t size); + void removeMsg(const QString &id); inline const DBC *getDBC() const { return dbc; } inline const Msg *msg(const QString &id) const { return msg(parseId(id).second); } inline const Msg *msg(uint32_t address) const { @@ -34,10 +35,12 @@ signals: void signalAdded(const Signal *sig); void signalRemoved(const Signal *sig); void signalUpdated(const Signal *sig); - void msgUpdated(const QString &id); + void msgUpdated(uint32_t address); + void msgRemoved(uint32_t address); void DBCFileChanged(); private: + void updateMsgMap(); DBC *dbc = nullptr; std::unordered_map msg_map; }; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 18510c86ea..287c75a617 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -33,20 +33,21 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart title_frame->setFrameShape(QFrame::StyledPanel); // message title - QHBoxLayout *title_layout = new QHBoxLayout(); - title_layout->addWidget(new QLabel("time:")); + toolbar = new QToolBar(this); + toolbar->addWidget(new QLabel("time:")); time_label = new QLabel(this); time_label->setStyleSheet("font-weight:bold"); - title_layout->addWidget(time_label); - title_layout->addStretch(); + toolbar->addWidget(time_label); name_label = new QLabel(this); name_label->setStyleSheet("font-weight:bold;"); - title_layout->addWidget(name_label); - title_layout->addStretch(); - edit_btn = new QPushButton(tr("Edit"), this); - edit_btn->setVisible(false); - title_layout->addWidget(edit_btn); - frame_layout->addLayout(title_layout); + name_label->setAlignment(Qt::AlignCenter); + name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + toolbar->addWidget(name_label); + toolbar->addAction("🖍", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message")); + remove_msg_act = toolbar->addAction("X", this, &DetailWidget::removeMsg); + remove_msg_act->setToolTip(tr("Remove Message")); + toolbar->setVisible(false); + frame_layout->addWidget(toolbar); // warning warning_widget = new QWidget(this); @@ -85,7 +86,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart history_log = new HistoryLog(this); container_layout->addWidget(history_log); - QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg); QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); @@ -171,7 +171,8 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } - edit_btn->setVisible(true); + toolbar->setVisible(!msg_id.isEmpty()); + remove_msg_act->setEnabled(msg != nullptr); name_label->setText(msgName(msg_id)); binary_view->setMessage(msg_id); @@ -210,16 +211,27 @@ void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool o } void DetailWidget::editMsg() { - auto msg = dbc()->msg(msg_id); - QString name = msgName(msg_id); - int size = msg ? msg->size : can->lastMessage(msg_id).dat.size(); - EditMessageDialog dlg(msg_id, name, size, this); + QString id = msg_id; + auto msg = dbc()->msg(id); + int size = msg ? msg->size : can->lastMessage(id).dat.size(); + EditMessageDialog dlg(id, msgName(id), size, this); if (dlg.exec()) { - dbc()->updateMsg(msg_id, dlg.name_edit->text(), dlg.size_spin->value()); + dbc()->updateMsg(id, dlg.name_edit->text(), dlg.size_spin->value()); dbcMsgChanged(); } } +void DetailWidget::removeMsg() { + QString id = msg_id; + if (auto msg = dbc()->msg(id)) { + QString text = tr("Are you sure you want to remove '%1'").arg(msg->name.c_str()); + if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove Message"), text)) { + dbc()->removeMsg(id); + dbcMsgChanged(); + } + } +} + void DetailWidget::addSignal(int from, int to) { if (auto msg = dbc()->msg(msg_id)) { Signal sig = {}; diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index ac32d5952e..7cb3a505ee 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -2,6 +2,7 @@ #include #include +#include #include "tools/cabana/binaryview.h" #include "tools/cabana/chartswidget.h" @@ -34,15 +35,17 @@ private: void saveSignal(const Signal *sig, const Signal &new_sig); void removeSignal(const Signal *sig); void editMsg(); + void removeMsg(); void showForm(); void updateState(); QString msg_id; QLabel *name_label, *time_label, *warning_label; QWidget *warning_widget; - QPushButton *edit_btn; QWidget *signals_container; QTabBar *tabbar; + QToolBar *toolbar; + QAction *remove_msg_act; HistoryLog *history_log; BinaryView *binary_view; QScrollArea *scroll; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index f24b6b0317..dbf87a3da2 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -38,15 +38,18 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &CANMessages::msgsReceived, model, &MessageListModel::msgsReceived); QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages); + QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages); QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { if (current.isValid() && current.row() < model->msgs.size()) { - current_msg_id = model->msgs[current.row()]; - emit msgSelectionChanged(current_msg_id); + if (model->msgs[current.row()] != current_msg_id) { + current_msg_id = model->msgs[current.row()]; + emit msgSelectionChanged(current_msg_id); + } } }); QObject::connect(model, &MessageListModel::modelReset, [this]() { if (int row = model->msgs.indexOf(current_msg_id); row != -1) - table_widget->selectionModel()->select(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect); + table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect); }); } From f38fe7cfb1b3011ea48a34b0500f352338e05b25 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Wed, 9 Nov 2022 14:53:41 -0800 Subject: [PATCH 547/685] ui: increase toggle confirmation font size (#26413) * ui: make toggle confirmation text larger * center title * reduce line breaks * slightly reduce font size --- selfdrive/ui/qt/widgets/controls.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 243c078f85..8679de57b0 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -142,8 +142,8 @@ public: ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, const bool confirm, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) { key = param.toStdString(); QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) { - QString content("

" + title + "



" - "

" + getDescription() + "

"); + QString content("

" + title + "


" + "

" + getDescription() + "

"); ConfirmationDialog dialog(content, tr("Ok"), tr("Cancel"), true, this); if (!confirm || !state || dialog.exec()) { params.putBool(key, state); From 584842488f4cab62bb9d5e4d8fc2cc3090634fb7 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Wed, 9 Nov 2022 20:13:17 -0300 Subject: [PATCH 548/685] Multilang: update pt-BR (#26420) * update pt-BR translations * fix some cutoff texts * Update pt-BR translations --- selfdrive/ui/translations/main_pt-BR.ts | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index a5187af50f..c2ee98d340 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -240,11 +240,11 @@ Reset - + Resetar Review - + Revisar @@ -476,11 +476,11 @@ trabalho definido ParamControl Ok - OK + OK Cancel - Cancelar + Cancelar @@ -868,7 +868,7 @@ trabalho definido Uninstall - + Desinstalar @@ -1008,15 +1008,15 @@ trabalho definido Experimental mode - + Modo Experimental <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - + <b>AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB.</b><br> O padrão do openpilot é o ACC integrado do carro em vez do controle longitudinal do openpilot neste carro. Habilite isto para alternar para controle longitudinal do openpilot. 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. - + o padrão do openpilot é dirigir no <b>modo chill</b>. Modo experimental habilita <b>recursos de nível-alfa</b> que não estão prontos para o modo chill. Os recursos experimentais estão listados abaixo: <br> <h4>🌮 Controle Longitudinal de Ponta a Ponta 🌮</h4> Deixe o modelo de direção controlar o acelerador e os freios. openpilot irá conduzir como pensa que um ser humano faria, incluindo parar para sinais vermelhos e sinais de parada. @@ -1074,7 +1074,7 @@ trabalho definido Forget - + Esquecer From 048cce2149db34ea0e32df3673248fbbc8e804ad Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 16:04:19 -0800 Subject: [PATCH 549/685] Hyundai: add missing Sonata 2022 FW versions (#26428) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Added FW Versions for 2022 Elantra and 2022 Sonata. Added for CAR.ELANTRA_2021 : Ecu.transmission : b’\xf1\x87CXMQFM3421815JB2ww\x96y\xaa\x98x\x87\x88wtwTfuwWh\x9f\xff\x8a\xff\xff\xffE\xe3\xf1\x89HT6VA640A1\xf1\x82CCN0N20NS5\x00\x00\x00\x00\x00\x00' Ecu.engine : b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82CNDWD0AMFCXCSG8A' Added for CAR.SONATA : Ecu.engine : b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10' Ecu.transmission: b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE' b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02832A1 \xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE' b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x82VDN8T25XXX832NS8' * Update values.py * Removed FW Versions for Elantra_2021. * fix Co-authored-by: humza2000 <111622889+humza2000@users.noreply.github.com> --- 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 e5ddc5cac7..b7e28825c3 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -468,6 +468,7 @@ FW_VERSIONS = { b'\xf1\x82DNBWN5TMDCXXXG2E', b'\xf1\x82DNCVN5GMCCXXXF0A', b'\xf1\x82DNCVN5GMCCXXXG2B', + b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A', b'\xf1\x87391162M003', b'\xf1\x87391162M013', @@ -492,6 +493,7 @@ FW_VERSIONS = { b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101', b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', + b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', @@ -512,6 +514,7 @@ FW_VERSIONS = { b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92', b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:', b'\xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', + b'\xf1\x00T02601BL T02832A1 VDN8T25XXX832NS8G\x0e\xfeE', b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1 \xf1\x00T02601BL T02730A1 VDN8T25XXX730NS5\xf7_\x92\xf5', b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v', From 52378c97ecde4c489e18e23d01021f27c3acf073 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Wed, 9 Nov 2022 21:06:36 -0300 Subject: [PATCH 550/685] Toyota: Add missing Corolla Cross FW verions (#26426) * add geraldo fingerprint * add to non-H * Update selfdrive/car/tests/routes.py * Update non-us cross model years * add test route * Update routes.py Co-authored-by: Shane Smiskol --- 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 04f7712016..07bcf44257 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -167,7 +167,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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|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) 2020-21|All|openpilot|17 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| |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 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 9e96118085..2ce1cba92c 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -119,7 +119,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"), CAR.COROLLA_TSS2: [ ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), - ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-21", min_enable_speed=7.5), + ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5), ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), ], CAR.COROLLAH_TSS2: [ @@ -713,6 +713,7 @@ FW_VERSIONS = { }, CAR.COROLLA_TSS2: { (Ecu.engine, 0x700, None): [ + b'\x01896630A22000\x00\x00\x00\x00', b'\x01896630ZG2000\x00\x00\x00\x00', b'\x01896630ZG5000\x00\x00\x00\x00', b'\x01896630ZG5100\x00\x00\x00\x00', @@ -792,6 +793,7 @@ FW_VERSIONS = { b'F152602191\x00\x00\x00\x00\x00\x00', b'\x01F152612862\x00\x00\x00\x00\x00\x00', b'\x01F152612B91\x00\x00\x00\x00\x00\x00', + b'\x01F15260A070\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301100\x00\x00\x00\x00', @@ -809,6 +811,7 @@ FW_VERSIONS = { b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00', b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', + b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00', ], }, CAR.COROLLAH_TSS2: { From 26d66ac671a6b15be4611face27844bae90b185f Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Thu, 10 Nov 2022 09:15:44 +0900 Subject: [PATCH 551/685] Multilang: Korean translation update (#26424) fix --- selfdrive/ui/translations/main_ko.ts | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index e9b4943650..ff09581e61 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1004,15 +1004,15 @@ location set Experimental mode - + 실험 모드 <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - + <b>경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다.</b><br> openpilot은 차량의 내장 ACC로 기본 설정됩니다. 롱컨트롤으로 전환하려면 이 옵션을 활성화하세요. 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. - + openpilot은 <b>chill 모드</b>로 기본 설정됩니다. 실험 모드는 chill 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험 모드의 특징은 아래에 나열되어 있습니다 <br> <h4>🌮 E2E 롱컨트롤 🌮</h4> 주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. From f540002e3fb6bcb15323add59d87269e7da6d00f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 16:49:17 -0800 Subject: [PATCH 552/685] translation badges: add number of unfinished translations (#26429) * some clean up and add missing translations * unfinished * set proper width * make this variable common --- selfdrive/ui/tests/test_translations.py | 3 ++- selfdrive/ui/translations/create_badges.py | 22 +++++++++++++++++----- 2 files changed, 19 insertions(+), 6 deletions(-) diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index 11ecd30ae0..26d6c39349 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -9,6 +9,7 @@ import xml.etree.ElementTree as ET from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp") +UNFINISHED_TRANSLATION_TAG = "" not in cur_translations, + self.assertTrue(UNFINISHED_TRANSLATION_TAG not in cur_translations, f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist") def test_vanished_translations(self): diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index 32904f242a..e403972e36 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -2,19 +2,22 @@ import json import os import requests +import xml.etree.ElementTree as ET from common.basedir import BASEDIR +from selfdrive.ui.tests.test_translations import UNFINISHED_TRANSLATION_TAG from selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR TRANSLATION_TAG = "'] + badge_svg = [] + max_badge_width = 0 # keep track of max width to set parent element for idx, (name, file) in enumerate(translation_files.items()): with open(os.path.join(TRANSLATIONS_DIR, f"{file}.ts"), "r") as tr_f: tr_file = tr_f.read() @@ -28,19 +31,28 @@ if __name__ == "__main__": unfinished_translations += 1 percent_finished = int(100 - (unfinished_translations / total_translations * 100.)) - color = "green" if percent_finished == 100 else "orange" if percent_finished >= 70 else "red" + color = "green" if percent_finished == 100 else "orange" if percent_finished > 90 else "red" - r = requests.get(f"https://img.shields.io/badge/LANGUAGE {name}-{percent_finished}%25 complete-{color}", timeout=10) + # Download badge + badge_label = f"LANGUAGE {name}" + badge_message = f"{percent_finished}% complete" + if unfinished_translations != 0: + badge_message += f" ({unfinished_translations} unfinished translations)" + + r = requests.get(f"{SHIELDS_URL}/{badge_label}-{badge_message}-{color}", timeout=10) assert r.status_code == 200, "Error downloading badge" content_svg = r.content.decode("utf-8") - # make tag ids in each badge unique + max_badge_width = max(max_badge_width, int(ET.fromstring(content_svg).get("width"))) + + # Make tag ids in each badge unique to combine them into one svg for tag in ("r", "s"): content_svg = content_svg.replace(f'id="{tag}"', f'id="{tag}{idx}"') content_svg = content_svg.replace(f'"url(#{tag})"', f'"url(#{tag}{idx})"') badge_svg.extend([f'', content_svg, ""]) + badge_svg.insert(0, f'') badge_svg.append("") with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f: From d8327bd9bed9833eb3d58a51097215c2de803d1b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 16:58:02 -0800 Subject: [PATCH 553/685] multilang badges: no need to handle plurals --- selfdrive/ui/translations/create_badges.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index e403972e36..893ac1b412 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -37,7 +37,7 @@ if __name__ == "__main__": badge_label = f"LANGUAGE {name}" badge_message = f"{percent_finished}% complete" if unfinished_translations != 0: - badge_message += f" ({unfinished_translations} unfinished translations)" + badge_message += f" ({unfinished_translations} unfinished)" r = requests.get(f"{SHIELDS_URL}/{badge_label}-{badge_message}-{color}", timeout=10) assert r.status_code == 200, "Error downloading badge" From bbc14656d937cadacbcb87ed88cb8800eb6b62fa Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 17:30:33 -0800 Subject: [PATCH 554/685] Multilang badges: assert width exists in xml --- selfdrive/ui/translations/create_badges.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index 893ac1b412..575584dd50 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -43,7 +43,9 @@ if __name__ == "__main__": assert r.status_code == 200, "Error downloading badge" content_svg = r.content.decode("utf-8") - max_badge_width = max(max_badge_width, int(ET.fromstring(content_svg).get("width"))) + xml = ET.fromstring(content_svg) + assert "width" in xml.attrib + max_badge_width = max(max_badge_width, int(xml.attrib["width"])) # Make tag ids in each badge unique to combine them into one svg for tag in ("r", "s"): From 6c03e093c6d1d9d45dc342cce2374656b80ecaa9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 17:31:58 -0800 Subject: [PATCH 555/685] Multilang: mark some translations finished (#26430) * mark finished translations * fix * cleanup * revert --- selfdrive/ui/translations/main_ja.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHS.ts | 6 +++--- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 039ad7b2a4..3ddf71518c 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -475,11 +475,11 @@ location set ParamControl Ok - OK + OK Cancel - キャンセル + キャンセル diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 44e707e49c..28ec6f750a 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -376,7 +376,7 @@ Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai - 订阅comma prime以获取导航。 + 订阅comma prime以获取导航。 立即注册：https://connect.comma.ai @@ -473,11 +473,11 @@ location set ParamControl Ok - 好的 + 好的 Cancel - 取消 + 取消 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 274cff3a5a..c99b818cbf 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -475,11 +475,11 @@ location set ParamControl Ok - 確定 + 確定 Cancel - 取消 + 取消 From e1001a3036fb93d6d0340d139d4ae2a1f2419d52 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 18:27:30 -0800 Subject: [PATCH 556/685] Toyota: factor on cluster speed to match dash (#26408) * add a minimum factort * Update ref_commit --- selfdrive/car/toyota/carstate.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index a959633281..8efb2c79e3 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -54,6 +54,7 @@ class CarState(CarStateBase): ) ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) + ret.vEgoCluster = ret.vEgo * 1.015 # minimum of all the cars ret.standstill = ret.vEgoRaw == 0 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index da954d76a6..cac678ca1f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -372a67c524342bbf15e22f0caea08d2038973281 +a36f7e2fd922fcadca6f8a3d777f4db787cba016 From 1fda075c7306976099bcfbb6b0a6303e819036b4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 9 Nov 2022 18:42:51 -0800 Subject: [PATCH 557/685] UI: add set speed clarification for e2e long --- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/translations/main_ja.ts | 2 +- selfdrive/ui/translations/main_ko.ts | 4 ++-- selfdrive/ui/translations/main_pt-BR.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHS.ts | 2 +- selfdrive/ui/translations/main_zh-CHT.ts | 2 +- 6 files changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 29069155b2..a30b66a2fd 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -125,7 +125,7 @@ void TogglesPanel::updateToggles() { Experimental features are listed below:\
\

🌮 End-to-End Longitudinal Control 🌮

\ - 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."); + 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 which speed to drive, the set speed will only act as an upper bound."); auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 3ddf71518c..be3fbe104c 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1011,7 +1011,7 @@ location set - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index ff09581e61..4e11e80332 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1011,8 +1011,8 @@ location set <b>경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다.</b><br> openpilot은 차량의 내장 ACC로 기본 설정됩니다. 롱컨트롤으로 전환하려면 이 옵션을 활성화하세요. - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. - openpilot은 <b>chill 모드</b>로 기본 설정됩니다. 실험 모드는 chill 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험 모드의 특징은 아래에 나열되어 있습니다 <br> <h4>🌮 E2E 롱컨트롤 🌮</h4> 주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. + diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index c2ee98d340..fde669c919 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1015,8 +1015,8 @@ trabalho definido <b>AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB.</b><br> O padrão do openpilot é o ACC integrado do carro em vez do controle longitudinal do openpilot neste carro. Habilite isto para alternar para controle longitudinal do openpilot. - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. - o padrão do openpilot é dirigir no <b>modo chill</b>. Modo experimental habilita <b>recursos de nível-alfa</b> que não estão prontos para o modo chill. Os recursos experimentais estão listados abaixo: <br> <h4>🌮 Controle Longitudinal de Ponta a Ponta 🌮</h4> Deixe o modelo de direção controlar o acelerador e os freios. openpilot irá conduzir como pensa que um ser humano faria, incluindo parar para sinais vermelhos e sinais de parada. + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. + diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 28ec6f750a..230205a4a8 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1009,7 +1009,7 @@ location set - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index c99b818cbf..4e8d733933 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1011,7 +1011,7 @@ location set - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. From 5a3c5e7a4b78853d6b350f551432a1bb6050eba9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 19:33:42 -0800 Subject: [PATCH 558/685] Multilang: clean up translation string (#26435) * update translations * do pt * do pt * do ko * do ko * Update selfdrive/ui/translations/main_pt-BR.ts --- selfdrive/ui/qt/offroad/settings.cc | 5 +++-- selfdrive/ui/translations/main_ja.ts | 8 ++++++-- selfdrive/ui/translations/main_ko.ts | 12 ++++++++---- selfdrive/ui/translations/main_pt-BR.ts | 12 ++++++++---- selfdrive/ui/translations/main_zh-CHS.ts | 8 ++++++-- selfdrive/ui/translations/main_zh-CHT.ts | 8 ++++++-- 6 files changed, 37 insertions(+), 16 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index a30b66a2fd..bf886ae159 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -46,8 +46,9 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { { "ExperimentalLongitudinalEnabled", tr("Experimental openpilot longitudinal control"), - tr("WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.
\ - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control."), + QString("%1
%2") + .arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.")) + .arg(tr("openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control.")), "../assets/offroad/icon_speed_limit.png", true, }, diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index be3fbe104c..2e38295368 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1007,11 +1007,15 @@ location set - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. + WARNING: openpilot longitudinal control is experimental for this car and will disable AEB. + + + + openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 4e11e80332..42b73430f1 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1006,14 +1006,18 @@ location set Experimental mode 실험 모드 - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - <b>경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다.</b><br> openpilot은 차량의 내장 ACC로 기본 설정됩니다. 롱컨트롤으로 전환하려면 이 옵션을 활성화하세요. - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. + + WARNING: openpilot longitudinal control is experimental for this car and will disable AEB. + 경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다. + + + openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + openpilot은 차량의 내장 ACC로 기본 설정됩니다. 롱컨트롤으로 전환하려면 이 옵션을 활성화하세요. + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index fde669c919..394d73c86a 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1010,14 +1010,18 @@ trabalho definido Experimental mode Modo Experimental - - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - <b>AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB.</b><br> O padrão do openpilot é o ACC integrado do carro em vez do controle longitudinal do openpilot neste carro. Habilite isto para alternar para controle longitudinal do openpilot. - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. + + WARNING: openpilot longitudinal control is experimental for this car and will disable AEB. + AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB. + + + openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + O padrão do openpilot é o ACC integrado do carro em vez do controle longitudinal do openpilot neste carro. Habilite isto para alternar para controle longitudinal do openpilot. + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 230205a4a8..541ed20dee 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1005,11 +1005,15 @@ location set - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. + WARNING: openpilot longitudinal control is experimental for this car and will disable AEB. + + + + openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 4e8d733933..99c64a194b 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1007,11 +1007,15 @@ location set - <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b><br> openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. + WARNING: openpilot longitudinal control is experimental for this car and will disable AEB. + + + + openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. From a3cd50c5bbb924eaf40ab18d76f603edfc2f5a2a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 19:38:17 -0800 Subject: [PATCH 559/685] ParamControl dialog: more explicit confirmation text (#26431) * Use enable * vanish * fill in missing translation * Update selfdrive/ui/translations/main_pt-BR.ts --- selfdrive/ui/qt/widgets/controls.h | 2 +- selfdrive/ui/translations/main_ja.ts | 8 ++++---- selfdrive/ui/translations/main_ko.ts | 8 ++++---- selfdrive/ui/translations/main_pt-BR.ts | 8 ++++---- selfdrive/ui/translations/main_zh-CHS.ts | 8 ++++---- selfdrive/ui/translations/main_zh-CHT.ts | 8 ++++---- 6 files changed, 21 insertions(+), 21 deletions(-) diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 8679de57b0..b67224b33d 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -144,7 +144,7 @@ public: QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) { QString content("

" + title + "


" "

" + getDescription() + "

