diff --git a/RELEASES.md b/RELEASES.md index 211e63a755..7d55887ec4 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -3,6 +3,7 @@ Version 0.9.1 (2022-12-XX) * Adjust alert volume using ambient noise level * Removed driver monitoring timer resetting on interaction if face detected and distracted * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler! +* Genesis GV60 2023 support thanks to sunnyhaibin! * Hyundai Tucson 2022-23 support * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin! diff --git a/cereal b/cereal index 439429cad4..22b1431132 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 439429cad4d1e2ab874520cb5d4db8b8d978cbde +Subproject commit 22b1431132b038253a24ab3fbbe3af36ef93b95b diff --git a/common/prefix.h b/common/prefix.h new file mode 100644 index 0000000000..f5abe14b2b --- /dev/null +++ b/common/prefix.h @@ -0,0 +1,34 @@ +#pragma once + +#include +#include + +#include "common/params.h" +#include "common/util.h" + +class OpenpilotPrefix { +public: + OpenpilotPrefix(std::string prefix = {}) { + if (prefix.empty()) { + prefix = util::random_string(15); + } + msgq_path = "/dev/shm/" + prefix; + bool ret = util::create_directories(msgq_path, 0777); + assert(ret); + setenv("OPENPILOT_PREFIX", prefix.c_str(), 1); + } + + ~OpenpilotPrefix() { + auto param_path = Params().getParamPath(); + if (util::file_exists(param_path)) { + std::string real_path = util::readlink(param_path); + system(util::string_format("rm %s -rf", real_path.c_str()).c_str()); + unlink(param_path.c_str()); + } + system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str()); + unsetenv("OPENPILOT_PREFIX"); + } + +private: + std::string msgq_path; +}; diff --git a/common/util.cc b/common/util.cc index 010fe8a11a..10dff6a9ea 100644 --- a/common/util.cc +++ b/common/util.cc @@ -10,6 +10,7 @@ #include #include #include +#include #include #ifdef __linux__ @@ -228,6 +229,18 @@ std::string hexdump(const uint8_t* in, const size_t size) { return ss.str(); } +std::string random_string(std::string::size_type length) { + const char* chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ"; + std::mt19937 rg{std::random_device{}()}; + std::uniform_int_distribution pick(0, sizeof(chrs) - 2); + std::string s; + s.reserve(length); + while (length--) { + s += chrs[pick(rg)]; + } + return s; +} + std::string dir_name(std::string const &path) { size_t pos = path.find_last_of("/"); if (pos == std::string::npos) return ""; diff --git a/common/util.h b/common/util.h index b46f7bde4a..028074384e 100644 --- a/common/util.h +++ b/common/util.h @@ -75,6 +75,7 @@ int getenv(const char* key, int default_val); float getenv(const char* key, float default_val); std::string hexdump(const uint8_t* in, const size_t size); +std::string random_string(std::string::size_type length); std::string dir_name(std::string const& path); // **** file fhelpers ***** diff --git a/docs/CARS.md b/docs/CARS.md index c92c0b2270..5c7fe57a89 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 219 Supported Cars +# 220 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -32,6 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F| |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| +|Genesis|GV60 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Genesis|GV70 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L| |GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| @@ -60,7 +61,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| -|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| |Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| diff --git a/opendbc b/opendbc index 1f8aa057bc..4a7ad636ff 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 1f8aa057bc1c96fcf8a2b612a9897ce91e627381 +Subproject commit 4a7ad636ff806146a93f7ae541e463a7dfa5696d diff --git a/release/files_common b/release/files_common index f2df97953e..2d9be1ee41 100644 --- a/release/files_common +++ b/release/files_common @@ -149,6 +149,7 @@ selfdrive/debug/vw_mqb_config.py common/SConscript common/version.h +common/prefix.h common/swaglog.h common/swaglog.cc common/statlog.h diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 5b351ca0f5..d1cc4cea83 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -1,4 +1,6 @@ #!/usr/bin/env python3 +from __future__ import annotations + import base64 import bz2 import hashlib @@ -14,14 +16,15 @@ import sys import tempfile import threading import time -from collections import namedtuple +from dataclasses import asdict, dataclass, replace from datetime import datetime from functools import partial -from typing import Any, Dict +from queue import Queue +from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast import requests from jsonrpc import JSONRPCResponseManager, dispatcher -from websocket import (ABNF, WebSocketException, WebSocketTimeoutException, +from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException, create_connection) import cereal.messaging as messaging @@ -54,19 +57,54 @@ WS_FRAME_SIZE = 4096 NetworkType = log.DeviceState.NetworkType +UploadFileDict = Dict[str, Union[str, int, float, bool]] +UploadItemDict = Dict[str, Union[str, bool, int, float, Dict[str, str]]] + +UploadFilesToUrlResponse = Dict[str, Union[int, List[UploadItemDict], List[str]]] + + +@dataclass +class UploadFile: + fn: str + url: str + headers: Dict[str, str] + allow_cellular: bool + + @classmethod + def from_dict(cls, d: Dict) -> UploadFile: + return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False)) + + +@dataclass +class UploadItem: + path: str + url: str + headers: Dict[str, str] + created_at: int + id: Optional[str] + retry_count: int = 0 + current: bool = False + progress: float = 0 + allow_cellular: bool = False + + @classmethod + def from_dict(cls, d: Dict) -> UploadItem: + return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"], + d["progress"], d["allow_cellular"]) + + dispatcher["echo"] = lambda s: s -recv_queue: Any = queue.Queue() -send_queue: Any = queue.Queue() -upload_queue: Any = queue.Queue() -low_priority_send_queue: Any = queue.Queue() -log_recv_queue: Any = queue.Queue() -cancelled_uploads: Any = set() -UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress', 'allow_cellular'], defaults=(0, False, 0, False)) +recv_queue: Queue[str] = queue.Queue() +send_queue: Queue[str] = queue.Queue() +upload_queue: Queue[UploadItem] = queue.Queue() +low_priority_send_queue: Queue[str] = queue.Queue() +log_recv_queue: Queue[str] = queue.Queue() +cancelled_uploads: Set[str] = set() -cur_upload_items: Dict[int, Any] = {} +cur_upload_items: Dict[int, Optional[UploadItem]] = {} -def strip_bz2_extension(fn): +def strip_bz2_extension(fn: str) -> str: if fn.endswith('.bz2'): return fn[:-4] return fn @@ -76,29 +114,30 @@ class AbortTransferException(Exception): pass -class UploadQueueCache(): +class UploadQueueCache: params = Params() @staticmethod - def initialize(upload_queue): + def initialize(upload_queue: Queue[UploadItem]) -> None: try: upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue") if upload_queue_json is not None: for item in json.loads(upload_queue_json): - upload_queue.put(UploadItem(**item)) + upload_queue.put(UploadItem.from_dict(item)) except Exception: cloudlog.exception("athena.UploadQueueCache.initialize.exception") @staticmethod - def cache(upload_queue): + def cache(upload_queue: Queue[UploadItem]) -> None: try: - items = [i._asdict() for i in upload_queue.queue if i.id not in cancelled_uploads] + queue: List[Optional[UploadItem]] = list(upload_queue.queue) + items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)] UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items)) except Exception: cloudlog.exception("athena.UploadQueueCache.cache.exception") -def handle_long_poll(ws): +def handle_long_poll(ws: WebSocket) -> None: end_event = threading.Event() threads = [ @@ -126,7 +165,7 @@ def handle_long_poll(ws): thread.join() -def jsonrpc_handler(end_event): +def jsonrpc_handler(end_event: threading.Event) -> None: dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event) while not end_event.is_set(): try: @@ -147,11 +186,12 @@ def jsonrpc_handler(end_event): def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = True) -> None: - if cur_upload_items[tid].retry_count < MAX_RETRY_COUNT: - item = cur_upload_items[tid] + item = cur_upload_items[tid] + if item is not None and item.retry_count < MAX_RETRY_COUNT: new_retry_count = item.retry_count + 1 if increase_count else item.retry_count - item = item._replace( + item = replace( + item, retry_count=new_retry_count, progress=0, current=False @@ -175,44 +215,44 @@ def upload_handler(end_event: threading.Event) -> None: cur_upload_items[tid] = None try: - cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True) + cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True) - if cur_upload_items[tid].id in cancelled_uploads: - cancelled_uploads.remove(cur_upload_items[tid].id) + if item.id in cancelled_uploads: + cancelled_uploads.remove(item.id) continue # Remove item if too old - age = datetime.now() - datetime.fromtimestamp(cur_upload_items[tid].created_at / 1000) + age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000) if age.total_seconds() > MAX_AGE: - cloudlog.event("athena.upload_handler.expired", item=cur_upload_items[tid], error=True) + cloudlog.event("athena.upload_handler.expired", item=item, error=True) continue # Check if uploading over metered connection is allowed sm.update(0) metered = sm['deviceState'].networkMetered network_type = sm['deviceState'].networkType.raw - if metered and (not cur_upload_items[tid].allow_cellular): + if metered and (not item.allow_cellular): retry_upload(tid, end_event, False) continue try: - def cb(sz, cur): + def cb(sz: int, cur: int) -> None: # Abort transfer if connection changed to metered after starting upload sm.update(0) metered = sm['deviceState'].networkMetered - if metered and (not cur_upload_items[tid].allow_cellular): + if metered and (not item.allow_cellular): raise AbortTransferException - cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1) + cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1) - fn = cur_upload_items[tid].path + fn = item.path try: sz = os.path.getsize(fn) except OSError: sz = -1 - cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=cur_upload_items[tid].retry_count) - response = _do_upload(cur_upload_items[tid], cb) + cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count) + response = _do_upload(item, cb) if response.status_code not in (200, 201, 401, 403, 412): cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered) @@ -234,7 +274,7 @@ def upload_handler(end_event: threading.Event) -> None: cloudlog.exception("athena.upload_handler.exception") -def _do_upload(upload_item, callback=None): +def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> requests.Response: path = upload_item.path compress = False @@ -244,27 +284,25 @@ def _do_upload(upload_item, callback=None): compress = True with open(path, "rb") as f: + data: BinaryIO if compress: cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path) - data = bz2.compress(f.read()) - size = len(data) - data = io.BytesIO(data) + compressed = bz2.compress(f.read()) + size = len(compressed) + data = io.BytesIO(compressed) else: size = os.fstat(f.fileno()).st_size data = f - if callback: - data = CallbackReader(data, callback, size) - return requests.put(upload_item.url, - data=data, + data=CallbackReader(data, callback, size) if callback else data, headers={**upload_item.headers, 'Content-Length': str(size)}, timeout=30) # security: user should be able to request any message from their car @dispatcher.add_method -def getMessage(service=None, timeout=1000): +def getMessage(service: str, timeout: int = 1000) -> Dict: if service is None or service not in service_list: raise Exception("invalid service") @@ -274,7 +312,8 @@ def getMessage(service=None, timeout=1000): if ret is None: raise TimeoutError - return ret.to_dict() + # this is because capnp._DynamicStructReader doesn't have typing information + return cast(Dict, ret.to_dict()) @dispatcher.add_method @@ -288,7 +327,7 @@ def getVersion() -> Dict[str, str]: @dispatcher.add_method -def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=None): +def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optional[str] = None, place_details: Optional[str] = None) -> Dict[str, int]: destination = { "latitude": latitude, "longitude": longitude, @@ -300,8 +339,8 @@ def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=No return {"success": 1} -def scan_dir(path, prefix): - files = list() +def scan_dir(path: str, prefix: str) -> List[str]: + files = [] # only walk directories that match the prefix # (glob and friends traverse entire dir tree) with os.scandir(path) as i: @@ -320,18 +359,18 @@ def scan_dir(path, prefix): return files @dispatcher.add_method -def listDataDirectory(prefix=''): +def listDataDirectory(prefix='') -> List[str]: return scan_dir(ROOT, prefix) @dispatcher.add_method -def reboot(): +def reboot() -> Dict[str, int]: sock = messaging.sub_sock("deviceState", timeout=1000) ret = messaging.recv_one(sock) if ret is None or ret.deviceState.started: raise Exception("Reboot unavailable") - def do_reboot(): + def do_reboot() -> None: time.sleep(2) HARDWARE.reboot() @@ -341,50 +380,53 @@ def reboot(): @dispatcher.add_method -def uploadFileToUrl(fn, url, headers): - return uploadFilesToUrls([{ +def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse: + # this is because mypy doesn't understand that the decorator doesn't change the return type + response: UploadFilesToUrlResponse = uploadFilesToUrls([{ "fn": fn, "url": url, "headers": headers, }]) + return response @dispatcher.add_method -def uploadFilesToUrls(files_data): - items = [] - failed = [] - for file in files_data: - fn = file.get('fn', '') - if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file: - failed.append(fn) +def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlResponse: + files = map(UploadFile.from_dict, files_data) + + items: List[UploadItemDict] = [] + failed: List[str] = [] + for file in files: + if len(file.fn) == 0 or file.fn[0] == '/' or '..' in file.fn or len(file.url) == 0: + failed.append(file.fn) continue - path = os.path.join(ROOT, fn) + path = os.path.join(ROOT, file.fn) if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)): - failed.append(fn) + failed.append(file.fn) continue # Skip item if already in queue - url = file['url'].split('?')[0] + url = file.url.split('?')[0] if any(url == item['url'].split('?')[0] for item in listUploadQueue()): continue item = UploadItem( path=path, - url=file['url'], - headers=file.get('headers', {}), + url=file.url, + headers=file.headers, created_at=int(time.time() * 1000), id=None, - allow_cellular=file.get('allow_cellular', False), + allow_cellular=file.allow_cellular, ) upload_id = hashlib.sha1(str(item).encode()).hexdigest() - item = item._replace(id=upload_id) + item = replace(item, id=upload_id) upload_queue.put_nowait(item) - items.append(item._asdict()) + items.append(asdict(item)) UploadQueueCache.cache(upload_queue) - resp = {"enqueued": len(items), "items": items} + resp: UploadFilesToUrlResponse = {"enqueued": len(items), "items": items} if failed: resp["failed"] = failed @@ -392,32 +434,32 @@ def uploadFilesToUrls(files_data): @dispatcher.add_method -def listUploadQueue(): +def listUploadQueue() -> List[UploadItemDict]: items = list(upload_queue.queue) + list(cur_upload_items.values()) - return [i._asdict() for i in items if (i is not None) and (i.id not in cancelled_uploads)] + return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)] @dispatcher.add_method -def cancelUpload(upload_id): +def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]: if not isinstance(upload_id, list): upload_id = [upload_id] uploading_ids = {item.id for item in list(upload_queue.queue)} cancelled_ids = uploading_ids.intersection(upload_id) if len(cancelled_ids) == 0: - return 404 + return {"success": 0, "error": "not found"} cancelled_uploads.update(cancelled_ids) return {"success": 1} @dispatcher.add_method -def primeActivated(activated): +def primeActivated(activated: bool) -> Dict[str, int]: return {"success": 1} @dispatcher.add_method -def setBandwithLimit(upload_speed_kbps, download_speed_kbps): +def setBandwithLimit(upload_speed_kbps: int, download_speed_kbps: int) -> Dict[str, Union[int, str]]: if not AGNOS: return {"success": 0, "error": "only supported on AGNOS"} @@ -428,7 +470,7 @@ def setBandwithLimit(upload_speed_kbps, download_speed_kbps): return {"success": 0, "error": "failed to set limit", "stdout": e.stdout, "stderr": e.stderr} -def startLocalProxy(global_end_event, remote_ws_uri, local_port): +def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]: try: if local_port not in LOCAL_PORT_WHITELIST: raise Exception("Requested local port not whitelisted") @@ -462,7 +504,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port): @dispatcher.add_method -def getPublicKey(): +def getPublicKey() -> Optional[str]: if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'): return None @@ -471,7 +513,7 @@ def getPublicKey(): @dispatcher.add_method -def getSshAuthorizedKeys(): +def getSshAuthorizedKeys() -> str: return Params().get("GithubSshKeys", encoding='utf8') or '' @@ -486,7 +528,7 @@ def getNetworkType(): @dispatcher.add_method -def getNetworkMetered(): +def getNetworkMetered() -> bool: network_type = HARDWARE.get_network_type() return HARDWARE.get_network_metered(network_type) @@ -497,7 +539,7 @@ def getNetworks(): @dispatcher.add_method -def takeSnapshot(): +def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]: from system.camerad.snapshot.snapshot import jpeg_write, snapshot ret = snapshot() if ret is not None: @@ -514,16 +556,19 @@ def takeSnapshot(): raise Exception("not available while camerad is started") -def get_logs_to_send_sorted(): +def get_logs_to_send_sorted() -> List[str]: # TODO: scan once then use inotify to detect file creation/deletion curr_time = int(time.time()) logs = [] for log_entry in os.listdir(SWAGLOG_DIR): log_path = os.path.join(SWAGLOG_DIR, log_entry) + time_sent = 0 try: - time_sent = int.from_bytes(getxattr(log_path, LOG_ATTR_NAME), sys.byteorder) + value = getxattr(log_path, LOG_ATTR_NAME) + if value is not None: + time_sent = int.from_bytes(value, sys.byteorder) except (ValueError, TypeError): - time_sent = 0 + pass # assume send failed and we lost the response if sent more than one hour ago if not time_sent or curr_time - time_sent > 3600: logs.append(log_entry) @@ -531,7 +576,7 @@ def get_logs_to_send_sorted(): return sorted(logs)[:-1] -def log_handler(end_event): +def log_handler(end_event: threading.Event) -> None: if PC: return @@ -593,7 +638,7 @@ def log_handler(end_event): cloudlog.exception("athena.log_handler.exception") -def stat_handler(end_event): +def stat_handler(end_event: threading.Event) -> None: while not end_event.is_set(): last_scan = 0 curr_scan = sec_since_boot() @@ -619,7 +664,7 @@ def stat_handler(end_event): time.sleep(0.1) -def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event): +def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None: while not (end_event.is_set() or global_end_event.is_set()): try: data = ws.recv() @@ -638,7 +683,7 @@ def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event): end_event.set() -def ws_proxy_send(ws, local_sock, signal_sock, end_event): +def ws_proxy_send(ws: WebSocket, local_sock: socket.socket, signal_sock: socket.socket, end_event: threading.Event) -> None: while not end_event.is_set(): try: r, _, _ = select.select((local_sock, signal_sock), (), ()) @@ -663,7 +708,7 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event): cloudlog.debug("athena.ws_proxy_send done closing sockets") -def ws_recv(ws, end_event): +def ws_recv(ws: WebSocket, end_event: threading.Event) -> None: last_ping = int(sec_since_boot() * 1e9) while not end_event.is_set(): try: @@ -685,7 +730,7 @@ def ws_recv(ws, end_event): end_event.set() -def ws_send(ws, end_event): +def ws_send(ws: WebSocket, end_event: threading.Event) -> None: while not end_event.is_set(): try: try: @@ -704,7 +749,7 @@ def ws_send(ws, end_event): end_event.set() -def backoff(retries): +def backoff(retries: int) -> int: return random.randrange(0, min(128, int(2 ** retries))) diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 5e86a2e821..128fde0319 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -8,6 +8,7 @@ import time import threading import queue import unittest +from dataclasses import asdict, replace from datetime import datetime, timedelta from typing import Optional @@ -226,7 +227,7 @@ class TestAthenadMethods(unittest.TestCase): """When an upload times out or fails to connect it should be placed back in the queue""" fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) - item_no_retry = item._replace(retry_count=MAX_RETRY_COUNT) + item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT) end_event = threading.Event() thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) @@ -296,7 +297,7 @@ class TestAthenadMethods(unittest.TestCase): self.assertEqual(len(items), 0) @with_http_server - def test_listUploadQueueCurrent(self, host): + def test_listUploadQueueCurrent(self, host: str): fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) @@ -321,7 +322,7 @@ class TestAthenadMethods(unittest.TestCase): items = dispatcher["listUploadQueue"]() self.assertEqual(len(items), 1) - self.assertDictEqual(items[0], item._asdict()) + self.assertDictEqual(items[0], asdict(item)) self.assertFalse(items[0]['current']) athenad.cancelled_uploads.add(item.id) @@ -346,7 +347,7 @@ class TestAthenadMethods(unittest.TestCase): athenad.UploadQueueCache.initialize(athenad.upload_queue) self.assertEqual(athenad.upload_queue.qsize(), 1) - self.assertDictEqual(athenad.upload_queue.queue[-1]._asdict(), item1._asdict()) + self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1)) @mock.patch('selfdrive.athena.athenad.create_connection') def test_startLocalProxy(self, mock_create_connection): @@ -417,5 +418,6 @@ class TestAthenadMethods(unittest.TestCase): sl = athenad.get_logs_to_send_sorted() self.assertListEqual(sl, fl[:-1]) + if __name__ == '__main__': unittest.main() diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 56c981326f..63189bcd89 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -6,7 +6,16 @@ def create_buttons(packer, bus, idx, button): values = { "ACCButtons": button, "RollingCounter": idx, + "ACCAlwaysOne": 1, + "DistanceButton": 0, } + + checksum = 240 + int(values["ACCAlwaysOne"] * 0xf) + checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0) + checksum -= int(values["ACCButtons"] - 1) << 4 # not correct if value is 0 + checksum -= 2 * values["DistanceButton"] + + values["SteeringButtonChecksum"] = checksum return packer.make_can_msg("ASCMSteeringButton", bus, values) diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 87f8e6c5de..6861198158 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -13,7 +13,8 @@ def get_pt_bus(car_fingerprint): def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): - if radar_disabled: + no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS + if radar_disabled or no_radar: # when radar is disabled, steering commands are sent directly to powertrain bus return get_pt_bus(car_fingerprint) # normally steering commands are sent to radar, which forwards them to powertrain bus @@ -104,7 +105,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint): def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud): commands = [] bus_pt = get_pt_bus(CP.carFingerprint) - radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl + radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl bus_lkas = get_lkas_cmd_bus(CP.carFingerprint, radar_disabled) if CP.openpilotLongitudinalControl: @@ -153,7 +154,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, else: commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values)) - if