"); - ConfirmationDialog dialog(content, tr("Ok"), tr("Cancel"), true, this); + ConfirmationDialog dialog(content, tr("Enable"), tr("Cancel"), true, this); if (!confirm || !state || dialog.exec()) { params.putBool(key, state); } else { diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 2e38295368..14c3404ad1 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -473,14 +473,14 @@ location set ParamControl - - Ok - OK - Cancel キャンセル + + Enable + を有効化 + PrimeAdWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 42b73430f1..9ca28e9e2c 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -473,14 +473,14 @@ location set ParamControl - - Ok - 확인 - Cancel 취소 + + Enable + 사용 + PrimeAdWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 394d73c86a..3559d4b422 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -474,14 +474,14 @@ trabalho definido ParamControl - - Ok - OK - Cancel Cancelar + + Enable + Ativar + PrimeAdWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 541ed20dee..3dfd7794ec 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -471,14 +471,14 @@ location set ParamControl - - Ok - 好的 - Cancel 取消 + + Enable + 启用 + PrimeAdWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 99c64a194b..35fd944ddb 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -473,14 +473,14 @@ location set ParamControl - - Ok - 確定 - Cancel 取消 + + Enable + 啟用 + PrimeAdWidget From af84f1b3506082d644c2f52f88390fabcc9f7835 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 19:42:34 -0800 Subject: [PATCH 560/685] experimental long toggle: adjust description (#26437) * Spell out AEB * vanish --- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/translations/main_ja.ts | 4 ++-- selfdrive/ui/translations/main_ko.ts | 8 ++++---- selfdrive/ui/translations/main_pt-BR.ts | 8 ++++---- selfdrive/ui/translations/main_zh-CHS.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- 6 files changed, 15 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index bf886ae159..2acbb4ed7d 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -47,7 +47,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "ExperimentalLongitudinalEnabled", tr("Experimental openpilot longitudinal control"), QString("%1
%2") - .arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.")) + .arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).")) .arg(tr("openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control.")), "../assets/offroad/icon_speed_limit.png", true, diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 14c3404ad1..78434439dd 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1011,11 +1011,11 @@ location set - WARNING: openpilot longitudinal control is experimental for this car and will disable AEB. + openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 9ca28e9e2c..9409f82a1d 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1010,14 +1010,14 @@ location set 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - - WARNING: openpilot longitudinal control is experimental for this car and will disable AEB. - 경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 AEB를 비활성화합니다. - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. openpilot은 차량의 내장 ACC로 기본 설정됩니다. 롱컨트롤으로 전환하려면 이 옵션을 활성화하세요. + + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). + + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 3559d4b422..55ae75d20e 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1014,14 +1014,14 @@ trabalho definido 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - - WARNING: openpilot longitudinal control is experimental for this car and will disable AEB. - AVISO: o controle longitudinal openpilot é experimental para este carro e irá desabilitar AEB. - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. O padrão do openpilot é o ACC integrado do carro em vez do controle longitudinal do openpilot neste carro. Habilite isto para alternar para controle longitudinal do openpilot. + + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 3dfd7794ec..165aacfa5a 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1009,11 +1009,11 @@ location set - WARNING: openpilot longitudinal control is experimental for this car and will disable AEB. + openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 35fd944ddb..e3cd908d18 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1011,11 +1011,11 @@ location set - WARNING: openpilot longitudinal control is experimental for this car and will disable AEB. + openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). From d3122cc77e169d8eb87663741bacc165f7062d56 Mon Sep 17 00:00:00 2001 From: Nelson Chen Date: Wed, 9 Nov 2022 19:59:12 -0800 Subject: [PATCH 561/685] Toyota: add missing engine FW for RAV4H_TSS2 (#26432) "rav4 hybrid xse 2020" From Rogrhoa#2158 on Discord. Example Route: 64edc30d23cad8cb|2022-11-09--20-02-03 --- 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 2ce1cba92c..ba26c7e03b 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1392,6 +1392,7 @@ FW_VERSIONS = { b'\x02896634A14001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', b'\x02896634A23000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02896634A23001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', + b'\x02896634A23101\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', b'\x02896634A14001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896634A14101\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', ], From 0941e40177eb0eb7a49bb08628e5aad2deb19c7f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 20:31:38 -0800 Subject: [PATCH 562/685] ui: static color non-e2e path (#26406) * remove orientation color changing * "just green" --- selfdrive/ui/qt/onroad.cc | 18 +++--------------- 1 file changed, 3 insertions(+), 15 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 37c1913743..23986726c8 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -478,21 +478,9 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35)); bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0)); } else { - const auto &orientation = (*s->sm)["modelV2"].getModelV2().getOrientation(); - float orientation_future = 0; - if (orientation.getZ().size() > 16) { - orientation_future = std::abs(orientation.getZ()[16]); // 2.5 seconds - } - start_hue = 148; - // straight: 112, in turns: 70 - end_hue = fmax(70, 112 - (orientation_future * 420)); - - // FIXME: painter.drawPolygon can be slow if hue is not rounded - end_hue = int(end_hue * 100 + 0.5) / 100; - - bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.94, 0.51, 0.4)); - bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35)); - bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0)); + bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4)); + bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35)); + bg.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.0)); } painter.setBrush(bg); From 4efb01ece2a9ef54152682c1dc3756d3e4161241 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 9 Nov 2022 20:33:01 -0800 Subject: [PATCH 563/685] Toggle titles: proper capitalization (#26438) * proper caps * update translations update translations update translations * Update selfdrive/ui/translations/main_pt-BR.ts --- selfdrive/ui/qt/offroad/settings.cc | 6 +++--- selfdrive/ui/translations/main_ar.ts | 4 ++-- selfdrive/ui/translations/main_ja.ts | 6 +++--- selfdrive/ui/translations/main_ko.ts | 6 +++--- selfdrive/ui/translations/main_nl.ts | 4 ++-- selfdrive/ui/translations/main_pl.ts | 4 ++-- selfdrive/ui/translations/main_pt-BR.ts | 6 +++--- selfdrive/ui/translations/main_th.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHS.ts | 6 +++--- selfdrive/ui/translations/main_zh-CHT.ts | 6 +++--- 10 files changed, 26 insertions(+), 26 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 2acbb4ed7d..a03cf02010 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -38,14 +38,14 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { }, { "ExperimentalMode", - tr("Experimental mode"), + tr("Experimental Mode"), "", "../assets/offroad/icon_road.png", false, }, { "ExperimentalLongitudinalEnabled", - tr("Experimental openpilot longitudinal control"), + tr("Experimental openpilot Longitudinal Control"), QString("%1
%2") .arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).")) .arg(tr("openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control.")), @@ -75,7 +75,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { }, { "DisengageOnAccelerator", - tr("Disengage On Accelerator Pedal"), + tr("Disengage on Accelerator Pedal"), tr("When enabled, pressing the accelerator pedal will disengage openpilot."), "../assets/offroad/icon_disengage_on_accelerator.svg", false, diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 3c47e6e8e8..07a84fca08 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -1023,7 +1023,7 @@ location set قم بتحميل البيانات من الكاميرا المواجهة للسائق وساعد في تحسين خوارزمية مراقبة السائق. - Disengage On Accelerator Pedal + Disengage on Accelerator Pedal فك الارتباط على دواسة التسريع @@ -1059,7 +1059,7 @@ location set - Experimental openpilot longitudinal control + Experimental openpilot Longitudinal Control diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 78434439dd..87c60516fc 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -967,7 +967,7 @@ location set 車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。 - Experimental openpilot longitudinal control + Experimental openpilot Longitudinal Control 実験段階のopenpilotによるアクセル制御 @@ -979,7 +979,7 @@ location set ここ機能を使う為には、「実験段階のopenpilotによるアクセル制御」を先に有効化してください。 - Disengage On Accelerator Pedal + Disengage on Accelerator Pedal ｱｸｾﾙを踏むと openpilot を中断 @@ -1003,7 +1003,7 @@ location set 分割画面表示の場合、ディスプレイの左側にマップを表示します。 - Experimental mode + Experimental Mode diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 9409f82a1d..0bbae22517 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -967,7 +967,7 @@ location set 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. - Experimental openpilot longitudinal control + Experimental openpilot Longitudinal Control openpilot 롱컨트롤 (실험적) @@ -979,7 +979,7 @@ location set openpilot 롱컨트롤을 활성화합니다. (실험적) - Disengage On Accelerator Pedal + Disengage on Accelerator Pedal 가속페달 조작시 해제 @@ -1003,7 +1003,7 @@ location set 분할 화면 보기에서 지도를 왼쪽에 표시합니다. - Experimental mode + Experimental Mode 실험 모드 diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts index 24d2031f31..10651a4160 100644 --- a/selfdrive/ui/translations/main_nl.ts +++ b/selfdrive/ui/translations/main_nl.ts @@ -1007,7 +1007,7 @@ ingesteld Upload gegevens van de bestuurders camera en help het algoritme voor het monitoren van de bestuurder te verbeteren. - Disengage On Accelerator Pedal + Disengage on Accelerator Pedal Deactiveren Met Gaspedaal @@ -1043,7 +1043,7 @@ ingesteld - Experimental openpilot longitudinal control + Experimental openpilot Longitudinal Control diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts index bdce181375..4f8b03ef50 100644 --- a/selfdrive/ui/translations/main_pl.ts +++ b/selfdrive/ui/translations/main_pl.ts @@ -1011,7 +1011,7 @@ nie zostało ustawione Prześlij dane z kamery skierowanej na kierowcę i pomóż poprawiać algorytm monitorowania kierowcy. - Disengage On Accelerator Pedal + Disengage on Accelerator Pedal Odłącz poprzez naciśnięcie gazu @@ -1047,7 +1047,7 @@ nie zostało ustawione - Experimental openpilot longitudinal control + Experimental openpilot Longitudinal Control diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 55ae75d20e..702702a8be 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -971,7 +971,7 @@ trabalho definido Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor. - Experimental openpilot longitudinal control + Experimental openpilot Longitudinal Control Controle longitudinal experimental openpilot @@ -983,7 +983,7 @@ trabalho definido Habilite o controle longitudinal experimental para habilitar isso. - Disengage On Accelerator Pedal + Disengage on Accelerator Pedal Desacionar Com Pedal Do Acelerador @@ -1007,7 +1007,7 @@ trabalho definido Exibir mapa do lado esquerdo quando a tela for dividida. - Experimental mode + Experimental Mode Modo Experimental diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 95880e69c9..0de0ba5f9a 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -951,7 +951,7 @@ location set อัปโหลดข้อมูลจากกล้องที่หันหน้าไปทางคนขับ และช่วยปรับปรุงอัลกอริธึมการตรวจสอบผู้ขับขี่ - Disengage On Accelerator Pedal + Disengage on Accelerator Pedal ยกเลิกระบบช่วยขับเมื่อเหยียบคันเร่ง @@ -979,7 +979,7 @@ location set 🌮 ควบคุมเร่ง/เบรคแบบ End-to-end (อยู่ขั้นพัฒนา) 🌮 - Experimental openpilot longitudinal control + Experimental openpilot Longitudinal Control ทดลองใช้ระบบควบคุมการเร่ง/เบรคโดย openpilot diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 165aacfa5a..558a6cec4f 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -965,7 +965,7 @@ location set 上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。 - Experimental openpilot longitudinal control + Experimental openpilot Longitudinal Control @@ -977,7 +977,7 @@ location set - Disengage On Accelerator Pedal + Disengage on Accelerator Pedal 踩油门时取消控制 @@ -1001,7 +1001,7 @@ location set 在分屏模式中，将地图置于屏幕左侧。 - Experimental mode + Experimental Mode diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index e3cd908d18..0f6bc981cf 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -967,7 +967,7 @@ location set 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 - Experimental openpilot longitudinal control + Experimental openpilot Longitudinal Control 使用 openpilot 縱向控制（實驗） @@ -979,7 +979,7 @@ location set 打開縱向控制（實驗）以啟用此功能。 - Disengage On Accelerator Pedal + Disengage on Accelerator Pedal 油門取消控車 @@ -1003,7 +1003,7 @@ location set 進入分割畫面後，地圖將會顯示在畫面的左側。 - Experimental mode + Experimental Mode From 5eaf525c18becad63205fd3add4bfe540f70b01a Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 9 Nov 2022 21:49:24 -0800 Subject: [PATCH 564/685] camerad: fix OX flicker (#26439) --- system/camerad/cameras/camera_qcom2.cc | 28 +++++++++++--------------- system/camerad/cameras/camera_qcom2.h | 3 ++- 2 files changed, 14 insertions(+), 17 deletions(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 78848af5be..2ee06e372a 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -80,30 +80,26 @@ const float sensor_analog_gains_AR0231[] = { 7.0/2.0, 8.0/2.0, 8.0/1.0}; // 12, 13, 14, 15 = bypass const float sensor_analog_gains_OX03C10[] = { - 1.0, 1.125, 1.25, 1.3125, 1.5625, - 1.6875, 2.0, 2.25, 2.625, 3.125, - 3.625, 4.0, 4.5, 5.0, 5.5, - 6.0, 6.5, 7.0, 7.5, 8.0, - 8.5, 9.0, 9.5, 10.0, 10.5, - 11.0, 11.5, 12.0, 12.5, 13.0, - 13.5, 14.0, 14.5, 15.0, 15.5}; + 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, + 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, + 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, + 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, + 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; const uint32_t ox03c10_analog_gains_reg[] = { - 0x100, 0x120, 0x140, 0x150, 0x190, - 0x1B0, 0x200, 0x240, 0x2A0, 0x320, - 0x3A0, 0x400, 0x480, 0x500, 0x580, - 0x600, 0x680, 0x700, 0x780, 0x800, - 0x880, 0x900, 0x980, 0xA00, 0xA80, - 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, - 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; + 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0, + 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300, + 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580, + 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00, + 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; 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_MIN_IDX_OX03C10 = 0x0; -const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x6; // 2x -const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x22; +const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x11; // 2.5x +const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36; const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 5023c82458..1e25e605c5 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -12,6 +12,7 @@ #include "common/util.h" #define FRAME_BUF_COUNT 4 +#define ANALOG_GAIN_MAX_CNT 55 class CameraState { public: @@ -36,7 +37,7 @@ public: float dc_gain_on_grey; float dc_gain_off_grey; - float sensor_analog_gains[35]; + float sensor_analog_gains[ANALOG_GAIN_MAX_CNT]; int analog_gain_min_idx; int analog_gain_max_idx; int analog_gain_rec_idx; From 737408066895452f31f08144c129551b94e64662 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Wed, 9 Nov 2022 22:04:57 -0800 Subject: [PATCH 565/685] min lane change speed 20mph (#26434) --- selfdrive/controls/lib/desire_helper.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py index d41d6780e3..4790b8f0eb 100644 --- a/selfdrive/controls/lib/desire_helper.py +++ b/selfdrive/controls/lib/desire_helper.py @@ -5,7 +5,7 @@ from common.realtime import DT_MDL LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection -LANE_CHANGE_SPEED_MIN = 15 * CV.MPH_TO_MS +LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS LANE_CHANGE_TIME_MAX = 10. DESIRES = { From b320ac6c237eb0d31ab54227066e8ea6ba0f4dec Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 10 Nov 2022 14:05:18 +0800 Subject: [PATCH 566/685] Cabana: improve the BinaryView & fix known issues (#26409) * fix flipping issue * dragging up to create little endian signal * transform between little & big endian * complete selection functions * scroll to top after msg updated * remove empty line * cleanup code * remove extra semicolon * fix indentation * minmax * dont select hex column * create msg if not existed --- tools/cabana/binaryview.cc | 153 +++++++++++++++++------------------ tools/cabana/binaryview.h | 14 ++-- tools/cabana/dbcmanager.cc | 6 +- tools/cabana/dbcmanager.h | 2 +- tools/cabana/detailwidget.cc | 42 ++++++---- tools/cabana/detailwidget.h | 2 +- tools/cabana/signaledit.cc | 14 +++- 7 files changed, 127 insertions(+), 106 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index ba50b101fc..678fe5f876 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -13,6 +13,10 @@ const int CELL_HEIGHT = 26; +inline int get_bit_index(const QModelIndex &index, bool little_endian) { + return index.row() * 8 + (little_endian ? 7 - index.column() : index.column()); +} + BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { model = new BinaryViewModel(this); setModel(model); @@ -37,31 +41,49 @@ void BinaryView::highlight(const Signal *sig) { } void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) { - QModelIndex tl = indexAt({qMin(rect.left(), rect.right()), qMin(rect.top(), rect.bottom())}); - QModelIndex br = indexAt({qMax(rect.left(), rect.right()), qMax(rect.top(), rect.bottom())}); - if (!tl.isValid() || !br.isValid()) + auto index = indexAt(viewport()->mapFromGlobal(QCursor::pos())); + if (!anchor_index.isValid() || !index.isValid()) return; - if (tl < anchor_index) { - br = anchor_index; - } else if (anchor_index < br) { - tl = anchor_index; - } QItemSelection selection; - for (int row = tl.row(); row <= br.row(); ++row) { - int left_col = (row == tl.row()) ? tl.column() : 0; - int right_col = (row == br.row()) ? br.column() : 7; - selection.merge({model->index(row, left_col), model->index(row, right_col)}, flags); + auto [tl, br] = std::minmax(anchor_index, index); + if ((resize_sig && resize_sig->is_little_endian) || (!resize_sig && index < anchor_index)) { + // little_endian selection + if (tl.row() == br.row()) { + selection.merge({model->index(tl.row(), tl.column()), model->index(tl.row(), br.column())}, flags); + } else { + for (int row = tl.row(); row <= br.row(); ++row) { + int left_col = (row == br.row()) ? br.column() : 0; + int right_col = (row == tl.row()) ? tl.column() : 7; + selection.merge({model->index(row, left_col), model->index(row, right_col)}, flags); + } + } + } else { + // big endian selection + for (int row = tl.row(); row <= br.row(); ++row) { + int left_col = (row == tl.row()) ? tl.column() : 0; + int right_col = (row == br.row()) ? br.column() : 7; + selection.merge({model->index(row, left_col), model->index(row, right_col)}, flags); + } } selectionModel()->select(selection, flags); } void BinaryView::mousePressEvent(QMouseEvent *event) { delegate->setSelectionColor(style()->standardPalette().color(QPalette::Active, QPalette::Highlight)); - anchor_index = indexAt(event->pos()); - if (getResizingSignal() != nullptr) { + if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) { + anchor_index = index; auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); - delegate->setSelectionColor(item->bg_color); + if (item && item->sigs.size() > 0) { + int bit_idx = get_bit_index(anchor_index, true); + for (auto s : item->sigs) { + if (bit_idx == s->lsb || bit_idx == s->msb) { + resize_sig = s; + delegate->setSelectionColor(item->bg_color); + break; + } + } + } } QTableView::mousePressEvent(event); } @@ -80,23 +102,35 @@ void BinaryView::mouseMoveEvent(QMouseEvent *event) { void BinaryView::mouseReleaseEvent(QMouseEvent *event) { QTableView::mouseReleaseEvent(event); - if (auto indexes = selectedIndexes(); !indexes.isEmpty()) { - int from = indexes.first().row() * 8 + indexes.first().column(); - int to = indexes.back().row() * 8 + indexes.back().column(); - if (auto sig = getResizingSignal()) { - auto [sig_from, sig_to] = getSignalRange(sig); - if (from >= sig_from && to <= sig_to) { // reduce size - emit(from == sig_from ? resizeSignal(sig, std::min(to + 1, sig_to), sig_to) - : resizeSignal(sig, sig_from, std::max(from - 1, sig_from))); - } else { // increase size - emit resizeSignal(sig, std::min(from, sig_from), std::max(to, sig_to)); + auto release_index = indexAt(event->pos()); + if (release_index.isValid() && anchor_index.isValid()) { + if (release_index.column() == 8) { + release_index = model->index(release_index.row(), 7); + } + bool little_endian = (resize_sig && resize_sig->is_little_endian) || (!resize_sig && release_index < anchor_index); + int release_bit_idx = get_bit_index(release_index, little_endian); + int archor_bit_idx = get_bit_index(anchor_index, little_endian); + if (resize_sig) { + auto [sig_from, sig_to] = getSignalRange(resize_sig); + int start_bit, end_bit; + if (archor_bit_idx == sig_from) { + std::tie(start_bit, end_bit) = std::minmax(release_bit_idx, sig_to); + if (start_bit >= sig_from && start_bit <= sig_to) + start_bit = std::min(start_bit + 1, sig_to); + } else { + std::tie(start_bit, end_bit) = std::minmax(release_bit_idx, sig_from); + if (end_bit >= sig_from && end_bit <= sig_to) + end_bit = std::max(end_bit - 1, sig_from); } + emit resizeSignal(resize_sig, start_bit, end_bit - start_bit + 1); } else { - emit addSignal(from, to); + auto [sart_bit, end_bit] = std::minmax(archor_bit_idx, release_bit_idx); + emit addSignal(sart_bit, end_bit - sart_bit + 1, little_endian); } - clearSelection(); } + clearSelection(); anchor_index = QModelIndex(); + resize_sig = nullptr; } void BinaryView::leaveEvent(QEvent *event) { @@ -107,34 +141,17 @@ void BinaryView::leaveEvent(QEvent *event) { void BinaryView::setMessage(const QString &message_id) { model->setMessage(message_id); clearSelection(); + anchor_index = QModelIndex(); + resize_sig = nullptr; + hovered_sig = nullptr; updateState(); } -const Signal *BinaryView::getResizingSignal() const { - if (anchor_index.isValid()) { - auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); - if (item && item->sigs.size() > 0) { - int archor_pos = anchor_index.row() * 8 + anchor_index.column(); - for (auto s : item->sigs) { - auto [sig_from, sig_to] = getSignalRange(s); - if (archor_pos == sig_from || archor_pos == sig_to) - return s; - } - } - } - return nullptr; -} - QSet BinaryView::getOverlappingSignals() const { QSet overlapping; - for (int i = 0; i < model->rowCount(); ++i) { - for (int j = 0; j < model->columnCount() - 1; ++j) { - auto item = (const BinaryViewModel::Item *)model->index(i, j).internalPointer(); - if (item && item->sigs.size() > 1) { - for (auto s : item->sigs) - overlapping.insert(s); - } - } + for (auto &item : model->items) { + if (item.sigs.size() > 1) + for (auto s : item.sigs) overlapping += s; } return overlapping; } @@ -142,53 +159,37 @@ QSet BinaryView::getOverlappingSignals() const { // BinaryViewModel void BinaryViewModel::setMessage(const QString &message_id) { - msg_id = message_id; - beginResetModel(); + msg_id = message_id; items.clear(); - row_count = 0; - - dbc_msg = dbc()->msg(msg_id); - if (dbc_msg) { + if ((dbc_msg = dbc()->msg(msg_id))) { row_count = dbc_msg->size; items.resize(row_count * column_count); for (int i = 0; i < dbc_msg->sigs.size(); ++i) { const auto &sig = dbc_msg->sigs[i]; auto [start, end] = getSignalRange(&sig); for (int j = start; j <= end; ++j) { - int idx = column_count * (j / 8) + j % 8; + int bit_index = sig.is_little_endian ? bigEndianBitIndex(j) : j; + int idx = column_count * (bit_index / 8) + bit_index % 8; if (idx >= items.size()) { qWarning() << "signal " << sig.name.c_str() << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size; break; } - if (j == start) { - sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; - } else if (j == end) { - sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; - } + if (j == start) sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; + if (j == end) sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; items[idx].bg_color = getColor(i); - items[idx].sigs.push_back(&dbc_msg->sigs[i]); + items[idx].sigs.push_back(&sig); } } } else { row_count = can->lastMessage(msg_id).dat.size(); items.resize(row_count * column_count); } - endResetModel(); } -QModelIndex BinaryViewModel::index(int row, int column, const QModelIndex &parent) const { - return createIndex(row, column, (void *)&items[row * column_count + column]); -} - -Qt::ItemFlags BinaryViewModel::flags(const QModelIndex &index) const { - return (index.column() == column_count - 1) ? Qt::ItemIsEnabled : Qt::ItemIsEnabled | Qt::ItemIsSelectable; -} - 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) { @@ -198,7 +199,6 @@ void BinaryViewModel::updateState() { items.resize(row_count * column_count); endResetModel(); } - char hex[3] = {'\0'}; for (int i = 0; i < std::min(binary.size(), row_count); ++i) { for (int j = 0; j < column_count - 1; ++j) { @@ -248,9 +248,8 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op BinaryView *bin_view = (BinaryView *)parent(); painter->save(); - bool hover = std::find_if(item->sigs.begin(), item->sigs.end(), [=](auto s) { return s == bin_view->hoveredSignal(); }) != - item->sigs.end(); // background + bool hover = item->sigs.contains(bin_view->hoveredSignal()); QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color; if (option.state & QStyle::State_Selected) { bg_color = selection_color; @@ -258,7 +257,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->fillRect(option.rect, bg_color); // text - if (index.column() == 8) { // hex column + if (index.column() == 8) { // hex column painter->setFont(hex_font); } else if (hover) { painter->setPen(Qt::white); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index a907a673bf..05bfe7e79f 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -28,12 +28,16 @@ public: BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {} void setMessage(const QString &message_id); void updateState(); - Qt::ItemFlags flags(const QModelIndex &index) const; QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; } int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } + QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override { + return createIndex(row, column, (void *)&items[row * column_count + column]); + } + Qt::ItemFlags flags(const QModelIndex &index) const override { + return (index.column() == column_count - 1) ? Qt::ItemIsEnabled : Qt::ItemIsEnabled | Qt::ItemIsSelectable; + } struct Item { QColor bg_color = QColor(Qt::white); @@ -42,13 +46,13 @@ public: QString val = "0"; QList sigs; }; + std::vector items; private: QString msg_id; const Msg *dbc_msg; int row_count = 0; const int column_count = 9; - std::vector items; }; class BinaryView : public QTableView { @@ -64,7 +68,7 @@ public: signals: void signalHovered(const Signal *sig); - void addSignal(int from, int size); + void addSignal(int start_bit, int size, bool little_endian); void resizeSignal(const Signal *sig, int from, int size); private: @@ -73,10 +77,10 @@ private: void mouseMoveEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void leaveEvent(QEvent *event) override; - const Signal *getResizingSignal() const; QModelIndex anchor_index; BinaryViewModel *model; BinaryItemDelegate *delegate; + const Signal *resize_sig = nullptr; const Signal *hovered_sig = nullptr; }; diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 184fab38eb..abdd9a08df 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -147,9 +147,9 @@ double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { return value; } -void updateSigSizeParamsFromRange(Signal &s, int from, int to) { - s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from); - s.size = to - from + 1; +void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size) { + s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit); + s.size = size; if (s.is_little_endian) { s.lsb = s.start_bit; s.msb = s.start_bit + s.size - 1; diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 2b6aca41d7..81c723a20d 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -49,7 +49,7 @@ private: double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); int bigEndianStartBitsIndex(int start_bit); int bigEndianBitIndex(int index); -void updateSigSizeParamsFromRange(Signal &s, int from, int to); +void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size); std::pair getSignalRange(const Signal *s); DBCManager *dbc(); inline QString msgName(const QString &id, const char *def = "untitled") { diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 287c75a617..f96b60847b 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -130,15 +130,13 @@ void DetailWidget::setMessage(const QString &message_id) { break; } } + msg_id = message_id; if (index == -1) { index = tabbar->addTab(message_id); tabbar->setTabToolTip(index, msgName(message_id)); } tabbar->setCurrentIndex(index); - msg_id = message_id; dbcMsgChanged(); - - scroll->verticalScrollBar()->setValue(0); } void DetailWidget::dbcMsgChanged(int show_form_idx) { @@ -187,6 +185,7 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { warning_label->setText(warnings.join('\n')); warning_widget->setVisible(!warnings.isEmpty()); setUpdatesEnabled(true); + scroll->verticalScrollBar()->setValue(0); } void DetailWidget::updateState() { @@ -232,24 +231,34 @@ void DetailWidget::removeMsg() { } } -void DetailWidget::addSignal(int from, int to) { - if (auto msg = dbc()->msg(msg_id)) { - Signal sig = {}; +void DetailWidget::addSignal(int start_bit, int size, bool little_endian) { + auto msg = dbc()->msg(msg_id); + if (!msg) { for (int i = 1; /**/; ++i) { - sig.name = "NEW_SIGNAL_" + std::to_string(i); - auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig.name == s.name; }); - if (it == msg->sigs.end()) break; + std::string name = "NEW_MSG_" + std::to_string(i); + auto it = std::find_if(dbc()->getDBC()->msgs.begin(), dbc()->getDBC()->msgs.end(), [&](auto &m) { return m.name == name; }); + if (it == dbc()->getDBC()->msgs.end()) { + dbc()->updateMsg(msg_id, name.c_str(), can->lastMessage(msg_id).dat.size()); + msg = dbc()->msg(msg_id); + break; + } } - sig.is_little_endian = false, - updateSigSizeParamsFromRange(sig, from, to); - dbc()->addSignal(msg_id, sig); - dbcMsgChanged(msg->sigs.size() - 1); } + Signal sig = {}; + for (int i = 1; /**/; ++i) { + sig.name = "NEW_SIGNAL_" + std::to_string(i); + auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig.name == s.name; }); + if (it == msg->sigs.end()) break; + } + sig.is_little_endian = little_endian; + updateSigSizeParamsFromRange(sig, start_bit, size); + dbc()->addSignal(msg_id, sig); + dbcMsgChanged(msg->sigs.size() - 1); } -void DetailWidget::resizeSignal(const Signal *sig, int from, int to) { +void DetailWidget::resizeSignal(const Signal *sig, int start_bit, int size) { Signal s = *sig; - updateSigSizeParamsFromRange(s, from, to); + updateSigSizeParamsFromRange(s, start_bit, size); saveSignal(sig, s); } @@ -272,8 +281,7 @@ void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) { } dbc()->updateSignal(msg_id, sig->name.c_str(), new_sig); - // update binary view and history log - updateState(); + dbcMsgChanged(); } void DetailWidget::removeSignal(const Signal *sig) { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 7cb3a505ee..915e0bde60 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -30,7 +30,7 @@ public: private: void updateChartState(const QString &id, const Signal *sig, bool opened); void showTabBarContextMenu(const QPoint &pt); - void addSignal(int start_bit, int to); + void addSignal(int start_bit, int size, bool little_endian); void resizeSignal(const Signal *sig, int from, int to); void saveSignal(const Signal *sig, const Signal &new_sig); void removeSignal(const Signal *sig); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index ee91887d0a..99365294b8 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -28,7 +28,6 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { endianness->addItems({"Little", "Big"}); form_layout->addRow(tr("Endianness"), endianness); - ; form_layout->addRow(tr("lsb"), lsb = new QLabel()); form_layout->addRow(tr("msb"), msb = new QLabel()); @@ -130,7 +129,18 @@ void SignalEdit::saveSignal() { s.offset = form->offset->text().toDouble(); s.factor = form->factor->text().toDouble(); s.is_signed = form->sign->currentIndex() == 0; - s.is_little_endian = form->endianness->currentIndex() == 0; + bool little_endian = form->endianness->currentIndex() == 0; + if (little_endian != s.is_little_endian) { + int start = std::floor(s.start_bit / 8); + if (little_endian) { + int end = std::floor((s.start_bit - s.size + 1) / 8); + s.start_bit = start == end ? s.start_bit - s.size + 1 : bigEndianStartBitsIndex(s.start_bit); + } else { + int end = std::floor((s.start_bit + s.size - 1) / 8); + s.start_bit = start == end ? s.start_bit + s.size - 1 : bigEndianBitIndex(s.start_bit); + } + s.is_little_endian = little_endian; + } if (s.is_little_endian) { s.lsb = s.start_bit; s.msb = s.start_bit + s.size - 1; From 7c922eafe9d9c8e07de80f8bafcd9b2dc2932c13 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 11 Nov 2022 02:37:38 +0800 Subject: [PATCH 567/685] Cabana: Added support for undo & redo (#26440) * undo/redo * display command list to rolling the state backwards or forward * update detailview after rolling states * add * to title bar to indicate dbc has changed * fix signal pointer address changed after removed * cleanup * fix id error * clear undo stack after dbc file changed * cleanup * use map * cleanup * typo --- tools/cabana/SConscript | 2 +- tools/cabana/binaryview.cc | 7 +-- tools/cabana/binaryview.h | 2 +- tools/cabana/chartswidget.cc | 2 +- tools/cabana/commands.cc | 75 +++++++++++++++++++++++++++++++ tools/cabana/commands.h | 63 ++++++++++++++++++++++++++ tools/cabana/dbcmanager.cc | 75 ++++++++++++++++--------------- tools/cabana/dbcmanager.h | 25 +++++++---- tools/cabana/detailwidget.cc | 60 +++++++++++-------------- tools/cabana/detailwidget.h | 2 + tools/cabana/historylog.cc | 8 +++- tools/cabana/historylog.h | 2 +- tools/cabana/mainwin.cc | 25 ++++++++++- tools/cabana/tests/test_cabana.cc | 39 ++++++++-------- 14 files changed, 277 insertions(+), 110 deletions(-) create mode 100644 tools/cabana/commands.cc create mode 100644 tools/cabana/commands.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index b7321e1f8d..3ff4862800 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -19,7 +19,7 @@ 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', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) + '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'): diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 678fe5f876..bcd2b88a81 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -165,14 +165,14 @@ void BinaryViewModel::setMessage(const QString &message_id) { if ((dbc_msg = dbc()->msg(msg_id))) { row_count = dbc_msg->size; items.resize(row_count * column_count); - for (int i = 0; i < dbc_msg->sigs.size(); ++i) { - const auto &sig = dbc_msg->sigs[i]; + int i = 0; + for (auto &[name, sig] : dbc_msg->sigs) { auto [start, end] = getSignalRange(&sig); for (int j = start; j <= end; ++j) { int bit_index = sig.is_little_endian ? bigEndianBitIndex(j) : j; int idx = column_count * (bit_index / 8) + bit_index % 8; if (idx >= items.size()) { - qWarning() << "signal " << sig.name.c_str() << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size; + qWarning() << "signal " << name << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size; break; } if (j == start) sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; @@ -180,6 +180,7 @@ void BinaryViewModel::setMessage(const QString &message_id) { items[idx].bg_color = getColor(i); items[idx].sigs.push_back(&sig); } + ++i; } } else { row_count = can->lastMessage(msg_id).dat.size(); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 05bfe7e79f..2d6fc5c18b 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -50,7 +50,7 @@ public: private: QString msg_id; - const Msg *dbc_msg; + const DBCMsg *dbc_msg; int row_count = 0; const int column_count = 9; }; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 3a170bccdc..875ed80ac5 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -240,7 +240,7 @@ void ChartView::resizeEvent(QResizeEvent *event) { void ChartView::updateTitle() { chart()->setTitle(signal->name.c_str()); - msg_title->setHtml(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); + msg_title->setHtml(tr("%1 %2").arg(dbc()->msg(id)->name).arg(id)); } void ChartView::updateFromSettings() { diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc new file mode 100644 index 0000000000..b3f5cb1c66 --- /dev/null +++ b/tools/cabana/commands.cc @@ -0,0 +1,75 @@ +#include "tools/cabana/commands.h" + +// EditMsgCommand + +EditMsgCommand::EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent) + : id(id), new_title(title), new_size(size), QUndoCommand(parent) { + if (auto msg = dbc()->msg(id)) { + old_title = msg->name; + old_size = msg->size; + } + setText(QObject::tr("Edit message %1:%2").arg(DBCManager::parseId(id).second).arg(title)); +} + +void EditMsgCommand::undo() { + if (old_title.isEmpty()) + dbc()->removeMsg(id); + else + dbc()->updateMsg(id, old_title, old_size); +} + +void EditMsgCommand::redo() { + dbc()->updateMsg(id, new_title, new_size); +} + +// RemoveMsgCommand + +RemoveMsgCommand::RemoveMsgCommand(const QString &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) { + if (auto msg = dbc()->msg(id)) { + message = *msg; + setText(QObject::tr("Remove message %1:%2").arg(DBCManager::parseId(id).second).arg(message.name)); + } +} + +void RemoveMsgCommand::undo() { + if (!message.name.isEmpty()) { + dbc()->updateMsg(id, message.name, message.size); + for (auto &[name, s] : message.sigs) + dbc()->addSignal(id, s); + } +} + +void RemoveMsgCommand::redo() { + if (!message.name.isEmpty()) + dbc()->removeMsg(id); +} + +// AddSigCommand + +AddSigCommand::AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent) + : id(id), signal(sig), QUndoCommand(parent) { + setText(QObject::tr("Add signal %1 to %2").arg(sig.name.c_str()).arg(DBCManager::parseId(id).second)); +} + +void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name.c_str()); } +void AddSigCommand::redo() { dbc()->addSignal(id, signal); } + +// RemoveSigCommand + +RemoveSigCommand::RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent) + : id(id), signal(*sig), QUndoCommand(parent) { + setText(QObject::tr("Remove signal %1 from %2").arg(signal.name.c_str()).arg(DBCManager::parseId(id).second)); +} + +void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); } +void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name.c_str()); } + +// EditSignalCommand + +EditSignalCommand::EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent) + : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) { + setText(QObject::tr("Edit signal %1").arg(old_signal.name.c_str())); +} + +void EditSignalCommand::undo() { dbc()->updateSignal(id, new_signal.name.c_str(), old_signal); } +void EditSignalCommand::redo() { dbc()->updateSignal(id, old_signal.name.c_str(), new_signal); } diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h new file mode 100644 index 0000000000..7ea1f66653 --- /dev/null +++ b/tools/cabana/commands.h @@ -0,0 +1,63 @@ +#pragma once + +#include + +#include "tools/cabana/canmessages.h" +#include "tools/cabana/dbcmanager.h" + +class EditMsgCommand : public QUndoCommand { +public: + EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent = nullptr); + void undo() override; + void redo() override; + +private: + const QString id; + QString old_title, new_title; + int old_size = 0, new_size = 0; +}; + +class RemoveMsgCommand : public QUndoCommand { +public: + RemoveMsgCommand(const QString &id, QUndoCommand *parent = nullptr); + void undo() override; + void redo() override; + +private: + const QString id; + DBCMsg message; +}; + +class AddSigCommand : public QUndoCommand { +public: + AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent = nullptr); + void undo() override; + void redo() override; + +private: + const QString id; + Signal signal = {}; +}; + +class RemoveSigCommand : public QUndoCommand { +public: + RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent = nullptr); + void undo() override; + void redo() override; + +private: + const QString id; + Signal signal = {}; +}; + +class EditSignalCommand : public QUndoCommand { +public: + EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr); + void undo() override; + void redo() override; + +private: + const QString id; + Signal old_signal = {}; + Signal new_signal = {}; +}; diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index abdd9a08df..ebad2387cf 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -10,32 +10,36 @@ DBCManager::~DBCManager() {} void DBCManager::open(const QString &dbc_file_name) { dbc = const_cast(dbc_lookup(dbc_file_name.toStdString())); - updateMsgMap(); - emit DBCFileChanged(); + initMsgMap(); } void DBCManager::open(const QString &name, const QString &content) { std::istringstream stream(content.toStdString()); dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); - updateMsgMap(); - emit DBCFileChanged(); + initMsgMap(); } -void DBCManager::updateMsgMap() { - msg_map.clear(); - for (auto &msg : dbc->msgs) - msg_map[msg.address] = &msg; +void DBCManager::initMsgMap() { + msgs.clear(); + for (auto &msg : dbc->msgs) { + auto &m = msgs[msg.address]; + m.name = msg.name.c_str(); + m.size = msg.size; + for (auto &s : msg.sigs) + m.sigs[QString::fromStdString(s.name)] = s; + } + emit DBCFileChanged(); } QString DBCManager::generateDBC() { if (!dbc) return {}; QString dbc_string; - for (auto &m : dbc->msgs) { - dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(m.address).arg(m.name.c_str()).arg(m.size); - for (auto &sig : m.sigs) { + for (auto &[address, m] : msgs) { + dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size); + for (auto &[name, sig] : m.sigs) { dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [0|0] \"\" XXX\n") - .arg(sig.name.c_str()) + .arg(name) .arg(sig.start_bit) .arg(sig.size) .arg(sig.is_little_endian ? '1' : '0') @@ -49,48 +53,45 @@ QString DBCManager::generateDBC() { } void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) { - auto [bus, address] = parseId(id); - if (auto m = const_cast(msg(address))) { - m->name = name.toStdString(); - m->size = size; - } else { - m = &dbc->msgs.emplace_back(Msg{.address = address, .name = name.toStdString(), .size = size}); - msg_map[address] = m; - } + auto [_, address] = parseId(id); + auto &m = msgs[address]; + m.name = name; + m.size = size; emit msgUpdated(address); } void DBCManager::removeMsg(const QString &id) { uint32_t address = parseId(id).second; - auto it = std::find_if(dbc->msgs.begin(), dbc->msgs.end(), [address](auto &m) { return m.address == address; }); - if (it != dbc->msgs.end()) { - dbc->msgs.erase(it); - updateMsgMap(); - emit msgRemoved(address); - } + msgs.erase(address); + emit msgRemoved(address); } void DBCManager::addSignal(const QString &id, const Signal &sig) { - if (Msg *m = const_cast(msg(id))) { - emit signalAdded(&m->sigs.emplace_back(sig)); + if (auto m = const_cast(msg(id))) { + auto &s = m->sigs[sig.name.c_str()]; + s = sig; + emit signalAdded(&s); } } void DBCManager::updateSignal(const QString &id, const QString &sig_name, const Signal &sig) { - if (Msg *m = const_cast(msg(id))) { - auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); }); - if (it != m->sigs.end()) { - *it = sig; - emit signalUpdated(&(*it)); - } + if (auto m = const_cast(msg(id))) { + // change key name + QString new_name = QString::fromStdString(sig.name); + auto node = m->sigs.extract(sig_name); + node.key() = new_name; + auto it = m->sigs.insert(std::move(node)); + auto &s = m->sigs[new_name]; + s = sig; + emit signalUpdated(&s); } } void DBCManager::removeSignal(const QString &id, const QString &sig_name) { - if (Msg *m = const_cast(msg(id))) { - auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [=](auto &sig) { return sig_name == sig.name.c_str(); }); + if (auto m = const_cast(msg(id))) { + auto it = m->sigs.find(sig_name); if (it != m->sigs.end()) { - emit signalRemoved(&(*it)); + emit signalRemoved(&(it->second)); m->sigs.erase(it); } } diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 81c723a20d..d2262527d4 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -1,9 +1,16 @@ #pragma once +#include #include - +#include #include "opendbc/can/common_dbc.h" +struct DBCMsg { + QString name; + uint32_t size; + std::map sigs; +}; + class DBCManager : public QObject { Q_OBJECT @@ -24,11 +31,11 @@ public: void updateMsg(const QString &id, const QString &name, uint32_t size); void removeMsg(const QString &id); - inline const DBC *getDBC() const { return dbc; } - inline const Msg *msg(const QString &id) const { return msg(parseId(id).second); } - inline const Msg *msg(uint32_t address) const { - auto it = msg_map.find(address); - return it != msg_map.end() ? it->second : nullptr; + inline const std::map &messages() const { return msgs; } + inline const DBCMsg *msg(const QString &id) const { return msg(parseId(id).second); } + inline const DBCMsg *msg(uint32_t address) const { + auto it = msgs.find(address); + return it != msgs.end() ? &it->second : nullptr; } signals: @@ -40,9 +47,9 @@ signals: void DBCFileChanged(); private: - void updateMsgMap(); + void initMsgMap(); DBC *dbc = nullptr; - std::unordered_map msg_map; + std::map msgs; }; // TODO: Add helper function in dbc.h @@ -54,5 +61,5 @@ std::pair getSignalRange(const Signal *s); DBCManager *dbc(); inline QString msgName(const QString &id, const char *def = "untitled") { auto msg = dbc()->msg(id); - return msg ? msg->name.c_str() : def; + return msg ? msg->name : def; } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index f96b60847b..6d07727303 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -10,16 +10,19 @@ #include "selfdrive/ui/qt/util.h" #include "tools/cabana/canmessages.h" +#include "tools/cabana/commands.h" #include "tools/cabana/dbcmanager.h" // DetailWidget DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { + undo_stack = new QUndoStack(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0); - // tabbar + // tabbar tabbar = new QTabBar(this); tabbar->setTabsClosable(true); tabbar->setDrawBase(false); @@ -99,6 +102,7 @@ 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(undo_stack, &QUndoStack::indexChanged, [this]() { dbcMsgChanged(); }); } void DetailWidget::showTabBarContextMenu(const QPoint &pt) { @@ -143,12 +147,17 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { if (msg_id.isEmpty()) return; setUpdatesEnabled(false); + + binary_view->setMessage(msg_id); + history_log->setMessage(msg_id); + QStringList warnings; for (auto f : signal_list) f->hide(); - const Msg *msg = dbc()->msg(msg_id); + const DBCMsg *msg = dbc()->msg(msg_id); if (msg) { - for (int i = 0; i < msg->sigs.size(); ++i) { + int i = 0; + for (auto &[name, sig] : msg->sigs) { SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr; if (!form) { form = new SignalEdit(i); @@ -161,9 +170,10 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { signals_container->layout()->addWidget(form); signal_list.push_back(form); } - form->setSignal(msg_id, &(msg->sigs[i]), i == show_form_idx); - form->setChartOpened(charts->isChartOpened(msg_id, &(msg->sigs[i]))); + form->setSignal(msg_id, &sig, i == show_form_idx); + form->setChartOpened(charts->isChartOpened(msg_id, &sig)); form->show(); + ++i; } if (msg->size != can->lastMessage(msg_id).dat.size()) warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); @@ -173,9 +183,6 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { remove_msg_act->setEnabled(msg != nullptr); name_label->setText(msgName(msg_id)); - binary_view->setMessage(msg_id); - history_log->setMessage(msg_id); - // Check overlapping bits if (auto overlapping = binary_view->getOverlappingSignals(); !overlapping.isEmpty()) { for (auto s : overlapping) @@ -215,19 +222,13 @@ void DetailWidget::editMsg() { int size = msg ? msg->size : can->lastMessage(id).dat.size(); EditMessageDialog dlg(id, msgName(id), size, this); if (dlg.exec()) { - dbc()->updateMsg(id, dlg.name_edit->text(), dlg.size_spin->value()); - dbcMsgChanged(); + undo_stack->push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value())); } } void DetailWidget::removeMsg() { - QString id = msg_id; - if (auto msg = dbc()->msg(id)) { - QString text = tr("Are you sure you want to remove '%1'").arg(msg->name.c_str()); - if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove Message"), text)) { - dbc()->removeMsg(id); - dbcMsgChanged(); - } + if (auto msg = dbc()->msg(msg_id)) { + undo_stack->push(new RemoveMsgCommand(msg_id)); } } @@ -235,10 +236,10 @@ void DetailWidget::addSignal(int start_bit, int size, bool little_endian) { auto msg = dbc()->msg(msg_id); if (!msg) { for (int i = 1; /**/; ++i) { - std::string name = "NEW_MSG_" + std::to_string(i); - auto it = std::find_if(dbc()->getDBC()->msgs.begin(), dbc()->getDBC()->msgs.end(), [&](auto &m) { return m.name == name; }); - if (it == dbc()->getDBC()->msgs.end()) { - dbc()->updateMsg(msg_id, name.c_str(), can->lastMessage(msg_id).dat.size()); + QString name = QString("NEW_MSG_%1").arg(i); + auto it = std::find_if(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; }); + if (it == dbc()->messages().end()) { + undo_stack->push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); msg = dbc()->msg(msg_id); break; } @@ -247,13 +248,12 @@ void DetailWidget::addSignal(int start_bit, int size, bool little_endian) { Signal sig = {}; for (int i = 1; /**/; ++i) { sig.name = "NEW_SIGNAL_" + std::to_string(i); - auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig.name == s.name; }); + auto it = msg->sigs.find(sig.name.c_str()); if (it == msg->sigs.end()) break; } sig.is_little_endian = little_endian; updateSigSizeParamsFromRange(sig, start_bit, size); - dbc()->addSignal(msg_id, sig); - dbcMsgChanged(msg->sigs.size() - 1); + undo_stack->push(new AddSigCommand(msg_id, sig)); } void DetailWidget::resizeSignal(const Signal *sig, int start_bit, int size) { @@ -265,14 +265,13 @@ void DetailWidget::resizeSignal(const Signal *sig, int start_bit, int size) { void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) { auto msg = dbc()->msg(msg_id); if (new_sig.name != sig->name) { - auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return s.name == new_sig.name; }); + auto it = msg->sigs.find(new_sig.name.c_str()); if (it != msg->sigs.end()) { QString warning_str = tr("There is already a signal with the same name '%1'").arg(new_sig.name.c_str()); QMessageBox::warning(this, tr("Failed to save signal"), warning_str); return; } } - auto [start, end] = getSignalRange(&new_sig); if (start < 0 || end >= msg->size * 8) { QString warning_str = tr("Signal size [%1] exceed limit").arg(new_sig.size); @@ -280,16 +279,11 @@ void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) { return; } - dbc()->updateSignal(msg_id, sig->name.c_str(), new_sig); - dbcMsgChanged(); + undo_stack->push(new EditSignalCommand(msg_id, sig, new_sig)); } void DetailWidget::removeSignal(const Signal *sig) { - QString text = tr("Are you sure you want to remove signal '%1'").arg(sig->name.c_str()); - if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove signal"), text)) { - dbc()->removeSignal(msg_id, sig->name.c_str()); - dbcMsgChanged(); - } + undo_stack->push(new RemoveSigCommand(msg_id, sig)); } // EditMessageDialog diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 915e0bde60..dc40eae159 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -3,6 +3,7 @@ #include #include #include +#include #include "tools/cabana/binaryview.h" #include "tools/cabana/chartswidget.h" @@ -26,6 +27,7 @@ public: DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const QString &message_id); void dbcMsgChanged(int show_form_idx = -1); + QUndoStack *undo_stack = nullptr; private: void updateChartState(const QString &id, const Signal *sig, bool opened); diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 4b1818cf68..28e344a46e 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -4,6 +4,10 @@ // 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) { @@ -11,7 +15,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { 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(), dbc_msg->sigs[index.column() - 1])) + 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 QFontDatabase::systemFont(QFontDatabase::FixedFont); @@ -37,7 +41,7 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i if (section == 0) { return "Time"; } - return has_signal ? QString::fromStdString(dbc_msg->sigs[section - 1].name).replace('_', ' ') : "Data"; + 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))); } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index e8b0f5a35b..21be8fc129 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -28,7 +28,7 @@ private: QString msg_id; int row_count = 0; int column_count = 2; - const Msg *dbc_msg = nullptr; + const DBCMsg *dbc_msg = nullptr; std::deque messages; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 9b85ba7e8d..b8913a3aa7 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -12,7 +12,9 @@ #include #include #include +#include #include +#include #include "tools/replay/util.h" @@ -41,9 +43,7 @@ MainWindow::MainWindow() : QMainWindow() { dbc_combo->addItem(QString::fromStdString(name)); } dbc_combo->model()->sort(0); - dbc_combo->setEditable(true); dbc_combo->setInsertPolicy(QComboBox::NoInsert); - dbc_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); messages_layout->addWidget(dbc_combo); messages_widget = new MessagesWidget(this); @@ -102,9 +102,13 @@ MainWindow::MainWindow() : QMainWindow() { 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(detail_widget->undo_stack, &QUndoStack::indexChanged, [this](int index) { + setWindowTitle(tr("%1%2 - Cabana").arg(index > 0 ? "* " : "").arg(dbc()->name())); + }); } void MainWindow::createActions() { @@ -116,6 +120,23 @@ void MainWindow::createActions() { file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard); file_menu->addSeparator(); file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption); + + QMenu *edit_menu = menuBar()->addMenu(tr("&Edit")); + auto undo_act = detail_widget->undo_stack->createUndoAction(this, tr("&Undo")); + undo_act->setShortcuts(QKeySequence::Undo); + edit_menu->addAction(undo_act); + auto redo_act = detail_widget->undo_stack->createRedoAction(this, tr("&Rndo")); + redo_act->setShortcuts(QKeySequence::Redo); + edit_menu->addAction(redo_act); + edit_menu->addSeparator(); + + QMenu *commands_menu = edit_menu->addMenu(tr("Command &List")); + auto undo_view = new QUndoView(detail_widget->undo_stack); + undo_view->setWindowTitle(tr("Command List")); + QWidgetAction *commands_act = new QWidgetAction(this); + commands_act->setDefaultWidget(undo_view); + commands_menu->addAction(commands_act); + QMenu *help_menu = menuBar()->addMenu(tr("&Help")); help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt); } diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index d0aa2cbb4f..d2d9dc1d2a 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -10,26 +10,25 @@ TEST_CASE("DBCManager::generateDBC") { DBCManager dbc_from_generated(nullptr); dbc_from_generated.open("", dbc_string); - auto dbc = dbc_origin.getDBC(); - auto new_dbc = dbc_from_generated.getDBC(); - REQUIRE(dbc->msgs.size() == new_dbc->msgs.size()); - for (int i = 0; i < dbc->msgs.size(); ++i) { - REQUIRE(dbc->msgs[i].name == new_dbc->msgs[i].name); - REQUIRE(dbc->msgs[i].address == new_dbc->msgs[i].address); - REQUIRE(dbc->msgs[i].size == new_dbc->msgs[i].size); - REQUIRE(dbc->msgs[i].sigs.size() == new_dbc->msgs[i].sigs.size()); - auto &sig = dbc->msgs[i].sigs; - auto &new_sig = new_dbc->msgs[i].sigs; - for (int j = 0; j < sig.size(); ++j) { - REQUIRE(sig[j].name == new_sig[j].name); - REQUIRE(sig[j].start_bit == new_sig[j].start_bit); - REQUIRE(sig[j].msb == new_sig[j].msb); - REQUIRE(sig[j].lsb == new_sig[j].lsb); - REQUIRE(sig[j].size == new_sig[j].size); - REQUIRE(sig[j].is_signed == new_sig[j].is_signed); - REQUIRE(sig[j].factor == new_sig[j].factor); - REQUIRE(sig[j].offset == new_sig[j].offset); - REQUIRE(sig[j].is_little_endian == new_sig[j].is_little_endian); + auto &msgs = dbc_origin.messages(); + auto &new_msgs = dbc_from_generated.messages(); + REQUIRE(msgs.size() == new_msgs.size()); + for (auto &[address, m] : msgs) { + auto new_m = new_msgs.at(address); + REQUIRE(m.name == new_m.name); + REQUIRE(m.size == new_m.size); + REQUIRE(m.sigs.size() == new_m.sigs.size()); + for (auto &[name, sig] : m.sigs) { + auto &new_sig = new_m.sigs[name]; + REQUIRE(sig.name == new_sig.name); + REQUIRE(sig.start_bit == new_sig.start_bit); + REQUIRE(sig.msb == new_sig.msb); + REQUIRE(sig.lsb == new_sig.lsb); + REQUIRE(sig.size == new_sig.size); + REQUIRE(sig.is_signed == new_sig.is_signed); + REQUIRE(sig.factor == new_sig.factor); + REQUIRE(sig.offset == new_sig.offset); + REQUIRE(sig.is_little_endian == new_sig.is_little_endian); } } } From 122c0ec135804ac6a106f1e06f4cb3467fb13b1a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 11 Nov 2022 02:37:52 +0800 Subject: [PATCH 568/685] Cabana: remember last directory in open file dialog (#26449) * remember last directory in open file dialog * use QFileInfo --- tools/cabana/mainwin.cc | 8 ++++++-- tools/cabana/settings.cc | 5 ++++- tools/cabana/settings.h | 1 + 3 files changed, 11 insertions(+), 3 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index b8913a3aa7..7ae97379f6 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -156,8 +156,9 @@ void MainWindow::loadDBCFromName(const QString &name) { } void MainWindow::loadDBCFromFile() { - QString file_name = QFileDialog::getOpenFileName(this, tr("Open File"), QDir::homePath(), "DBC (*.dbc)"); + QString file_name = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); if (!file_name.isEmpty()) { + settings.last_dir = QFileInfo(file_name).absolutePath(); QFile file(file_name); if (file.open(QIODevice::ReadOnly)) { auto dbc_name = QFileInfo(file_name).baseName(); @@ -185,8 +186,9 @@ void MainWindow::loadDBCFromFingerprint() { void MainWindow::saveDBCToFile() { QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"), - QDir::homePath() + "/untitled.dbc", tr("DBC (*.dbc)")); + QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); if (!file_name.isEmpty()) { + settings.last_dir = QFileInfo(file_name).absolutePath(); QFile file(file_name); if (file.open(QIODevice::WriteOnly)) file.write(dbc()->generateDBC().toUtf8()); @@ -228,6 +230,8 @@ void MainWindow::closeEvent(QCloseEvent *event) { main_win = nullptr; if (floating_window) floating_window->deleteLater(); + + settings.save(); QWidget::closeEvent(event); } diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index b173b41df3..b3a4ed4872 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -1,6 +1,7 @@ #include "tools/cabana/settings.h" #include +#include #include #include @@ -19,7 +20,7 @@ void Settings::save() { s.setValue("chart_height", chart_height); s.setValue("chart_theme", chart_theme); s.setValue("max_chart_x_range", max_chart_x_range); - emit changed(); + s.setValue("last_dir", last_dir); } void Settings::load() { @@ -30,6 +31,7 @@ void Settings::load() { 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(); } // SettingsDlg @@ -90,4 +92,5 @@ void SettingsDlg::save() { settings.max_chart_x_range = max_chart_x_range->value() * 60; settings.save(); accept(); + emit settings.changed(); } diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index cb858de873..e08d0ae55e 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -18,6 +18,7 @@ public: int chart_height = 200; int chart_theme = 0; int max_chart_x_range = 3 * 60; // 3 minutes + QString last_dir; signals: void changed(); From 2961f8a7d8b891dd95912e0d21f54cf1f4afb696 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Thu, 10 Nov 2022 17:27:25 -0300 Subject: [PATCH 569/685] Multilang: Update pt-BR translations (#26444) * update pt-BR translations * fix some cutoff texts * Delete main_pt-BR.ts * Add files via upload * Delete main_pt-BR.ts * Add files via upload --- selfdrive/ui/translations/main_pt-BR.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 702702a8be..6a1d32f87a 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1012,7 +1012,7 @@ trabalho definido 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - + openpilot por padrão funciona em <b>modo chill</b>. modo Experimental ativa <b>recursos de nível-alfa</b> que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo: <br> <h4>🌮 Controle Longitudinal de Ponta a Ponta 🌮</h4> Deixe o modelo de condução controlar o acelerador e os freios. Uma vez que o modelo de condução decide qual velocidade dirigir, a velocidade definida só funcionará como um limite superior. openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. @@ -1020,7 +1020,7 @@ trabalho definido WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - + ATENÇÃO: o controle longitudinal do openpilot é experimental para este carro e desativará a Frenagem Automática de Emergência (AEB). From e08896c45d84f4005de156317ae902d601e9b895 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 11 Nov 2022 04:57:52 +0800 Subject: [PATCH 570/685] Cabana: confirm exit without saving (#26452) * confirm exit without saving * typo --- tools/cabana/mainwin.cc | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 7ae97379f6..40a99a7a56 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -227,6 +227,16 @@ void MainWindow::dockCharts(bool dock) { } void MainWindow::closeEvent(QCloseEvent *event) { + if (detail_widget->undo_stack->index() > 0) { + auto ret = QMessageBox::question(this, tr("Unsaved Changes"), + tr("Are you sure you want to exit without saving?\nAny unsaved changes will be lost."), + QMessageBox::Yes | QMessageBox::No); + if (ret == QMessageBox::No) { + event->ignore(); + return; + } + } + main_win = nullptr; if (floating_window) floating_window->deleteLater(); From df145ae99f80d53667533f848b661768b7d5c269 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 11 Nov 2022 09:56:28 +0900 Subject: [PATCH 571/685] Multilang: kor translation update (#26445) * Multilang: kor translation update * fix --- selfdrive/ui/translations/main_ko.ts | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 0bbae22517..31c910a910 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1004,11 +1004,11 @@ location set Experimental Mode - 실험 모드 + 실험적 모드 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - + openpilot은 기본적으로 <b>안정적 모드</b>로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험 모드의 특징은 아래에 나열되어 있습니다 <br> <h4>🌮 E2E 롱컨트롤 🌮</h4> 주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. @@ -1016,7 +1016,7 @@ location set WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - + 경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다. From f5bf3cd21bef0069e0f470ad79ccac3da361a295 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 10 Nov 2022 18:37:10 -0800 Subject: [PATCH 572/685] boardd: verify SPI checksum (#26454) * verify checksum * import from panda Co-authored-by: Comma Device --- selfdrive/boardd/panda_comms.h | 12 ++- selfdrive/boardd/spi.cc | 142 +++++++++++++++++---------------- 2 files changed, 81 insertions(+), 73 deletions(-) diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index 08d0c1a2af..aef7b41d07 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -5,11 +5,16 @@ #include #include +#include + #include + #define TIMEOUT 0 #define SPI_BUF_SIZE 1024 +const bool PANDA_NO_RETRY = getenv("PANDA_NO_RETRY"); + // comms base class class PandaCommsHandle { @@ -65,9 +70,10 @@ public: private: int spi_fd = -1; - int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); - int wait_for_ack(); - uint8_t tx_buf[SPI_BUF_SIZE]; uint8_t rx_buf[SPI_BUF_SIZE]; + + int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack); + int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); + int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); }; diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 1ec5e89c71..3969b313f0 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -6,6 +6,7 @@ #include "common/util.h" #include "common/swaglog.h" +#include "panda/board/comms_definitions.h" #include "selfdrive/boardd/panda_comms.h" @@ -22,13 +23,6 @@ struct __attribute__((packed)) spi_header { uint16_t max_rx_len; }; -struct __attribute__((packed)) spi_control_packet { - uint16_t request; - uint16_t param1; - uint16_t param2; - uint16_t length; -}; - PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { LOGD("opening SPI panda: %s", serial.c_str()); @@ -40,7 +34,7 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { spi_fd = open(serial.c_str(), O_RDWR); if (spi_fd < 0) { - LOGE("failed setting SPI mode %d", err); + LOGE("failed opening SPI device %d", err); goto fail; } @@ -85,41 +79,23 @@ void PandaSpiHandle::cleanup() { int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t param2, unsigned int timeout) { - int err; - - std::lock_guard lk(hw_lock); - do { - spi_control_packet packet = { - .request = request, - .param1 = param1, - .param2 = param2, - .length = 0 - }; - - // TODO: handle error - err = spi_transfer(0, (uint8_t *) &packet, sizeof(packet), NULL, 0); - } while (err < 0 && connected); - - return err; + ControlPacket_t packet = { + .request = request, + .param1 = param1, + .param2 = param2, + .length = 0 + }; + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0); } int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) { - int err; - - std::lock_guard lk(hw_lock); - do { - spi_control_packet packet = { - .request = request, - .param1 = param1, - .param2 = param2, - .length = length - }; - - // TODO: handle error - err = spi_transfer(0, (uint8_t *) &packet, sizeof(packet), data, length); - } while (err < 0 && connected); - - return err; + ControlPacket_t packet = { + .request = request, + .param1 = param1, + .param2 = param2, + .length = length + }; + return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length); } int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { @@ -144,6 +120,46 @@ void add_checksum(uint8_t *data, int data_len) { } } +bool check_checksum(uint8_t *data, int data_len) { + uint8_t checksum = SPI_CHECKSUM_START; + for (uint16_t i = 0U; i < data_len; i++) { + checksum ^= data[i]; + } + return checksum == 0U; +} + + +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 err; + + std::lock_guard lk(hw_lock); + do { + // TODO: handle error + err = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len); + } while (err < 0 && connected && !PANDA_NO_RETRY); + + return err; +} + +int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { + // TODO: add timeout? + while (true) { + int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); + if (ret < 0) { + LOGE("SPI: failed to send ACK request"); + return ret; + } + + if (rx_buf[0] == ack) { + break; + } else if (rx_buf[0] == SPI_NACK) { + LOGW("SPI: got header NACK"); + return -1; + } + } + + return 0; +} int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) { int ret; @@ -178,19 +194,9 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx // Wait for (N)ACK tx_buf[0] = 0x12; transfer.len = 1; - while (true) { - ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); - if (ret < 0) { - LOGE("SPI: failed to send ACK request"); - goto transfer_fail; - } - - if (rx_buf[0] == SPI_HACK) { - break; - } else if (rx_buf[0] == SPI_NACK) { - LOGW("SPI: got header NACK"); - goto transfer_fail; - } + ret = wait_for_ack(transfer, SPI_HACK); + if (ret < 0) { + goto transfer_fail; } // Send data @@ -208,44 +214,40 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx // Wait for (N)ACK tx_buf[0] = 0xab; transfer.len = 1; - while (true) { - ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); - if (ret < 0) { - LOGE("SPI: failed to send ACK request"); - goto transfer_fail; - } - - if (rx_buf[0] == SPI_DACK) { - break; - } else if (rx_buf[0] == SPI_NACK) { - LOGE("SPI: got data NACK"); - goto transfer_fail; - } + ret = wait_for_ack(transfer, SPI_DACK); + if (ret < 0) { + goto transfer_fail; } // Read data len transfer.len = 2; + transfer.rx_buf = (uint64_t)(rx_buf + 1); ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); if (ret < 0) { LOGE("SPI: failed to read rx data len"); goto transfer_fail; } - rx_data_len = *(uint16_t *)rx_buf; + rx_data_len = *(uint16_t *)(rx_buf+1); assert(rx_data_len < SPI_BUF_SIZE); // Read data transfer.len = rx_data_len + 1; + transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1); ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer); if (ret < 0) { LOGE("SPI: failed to read rx data"); goto transfer_fail; } - // TODO: check checksum + if (!check_checksum(rx_buf, rx_data_len + 4)) { + LOGE("SPI: bad checksum"); + goto transfer_fail; + } if (rx_data != NULL) { - memcpy(rx_data, rx_buf, rx_data_len); + memcpy(rx_data, rx_buf + 3, rx_data_len); } - ret = rx_data_len; + + return rx_data_len; transfer_fail: return ret; From 765761d7d0e813a3397728dcbe81a23a30051288 Mon Sep 17 00:00:00 2001 From: eFini Date: Fri, 11 Nov 2022 11:02:58 +0800 Subject: [PATCH 573/685] Multilang: add missing Chinese (Traditional) translations (#26433) * update cht translation * fix ellipsis -> spaces Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/main_zh-CHT.ts | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 0f6bc981cf..c9810597b5 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -60,11 +60,11 @@ Cellular Metered - + 行動網路 Prevent large data uploads when on a metered connection - + 防止使用行動網路上傳大量的數據 @@ -240,11 +240,11 @@ Reset - + 重設 Review - + 回顧 @@ -864,7 +864,7 @@ location set Uninstall - + 卸載 @@ -1004,19 +1004,19 @@ location set Experimental Mode - + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - + 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： <br> <h4>🌮端到端縱向控制🌮</h4> 讓駕駛模型控制油門和剎車。 openpilot 將像人類一樣駕駛，包括紅燈和停車標誌時停車，因為是由駕駛模型來決定車速，所以定速的設定值只會作為上限。 openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - + openpilot 默認使用汽車內置的主動巡航控制 (ACC)，而不是使用 openpilot 縱向控制。啟用此選項可切換到 openpilot 縱向控制。 WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - + 警告：openpilot 縱向控制在這輛車上仍屬實驗性質，啟用後會喪失自動緊急煞車 (AEB) 功能。 @@ -1074,7 +1074,7 @@ location set Forget - + 清除 From 74b6e22a7dc8e0b1ec051f00037506d23a017ae8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 10 Nov 2022 19:06:31 -0800 Subject: [PATCH 574/685] controls: disengage on regen paddle independently (#26453) * add regen braking field that's just used to add a pedalPressed * bump * bump * Update ref_commit * we want the standstill check we want the standstill check * see what diff is now * Update ref_commit --- cereal | 2 +- selfdrive/car/gm/carstate.py | 2 +- selfdrive/car/tests/test_models.py | 4 ++-- selfdrive/controls/controlsd.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 7 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index cdba1aafec..afafa0a2a5 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit cdba1aafec5e36505ef6ace675568e1f15003c47 +Subproject commit afafa0a2a537d775842ab2e1bf20cb9a33b34f9a diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index f4b3f88e99..df1b4b2866 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -63,7 +63,7 @@ class CarState(CarStateBase): # Regen braking is braking if self.CP.transmissionType == TransmissionType.direct: - ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0 + ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0 ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. ret.gasPressed = ret.gas > 1e-5 diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index ee25b8205f..56530dd738 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -251,8 +251,8 @@ class TestCarModelBase(unittest.TestCase): if CS.brakePressed and not self.safety.get_brake_pressed_prev(): if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05: brake_pressed = False - safety_brake_pressed = self.safety.get_brake_pressed_prev() or self.safety.get_regen_braking_prev() - checks['brakePressed'] += brake_pressed != safety_brake_pressed + checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev() + checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev() if self.CP.pcmCruise: # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 0bdaadf6ef..3b241045b1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -250,7 +250,8 @@ class Controls: # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ - (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)): + (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ + (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): self.events.add(EventName.pedalPressed) if CS.gasPressed: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index cac678ca1f..e3c5390c3b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a36f7e2fd922fcadca6f8a3d777f4db787cba016 +9e37e8ee8013515cfd75cf352a1a2b9aa447c441 From b549e8174e4f8ccd2be3c324e47333e721db3914 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 10 Nov 2022 21:10:34 -0800 Subject: [PATCH 575/685] agnos 6.2 (#26441) * agnos 6.2 * staging manifest * production --- launch_env.sh | 2 +- system/hardware/tici/agnos.json | 12 ++++++------ system/hardware/tici/hardware.py | 3 --- 3 files changed, 7 insertions(+), 10 deletions(-) diff --git a/launch_env.sh b/launch_env.sh index 88e1f2a9c5..3059ec268e 100755 --- a/launch_env.sh +++ b/launch_env.sh @@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1 export VECLIB_MAXIMUM_THREADS=1 if [ -z "$AGNOS_VERSION" ]; then - export AGNOS_VERSION="6.1" + export AGNOS_VERSION="6.2" fi if [ -z "$PASSIVE" ]; then diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json index 8534c8a978..7876b1af1f 100644 --- a/system/hardware/tici/agnos.json +++ b/system/hardware/tici/agnos.json @@ -1,9 +1,9 @@ [ { "name": "boot", - "url": "https://commadist.azureedge.net/agnosupdate/boot-57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136.img.xz", - "hash": "57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136", - "hash_raw": "57626d7737ab2fa1318e8707a202b1295b5da79ad2fa0a36377cc9481ad0d136", + "url": "https://commadist.azureedge.net/agnosupdate/boot-72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a.img.xz", + "hash": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a", + "hash_raw": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a", "size": 14780416, "sparse": false, "full_check": true, @@ -41,9 +41,9 @@ }, { "name": "system", - "url": "https://commadist.azureedge.net/agnosupdate/system-b40b08912576bb972907acba7c201c1399395cbc0cba06ce6e5e3f70ab565cb5.img.xz", - "hash": "6e8fbcc21a265f7f58062abce7675dc05540e2b60cee2df56992a151ba64936f", - "hash_raw": "b40b08912576bb972907acba7c201c1399395cbc0cba06ce6e5e3f70ab565cb5", + "url": "https://commadist.azureedge.net/agnosupdate/system-9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e.img.xz", + "hash": "48209ce7e8cc2fff4ec024f0cd82fc2e3e097b5c0629be2b292acf64e6701449", + "hash_raw": "9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e", "size": 10737418240, "sparse": true, "full_check": false, diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index c5b931ddae..e2fd20c1be 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -431,9 +431,6 @@ class Tici(HardwareBase): def initialize_hardware(self): self.amplifier.initialize_configuration() - # TODO: this should go in AGNOS - os.system("sudo chmod 666 /dev/spidev0.0") - # Allow thermald to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") From f23296bc87a79c59d9ab011f2ba35ed1049beb72 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 11 Nov 2022 10:46:03 -0500 Subject: [PATCH 576/685] Add force decel to e2e long (#26448) * add force decel to e2e * Update longitudinal_planner.py --- .../controls/lib/longitudinal_mpc_lib/long_mpc.py | 14 +++++++------- selfdrive/controls/lib/longitudinal_planner.py | 9 ++++++--- 2 files changed, 13 insertions(+), 10 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 080782ad0f..6b79813117 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -301,8 +301,10 @@ class LongitudinalMpc: return lead_xv def set_accel_limits(self, min_a, max_a): + # TODO this sets a max accel limit, but the minimum limit is only for cruise decel + # needs refactor self.cruise_min_a = min_a - self.cruise_max_a = max_a + self.max_a = max_a def update(self, carstate, radarstate, v_cruise, x, v, a, j): v_ego = self.x0[1] @@ -317,16 +319,17 @@ class LongitudinalMpc: lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1]) lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1]) + self.params[:,0] = MIN_ACCEL + self.params[:,1] = self.max_a + # Update in ACC mode or ACC/e2e blend if self.mode == 'acc': - self.params[:,0] = MIN_ACCEL - self.params[:,1] = self.cruise_max_a self.params[:,5] = LEAD_DANGER_FACTOR # Fake an obstacle for cruise, this ensures smooth acceleration to set speed # when the leads are no factor. v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05) - v_upper = v_ego + (T_IDXS * self.cruise_max_a * 1.05) + v_upper = v_ego + (T_IDXS * self.max_a * 1.05) v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper) @@ -338,9 +341,6 @@ class LongitudinalMpc: x[:], v[:], a[:], j[:] = 0.0, 0.0, 0.0, 0.0 elif self.mode == 'blended': - self.params[:,0] = MIN_ACCEL - self.params[:,1] = MAX_ACCEL - self.params[:,5] = 1.0 x_obstacles = np.column_stack([lead_0_obstacle, diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 2fa13bfb15..cae378453c 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -10,7 +10,7 @@ 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 -from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc +from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N from system.swaglog import cloudlog @@ -103,8 +103,11 @@ class LongitudinalPlanner: # No change cost when user is controlling the speed, or when standstill prev_accel_constraint = not (reset_state or sm['carState'].standstill) - accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] - accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) + if self.mpc.mode == 'acc': + accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] + accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) + else: + accel_limits_turns = [MIN_ACCEL, MAX_ACCEL] if reset_state: self.v_desired_filter.x = v_ego From 6cf9fff9193f3d61c81de65e88ba9ea908552062 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 12 Nov 2022 02:34:25 +0800 Subject: [PATCH 577/685] Cabana: fix segfault on exit (#26465) fix segfault on exit --- tools/cabana/detailwidget.cc | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 6d07727303..8549ed4641 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -102,7 +102,10 @@ 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(undo_stack, &QUndoStack::indexChanged, [this]() { dbcMsgChanged(); }); + QObject::connect(undo_stack, &QUndoStack::indexChanged, [this]() { + if (undo_stack->count() > 0) + dbcMsgChanged(); + }); } void DetailWidget::showTabBarContextMenu(const QPoint &pt) { From 3c507e8ad7a4de1d03402b178389de2bee9c4363 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 12 Nov 2022 02:34:49 +0800 Subject: [PATCH 578/685] Cabana: auto update signal on field changes (#26464) * auto update signal on field changes * better icon --- tools/cabana/dbcmanager.cc | 8 +++ tools/cabana/dbcmanager.h | 2 + tools/cabana/detailwidget.cc | 69 ++++++-------------- tools/cabana/detailwidget.h | 5 +- tools/cabana/signaledit.cc | 105 +++++++++++++++--------------- tools/cabana/signaledit.h | 22 ++++--- tools/cabana/tests/test_cabana.cc | 18 +---- 7 files changed, 99 insertions(+), 130 deletions(-) diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index ebad2387cf..18f103d34c 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -165,3 +165,11 @@ std::pair getSignalRange(const Signal *s) { int to = from + s->size - 1; return {from, to}; } + +bool operator==(const Signal &l, const Signal &r) { + return l.name == r.name && l.size == r.size && + l.start_bit == r.start_bit && + l.msb == r.msb && l.lsb == r.lsb && + l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && + l.factor == r.factor && l.offset == r.offset; +} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index d2262527d4..b1d2082969 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -54,6 +54,8 @@ private: // TODO: Add helper function in dbc.h double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); +bool operator==(const Signal &l, const Signal &r); +inline bool operator!=(const Signal &l, const Signal &r) { return !(l == r); } int bigEndianStartBitsIndex(int start_bit); int bigEndianBitIndex(int index); void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 8549ed4641..25c3a528f9 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -6,7 +6,6 @@ #include #include #include -#include #include "selfdrive/ui/qt/util.h" #include "tools/cabana/canmessages.h" @@ -81,9 +80,8 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart container_layout->addWidget(binary_view); // signals - signals_container = new QWidget(this); - signals_container->setLayout(new QVBoxLayout); - container_layout->addWidget(signals_container); + signals_layout = new QVBoxLayout(); + container_layout->addLayout(signals_layout); // history log history_log = new HistoryLog(this); @@ -114,36 +112,25 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) { QMenu menu(this); menu.addAction(tr("Close Other Tabs")); if (menu.exec(tabbar->mapToGlobal(pt))) { - tabbar->setCurrentIndex(index); - // remove all tabs before the one to keep - for (int i = 0; i < index; ++i) { - tabbar->removeTab(0); - } - // remove all tabs after the one to keep - while (tabbar->count() > 1) { + tabbar->moveTab(index, 0); + tabbar->setCurrentIndex(0); + while (tabbar->count() > 1) tabbar->removeTab(1); - } } } } void DetailWidget::setMessage(const QString &message_id) { - if (message_id.isEmpty()) return; - - int index = -1; - for (int i = 0; i < tabbar->count(); ++i) { - if (tabbar->tabText(i) == message_id) { - index = i; - break; - } - } msg_id = message_id; + int index = tabbar->count() - 1; + for (/**/; index >= 0 && tabbar->tabText(index) != msg_id; --index) { /**/ } if (index == -1) { index = tabbar->addTab(message_id); tabbar->setTabToolTip(index, msgName(message_id)); } tabbar->setCurrentIndex(index); dbcMsgChanged(); + scroll->verticalScrollBar()->setValue(0); } void DetailWidget::dbcMsgChanged(int show_form_idx) { @@ -154,48 +141,42 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { binary_view->setMessage(msg_id); history_log->setMessage(msg_id); + int i = 0; QStringList warnings; - for (auto f : signal_list) f->hide(); - const DBCMsg *msg = dbc()->msg(msg_id); if (msg) { - int i = 0; for (auto &[name, sig] : msg->sigs) { SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr; if (!form) { form = new SignalEdit(i); - QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); QObject::connect(form, &SignalEdit::showChart, charts, &ChartsWidget::showChart); - signals_container->layout()->addWidget(form); + signals_layout->addWidget(form); signal_list.push_back(form); } - form->setSignal(msg_id, &sig, i == show_form_idx); + form->setSignal(msg_id, &sig); form->setChartOpened(charts->isChartOpened(msg_id, &sig)); - form->show(); ++i; } if (msg->size != can->lastMessage(msg_id).dat.size()) warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } + for (/**/; i < signal_list.size(); ++i) + signal_list[i]->hide(); toolbar->setVisible(!msg_id.isEmpty()); remove_msg_act->setEnabled(msg != nullptr); name_label->setText(msgName(msg_id)); - // Check overlapping bits - if (auto overlapping = binary_view->getOverlappingSignals(); !overlapping.isEmpty()) { - for (auto s : overlapping) - warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); - } + for (auto s : binary_view->getOverlappingSignals()) + warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); warning_label->setText(warnings.join('\n')); warning_widget->setVisible(!warnings.isEmpty()); - setUpdatesEnabled(true); - scroll->verticalScrollBar()->setValue(0); + QTimer::singleShot(1, [this]() { setUpdatesEnabled(true); }); } void DetailWidget::updateState() { @@ -206,14 +187,6 @@ void DetailWidget::updateState() { history_log->updateState(); } -void DetailWidget::showForm() { - SignalEdit *sender = qobject_cast(QObject::sender()); - setUpdatesEnabled(false); - for (auto f : signal_list) - f->setFormVisible(f == sender && !f->isFormVisible()); - QTimer::singleShot(1, [this]() { setUpdatesEnabled(true); }); -} - void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) { for (auto f : signal_list) if (f->msg_id == id && f->sig == sig) f->setChartOpened(opened); @@ -230,9 +203,7 @@ void DetailWidget::editMsg() { } void DetailWidget::removeMsg() { - if (auto msg = dbc()->msg(msg_id)) { - undo_stack->push(new RemoveMsgCommand(msg_id)); - } + undo_stack->push(new RemoveMsgCommand(msg_id)); } void DetailWidget::addSignal(int start_bit, int size, bool little_endian) { @@ -248,13 +219,11 @@ void DetailWidget::addSignal(int start_bit, int size, bool little_endian) { } } } - Signal sig = {}; + Signal sig = {.is_little_endian = little_endian}; for (int i = 1; /**/; ++i) { sig.name = "NEW_SIGNAL_" + std::to_string(i); - auto it = msg->sigs.find(sig.name.c_str()); - if (it == msg->sigs.end()) break; + if (msg->sigs.count(sig.name.c_str()) == 0) break; } - sig.is_little_endian = little_endian; updateSigSizeParamsFromRange(sig, start_bit, size); undo_stack->push(new AddSigCommand(msg_id, sig)); } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index dc40eae159..815afa9bce 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -11,8 +11,6 @@ #include "tools/cabana/signaledit.h" class EditMessageDialog : public QDialog { - Q_OBJECT - public: EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent); @@ -38,13 +36,12 @@ private: void removeSignal(const Signal *sig); void editMsg(); void removeMsg(); - void showForm(); void updateState(); QString msg_id; QLabel *name_label, *time_label, *warning_label; QWidget *warning_widget; - QWidget *signals_container; + QVBoxLayout *signals_layout; QTabBar *tabbar; QToolBar *toolbar; QAction *remove_msg_act; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 99365294b8..1cf9b8ae57 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,12 +1,11 @@ #include "tools/cabana/signaledit.h" -#include #include #include #include -#include -#include #include +#include +#include #include #include "selfdrive/ui/qt/util.h" @@ -15,7 +14,6 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { QFormLayout *form_layout = new QFormLayout(this); - form_layout->setContentsMargins(0, 0, 0, 0); name = new QLineEdit(); form_layout->addRow(tr("Name"), name); @@ -58,6 +56,13 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { form_layout->addRow(tr("Maximum value"), max_val); val_desc = new QLineEdit(); form_layout->addRow(tr("Value descriptions"), val_desc); + + QObject::connect(name, &QLineEdit::textEdited, this, &SignalForm::changed); + QObject::connect(factor, &QLineEdit::textEdited, this, &SignalForm::changed); + QObject::connect(offset, &QLineEdit::textEdited, this, &SignalForm::changed); + QObject::connect(sign, SIGNAL(activated(int)), SIGNAL(changed())); + QObject::connect(endianness, SIGNAL(activated(int)), SIGNAL(changed())); + QObject::connect(size, SIGNAL(valueChanged(int)), SIGNAL(changed())); } // SignalEdit @@ -67,36 +72,25 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa main_layout->setContentsMargins(0, 0, 0, 0); // title bar - QHBoxLayout *title_layout = new QHBoxLayout(); + auto toolbar = new QToolBar(this); + toolbar->setStyleSheet("QToolButton {width:15px;height:15px;font-size:15px}"); icon = new QLabel(); - title_layout->addWidget(icon); + toolbar->addWidget(icon); title = new ElidedLabel(this); + title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); - title_layout->addWidget(title, 1); - - QPushButton *seek_btn = new QPushButton("⌕"); - seek_btn->setStyleSheet("QPushButton{font-weight:bold;font-size:18px}"); + toolbar->addWidget(title); + plot_btn = toolbar->addAction("", [this]() { emit showChart(msg_id, sig, !chart_opened); }); + auto seek_btn = toolbar->addAction(QIcon::fromTheme("edit-find"), "", [this]() { SignalFindDlg(msg_id, sig, this).exec(); }); seek_btn->setToolTip(tr("Find signal values")); - seek_btn->setFixedSize(25, 25); - title_layout->addWidget(seek_btn); - - plot_btn = new QPushButton(this); - plot_btn->setStyleSheet("QPushButton {font-size:18px}"); - plot_btn->setFixedSize(25, 25); - title_layout->addWidget(plot_btn); - main_layout->addLayout(title_layout); + auto remove_btn = toolbar->addAction("x", [this]() { emit remove(sig); }); + remove_btn->setToolTip(tr("Remove signal")); + main_layout->addWidget(toolbar); // signal form - form_container = new QWidget(this); - QVBoxLayout *v_layout = new QVBoxLayout(form_container); - QHBoxLayout *h = new QHBoxLayout(); - QPushButton *remove_btn = new QPushButton(tr("Remove Signal")); - h->addWidget(remove_btn); - h->addStretch(); - QPushButton *save_btn = new QPushButton(tr("Save")); - h->addWidget(save_btn); - v_layout->addLayout(h); - main_layout->addWidget(form_container); + form = new SignalForm(this); + form->setVisible(false); + main_layout->addWidget(form); // bottom line QFrame *hline = new QFrame(); @@ -104,25 +98,22 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa hline->setFrameShadow(QFrame::Sunken); main_layout->addWidget(hline); - QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); }); + QObject::connect(form, &SignalForm::changed, this, &SignalEdit::saveSignal); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); - QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal); - QObject::connect(plot_btn, &QPushButton::clicked, [this]() { emit showChart(msg_id, sig, !chart_opened); }); - QObject::connect(seek_btn, &QPushButton::clicked, [this]() { - SignalFindDlg dlg(msg_id, sig, this); - dlg.exec(); - }); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); } -void SignalEdit::setSignal(const QString &message_id, const Signal *signal, bool show_form) { - msg_id = message_id; +void SignalEdit::setSignal(const QString &message_id, const Signal *signal) { sig = signal; + updateForm(msg_id == message_id && form->isVisible()); + msg_id = message_id; title->setText(QString("%1. %2").arg(form_idx + 1).arg(sig->name.c_str())); - setFormVisible(show_form); + show(); } void SignalEdit::saveSignal() { + if (!sig || !form->changed_by_user) return; + Signal s = *sig; s.name = form->name->text().toStdString(); s.size = form->size->text().toInt(); @@ -148,33 +139,38 @@ void SignalEdit::saveSignal() { s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); s.msb = s.start_bit; } - title->setText(QString("%1. %2").arg(form_idx + 1).arg(form->name->text())); - emit save(this->sig, s); + if (s != *sig) + emit save(this->sig, s); } void SignalEdit::setChartOpened(bool opened) { plot_btn->setText(opened ? "☒" : "📈"); - plot_btn->setToolTip(opened ? tr("Close Plot") :tr("Show Plot")); + plot_btn->setToolTip(opened ? tr("Close Plot") : tr("Show Plot")); chart_opened = opened; } -void SignalEdit::setFormVisible(bool visible) { - if (visible) { - if (!form) { - form = new SignalForm(this); - ((QVBoxLayout *)form_container->layout())->insertWidget(0, form); - } +void SignalEdit::updateForm(bool visible) { + if (visible && sig) { + form->changed_by_user = false; form->name->setText(sig->name.c_str()); - form->size->setValue(sig->size); form->endianness->setCurrentIndex(sig->is_little_endian ? 0 : 1); form->sign->setCurrentIndex(sig->is_signed ? 0 : 1); form->factor->setText(QString::number(sig->factor)); form->offset->setText(QString::number(sig->offset)); form->msb->setText(QString::number(sig->msb)); form->lsb->setText(QString::number(sig->lsb)); + form->size->setValue(sig->size); + form->changed_by_user = true; } - form_container->setVisible(visible); - icon->setText(visible ? "▼" : ">"); + form->setVisible(visible); + icon->setText(visible ? "▼ " : "> "); +} + +void SignalEdit::showFormClicked() { + parentWidget()->setUpdatesEnabled(false); + for (auto &edit : parentWidget()->findChildren()) + edit->updateForm(edit == this && !form->isVisible()); + QTimer::singleShot(1, [this]() { parentWidget()->setUpdatesEnabled(true); }); } void SignalEdit::signalHovered(const Signal *s) { @@ -182,6 +178,13 @@ void SignalEdit::signalHovered(const Signal *s) { title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color.name())); } +void SignalEdit::hideEvent(QHideEvent *event) { + msg_id = ""; + sig = nullptr; + updateForm(false); + QWidget::hideEvent(event); +} + void SignalEdit::enterEvent(QEvent *event) { emit highlight(sig); QWidget::enterEvent(event); @@ -204,7 +207,7 @@ SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *p comp_box->addItems({">", "=", "<"}); h->addWidget(comp_box); QLineEdit *value_edit = new QLineEdit("0", this); - value_edit->setValidator( new QDoubleValidator(-500000, 500000, 6, 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); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index dce9d27479..46ea1bfbe0 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -1,11 +1,12 @@ #pragma once +#include #include #include #include #include -#include #include +#include #include "selfdrive/ui/qt/widgets/controls.h" @@ -13,13 +14,17 @@ #include "tools/cabana/dbcmanager.h" class SignalForm : public QWidget { + Q_OBJECT public: SignalForm(QWidget *parent); - QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val; QLabel *lsb, *msb; QSpinBox *size; QComboBox *sign, *endianness; + bool changed_by_user = false; + + signals: + void changed(); }; class SignalEdit : public QWidget { @@ -27,38 +32,35 @@ class SignalEdit : public QWidget { public: SignalEdit(int index, QWidget *parent = nullptr); - void setSignal(const QString &msg_id, const Signal *sig, bool show_form); + void setSignal(const QString &msg_id, const Signal *sig); void setChartOpened(bool opened); - void setFormVisible(bool show); void signalHovered(const Signal *sig); - inline bool isFormVisible() const { return form_container->isVisible(); } const Signal *sig = nullptr; QString msg_id; signals: void highlight(const Signal *sig); void showChart(const QString &name, const Signal *sig, bool show); - void showFormClicked(); void remove(const Signal *sig); void save(const Signal *sig, const Signal &new_sig); protected: + void hideEvent(QHideEvent *event) override; void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; void saveSignal(); + void updateForm(bool show); + void showFormClicked(); SignalForm *form = nullptr; ElidedLabel *title; - QWidget *form_container; QLabel *icon; int form_idx = 0; bool chart_opened = false; - QPushButton *plot_btn; + QAction *plot_btn; }; class SignalFindDlg : public QDialog { - Q_OBJECT - public: SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent); }; diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index d2d9dc1d2a..ee4a581529 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -5,10 +5,8 @@ TEST_CASE("DBCManager::generateDBC") { DBCManager dbc_origin(nullptr); dbc_origin.open("toyota_new_mc_pt_generated"); - QString dbc_string = dbc_origin.generateDBC(); - DBCManager dbc_from_generated(nullptr); - dbc_from_generated.open("", dbc_string); + dbc_from_generated.open("", dbc_origin.generateDBC()); auto &msgs = dbc_origin.messages(); auto &new_msgs = dbc_from_generated.messages(); @@ -18,17 +16,7 @@ TEST_CASE("DBCManager::generateDBC") { REQUIRE(m.name == new_m.name); REQUIRE(m.size == new_m.size); REQUIRE(m.sigs.size() == new_m.sigs.size()); - for (auto &[name, sig] : m.sigs) { - auto &new_sig = new_m.sigs[name]; - REQUIRE(sig.name == new_sig.name); - REQUIRE(sig.start_bit == new_sig.start_bit); - REQUIRE(sig.msb == new_sig.msb); - REQUIRE(sig.lsb == new_sig.lsb); - REQUIRE(sig.size == new_sig.size); - REQUIRE(sig.is_signed == new_sig.is_signed); - REQUIRE(sig.factor == new_sig.factor); - REQUIRE(sig.offset == new_sig.offset); - REQUIRE(sig.is_little_endian == new_sig.is_little_endian); - } + for (auto &[name, sig] : m.sigs) + REQUIRE(sig == new_m.sigs[name]); } } From c4f9f2d206b68d5c4032ab7d31eb85639ce064d1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 11 Nov 2022 11:05:47 -0800 Subject: [PATCH 579/685] Update RELEASES.md --- RELEASES.md | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 18817bda4d..ad51b7af3f 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,19 +1,19 @@ -Version 0.8.17 (2022-11-XX) +Version 0.8.17 (2022-11-21) ======================== * New driving model - * Internal feature space information content increased tenfold during training (to ~700 bits), this makes the model dramatically more accurate + * Internal feature space information content increased tenfold during training (to ~700 bits), which makes the model dramatically more accurate * Less reliance on previous frames makes model more reactive and snappy * Trained in new reprojective simulator - * Model trained in openpilot was trained in 36hrs from scratch, compared to around 1 week of previous releases - * Model training now simulates lateral and longitudinal behavior, this allows openpilot to slow down for turns, stop at traffic lights, etc,... in experimental mode + * Trained in 36hrs from scratch, compared to one week for previous releases + * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode * New driver monitoring model * New end-to-end distracted trigger * Experimental driving mode * End-to-end longitudinal control - * Stops for red lights and stop signs + * Stops for traffic lights and stop signs + * Slows down for turns * openpilot defaults to chill mode, enable experimental in settings -* Self-tuning torque lateral controller parameters - * Parameters learned live for each car +* Self-tuning torque controller: learns parameters live for each car * Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models * UI updates * Multi-language in navigation @@ -21,8 +21,10 @@ Version 0.8.17 (2022-11-XX) * Improved update experience * Border turns grey while overriding steering * Bookmark events while driving; view them in comma connect + * New onroad visualization for experimental mode * AGNOS 6 * tools: new and improved cabana thanks to deanlee! +* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models * Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin! * Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin! * Kia Sportage 2023 support thanks to sunnyhaibin! From f6189b32351b21ad528486ee69c55666a1ef0d55 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Fri, 11 Nov 2022 14:40:21 -0500 Subject: [PATCH 580/685] HKG: Bump Kia Telluride support to 2022 (#26467) --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 07bcf44257..32da6126bd 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -107,7 +107,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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)|Stock|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|Telluride 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| +|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| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index b7e28825c3..1dba3a5442 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -142,7 +142,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.PALISADE: [ HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Telluride 2020", "All", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h), ], 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), From 4ab13300892e4d00d6ce7583c117a465c062adde Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 11 Nov 2022 12:48:41 -0800 Subject: [PATCH 581/685] Update RELEASES.md --- RELEASES.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index ad51b7af3f..bf89b667fa 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -6,8 +6,9 @@ Version 0.8.17 (2022-11-21) * Trained in new reprojective simulator * Trained in 36hrs from scratch, compared to one week for previous releases * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode -* New driver monitoring model - * New end-to-end distracted trigger +* Driver monitoring updates + * New bigger model with added end-to-end distracted trigger + * Reduced false positives during driver calibration * Experimental driving mode * End-to-end longitudinal control * Stops for traffic lights and stop signs From 714ab491b0ff90170353df99f43f09bbae1ab00d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 11 Nov 2022 12:51:14 -0800 Subject: [PATCH 582/685] boardd: SPI bulk read + write (#26462) * bulk read * write * write * fix write Co-authored-by: Comma Device --- selfdrive/boardd/panda_comms.h | 3 ++- selfdrive/boardd/spi.cc | 49 ++++++++++++++++++++++++++++------ 2 files changed, 43 insertions(+), 9 deletions(-) diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h index aef7b41d07..f42eadc5b2 100644 --- a/selfdrive/boardd/panda_comms.h +++ b/selfdrive/boardd/panda_comms.h @@ -34,7 +34,7 @@ public: virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0; protected: - std::mutex hw_lock; + std::recursive_mutex hw_lock; }; class PandaUsbHandle : public PandaCommsHandle { @@ -74,6 +74,7 @@ private: uint8_t rx_buf[SPI_BUF_SIZE]; int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack); + int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len); int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len); }; diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 3969b313f0..2803f58db0 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include "common/util.h" @@ -99,13 +100,45 @@ int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t para } int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - return 0; + return bulk_transfer(endpoint, data, length, NULL, 0); } - int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) { - return 0; + return bulk_transfer(endpoint, NULL, 0, data, length); +} + +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; + + int ret = 0; + uint16_t length = (tx_data != NULL) ? tx_len : rx_len; + for (int i = 0; i < (int)std::ceil((float)length / xfer_size); i++) { + int d; + if (tx_data != NULL) { + 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); + } + + if (d < 0) { + LOGE("SPI: bulk transfer failed with %d", d); + comms_healthy = false; + return -1; + } + + ret += d; + if ((rx_data != NULL) && d < xfer_size) { + break; + } + } + + return ret; } + + std::vector PandaSpiHandle::list() { // TODO: list all pandas available over SPI return {}; @@ -130,15 +163,15 @@ 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 err; + int ret; std::lock_guard lk(hw_lock); do { // TODO: handle error - err = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len); - } while (err < 0 && connected && !PANDA_NO_RETRY); + ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len); + } while (ret < 0 && connected && !PANDA_NO_RETRY); - return err; + return ret; } int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { @@ -153,7 +186,7 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) { if (rx_buf[0] == ack) { break; } else if (rx_buf[0] == SPI_NACK) { - LOGW("SPI: got header NACK"); + LOGW("SPI: got NACK"); return -1; } } From 98206fb92e6a071127f6d6e4fec456d0c437444f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Nov 2022 13:22:56 -0800 Subject: [PATCH 583/685] planner: fix undeclared variable (#26468) * undeclared variable * run first second disabled * revert test * rev --- selfdrive/controls/lib/longitudinal_planner.