radar_disabled and CP.carFingerprint in HONDA_BOSCH: + if radar_disabled: radar_hud_values = { 'CMBS_OFF': 0x01, 'SET_TO_1': 0x01, diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index ebb67b0e2e..5582499f25 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -125,7 +125,7 @@ class CarController: # blinkers if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: - can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, False, False)) + can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker)) if self.CP.openpilotLongitudinalControl: if hda2: diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index bd6b72f461..6d471071d6 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -32,7 +32,6 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] self.is_metric = False - self.brake_error = False self.buttons_counter = 0 self.cruise_info = {} @@ -105,8 +104,9 @@ class CarState(CarStateBase): # TODO: Find brake pressure ret.brake = 0 ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0 - ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY + ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1 + ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR): if self.CP.carFingerprint in HYBRID_CAR: @@ -147,7 +147,6 @@ class CarState(CarStateBase): self.lkas11 = copy.copy(cp_cam.vl["LKAS11"]) self.clu11 = copy.copy(cp.vl["CLU11"]) self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE - self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]) self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"]) @@ -199,9 +198,7 @@ class CarState(CarStateBase): ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 ret.cruiseState.available = True - cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" - distance_unit_msg = cruise_btn_msg if self.CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN else "CLUSTER_INFO" - self.is_metric = cp.vl[distance_unit_msg]["DISTANCE_UNIT"] != 1 + self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1 if not self.CP.openpilotLongitudinalControl: speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp @@ -210,10 +207,12 @@ class CarState(CarStateBase): ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2) self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"]) + cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" self.prev_cruise_buttons = self.cruise_buttons[-1] self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"]) self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"]) self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"] + ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.flags & HyundaiFlags.CANFD_HDA2: self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"]) @@ -435,12 +434,12 @@ class CarState(CarStateBase): ("LKA_FAULT", "MDPS"), ("DriverBraking", "TCS"), + ("ACCEnable", "TCS"), ("COUNTER", cruise_btn_msg), ("CRUISE_BUTTONS", cruise_btn_msg), ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg), - - ("DISTANCE_UNIT", "CLUSTER_INFO"), + ("DISTANCE_UNIT", "CRUISE_BUTTONS_ALT"), ("LEFT_LAMP", "BLINKERS"), ("RIGHT_LAMP", "BLINKERS"), @@ -449,21 +448,20 @@ class CarState(CarStateBase): ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"), ] - if CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN: - signals.append(("DISTANCE_UNIT", cruise_btn_msg)) - checks = [ ("WHEEL_SPEEDS", 100), (gear_msg, 100), ("STEERING_SENSORS", 100), ("MDPS", 100), ("TCS", 50), - (cruise_btn_msg, 50), - ("CLUSTER_INFO", 4), + ("CRUISE_BUTTONS_ALT", 50), ("BLINKERS", 4), ("DOORS_SEATBELTS", 4), ] + if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): + checks.append(("CRUISE_BUTTONS", 50)) + if CP.enableBsm: signals += [ ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index e271dc0e7d..811d629f70 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -191,6 +191,10 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications # Genesis + elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN: + ret.mass = 2205 + STD_CARGO_KG + ret.wheelbase = 2.9 + ret.steerRatio = 12.6 # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. elif candidate == CAR.GENESIS_G70: ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 + STD_CARGO_KG @@ -308,9 +312,6 @@ class CarInterface(CarInterfaceBase): allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons) events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable) - if self.CS.brake_error: - events.add(EventName.brakeUnavailable) - # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: self.low_speed_alert = True diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 41b6a58eca..cdcaf629af 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -112,6 +112,7 @@ class CAR: KIA_EV6 = "KIA EV6 2022" # Genesis + GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN" GENESIS_G70 = "GENESIS G70 2018" GENESIS_G70_2020 = "GENESIS G70 2020" GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN" @@ -139,7 +140,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: [ HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e), - HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e), + HyundaiCarInfo("Hyundai i30 2017-19", harness=Harness.hyundai_e), ], CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), @@ -218,6 +219,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], # Genesis + CAR.GENESIS_GV60_EV_1ST_GEN: HyundaiCarInfo("Genesis GV60 2023", "All", harness=Harness.hyundai_k), CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f), CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f), CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l), @@ -713,12 +715,14 @@ FW_VERSIONS = { b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0', b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0', + b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x82TACVN5GMI3XXXH0A', b'\xf1\x82TMBZN5TMD3XXXG2E', b'\xf1\x82TACVN5GSI3XXXH0A', b'\xf1\x82TMCFD5MMCXXXXG0A', + b'\xf1\x81HM6M1_0a0_G20', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A', b'\xf1\x81HM6M2_0a0_G00', b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10', @@ -743,6 +747,7 @@ FW_VERSIONS = { b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15', b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1 \xf1\x00T02601BL T02900A1 VTMPT25XXX900NS8\xb7\xaa\xfe\xfc', + b'\xf1\x00T02601BL T02800A1 VTMPT25XXX800NS4\xed\xaf\xed\xf5', ], }, CAR.SANTA_FE_HEV_2022: { @@ -1276,18 +1281,23 @@ FW_VERSIONS = { CAR.ELANTRA: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', + b'\xf1\x00PD LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', + b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', + b'\xf1\x00PD MDPS C 1.00 1.00 56310G3300\x00 4PDDC100', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', + b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', + b'\xf1\x00PD__ SCC FNCUP 1.01 1.00 96400-G3000 ', ], }, CAR.ELANTRA_2021: { @@ -1509,6 +1519,14 @@ FW_VERSIONS = { b'\xf1\x00JK1_ SCC FHCUP 1.00 1.02 99110-AR000 ', ], }, + CAR.GENESIS_GV60_EV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', + ], + }, } CHECKSUM = { @@ -1526,7 +1544,7 @@ FEATURES = { "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN} # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} @@ -1535,7 +1553,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN} # these cars use a different gas signal -EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5} +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN} # these cars require a special panda safety mode due to missing counters and checksums in the messages LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022} @@ -1593,4 +1611,5 @@ DBC = { CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None), CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None), + CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 89b895864a..3edc406e19 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -80,6 +80,7 @@ routes = [ CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), + CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12), CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN), CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 1eda931e3e..d7b2ec4079 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -35,6 +35,7 @@ KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1] KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1] GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1] KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1] +GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index a7b03f368b..d873074d11 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -749,6 +749,7 @@ FW_VERSIONS = { b'\x018966312Q8000\x00\x00\x00\x00', b'\x018966312R0000\x00\x00\x00\x00', b'\x018966312R0100\x00\x00\x00\x00', + b'\x018966312R0200\x00\x00\x00\x00', b'\x018966312R1000\x00\x00\x00\x00', b'\x018966312R1100\x00\x00\x00\x00', b'\x018966312R3100\x00\x00\x00\x00', @@ -802,6 +803,7 @@ FW_VERSIONS = { b'\x01F152612B60\x00\x00\x00\x00\x00\x00', b'\x01F152612B61\x00\x00\x00\x00\x00\x00', b'\x01F152612B62\x00\x00\x00\x00\x00\x00', + b'\x01F152612B70\x00\x00\x00\x00\x00\x00', b'\x01F152612B71\x00\x00\x00\x00\x00\x00', b'\x01F152612B81\x00\x00\x00\x00\x00\x00', b'\x01F152612B90\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 18a444bf7c..208d146e2f 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -807,6 +807,7 @@ FW_VERSIONS = { b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002', b'\xf1\x878V0906259F \xf1\x890002', + b'\xf1\x878V0906259H \xf1\x890002', b'\xf1\x878V0906259J \xf1\x890002', b'\xf1\x878V0906259K \xf1\x890001', b'\xf1\x878V0906264B \xf1\x890003', @@ -817,6 +818,7 @@ FW_VERSIONS = { b'\xf1\x870CW300044T \xf1\x895245', b'\xf1\x870CW300048 \xf1\x895201', b'\xf1\x870D9300012 \xf1\x894912', + b'\xf1\x870D9300012 \xf1\x894931', b'\xf1\x870D9300012K \xf1\x894513', b'\xf1\x870D9300013B \xf1\x894931', b'\xf1\x870D9300041N \xf1\x894512', @@ -839,12 +841,14 @@ FW_VERSIONS = { b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114', ], (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1', diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 6daf5b0bed..01c203be60 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -578,6 +578,11 @@ class Controls: actuators = CC.actuators actuators.longControlState = self.LoC.long_control_state + # Enable blinkers while lane changing + if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off: + CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left + CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right + if CS.leftBlinker or CS.rightBlinker: self.last_blinker_frame = self.sm.frame diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 9fbf565328..3036828662 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -806,9 +806,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { }, EventName.accFaulted: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Faulted"), - ET.PERMANENT: NormalPermanentAlert("Cruise Faulted", ""), - ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"), + ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"), + ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), + ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), }, EventName.accFaultedTemp: { diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index b10684eef3..8a2c2a8a91 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -18,5 +18,4 @@ if arch in ['larch64', 'x86_64']: nav_src = ["main.cc", "map_renderer.cc"] qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11']) - if GetOption('extras'): - qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging']) + qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging']) diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/selfdrive/sensord/sensors/bmx055_accel.cc index 78b3ac526d..78f5d64e79 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.cc +++ b/selfdrive/sensord/sensors/bmx055_accel.cc @@ -9,20 +9,8 @@ BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {} int BMX055_Accel::init() { - int ret = 0; - uint8_t buffer[1]; - - ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != BMX055_ACCEL_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID); - ret = -1; - goto fail; - } + int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}); + if (ret == -1) return -1; ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE); if (ret < 0) { diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/selfdrive/sensord/sensors/bmx055_gyro.cc index 9d70b9e431..2a938044f3 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.cc +++ b/selfdrive/sensord/sensors/bmx055_gyro.cc @@ -12,20 +12,8 @@ BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {} int BMX055_Gyro::init() { - int ret = 0; - uint8_t buffer[1]; - - ret =read_register(BMX055_GYRO_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != BMX055_GYRO_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_GYRO_CHIP_ID); - ret = -1; - goto fail; - } + int ret = verify_chip_id(BMX055_GYRO_I2C_REG_ID, {BMX055_GYRO_CHIP_ID}); + if (ret == -1) return -1; ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE); if (ret < 0) { diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/selfdrive/sensord/sensors/bmx055_magn.cc index 394b1e83d3..2f0d10412c 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.cc +++ b/selfdrive/sensord/sensors/bmx055_magn.cc @@ -66,8 +66,6 @@ static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {} int BMX055_Magn::init() { - int ret; - uint8_t buffer[1]; uint8_t trim_x1y1[2] = {0}; uint8_t trim_x2y2[2] = {0}; uint8_t trim_xy1xy2[2] = {0}; @@ -78,25 +76,18 @@ int BMX055_Magn::init() { uint8_t trim_xyz1[2] = {0}; // suspend -> sleep - ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01); + int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01); if(ret < 0) { LOGE("Enabling power failed: %d", ret); goto fail; } util::sleep_for(5); // wait until the chip is powered on - // read chip ID - ret = read_register(BMX055_MAGN_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); + ret = verify_chip_id(BMX055_MAGN_I2C_REG_ID, {BMX055_MAGN_CHIP_ID}); + if (ret == -1) { goto fail; } - if(buffer[0] != BMX055_MAGN_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_MAGN_CHIP_ID); - return -1; - } - // Load magnetometer trim ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2); if(ret < 0) goto fail; diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/selfdrive/sensord/sensors/bmx055_temp.cc index bdb34f1508..95b8068ac1 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.cc +++ b/selfdrive/sensord/sensors/bmx055_temp.cc @@ -9,23 +9,7 @@ BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {} int BMX055_Temp::init() { - int ret = 0; - uint8_t buffer[1]; - - ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != BMX055_ACCEL_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID); - ret = -1; - goto fail; - } - -fail: - return ret; + return verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}) == -1 ? -1 : 0; } bool BMX055_Temp::get_event(MessageBuilder &msg, uint64_t ts) { diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/selfdrive/sensord/sensors/i2c_sensor.h index 0de2a98738..08ca6f09cd 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.h +++ b/selfdrive/sensord/sensors/i2c_sensor.h @@ -2,12 +2,12 @@ #include #include - #include "cereal/gen/cpp/log.capnp.h" #include "common/i2c.h" #include "common/gpio.h" +#include "common/swaglog.h" #include "selfdrive/sensord/sensors/constants.h" #include "selfdrive/sensord/sensors/sensor.h" @@ -33,4 +33,18 @@ public: virtual int init() = 0; virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0; virtual int shutdown() = 0; + + int verify_chip_id(uint8_t address, const std::vector &expected_ids) { + uint8_t chip_id = 0; + int ret = read_register(address, &chip_id, 1); + if (ret < 0) { + LOGE("Reading chip ID failed: %d", ret); + return -1; + } + for (int i = 0; i < expected_ids.size(); ++i) { + if (chip_id == expected_ids[i]) return chip_id; + } + LOGE("Chip ID wrong. Got: %d, Expected %d", chip_id, expected_ids[0]); + return -1; + } }; diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/selfdrive/sensord/sensors/lsm6ds3_accel.cc index c19e3de7ed..c8eeb6e5dc 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_accel.cc @@ -118,8 +118,6 @@ int LSM6DS3_Accel::self_test(int test_type) { } int LSM6DS3_Accel::init() { - int ret = 0; - uint8_t buffer[1]; uint8_t value = 0; bool do_self_test = false; @@ -128,19 +126,10 @@ int LSM6DS3_Accel::init() { do_self_test = true; } - ret = read_register(LSM6DS3_ACCEL_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != LSM6DS3_ACCEL_CHIP_ID && buffer[0] != LSM6DS3TRC_ACCEL_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_ACCEL_CHIP_ID); - ret = -1; - goto fail; - } + int ret = verify_chip_id(LSM6DS3_ACCEL_I2C_REG_ID, {LSM6DS3_ACCEL_CHIP_ID, LSM6DS3TRC_ACCEL_CHIP_ID}); + if (ret == -1) return -1; - if (buffer[0] == LSM6DS3TRC_ACCEL_CHIP_ID) { + if (ret == LSM6DS3TRC_ACCEL_CHIP_ID) { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc index f306be0fe8..d9f5b4cb6a 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_gyro.cc @@ -107,8 +107,6 @@ int LSM6DS3_Gyro::self_test(int test_type) { } int LSM6DS3_Gyro::init() { - int ret = 0; - uint8_t buffer[1]; uint8_t value = 0; bool do_self_test = false; @@ -117,19 +115,10 @@ int LSM6DS3_Gyro::init() { do_self_test = true; } - ret = read_register(LSM6DS3_GYRO_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != LSM6DS3_GYRO_CHIP_ID && buffer[0] != LSM6DS3TRC_GYRO_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_GYRO_CHIP_ID); - ret = -1; - goto fail; - } + int ret = verify_chip_id(LSM6DS3_GYRO_I2C_REG_ID, {LSM6DS3_GYRO_CHIP_ID, LSM6DS3TRC_GYRO_CHIP_ID}); + if (ret == -1) return -1; - if (buffer[0] == LSM6DS3TRC_GYRO_CHIP_ID) { + if (ret == LSM6DS3TRC_GYRO_CHIP_ID) { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/selfdrive/sensord/sensors/lsm6ds3_temp.cc index 7e1c4d4c81..c2e2c83c1d 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.cc +++ b/selfdrive/sensord/sensors/lsm6ds3_temp.cc @@ -8,27 +8,13 @@ LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {} int LSM6DS3_Temp::init() { - int ret = 0; - uint8_t buffer[1]; + int ret = verify_chip_id(LSM6DS3_TEMP_I2C_REG_ID, {LSM6DS3_TEMP_CHIP_ID, LSM6DS3TRC_TEMP_CHIP_ID}); + if (ret == -1) return -1; - ret = read_register(LSM6DS3_TEMP_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != LSM6DS3_TEMP_CHIP_ID && buffer[0] != LSM6DS3TRC_TEMP_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_TEMP_CHIP_ID); - ret = -1; - goto fail; - } - - if (buffer[0] == LSM6DS3TRC_TEMP_CHIP_ID) { + if (ret == LSM6DS3TRC_TEMP_CHIP_ID) { source = cereal::SensorEventData::SensorSource::LSM6DS3TRC; } - -fail: - return ret; + return 0; } bool LSM6DS3_Temp::get_event(MessageBuilder &msg, uint64_t ts) { diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/selfdrive/sensord/sensors/mmc5603nj_magn.cc index 7a9b7a298b..cdb82a4a12 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.cc +++ b/selfdrive/sensord/sensors/mmc5603nj_magn.cc @@ -8,20 +8,8 @@ MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {} int MMC5603NJ_Magn::init() { - int ret = 0; - uint8_t buffer[1]; - - ret = read_register(MMC5603NJ_I2C_REG_ID, buffer, 1); - if(ret < 0) { - LOGE("Reading chip ID failed: %d", ret); - goto fail; - } - - if(buffer[0] != MMC5603NJ_CHIP_ID) { - LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], MMC5603NJ_CHIP_ID); - ret = -1; - goto fail; - } + int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID}); + if (ret == -1) return -1; // Set 100 Hz ret = set_register(MMC5603NJ_I2C_REG_ODR, 100); diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 80385710a9..57e3a05f4d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6681ca22053b019a65930e76a396535d0cddf39c \ No newline at end of file +faa85c0cb3609fc43674b263ae885c60f136ba6c \ No newline at end of file diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 1377bb3b23..2f366a9b38 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -22,6 +22,7 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { } void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) { + cameraView->stopVipcThread(); emit done(); } @@ -35,7 +36,6 @@ void DriverViewScene::showEvent(QShowEvent* event) { } void DriverViewScene::hideEvent(QHideEvent* event) { - // TODO: stop vipc thread ? params.putBool("IsDriverViewEnabled", false); } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 7cc3847f99..f8b97be03e 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -35,6 +35,7 @@ public: void setFrameId(int frame_id) { draw_frame_id = frame_id; } void setStreamType(VisionStreamType type) { requested_stream_type = type; } VisionStreamType getStreamType() { return active_stream_type; } + void stopVipcThread(); signals: void clicked(); @@ -51,7 +52,6 @@ protected: void updateCalibration(const mat3 &calib); void vipcThread(); void clearFrames(); - void stopVipcThread(); bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json index 072d320c13..86d3e62d87 100644 --- a/selfdrive/ui/translations/languages.json +++ b/selfdrive/ui/translations/languages.json @@ -1,5 +1,6 @@ { "English": "main_en", + "Deutsch": "main_de", "Português": "main_pt-BR", "中文（繁體）": "main_zh-CHT", "中文（简体）": "main_zh-CHS", diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts new file mode 100644 index 0000000000..ecb44557c9 --- /dev/null +++ b/selfdrive/ui/translations/main_de.ts @@ -0,0 +1,1113 @@ + + + + + AbstractAlert + + Close + Schließen + + + Snooze Update + Update pausieren + + + Reboot and Update + Aktualisieren und neu starten + + + + AdvancedNetworking + + Back + Zurück + + + Enable Tethering + Tethering aktivieren + + + Tethering Password + Tethering Passwort + + + EDIT + ÄNDERN + + + Enter new tethering password + Neues tethering Passwort eingeben + + + IP Address + IP Adresse + + + Enable Roaming + Roaming aktivieren + + + APN Setting + APN Einstellungen + + + Enter APN + APN eingeben + + + leave blank for automatic configuration + für automatische Konfiguration leer lassen + + + Cellular Metered + Getaktete Verbindung + + + Prevent large data uploads when on a metered connection + Hochladen großer Dateien über getaktete Verbindungen unterbinden + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + MAX + + + SPEED + Geschwindigkeit + + + LIMIT + LIMIT + + + + ConfirmationDialog + + Ok + Ok + + + Cancel + Abbrechen + + + + DeclinePage + + You must accept the Terms and Conditions in order to use openpilot. + Du musst die Nutzungsbedingungen akzeptieren, um Openpilot zu benutzen. + + + Back + Zurück + + + Decline, uninstall %1 + Ablehnen, deinstallieren %1 + + + + DevicePanel + + Dongle ID + Dongle ID + + + N/A + Nicht verfügbar + + + Serial + Seriennummer + + + Driver Camera + Fahrerkamera + + + PREVIEW + VORSCHAU + + + Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) + Vorschau der auf den Fahrer gerichteten Kamera, um sicherzustellen, dass die Fahrerüberwachung eine gute Sicht hat. (Fahrzeug muss aus sein) + + + Reset Calibration + Neu kalibrieren + + + RESET + RESET + + + Are you sure you want to reset calibration? + Bist du sicher, dass du die Kalibrierung zurücksetzen möchtest? + + + Review Training Guide + Trainingsanleitung wiederholen + + + REVIEW + TRAINING + + + Review the rules, features, and limitations of openpilot + Wiederhole die Regeln, Fähigkeiten und Limitierungen von Openpilot + + + Are you sure you want to review the training guide? + Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest? + + + Regulatory + Rechtliche Hinweise + + + VIEW + ANSEHEN + + + Change Language + Sprache ändern + + + CHANGE + ÄNDERN + + + Select a language + Sprache wählen + + + Reboot + Neustart + + + Power Off + Ausschalten + + + openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. + Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 8° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig. + + + Your device is pointed %1° %2 and %3° %4. + Deine Geräteausrichtung ist %1° %2 und %3° %4. + + + down + unten + + + up + oben + + + left + links + + + right + rechts + + + Are you sure you want to reboot? + Bist du sicher, dass du das Gerät neu starten möchtest? + + + Disengage to Reboot + Für Neustart deaktivieren + + + Are you sure you want to power off? + Bist du sicher, dass du das Gerät ausschalten möchtest? + + + Disengage to Power Off + Zum Ausschalten deaktivieren + + + Reset + Zurücksetzen + + + Review + Überprüfen + + + + DriveStats + + Drives + Fahrten + + + Hours + Stunden + + + ALL TIME + Gesamtzeit + + + PAST WEEK + Letzte Woche + + + KM + KM + + + Miles + Meilen + + + + DriverViewScene + + camera starting + Kamera startet + + + + ExperimentalModeButton + + EXPERIMENTAL MODE ON + EXPERIMENTELLER MODUS AN + + + CHILL MODE ON + ENTSPANNTER MODUS AN + + + + InputDialog + + Cancel + Abbrechen + + + Need at least %n character(s)! + + Mindestens %n Buchstabe benötigt! + Mindestens %n Buchstaben benötigt! + + + + + Installer + + Installing... + Installiere... + + + Receiving objects: + Empfange Objekte: + + + Resolving deltas: + Unterschiede verarbeiten: + + + Updating files: + Dateien aktualisieren: + + + + MapETA + + eta + Ankunft + + + min + min + + + hr + std + + + km + km + + + mi + mi + + + + MapInstructions + + km + km + + + m + m + + + mi + mi + + + ft + fuß + + + + MapPanel + + Current Destination + Aktuelles Ziel + + + CLEAR + LÖSCHEN + + + Recent Destinations + Letzte Ziele + + + Try the Navigation Beta + Beta Navigation ausprobieren + + + Get turn-by-turn directions displayed and more with a comma +prime subscription. Sign up now: https://connect.comma.ai + Erhalte echtzeit Wegführung und mehr mit dem comma prime +Abonnement. Melde dich jetzt an: https://connect.comma.ai + + + No home +location set + Keine Heimadresse gesetzt + + + No work +location set + Keine Arbeitsadresse gesetzt + + + no recent destinations + Keine kürzlich gewählten Ziele + + + + MapWindow + + Map Loading + Karte wird geladen + + + Waiting for GPS + Warten auf GPS + + + + MultiOptionDialog + + Select + Auswählen + + + Cancel + Abbrechen + + + + Networking + + Advanced + Erweitert + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + + + Wrong password + Falsches Passwort + + + + OffroadHome + + UPDATE + Aktualisieren + + + ALERTS + HINWEISE + + + ALERT + HINWEIS + + + + PairingPopup + + Pair your device to your comma account + Verbinde dein Gerät mit deinem comma Konto + + + Go to https://connect.comma.ai on your phone + Gehe zu https://connect.comma.ai auf deinem Handy + + + Click "add new device" and scan the QR code on the right + Klicke auf "neues Gerät hinzufügen" und scanne den QR code rechts + + + Bookmark connect.comma.ai to your home screen to use it like an app + Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden + + + + ParamControl + + Cancel + Abbrechen + + + Enable + Aktivieren + + + + PrimeAdWidget + + Upgrade Now + Jetzt abonieren + + + Become a comma prime member at connect.comma.ai + Werde Comma Prime Mitglied auf connect.comma.ai + + + PRIME FEATURES: + PRIME FUNKTIONEN: + + + Remote access + Fernzugriff + + + 1 year of storage + 1 Jahr Speicherplatz + + + Developer perks + Entwickler Vorteile + + + + PrimeUserWidget + + ✓ SUBSCRIBED + ✓ ABBONIERT + + + comma prime + comma prime + + + CONNECT.COMMA.AI + CONNECT.COMMA.AI + + + COMMA POINTS + COMMA PUNKTE + + + + QObject + + Reboot + Neustart + + + Exit + Verlassen + + + dashcam + dashcam + + + openpilot + openpilot + + + %n minute(s) ago + + vor %n Minute + vor %n Minuten + + + + %n hour(s) ago + + vor %n Stunde + vor %n Stunden + + + + %n day(s) ago + + vor %n Tag + vor %n Tagen + + + + + Reset + + Reset failed. Reboot to try again. + Zurücksetzen fehlgeschlagen. Starte das Gerät neu und versuche es wieder. + + + Are you sure you want to reset your device? + Bist du sicher, dass du das Gerät auf Werkseinstellungen zurücksetzen möchtest? + + + Resetting device... + Gerät wird zurückgesetzt... + + + System Reset + System auf Werkseinstellungen zurücksetzen + + + System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. + Zurücksetzen auf Werkseinstellungen wurde ausgewählt. Drücke Annehmen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um mit dem Starten des Gerätes fortzufahren. + + + Cancel + Abbrechen + + + Reboot + Neustart + + + Confirm + Bestätigen + + + Unable to mount data partition. Press confirm to reset your device. + Datenpartition kann nicht geöffnet werden. Drücke Annehmen, um dein Gerät auf Werkseinstellungen zurückzusetzen. + + + + SettingsWindow + + × + x + + + Device + Gerät + + + Network + Netzwerk + + + Toggles + Schalter + + + Software + Software + + + Navigation + Navigation + + + + Setup + + WARNING: Low Voltage + Warnung: Batteriespannung niedrig + + + Power your device in a car with a harness or proceed at your own risk. + Versorge dein Gerät über einen Kabelbaum im Auto mit Strom, oder fahre auf eigene Gefahr fort. + + + Power off + Ausschalten + + + Continue + Fortsetzen + + + Getting Started + Loslegen + + + Before we get on the road, let’s finish installation and cover some details. + Bevor wir uns auf die Straße begeben, lass uns die Installation fertigstellen und einige Details prüfen. + + + Connect to Wi-Fi + Mit WLAN verbinden + + + Back + Zurück + + + Continue without Wi-Fi + Ohne WLAN fortsetzen + + + Waiting for internet + Auf Internet warten + + + Choose Software to Install + Software zum installieren auswählen + + + Dashcam + Dashcam + + + Custom Software + Spezifische Software + + + Enter URL + URL eingeben + + + for Custom Software + für spezifische Software + + + Downloading... + Herunterladen... + + + Download Failed + Herunterladen fehlgeschlagen + + + Ensure the entered URL is valid, and the device’s internet connection is good. + Stelle sicher, dass die eingegebene URL korrekt ist und dein Gerät eine stabile Internetverbindung hat. + + + Reboot device + Gerät neustarten + + + Start over + Von neuem beginnen + + + + SetupWidget + + Finish Setup + Einrichtung beenden + + + Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. + Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot. + + + Pair device + Gerät koppeln + + + + Sidebar + + CONNECT + This is a brand/service name for comma connect, don't translate + CONNECT + + + OFFLINE + OFFLINE + + + ONLINE + ONLINE + + + ERROR + FEHLER + + + TEMP + TEMP + + + HIGH + HOCH + + + GOOD + GUT + + + OK + OK + + + VEHICLE + FAHRZEUG + + + NO + KEIN + + + PANDA + PANDA + + + GPS + GPS + + + SEARCH + SUCHEN + + + -- + -- + + + Wi-Fi + WLAN + + + ETH + LAN + + + 2G + 2G + + + 3G + 3G + + + LTE + LTE + + + 5G + 5G + + + + SoftwarePanel + + UNINSTALL + Too long for UI + DEINSTALL + + + Uninstall %1 + Deinstalliere %1 + + + Are you sure you want to uninstall? + Bist du sicher, dass du Openpilot entfernen möchtest? + + + CHECK + ÜBERPRÜFEN + + + Updates are only downloaded while the car is off. + Updates werden nur heruntergeladen, wenn das Auto aus ist. + + + Current Version + Aktuelle Version + + + Download + Download + + + Install Update + Update installieren + + + INSTALL + INSTALLIEREN + + + Target Branch + Ziel Branch + + + SELECT + AUSWÄHLEN + + + Select a branch + Wähle einen Branch + + + Uninstall + Deinstallieren + + + + SshControl + + SSH Keys + SSH Schlüssel + + + Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. + Warnung: Dies ermöglicht SSH zugriff für alle öffentlichen Schlüssel in deinen Github Einstellungen. Gib niemals einen anderen Benutzernamen, als deinen Eigenen an. Comma Angestellte fragen dich niemals danach ihren Github Benutzernamen hinzuzufügen. + + + ADD + HINZUFÜGEN + + + Enter your GitHub username + Gib deinen GitHub Benutzernamen ein + + + LOADING + LADEN + + + REMOVE + LÖSCHEN + + + Username '%1' has no keys on GitHub + Benutzername '%1' hat keine Schlüssel auf GitHub + + + Request timed out + Zeitüberschreitung der Anforderung + + + Username '%1' doesn't exist on GitHub + Benutzername '%1' existiert nicht auf GitHub + + + + SshToggle + + Enable SSH + SSH aktivieren + + + + TermsPage + + Terms & Conditions + Benutzungsbedingungen + + + Decline + Ablehnen + + + Scroll to accept + Scrolle herunter um zu akzeptieren + + + Agree + Zustimmen + + + + TogglesPanel + + Enable openpilot + Openpilot aktivieren + + + Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. + Benutze das Openpilot System als adaptiven Tempomaten und Spurhalteassistenten. Deine Aufmerksamkeit ist jederzeit erforderlich, um diese Funktion zu nutzen. Diese Einstellung wird übernommen, wenn das Auto aus ist. + + + Enable Lane Departure Warnings + Spurverlassenswarnungen aktivieren + + + Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). + Erhalte Warnungen, zurück in die Spur zu lenken, wenn dein Auto über eine erkannte Fahrstreifenmarkierung ohne aktivierten Blinker mit mehr als 50 km/h fährt. + + + Use Metric System + Benutze das metrische System + + + Display speed in km/h instead of mph. + Zeige die Geschwindigkeit in km/h anstatt von mph. + + + Record and Upload Driver Camera + Fahrerkamera aufnehmen und hochladen + + + Upload data from the driver facing camera and help improve the driver monitoring algorithm. + Lade Daten der Fahreraufmerksamkeitsüberwachungskamera hoch, um die Fahreraufmerksamkeitsüberwachungsalgorithmen zu verbessern. + + + When enabled, pressing the accelerator pedal will disengage openpilot. + Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird. + + + Use 24h format instead of am/pm + Benutze das 24Stunden Format anstatt am/pm + + + Show Map on Left Side of UI + Too long for UI + Zeige die Karte auf der linken Seite + + + Show map on left side when in split screen view. + Zeige die Karte auf der linken Seite der Benutzeroberfläche bei geteilten Bildschirm. + + + Show ETA in 24h Format + Too long for UI + Zeige die Ankunftszeit im 24 Stunden Format + + + Experimental Mode + Experimenteller Modus + + + Experimental openpilot Longitudinal Control + Experimenteller Openpilot Tempomat + + + WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). + WARNUNG: Der Openpilot Tempomat ist für dieses Auto experimentell und deaktiviert den Notbremsassistenten. + + + Disengage on Accelerator Pedal + Bei Gasbetätigung ausschalten + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. + Bei diesem auto wird standardmäßig der im Auto eingebaute adaptive Tempomat anstelle des Openpilot Tempomats benutzt. Aktiviere diesen Schalter, um zum Openpilot Tempomaten zu wechseln. Es ist empfohlen den Experimentellen Modus bei Nutzung des Openpilot Tempomats zu aktivieren. + + + openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: + Openpilot fährt standardmäßig im <b>entspannten Modus</b>. Der Experimentelle Modus aktiviert<b>Alpha-level Funktionen</b>, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden: + + + 🌮 End-to-End Longitudinal Control 🌮 + 🌮 Ende-zu-Ende Tempomat 🌮 + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected. + Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten. + + + New Driving Visualization + Neue Fahrvisualisierung + + + The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. + Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten zur Straßengewandten Weitwinkelkamera, um manche Kurven besser zu zeigen. Außerdem wird das Experimenteller Modus logo oben rechts angezeigt. + + + Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control. + Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar, da es den eingebauten adaptiven Tempomaten des Autos benutzt. + + + Enable experimental longitudinal control to allow experimental mode. + Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen. + + + + Updater + + Update Required + Aktualisierung notwendig + + + An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. + Eine Aktualisierung des Betriebssystems ist notwendig. Verbinde dein Gerät mit WLAN für ein schnelleres Update. Die Download Größe ist ungefähr 1GB. + + + Connect to Wi-Fi + Mit WLAN