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index cae378453c..c6621f606d 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -107,6 +107,7 @@ class LongitudinalPlanner: accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)] accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP) else: + accel_limits = [MIN_ACCEL, MAX_ACCEL] accel_limits_turns = [MIN_ACCEL, MAX_ACCEL] if reset_state: From 9f80a97eee52d128559b7fef0593b8c328a6142d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Nov 2022 14:02:09 -0800 Subject: [PATCH 584/685] longitudinal tests: add disabled maneuver (#26470) * undeclared variable * run first second disabled * only test * test disabled as a new maneuver * bottom --- .../controls/lib/longitudinal_planner.py | 3 ++- .../test/longitudinal_maneuvers/maneuver.py | 12 +++++++----- .../test/longitudinal_maneuvers/plant.py | 19 ++++++++++--------- .../test_longitudinal.py | 9 ++++++++- 4 files changed, 27 insertions(+), 16 deletions(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index c6621f606d..def0a1208a 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -69,7 +69,8 @@ class LongitudinalPlanner: e2e = self.params.get_bool('ExperimentalMode') and self.CP.openpilotLongitudinalControl self.mpc.mode = 'blended' if e2e else 'acc' - def parse_model(self, model_msg, model_error): + @staticmethod + def parse_model(model_msg, model_error): if (len(model_msg.position.x) == 33 and len(model_msg.velocity.x) == 33 and len(model_msg.acceleration.x) == 33): diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py index dad5d89844..071eaada12 100644 --- a/selfdrive/test/longitudinal_maneuvers/maneuver.py +++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py @@ -17,6 +17,7 @@ class Maneuver(): self.only_lead2 = kwargs.get("only_lead2", False) self.only_radar = kwargs.get("only_radar", False) self.ensure_start = kwargs.get("ensure_start", False) + self.enabled = kwargs.get("enabled", True) self.duration = duration self.title = title @@ -26,23 +27,24 @@ class Maneuver(): lead_relevancy=self.lead_relevancy, speed=self.speed, distance_lead=self.distance_lead, + enabled=self.enabled, only_lead2=self.only_lead2, only_radar=self.only_radar, ) valid = True logs = [] - while plant.current_time() < self.duration: - speed_lead = np.interp(plant.current_time(), self.breakpoints, self.speed_lead_values) - prob = np.interp(plant.current_time(), self.breakpoints, self.prob_lead_values) - cruise = np.interp(plant.current_time(), self.breakpoints, self.cruise_values) + while plant.current_time < self.duration: + speed_lead = np.interp(plant.current_time, self.breakpoints, self.speed_lead_values) + prob = np.interp(plant.current_time, self.breakpoints, self.prob_lead_values) + cruise = np.interp(plant.current_time, self.breakpoints, self.cruise_values) log = plant.step(speed_lead, prob, cruise) d_rel = log['distance_lead'] - log['distance'] if self.lead_relevancy else 200. v_rel = speed_lead - log['speed'] if self.lead_relevancy else 0. log['d_rel'] = d_rel log['v_rel'] = v_rel - logs.append(np.array([plant.current_time(), + logs.append(np.array([plant.current_time, log['distance'], log['distance_lead'], log['speed'], diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py index e81510e9ba..c3af1eee03 100755 --- a/selfdrive/test/longitudinal_maneuvers/plant.py +++ b/selfdrive/test/longitudinal_maneuvers/plant.py @@ -10,11 +10,12 @@ from selfdrive.modeld.constants import T_IDXS from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU -class Plant(): + +class Plant: messaging_initialized = False def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0, - only_lead2=False, only_radar=False): + enabled=True, only_lead2=False, only_radar=False): self.rate = 1. / DT_MDL if not Plant.messaging_initialized: @@ -32,10 +33,11 @@ class Plant(): self.speeds = [] # lead car - self.distance_lead = distance_lead self.lead_relevancy = lead_relevancy - self.only_lead2=only_lead2 - self.only_radar=only_radar + self.distance_lead = distance_lead + self.enabled = enabled + self.only_lead2 = only_lead2 + self.only_radar = only_radar self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0) self.ts = 1. / self.rate @@ -47,6 +49,7 @@ class Plant(): self.planner = LongitudinalPlanner(CarInterface.get_params(CAR.CIVIC), init_v=self.speed) + @property def current_time(self): return float(self.rk.frame) / self.rate @@ -104,9 +107,7 @@ class Plant(): acceleration.x = [float(x) for x in np.zeros_like(T_IDXS)] model.modelV2.acceleration = acceleration - - - control.controlsState.longControlState = LongCtrlState.pid + control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off control.controlsState.vCruise = float(v_cruise * 3.6) car_state.carState.vEgo = float(self.speed) car_state.carState.standstill = self.speed < 0.01 @@ -141,7 +142,7 @@ class Plant(): # print at 5hz if (self.rk.frame % (self.rate // 5)) == 0: print("%2.2f sec %6.2f m %6.2f m/s %6.2f m/s2 lead_rel: %6.2f m %6.2f m/s" - % (self.current_time(), self.distance, self.speed, self.acceleration, d_rel, v_rel)) + % (self.current_time, self.distance, self.speed, self.acceleration, d_rel, v_rel)) # ******** update prevs ******** diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py index 7cc95b104a..e859952445 100755 --- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py +++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py @@ -10,7 +10,7 @@ from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver # TODO: make new FCW tests maneuvers = [ Maneuver( - 'approach stopped car at 20m/s, initial distance: 120m', + 'approach stopped car at 25m/s, initial distance: 120m', duration=20., initial_speed=25., lead_relevancy=True, @@ -118,6 +118,13 @@ maneuvers = [ 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, + ), ] From 89b88fc7a23c393b1d74c5c74aacd5c4ee254d81 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Nov 2022 14:49:38 -0800 Subject: [PATCH 585/685] Hyundai: fix button enable controls mismatch (#26471) * bump panda * buttonCancel needs to be a noEntry * bompo * Update ref_commit --- panda | 2 +- selfdrive/controls/lib/events.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/panda b/panda index 281eb7731b..d573111268 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 281eb7731b4338fef049977593fdf3315adf09e9 +Subproject commit d57311126860c9a87edf5b7b9f81a2a038866a26 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 44426620e9..a761cceecb 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -597,6 +597,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.buttonCancel: { ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage), + ET.NO_ENTRY: NoEntryAlert("Cancel Pressed"), }, EventName.brakeHold: { diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index e3c5390c3b..2ff423a84a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9e37e8ee8013515cfd75cf352a1a2b9aa447c441 +b5c833a8f5b3e6202a52746fc16809c7b649d591 From 811c096e6454dc2bbdd1e15a08952979c3fb7be1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Nov 2022 18:53:48 -0800 Subject: [PATCH 586/685] controlsd: add cruise speed helper class (#26472) * fix runaway set speed for GM * fix runaway set speed for GM * Handle resuming to exit standstill generically * clean that up * ugh i want to fix all the formatting * class that manages v_cruise * better name * move around * add depressed_state * fine to update on pressed change, better name * revert gm stuff * revert standstill stuff * remove * revert that * we can put this in here now! * below update * actually only used here * one line --- selfdrive/controls/controlsd.py | 52 ++------- selfdrive/controls/lib/drive_helpers.py | 141 +++++++++++++++--------- 2 files changed, 102 insertions(+), 91 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 3b241045b1..f69e9e7fd1 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -16,8 +16,7 @@ from system.version import is_tested_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 -from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise -from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature +from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature from selfdrive.controls.lib.latcontrol import LatControl from selfdrive.controls.lib.longcontrol import LongControl from selfdrive.controls.lib.latcontrol_pid import LatControlPID @@ -49,7 +48,6 @@ Desire = log.LateralPlan.Desire LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection EventName = car.CarEvent.EventName -ButtonEvent = car.CarState.ButtonEvent ButtonType = car.CarState.ButtonEvent.Type SafetyModel = car.CarParams.SafetyModel @@ -173,9 +171,6 @@ class Controls: self.active = False self.can_rcv_timeout = False self.soft_disable_timer = 0 - self.v_cruise_kph = V_CRUISE_INITIAL - self.v_cruise_cluster_kph = V_CRUISE_INITIAL - self.v_cruise_kph_last = 0 self.mismatch_counter = 0 self.cruise_mismatch_counter = 0 self.can_rcv_timeout_counter = 0 @@ -185,11 +180,11 @@ class Controls: self.events_prev = [] self.current_alert_types = [ET.PERMANENT] self.logged_comm_issue = None - self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0} self.last_actuators = car.CarControl.Actuators.new_message() self.steer_limited = False self.desired_curvature = 0.0 self.desired_curvature_rate = 0.0 + self.v_cruise_helper = VCruiseHelper(self.CP) # TODO: no longer necessary, aside from process replay self.sm['liveParameters'].valid = True @@ -219,7 +214,7 @@ class Controls: controls_state = Params().get("ReplayControlsState") if controls_state is not None: controls_state = log.ControlsState.from_bytes(controls_state) - self.v_cruise_kph = controls_state.vCruise + self.v_cruise_helper.v_cruise_kph = controls_state.vCruise if any(ps.controlsAllowed for ps in self.sm['pandaStates']): self.state = State.enabled @@ -245,7 +240,7 @@ class Controls: # Block resume if cruise never previously enabled resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents) - if not self.CP.pcmCruise and self.v_cruise_kph == V_CRUISE_INITIAL and resume_pressed: + if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed: self.events.add(EventName.resumeBlocked) # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 @@ -478,20 +473,7 @@ class Controls: def state_transition(self, CS): """Compute conditional state transitions and execute actions on state transitions""" - self.v_cruise_kph_last = self.v_cruise_kph - - if CS.cruiseState.available: - # if stock cruise is completely disabled, then we can use our own set speed logic - if not self.CP.pcmCruise: - self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents, - self.button_timers, self.enabled, self.is_metric) - self.v_cruise_cluster_kph = self.v_cruise_kph - else: - self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH - self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH - else: - self.v_cruise_kph = V_CRUISE_INITIAL - self.v_cruise_cluster_kph = V_CRUISE_INITIAL + self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric) # decrement the soft disable timer at every step, as it's reset on # entrance in SOFT_DISABLING state @@ -569,9 +551,7 @@ class Controls: else: self.state = State.enabled self.current_alert_types.append(ET.ENABLE) - if not self.CP.pcmCruise: - self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last) - self.v_cruise_cluster_kph = self.v_cruise_kph + self.v_cruise_helper.initialize_v_cruise(CS) # Check if openpilot is engaged and actuators are enabled self.enabled = self.state in ENABLED_STATES @@ -619,7 +599,7 @@ class Controls: if not self.joystick_mode: # accel PID loop - pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS) + pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS) t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan) @@ -683,16 +663,6 @@ class Controls: return CC, lac_log - def update_button_timers(self, buttonEvents): - # increment timer for buttons still pressed - for k in self.button_timers: - if self.button_timers[k] > 0: - self.button_timers[k] += 1 - - for b in buttonEvents: - if b.type.raw in self.button_timers: - self.button_timers[b.type.raw] = 1 if b.pressed else 0 - def publish_logs(self, CS, start_time, CC, lac_log): """Send actuators and hud commands to the car, send controlsstate and MPC logging""" @@ -715,7 +685,7 @@ class Controls: CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1 hudControl = CC.hudControl - hudControl.setSpeed = float(self.v_cruise_cluster_kph * CV.KPH_TO_MS) + hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS) hudControl.speedVisible = self.enabled hudControl.lanesVisible = self.enabled hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead @@ -798,8 +768,8 @@ class Controls: controlsState.engageable = not self.events.any(ET.NO_ENTRY) controlsState.longControlState = self.LoC.long_control_state controlsState.vPid = float(self.LoC.v_pid) - controlsState.vCruise = float(self.v_cruise_kph) - controlsState.vCruiseCluster = float(self.v_cruise_cluster_kph) + controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph) + controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph) controlsState.upAccelCmd = float(self.LoC.pid.p) controlsState.uiAccelCmd = float(self.LoC.pid.i) controlsState.ufAccelCmd = float(self.LoC.pid.f) @@ -880,7 +850,6 @@ class Controls: self.publish_logs(CS, start_time, CC, lac_log) self.prof.checkpoint("Sent") - self.update_button_timers(CS.buttonEvents) self.CS_prev = CS def controlsd_thread(self): @@ -889,6 +858,7 @@ class Controls: self.rk.monitor_time() self.prof.display() + def main(sm=None, pm=None, logcan=None): controls = Controls(sm, pm, logcan) controls.controlsd_thread() diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index e74be7199e..27e53d1dd3 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -22,6 +22,7 @@ CAR_ROTATION_RADIUS = 0.0 # EU guidelines MAX_LATERAL_JERK = 5.0 +ButtonEvent = car.CarState.ButtonEvent ButtonType = car.CarState.ButtonEvent.Type CRUISE_LONG_PRESS = 50 CRUISE_NEAREST_FUNC = { @@ -34,6 +35,96 @@ CRUISE_INTERVAL_SIGN = { } +class VCruiseHelper: + def __init__(self, CP): + self.CP = CP + self.v_cruise_kph = V_CRUISE_INITIAL + self.v_cruise_cluster_kph = V_CRUISE_INITIAL + self.v_cruise_kph_last = 0 + self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0} + + @property + def v_cruise_initialized(self): + return self.v_cruise_kph != V_CRUISE_INITIAL + + def update_v_cruise(self, CS, enabled, is_metric): + self.v_cruise_kph_last = self.v_cruise_kph + + if CS.cruiseState.available: + if not self.CP.pcmCruise: + # if stock cruise is completely disabled, then we can use our own set speed logic + self._update_v_cruise_non_pcm(CS, enabled, is_metric) + self.v_cruise_cluster_kph = self.v_cruise_kph + self.update_button_timers(CS) + else: + self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH + self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH + else: + self.v_cruise_kph = V_CRUISE_INITIAL + self.v_cruise_cluster_kph = V_CRUISE_INITIAL + + def _update_v_cruise_non_pcm(self, CS, enabled, is_metric): + # handle button presses. TODO: this should be in state_control, but a decelCruise press + # would have the effect of both enabling and changing speed is checked after the state transition + if not enabled: + return + + 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 + + for b in CS.buttonEvents: + if b.type.raw in self.button_timers and not b.pressed: + if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS: + return # end long press + button_type = b.type.raw + break + else: + for k in self.button_timers.keys(): + if self.button_timers[k] and self.button_timers[k] % CRUISE_LONG_PRESS == 0: + button_type = k + long_press = True + break + + if button_type: + v_cruise_delta = v_cruise_delta * (5 if long_press else 1) + if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval + self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta + else: + self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type] + + # If set is pressed while overriding, clip cruise speed to minimum of vEgo + if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise): + self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH) + + self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX) + + def update_button_timers(self, CS): + # increment timer for buttons still pressed + for k in self.button_timers: + if self.button_timers[k] > 0: + self.button_timers[k] += 1 + + for b in CS.buttonEvents: + if b.type.raw in self.button_timers: + self.button_timers[b.type.raw] = 1 if b.pressed else 0 + + def initialize_v_cruise(self, CS): + # initializing is handled by the PCM + if self.CP.pcmCruise: + return + + # 250kph or above probably means we never had a set speed + if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250: + self.v_cruise_kph = self.v_cruise_kph_last + else: + self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX))) + + self.v_cruise_cluster_kph = self.v_cruise_kph + + def apply_deadzone(error, deadzone): if error > deadzone: error -= deadzone @@ -48,56 +139,6 @@ def rate_limit(new_value, last_value, dw_step, up_step): return clip(new_value, last_value + dw_step, last_value + up_step) -def update_v_cruise(v_cruise_kph, v_ego, gas_pressed, buttonEvents, button_timers, enabled, metric): - # handle button presses. TODO: this should be in state_control, but a decelCruise press - # would have the effect of both enabling and changing speed is checked after the state transition - if not enabled: - return v_cruise_kph - - long_press = False - button_type = None - - # should be CV.MPH_TO_KPH, but this causes rounding errors - v_cruise_delta = 1. if metric else 1.6 - - for b in buttonEvents: - if b.type.raw in button_timers and not b.pressed: - if button_timers[b.type.raw] > CRUISE_LONG_PRESS: - return v_cruise_kph # end long press - button_type = b.type.raw - break - else: - for k in button_timers.keys(): - if button_timers[k] and button_timers[k] % CRUISE_LONG_PRESS == 0: - button_type = k - long_press = True - break - - if button_type: - v_cruise_delta = v_cruise_delta * (5 if long_press else 1) - if long_press and v_cruise_kph % v_cruise_delta != 0: # partial interval - v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](v_cruise_kph / v_cruise_delta) * v_cruise_delta - else: - v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type] - - # If set is pressed while overriding, clip cruise speed to minimum of vEgo - if gas_pressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise): - v_cruise_kph = max(v_cruise_kph, v_ego * CV.MS_TO_KPH) - - v_cruise_kph = clip(round(v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX) - - return v_cruise_kph - - -def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last): - for b in buttonEvents: - # 250kph or above probably means we never had a set speed - if b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) and v_cruise_last < 250: - return v_cruise_last - - return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX))) - - def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): if len(psis) != CONTROL_N: psis = [0.0]*CONTROL_N From 76ac3d4c99df24f068aee3baedb796f65dfcca66 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Nov 2022 19:43:30 -0800 Subject: [PATCH 587/685] controlsd: resume does not increment speed while cruise standstill (#25470) * fix runaway set speed for GM * fix runaway set speed for GM * Handle resuming to exit standstill generically * clean that up * ugh i want to fix all the formatting * class that manages v_cruise * better name * move around * add depressed_state * fine to update on pressed change, better name * cmt * we need to check CS. button_change_state only works if we exit standstill on rising edge not falling edge * no defaultdict --- selfdrive/car/gm/interface.py | 8 +------- selfdrive/controls/lib/drive_helpers.py | 8 ++++++++ 2 files changed, 9 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 2420098b4a..49cae998e8 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -211,13 +211,7 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback) if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT: - be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS) - - # Suppress resume button if we're resuming from stop so we don't adjust speed. - if be.type == ButtonType.accelCruise and (ret.cruiseState.enabled and ret.standstill): - be.type = ButtonType.unknown - - ret.buttonEvents = [be] + ret.buttonEvents = [create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)] events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic], diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 27e53d1dd3..5ca5319ba5 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -42,6 +42,7 @@ class VCruiseHelper: self.v_cruise_cluster_kph = V_CRUISE_INITIAL self.v_cruise_kph_last = 0 self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0} + self.button_change_state = {btn: {"standstill": False} for btn in self.button_timers} @property def v_cruise_initialized(self): @@ -88,6 +89,11 @@ class VCruiseHelper: long_press = True break + # Don't adjust speed when pressing resume to exit standstill + cruise_standstill = self.button_change_state[button_type]["standstill"] or CS.cruiseState.standstill + if button_type == ButtonType.accelCruise and cruise_standstill: + button_type = None + if button_type: v_cruise_delta = v_cruise_delta * (5 if long_press else 1) if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval @@ -109,7 +115,9 @@ class VCruiseHelper: for b in CS.buttonEvents: if b.type.raw in self.button_timers: + # Start/end timer and store current state on change of button pressed self.button_timers[b.type.raw] = 1 if b.pressed else 0 + self.button_change_state[b.type.raw].update({"standstill": CS.cruiseState.standstill}) def initialize_v_cruise(self, CS): # initializing is handled by the PCM From d3f971b365613329a35a3140b9418977baebd856 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Nov 2022 20:10:12 -0800 Subject: [PATCH 588/685] controlsd v_cruise: fix unknown buttons (#26474) Fix button being None --- selfdrive/controls/lib/drive_helpers.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 5ca5319ba5..e9d74c54a9 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -90,8 +90,7 @@ class VCruiseHelper: break # Don't adjust speed when pressing resume to exit standstill - cruise_standstill = self.button_change_state[button_type]["standstill"] or CS.cruiseState.standstill - if button_type == ButtonType.accelCruise and cruise_standstill: + if button_type == ButtonType.accelCruise and (self.button_change_state[button_type]["standstill"] or CS.cruiseState.standstill): button_type = None if button_type: From 5f094b836851c392b89429cc654082c659f7caec Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Sat, 12 Nov 2022 06:50:09 +0100 Subject: [PATCH 589/685] CI: regroup devices (#26436) * regroup ci devices * cleanup looopback test * split loopback devices Co-authored-by: Kurt Nistelberger --- Jenkinsfile | 27 +++++++++++++++++++------- release/files_common | 1 + selfdrive/manager/test/test_manager.py | 6 ++++++ 3 files changed, 27 insertions(+), 7 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 0d624954ea..696446c65f 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -111,7 +111,7 @@ pipeline { R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}" } steps { - phone_steps("tici", [ + phone_steps("tici-needs-can", [ ["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"], @@ -122,16 +122,24 @@ pipeline { } } + stage('loopback-tests') { + agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } + steps { + phone_steps("tici-loopback", [ + ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], + ]) + } + } + stage('HW + Unit Tests') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { - phone_steps("tici2", [ + phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], ["test power draw", "python system/hardware/tici/test_power_draw.py"], - ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"], ["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 sensord", "python selfdrive/sensord/tests/test_sensord.py"], ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"], ]) } @@ -159,27 +167,32 @@ pipeline { } } - stage('sensord (LSM-C)') { + stage('sensord') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { phone_steps("tici-lsmc", [ ["build", "cd selfdrive/manager && ./build.py"], ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], ]) + phone_steps("tici-bmx-lsm", [ + ["build", "cd selfdrive/manager && ./build.py"], + ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], + ]) } } stage('replay') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { - phone_steps("tici3", [ + phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], ]) } } - } + } } + } } diff --git a/release/files_common b/release/files_common index 26662f1ef1..a294e1e5b5 100644 --- a/release/files_common +++ b/release/files_common @@ -95,6 +95,7 @@ selfdrive/boardd/panda_comms.h selfdrive/boardd/panda_comms.cc selfdrive/boardd/set_time.py selfdrive/boardd/pandad.py +selfdrive/boardd/tests/test_boardd_loopback.py selfdrive/car/__init__.py selfdrive/car/docs_definitions.py diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py index 7ac2c5f506..6d4df0423a 100755 --- a/selfdrive/manager/test/test_manager.py +++ b/selfdrive/manager/test/test_manager.py @@ -4,6 +4,7 @@ import signal import time import unittest +from common.params import Params import selfdrive.manager.manager as manager from selfdrive.manager.process import DaemonProcess from selfdrive.manager.process_config import managed_processes @@ -20,6 +21,10 @@ class TestManager(unittest.TestCase): os.environ['PASSIVE'] = '0' HARDWARE.set_power_save(False) + # ensure clean CarParams + params = Params() + params.clear_all() + def tearDown(self): manager.manager_cleanup() @@ -40,6 +45,7 @@ class TestManager(unittest.TestCase): Ensure all processes exit cleanly when stopped. """ HARDWARE.set_power_save(False) + manager.manager_init() manager.manager_prepare() for p in ALL_PROCESSES: managed_processes[p].start() From a638afb98e2b9d7844c04b1ec55c79d3274bc9b1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Nov 2022 23:11:49 -0800 Subject: [PATCH 590/685] controlsd: add tests around cruise speed (#26478) * start to add some tests * test !pcmCruise * test !pcmCruise * better test * fix pylint * new test for making sure we adjust on falling edge of buttons --- selfdrive/controls/tests/test_cruise_speed.py | 64 ++++++++++++++++++- 1 file changed, 61 insertions(+), 3 deletions(-) mode change 100644 => 100755 selfdrive/controls/tests/test_cruise_speed.py diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py old mode 100644 new mode 100755 index ca070f1c3f..72b7dddc20 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -1,10 +1,16 @@ #!/usr/bin/env python3 -import unittest 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 cereal import car from common.params import Params +from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver +ButtonEvent = car.CarState.ButtonEvent +ButtonType = car.CarState.ButtonEvent.Type -from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver def run_cruise_simulation(cruise, t_end=20.): man = Maneuver( @@ -19,7 +25,7 @@ def run_cruise_simulation(cruise, t_end=20.): ) valid, output = man.evaluate() assert valid - return output[-1,3] + return output[-1, 3] class TestCruiseSpeed(unittest.TestCase): @@ -35,5 +41,57 @@ class TestCruiseSpeed(unittest.TestCase): self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s') +# TODO: test pcmCruise +@parameterized_class(('pcm_cruise',), [(False,)]) +class TestVCruiseHelper(unittest.TestCase): + def setUp(self): + self.CP = car.CarParams(pcmCruise=self.pcm_cruise) # pylint: disable=E1101 + self.v_cruise_helper = VCruiseHelper(self.CP) + + def test_adjust_speed(self): + """ + Asserts speed changes on falling edges of buttons. + """ + + self.v_cruise_helper.initialize_v_cruise(car.CarState()) + + for btn in (ButtonType.accelCruise, ButtonType.decelCruise): + initial_v_cruise = self.v_cruise_helper.v_cruise_kph + for pressed in (True, False): + CS = car.CarState(cruiseState={"available": True}) + CS.buttonEvents = [ButtonEvent(type=btn, pressed=pressed)] + + self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) + self.assertEqual(pressed, (initial_v_cruise == self.v_cruise_helper.v_cruise_kph)) + + def test_resume_in_standstill(self): + """ + Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill. + """ + + self.v_cruise_helper.initialize_v_cruise(car.CarState()) + initial_v_cruise = self.v_cruise_helper.v_cruise_kph + + for standstill in (True, False): + for pressed in (True, False): + CS = car.CarState(cruiseState={"available": True, "standstill": standstill}) + CS.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=pressed)] + + self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) + # speed should only update if not at standstill and button falling edge + should_equal = standstill or pressed + self.assertEqual(should_equal, (initial_v_cruise == self.v_cruise_helper.v_cruise_kph)) + + def test_initialize_v_cruise(self): + """ + Asserts allowed cruise speeds on enabling with SET + """ + + for v_ego in np.linspace(0, 100, 101): + self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=float(v_ego))) + self.assertTrue(V_CRUISE_ENABLE_MIN <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX) + self.assertTrue(self.v_cruise_helper.v_cruise_initialized) + + if __name__ == "__main__": unittest.main() From 870b79818566ab91159d23f1197183f3e6567608 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Nov 2022 23:56:35 -0800 Subject: [PATCH 591/685] controlsd: clean up v_cruise updating (#26479) * clean up * clean up * clean up --- selfdrive/controls/lib/drive_helpers.py | 31 ++++++++++++++----------- 1 file changed, 17 insertions(+), 14 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index e9d74c54a9..37dacf5fb2 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -42,7 +42,7 @@ class VCruiseHelper: self.v_cruise_cluster_kph = V_CRUISE_INITIAL self.v_cruise_kph_last = 0 self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0} - self.button_change_state = {btn: {"standstill": False} for btn in self.button_timers} + self.button_change_states = {btn: {"standstill": False} for btn in self.button_timers} @property def v_cruise_initialized(self): @@ -89,22 +89,25 @@ class VCruiseHelper: long_press = True break + if button_type is None: + return + # Don't adjust speed when pressing resume to exit standstill - if button_type == ButtonType.accelCruise and (self.button_change_state[button_type]["standstill"] or CS.cruiseState.standstill): - button_type = None + cruise_standstill = self.button_change_states[button_type]["standstill"] or CS.cruiseState.standstill + if button_type == ButtonType.accelCruise and cruise_standstill: + return - if button_type: - v_cruise_delta = v_cruise_delta * (5 if long_press else 1) - if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval - self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta - else: - self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type] + v_cruise_delta = v_cruise_delta * (5 if long_press else 1) + if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval + self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta + else: + self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type] - # If set is pressed while overriding, clip cruise speed to minimum of vEgo - if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise): - self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH) + # If set is pressed while overriding, clip cruise speed to minimum of vEgo + if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise): + self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH) - self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX) + self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX) def update_button_timers(self, CS): # increment timer for buttons still pressed @@ -116,7 +119,7 @@ class VCruiseHelper: if b.type.raw in self.button_timers: # Start/end timer and store current state on change of button pressed self.button_timers[b.type.raw] = 1 if b.pressed else 0 - self.button_change_state[b.type.raw].update({"standstill": CS.cruiseState.standstill}) + self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill} def initialize_v_cruise(self, CS): # initializing is handled by the PCM From 65f494d845bbfa47293ad3158a68bc38c1b4dcff Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 12 Nov 2022 02:02:30 -0800 Subject: [PATCH 592/685] GM: handle run-away set speed (#26480) * GM: Handle run-away set speed * bumpo * This is a test of both PRs combined * tempbump * Revert "tempbump" This reverts commit b73e04fca25e6a1bac889e44afac6430d5ad7c30. * Revert "This is a test of both PRs combined" This reverts commit 22cc0e6900e0f0470f14ed55e7846e4b1d570826. * fix * bump * fix that * Bump to master * fix fix --- panda | 2 +- selfdrive/car/gm/interface.py | 7 ++++++- 2 files changed, 7 insertions(+), 2 deletions(-) diff --git a/panda b/panda index d573111268..0096d0c4fc 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d57311126860c9a87edf5b7b9f81a2a038866a26 +Subproject commit 0096d0c4fc50d199ca46c6fe40479e1547408aed diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 49cae998e8..c41aac0ae0 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -211,7 +211,12 @@ class CarInterface(CarInterfaceBase): ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback) if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT: - ret.buttonEvents = [create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)] + buttonEvents = [create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)] + # Handle ACCButtons changing buttons mid-press + if self.CS.cruise_buttons != CruiseButtons.UNPRESS and self.CS.prev_cruise_buttons != CruiseButtons.UNPRESS: + buttonEvents.append(create_button_event(CruiseButtons.UNPRESS, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)) + + ret.buttonEvents = buttonEvents events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic], From 7b0f7312e577754958468ff6a176077976f1d6e2 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 14 Nov 2022 04:55:46 +0800 Subject: [PATCH 593/685] Cabana: miscellaneous fixes (#26477) * update pos after adjusted margins * ts >=0 * output debug message to console * fix freq&count incorrect after replay auto loop restart replay * fix different height of play/pause * delay posting CAN message if UI thread is busy * >= * clear undo stack after saving * no space allowed in names * const referer --- tools/cabana/canmessages.cc | 11 +++++++---- tools/cabana/canmessages.h | 1 + tools/cabana/chartswidget.cc | 5 ++++- tools/cabana/detailwidget.cc | 1 + tools/cabana/mainwin.cc | 3 +++ tools/cabana/signaledit.cc | 1 + tools/cabana/videowidget.cc | 2 +- 7 files changed, 18 insertions(+), 6 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index e670ee8c94..ce0b458c96 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -44,7 +44,7 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si for (auto &evt : *evts) { if (evt->which != cereal::Event::Which::CAN) continue; - for (auto c : evt->event.getCan()) { + 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)) { @@ -65,6 +65,7 @@ void CANMessages::process(QHash *messages) { emit updated(); emit msgsReceived(messages); delete messages; + processing = false; } bool CANMessages::eventFilter(const Event *event) { @@ -78,7 +79,7 @@ bool CANMessages::eventFilter(const Event *event) { } double current_sec = replay->currentSeconds(); - if (counters_begin_sec == 0) { + if (counters_begin_sec == 0 || counters_begin_sec >= current_sec) { counters.clear(); counters_begin_sec = current_sec; } @@ -105,7 +106,9 @@ bool CANMessages::eventFilter(const Event *event) { } double ts = millis_since_boot(); - if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { + if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing) { + // 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()); @@ -120,7 +123,7 @@ const std::deque CANMessages::messages(const QString &id) { } void CANMessages::seekTo(double ts) { - replay->seekTo(ts, false); + 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 5ee33bce0d..c52ffdee04 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -63,6 +63,7 @@ protected: Replay *replay = nullptr; std::mutex lock; std::atomic counters_begin_sec = 0; + std::atomic processing = false; QHash counters; QHash> received_msgs; }; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 875ed80ac5..220685a86b 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -192,6 +192,8 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) chart->createDefaultAxes(); chart->legend()->hide(); chart->layout()->setContentsMargins(0, 0, 0, 0); + // top margin for title + chart->setMargins({0, 11, 0, 0}); line_marker = new QGraphicsLineItem(chart); line_marker->setZValue(chart->zValue() + 10); @@ -265,6 +267,7 @@ void ChartView::adjustChartMargins() { if (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)); + updateLineMarker(can->currentSec()); } } @@ -290,7 +293,7 @@ void ChartView::updateSeries(const std::pair range) { double end_ns = (route_start_time + range.second) * 1e9; for (auto it = begin; it != events->end() && (*it)->mono_time <= end_ns; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { - for (auto c : (*it)->event.getCan()) { + for (const auto &c : (*it)->event.getCan()) { if (bus == c.getSrc() && address == c.getAddress()) { auto dat = c.getDat(); double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *signal); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 25c3a528f9..00145395fd 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -266,6 +266,7 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title form_layout->addRow("ID", new QLabel(msg_id)); name_edit = new QLineEdit(title, this); + name_edit->setValidator(new QRegExpValidator(QRegExp("^(\\w+)"), name_edit)); form_layout->addRow(tr("Name"), name_edit); size_spin = new QSpinBox(this); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 40a99a7a56..97d62cb4f4 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,5 +1,6 @@ #include "tools/cabana/mainwin.h" +#include #include #include #include @@ -20,6 +21,7 @@ static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { + if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl; if (main_win) emit main_win->showMessage(msg, 0); } @@ -192,6 +194,7 @@ void MainWindow::saveDBCToFile() { QFile file(file_name); if (file.open(QIODevice::WriteOnly)) file.write(dbc()->generateDBC().toUtf8()); + detail_widget->undo_stack->clear(); } } diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 1cf9b8ae57..d96587e406 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -16,6 +16,7 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { QFormLayout *form_layout = new QFormLayout(this); name = new QLineEdit(); + name->setValidator(new QRegExpValidator(QRegExp("^(\\w+)"), name)); form_layout->addRow(tr("Name"), name); size = new QSpinBox(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index d5e640b5f7..d85b23b7e6 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -37,7 +37,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { // btn controls QHBoxLayout *control_layout = new QHBoxLayout(); play_btn = new QPushButton("⏸"); - play_btn->setStyleSheet("font-weight:bold"); + play_btn->setStyleSheet("font-weight:bold; height:16px"); control_layout->addWidget(play_btn); QButtonGroup *group = new QButtonGroup(this); From f924e797b745bf3a93201de85f807a0d101eaa0e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 14 Nov 2022 04:56:05 +0800 Subject: [PATCH 594/685] Cabana: remove bus time from can message (#26475) remove bustime --- tools/cabana/canmessages.cc | 1 - tools/cabana/canmessages.h | 1 - 2 files changed, 2 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index ce0b458c96..3bcaae4bbd 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -95,7 +95,6 @@ bool CANMessages::eventFilter(const Event *event) { } CanData &data = list.emplace_front(); data.ts = current_sec; - data.bus_time = c.getBusTime(); data.dat.append((char *)c.getDat().begin(), c.getDat().size()); data.count = ++counters[id]; diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index c52ffdee04..ff41edad54 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -16,7 +16,6 @@ struct CanData { double ts = 0.; uint32_t count = 0; uint32_t freq = 0; - uint16_t bus_time = 0; QByteArray dat; }; From 3d208567f34bac3f7f910c8f0343d9472b67bf6c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 14 Nov 2022 04:56:26 +0800 Subject: [PATCH 595/685] Cabana: added color labels to signal list (#26485) add color label --- tools/cabana/signaledit.cc | 55 +++++++++++++++++++++++++++----------- tools/cabana/signaledit.h | 5 ++-- 2 files changed, 41 insertions(+), 19 deletions(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index d96587e406..8737154c16 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -71,22 +71,40 @@ SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); + main_layout->setSpacing(0); // title bar - auto toolbar = new QToolBar(this); - toolbar->setStyleSheet("QToolButton {width:15px;height:15px;font-size:15px}"); - icon = new QLabel(); - toolbar->addWidget(icon); + auto title_bar = new QWidget(this); + title_bar->setFixedHeight(32); + QHBoxLayout *title_layout = new QHBoxLayout(title_bar); + title_layout->setContentsMargins(0, 0, 0, 0); + title_bar->setStyleSheet("QToolButton {width:15px;height:15px;font-size:15px}"); + color_label = new QLabel(this); + color_label->setFixedWidth(25); + color_label->setContentsMargins(5, 0, 0, 0); + title_layout->addWidget(color_label); + icon = new QLabel(this); + title_layout->addWidget(icon); title = new ElidedLabel(this); title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); - toolbar->addWidget(title); - plot_btn = toolbar->addAction("", [this]() { emit showChart(msg_id, sig, !chart_opened); }); - auto seek_btn = toolbar->addAction(QIcon::fromTheme("edit-find"), "", [this]() { SignalFindDlg(msg_id, sig, this).exec(); }); + title_layout->addWidget(title); + + plot_btn = new QToolButton(this); + plot_btn->setText("📈"); + plot_btn->setCheckable(true); + plot_btn->setAutoRaise(true); + title_layout->addWidget(plot_btn); + auto seek_btn = new QToolButton(this); + seek_btn->setIcon(QIcon::fromTheme("edit-find")); + seek_btn->setAutoRaise(true); seek_btn->setToolTip(tr("Find signal values")); - auto remove_btn = toolbar->addAction("x", [this]() { emit remove(sig); }); + title_layout->addWidget(seek_btn); + auto remove_btn = new QToolButton(this); + remove_btn->setAutoRaise(true); + remove_btn->setText("x"); remove_btn->setToolTip(tr("Remove signal")); - main_layout->addWidget(toolbar); + title_layout->addWidget(remove_btn); + main_layout->addWidget(title_bar); // signal form form = new SignalForm(this); @@ -99,8 +117,11 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa hline->setFrameShadow(QFrame::Sunken); main_layout->addWidget(hline); - QObject::connect(form, &SignalForm::changed, this, &SignalEdit::saveSignal); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); + QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) { emit showChart(msg_id, sig, checked); }); + 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, &SignalEdit::saveSignal); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); } @@ -108,7 +129,9 @@ void SignalEdit::setSignal(const QString &message_id, const Signal *signal) { sig = signal; updateForm(msg_id == message_id && form->isVisible()); msg_id = message_id; - title->setText(QString("%1. %2").arg(form_idx + 1).arg(sig->name.c_str())); + color_label->setText(QString::number(form_idx + 1)); + color_label->setStyleSheet(QString("background-color:%1").arg(getColor(form_idx))); + title->setText(sig->name.c_str()); show(); } @@ -145,9 +168,8 @@ void SignalEdit::saveSignal() { } void SignalEdit::setChartOpened(bool opened) { - plot_btn->setText(opened ? "☒" : "📈"); plot_btn->setToolTip(opened ? tr("Close Plot") : tr("Show Plot")); - chart_opened = opened; + plot_btn->setChecked(opened); } void SignalEdit::updateForm(bool visible) { @@ -175,8 +197,9 @@ void SignalEdit::showFormClicked() { } void SignalEdit::signalHovered(const Signal *s) { - auto color = sig == s ? hoverColor(getColor(form_idx)) : QColor(getColor(form_idx)); - title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color.name())); + auto bg_color = sig == s ? hoverColor(getColor(form_idx)) : QColor(getColor(form_idx)); + auto color = sig == s ? "white" : "black"; + color_label->setStyleSheet(QString("color:%1; background-color:%2").arg(color).arg(bg_color.name())); } void SignalEdit::hideEvent(QHideEvent *event) { diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 46ea1bfbe0..335e49a869 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -1,6 +1,5 @@ #pragma once -#include #include #include #include @@ -54,10 +53,10 @@ protected: SignalForm *form = nullptr; ElidedLabel *title; + QLabel *color_label; QLabel *icon; int form_idx = 0; - bool chart_opened = false; - QAction *plot_btn; + QToolButton *plot_btn; }; class SignalFindDlg : public QDialog { From 4ef941e954198a6ed77b4d1cf9389cd621da6aac Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 14 Nov 2022 04:56:48 +0800 Subject: [PATCH 596/685] Cabana: update detail view on change (#26476) update on changed --- tools/cabana/detailwidget.cc | 7 ++++--- tools/cabana/detailwidget.h | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 00145395fd..260c9dfec7 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -89,7 +89,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); - QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); + QObject::connect(can, &CANMessages::msgsReceived, this, &DetailWidget::updateState); QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); }); QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { @@ -179,9 +179,10 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { QTimer::singleShot(1, [this]() { setUpdatesEnabled(true); }); } -void DetailWidget::updateState() { +void DetailWidget::updateState(const QHash * msgs) { time_label->setText(QString::number(can->currentSec(), 'f', 3)); - if (msg_id.isEmpty()) return; + if (!msgs->contains(msg_id)) + return; binary_view->updateState(); history_log->updateState(); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 815afa9bce..5fc6d122fe 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -36,7 +36,7 @@ private: void removeSignal(const Signal *sig); void editMsg(); void removeMsg(); - void updateState(); + void updateState(const QHash * msgs); QString msg_id; QLabel *name_label, *time_label, *warning_label; From 3524cc7f0bbb94ccb4d6b7b0504692d23288a05f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 13 Nov 2022 16:15:17 -0800 Subject: [PATCH 597/685] cruise speed tests: match controlsd initialization of cruise speed (#26491) * helper functions and fix resetting/enabling * comment (resume not yet tested) * make it clear how this resets * this is fine to enable once * same here --- selfdrive/controls/tests/test_cruise_speed.py | 28 +++++++++++++------ 1 file changed, 20 insertions(+), 8 deletions(-) diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index 72b7dddc20..396ff2b46f 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -5,6 +5,7 @@ import unittest from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN from cereal import car +from common.conversions import Conversions as CV from common.params import Params from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver @@ -47,40 +48,48 @@ class TestVCruiseHelper(unittest.TestCase): def setUp(self): self.CP = car.CarParams(pcmCruise=self.pcm_cruise) # pylint: disable=E1101 self.v_cruise_helper = VCruiseHelper(self.CP) + self.reset_cruise_speed_state() + + def reset_cruise_speed_state(self): + # Two resets previous cruise speed + for _ in range(2): + self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False) + + def enable(self, v_ego): + # Simulates user pressing set with a current speed + self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego)) def test_adjust_speed(self): """ Asserts speed changes on falling edges of buttons. """ - self.v_cruise_helper.initialize_v_cruise(car.CarState()) + self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS) for btn in (ButtonType.accelCruise, ButtonType.decelCruise): - initial_v_cruise = self.v_cruise_helper.v_cruise_kph for pressed in (True, False): CS = car.CarState(cruiseState={"available": True}) CS.buttonEvents = [ButtonEvent(type=btn, pressed=pressed)] self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) - self.assertEqual(pressed, (initial_v_cruise == self.v_cruise_helper.v_cruise_kph)) + self.assertEqual(pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) def test_resume_in_standstill(self): """ Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill. """ - self.v_cruise_helper.initialize_v_cruise(car.CarState()) - initial_v_cruise = self.v_cruise_helper.v_cruise_kph + self.enable(0) for standstill in (True, False): for pressed in (True, False): CS = car.CarState(cruiseState={"available": True, "standstill": standstill}) CS.buttonEvents = [ButtonEvent(type=ButtonType.accelCruise, pressed=pressed)] - self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) + # speed should only update if not at standstill and button falling edge should_equal = standstill or pressed - self.assertEqual(should_equal, (initial_v_cruise == self.v_cruise_helper.v_cruise_kph)) + self.assertEqual(should_equal, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) def test_initialize_v_cruise(self): """ @@ -88,7 +97,10 @@ class TestVCruiseHelper(unittest.TestCase): """ for v_ego in np.linspace(0, 100, 101): - self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=float(v_ego))) + self.reset_cruise_speed_state() + self.assertFalse(self.v_cruise_helper.v_cruise_initialized) + + self.enable(float(v_ego)) self.assertTrue(V_CRUISE_ENABLE_MIN <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX) self.assertTrue(self.v_cruise_helper.v_cruise_initialized) From e46063086f079eff6292a32ae9aeeafa3aa523a3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 13 Nov 2022 16:34:26 -0800 Subject: [PATCH 598/685] controlsd: no speed increment if enabled on button rising edge (#26490) * don't increment speed if we enabled on rising edge * more realistic test --- selfdrive/controls/lib/drive_helpers.py | 10 ++++++--- selfdrive/controls/tests/test_cruise_speed.py | 21 ++++++++++++++++++- 2 files changed, 27 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 37dacf5fb2..09550de7bb 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -56,7 +56,7 @@ class VCruiseHelper: # if stock cruise is completely disabled, then we can use our own set speed logic self._update_v_cruise_non_pcm(CS, enabled, is_metric) self.v_cruise_cluster_kph = self.v_cruise_kph - self.update_button_timers(CS) + self.update_button_timers(CS, enabled) else: self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH @@ -97,6 +97,10 @@ class VCruiseHelper: if button_type == ButtonType.accelCruise and cruise_standstill: return + # Don't adjust speed if we've enabled since the button was depressed (some ports enable on rising edge) + if not self.button_change_states[button_type]["enabled"]: + return + v_cruise_delta = v_cruise_delta * (5 if long_press else 1) if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta @@ -109,7 +113,7 @@ class VCruiseHelper: self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX) - def update_button_timers(self, CS): + def update_button_timers(self, CS, enabled): # increment timer for buttons still pressed for k in self.button_timers: if self.button_timers[k] > 0: @@ -119,7 +123,7 @@ class VCruiseHelper: if b.type.raw in self.button_timers: # Start/end timer and store current state on change of button pressed self.button_timers[b.type.raw] = 1 if b.pressed else 0 - self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill} + self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled} def initialize_v_cruise(self, CS): # initializing is handled by the PCM diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py index 396ff2b46f..3d6f55931e 100755 --- a/selfdrive/controls/tests/test_cruise_speed.py +++ b/selfdrive/controls/tests/test_cruise_speed.py @@ -74,6 +74,25 @@ class TestVCruiseHelper(unittest.TestCase): self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=False) self.assertEqual(pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + def test_rising_edge_enable(self): + """ + Some car interfaces may enable on rising edge of a button, + ensure we don't adjust speed if enabled changes mid-press. + """ + + # NOTE: enabled is always one frame behind the result from button press in controlsd + for enabled, pressed in ((False, False), + (False, True), + (True, False)): + CS = car.CarState(cruiseState={"available": True}) + CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)] + self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False) + if pressed: + self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS) + + # Expected diff on enabling. Speed should not change on falling edge of pressed + self.assertEqual(not pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last) + def test_resume_in_standstill(self): """ Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill. @@ -93,7 +112,7 @@ class TestVCruiseHelper(unittest.TestCase): def test_initialize_v_cruise(self): """ - Asserts allowed cruise speeds on enabling with SET + Asserts allowed cruise speeds on enabling with SET. """ for v_ego in np.linspace(0, 100, 101): From ca37d0c8cc43a88189c2a96b02aed0edfe5aa32e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 13 Nov 2022 20:50:28 -0800 Subject: [PATCH 599/685] interfaces: disable on falling edge of cancel button (#26493) * both * Update ref_commit --- selfdrive/car/interfaces.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 982ba40b17..8e8872a539 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -250,8 +250,8 @@ class CarInterfaceBase(ABC): # Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port) if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed): events.add(EventName.buttonEnable) - # Disable on rising edge of cancel for both stock and OP long - if b.type == ButtonType.cancel and b.pressed: + # Disable on rising and falling edge of cancel for both stock and OP long + if b.type == ButtonType.cancel: events.add(EventName.buttonCancel) # Handle permanent and temporary steering faults diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 2ff423a84a..55788155b5 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b5c833a8f5b3e6202a52746fc16809c7b649d591 +2ac5ecc79218aad0319e02218b050319a180e957 From 15383d30161de7646edf770153b0f81d15338c54 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 13 Nov 2022 21:13:46 -0800 Subject: [PATCH 600/685] GM: match stock enabling behavior (#26442) * add first draft enable button timeout * use allow_enable * it doesn't count if brakePressed * enable on rising edge of resume (matches stock) * not today * add comment describing the fault this avoids * cleaner * handle incrementing speed * rename * add test for not changing speed if enabled changes mid-press * spacey * ugh * bumpo * need this to fix a fault (draft) * already have * this should be cancel * fine to do for all * fine to do for all * bump * bumpo * bump to master * Update selfdrive/car/gm/interface.py * Update selfdrive/car/gm/interface.py * Update ref_commit --- panda | 2 +- selfdrive/car/gm/interface.py | 6 +++++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 7 insertions(+), 3 deletions(-) diff --git a/panda b/panda index 0096d0c4fc..c0632cd32b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 0096d0c4fc50d199ca46c6fe40479e1547408aed +Subproject commit c0632cd32b78279dfbb3ce28c7a10ded8090d40f diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index c41aac0ae0..eb5ab7329a 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -218,9 +218,13 @@ class CarInterface(CarInterfaceBase): ret.buttonEvents = buttonEvents + # The ECM allows enabling on falling edge of set, but only rising edge of resume events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic], - pcm_enable=self.CP.pcmCruise) + pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,)) + if not self.CP.pcmCruise: + if any(b.type == ButtonType.accelCruise and b.pressed for b in ret.buttonEvents): + events.add(EventName.buttonEnable) # Enabling at a standstill with brake is allowed # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 55788155b5..f35e23d45f 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2ac5ecc79218aad0319e02218b050319a180e957 +aa2d370836588fd80b648dbed8d156765ec804d5 From 102669a232824c309dae269cfbdf763af5214da8 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 13 Nov 2022 22:28:27 -0800 Subject: [PATCH 601/685] compressed vipc: fix client connect --- tools/camerastream/compressed_vipc.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index 42a416985e..cab11493f2 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -91,9 +91,14 @@ def main(addr, cams, nvidia=False): vipc_server.create_buffers(vst, 4, False, W, H) vipc_server.start_listener() + procs = [] for k, v in cams.items(): - multiprocessing.Process(target=decoder, args=(addr, k, vipc_server, v, nvidia)).start() + p = multiprocessing.Process(target=decoder, args=(addr, k, vipc_server, v, nvidia)) + p.start() + procs.append(p) + for p in procs: + p.join() if __name__ == "__main__": parser = argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC") From 29f24c7491d74ff2d2f7ca12e9a085dbe91c93fb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 15 Nov 2022 02:04:14 +0800 Subject: [PATCH 602/685] Cabana: Fix title overlapping on chart with long names (#26494) fix title overlapping --- tools/cabana/chartswidget.cc | 6 +----- tools/cabana/chartswidget.h | 2 +- 2 files changed, 2 insertions(+), 6 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 220685a86b..06387b3585 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -207,7 +207,6 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) item_group->setZValue(chart->zValue() + 10); // title - msg_title = new QGraphicsTextItem(chart); QToolButton *remove_btn = new QToolButton(); remove_btn->setText("X"); remove_btn->setAutoRaise(true); @@ -236,13 +235,11 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) void ChartView::resizeEvent(QResizeEvent *event) { QChartView::resizeEvent(event); - msg_title->setPos(11, 6); close_btn_proxy->setPos(event->size().width() - close_btn_proxy->size().width() - 11, 8); } void ChartView::updateTitle() { - chart()->setTitle(signal->name.c_str()); - msg_title->setHtml(tr("%1 %2").arg(dbc()->msg(id)->name).arg(id)); + chart()->setTitle(tr("%1 %2 %3").arg(dbc()->msg(id)->name).arg(id).arg(signal->name.c_str())); } void ChartView::updateFromSettings() { @@ -250,7 +247,6 @@ void ChartView::updateFromSettings() { chart()->setTheme(settings.chart_theme == 0 ? QChart::ChartThemeLight : QChart::QChart::ChartThemeDark); auto color = chart()->titleBrush().color(); line_marker->setPen(QPen(color, 2)); - msg_title->setDefaultTextColor(color); } void ChartView::setRange(double min, double max, bool force_update) { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index e32a6697ce..20c673a757 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -44,7 +44,7 @@ private: QGraphicsItemGroup *item_group; QGraphicsLineItem *line_marker, *track_line; QGraphicsEllipseItem *track_ellipse; - QGraphicsTextItem *value_text, *msg_title; + QGraphicsTextItem *value_text; QGraphicsProxyWidget *close_btn_proxy; QVector vals; }; From ae40774425872b9d680448a41e2835c017c48e6c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 15 Nov 2022 02:13:16 +0800 Subject: [PATCH 603/685] Cabana: add test case for parsing can messages (#26495) * add test case for parsing can messages * require size equal * cleanup --- tools/cabana/tests/test_cabana.cc | 45 +++++++++++++++++++++++++++++++ 1 file changed, 45 insertions(+) diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index ee4a581529..586422ffc8 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -1,6 +1,12 @@ +#include "opendbc/can/common.h" +#undef INFO #include "catch2/catch.hpp" #include "tools/cabana/dbcmanager.h" +#include "tools/replay/logreader.h" + +// demo route, first segment +const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2"; TEST_CASE("DBCManager::generateDBC") { DBCManager dbc_origin(nullptr); @@ -20,3 +26,42 @@ TEST_CASE("DBCManager::generateDBC") { REQUIRE(sig == new_m.sigs[name]); } } + +TEST_CASE("Parse can messages") { + DBCManager dbc(nullptr); + dbc.open("toyota_new_mc_pt_generated"); + CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {}); + + LogReader log; + REQUIRE(log.load(TEST_RLOG_URL, nullptr, {}, true)); + REQUIRE(log.events.size() > 0); + for (auto e : log.events) { + if (e->which == cereal::Event::Which::CAN) { + std::map, std::vector> values_1; + for (const auto &c : e->event.getCan()) { + const auto msg = dbc.msg(c.getAddress()); + if (c.getSrc() == 0 && msg) { + for (auto &[name, sig] : msg->sigs) { + double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), sig); + values_1[{c.getAddress(), name.toStdString()}].push_back(val); + } + } + } + + can_parser.UpdateCans(e->mono_time, e->event.getCan()); + auto values_2 = can_parser.query_latest(); + for (auto &[key, v1] : values_1) { + bool found = false; + for (auto &v2 : values_2) { + if (v2.address == key.first && v2.name == key.second) { + REQUIRE(v2.all_values.size() == v1.size()); + REQUIRE(v2.all_values == v1); + found = true; + break; + } + } + REQUIRE(found); + } + } + } +} From f15d169289c0d806a49af123678bd49b8b3ba4f1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 14 Nov 2022 11:01:01 -0800 Subject: [PATCH 604/685] controlsd cruise speed: fix missing initial value --- selfdrive/controls/lib/drive_helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 09550de7bb..bdbdb7023a 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -42,7 +42,7 @@ class VCruiseHelper: self.v_cruise_cluster_kph = V_CRUISE_INITIAL self.v_cruise_kph_last = 0 self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0} - self.button_change_states = {btn: {"standstill": False} for btn in self.button_timers} + self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers} @property def v_cruise_initialized(self): From 41e5c79948216af2d416dcea2bceb1ba53855022 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 14 Nov 2022 15:04:59 -0500 Subject: [PATCH 605/685] =?UTF-8?q?VW=20MQB:=20Add=20missing=20FW=20for=20?= =?UTF-8?q?2016=20=C5=A0koda=20Superb=20(#26484)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * VW MQB: Add missing FW for 2016 Škoda Superb * regen CARS.md --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/values.py | 5 ++++- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 32da6126bd..b8a313386d 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -150,7 +150,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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 2015-18|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| +|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| |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| diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index babaffbcbe..cb2343e08f 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -233,7 +233,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { 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_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"), + CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ VWCarInfo("Škoda Octavia 2015, 2018-19"), VWCarInfo("Škoda Octavia RS 2016"), @@ -1064,6 +1064,7 @@ FW_VERSIONS = { }, CAR.SKODA_SUPERB_MK3: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906026ET\xf1\x891343', b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026KB\xf1\x894071', b'\xf1\x8704L906026KD\xf1\x894798', @@ -1074,9 +1075,11 @@ FW_VERSIONS = { b'\xf1\x870CW300042H \xf1\x891601', b'\xf1\x870D9300011T \xf1\x894801', b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870D9300041H \xf1\x894905', b'\xf1\x870GC300043 \xf1\x892301', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111', b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111', b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', From fbf2f3816b18321ed921cf03042327134be68edb Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Mon, 14 Nov 2022 15:02:26 -0800 Subject: [PATCH 606/685] [locationd] Add input checks (#26460) * add input checks with same decay as reset_tracker * add observation timings check * typo * bugfix * improve offline locationd visibility * sbugfix offline lld Co-authored-by: Adeeb Shihadeh --- selfdrive/locationd/liblocationd.cc | 12 +++++ selfdrive/locationd/locationd.cc | 75 ++++++++++++++++++++++++++--- selfdrive/locationd/locationd.h | 9 +++- 3 files changed, 89 insertions(+), 7 deletions(-) diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc index 49404668a4..da57fb7ff4 100755 --- a/selfdrive/locationd/liblocationd.cc +++ b/selfdrive/locationd/liblocationd.cc @@ -26,4 +26,16 @@ extern "C" { memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size()); } + bool is_gps_ok(Localizer *localizer){ + return localizer->is_gps_ok(); + } + + bool are_inputs_ok(Localizer *localizer){ + return localizer->are_inputs_ok(); + } + + void observation_timings_invalid_reset(Localizer *localizer){ + localizer->observation_timings_invalid_reset(); + } + } diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 8d9e247655..4325900c0e 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -19,6 +19,9 @@ const double VALID_TIME_SINCE_RESET = 1.0; // s const double VALID_POS_STD = 50.0; // m const double MAX_RESET_TRACKER = 5.0; const double SANE_GPS_UNCERTAINTY = 1500.0; // m +const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker +const double DECAY = 0.99995; // same as reset tracker +const double MAX_FILTER_REWIND_TIME = 0.8; // s // TODO: GPS sensor time offsets are empirically calculated // They should be replaced with synced time from a real clock @@ -200,6 +203,14 @@ VectorXd Localizer::get_stdev() { return this->kf->get_P().diagonal().array().sqrt(); } +bool Localizer::are_inputs_ok() { + return this->critical_services_valid(this->observation_values_invalid) && !this->observation_timings_invalid; +} + +void Localizer::observation_timings_invalid_reset(){ + this->observation_timings_invalid = false; +} + void Localizer::handle_sensor(double current_time, const cereal::SensorEventData::Reader& log) { // TODO does not yet account for double sensor readings in the log @@ -209,10 +220,15 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData } double sensor_time = 1e-9 * log.getTimestamp(); - + // sensor time and log time should be close if (std::abs(current_time - sensor_time) > 0.1) { LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time"); + this->observation_timings_invalid = true; + return; + } + else if (!this->is_timestamp_valid(sensor_time)) { + this->observation_timings_invalid = true; return; } @@ -227,6 +243,10 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData auto meas = Vector3d(-v[2], -v[1], -v[0]); if (meas.norm() < ROTATION_SANITY_CHECK) { this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas }); + this->observation_values_invalid["gyroscope"] *= DECAY; + } + else{ + this->observation_values_invalid["gyroscope"] += 1.0; } } @@ -242,6 +262,10 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData auto meas = Vector3d(-v[2], -v[1], -v[0]); if (meas.norm() < ACCEL_SANITY_CHECK) { this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas }); + this->observation_values_invalid["accelerometer"] *= DECAY; + } + else{ + this->observation_values_invalid["accelerometer"] += 1.0; } } } @@ -335,8 +359,14 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) { VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot()); VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans()); + + if (!this->is_timestamp_valid(current_time)) { + this->observation_timings_invalid = true; + return; + } if ((rot_device.norm() > ROTATION_SANITY_CHECK) || (trans_device.norm() > TRANS_SANITY_CHECK)) { + this->observation_values_invalid["cameraOdometry"] += 1.0; return; } @@ -344,10 +374,12 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry VectorXd trans_calib_std = floatlist2vector(log.getTransStd()); if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) { + this->observation_values_invalid["cameraOdometry"] += 1.0; return; } if ((rot_calib_std.norm() > 10 * ROTATION_SANITY_CHECK) || (trans_calib_std.norm() > 10 * TRANS_SANITY_CHECK)) { + this->observation_values_invalid["cameraOdometry"] += 1.0; return; } @@ -363,12 +395,19 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry { rot_device }, { rot_device_cov }); this->kf->predict_and_observe(current_time, OBSERVATION_CAMERA_ODO_TRANSLATION, { trans_device }, { trans_device_cov }); + this->observation_values_invalid["cameraOdometry"] *= DECAY; } void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log) { + if (!this->is_timestamp_valid(current_time)) { + this->observation_timings_invalid = true; + return; + } + if (log.getRpyCalib().size() > 0) { auto live_calib = floatlist2vector(log.getRpyCalib()); if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) { + this->observation_values_invalid["liveCalibration"] += 1.0; return; } @@ -376,6 +415,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra this->device_from_calib = euler2rot(this->calib); this->calib_from_device = this->device_from_calib.transpose(); this->calibrated = log.getCalStatus() == 1; + this->observation_values_invalid["liveCalibration"] *= DECAY; } } @@ -407,8 +447,8 @@ void Localizer::time_check(double current_time) { void Localizer::update_reset_tracker() { // reset tracker is tuned to trigger when over 1reset/10s over 2min period - if (this->isGpsOK()) { - this->reset_tracker *= .99995; + if (this->is_gps_ok()) { + this->reset_tracker *= DECAY; } else { this->reset_tracker = 0.0; } @@ -483,10 +523,28 @@ kj::ArrayPtr Localizer::get_message_bytes(MessageBuilder& msg_build return msg_builder.toBytes(); } -bool Localizer::isGpsOK() { +bool Localizer::is_gps_ok() { return this->gps_valid; } +bool Localizer::critical_services_valid(std::map critical_services) { + for (auto &kv : critical_services){ + if (kv.second >= INPUT_INVALID_THRESHOLD){ + return false; + } + } + return true; +} + +bool Localizer::is_timestamp_valid(double current_time) { + double filter_time = this->kf->get_filter_time(); + if (!std::isnan(filter_time) && ((filter_time - current_time) > MAX_FILTER_REWIND_TIME)) { + LOGE("Observation timestamp is older than the max rewind threshold of the filter"); + return false; + } + return true; +} + void Localizer::determine_gps_mode(double current_time) { // 1. If the pos_std is greater than what's not acceptable and localizer is in gps-mode, reset to no-gps-mode // 2. If the pos_std is greater than what's not acceptable and localizer is in no-gps-mode, fake obs @@ -521,10 +579,15 @@ int Localizer::locationd_thread() { uint64_t cnt = 0; bool filterInitialized = false; + const std::vector critical_input_services = {"cameraOdometry", "liveCalibration", "accelerometer", "gyroscope"}; + for (std::string service : critical_input_services) { + this->observation_values_invalid.insert({service, 0.0}); + } while (!do_exit) { sm.update(); if (filterInitialized){ + this->observation_timings_invalid_reset(); for (const char* service : service_list) { if (sm.updated(service) && sm.valid(service)){ const cereal::Event::Reader log = sm[service]; @@ -538,8 +601,8 @@ int Localizer::locationd_thread() { // 100Hz publish for notcars, 20Hz for cars const char* trigger_msg = sm["carParams"].getCarParams().getNotCar() ? "accelerometer" : "cameraOdometry"; if (sm.updated(trigger_msg)) { - bool inputsOK = sm.allAliveAndValid(); - bool gpsOK = this->isGpsOK(); + bool inputsOK = sm.allAliveAndValid() && this->are_inputs_ok(); + bool gpsOK = this->is_gps_ok(); bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"}); MessageBuilder msg_builder; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index d6bb5347c5..f0872d9f56 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include "cereal/messaging/messaging.h" @@ -32,8 +33,12 @@ public: void finite_check(double current_time = NAN); void time_check(double current_time = NAN); void update_reset_tracker(); - bool isGpsOK(); + bool is_gps_ok(); + bool critical_services_valid(std::map critical_services); + bool is_timestamp_valid(double current_time); void determine_gps_mode(double current_time); + bool are_inputs_ok(); + void observation_timings_invalid_reset(); kj::ArrayPtr get_message_bytes(MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid); @@ -73,4 +78,6 @@ private: bool gps_mode = false; bool gps_valid = false; bool ublox_available = true; + bool observation_timings_invalid = false; + std::map observation_values_invalid; }; From 8e91ce1eb4f91c976570056fd8979a4afcf43a53 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 15 Nov 2022 11:09:19 +0800 Subject: [PATCH 607/685] Cabana: Move history logs to a tabbed widget (#26481) * tabwidget * cleanup * update state before show * cleanup * remove spacing * fix right panel stretch issue * fix missing } --- tools/cabana/detailwidget.cc | 55 +++++++++++++++++++++++------------- tools/cabana/detailwidget.h | 6 ++-- tools/cabana/historylog.cc | 4 +-- tools/cabana/mainwin.cc | 7 +++-- tools/cabana/signaledit.cc | 15 ---------- tools/cabana/signaledit.h | 6 ++-- 6 files changed, 47 insertions(+), 46 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 260c9dfec7..192d1fd66c 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -64,31 +64,35 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart frame_layout->addWidget(warning_widget); main_layout->addWidget(title_frame); - QWidget *container = new QWidget(this); - QVBoxLayout *container_layout = new QVBoxLayout(container); - container_layout->setSpacing(0); - container_layout->setContentsMargins(0, 0, 0, 0); - - scroll = new QScrollArea(this); - scroll->setWidget(container); - scroll->setWidgetResizable(true); - scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - main_layout->addWidget(scroll); - + // msg widget + QWidget *msg_widget = new QWidget(this); + QVBoxLayout *msg_layout = new QVBoxLayout(msg_widget); + msg_layout->setContentsMargins(0, 0, 0, 0); // binary view binary_view = new BinaryView(this); - container_layout->addWidget(binary_view); - + msg_layout->addWidget(binary_view); // signals signals_layout = new QVBoxLayout(); - container_layout->addLayout(signals_layout); + signals_layout->setSpacing(0); + msg_layout->addLayout(signals_layout); + msg_layout->addStretch(0); + + scroll = new QScrollArea(this); + scroll->setFrameShape(QFrame::NoFrame); + scroll->setWidget(msg_widget); + scroll->setWidgetResizable(true); + scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - // history log + tab_widget = new QTabWidget(this); + tab_widget->setTabPosition(QTabWidget::South); + tab_widget->addTab(scroll, "Msg"); history_log = new HistoryLog(this); - container_layout->addWidget(history_log); + tab_widget->addTab(history_log, "Logs"); + main_layout->addWidget(tab_widget); QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); + QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); }); QObject::connect(can, &CANMessages::msgsReceived, this, &DetailWidget::updateState); QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); }); QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu); @@ -151,6 +155,7 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { form = new SignalEdit(i); 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::highlight, binary_view, &BinaryView::highlight); QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); QObject::connect(form, &SignalEdit::showChart, charts, &ChartsWidget::showChart); @@ -176,16 +181,26 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { warning_label->setText(warnings.join('\n')); warning_widget->setVisible(!warnings.isEmpty()); - QTimer::singleShot(1, [this]() { setUpdatesEnabled(true); }); + setUpdatesEnabled(true); } void DetailWidget::updateState(const QHash * msgs) { time_label->setText(QString::number(can->currentSec(), 'f', 3)); - if (!msgs->contains(msg_id)) + if (msg_id.isEmpty() || (msgs && !msgs->contains(msg_id))) return; - binary_view->updateState(); - history_log->updateState(); + if (tab_widget->currentIndex() == 0) + binary_view->updateState(); + else + history_log->updateState(); +} + +void DetailWidget::showFormClicked() { + auto s = qobject_cast(sender()); + setUpdatesEnabled(false); + for (auto f : signal_list) + f->updateForm(f == s && !f->isFormVisible()); + setUpdatesEnabled(true); } void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 5fc6d122fe..4346d1c5d5 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -1,7 +1,7 @@ #pragma once #include -#include +#include #include #include @@ -28,6 +28,7 @@ public: QUndoStack *undo_stack = nullptr; private: + 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); @@ -36,13 +37,14 @@ private: void removeSignal(const Signal *sig); void editMsg(); void removeMsg(); - void updateState(const QHash * msgs); + void updateState(const QHash * msgs = nullptr); QString msg_id; QLabel *name_label, *time_label, *warning_label; QWidget *warning_widget; QVBoxLayout *signals_layout; QTabBar *tabbar; + QTabWidget *tab_widget; QToolBar *toolbar; QAction *remove_msg_act; HistoryLog *history_log; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 28e344a46e..1b0898afbd 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -86,10 +86,8 @@ HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents); verticalHeader()->setVisible(false); - setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents); setFrameShape(QFrame::NoFrame); - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); } diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 97d62cb4f4..f0419a2fb3 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -72,7 +72,7 @@ MainWindow::MainWindow() : QMainWindow() { video_widget = new VideoWidget(this); r_layout->addWidget(video_widget, 0, Qt::AlignTop); - r_layout->addWidget(charts_widget); + r_layout->addWidget(charts_widget, 1); main_layout->addWidget(right_container); setCentralWidget(central_widget); @@ -192,9 +192,10 @@ void MainWindow::saveDBCToFile() { if (!file_name.isEmpty()) { settings.last_dir = QFileInfo(file_name).absolutePath(); QFile file(file_name); - if (file.open(QIODevice::WriteOnly)) + if (file.open(QIODevice::WriteOnly)) { file.write(dbc()->generateDBC().toUtf8()); detail_widget->undo_stack->clear(); + } } } @@ -216,7 +217,7 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe void MainWindow::dockCharts(bool dock) { if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); - r_layout->addWidget(charts_widget); + r_layout->addWidget(charts_widget, 1); floating_window->deleteLater(); floating_window = nullptr; } else if (!dock && !floating_window) { diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 8737154c16..eb22b78d5a 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -4,7 +4,6 @@ #include #include #include -#include #include #include @@ -189,26 +188,12 @@ void SignalEdit::updateForm(bool visible) { icon->setText(visible ? "▼ " : "> "); } -void SignalEdit::showFormClicked() { - parentWidget()->setUpdatesEnabled(false); - for (auto &edit : parentWidget()->findChildren()) - edit->updateForm(edit == this && !form->isVisible()); - QTimer::singleShot(1, [this]() { parentWidget()->setUpdatesEnabled(true); }); -} - void SignalEdit::signalHovered(const Signal *s) { auto bg_color = sig == s ? hoverColor(getColor(form_idx)) : QColor(getColor(form_idx)); auto color = sig == s ? "white" : "black"; color_label->setStyleSheet(QString("color:%1; background-color:%2").arg(color).arg(bg_color.name())); } -void SignalEdit::hideEvent(QHideEvent *event) { - msg_id = ""; - sig = nullptr; - updateForm(false); - QWidget::hideEvent(event); -} - void SignalEdit::enterEvent(QEvent *event) { emit highlight(sig); QWidget::enterEvent(event); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 335e49a869..da0b9758c7 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -34,6 +34,8 @@ public: void setSignal(const QString &msg_id, const Signal *sig); void setChartOpened(bool opened); void signalHovered(const Signal *sig); + void updateForm(bool show); + inline bool isFormVisible() const { return form->isVisible(); } const Signal *sig = nullptr; QString msg_id; @@ -42,14 +44,12 @@ signals: void showChart(const QString &name, const Signal *sig, bool show); void remove(const Signal *sig); void save(const Signal *sig, const Signal &new_sig); + void showFormClicked(); protected: - void hideEvent(QHideEvent *event) override; void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; void saveSignal(); - void updateForm(bool show); - void showFormClicked(); SignalForm *form = nullptr; ElidedLabel *title; From 2d766fee14e94011e261c8c557098a7223c87014 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Mon, 14 Nov 2022 22:46:29 -0500 Subject: [PATCH 608/685] HKG: Car Port for 2022 Kia Stinger (#26397) * HKG: Car Port for 2022 Kia Stinger * Substitute KIA STINGER GT2 2018 torque params * bump panda * Add test route * Update CARS.md * Not this checksum * Update test route * Update CARS.md * Harness C -> Harness K Co-authored-by: Adeeb Shihadeh --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/hyundai/carcontroller.py | 2 +- selfdrive/car/hyundai/hyundaican.py | 3 ++- selfdrive/car/hyundai/interface.py | 2 +- selfdrive/car/hyundai/values.py | 22 +++++++++++++++++++++- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + 8 files changed, 30 insertions(+), 5 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index bf89b667fa..d00ece4b73 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -30,6 +30,7 @@ Version 0.8.17 (2022-11-21) * Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin! * Kia Sportage 2023 support thanks to sunnyhaibin! * Kia Sportage Hybrid 2023 support thanks to sunnyhaibin! +* Kia Stinger 2022 support thanks to sunnyhaibin! Version 0.8.16 (2022-08-26) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index b8a313386d..ca3a224586 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. -# 214 Supported Cars +# 215 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -107,6 +107,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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)|Stock|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| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 2f944edc0f..1ab90878b8 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -175,7 +175,7 @@ class CarController: if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, - CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022): + CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022): can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled)) # 5 Hz ACC options diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index dcb8430976..c2ffffbf22 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -20,7 +20,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, - CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): + CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, + CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 0306f7e104..0b5fd3bb39 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -158,7 +158,7 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.5 if candidate == CAR.KIA_OPTIMA_G4: ret.minSteerSpeed = 32 * CV.MPH_TO_MS - elif candidate == CAR.KIA_STINGER: + elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022): ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1dba3a5442..ecba7b7494 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -95,6 +95,7 @@ class CAR: KIA_SORENTO = "KIA SORENTO GT LINE 2018" KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN" KIA_STINGER = "KIA STINGER GT2 2018" + KIA_STINGER_2022 = "KIA STINGER 2022" KIA_CEED = "KIA CEED INTRO ED 2019" KIA_EV6 = "KIA EV6 2022" @@ -181,6 +182,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], 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), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), CAR.KIA_EV6: [ HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l), @@ -790,6 +792,23 @@ FW_VERSIONS = { b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', ], }, + CAR.KIA_STINGER_2022: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', + ], + }, CAR.PALISADE: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', @@ -1451,7 +1470,7 @@ FEATURES = { "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 - "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, + "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, 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} @@ -1496,6 +1515,7 @@ DBC = { CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None), CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None), + CAR.KIA_STINGER_2022: dbc_dict('hyundai_kia_generic', None), CAR.KONA: dbc_dict('hyundai_kia_generic', None), CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None), CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index d0051454a6..cd61528439 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -111,6 +111,7 @@ routes = [ CarTestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11), CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), + CarTestRoute("5b50b883a4259afb|2022-11-09--15-00-42", HYUNDAI.KIA_STINGER_2022), CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2 CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1 diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index c043c9d455..77236e393e 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -37,6 +37,7 @@ HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019 HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022 +KIA STINGER 2022: KIA STINGER GT2 2018 GENESIS G90 2017: GENESIS G70 2018 GENESIS G80 2017: GENESIS G70 2018 GENESIS G70 2020: HYUNDAI SONATA 2020 From 7fcafa402239c30d8344c46608ade6a8fd4831f4 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 14 Nov 2022 23:28:43 -0800 Subject: [PATCH 609/685] ui: stretch abstract control title (#26499) stretch toggle title so it's easier to expand --- selfdrive/ui/qt/widgets/controls.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index d3b77935df..619fd3cb4c 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -38,7 +38,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons title_label = new QPushButton(title); title_label->setFixedHeight(120); title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left"); - hlayout->addWidget(title_label); + hlayout->addWidget(title_label, 1); // value next to control button value = new ElidedLabel(); From ffa32df062fe3cf241e887e7afbc582118bd1e36 Mon Sep 17 00:00:00 2001 From: ambientocclusion <1399123+ambientocclusion@users.noreply.github.com> Date: Tue, 15 Nov 2022 00:04:20 -0800 Subject: [PATCH 610/685] Multilang: add missing Japanese translations (#26482) Add new Japanese translations --- selfdrive/ui/translations/main_ja.ts | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 87c60516fc..339826796b 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -60,11 +60,11 @@ Cellular Metered - + 従量制通信設定 Prevent large data uploads when on a metered connection - + 大量のデータのアップロードを防止します。 @@ -240,11 +240,11 @@ Reset - + リセット Review - + 確認 @@ -864,7 +864,7 @@ location set Uninstall - + アンインストール @@ -1004,19 +1004,19 @@ location set Experimental Mode - + 実験モード 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - + openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。 <br> <h4>🌮 エンドツーエンドアクセル制御 🌮</h4> エンジンとブレーキの制御を全てopenpilotの運転モデルに委ねます。openpilotは人間が運転するのと同じように考え、赤信号や停止サインで車を停止します。openpilotが運転速度も決めるので、あなたが設定する速度は上限速度になります。 openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - + openpilotは、この車に搭載されているアクセル制御(ACC)を標準で利用します。openpilotによるアクセル制御を利用したい場合は、この設定を有効にしてください。 WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - + 警告: この車種でのopenpilotによるアクセル制御は実験段階であり、衝突被害軽減ブレーキ(AEB)を無効化します。 @@ -1074,7 +1074,7 @@ location set Forget - + 削除 From d7f943e27524744f20b008a55ad3358fc9272034 Mon Sep 17 00:00:00 2001 From: Oxygen Date: Tue, 15 Nov 2022 16:23:37 +0800 Subject: [PATCH 611/685] Update missing items in main_zh-CHS.ts (#26492) Update missing iterms in main_zh-CHS.ts Co-authored-by: Shane Smiskol --- selfdrive/ui/translations/main_zh-CHS.ts | 50 ++++++++++++------------ 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 558a6cec4f..64b32c80d5 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -60,11 +60,11 @@ Cellular Metered - + 按流量计费的手机移动网络 Prevent large data uploads when on a metered connection - + 当使用按流量计费的连接时，避免上传大流量数据 @@ -140,7 +140,7 @@ Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) - 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。 + 打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。（仅熄火时可用） Reset Calibration @@ -204,7 +204,7 @@ Your device is pointed %1° %2 and %3° %4. - 您的设备校准为%1° %2、%3° %4。 + 您的设备校准为%1° %2、%3° %4。 down @@ -240,11 +240,11 @@ Reset - + 重置 Review - + 预览 @@ -814,35 +814,35 @@ location set SoftwarePanel Updates are only downloaded while the car is off. - + 车辆熄火时才能下载升级文件。 Current Version - + 当前版本 Download - + 下载 Install Update - + 安装更新 INSTALL - + 安装 Target Branch - + 目标分支 SELECT - + 选择 Select a branch - + 选择分支 UNINSTALL @@ -862,7 +862,7 @@ location set Uninstall - + 卸载 @@ -966,15 +966,15 @@ location set Experimental openpilot Longitudinal Control - + 试验性的openpilot纵向控制 openpilot longitudinal control is not currently available for this car. - + 目前此车辆无法使用openpilot纵向控制功能。 Enable experimental longitudinal control to enable this. - + 启用试验性的纵向控制功能。 Disengage on Accelerator Pedal @@ -1002,19 +1002,19 @@ location set Experimental Mode - + 测试模式 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - + openpilot 默认 <b>轻松模式</b>驾驶车辆。 试验模式启用一些轻松模式之外的 <b>试验性功能</b>。 试验性功能包括： <br> <h4>🌮 端到端（End-to-End） 纵向控制 🌮</h4> 允许智能驾驶模型控制加速和制动。 openpilot 将模仿人类驾驶行为, 包括在遇到红灯和停车让行标识时停车。 鉴于智能驾驶模型判断实际行驶车速，设定速度仅为车速上限。 openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - + openpilot默认使用此车辆自带ACC，而非openpilot纵向控制功能。启用此按钮将切换到openpilot纵向控制功能。 WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - + 警告： 此车辆的openpilot纵向控制是试验性功能，且将禁用AEB自动刹车功能。 @@ -1064,15 +1064,15 @@ location set FORGET - 忘记 + 忽略 Forget Wi-Fi Network "%1"? - 忘记WiFi网络 "%1"? + 忽略WiFi网络 "%1"? Forget - + 忽略 From e58f6fbc11424e8059d6a86a4f0990f604c3a22f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 15 Nov 2022 00:46:47 -0800 Subject: [PATCH 612/685] Rate limit honda steer (#26500) * Rate limit honda steer * Update ref_commit --- selfdrive/car/honda/carcontroller.py | 14 +++++++++++++- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 14 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 5fa475fe08..ba1f13fb4e 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -99,6 +99,12 @@ HUDData = namedtuple("HUDData", "lanes_visible", "fcw", "acc_alert", "steer_required"]) +def rate_limit_steer(new_steer, last_steer): + # TODO just hardcoded ramp to min/max in 0.2s for all Honda + MAX_DELTA = 5 * DT_CTRL + return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA) + + class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP @@ -116,6 +122,7 @@ class CarController: self.speed = 0.0 self.gas = 0.0 self.brake = 0.0 + self.last_steer = 0.0 def update(self, CC, CS): actuators = CC.actuators @@ -130,6 +137,10 @@ class CarController: accel = 0.0 gas, brake = 0.0, 0.0 + # *** rate limit steer *** + limited_steer = rate_limit_steer(actuators.steer, self.last_steer) + self.last_steer = limited_steer + # *** apply brake hysteresis *** pre_limit_brake, self.braking, self.brake_steady = actuator_hysteresis(brake, self.braking, self.brake_steady, CS.out.vEgo, self.CP.carFingerprint) @@ -143,7 +154,7 @@ class CarController: # **** process the car messages **** # steer torque is converted back to CAN reference (positive when steering right) - apply_steer = int(interp(-actuators.steer * self.params.STEER_MAX, + apply_steer = int(interp(-limited_steer * self.params.STEER_MAX, self.params.STEER_LOOKUP_BP, self.params.STEER_LOOKUP_V)) # Send CAN commands @@ -250,6 +261,7 @@ class CarController: new_actuators.accel = self.accel new_actuators.gas = self.gas new_actuators.brake = self.brake + new_actuators.steer = self.last_steer self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index f35e23d45f..a8053936d7 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -aa2d370836588fd80b648dbed8d156765ec804d5 +324408a87f49413da864616cb409537ce7d8beb2 From 844f7692d48c5b2b2b6f8bc90070d9fc83ef7171 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 15 Nov 2022 19:44:25 +0100 Subject: [PATCH 613/685] loggerd: add missing utility include (#26502) --- selfdrive/loggerd/loggerd.h | 1 + selfdrive/loggerd/tests/test_logger.cc | 1 + 2 files changed, 2 insertions(+) diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h index 6eafbe08d0..1fa6349828 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/selfdrive/loggerd/loggerd.h @@ -10,6 +10,7 @@ #include #include #include +#include #include "cereal/messaging/messaging.h" #include "cereal/services.h" diff --git a/selfdrive/loggerd/tests/test_logger.cc b/selfdrive/loggerd/tests/test_logger.cc index 18a0e57df7..ba7835d632 100644 --- a/selfdrive/loggerd/tests/test_logger.cc +++ b/selfdrive/loggerd/tests/test_logger.cc @@ -4,6 +4,7 @@ #include #include #include +#include #include "catch2/catch.hpp" #include "cereal/messaging/messaging.h" From bdc432d21824cc83627bb5d1abd5e99b4bc62fc3 Mon Sep 17 00:00:00 2001 From: Tim Wilson Date: Tue, 15 Nov 2022 11:55:43 -0700 Subject: [PATCH 614/685] Add video link for Volt (#26504) --- selfdrive/car/gm/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index eace6b6aca..03392ba0f9 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -90,7 +90,7 @@ class GMCarInfo(CarInfo): CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017"), - CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0), + CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"), CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"), CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"), CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), From a662af57c7de750df4f1650ee4079c56665b817e Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 15 Nov 2022 13:07:46 -0800 Subject: [PATCH 615/685] CI: use github.head_ref to group PR action runs (#26505) * CI: use github.head_ref to group PR action runs for push triggers, github.ref is set to the "branch or tag ref that was pushed" for pull_request triggers, it is set to the "pull request merge branch" (master?) github.head_ref is only set when the trigger is pull_request https://docs.github.com/en/actions/learn-github-actions/contexts#github-context * only check github.ref for push event --- .github/workflows/selfdrive_tests.yaml | 2 +- .github/workflows/tools_tests.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 598f2c592b..f2cc51285d 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -7,7 +7,7 @@ on: pull_request: concurrency: - group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} + group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }} cancel-in-progress: true env: diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 549a2f4195..94cc3c2580 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -7,7 +7,7 @@ on: pull_request: concurrency: - group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} + group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }} cancel-in-progress: true env: From fbf3ef0895182ffab90ddda83fa485b02d5a76d6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 15 Nov 2022 14:21:00 -0800 Subject: [PATCH 616/685] More Honda rate limit (#26509) * More Honda rate limit * Update ref_commit --- selfdrive/car/honda/carcontroller.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index ba1f13fb4e..790dce1810 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -100,8 +100,8 @@ HUDData = namedtuple("HUDData", def rate_limit_steer(new_steer, last_steer): - # TODO just hardcoded ramp to min/max in 0.2s for all Honda - MAX_DELTA = 5 * DT_CTRL + # TODO just hardcoded ramp to min/max in 0.33s for all Honda + MAX_DELTA = 3 * DT_CTRL return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a8053936d7..4aa9d60ab5 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -324408a87f49413da864616cb409537ce7d8beb2 +959e63af52d9efdb62156cab4b773f88b154fd75 From 9c5df76a6c8784af3bec64827a2dbab464d8ce39 Mon Sep 17 00:00:00 2001 From: hoomoose <94947902+hoomoose@users.noreply.github.com> Date: Tue, 15 Nov 2022 17:19:30 -0700 Subject: [PATCH 617/685] Hyundai: longitudinal support for all CAN-FD EV and Hybrids (#26345) * Update values.py * Update interface.py * Update interface.py * Update carcontroller.py * Update interface.py * Update interface.py * Update values.py * Update values.py * Update interface.py * Update values.py * Update interface.py * Update carcontroller.py * cleanup * update docs * bump panda Co-authored-by: Adeeb Shihadeh --- docs/CARS.md | 12 ++++++------ panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 5 +++-- selfdrive/car/hyundai/interface.py | 4 ++-- 4 files changed, 12 insertions(+), 11 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index ca3a224586..59b8145556 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -60,8 +60,8 @@ 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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| -|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|Stock|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|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 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| @@ -83,13 +83,13 @@ A supported vehicle is one that just works when you install a comma three. All s |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 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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| +|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| |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|Stock|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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| +|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|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| @@ -105,7 +105,7 @@ A supported vehicle is one that just works when you install a comma three. All s |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|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)|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| |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| diff --git a/panda b/panda index c0632cd32b..5dc5cd8e20 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c0632cd32b78279dfbb3ce28c7a10ded8090d40f +Subproject commit 5dc5cd8e20668dfb15d35b175fccbfd3f7b63b09 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 1ab90878b8..e5fdbfd57a 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -85,7 +85,7 @@ class CarController: # *** common hyundai stuff *** # tester present - w/ no response (keeps relevant ECU disabled) - if self.frame % 100 == 0 and self.CP.openpilotLongitudinalControl: + if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl: addr, bus = 0x7d0, 0 if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: addr, bus = 0x730, 5 @@ -122,7 +122,8 @@ class CarController: can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled)) if self.CP.openpilotLongitudinalControl: - can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame)) + if hda2: + can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame)) if self.frame % 2 == 0: can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, set_speed_in_units)) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 0b5fd3bb39..8738aabd17 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -219,7 +219,7 @@ class CarInterface(CarInterfaceBase): if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] - ret.experimentalLongitudinalAvailable = bool(ret.flags & HyundaiFlags.CANFD_HDA2) + ret.experimentalLongitudinalAvailable = candidate in (HYBRID_CAR | EV_CAR) and candidate not in CANFD_RADAR_SCC_CAR else: ret.longitudinalTuning.kpV = [0.5] ret.longitudinalTuning.kiV = [0.0] @@ -283,7 +283,7 @@ class CarInterface(CarInterfaceBase): @staticmethod def init(CP, logcan, sendcan): - if CP.openpilotLongitudinalControl: + if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value): addr, bus = 0x7d0, 0 if CP.flags & HyundaiFlags.CANFD_HDA2.value: addr, bus = 0x730, 5 From 4eda53cef2adb949709166c2e5d204565376ce2e Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Tue, 15 Nov 2022 16:41:27 -0800 Subject: [PATCH 618/685] add laikad comment --- selfdrive/locationd/laikad.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 2769f394c5..6936d88acc 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -187,6 +187,7 @@ class Laikad: "gpsTimeOfWeek": tow, "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid), "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid), + # TODO std is incorrectly the dimension of the measurements and not 3D "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t), "ubloxMonoTime": gnss_mono_time, "correctedMeasurements": meas_msgs From 2ad9a4f95a82bf922c86b373026c0e96f9971a80 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 15 Nov 2022 16:44:03 -0800 Subject: [PATCH 619/685] offroad ui: support storing confirmation of a toggle (#26510) * show confirmation toggle on first toggle of experimental mode * don't store confirmation if users toggle off *after* this PR * refactor * cleaner * not true * try here --- common/params.cc | 1 + selfdrive/ui/qt/offroad/settings.cc | 20 ++++++++------------ selfdrive/ui/qt/widgets/controls.h | 10 ++++++++-- 3 files changed, 17 insertions(+), 14 deletions(-) diff --git a/common/params.cc b/common/params.cc index e17d1f1b13..9e3e32d584 100644 --- a/common/params.cc +++ b/common/params.cc @@ -103,6 +103,7 @@ std::unordered_map keys = { {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, {"ExperimentalMode", PERSISTENT}, + {"ExperimentalModeConfirmed", PERSISTENT}, {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT}, diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index a03cf02010..ced0744692 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -28,20 +28,18 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { // param, title, desc, icon, confirm - std::vector> toggle_defs{ + std::vector> toggle_defs{ { "OpenpilotEnabledToggle", tr("Enable openpilot"), tr("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."), "../assets/offroad/icon_openpilot.png", - false, }, { "ExperimentalMode", tr("Experimental Mode"), "", "../assets/offroad/icon_road.png", - false, }, { "ExperimentalLongitudinalEnabled", @@ -50,35 +48,30 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { .arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).")) .arg(tr("openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control.")), "../assets/offroad/icon_speed_limit.png", - true, }, { "IsLdwEnabled", tr("Enable Lane Departure Warnings"), tr("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)."), "../assets/offroad/icon_warning.png", - false, }, { "IsMetric", tr("Use Metric System"), tr("Display speed in km/h instead of mph."), "../assets/offroad/icon_metric.png", - false, }, { "RecordFront", tr("Record and Upload Driver Camera"), tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."), "../assets/offroad/icon_monitoring.png", - false, }, { "DisengageOnAccelerator", tr("Disengage on Accelerator Pedal"), tr("When enabled, pressing the accelerator pedal will disengage openpilot."), "../assets/offroad/icon_disengage_on_accelerator.svg", - false, }, #ifdef ENABLE_MAPS { @@ -86,20 +79,18 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Show ETA in 24h Format"), tr("Use 24h format instead of am/pm"), "../assets/offroad/icon_metric.png", - false, }, { "NavSettingLeftSide", tr("Show Map on Left Side of UI"), tr("Show map on left side when in split screen view."), "../assets/offroad/icon_road.png", - false, }, #endif }; - for (auto &[param, title, desc, icon, confirm] : toggle_defs) { - auto toggle = new ParamControl(param, title, desc, icon, confirm, this); + for (auto &[param, title, desc, icon] : toggle_defs) { + auto toggle = new ParamControl(param, title, desc, icon, false, this); bool locked = params.getBool((param + "Lock").toStdString()); toggle->setEnabled(!locked); @@ -108,6 +99,11 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { toggles[param.toStdString()] = toggle; } + // Toggles with confirmation dialogs + toggles["ExperimentalMode"]->confirm = true; + toggles["ExperimentalMode"]->store_confirm = true; + toggles["ExperimentalLongitudinalEnabled"]->confirm = true; + connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() { updateToggles(); }); diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index b67224b33d..c639b7f481 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -139,13 +139,16 @@ class ParamControl : public ToggleControl { Q_OBJECT public: - ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, const bool confirm, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) { + ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, const bool _confirm, QWidget *parent = nullptr) : confirm(_confirm), ToggleControl(title, desc, icon, false, parent) { key = param.toStdString(); QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) { QString content("