verbinden + + + Install + Installieren + + + Back + Zurück + + + Loading... + Laden... + + + Reboot + Neustart + + + Update failed + Aktualisierung fehlgeschlagen + + + + WifiUI + + Scanning for networks... + Suche nach Netzwerken... + + + CONNECTING... + VERBINDEN... + + + FORGET + VERGESSEN + + + Forget Wi-Fi Network "%1"? + WLAN Netzwerk "%1" vergessen? + + + Forget + Vergessen + + + diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index df5b9e8bf0..091b0d91d9 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -97,11 +97,15 @@ const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x const int ANALOG_GAIN_COST_DELTA_AR0231 = 0; +const float ANALOG_GAIN_COST_LOW_AR0231 = 0.1; +const float ANALOG_GAIN_COST_HIGH_AR0231 = 5.0; const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0; const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x11; // 2.5x const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36; const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1; +const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.05; +const float ANALOG_GAIN_COST_HIGH_OX03C10 = 0.8; const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms @@ -535,6 +539,8 @@ void CameraState::camera_set_parameters() { analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231; analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231; analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_AR0231; + analog_gain_cost_low = ANALOG_GAIN_COST_LOW_AR0231; + analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_AR0231; for (int i=0; i<=analog_gain_max_idx; i++) { sensor_analog_gains[i] = sensor_analog_gains_AR0231[i]; } @@ -552,6 +558,8 @@ void CameraState::camera_set_parameters() { analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10; analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10; analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_OX03C10; + analog_gain_cost_low = ANALOG_GAIN_COST_LOW_OX03C10; + analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_OX03C10; for (int i=0; i<=analog_gain_max_idx; i++) { sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i]; } @@ -1108,7 +1116,7 @@ void CameraState::set_camera_exposure(float grey_frac) { float score = std::abs(desired_ev - (t * gain)) * 10; // Going below recommended gain needs lower penalty to not overexpose - float m = g > analog_gain_rec_idx ? 5.0 : 0.1; + float m = g > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; score += std::abs(g - (int)analog_gain_rec_idx) * m; // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev); diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h index 150ea0a1c0..9f0c3743f1 100644 --- a/system/camerad/cameras/camera_qcom2.h +++ b/system/camerad/cameras/camera_qcom2.h @@ -42,6 +42,8 @@ public: int analog_gain_max_idx; int analog_gain_rec_idx; int analog_gain_cost_delta; + float analog_gain_cost_low; + float analog_gain_cost_high; float cur_ev[3]; float min_ev, max_ev; diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 5e9b255731..51418e293f 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -1,8 +1,7 @@ #include -#include #include -#include +#include "common/prefix.h" #include "selfdrive/ui/qt/util.h" #include "tools/cabana/mainwin.h" @@ -23,12 +22,6 @@ int main(int argc, char *argv[]) { cmd_parser.showHelp(); } - QString uuid = QUuid::createUuid().toString(QUuid::WithoutBraces); - QString msgq_path = "/dev/shm/" + uuid; - - QDir dir; - dir.mkdir(msgq_path); - setenv("OPENPILOT_PREFIX", qPrintable(uuid), 1); const QString route = args.empty() ? DEMO_ROUTE : args.first(); uint32_t replay_flags = REPLAY_FLAG_NONE; @@ -38,6 +31,7 @@ int main(int argc, char *argv[]) { replay_flags |= REPLAY_FLAG_QCAMERA; } + OpenpilotPrefix op_prefix; CANMessages p(&app); int ret = 0; if (p.loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { @@ -45,7 +39,5 @@ int main(int argc, char *argv[]) { w.showMaximized(); ret = app.exec(); } - - dir.rmdir(msgq_path); return ret; } diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 9959ba7313..ad3ee80e3d 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -1,7 +1,4 @@ #include "tools/cabana/canmessages.h" - -#include - #include "tools/cabana/dbcmanager.h" CANMessages *can = nullptr; @@ -25,39 +22,21 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, uint3 replay = new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this); replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->installEventFilter(event_filter, this); + QObject::connect(replay, &Replay::seekedTo, this, &CANMessages::seekedTo); QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged); QObject::connect(replay, &Replay::streamStarted, this, &CANMessages::streamStarted); if (replay->load()) { + const auto &segments = replay->route()->segments(); + if (std::none_of(segments.begin(), segments.end(), [](auto &s) { return s.second.rlog.length() > 0; })) { + qWarning() << "no rlogs in route" << route; + return false; + } replay->start(); return true; } return false; } -QList CANMessages::findSignalValues(const QString &id, const Signal *signal, double value, FindFlags flag, int max_count) { - auto evts = events(); - if (!evts) return {}; - - QList ret; - ret.reserve(max_count); - auto [bus, address] = DBCManager::parseId(id); - for (auto &evt : *evts) { - if (evt->which != cereal::Event::Which::CAN) continue; - - for (const auto &c : evt->event.getCan()) { - if (bus == c.getSrc() && address == c.getAddress()) { - double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal); - if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) { - ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val}); - if (ret.size() >= max_count) - return ret; - } - } - } - } - return ret; -} - void CANMessages::process(QHash *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { can_msgs[it.key()] = it.value(); @@ -69,17 +48,13 @@ void CANMessages::process(QHash *messages) { } bool CANMessages::eventFilter(const Event *event) { - static std::unique_ptr> new_msgs; + static std::unique_ptr new_msgs = std::make_unique>(); static double prev_update_ts = 0; if (event->which == cereal::Event::Which::CAN) { - if (!new_msgs) { - new_msgs.reset(new QHash); - new_msgs->reserve(1000); - } - double current_sec = replay->currentSeconds(); if (counters_begin_sec == 0 || counters_begin_sec >= current_sec) { + new_msgs->clear(); counters.clear(); counters_begin_sec = current_sec; } @@ -87,40 +62,29 @@ bool CANMessages::eventFilter(const Event *event) { auto can_events = event->event.getCan(); for (const auto &c : can_events) { QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16); - - std::lock_guard lk(lock); - auto &list = received_msgs[id]; - while (list.size() > settings.can_msg_log_size) { - list.pop_back(); - } - CanData &data = list.emplace_front(); + CanData &data = (*new_msgs)[id]; data.ts = current_sec; - data.dat.append((char *)c.getDat().begin(), c.getDat().size()); - + data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); data.count = ++counters[id]; if (double delta = (current_sec - counters_begin_sec); delta > 0) { data.freq = data.count / delta; } - (*new_msgs)[id] = data; } double ts = millis_since_boot(); - if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing) { + if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing && !new_msgs->isEmpty()) { // delay posting CAN message if UI thread is busy processing = true; prev_update_ts = ts; // use pointer to avoid data copy in queued connection. emit received(new_msgs.release()); + new_msgs.reset(new QHash); + new_msgs->reserve(100); } } return true; } -const std::deque CANMessages::messages(const QString &id) { - std::lock_guard lk(lock); - return received_msgs[id]; -} - void CANMessages::seekTo(double ts) { replay->seekTo(std::max(double(0), ts), false); counters_begin_sec = 0; diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index f9103aa96b..4dac4fe9df 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -1,12 +1,9 @@ #pragma once #include -#include -#include #include #include -#include #include "opendbc/can/common_dbc.h" #include "tools/cabana/settings.h" @@ -23,12 +20,10 @@ class CANMessages : public QObject { Q_OBJECT public: - enum FindFlags{ EQ, LT, GT }; CANMessages(QObject *parent); ~CANMessages(); bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); void seekTo(double ts); - QList findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count); bool eventFilter(const Event *event); inline QString routeName() const { return replay->route()->name(); } @@ -37,7 +32,6 @@ public: inline double totalSeconds() const { return replay->totalSeconds(); } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } inline double currentSec() const { return replay->currentSeconds(); } - const std::deque messages(const QString &id); inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; } inline const Route* route() const { return replay->route(); } @@ -48,6 +42,7 @@ public: inline const std::vector> getTimeline() { return replay->getTimeline(); } signals: + void seekedTo(double sec); void streamStarted(); void eventsMerged(); void updated(); @@ -62,11 +57,9 @@ protected: void settingChanged(); Replay *replay = nullptr; - std::mutex lock; std::atomic counters_begin_sec = 0; std::atomic processing = false; QHash counters; - QHash> received_msgs; }; inline QString toHex(const QByteArray &dat) { diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index b177bb0b81..b0e6a2a164 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -152,12 +152,12 @@ void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bo QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); - QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::chartClosed); + QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged); + QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged); charts_layout->insertWidget(0, chart); charts.push_back(chart); } chart->addSeries(id, sig); - emit chartOpened(id, sig); } else if (ChartView *chart = findChart(id, sig)) { chart->removeSeries(id, sig); } @@ -169,11 +169,16 @@ void ChartsWidget::removeChart(ChartView *chart) { charts.removeOne(chart); chart->deleteLater(); updateToolBar(); + emit seriesChanged(); } void ChartsWidget::removeAll() { - for (auto c : charts.toVector()) - removeChart(c); + for (auto c : charts) { + c->deleteLater(); + } + charts.clear(); + updateToolBar(); + emit seriesChanged(); } bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { @@ -227,11 +232,6 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { QObject::connect(manage_btn, &QToolButton::clicked, this, &ChartView::manageSeries); } -ChartView::~ChartView() { - for (auto &s : sigs) - emit seriesRemoved(s.msg_id, s.sig); -} - void ChartView::addSeries(const QString &msg_id, const Signal *sig) { QLineSeries *series = new QLineSeries(this); series->setUseOpenGL(true); @@ -243,6 +243,7 @@ void ChartView::addSeries(const QString &msg_id, const Signal *sig) { updateTitle(); updateSeries(sig); updateAxisY(); + emit seriesAdded(msg_id, sig); } void ChartView::removeSeries(const QString &msg_id, const Signal *sig) { @@ -259,9 +260,10 @@ bool ChartView::hasSeries(const QString &msg_id, const Signal *sig) const { QList::iterator ChartView::removeSeries(const QList::iterator &it) { chart()->removeSeries(it->series); it->series->deleteLater(); - emit seriesRemoved(it->msg_id, it->sig); - + QString msg_id = it->msg_id; + const Signal *sig = it->sig; auto ret = sigs.erase(it); + emit seriesRemoved(msg_id, sig); if (!sigs.isEmpty()) { updateAxisY(); } else { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 3f9cf877a9..1799a25488 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -20,7 +20,6 @@ class ChartView : public QChartView { public: ChartView(QWidget *parent = nullptr); - ~ChartView(); void addSeries(const QString &msg_id, const Signal *sig); void removeSeries(const QString &msg_id, const Signal *sig); bool hasSeries(const QString &msg_id, const Signal *sig) const; @@ -41,6 +40,7 @@ public: signals: void seriesRemoved(const QString &id, const Signal *sig); + void seriesAdded(const QString &id, const Signal *sig); void zoomIn(double min, double max); void zoomReset(); void remove(); @@ -81,16 +81,15 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); void showChart(const QString &id, const Signal *sig, bool show, bool merge); - void removeChart(ChartView *chart); - inline bool isChartOpened(const QString &id, const Signal *sig) { return findChart(id, sig) != nullptr; } + inline bool hasSignal(const QString &id, const Signal *sig) { return findChart(id, sig) != nullptr; } signals: void dock(bool floating); void rangeChanged(double min, double max, bool is_zommed); - void chartOpened(const QString &id, const Signal *sig); - void chartClosed(const QString &id, const Signal *sig); + void seriesChanged(); private: + void removeChart(ChartView *chart); void eventsMerged(); void updateState(); void updateDisplayRange(); diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 1b33c4cc42..6d59cba7b6 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -99,6 +99,7 @@ void DBCManager::removeSignal(const QString &id, const QString &sig_name) { std::pair DBCManager::parseId(const QString &id) { const auto list = id.split(':'); + if (list.size() != 2) return {0, 0}; return {list[0].toInt(), list[1].toUInt(nullptr, 16)}; } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index cd1057f7e1..108aa8776e 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -86,7 +86,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart tab_widget = new QTabWidget(this); tab_widget->setTabPosition(QTabWidget::South); tab_widget->addTab(scroll, "&Msg"); - history_log = new HistoryLog(this); + history_log = new LogsWidget(this); tab_widget->addTab(history_log, "&Logs"); main_layout->addWidget(tab_widget); @@ -107,8 +107,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart } }); QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab); - QObject::connect(charts, &ChartsWidget::chartOpened, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, true); }); - QObject::connect(charts, &ChartsWidget::chartClosed, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, false); }); + QObject::connect(charts, &ChartsWidget::seriesChanged, this, &DetailWidget::updateChartState); QObject::connect(undo_stack, &QUndoStack::indexChanged, [this]() { if (undo_stack->count() > 0) dbcMsgChanged(); @@ -169,7 +168,7 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { signal_list.push_back(form); } form->setSignal(msg_id, sig); - form->setChartOpened(charts->isChartOpened(msg_id, sig)); + form->setChartOpened(charts->hasSignal(msg_id, sig)); ++i; } if (msg->size != can->lastMessage(msg_id).dat.size()) @@ -212,9 +211,9 @@ void DetailWidget::showForm(const Signal *sig) { setUpdatesEnabled(true); } -void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) { +void DetailWidget::updateChartState() { for (auto f : signal_list) - if (f->msg_id == id && f->sig == sig) f->setChartOpened(opened); + f->setChartOpened(charts->hasSignal(f->msg_id, f->sig)); } void DetailWidget::editMsg() { @@ -334,4 +333,3 @@ WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) { setStyleSheet("QLabel{color:darkGray;}"); } - diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 91127c9b74..18c58ab6bf 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -35,7 +35,7 @@ public: private: void showForm(const Signal *sig); - void updateChartState(const QString &id, const Signal *sig, bool opened); + void updateChartState(); void showTabBarContextMenu(const QPoint &pt); void addSignal(int start_bit, int size, bool little_endian); void resizeSignal(const Signal *sig, int from, int to); @@ -53,7 +53,7 @@ private: QTabWidget *tab_widget; QToolBar *toolbar; QAction *remove_msg_act; - HistoryLog *history_log; + LogsWidget *history_log; BinaryView *binary_view; QScrollArea *scroll; ChartsWidget *charts; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index ec9a0b011c..3e456e44e9 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -2,17 +2,24 @@ #include #include +#include +#include // HistoryLogModel +HistoryLogModel::HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) { + QObject::connect(can, &CANMessages::seekedTo, [this]() { + if (!msg_id.isEmpty()) setMessage(msg_id); + }); +} + QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { const auto &m = messages[index.row()]; if (index.column() == 0) { - return QString::number(m.ts, 'f', 2); + return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2); } - return !sigs.empty() ? QString::number(get_raw_value((uint8_t *)m.dat.data(), m.dat.size(), *sigs[index.column() - 1])) - : toHex(m.dat); + return !sigs.empty() ? QString::number(m.sig_values[index.column() - 1]) : m.data; } else if (role == Qt::FontRole && index.column() == 1 && sigs.empty()) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); } @@ -21,14 +28,18 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { void HistoryLogModel::setMessage(const QString &message_id) { beginResetModel(); - msg_id = message_id; sigs.clear(); messages.clear(); + has_more_data = true; if (auto dbc_msg = dbc()->msg(message_id)) { sigs = dbc_msg->getSignals(); } - endResetModel(); + if (msg_id != message_id || sigs.empty()) { + filter_cmp = nullptr; + } + msg_id = message_id; updateState(); + endResetModel(); } QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const { @@ -47,24 +58,76 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i return {}; } +void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function cmp) { + if (sig_idx < sigs.size()) { + filter_sig_idx = sig_idx; + filter_value = value.toDouble(); + filter_cmp = value.isEmpty() ? nullptr : cmp; + beginResetModel(); + messages.clear(); + updateState(); + endResetModel(); + } +} + void HistoryLogModel::updateState() { - int prev_row_count = messages.size(); if (!msg_id.isEmpty()) { - messages = can->messages(msg_id); - } - int delta = messages.size() - prev_row_count; - if (delta > 0) { - beginInsertRows({}, prev_row_count, messages.size() - 1); - endInsertRows(); - } else if (delta < 0) { - beginRemoveRows({}, messages.size(), prev_row_count - 1); - endRemoveRows(); + uint64_t last_mono_time = messages.empty() ? 0 : messages.front().mono_time; + auto new_msgs = fetchData(last_mono_time, (can->currentSec() + can->routeStartTime()) * 1e9); + if ((has_more_data = !new_msgs.empty())) { + beginInsertRows({}, 0, new_msgs.size() - 1); + messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); + endInsertRows(); + } } +} + +void HistoryLogModel::fetchMore(const QModelIndex &parent) { if (!messages.empty()) { - emit dataChanged(index(0, 0), index(rowCount() - 1, columnCount() - 1), {Qt::DisplayRole}); + auto new_msgs = fetchData(0, messages.back().mono_time); + if ((has_more_data = !new_msgs.empty())) { + beginInsertRows({}, messages.size(), messages.size() + new_msgs.size() - 1); + messages.insert(messages.end(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end())); + endInsertRows(); + } } } +std::deque HistoryLogModel::fetchData(uint64_t min_mono_time, uint64_t max_mono_time) { + auto events = can->events(); + auto it = std::lower_bound(events->begin(), events->end(), max_mono_time, [=](auto &e, uint64_t ts) { + return e->mono_time < ts; + }); + if (it == events->end() || it == events->begin()) + return {}; + + std::deque msgs; + const auto [src, address] = DBCManager::parseId(msg_id); + uint32_t cnt = 0; + QVector values(sigs.size()); + for (--it; it != events->begin() && (*it)->mono_time > min_mono_time; --it) { + if ((*it)->which == cereal::Event::Which::CAN) { + for (const auto &c : (*it)->event.getCan()) { + if (src == c.getSrc() && address == c.getAddress()) { + const auto dat = c.getDat(); + for (int i = 0; i < sigs.size(); ++i) { + values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *(sigs[i])); + } + if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { + auto &m = msgs.emplace_back(); + m.mono_time = (*it)->mono_time; + m.data = toHex(QByteArray((char *)dat.begin(), dat.size())); + m.sig_values = values; + if (++cnt >= batch_size && min_mono_time == 0) + return msgs; + } + } + } + } + } + return msgs; +} + // HeaderView QSize HeaderView::sectionSizeFromContents(int logicalIndex) const { @@ -89,16 +152,69 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI // HistoryLog HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) { - model = new HistoryLogModel(this); - setModel(model); setHorizontalHeader(new HeaderView(Qt::Horizontal, this)); horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); verticalHeader()->setVisible(false); - setFrameShape(QFrame::NoFrame); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); } -int HistoryLog::sizeHintForColumn(int column) const { - return -1; +// LogsWidget + +LogsWidget::LogsWidget(QWidget *parent) : QWidget(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + + filter_container = new QWidget(this); + QHBoxLayout *h = new QHBoxLayout(filter_container); + signals_cb = new QComboBox(this); + h->addWidget(signals_cb); + comp_box = new QComboBox(); + comp_box->addItems({">", "=", "!=", "<"}); + h->addWidget(comp_box); + value_edit = new QLineEdit(this); + value_edit->setClearButtonEnabled(true); + value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this)); + h->addWidget(value_edit); + main_layout->addWidget(filter_container); + + model = new HistoryLogModel(this); + logs = new HistoryLog(this); + logs->setModel(model); + main_layout->addWidget(logs); + + QObject::connect(signals_cb, SIGNAL(currentIndexChanged(int)), this, SLOT(setFilter())); + QObject::connect(comp_box, SIGNAL(currentIndexChanged(int)), this, SLOT(setFilter())); + QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter); +} + +void LogsWidget::setMessage(const QString &message_id) { + blockSignals(true); + value_edit->setText(""); + signals_cb->clear(); + comp_box->setCurrentIndex(0); + sigs.clear(); + if (auto dbc_msg = dbc()->msg(message_id)) { + sigs = dbc_msg->getSignals(); + for (auto s : sigs) { + signals_cb->addItem(s->name.c_str()); + } + } + filter_container->setVisible(!sigs.empty()); + model->setMessage(message_id); + blockSignals(false); +} + +static bool not_equal(double l, double r) { + return l != r; +} + +void LogsWidget::setFilter() { + std::function cmp; + switch (comp_box->currentIndex()) { + case 0: cmp = std::greater{}; break; + case 1: cmp = std::equal_to{}; break; + case 2: cmp = not_equal; break; + case 3: cmp = std::less{}; break; + } + model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp); } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 9ca6f427c7..d5ae47192e 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -1,6 +1,9 @@ #pragma once +#include +#include #include +#include #include #include "tools/cabana/canmessages.h" @@ -15,27 +18,58 @@ public: class HistoryLogModel : public QAbstractTableModel { public: - HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {} + HistoryLogModel(QObject *parent); void setMessage(const QString &message_id); void updateState(); + void setFilter(int sig_idx, const QString &value, std::function cmp); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; + void fetchMore(const QModelIndex &parent) override; + inline bool canFetchMore(const QModelIndex &parent) const override { return has_more_data; } int rowCount(const QModelIndex &parent = QModelIndex()) const override { return messages.size(); } int columnCount(const QModelIndex &parent = QModelIndex()) const override { return std::max(1ul, sigs.size()) + 1; } -private: + struct Message { + uint64_t mono_time = 0; + QVector sig_values; + QString data; + }; + + std::deque fetchData(uint64_t min_mono_time, uint64_t max_mono_time); QString msg_id; - std::deque messages; + bool has_more_data = true; + const int batch_size = 50; + int filter_sig_idx = -1; + double filter_value = 0; + std::function filter_cmp = nullptr; + std::deque messages; std::vector sigs; }; class HistoryLog : public QTableView { public: HistoryLog(QWidget *parent); - void setMessage(const QString &message_id) { model->setMessage(message_id); } + int sizeHintForColumn(int column) const override { return -1; }; +}; + +class LogsWidget : public QWidget { + Q_OBJECT + +public: + LogsWidget(QWidget *parent); + void setMessage(const QString &message_id); void updateState() { model->updateState(); } +private slots: + void setFilter(); + private: - int sizeHintForColumn(int column) const override; + void showEvent(QShowEvent *event) override { model->setMessage(model->msg_id); }; + + HistoryLog *logs; HistoryLogModel *model; + QWidget *filter_container; + QComboBox *signals_cb, *comp_box; + QLineEdit *value_edit; + std::vector sigs; }; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index c90830973b..63e26f3808 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -15,7 +15,6 @@ Settings::Settings() { void Settings::save() { QSettings s("settings", QSettings::IniFormat); s.setValue("fps", fps); - s.setValue("log_size", can_msg_log_size); s.setValue("cached_segment", cached_segment_limit); s.setValue("chart_height", chart_height); s.setValue("max_chart_x_range", max_chart_x_range); @@ -26,7 +25,6 @@ void Settings::save() { void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); - can_msg_log_size = s.value("log_size", 50).toInt(); cached_segment_limit = s.value("cached_segment", 3).toInt(); chart_height = s.value("chart_height", 200).toInt(); max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); @@ -46,12 +44,6 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { fps->setValue(settings.fps); form_layout->addRow("FPS", fps); - log_size = new QSpinBox(this); - log_size->setRange(50, 500); - log_size->setSingleStep(10); - log_size->setValue(settings.can_msg_log_size); - form_layout->addRow(tr("Signal history log size"), log_size); - cached_segment = new QSpinBox(this); cached_segment->setRange(3, 60); cached_segment->setSingleStep(1); @@ -80,7 +72,6 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { void SettingsDlg::save() { settings.fps = fps->value(); - settings.can_msg_log_size = log_size->value(); settings.cached_segment_limit = cached_segment->value(); settings.chart_height = chart_height->value(); settings.max_chart_x_range = max_chart_x_range->value() * 60; diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index ee6541798d..1db92fe231 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -14,7 +14,6 @@ public: void load(); int fps = 10; - int can_msg_log_size = 50; int cached_segment_limit = 3; int chart_height = 200; int max_chart_x_range = 3 * 60; // 3 minutes @@ -32,7 +31,6 @@ public: SettingsDlg(QWidget *parent); void save(); QSpinBox *fps; - QSpinBox *log_size ; QSpinBox *cached_segment; QSpinBox *chart_height; QSpinBox *max_chart_x_range; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 85476c2302..b2491d5b1f 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -4,12 +4,8 @@ #include #include #include -#include -#include #include -#include "selfdrive/ui/qt/util.h" - // SignalForm SignalForm::SignalForm(QWidget *parent) : QWidget(parent) { @@ -94,11 +90,6 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa plot_btn->setCheckable(true); plot_btn->setAutoRaise(true); title_layout->addWidget(plot_btn); - auto seek_btn = new QToolButton(this); - seek_btn->setText("🔍"); - seek_btn->setAutoRaise(true); - seek_btn->setToolTip(tr("Find signal values")); - title_layout->addWidget(seek_btn); auto remove_btn = new QToolButton(this); remove_btn->setAutoRaise(true); remove_btn->setText("x"); @@ -126,7 +117,6 @@ SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(pa QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) { emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); }); - QObject::connect(seek_btn, &QToolButton::clicked, [this]() { SignalFindDlg(msg_id, sig, this).exec(); }); QObject::connect(remove_btn, &QToolButton::clicked, [this]() { emit remove(sig); }); QObject::connect(form, &SignalForm::changed, [this]() { save_timer->start(); }); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed); @@ -212,68 +202,3 @@ void SignalEdit::leaveEvent(QEvent *event) { emit highlight(nullptr); QWidget::leaveEvent(event); } - -// SignalFindDlg - -SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Find signal values")); - QVBoxLayout *main_layout = new QVBoxLayout(this); - - QHBoxLayout *h = new QHBoxLayout(); - h->addWidget(new QLabel(signal->name.c_str())); - QComboBox *comp_box = new QComboBox(); - comp_box->addItems({">", "=", "<"}); - h->addWidget(comp_box); - QLineEdit *value_edit = new QLineEdit("0", this); - value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this)); - h->addWidget(value_edit, 1); - QPushButton *search_btn = new QPushButton(tr("Find"), this); - h->addWidget(search_btn); - main_layout->addLayout(h); - - QWidget *container = new QWidget(this); - QVBoxLayout *signals_layout = new QVBoxLayout(container); - QScrollArea *scroll = new QScrollArea(this); - scroll->setWidget(container); - scroll->setWidgetResizable(true); - scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - main_layout->addWidget(scroll); - - QObject::connect(search_btn, &QPushButton::clicked, [=]() { - clearLayout(signals_layout); - - CANMessages::FindFlags comp = CANMessages::EQ; - if (comp_box->currentIndex() == 0) { - comp = CANMessages::GT; - } else if (comp_box->currentIndex() == 2) { - comp = CANMessages::LT; - } - double value = value_edit->text().toDouble(); - - const int limit_results = 50; - auto values = can->findSignalValues(id, signal, value, comp, limit_results); - for (auto &v : values) { - QHBoxLayout *item_layout = new QHBoxLayout(); - item_layout->addWidget(new QLabel(QString::number(v.x(), 'f', 2))); - item_layout->addWidget(new QLabel(QString::number(v.y()))); - item_layout->addStretch(1); - - QPushButton *goto_btn = new QPushButton(tr("Goto"), this); - QObject::connect(goto_btn, &QPushButton::clicked, [sec = v.x()]() { can->seekTo(sec); }); - item_layout->addWidget(goto_btn); - signals_layout->addLayout(item_layout); - } - if (values.size() == limit_results) { - QFrame *hline = new QFrame(); - hline->setFrameShape(QFrame::HLine); - hline->setFrameShadow(QFrame::Sunken); - signals_layout->addWidget(hline); - QLabel *info = new QLabel(tr("Only display the first %1 results").arg(limit_results)); - info->setAlignment(Qt::AlignCenter); - signals_layout->addWidget(info); - } - if (values.size() * 30 > container->height()) { - scroll->setFixedHeight(std::min(values.size() * 30, 300)); - } - }); -} diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 205be4bb78..eec943226e 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -1,7 +1,6 @@ #pragma once #include -#include #include #include #include @@ -9,7 +8,6 @@ #include #include "selfdrive/ui/qt/widgets/controls.h" - #include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" @@ -59,8 +57,3 @@ protected: QToolButton *plot_btn; QTimer *save_timer; }; - -class SignalFindDlg : public QDialog { -public: - SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent); -}; diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 40dace0c91..8621a9b978 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -23,6 +23,7 @@ int main(int argc, char *argv[]) { parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai"); parser.addOption({{"a", "allow"}, "whitelist of services to send", "allow"}); parser.addOption({{"b", "block"}, "blacklist of services to send", "block"}); + parser.addOption({{"c", "cache"}, "cache segments in memory. default is 5", "n"}); parser.addOption({{"s", "start"}, "start from ", "seconds"}); parser.addOption({"demo", "use a demo route instead of providing your own"}); parser.addOption({"data_dir", "local directory with routes", "data_dir"}); @@ -47,6 +48,9 @@ int main(int argc, char *argv[]) { } } Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); + if (!parser.value("c").isEmpty()) { + replay->setSegmentCacheLimit(parser.value("c").toInt()); + } if (!replay->load()) { return 0; } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 339e688be1..a01371abe1 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -51,9 +51,9 @@ void Replay::stop() { stream_thread_->wait(); stream_thread_ = nullptr; } - segments_.clear(); camera_server_.reset(nullptr); timeline_future.waitForFinished(); + segments_.clear(); rInfo("shutdown: done"); } @@ -109,6 +109,7 @@ void Replay::seekTo(double seconds, bool relative) { cur_mono_time_ = route_start_ts_ + seconds * 1e9; return isSegmentMerged(seg); }); + emit seekedTo(seconds); queueSegment(); } @@ -209,11 +210,17 @@ void Replay::segmentLoadFinished(bool success) { void Replay::queueSegment() { if (segments_.empty()) return; - SegmentMap::iterator cur, end; - cur = end = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first)); - for (int i = 0; end != segments_.end() && i <= segment_cache_limit + FORWARD_FETCH_SEGS; ++i) { + SegmentMap::iterator begin, cur; + begin = cur = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first)); + int distance = std::max(std::ceil(segment_cache_limit / 2.0) - 1, segment_cache_limit - std::distance(cur, segments_.end())); + for (int i = 0; begin != segments_.begin() && i < distance; ++i) { + --begin; + } + auto end = begin; + for (int i = 0; end != segments_.end() && i < segment_cache_limit; ++i) { ++end; } + // load one segment at a time for (auto it = cur; it != end; ++it) { auto &[n, seg] = *it; @@ -227,12 +234,6 @@ void Replay::queueSegment() { } } - const auto &cur_segment = cur->second; - // merge the previous adjacent segment if it's loaded - auto begin = segments_.find(cur_segment->seg_num - 1); - if (begin == segments_.end() || !(begin->second && begin->second->isLoaded())) { - begin = cur; - } mergeSegments(begin, end); // free segments out of current semgnt window. @@ -240,6 +241,7 @@ void Replay::queueSegment() { std::for_each(end, segments_.end(), [](auto &e) { e.second.reset(nullptr); }); // start stream thread + const auto &cur_segment = cur->second; if (stream_thread_ == nullptr && cur_segment->isLoaded()) { startStream(cur_segment.get()); emit streamStarted(); @@ -247,12 +249,13 @@ void Replay::queueSegment() { } void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end) { - // merge 3 segments in sequence. std::vector segments_need_merge; size_t new_events_size = 0; - for (auto it = begin; it != end && it->second && it->second->isLoaded() && segments_need_merge.size() < segment_cache_limit; ++it) { - segments_need_merge.push_back(it->first); - new_events_size += it->second->log->events.size(); + for (auto it = begin; it != end; ++it) { + if (it->second && it->second->isLoaded()) { + segments_need_merge.push_back(it->first); + new_events_size += it->second->log->events.size(); + } } if (segments_need_merge != segments_merged_) { diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 88c285125a..2c68443df0 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -10,7 +10,7 @@ const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; // one segment uses about 100M of memory -constexpr int FORWARD_FETCH_SEGS = 3; +constexpr int MIN_SEGMENTS_CACHE = 5; enum REPLAY_FLAGS { REPLAY_FLAG_NONE = 0x0000, @@ -58,7 +58,7 @@ public: event_filter = filter; } inline int segmentCacheLimit() const { return segment_cache_limit; } - inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(3, n); } + inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(MIN_SEGMENTS_CACHE, n); } inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; } inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; } inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; } @@ -79,6 +79,7 @@ public: signals: void streamStarted(); void segmentsMerged(); + void seekedTo(double sec); protected slots: void segmentLoadFinished(bool success); @@ -133,5 +134,5 @@ protected: float speed_ = 1.0; replayEventFilter event_filter = nullptr; void *filter_opaque = nullptr; - int segment_cache_limit = 3; + int segment_cache_limit = MIN_SEGMENTS_CACHE; };