" + title + "


" "

" + getDescription() + "

"); ConfirmationDialog dialog(content, tr("Enable"), tr("Cancel"), true, this); - if (!confirm || !state || dialog.exec()) { + + bool confirmed = store_confirm && params.getBool(key + "Confirmed"); + if (!confirm || confirmed || !state || dialog.exec()) { + if (store_confirm && state) params.putBool(key + "Confirmed", true); params.putBool(key, state); } else { toggle.togglePosition(); @@ -153,6 +156,9 @@ public: }); } + bool confirm = false; + bool store_confirm = false; + void refresh() { if (params.getBool(key) != toggle.on) { toggle.togglePosition(); From 9c96b21367af3dda9b193a821fe2e175a63f4176 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 15 Nov 2022 17:18:13 -0800 Subject: [PATCH 620/685] publish experimental mode state (#26512) * publish experimental mode state * remove that --- cereal | 2 +- selfdrive/controls/controlsd.py | 1 + selfdrive/ui/qt/onroad.cc | 8 +++++--- selfdrive/ui/ui.cc | 1 - selfdrive/ui/ui.h | 2 +- 5 files changed, 8 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index afafa0a2a5..3bae09cf65 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit afafa0a2a537d775842ab2e1bf20cb9a33b34f9a +Subproject commit 3bae09cf6527674d7eda3a9956242aad94a8f3d2 diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index f69e9e7fd1..a18bec83a8 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -777,6 +777,7 @@ class Controls: controlsState.startMonoTime = int(start_time * 1e9) controlsState.forceDecel = bool(force_decel) controlsState.canErrorCounter = self.can_rcv_timeout_counter + controlsState.experimentalMode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl lat_tuning = self.CP.lateralTuning.which() if self.joystick_mode: diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 23986726c8..fcf29181e7 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -446,6 +446,8 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { painter.save(); const UIScene &scene = s->scene; + SubMaster &sm = *(s->sm); + // lanelines for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) { painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp(scene.lane_line_probs[i], 0.0, 0.7))); @@ -461,8 +463,8 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { // paint path QLinearGradient bg(0, height(), 0, height() / 4); float start_hue, end_hue; - if (scene.experimental_mode) { - const auto &acceleration = (*s->sm)["modelV2"].getModelV2().getAcceleration(); + if (sm["controlsState"].getControlsState().getExperimentalMode()) { + const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration(); float acceleration_future = 0; if (acceleration.getZ().size() > 16) { acceleration_future = acceleration.getX()[16]; // 2.5 seconds @@ -555,7 +557,7 @@ void AnnotatedCameraWidget::paintGL() { } else if (v_ego > 15) { wide_cam_requested = false; } - wide_cam_requested = wide_cam_requested && s->scene.experimental_mode; + wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode(); // TODO: also detect when ecam vision stream isn't available // for replay of old routes, never go to widecam wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 970448359e..2d4533afe1 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -174,7 +174,6 @@ void ui_update_params(UIState *s) { auto params = Params(); s->scene.is_metric = params.getBool("IsMetric"); s->scene.map_on_left = params.getBool("NavSettingLeftSide"); - s->scene.experimental_mode = params.getBool("ExperimentalMode"); } void UIState::updateStatus() { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index 38e2ffe3ce..d6f5c3e2e0 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -104,7 +104,7 @@ typedef struct UIScene { QPointF lead_vertices[2]; float light_sensor; - bool started, ignition, is_metric, map_on_left, longitudinal_control, experimental_mode; + bool started, ignition, is_metric, map_on_left, longitudinal_control; uint64_t started_frame; } UIScene; From d4fd0c3c8798317e4af87642af30ddbcd39fc4d6 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 15 Nov 2022 18:41:43 -0800 Subject: [PATCH 621/685] [torqued] Make torqued work on Hyundai Tucson (#26511) * changes to get offline values * set tucon values * move to params.yaml --- selfdrive/car/torque_data/override.yaml | 1 - selfdrive/car/torque_data/params.yaml | 1 + selfdrive/locationd/torqued.py | 4 ++-- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 2ef5a1cd0f..c0b8592ee0 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -30,7 +30,6 @@ CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] -HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0] HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0] KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.0] KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0] diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index c2ebadfc7a..a9023b4edc 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -38,6 +38,7 @@ HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0 HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] +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] diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 42dff60087..588bca1578 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -16,9 +16,9 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY HISTORY = 5 # secs POINTS_PER_BUCKET = 1500 MIN_POINTS_TOTAL = 4000 -MIN_POINTS_TOTAL_QLOG = 800 +MIN_POINTS_TOTAL_QLOG = 600 FIT_POINTS_TOTAL = 2000 -FIT_POINTS_TOTAL_QLOG = 800 +FIT_POINTS_TOTAL_QLOG = 600 MIN_VEL = 15 # m/s FRICTION_FACTOR = 1.5 # ~85% of data coverage FACTOR_SANITY = 0.3 From f3efc8998cee2750e65a99f96a6e9c787c17a19f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 15 Nov 2022 18:25:16 -0800 Subject: [PATCH 622/685] taco time --- RELEASES.md | 17 ++++++++--------- common/version.h | 2 +- selfdrive/ui/qt/offroad/settings.cc | 11 ++++++++--- selfdrive/ui/translations/main_ja.ts | 12 ++++++------ selfdrive/ui/translations/main_ko.ts | 12 ++++++------ selfdrive/ui/translations/main_pt-BR.ts | 12 ++++++------ selfdrive/ui/translations/main_zh-CHS.ts | 12 ++++++------ selfdrive/ui/translations/main_zh-CHT.ts | 12 ++++++------ 8 files changed, 47 insertions(+), 43 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index d00ece4b73..e15286c5f0 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,29 +1,28 @@ -Version 0.8.17 (2022-11-21) +Version 0.9.0 (2022-11-21) ======================== * New driving model - * Internal feature space information content increased tenfold during training (to ~700 bits), which makes the model dramatically more accurate + * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate * Less reliance on previous frames makes model more reactive and snappy * Trained in new reprojective simulator - * Trained in 36hrs from scratch, compared to one week for previous releases + * Trained in 36 hours from scratch, compared to one week for previous releases * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode -* Driver monitoring updates - * New bigger model with added end-to-end distracted trigger - * Reduced false positives during driver calibration * Experimental driving mode * End-to-end longitudinal control * Stops for traffic lights and stop signs * Slows down for turns - * openpilot defaults to chill mode, enable experimental in settings + * openpilot defaults to chill mode, enable experimental mode in settings +* Driver monitoring updates + * New bigger model with added end-to-end distracted trigger + * Reduced false positives during driver calibration * Self-tuning torque controller: learns parameters live for each car * Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models * UI updates - * Multi-language in navigation * Matched speeds shown on car's dash + * Multi-language in navigation * Improved update experience * Border turns grey while overriding steering * Bookmark events while driving; view them in comma connect * New onroad visualization for experimental mode -* AGNOS 6 * tools: new and improved cabana thanks to deanlee! * Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models * Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin! diff --git a/common/version.h b/common/version.h index 0a109c1faa..74a56a7c1b 100644 --- a/common/version.h +++ b/common/version.h @@ -1 +1 @@ -#define COMMA_VERSION "0.8.17" +#define COMMA_VERSION "0.9.0" diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index ced0744692..cf6f589b65 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -46,7 +46,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Experimental openpilot Longitudinal Control"), QString("%1
%2") .arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).")) - .arg(tr("openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control.")), + .arg(tr("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.")), "../assets/offroad/icon_speed_limit.png", }, { @@ -119,10 +119,15 @@ void TogglesPanel::updateToggles() { const QString e2e_description = tr("\ openpilot defaults to driving in chill mode.\ Experimental mode enables alpha-level features that aren't ready for chill mode. \ - Experimental features are listed below:\ + Experimental features are listed below: \
\

🌮 End-to-End Longitudinal Control 🌮

\ - 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 which speed to drive, the set speed will only act as an upper bound."); + 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. \ +
\ +

New Driving Visualization

\ + 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.\ + "); auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 339826796b..f7329811a6 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1007,16 +1007,16 @@ location set 実験モード - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。 <br> <h4>🌮 エンドツーエンドアクセル制御 🌮</h4> エンジンとブレーキの制御を全てopenpilotの運転モデルに委ねます。openpilotは人間が運転するのと同じように考え、赤信号や停止サインで車を停止します。openpilotが運転速度も決めるので、あなたが設定する速度は上限速度になります。 + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). + 警告: この車種でのopenpilotによるアクセル制御は実験段階であり、衝突被害軽減ブレーキ(AEB)を無効化します。 - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - openpilotは、この車に搭載されているアクセル制御(ACC)を標準で利用します。openpilotによるアクセル制御を利用したい場合は、この設定を有効にしてください。 + 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. + - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - 警告: この車種でのopenpilotによるアクセル制御は実験段階であり、衝突被害軽減ブレーキ(AEB)を無効化します。 + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 31c910a910..56d7dfd965 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1007,16 +1007,16 @@ location set 실험적 모드 - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - openpilot은 기본적으로 <b>안정적 모드</b>로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험 모드의 특징은 아래에 나열되어 있습니다 <br> <h4>🌮 E2E 롱컨트롤 🌮</h4> 주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). + 경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다. - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - openpilot은 차량의 내장 ACC로 기본 설정됩니다. 롱컨트롤으로 전환하려면 이 옵션을 활성화하세요. + 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. + - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - 경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다. + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 6a1d32f87a..f68400a3c7 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1011,16 +1011,16 @@ trabalho definido 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - openpilot por padrão funciona em <b>modo chill</b>. modo Experimental ativa <b>recursos de nível-alfa</b> que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo: <br> <h4>🌮 Controle Longitudinal de Ponta a Ponta 🌮</h4> Deixe o modelo de condução controlar o acelerador e os freios. Uma vez que o modelo de condução decide qual velocidade dirigir, a velocidade definida só funcionará como um limite superior. + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). + ATENÇÃO: o controle longitudinal do openpilot é experimental para este carro e desativará a Frenagem Automática de Emergência (AEB). - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - O padrão do openpilot é o ACC integrado do carro em vez do controle longitudinal do openpilot neste carro. Habilite isto para alternar para controle longitudinal do openpilot. + 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. + - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - ATENÇÃO: o controle longitudinal do openpilot é experimental para este carro e desativará a Frenagem Automática de Emergência (AEB). + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 64b32c80d5..174f40696b 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1005,16 +1005,16 @@ location set 测试模式 - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - openpilot 默认 <b>轻松模式</b>驾驶车辆。 试验模式启用一些轻松模式之外的 <b>试验性功能</b>。 试验性功能包括： <br> <h4>🌮 端到端（End-to-End） 纵向控制 🌮</h4> 允许智能驾驶模型控制加速和制动。 openpilot 将模仿人类驾驶行为, 包括在遇到红灯和停车让行标识时停车。 鉴于智能驾驶模型判断实际行驶车速，设定速度仅为车速上限。 + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). + 警告： 此车辆的openpilot纵向控制是试验性功能，且将禁用AEB自动刹车功能。 - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - openpilot默认使用此车辆自带ACC，而非openpilot纵向控制功能。启用此按钮将切换到openpilot纵向控制功能。 + 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. + - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - 警告： 此车辆的openpilot纵向控制是试验性功能，且将禁用AEB自动刹车功能。 + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index c9810597b5..d1683a9562 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1007,16 +1007,16 @@ location set 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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 which speed to drive, the set speed will only act as an upper bound. - 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： <br> <h4>🌮端到端縱向控制🌮</h4> 讓駕駛模型控制油門和剎車。 openpilot 將像人類一樣駕駛，包括紅燈和停車標誌時停車，因為是由駕駛模型來決定車速，所以定速的設定值只會作為上限。 + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). + 警告：openpilot 縱向控制在這輛車上仍屬實驗性質，啟用後會喪失自動緊急煞車 (AEB) 功能。 - openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control on this car. Enable this to switch to openpilot longitudinal control. - openpilot 默認使用汽車內置的主動巡航控制 (ACC)，而不是使用 openpilot 縱向控制。啟用此選項可切換到 openpilot 縱向控制。 + 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. + - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - 警告：openpilot 縱向控制在這輛車上仍屬實驗性質，啟用後會喪失自動緊急煞車 (AEB) 功能。 + 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + From 97a205c94df412d40db1a94bbc4bb735b5afea27 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 16 Nov 2022 11:07:50 +0800 Subject: [PATCH 623/685] UI: fix CameraView crash on deleting. (#26390) * fix crash on delete * TODO? * after makeCurrent --- selfdrive/ui/qt/offroad/driverview.cc | 1 + selfdrive/ui/qt/widgets/cameraview.cc | 10 ++++++++++ selfdrive/ui/qt/widgets/cameraview.h | 1 + 3 files changed, 12 insertions(+) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 0ff786fb91..1377bb3b23 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -35,6 +35,7 @@ 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.cc b/selfdrive/ui/qt/widgets/cameraview.cc index a606d6893e..347cdb1dca 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -102,6 +102,7 @@ CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool CameraWidget::~CameraWidget() { makeCurrent(); + stopVipcThread(); if (isValid()) { glDeleteVertexArrays(1, &frame_vao); glDeleteBuffers(1, &frame_vbo); @@ -171,6 +172,15 @@ void CameraWidget::showEvent(QShowEvent *event) { } } +void CameraWidget::stopVipcThread() { + if (vipc_thread) { + vipc_thread->requestInterruption(); + vipc_thread->quit(); + vipc_thread->wait(); + vipc_thread = nullptr; + } +} + void CameraWidget::updateFrameMat() { int w = width(), h = height(); diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 0698d1fb9a..7cc3847f99 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -51,6 +51,7 @@ protected: void updateCalibration(const mat3 &calib); void vipcThread(); void clearFrames(); + void stopVipcThread(); bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; From c6e3d566e9b23b2046f933f3dd9e189708230a56 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 15 Nov 2022 19:24:12 -0800 Subject: [PATCH 624/685] update experimental mode disabled description --- selfdrive/ui/qt/offroad/settings.cc | 4 ++-- selfdrive/ui/translations/main_ja.ts | 16 ++++++++-------- selfdrive/ui/translations/main_ko.ts | 16 ++++++++-------- selfdrive/ui/translations/main_pt-BR.ts | 16 ++++++++-------- selfdrive/ui/translations/main_zh-CHS.ts | 16 ++++++++-------- selfdrive/ui/translations/main_zh-CHT.ts | 16 ++++++++-------- 6 files changed, 42 insertions(+), 42 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index cf6f589b65..997e344221 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -151,8 +151,8 @@ void TogglesPanel::updateToggles() { e2e_toggle->setEnabled(false); params.remove("ExperimentalMode"); - const QString no_long = tr("openpilot longitudinal control is not currently available for this car."); - const QString exp_long = tr("Enable experimental longitudinal control to enable this."); + const QString no_long = tr("Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control."); + const QString exp_long = tr("Enable experimental longitudinal control to allow experimental mode."); e2e_toggle->setDescription("" + (CP.getExperimentalLongitudinalAvailable() ? exp_long : no_long) + "

" + e2e_description); } diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index f7329811a6..21fdc48fef 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -970,14 +970,6 @@ location set Experimental openpilot Longitudinal Control 実験段階のopenpilotによるアクセル制御 - - openpilot longitudinal control is not currently available for this car. - openpilotによるアクセル制御は、この車では現在利用できません。 - - - Enable experimental longitudinal control to enable this. - ここ機能を使う為には、「実験段階のopenpilotによるアクセル制御」を先に有効化してください。 - Disengage on Accelerator Pedal ｱｸｾﾙを踏むと openpilot を中断 @@ -1018,6 +1010,14 @@ location set 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + + + + Enable experimental longitudinal control to allow experimental mode. + + Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 56d7dfd965..57c688ffe6 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -970,14 +970,6 @@ location set Experimental openpilot Longitudinal Control openpilot 롱컨트롤 (실험적) - - openpilot longitudinal control is not currently available for this car. - 현재 이 차량에는 openpilot 롱컨트롤을 사용할 수 없습니다. - - - Enable experimental longitudinal control to enable this. - openpilot 롱컨트롤을 활성화합니다. (실험적) - Disengage on Accelerator Pedal 가속페달 조작시 해제 @@ -1018,6 +1010,14 @@ location set 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + + + + Enable experimental longitudinal control to allow experimental mode. + + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index f68400a3c7..2d7195e0d2 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -974,14 +974,6 @@ trabalho definido Experimental openpilot Longitudinal Control Controle longitudinal experimental openpilot - - openpilot longitudinal control is not currently available for this car. - controle longitudinal openpilot não está disponível para este carro. - - - Enable experimental longitudinal control to enable this. - Habilite o controle longitudinal experimental para habilitar isso. - Disengage on Accelerator Pedal Desacionar Com Pedal Do Acelerador @@ -1022,6 +1014,14 @@ trabalho definido 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + + + + Enable experimental longitudinal control to allow experimental mode. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 174f40696b..fb9b6dd6f5 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -968,14 +968,6 @@ location set Experimental openpilot Longitudinal Control 试验性的openpilot纵向控制 - - openpilot longitudinal control is not currently available for this car. - 目前此车辆无法使用openpilot纵向控制功能。 - - - Enable experimental longitudinal control to enable this. - 启用试验性的纵向控制功能。 - Disengage on Accelerator Pedal 踩油门时取消控制 @@ -1016,6 +1008,14 @@ location set 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + + + + Enable experimental longitudinal control to allow experimental mode. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index d1683a9562..86d5482355 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -970,14 +970,6 @@ location set Experimental openpilot Longitudinal Control 使用 openpilot 縱向控制（實驗） - - openpilot longitudinal control is not currently available for this car. - openpilot 縱向控制目前不適用於這輛車。 - - - Enable experimental longitudinal control to enable this. - 打開縱向控制（實驗）以啟用此功能。 - Disengage on Accelerator Pedal 油門取消控車 @@ -1018,6 +1010,14 @@ location set 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + + + + Enable experimental longitudinal control to allow experimental mode. + + Updater From 3b71a9780dab0eed22dc277ce26a4d95c97f07df Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 15 Nov 2022 19:45:15 -0800 Subject: [PATCH 625/685] [torqued] Non-zero offline friction (#26513) add non zero friction values --- selfdrive/car/torque_data/override.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index c0b8592ee0..6ec782444c 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -30,10 +30,10 @@ CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] -HYUNDAI SANTA CRUZ 1ST GEN: [2.7, 2.7, 0.0] -KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.0] -KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0] -GENESIS GV70 1ST GEN: [2.42, 2.42, 0.01] +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] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From f2d97da9b46d81454ec227152e280f1261ae9883 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 15 Nov 2022 20:14:35 -0800 Subject: [PATCH 626/685] jenkins: use tici-needs-can to build release --- Jenkinsfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Jenkinsfile b/Jenkinsfile index 696446c65f..c34d253585 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -59,7 +59,7 @@ pipeline { branch 'devel-staging' } steps { - phone_steps("tici", [ + phone_steps("tici-needs-can", [ ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"], ]) } From b3f75b0c5b151cbcb048a31bb33c8f49b2a818b1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 15 Nov 2022 20:46:42 -0800 Subject: [PATCH 627/685] ui: function for setting toggle confirmation settings (#26516) function for setting confirmation settings --- selfdrive/ui/qt/offroad/settings.cc | 7 +++---- selfdrive/ui/qt/widgets/controls.h | 10 +++++++--- 2 files changed, 10 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 997e344221..85b09dc183 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -90,7 +90,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { }; for (auto &[param, title, desc, icon] : toggle_defs) { - auto toggle = new ParamControl(param, title, desc, icon, false, this); + auto toggle = new ParamControl(param, title, desc, icon, this); bool locked = params.getBool((param + "Lock").toStdString()); toggle->setEnabled(!locked); @@ -100,9 +100,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { } // Toggles with confirmation dialogs - toggles["ExperimentalMode"]->confirm = true; - toggles["ExperimentalMode"]->store_confirm = true; - toggles["ExperimentalLongitudinalEnabled"]->confirm = true; + toggles["ExperimentalMode"]->setConfirmation(true, true); + toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false); connect(toggles["ExperimentalLongitudinalEnabled"], &ToggleControl::toggleFlipped, [=]() { updateToggles(); diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index c639b7f481..e2fd9d1b9d 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -139,7 +139,7 @@ class ParamControl : public ToggleControl { Q_OBJECT public: - ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, const bool _confirm, QWidget *parent = nullptr) : confirm(_confirm), ToggleControl(title, desc, icon, false, parent) { + ParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr) : ToggleControl(title, desc, icon, false, parent) { key = param.toStdString(); QObject::connect(this, &ParamControl::toggleFlipped, [=](bool state) { QString content("

" + title + "


" @@ -156,8 +156,10 @@ public: }); } - bool confirm = false; - bool store_confirm = false; + void setConfirmation(bool _confirm, bool _store_confirm) { + confirm = _confirm; + store_confirm = _store_confirm; + }; void refresh() { if (params.getBool(key) != toggle.on) { @@ -172,6 +174,8 @@ public: private: std::string key; Params params; + bool confirm = false; + bool store_confirm = false; }; class ListWidget : public QWidget { From 62024176c6e0386401374873e73512ab76f4204a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 15 Nov 2022 20:52:31 -0800 Subject: [PATCH 628/685] ui: toggle control supports active icons (#26514) * support active icons * function * fix crash if not setting icon but active icon * revert * clean up --- selfdrive/ui/qt/widgets/controls.cc | 6 +++--- selfdrive/ui/qt/widgets/controls.h | 14 ++++++++++++++ 2 files changed, 17 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index 619fd3cb4c..456cf748f4 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -26,10 +26,10 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons hlayout->setSpacing(20); // left icon + icon_label = new QLabel(); if (!icon.isEmpty()) { - QPixmap pix(icon); - QLabel *icon_label = new QLabel(); - icon_label->setPixmap(pix.scaledToWidth(80, Qt::SmoothTransformation)); + icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); + icon_label->setPixmap(icon_pixmap); icon_label->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); hlayout->addWidget(icon_label); } diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index e2fd9d1b9d..0540088a78 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -54,6 +54,9 @@ public: return description->text(); } + QLabel *icon_label; + QPixmap icon_pixmap; + public slots: void showDescription() { description->setVisible(true); @@ -153,6 +156,12 @@ public: } else { toggle.togglePosition(); } + + if (state && !active_icon_pixmap.isNull()) { + icon_label->setPixmap(active_icon_pixmap); + } else if (!icon_pixmap.isNull()) { + icon_label->setPixmap(icon_pixmap); + } }); } @@ -161,6 +170,10 @@ public: store_confirm = _store_confirm; }; + void setActiveIcon(const QString &icon) { + active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); + } + void refresh() { if (params.getBool(key) != toggle.on) { toggle.togglePosition(); @@ -174,6 +187,7 @@ public: private: std::string key; Params params; + QPixmap active_icon_pixmap; bool confirm = false; bool store_confirm = false; }; From 797c626984080e1ff17206b99e67a11bba87992f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 15 Nov 2022 21:07:11 -0800 Subject: [PATCH 629/685] ui: handle two dynamic toggle icon cases (#26517) handles two cases --- selfdrive/ui/qt/widgets/controls.h | 19 ++++++++++++------- 1 file changed, 12 insertions(+), 7 deletions(-) diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 0540088a78..770b9b92dd 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -153,15 +153,10 @@ public: if (!confirm || confirmed || !state || dialog.exec()) { if (store_confirm && state) params.putBool(key + "Confirmed", true); params.putBool(key, state); + setIcon(state); } else { toggle.togglePosition(); } - - if (state && !active_icon_pixmap.isNull()) { - icon_label->setPixmap(active_icon_pixmap); - } else if (!icon_pixmap.isNull()) { - icon_label->setPixmap(icon_pixmap); - } }); } @@ -175,8 +170,10 @@ public: } void refresh() { - if (params.getBool(key) != toggle.on) { + bool state = params.getBool(key); + if (state != toggle.on) { toggle.togglePosition(); + setIcon(state); } }; @@ -185,6 +182,14 @@ public: }; private: + void setIcon(bool state) { + if (state && !active_icon_pixmap.isNull()) { + icon_label->setPixmap(active_icon_pixmap); + } else if (!icon_pixmap.isNull()) { + icon_label->setPixmap(icon_pixmap); + } + }; + std::string key; Params params; QPixmap active_icon_pixmap; From 73ec91f3bc20409e672480428f125dd6c8b9f2a1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 16 Nov 2022 13:10:05 +0800 Subject: [PATCH 630/685] Cabana: fix right panel layout after undocking charts (#26497) * fix stretch * set window title --- tools/cabana/mainwin.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index f0419a2fb3..7781ab3b75 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -73,6 +73,7 @@ MainWindow::MainWindow() : QMainWindow() { video_widget = new VideoWidget(this); r_layout->addWidget(video_widget, 0, Qt::AlignTop); r_layout->addWidget(charts_widget, 1); + r_layout->addStretch(0); main_layout->addWidget(right_container); setCentralWidget(central_widget); @@ -217,11 +218,12 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe void MainWindow::dockCharts(bool dock) { if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); - r_layout->addWidget(charts_widget, 1); + r_layout->insertWidget(2, charts_widget, 1); floating_window->deleteLater(); floating_window = nullptr; } else if (!dock && !floating_window) { floating_window = new QWidget(nullptr); + floating_window->setWindowTitle("Charts - Cabana"); floating_window->setLayout(new QVBoxLayout()); floating_window->layout()->addWidget(charts_widget); floating_window->installEventFilter(charts_widget); From 58b84fb401a804967aa0dd5ee66fafa90194fd30 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 15 Nov 2022 22:18:26 -0800 Subject: [PATCH 631/685] ui: offroad experimental mode button (#26498) * draft * draft * before qpushbutton * icon, clean up button, clicked goes to toggles * fix icon * add imgs * img * make square * works with layouts! * fix gradient * this looks good * clean up * clean up * remove padding around couch * use scene's experimental_model, new onroad design * rename widget * def want 3 * update translations * add img * add 25px of padding! * make 300px (no change) * clean up old images * 5 px smaller * add white img * fix from merge * no style sheets * see how this looks on device * aliased vertical line (clean up) * clean up * imgs * couch * delete * bye bye * expand toggle support * clean up * fix dynamic icon * make exp icon dynamic * order * move to offroad --- .../assets/fonts/JetBrainsMono-Medium.ttf | Bin 0 -> 204140 bytes selfdrive/assets/img_couch.svg | 3 + selfdrive/assets/img_experimental.svg | 10 +++ selfdrive/assets/img_experimental_grey.svg | 4 + selfdrive/assets/img_experimental_white.svg | 4 + selfdrive/ui/SConscript | 2 +- selfdrive/ui/qt/home.cc | 19 ++++- selfdrive/ui/qt/home.h | 5 +- selfdrive/ui/qt/offroad/experimental_mode.cc | 75 ++++++++++++++++++ selfdrive/ui/qt/offroad/experimental_mode.h | 31 ++++++++ selfdrive/ui/qt/offroad/settings.cc | 23 +++++- selfdrive/ui/qt/offroad/settings.h | 5 ++ selfdrive/ui/qt/onroad.cc | 6 +- selfdrive/ui/qt/onroad.h | 1 + selfdrive/ui/qt/sidebar.h | 2 +- selfdrive/ui/qt/window.cc | 4 +- selfdrive/ui/qt/window.h | 2 +- selfdrive/ui/translations/main_ja.ts | 11 +++ selfdrive/ui/translations/main_ko.ts | 11 +++ selfdrive/ui/translations/main_pt-BR.ts | 11 +++ selfdrive/ui/translations/main_zh-CHS.ts | 11 +++ selfdrive/ui/translations/main_zh-CHT.ts | 11 +++ 22 files changed, 238 insertions(+), 13 deletions(-) create mode 100644 selfdrive/assets/fonts/JetBrainsMono-Medium.ttf create mode 100644 selfdrive/assets/img_couch.svg create mode 100644 selfdrive/assets/img_experimental.svg create mode 100644 selfdrive/assets/img_experimental_grey.svg create mode 100644 selfdrive/assets/img_experimental_white.svg create mode 100644 selfdrive/ui/qt/offroad/experimental_mode.cc create mode 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zG4q}s>Rq>ub`p26X+sdbEy6#|ZIk{V?19ii`=@+Rpgb>AKh73E&Ud^a(T}42ULO7h zv%G?|rnDxn6rX}qy|Jn<*=ve@%^XC+a*@>h7wNB#K(K3ZUF?a>#T@2K(n`JTw6e5v zFE_0+tI<>}htzo<deNiu1w_JWD!n9x`%z*P0n^ymtXb(~XkCb9-p6O?6o zva8{x**=b~c*?d}PWODb!YOJweG5j~+R0XYmV4U9^-fl5o>KG7Z%Q44{5ILmPv#>j zDFJs9Xq}}d)qKt+#o_vu^INJ=T1${<9epXLl%q|djF*9YSIq3ag^mY@F* ipV1lowsbKaUSrwa{$1-fkjbE_OeCb=NU3`8y#EK5nIdZd literal 0 HcmV?d00001 diff --git a/selfdrive/assets/img_couch.svg b/selfdrive/assets/img_couch.svg new file mode 100644 index 0000000000..5b3c048318 --- /dev/null +++ b/selfdrive/assets/img_couch.svg @@ -0,0 +1,3 @@ + + + diff --git a/selfdrive/assets/img_experimental.svg b/selfdrive/assets/img_experimental.svg new file mode 100644 index 0000000000..0eaec3b3cd --- /dev/null +++ b/selfdrive/assets/img_experimental.svg @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/selfdrive/assets/img_experimental_grey.svg b/selfdrive/assets/img_experimental_grey.svg new file mode 100644 index 0000000000..dc87105ac5 --- /dev/null +++ b/selfdrive/assets/img_experimental_grey.svg @@ -0,0 +1,4 @@ + + + + diff --git a/selfdrive/assets/img_experimental_white.svg b/selfdrive/assets/img_experimental_white.svg new file mode 100644 index 0000000000..ae4f18fde2 --- /dev/null +++ b/selfdrive/assets/img_experimental_white.svg @@ -0,0 +1,4 @@ + + + + diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 84e055752a..669c214746 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -58,7 +58,7 @@ qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs) qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc", - "qt/offroad/driverview.cc"] + "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc"] qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) if GetOption('test'): qt_src.remove("main.cc") # replaced by test_runner diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 3fe00e6ed9..3f3c9a5885 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -4,6 +4,7 @@ #include #include +#include "selfdrive/ui/qt/offroad/experimental_mode.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/drive_stats.h" #include "selfdrive/ui/qt/widgets/prime.h" @@ -22,7 +23,8 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) { slayout = new QStackedLayout(); main_layout->addLayout(slayout); - home = new OffroadHome(); + home = new OffroadHome(this); + QObject::connect(home, &OffroadHome::openSettings, this, &HomeWindow::openSettings); slayout->addWidget(home); onroad = new OnroadWindow(this); @@ -128,11 +130,24 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { main_layout->addSpacing(25); center_layout = new QStackedLayout(); + // Vertical experimental button and drive stats layout + QWidget* statsAndExperimentalModeButtonWidget = new QWidget(this); + QVBoxLayout* statsAndExperimentalModeButton = new QVBoxLayout(statsAndExperimentalModeButtonWidget); + statsAndExperimentalModeButton->setSpacing(30); + statsAndExperimentalModeButton->setMargin(0); + + ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); + QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); + + statsAndExperimentalModeButton->addWidget(experimental_mode, 1); + statsAndExperimentalModeButton->addWidget(new DriveStats, 1); + + // Horizontal experimental + drive stats and setup widget QWidget* statsAndSetupWidget = new QWidget(this); QHBoxLayout* statsAndSetup = new QHBoxLayout(statsAndSetupWidget); statsAndSetup->setMargin(0); statsAndSetup->setSpacing(30); - statsAndSetup->addWidget(new DriveStats, 1); + statsAndSetup->addWidget(statsAndExperimentalModeButtonWidget, 1); statsAndSetup->addWidget(new SetupWidget); center_layout->addWidget(statsAndSetupWidget); diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h index 6636da56ec..ed1c215467 100644 --- a/selfdrive/ui/qt/home.h +++ b/selfdrive/ui/qt/home.h @@ -22,6 +22,9 @@ class OffroadHome : public QFrame { public: explicit OffroadHome(QWidget* parent = 0); +signals: + void openSettings(int index = 0, const QString ¶m = ""); + private: void showEvent(QShowEvent *event) override; void hideEvent(QHideEvent *event) override; @@ -45,7 +48,7 @@ public: explicit HomeWindow(QWidget* parent = 0); signals: - void openSettings(); + void openSettings(int index = 0, const QString ¶m = ""); void closeSettings(); public slots: diff --git a/selfdrive/ui/qt/offroad/experimental_mode.cc b/selfdrive/ui/qt/offroad/experimental_mode.cc new file mode 100644 index 0000000000..f73149cdf2 --- /dev/null +++ b/selfdrive/ui/qt/offroad/experimental_mode.cc @@ -0,0 +1,75 @@ +#include "selfdrive/ui/qt/offroad/experimental_mode.h" + +#include +#include +#include +#include + +#include "selfdrive/ui/ui.h" + +ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(parent) { + chill_pixmap = QPixmap("../assets/img_couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation); + experimental_pixmap = QPixmap("../assets/img_experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation); + + // go to toggles and expand experimental mode description + connect(this, &QPushButton::clicked, [=]() { emit openSettings(2, "ExperimentalMode"); }); + + setFixedHeight(125); + QHBoxLayout *main_layout = new QHBoxLayout; + main_layout->setContentsMargins(horizontal_padding, 0, horizontal_padding, 0); + + mode_label = new QLabel; + mode_icon = new QLabel; + mode_icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed)); + + main_layout->addWidget(mode_label, 1, Qt::AlignLeft); + main_layout->addWidget(mode_icon, 0, Qt::AlignRight); + + setLayout(main_layout); + + setStyleSheet(R"( + QPushButton { + border: none; + } + + QLabel { + font-size: 45px; + font-weight: 300; + text-align: left; + font-family: JetBrainsMono; + color: #000000; + } + )"); +} + +void ExperimentalModeButton::paintEvent(QPaintEvent *event) { + QPainter p(this); + p.setPen(Qt::NoPen); + p.setRenderHint(QPainter::Antialiasing); + + QPainterPath path; + path.addRoundedRect(rect(), 10, 10); + + // gradient + bool pressed = isDown(); + QLinearGradient gradient(rect().left(), 0, rect().right(), 0); + if (experimental_mode) { + gradient.setColorAt(0, QColor(255, 155, 63, pressed ? 0xcc : 0xff)); + gradient.setColorAt(1, QColor(219, 56, 34, pressed ? 0xcc : 0xff)); + } else { + gradient.setColorAt(0, QColor(20, 255, 171, pressed ? 0xcc : 0xff)); + gradient.setColorAt(1, QColor(35, 149, 255, pressed ? 0xcc : 0xff)); + } + p.fillPath(path, gradient); + + // vertical line + p.setPen(QPen(QColor(0, 0, 0, 0x4d), 3, Qt::SolidLine)); + int line_x = rect().right() - img_width - (2 * horizontal_padding); + p.drawLine(line_x, rect().bottom(), line_x, rect().top()); +} + +void ExperimentalModeButton::showEvent(QShowEvent *event) { + experimental_mode = params.getBool("ExperimentalMode"); + mode_icon->setPixmap(experimental_mode ? experimental_pixmap : chill_pixmap); + mode_label->setText(experimental_mode ? tr("EXPERIMENTAL MODE ON") : tr("CHILL MODE ON")); +} diff --git a/selfdrive/ui/qt/offroad/experimental_mode.h b/selfdrive/ui/qt/offroad/experimental_mode.h new file mode 100644 index 0000000000..bfb7638bbe --- /dev/null +++ b/selfdrive/ui/qt/offroad/experimental_mode.h @@ -0,0 +1,31 @@ +#pragma once + +#include +#include + +#include "common/params.h" + +class ExperimentalModeButton : public QPushButton { + Q_OBJECT + +public: + explicit ExperimentalModeButton(QWidget* parent = 0); + +signals: + void openSettings(int index = 0, const QString &toggle = ""); + +private: + void showEvent(QShowEvent *event) override; + + Params params; + bool experimental_mode; + int img_width = 100; + int horizontal_padding = 30; + QPixmap experimental_pixmap; + QPixmap chill_pixmap; + QLabel *mode_label; + QLabel *mode_icon; + +protected: + void paintEvent(QPaintEvent *event) override; +}; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 85b09dc183..01cb0ea720 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -39,7 +39,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "ExperimentalMode", tr("Experimental Mode"), "", - "../assets/offroad/icon_road.png", + "../assets/img_experimental_white.svg", }, { "ExperimentalLongitudinalEnabled", @@ -100,6 +100,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { } // Toggles with confirmation dialogs + toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg"); toggles["ExperimentalMode"]->setConfirmation(true, true); toggles["ExperimentalLongitudinalEnabled"]->setConfirmation(true, false); @@ -108,6 +109,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { }); } +void TogglesPanel::expandToggleDescription(const QString ¶m) { + toggles[param.toStdString()]->showDescription(); +} + void TogglesPanel::showEvent(QShowEvent *event) { updateToggles(); } @@ -299,8 +304,15 @@ void DevicePanel::poweroff() { } void SettingsWindow::showEvent(QShowEvent *event) { - panel_widget->setCurrentIndex(0); - nav_btns->buttons()[0]->setChecked(true); + setCurrentPanel(0); +} + +void SettingsWindow::setCurrentPanel(int index, const QString ¶m) { + panel_widget->setCurrentIndex(index); + nav_btns->buttons()[index]->setChecked(true); + if (!param.isEmpty()) { + emit expandToggleDescription(param); + } } SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { @@ -341,10 +353,13 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QObject::connect(device, &DevicePanel::reviewTrainingGuide, this, &SettingsWindow::reviewTrainingGuide); QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView); + TogglesPanel *toggles = new TogglesPanel(this); + QObject::connect(this, &SettingsWindow::expandToggleDescription, toggles, &TogglesPanel::expandToggleDescription); + QList> panels = { {tr("Device"), device}, {tr("Network"), new Networking(this)}, - {tr("Toggles"), new TogglesPanel(this)}, + {tr("Toggles"), toggles}, {tr("Software"), new SoftwarePanel(this)}, }; diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index 4177f28cf4..c63be4e138 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -17,6 +17,7 @@ class SettingsWindow : public QFrame { public: explicit SettingsWindow(QWidget *parent = 0); + void setCurrentPanel(int index, const QString ¶m = ""); protected: void showEvent(QShowEvent *event) override; @@ -25,6 +26,7 @@ signals: void closeSettings(); void reviewTrainingGuide(); void showDriverView(); + void expandToggleDescription(const QString ¶m); private: QPushButton *sidebar_alert_widget; @@ -56,6 +58,9 @@ public: explicit TogglesPanel(SettingsWindow *parent); void showEvent(QShowEvent *event) override; +public slots: + void expandToggleDescription(const QString ¶m); + private: Params params; std::map toggles; diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index fcf29181e7..50f891dd56 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -174,6 +174,7 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par pm = std::make_unique>({"uiDebug"}); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); + experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size - 5, img_size - 5}); dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); } @@ -378,8 +379,9 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) { // engage-ability icon if (engageable) { + SubMaster &sm = *(uiState()->sm); drawIcon(p, rect().right() - radius / 2 - bdr_s * 2, radius / 2 + int(bdr_s * 1.5), - engage_img, bg_colors[status], 1.0); + sm["controlsState"].getControlsState().getExperimentalMode() ? experimental_img : engage_img, blackColor(166), 1.0); } // dm icon @@ -409,7 +411,7 @@ void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QB p.setBrush(bg); p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius); p.setOpacity(opacity); - p.drawPixmap(x - img_size / 2, y - img_size / 2, img); + p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 7edca6b3d5..9e18355970 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -51,6 +51,7 @@ private: void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255); QPixmap engage_img; + QPixmap experimental_img; QPixmap dm_img; const int radius = 192; const int img_size = (radius / 2) * 1.5; diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h index 53ad7467ac..fb96e1d540 100644 --- a/selfdrive/ui/qt/sidebar.h +++ b/selfdrive/ui/qt/sidebar.h @@ -20,7 +20,7 @@ public: explicit Sidebar(QWidget* parent = 0); signals: - void openSettings(); + void openSettings(int index = 0, const QString ¶m = ""); void valueChanged(); public slots: diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc index 04ce15ef23..198b1edbf6 100644 --- a/selfdrive/ui/qt/window.cc +++ b/selfdrive/ui/qt/window.cc @@ -53,6 +53,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) { QFontDatabase::addApplicationFont("../assets/fonts/Inter-Regular.ttf"); QFontDatabase::addApplicationFont("../assets/fonts/Inter-SemiBold.ttf"); QFontDatabase::addApplicationFont("../assets/fonts/Inter-Thin.ttf"); + QFontDatabase::addApplicationFont("../assets/fonts/JetBrainsMono-Medium.ttf"); // no outline to prevent the focus rectangle setStyleSheet(R"( @@ -64,8 +65,9 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) { setAttribute(Qt::WA_NoSystemBackground); } -void MainWindow::openSettings() { +void MainWindow::openSettings(int index, const QString ¶m) { main_layout->setCurrentWidget(settingsWindow); + settingsWindow->setCurrentPanel(index, param); } void MainWindow::closeSettings() { diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h index 0bd328aa8a..71fc466c20 100644 --- a/selfdrive/ui/qt/window.h +++ b/selfdrive/ui/qt/window.h @@ -15,7 +15,7 @@ public: private: bool eventFilter(QObject *obj, QEvent *event) override; - void openSettings(); + void openSettings(int index = 0, const QString ¶m = ""); void closeSettings(); Device device; diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 21fdc48fef..963eeadd81 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -281,6 +281,17 @@ ｶﾒﾗを起動しています + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + InputDialog diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 57c688ffe6..9defc2c36f 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -281,6 +281,17 @@ 카메라 시작중 + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + InputDialog diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 2d7195e0d2..a1c966da45 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -281,6 +281,17 @@ câmera iniciando + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + InputDialog diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index fb9b6dd6f5..e77b3ef63d 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -281,6 +281,17 @@ 正在启动相机 + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + InputDialog diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 86d5482355..f667fdc978 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -281,6 +281,17 @@ 開啟相機中 + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + + + + CHILL MODE ON + + + InputDialog From 1899d439f4aaf8f218ad7d40d8d70bec0d6f151a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 15 Nov 2022 23:11:53 -0800 Subject: [PATCH 632/685] Multilang: refactor experimental description (#26518) * refactor e2e description * forgot to update --- selfdrive/ui/qt/offroad/settings.cc | 23 +++++++++++------------ selfdrive/ui/translations/main_ja.ts | 22 +++++++++++++++++++--- selfdrive/ui/translations/main_ko.ts | 22 +++++++++++++++++++--- selfdrive/ui/translations/main_pt-BR.ts | 22 +++++++++++++++++++--- selfdrive/ui/translations/main_zh-CHS.ts | 22 +++++++++++++++++++--- selfdrive/ui/translations/main_zh-CHT.ts | 22 +++++++++++++++++++--- 6 files changed, 106 insertions(+), 27 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 01cb0ea720..330f636e2b 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -120,18 +120,17 @@ void TogglesPanel::showEvent(QShowEvent *event) { void TogglesPanel::updateToggles() { auto e2e_toggle = toggles["ExperimentalMode"]; auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"]; - const QString e2e_description = tr("\ - openpilot defaults to driving in chill mode.\ - Experimental mode enables alpha-level features that aren't ready for chill mode. \ - Experimental features are listed below: \ -
\ -

🌮 End-to-End Longitudinal Control 🌮

\ - 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. \ -
\ -

New Driving Visualization

\ - 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.\ - "); + const QString e2e_description = QString("%1
" + "

%2


" + "%3
" + "

%4


" + "%5") + .arg(tr("openpilot defaults to driving in chill mode. Experimental mode enables alpha-level features that aren't ready for chill mode. Experimental features are listed below:")) + .arg(tr("🌮 End-to-End Longitudinal Control 🌮")) + .arg(tr("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.")) + .arg(tr("New Driving Visualization")) + .arg(tr("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.");) auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 963eeadd81..2e01ce0dd1 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1018,15 +1018,31 @@ location set - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + Enable experimental longitudinal control to allow experimental mode. - Enable experimental longitudinal control to allow experimental mode. + 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: + + + + 🌮 End-to-End Longitudinal Control 🌮 + + + + 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. + + + + New Driving Visualization + + + + 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. diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 9defc2c36f..8ce618edff 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1018,15 +1018,31 @@ location set - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + Enable experimental longitudinal control to allow experimental mode. - Enable experimental longitudinal control to allow experimental mode. + 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: + + + + 🌮 End-to-End Longitudinal Control 🌮 + + + + 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. + + + + New Driving Visualization + + + + 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. diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index a1c966da45..2dc1538017 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1022,15 +1022,31 @@ trabalho definido - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + Enable experimental longitudinal control to allow experimental mode. - Enable experimental longitudinal control to allow experimental mode. + 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: + + + + 🌮 End-to-End Longitudinal Control 🌮 + + + + 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. + + + + New Driving Visualization + + + + 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. diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index e77b3ef63d..fe569e1fb0 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1016,15 +1016,31 @@ location set - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + Enable experimental longitudinal control to allow experimental mode. - Enable experimental longitudinal control to allow experimental mode. + 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: + + + + 🌮 End-to-End Longitudinal Control 🌮 + + + + 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. + + + + New Driving Visualization + + + + 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. diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index f667fdc978..3ec67f3961 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1018,15 +1018,31 @@ location set - 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: <br> <h4>🌮 End-to-End Longitudinal Control 🌮</h4> 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. <br> <h4>New Driving Visualization</h4> 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. + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + Enable experimental longitudinal control to allow experimental mode. - Enable experimental longitudinal control to allow experimental mode. + 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: + + + + 🌮 End-to-End Longitudinal Control 🌮 + + + + 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. + + + + New Driving Visualization + + + + 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. From d8bc69c788c581485ac9e65e8f6d06e4c368935c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 15 Nov 2022 23:52:47 -0800 Subject: [PATCH 633/685] Multilang: add missing translations (#26519) * add back missing japanese translations that haven't been changed * other languages * fix --- selfdrive/ui/qt/offroad/settings.cc | 2 +- selfdrive/ui/translations/main_ja.ts | 4 ++-- selfdrive/ui/translations/main_ko.ts | 4 ++-- selfdrive/ui/translations/main_pt-BR.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHS.ts | 4 ++-- selfdrive/ui/translations/main_zh-CHT.ts | 4 ++-- 6 files changed, 11 insertions(+), 11 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 330f636e2b..bde8628dc4 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -130,7 +130,7 @@ void TogglesPanel::updateToggles() { .arg(tr("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.")) .arg(tr("New Driving Visualization")) - .arg(tr("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.");) + .arg(tr("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.")); auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 2e01ce0dd1..ebf40cc5c5 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -1027,11 +1027,11 @@ location set 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は標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。 🌮 End-to-End Longitudinal Control 🌮 - + 🌮 エンドツーエンドアクセル制御 🌮 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. diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 8ce618edff..98d46149dd 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1027,11 +1027,11 @@ location set 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: - + openpilot은 기본적으로 <b>안정적 모드</b>로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험 모드의 특징은 아래에 나열되어 있습니다 🌮 End-to-End Longitudinal Control 🌮 - + 🌮 E2E 롱컨트롤 🌮 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. diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 2dc1538017..4a698947f1 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1031,11 +1031,11 @@ trabalho definido 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 por padrão funciona em <b>modo chill</b>. modo Experimental ativa <b>recursos de nível-alfa</b> que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo: 🌮 End-to-End Longitudinal Control 🌮 - + 🌮 Controle Longitudinal de Ponta a Ponta 🌮 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. diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index fe569e1fb0..dc94fbc953 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -1025,11 +1025,11 @@ location set 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 默认 <b>轻松模式</b>驾驶车辆。试验模式启用一些轻松模式之外的 <b>试验性功能</b>。试验性功能包括： 🌮 End-to-End Longitudinal Control 🌮 - + 🌮 端到端（End-to-End） 纵向控制 🌮 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. diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 3ec67f3961..46fb5578a3 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -1027,11 +1027,11 @@ location set 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： 🌮 End-to-End Longitudinal Control 🌮 - + 🌮端到端縱向控制🌮 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. From fe2368c9eb14ee49eb59af6d892becdb4d449443 Mon Sep 17 00:00:00 2001 From: Oxygen Date: Wed, 16 Nov 2022 19:11:45 +0800 Subject: [PATCH 634/685] Updated main_zh-CHS.ts (#26524) --- selfdrive/ui/translations/main_zh-CHS.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index dc94fbc953..31202e45f2 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -285,11 +285,11 @@ ExperimentalModeButton EXPERIMENTAL MODE ON - + 试验模式运行 CHILL MODE ON - + 轻松模式运行 @@ -1013,15 +1013,15 @@ 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. - + 针对此车辆，openpilot默认使用车辆自带的ACC，而非openpilot的纵向控制。启用此选项将切换到openpilot纵向控制。当使用试验性的openpilot纵向控制时，建议同时启用试验模式。 Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - + 由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。 Enable experimental longitudinal control to allow experimental mode. - + 启用试验性的纵向控制，以便允许使用试验模式。 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: @@ -1033,15 +1033,15 @@ 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. - + 允许驾驶模型控制加速和制动，openpilot将模仿人类驾驶车辆，包括在红灯和停车让行标识前停车。鉴于驾驶模型确定行驶车速，所设定的车速仅作为上限。此功能尚处于早期测试状态，有可能会出现操作错误。 New Driving Visualization - + 新驾驶视角 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. - + 当低速行驶时，驾驶视角将切换到前向广角摄像头，便于更完整地显示转向路径。右上角将显示试验模式图标。 From e099e42147af23a700bf4b64e08540574aa1d285 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 16 Nov 2022 18:12:31 +0100 Subject: [PATCH 635/685] cabana: default factor to 1 (#26521) --- tools/cabana/detailwidget.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 192d1fd66c..8a221ed9db 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -235,7 +235,7 @@ void DetailWidget::addSignal(int start_bit, int size, bool little_endian) { } } } - Signal sig = {.is_little_endian = little_endian}; + Signal sig = {.is_little_endian = little_endian, .factor = 1}; for (int i = 1; /**/; ++i) { sig.name = "NEW_SIGNAL_" + std::to_string(i); if (msg->sigs.count(sig.name.c_str()) == 0) break; From e79a384a9bdc0f7421e2a914abf88a302a7e32a2 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Thu, 17 Nov 2022 02:13:41 +0900 Subject: [PATCH 636/685] Multilang: kor translation update (#26522) --- selfdrive/ui/translations/main_ko.ts | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 98d46149dd..bda64c53ab 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -285,11 +285,11 @@ ExperimentalModeButton EXPERIMENTAL MODE ON - + 실험적 모드 사용 CHILL MODE ON - + 안정적 모드 사용 @@ -875,7 +875,7 @@ location set Uninstall - 삭제 + 제거 @@ -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. - + 이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤을 사용하려면 이 옵션을 활성화하세요. 실험적 openpilot 롱컨트롤을 사용하는 경우 실험적 모드를 활성화 하세요. Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. - + 차량의 기본 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량에서는 실험적 모드를 사용할수 없습니다. Enable experimental longitudinal control to allow experimental mode. - + 실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요. 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. - + 주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. 이것은 알파 기능이므로 사용에 주의해야 합니다. New Driving Visualization - + 새로운 주행 시각화 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. - + 주행 시각화는 저속에서 도로를 향하는 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드 로고도 우측상단에 표시됩니다. From 8f9f015567a9f2dad66d31c25c514c436d1ba862 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 16 Nov 2022 18:25:36 +0100 Subject: [PATCH 637/685] add missing include (#26520) --- selfdrive/ui/qt/offroad/experimental_mode.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/offroad/experimental_mode.cc b/selfdrive/ui/qt/offroad/experimental_mode.cc index f73149cdf2..b99220c1d1 100644 --- a/selfdrive/ui/qt/offroad/experimental_mode.cc +++ b/selfdrive/ui/qt/offroad/experimental_mode.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include "selfdrive/ui/ui.h" From c3e2d35963a95bfeaf99048decbd6066c52113d8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 16 Nov 2022 14:20:00 -0800 Subject: [PATCH 638/685] offroad ui: update chill mode icon (#26523) * Add files via upload * Add files via upload * Delete thick couch.svg * Rename img_couch.svg to img_couch_old.svg * Rename thickerer couch.svg to img_couch.svg * Add files via upload * Rename img_couch.svg to img_couch_alt.svg * Rename best couch.svg to img_couch.svg * delete old files --- selfdrive/assets/img_couch.svg | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/assets/img_couch.svg b/selfdrive/assets/img_couch.svg index 5b3c048318..2e86012809 100644 --- a/selfdrive/assets/img_couch.svg +++ b/selfdrive/assets/img_couch.svg @@ -1,3 +1,4 @@ - - + + + From e3c913bfa1d8c534f351d6ead5c2156ee4ee4ffa Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 17 Nov 2022 07:43:49 +0800 Subject: [PATCH 639/685] Cabana: sort signal by start bit and keep cursor position after save (#26529) sort signals by start bit and keep cursor position after save --- tools/cabana/binaryview.cc | 14 +++++++------- tools/cabana/dbcmanager.cc | 9 +++++++++ tools/cabana/dbcmanager.h | 1 + tools/cabana/detailwidget.cc | 6 +++--- tools/cabana/signaledit.cc | 11 +++++++++-- tools/cabana/signaledit.h | 2 ++ 6 files changed, 31 insertions(+), 12 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index bcd2b88a81..7707316877 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -166,19 +166,19 @@ void BinaryViewModel::setMessage(const QString &message_id) { row_count = dbc_msg->size; items.resize(row_count * column_count); int i = 0; - for (auto &[name, sig] : dbc_msg->sigs) { - auto [start, end] = getSignalRange(&sig); + for (auto sig : dbc_msg->getSignals()) { + auto [start, end] = getSignalRange(sig); for (int j = start; j <= end; ++j) { - int bit_index = sig.is_little_endian ? bigEndianBitIndex(j) : j; + int bit_index = sig->is_little_endian ? bigEndianBitIndex(j) : j; int idx = column_count * (bit_index / 8) + bit_index % 8; if (idx >= items.size()) { - qWarning() << "signal " << name << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size; + qWarning() << "signal " << sig->name.c_str() << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size; break; } - if (j == start) sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; - if (j == end) sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; + if (j == start) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; + if (j == end) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; items[idx].bg_color = getColor(i); - items[idx].sigs.push_back(&sig); + items[idx].sigs.push_back(sig); } ++i; } diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 18f103d34c..e7d3ead9c6 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -107,6 +107,15 @@ DBCManager *dbc() { return &dbc_manager; } +// DBCMsg + +std::vector DBCMsg::getSignals() const { + std::vector ret; + for (auto &[name, 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; +} + // helper functions static QVector BIG_ENDIAN_START_BITS = []() { diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index b1d2082969..4e0bc91069 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -9,6 +9,7 @@ struct DBCMsg { QString name; uint32_t size; std::map sigs; + std::vector getSignals() const; }; class DBCManager : public QObject { diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 8a221ed9db..99cf45f5fa 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -149,7 +149,7 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { QStringList warnings; const DBCMsg *msg = dbc()->msg(msg_id); if (msg) { - for (auto &[name, sig] : msg->sigs) { + for (auto sig : msg->getSignals()) { SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr; if (!form) { form = new SignalEdit(i); @@ -162,8 +162,8 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { signals_layout->addWidget(form); signal_list.push_back(form); } - form->setSignal(msg_id, &sig); - form->setChartOpened(charts->isChartOpened(msg_id, &sig)); + form->setSignal(msg_id, sig); + form->setChartOpened(charts->isChartOpened(msg_id, sig)); ++i; } if (msg->size != can->lastMessage(msg_id).dat.size()) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index eb22b78d5a..6e4cf2a83a 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -116,11 +116,16 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa hline->setFrameShadow(QFrame::Sunken); main_layout->addWidget(hline); + save_timer = new QTimer(this); + save_timer->setInterval(300); + save_timer->setSingleShot(true); + save_timer->callOnTimeout(this, &SignalEdit::saveSignal); + QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) { emit showChart(msg_id, sig, checked); }); 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, &SignalEdit::saveSignal); + QObject::connect(form, &SignalForm::changed, [this]() { save_timer->start(); }); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); } @@ -174,7 +179,9 @@ void SignalEdit::setChartOpened(bool opened) { void SignalEdit::updateForm(bool visible) { if (visible && sig) { form->changed_by_user = false; - form->name->setText(sig->name.c_str()); + if (form->name->text() != sig->name.c_str()) { + form->name->setText(sig->name.c_str()); + } form->endianness->setCurrentIndex(sig->is_little_endian ? 0 : 1); form->sign->setCurrentIndex(sig->is_signed ? 0 : 1); form->factor->setText(QString::number(sig->factor)); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index da0b9758c7..f889a9c096 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -5,6 +5,7 @@ #include #include #include +#include #include #include "selfdrive/ui/qt/widgets/controls.h" @@ -57,6 +58,7 @@ protected: QLabel *icon; int form_idx = 0; QToolButton *plot_btn; + QTimer *save_timer; }; class SignalFindDlg : public QDialog { From b6de850dd7b9935ded59895a84b3edf5c767dae0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 17 Nov 2022 07:45:08 +0800 Subject: [PATCH 640/685] Cabana: save & restore splitter state (#26526) save & restore splitter state --- tools/cabana/mainwin.cc | 4 ++++ tools/cabana/settings.cc | 2 ++ tools/cabana/settings.h | 2 ++ 3 files changed, 8 insertions(+) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 7781ab3b75..324323ac44 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -55,6 +55,9 @@ MainWindow::MainWindow() : QMainWindow() { charts_widget = new ChartsWidget(this); detail_widget = new DetailWidget(charts_widget, this); splitter->addWidget(detail_widget); + if (!settings.splitter_state.isEmpty()) { + splitter->restoreState(settings.splitter_state); + } main_layout->addWidget(splitter); // right widgets @@ -247,6 +250,7 @@ void MainWindow::closeEvent(QCloseEvent *event) { if (floating_window) floating_window->deleteLater(); + settings.splitter_state = splitter->saveState(); settings.save(); QWidget::closeEvent(event); } diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index b3a4ed4872..be806aa705 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -21,6 +21,7 @@ void Settings::save() { 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); } void Settings::load() { @@ -32,6 +33,7 @@ void Settings::load() { 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(); } // SettingsDlg diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index e08d0ae55e..624a1ce33d 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -19,6 +20,7 @@ public: int chart_theme = 0; int max_chart_x_range = 3 * 60; // 3 minutes QString last_dir; + QByteArray splitter_state; signals: void changed(); From 2cd1571f4ae9f8aa1aa5879aa8c9107028d7f937 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 17 Nov 2022 00:45:28 +0100 Subject: [PATCH 641/685] Discover Qt paths using qmake (#26501) * discover qt paths using qmake * fix device build * use subprocess.check_output --- SConstruct | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/SConstruct b/SConstruct index 74680c0598..033e10a1f0 100644 --- a/SConstruct +++ b/SConstruct @@ -298,12 +298,15 @@ if arch == "Darwin": qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"] qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin")) else: - qt_env['QTDIR'] = "/usr" + 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"/usr/include/{real_arch}-linux-gnu/qt5", - f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui", + f"{qt_install_headers}", + f"{qt_install_headers}/QtGui/5.12.8/QtGui", ] - qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules] + qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules] qt_libs = [f"Qt5{m}" for m in qt_modules] if arch == "larch64": From 66edb15b8f558ce81b5a57af4e60fc24e1fc489c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 17 Nov 2022 07:51:05 +0800 Subject: [PATCH 642/685] Cabana: improve binary view (#26525) * improve * set minimum width * click signal to open&hide form * disable vertical header's click --- tools/cabana/binaryview.cc | 94 +++++++++++++++--------------------- tools/cabana/binaryview.h | 5 +- tools/cabana/canmessages.h | 6 --- tools/cabana/detailwidget.cc | 12 ++++- tools/cabana/detailwidget.h | 1 + tools/cabana/signaledit.cc | 3 +- 6 files changed, 54 insertions(+), 67 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 7707316877..dae4591976 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -23,11 +23,13 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { delegate = new BinaryItemDelegate(this); setItemDelegate(delegate); horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); + verticalHeader()->setSectionsClickable(false); horizontalHeader()->hide(); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents); setFrameShape(QFrame::NoFrame); + setShowGrid(false); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum); setMouseTracking(true); } @@ -46,46 +48,30 @@ void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionF return; QItemSelection selection; - auto [tl, br] = std::minmax(anchor_index, index); - if ((resize_sig && resize_sig->is_little_endian) || (!resize_sig && index < anchor_index)) { - // little_endian selection - if (tl.row() == br.row()) { - selection.merge({model->index(tl.row(), tl.column()), model->index(tl.row(), br.column())}, flags); - } else { - for (int row = tl.row(); row <= br.row(); ++row) { - int left_col = (row == br.row()) ? br.column() : 0; - int right_col = (row == tl.row()) ? tl.column() : 7; - selection.merge({model->index(row, left_col), model->index(row, right_col)}, flags); - } - } - } else { - // big endian selection - for (int row = tl.row(); row <= br.row(); ++row) { - int left_col = (row == tl.row()) ? tl.column() : 0; - int right_col = (row == br.row()) ? br.column() : 7; - selection.merge({model->index(row, left_col), model->index(row, right_col)}, flags); - } + auto [start, size, is_lb] = getSelection(index); + for (int i = start; i < start + size; ++i) { + auto idx = model->bitIndex(i, is_lb); + selection.merge({idx, idx}, flags); } selectionModel()->select(selection, flags); } void BinaryView::mousePressEvent(QMouseEvent *event) { delegate->setSelectionColor(style()->standardPalette().color(QPalette::Active, QPalette::Highlight)); - if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) { + if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) { anchor_index = index; auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); - if (item && item->sigs.size() > 0) { - int bit_idx = get_bit_index(anchor_index, true); - for (auto s : item->sigs) { - if (bit_idx == s->lsb || bit_idx == s->msb) { - resize_sig = s; - delegate->setSelectionColor(item->bg_color); - break; - } + int bit_idx = get_bit_index(anchor_index, true); + for (auto s : item->sigs) { + 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); + break; } } } - QTableView::mousePressEvent(event); + event->accept(); } void BinaryView::mouseMoveEvent(QMouseEvent *event) { @@ -104,28 +90,14 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) { auto release_index = indexAt(event->pos()); if (release_index.isValid() && anchor_index.isValid()) { - if (release_index.column() == 8) { - release_index = model->index(release_index.row(), 7); - } - bool little_endian = (resize_sig && resize_sig->is_little_endian) || (!resize_sig && release_index < anchor_index); - int release_bit_idx = get_bit_index(release_index, little_endian); - int archor_bit_idx = get_bit_index(anchor_index, little_endian); - if (resize_sig) { - auto [sig_from, sig_to] = getSignalRange(resize_sig); - int start_bit, end_bit; - if (archor_bit_idx == sig_from) { - std::tie(start_bit, end_bit) = std::minmax(release_bit_idx, sig_to); - if (start_bit >= sig_from && start_bit <= sig_to) - start_bit = std::min(start_bit + 1, sig_to); - } else { - std::tie(start_bit, end_bit) = std::minmax(release_bit_idx, sig_from); - if (end_bit >= sig_from && end_bit <= sig_to) - end_bit = std::max(end_bit - 1, sig_from); - } - emit resizeSignal(resize_sig, start_bit, end_bit - start_bit + 1); + if (selectionModel()->hasSelection()) { + auto [start_bit, size, is_lb] = getSelection(release_index); + resize_sig ? emit resizeSignal(resize_sig, start_bit, size) + : emit addSignal(start_bit, size, is_lb); } else { - auto [sart_bit, end_bit] = std::minmax(archor_bit_idx, release_bit_idx); - emit addSignal(sart_bit, end_bit - sart_bit + 1, little_endian); + auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); + if (item && item->sigs.size() > 0) + emit signalClicked(item->sigs.back()); } } clearSelection(); @@ -156,6 +128,17 @@ QSet BinaryView::getOverlappingSignals() const { return overlapping; } +std::tuple BinaryView::getSelection(QModelIndex index) { + if (index.column() == 8) { + index = model->index(index.row(), 7); + } + bool is_lb = (resize_sig && resize_sig->is_little_endian) || (!resize_sig && index < anchor_index); + int cur_bit_idx = get_bit_index(index, is_lb); + int anchor_bit_idx = get_bit_index(anchor_index, is_lb); + auto [start_bit, end_bit] = std::minmax(cur_bit_idx, anchor_bit_idx); + return {start_bit, end_bit - start_bit + 1, is_lb}; +} + // BinaryViewModel void BinaryViewModel::setMessage(const QString &message_id) { @@ -203,7 +186,7 @@ void BinaryViewModel::updateState() { char hex[3] = {'\0'}; for (int i = 0; i < std::min(binary.size(), row_count); ++i) { for (int j = 0; j < column_count - 1; ++j) { - items[i * column_count + j].val = QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0'); + items[i * column_count + j].val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0'; } hex[0] = toHex(binary[i] >> 4); hex[1] = toHex(binary[i] & 0xf); @@ -250,17 +233,16 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->save(); // background - bool hover = item->sigs.contains(bin_view->hoveredSignal()); - QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color; if (option.state & QStyle::State_Selected) { - bg_color = selection_color; + painter->fillRect(option.rect, selection_color); + } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) { + painter->fillRect(option.rect, item->bg_color); } - painter->fillRect(option.rect, bg_color); // text if (index.column() == 8) { // hex column painter->setFont(hex_font); - } else if (hover) { + } 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); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 2d6fc5c18b..0ea111d917 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -32,6 +32,7 @@ public: QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; } int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } + inline QModelIndex bitIndex(int bit, bool is_lb) const { return index(bit / 8, is_lb ? (7 - bit % 8) : bit % 8); } QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override { return createIndex(row, column, (void *)&items[row * column_count + column]); } @@ -63,15 +64,16 @@ public: void setMessage(const QString &message_id); void highlight(const Signal *sig); QSet getOverlappingSignals() const; - inline const Signal *hoveredSignal() const { return hovered_sig; } inline void updateState() { model->updateState(); } signals: + void signalClicked(const Signal *sig); void signalHovered(const Signal *sig); void addSignal(int start_bit, int size, bool little_endian); void resizeSignal(const Signal *sig, int from, int size); private: + std::tuple getSelection(QModelIndex index); void setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) override; void mousePressEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *event) override; @@ -83,4 +85,5 @@ private: BinaryItemDelegate *delegate; const Signal *resize_sig = nullptr; const Signal *hovered_sig = nullptr; + friend class BinaryItemDelegate; }; diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index ff41edad54..4cb0f403a0 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -80,11 +80,5 @@ inline const QString &getColor(int i) { return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; } -inline QColor hoverColor(const QColor &color) { - QColor c = color.convertTo(QColor::Hsv); - c.setHsv(color.hue(), 180, 180); - return c; -} - // A global pointer referring to the unique CANMessages object extern CANMessages *can; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 99cf45f5fa..52ae530a56 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -17,6 +17,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) { undo_stack = new QUndoStack(this); + setMinimumWidth(500); QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0); @@ -90,6 +91,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart tab_widget->addTab(history_log, "Logs"); main_layout->addWidget(tab_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); QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); }); @@ -197,9 +199,15 @@ void DetailWidget::updateState(const QHash * msgs) { 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 == s && !f->isFormVisible()); + for (auto f : signal_list) { + f->updateForm(f->sig == sig && !f->isFormVisible()); + if (f->sig == sig) scroll->ensureWidgetVisible(f); + } setUpdatesEnabled(true); } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 4346d1c5d5..41fa0edd41 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -28,6 +28,7 @@ public: QUndoStack *undo_stack = nullptr; private: + void showForm(const Signal *sig); void showFormClicked(); void updateChartState(const QString &id, const Signal *sig, bool opened); void showTabBarContextMenu(const QPoint &pt); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 6e4cf2a83a..a0660901cf 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -196,9 +196,8 @@ void SignalEdit::updateForm(bool visible) { } void SignalEdit::signalHovered(const Signal *s) { - auto bg_color = sig == s ? hoverColor(getColor(form_idx)) : QColor(getColor(form_idx)); auto color = sig == s ? "white" : "black"; - color_label->setStyleSheet(QString("color:%1; background-color:%2").arg(color).arg(bg_color.name())); + color_label->setStyleSheet(QString("color:%1; background-color:%2").arg(color).arg(getColor(form_idx))); } void SignalEdit::enterEvent(QEvent *event) { From 187f8c177a1a4d507a4ca145463f852cee3ce7aa Mon Sep 17 00:00:00 2001 From: Tim Wilson Date: Thu, 17 Nov 2022 03:03:13 -0700 Subject: [PATCH 643/685] Add video_link for GMC Sierra (#26506) * Add video_link for GMS Sierra * fix precommit Co-authored-by: Shane Smiskol --- selfdrive/car/gm/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 03392ba0f9..35f87307d6 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -100,7 +100,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { 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.SILVERADO: [ GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II", footnotes=[], harness=Harness.gm), - GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", footnotes=[], harness=Harness.gm), + GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE", footnotes=[], harness=Harness.gm), ], CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22", footnotes=[], harness=Harness.gm), } From 37ad8f4f3fe0e730c46ba60f60e9c8db20c4c20e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 18 Nov 2022 02:52:04 +0800 Subject: [PATCH 644/685] Cabana: support for multiple series in chart (#26538) * customize axis x & y * new function chartView::addSignal * support multiple series in chartView * more * show legend * update changed signals only * fix z value * cleanup * limit trake line in plot area * display signal name in value_text *   * fix axis y * add spaces * cache min max value for axis y * cleanup * better values text * remove force_update --- tools/cabana/chartswidget.cc | 316 +++++++++++++++++++++++------------ tools/cabana/chartswidget.h | 52 ++++-- tools/cabana/signaledit.cc | 7 +- tools/cabana/signaledit.h | 2 +- 4 files changed, 253 insertions(+), 124 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 06387b3585..4bd398a93b 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -4,11 +4,9 @@ #include #include #include +#include #include -#include -#include #include -#include // ChartsWidget @@ -19,7 +17,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { // toolbar QToolBar *toolbar = new QToolBar(tr("Charts"), this); title_label = new QLabel(); - title_label->setSizePolicy(QSizePolicy::Expanding,QSizePolicy::Preferred); + title_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); toolbar->addWidget(title_label); toolbar->addWidget(range_label = new QLabel()); reset_zoom_btn = toolbar->addAction("⟲"); @@ -42,21 +40,10 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(charts_scroll); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { removeAll(nullptr); }); - QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeAll); - QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartsWidget::signalUpdated); - QObject::connect(dbc(), &DBCManager::msgRemoved, [this](uint32_t address) { - for (auto c : charts.toVector()) - if (DBCManager::parseId(c->id).second == address) removeChart(c); - }); - QObject::connect(dbc(), &DBCManager::msgUpdated, [this](uint32_t address) { - for (auto c : charts) { - if (DBCManager::parseId(c->id).second == address) c->updateTitle(); - } - }); + 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(remove_all_btn, &QAction::triggered, [this]() { removeAll(); }); + 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]() { emit dock(!docking); @@ -81,8 +68,8 @@ void ChartsWidget::zoomIn(double min, double max) { zoomed_range = {min, max}; is_zoomed = zoomed_range != display_range; updateToolBar(); - emit rangeChanged(min, max, is_zoomed); updateState(); + emit rangeChanged(min, max, is_zoomed); } void ChartsWidget::zoomReset() { @@ -108,13 +95,13 @@ void ChartsWidget::updateState() { if (prev_range != display_range) { QFutureSynchronizer future_synchronizer; for (auto c : charts) - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, display_range)); + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::setEventsRange, display_range)); } } const auto &range = is_zoomed ? zoomed_range : display_range; for (auto c : charts) { - c->setRange(range.first, range.second); + c->setDisplayRange(range.first, range.second); c->updateLineMarker(current_sec); } } @@ -128,49 +115,45 @@ void ChartsWidget::updateToolBar() { dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); } -void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show) { - auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); - if (it != charts.end()) { - if (!show) removeChart((*it)); - } else if (show) { - auto chart = new ChartView(id, sig, this); - chart->updateSeries(display_range); - QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); - QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); - QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); - charts_layout->insertWidget(0, chart); - charts.push_back(chart); - emit chartOpened(chart->id, chart->signal); +ChartView *ChartsWidget::findChart(const QString &id, const Signal *sig) { + for (auto c : charts) + if (c->hasSeries(id, sig)) return c; + return nullptr; +} + +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 { + ChartView *chart = merge && charts.size() > 0 ? charts.back() : nullptr; + if (!chart) { + chart = new ChartView(this); + chart->setEventsRange(display_range); + 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); + charts_layout->insertWidget(0, chart); + charts.push_back(chart); + } + chart->addSeries(id, sig); + emit chartOpened(id, sig); updateState(); } updateToolBar(); } -bool ChartsWidget::isChartOpened(const QString &id, const Signal *sig) { - auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); - return it != charts.end(); -} - void ChartsWidget::removeChart(ChartView *chart) { charts.removeOne(chart); chart->deleteLater(); updateToolBar(); - emit chartClosed(chart->id, chart->signal); } -void ChartsWidget::removeAll(const Signal *sig) { +void ChartsWidget::removeAll() { for (auto c : charts.toVector()) - if (!sig || c->signal == sig) removeChart(c); -} - -void ChartsWidget::signalUpdated(const Signal *sig) { - for (auto c : charts) { - if (c->signal == sig) { - c->updateTitle(); - c->updateSeries(display_range); - c->setRange(display_range.first, display_range.second, true); - } - } + removeChart(c); } bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { @@ -183,14 +166,14 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { // ChartView -ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) - : id(id), signal(sig), QChartView(nullptr, parent) { - QLineSeries *series = new QLineSeries(); +ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { QChart *chart = new QChart(); chart->setBackgroundRoundness(0); - chart->addSeries(series); - chart->createDefaultAxes(); - chart->legend()->hide(); + axis_x = new QValueAxis(this); + axis_y = new QValueAxis(this); + chart->addAxis(axis_x, Qt::AlignBottom); + 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}); @@ -213,33 +196,108 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) remove_btn->setToolTip(tr("Remove Chart")); close_btn_proxy = new QGraphicsProxyWidget(chart); close_btn_proxy->setWidget(remove_btn); + close_btn_proxy->setZValue(chart->zValue() + 11); setChart(chart); setRenderHint(QPainter::Antialiasing); setRubberBand(QChartView::HorizontalRubberBand); updateFromSettings(); - updateTitle(); 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, [=]() { emit remove(id, sig); }); + 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() { + 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); + chart()->addSeries(series); + series->attachAxis(axis_x); + series->attachAxis(axis_y); + auto [source, address] = DBCManager::parseId(msg_id); + sigs.push_back({.msg_id = msg_id, .address = address, .source = source, .sig = sig, .series = series}); + updateTitle(); + updateSeries(sig); +} + +void ChartView::removeSeries(const QString &msg_id, const Signal *sig) { + auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); + if (it != sigs.end()) { + it = removeSeries(it); + } +} + +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(); +} + +QList::iterator ChartView::removeSeries(const QList::iterator &it) { + chart()->removeSeries(it->series); + it->series->deleteLater(); + emit seriesRemoved(it->msg_id, it->sig); + + auto ret = sigs.erase(it); + if (!sigs.isEmpty()) { + updateAxisY(); + } else { + emit remove(); + } + return ret; +} + +void ChartView::signalUpdated(const Signal *sig) { + auto it = std::find_if(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; }); + if (it != sigs.end()) { + updateTitle(); + // TODO: don't update series if only name changed. + updateSeries(sig); + } +} + +void ChartView::signalRemoved(const Signal *sig) { + for (auto it = sigs.begin(); it != sigs.end(); /**/) { + it = (it->sig == sig) ? removeSeries(it) : ++it; + } +} + +void ChartView::msgUpdated(uint32_t address) { + auto it = std::find_if(sigs.begin(), sigs.end(), [=](auto &s) { return s.address == address; }); + if (it != sigs.end()) + updateTitle(); +} + +void ChartView::msgRemoved(uint32_t address) { + for (auto it = sigs.begin(); it != sigs.end(); /**/) { + it = (it->address == address) ? removeSeries(it) : ++it; + } +} + void ChartView::resizeEvent(QResizeEvent *event) { QChartView::resizeEvent(event); close_btn_proxy->setPos(event->size().width() - close_btn_proxy->size().width() - 11, 8); } void ChartView::updateTitle() { - chart()->setTitle(tr("%1 %2 %3").arg(dbc()->msg(id)->name).arg(id).arg(signal->name.c_str())); + for (auto &s : sigs) { + s.series->setName(QString("%1 %2 %3").arg(s.sig->name.c_str()).arg(msgName(s.msg_id)).arg(s.msg_id)); + } } void ChartView::updateFromSettings() { @@ -249,9 +307,15 @@ void ChartView::updateFromSettings() { line_marker->setPen(QPen(color, 2)); } -void ChartView::setRange(double min, double max, bool force_update) { - auto axis_x = dynamic_cast(chart()->axisX()); - if (force_update || (min != axis_x->min() || max != axis_x->max())) { +void ChartView::setEventsRange(const std::pair &range) { + if (range != events_range) { + events_range = range; + updateSeries(); + } +} + +void ChartView::setDisplayRange(double min, double max) { + if (min != axis_x->min() || max != axis_x->max()) { axis_x->setRange(min, max); updateAxisY(); } @@ -268,7 +332,6 @@ void ChartView::adjustChartMargins() { } void ChartView::updateLineMarker(double current_sec) { - auto axis_x = dynamic_cast(chart()->axisX()); int x = chart()->plotArea().left() + chart()->plotArea().width() * (current_sec - axis_x->min()) / (axis_x->max() - axis_x->min()); if (int(line_marker->line().x1()) != x) { @@ -276,48 +339,72 @@ void ChartView::updateLineMarker(double current_sec) { } } -void ChartView::updateSeries(const std::pair range) { +void ChartView::updateSeries(const Signal *sig) { auto events = can->events(); if (!events) return; - vals.clear(); - vals.reserve((range.second - range.first) * 1000); // [n]seconds * 1000hz - auto [bus, address] = DBCManager::parseId(id); - double route_start_time = can->routeStartTime(); - Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + range.first) * 1e9); - auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); - double end_ns = (route_start_time + range.second) * 1e9; - for (auto it = begin; it != events->end() && (*it)->mono_time <= end_ns; ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - if (bus == c.getSrc() && address == c.getAddress()) { - auto dat = c.getDat(); - double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *signal); - double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds - vals.push_back({ts, value}); + for (int i = 0; i < sigs.size(); ++i) { + if (auto &s = sigs[i]; !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(); + s.max_y = std::numeric_limits::lowest(); + + double route_start_time = can->routeStartTime(); + Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + events_range.first) * 1e9); + auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); + double end_ns = (route_start_time + events_range.second) * 1e9; + + for (auto it = begin; it != events->end() && (*it)->mono_time <= end_ns; ++it) { + if ((*it)->which == cereal::Event::Which::CAN) { + for (const auto &c : (*it)->event.getCan()) { + if (s.source == c.getSrc() && s.address == c.getAddress()) { + auto dat = c.getDat(); + double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig); + double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds + s.vals.push_back({ts, value}); + + if (value < s.min_y) s.min_y = value; + if (value > s.max_y) s.max_y = value; + } + } } } + + QLineSeries *series = (QLineSeries *)chart()->series()[i]; + series->replace(s.vals); } } - QLineSeries *series = (QLineSeries *)chart()->series()[0]; - series->replace(vals); + updateAxisY(); } // auto zoom on yaxis void ChartView::updateAxisY() { - const auto axis_x = dynamic_cast(chart()->axisX()); - const auto axis_y = dynamic_cast(chart()->axisY()); - auto begin = std::lower_bound(vals.begin(), vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - if (begin == vals.end()) - return; - - auto end = std::upper_bound(vals.begin(), vals.end(), axis_x->max(), [](double x, auto &p) { return x < p.x(); }); - const auto [min, max] = std::minmax_element(begin, end, [](auto &p1, auto &p2) { return p1.y() < p2.y(); }); - if (max->y() == min->y()) { - axis_y->setRange(min->y() - 1, max->y() + 1); + 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()}) { + for (auto &s : sigs) { + if (s.min_y < min_y) min_y = s.min_y; + if (s.max_y > max_y) max_y = s.max_y; + } } else { - double range = max->y() - min->y(); - axis_y->setRange(min->y() - range * 0.05, max->y() + range * 0.05); + 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(); + } + } + + if (max_y == min_y) { + 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(); } } @@ -333,7 +420,6 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { rubber->hide(); QRectF rect = rubber->geometry().normalized(); rect.translate(-chart()->plotArea().topLeft()); - const auto axis_x = dynamic_cast(chart()->axisX()); double min = axis_x->min() + (rect.left() / chart()->plotArea().width()) * (axis_x->max() - axis_x->min()); double max = axis_x->min() + (rect.right() / chart()->plotArea().width()) * (axis_x->max() - axis_x->min()); if (rubber->width() <= 0) { @@ -357,26 +443,40 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { void ChartView::mouseMoveEvent(QMouseEvent *ev) { auto rubber = findChild(); bool is_zooming = rubber && rubber->isVisible(); - if (!is_zooming) { - const auto plot_area = chart()->plotArea(); - auto axis_x = dynamic_cast(chart()->axisX()); + 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(); - auto value = std::upper_bound(vals.begin(), vals.end(), sec, [](double x, auto &p) { return x < p.x(); }); - if (value != vals.end()) { - QPointF pos = chart()->mapToPosition((*value)); + QStringList text_list; + QPointF pos = plot_area.bottomRight(); + double tm = 0.0; + + 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; + } + } + + 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()); - track_ellipse->setRect(pos.x() - 5, pos.y() - 5, 10, 10); - value_text->setHtml(tr("
%1, %2)
") - .arg(value->x(), 0, 'f', 3).arg(value->y())); int text_x = pos.x() + 8; - if ((text_x + value_text->boundingRect().width()) > plot_area.right()) { - text_x = pos.x() - value_text->boundingRect().width() - 8; + 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() - 10); + value_text->setPos(text_x, pos.y() - text_rect.height() / 2); + track_ellipse->setRect(pos.x() - 5, pos.y() - 5, 10, 10); } - item_group->setVisible(value != vals.end()); + item_group->setVisible(!text_list.isEmpty()); } else { + item_group->setVisible(false); setViewportUpdateMode(QGraphicsView::FullViewportUpdate); } QChartView::mouseMoveEvent(ev); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 20c673a757..e32072a831 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -8,6 +8,8 @@ #include #include #include +#include +#include #include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" @@ -18,35 +20,59 @@ class ChartView : public QChartView { Q_OBJECT public: - ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr); - void updateSeries(const std::pair range); - void setRange(double min, double max, bool force_update = false); + 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; + void updateSeries(const Signal *sig = nullptr); + void setEventsRange(const std::pair &range); + void setDisplayRange(double min, double max); void updateLineMarker(double current_sec); - void updateFromSettings(); - void updateTitle(); - QString id; - const Signal *signal; + struct SigItem { + QString msg_id; + uint8_t source = 0; + uint32_t address = 0; + const Signal *sig = nullptr; + QLineSeries *series = nullptr; + double min_y = 0; + double max_y = 0; + QVector vals; + }; signals: + void seriesRemoved(const QString &id, const Signal *sig); void zoomIn(double min, double max); void zoomReset(); - void remove(const QString &msg_id, const Signal *sig); + void remove(); + +private slots: + void msgRemoved(uint32_t address); + void msgUpdated(uint32_t address); + void signalUpdated(const Signal *sig); + void signalRemoved(const Signal *sig); private: + QList::iterator removeSeries(const QList::iterator &it); void mouseReleaseEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *ev) override; void leaveEvent(QEvent *event) override; void resizeEvent(QResizeEvent *event) override; void adjustChartMargins(); void updateAxisY(); + void updateTitle(); + void updateFromSettings(); + QValueAxis *axis_x; + QValueAxis *axis_y; QGraphicsItemGroup *item_group; QGraphicsLineItem *line_marker, *track_line; QGraphicsEllipseItem *track_ellipse; QGraphicsTextItem *value_text; QGraphicsProxyWidget *close_btn_proxy; - QVector vals; + std::pair events_range = {0, 0}; + QList sigs; }; class ChartsWidget : public QWidget { @@ -54,9 +80,9 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); - void showChart(const QString &id, const Signal *sig, bool show); + void showChart(const QString &id, const Signal *sig, bool show, bool merge); void removeChart(ChartView *chart); - bool isChartOpened(const QString &id, const Signal *sig); + inline bool isChartOpened(const QString &id, const Signal *sig) { return findChart(id, sig) != nullptr; } signals: void dock(bool floating); @@ -69,10 +95,10 @@ private: void updateState(); void zoomIn(double min, double max); void zoomReset(); - void signalUpdated(const Signal *sig); void updateToolBar(); - void removeAll(const Signal *sig = nullptr); + void removeAll(); bool eventFilter(QObject *obj, QEvent *event) override; + ChartView *findChart(const QString &id, const Signal *sig); QLabel *title_label; QLabel *range_label; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index a0660901cf..93b7aa88f7 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include #include @@ -122,7 +123,9 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa save_timer->callOnTimeout(this, &SignalEdit::saveSignal); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); - QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) { emit showChart(msg_id, sig, checked); }); + 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(); }); @@ -172,7 +175,7 @@ void SignalEdit::saveSignal() { } void SignalEdit::setChartOpened(bool opened) { - plot_btn->setToolTip(opened ? tr("Close Plot") : tr("Show Plot")); + plot_btn->setToolTip(opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened chart")); plot_btn->setChecked(opened); } diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index f889a9c096..f035797e72 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -42,7 +42,7 @@ public: signals: void highlight(const Signal *sig); - void showChart(const QString &name, const Signal *sig, bool show); + 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(); From 9c815c2081fb61dfe84a79b617f17280c0396773 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 19 Nov 2022 02:25:11 +0800 Subject: [PATCH 645/685] Cabana: draw line marker in drawForegound (#26542) draw line marker in drawForegound --- tools/cabana/chartswidget.cc | 25 ++++++++----------------- tools/cabana/chartswidget.h | 4 ++-- 2 files changed, 10 insertions(+), 19 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 4bd398a93b..5a129b5f61 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -102,7 +102,7 @@ void ChartsWidget::updateState() { const auto &range = is_zoomed ? zoomed_range : display_range; for (auto c : charts) { c->setDisplayRange(range.first, range.second); - c->updateLineMarker(current_sec); + c->scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } } @@ -178,9 +178,6 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { // top margin for title chart->setMargins({0, 11, 0, 0}); - line_marker = new QGraphicsLineItem(chart); - line_marker->setZValue(chart->zValue() + 10); - track_line = new QGraphicsLineItem(chart); track_line->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); track_ellipse = new QGraphicsEllipseItem(chart); @@ -304,7 +301,6 @@ void ChartView::updateFromSettings() { setFixedHeight(settings.chart_height); chart()->setTheme(settings.chart_theme == 0 ? QChart::ChartThemeLight : QChart::QChart::ChartThemeDark); auto color = chart()->titleBrush().color(); - line_marker->setPen(QPen(color, 2)); } void ChartView::setEventsRange(const std::pair &range) { @@ -327,15 +323,6 @@ void ChartView::adjustChartMargins() { if (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)); - updateLineMarker(can->currentSec()); - } -} - -void ChartView::updateLineMarker(double current_sec) { - int x = chart()->plotArea().left() + - chart()->plotArea().width() * (current_sec - axis_x->min()) / (axis_x->max() - axis_x->min()); - if (int(line_marker->line().x1()) != x) { - line_marker->setLine(x, chart()->plotArea().top() - chart()->margins().top() + 3, x, height()); } } @@ -429,7 +416,6 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { // zoom in if selected range is greater than 0.5s emit zoomIn(min, max); } - viewport()->update(); event->accept(); } else if (event->button() == Qt::RightButton) { emit zoomReset(); @@ -437,7 +423,6 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } else { QGraphicsView::mouseReleaseEvent(event); } - setViewportUpdateMode(QGraphicsView::MinimalViewportUpdate); } void ChartView::mouseMoveEvent(QMouseEvent *ev) { @@ -477,7 +462,13 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { item_group->setVisible(!text_list.isEmpty()); } else { item_group->setVisible(false); - setViewportUpdateMode(QGraphicsView::FullViewportUpdate); } QChartView::mouseMoveEvent(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()); + 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 e32072a831..8f0af95b1a 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -28,7 +28,6 @@ public: void updateSeries(const Signal *sig = nullptr); void setEventsRange(const std::pair &range); void setDisplayRange(double min, double max); - void updateLineMarker(double current_sec); struct SigItem { QString msg_id; @@ -63,11 +62,12 @@ private: void updateAxisY(); void updateTitle(); void updateFromSettings(); + void drawForeground(QPainter *painter, const QRectF &rect) override; QValueAxis *axis_x; QValueAxis *axis_y; QGraphicsItemGroup *item_group; - QGraphicsLineItem *line_marker, *track_line; + QGraphicsLineItem *track_line; QGraphicsEllipseItem *track_ellipse; QGraphicsTextItem *value_text; QGraphicsProxyWidget *close_btn_proxy; From 34c80a6fbdf8780ad0b75f497c226cf1d9de0ddb Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 18 Nov 2022 17:50:24 -0800 Subject: [PATCH 646/685] Albert Einstein Model (#26456) * d0bc247d-9529-4e50-a5dd-95a8a5733874/440 38fb1ce9-18d7-4292-9ffd-678f8483ebf4/700 * update model replay ref commit --- 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 8805b3dce8..c0db988cf6 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:db746e3753de84367595fedd089c2bd41b06bd401ea28e085663533d0e63d74b +oid sha256:c73998c9f428380dd2282b451de6011469b717498ae83578cbf7aa95948910f7 size 45962473 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index f541b6a6d5..cdd6ed7a6b 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -30efb4238327d723e17a3bda7e7c19c18f8a3b18 +ca02aa240e629920ad88a6510213cb0a153af92b 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 647/685] 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 648/685] 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 649/685] 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 650/685] 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 651/685] 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 652/685] 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 653/685] 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 654/685] 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 655/685] 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 656/685] 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 657/685] 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 658/685] 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 659/685] 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 660/685] 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 661/685] 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 662/685] 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 663/685] 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 664/685] 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 665/685] 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 666/685] 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 667/685] 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 668/685] 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 669/685] 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 670/685] 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 671/685] 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 672/685] 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 673/685] 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 674/685] 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 675/685] 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 676/685] 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 677/685] 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 678/685] 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 679/685] 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 680/685] 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 681/685] 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 682/685] 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 683/685] 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 684/685] 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 685/685] 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), },