diff --git a/.github/workflows/repo.yml b/.github/workflows/repo.yml new file mode 100644 index 0000000000..1445aa635d --- /dev/null +++ b/.github/workflows/repo.yml @@ -0,0 +1,28 @@ +name: repo + +on: + schedule: + - cron: "0 15 * * 2" + workflow_dispatch: + +jobs: + pre-commit-autoupdate: + name: pre-commit autoupdate + runs-on: ubuntu-20.04 + container: + image: ghcr.io/commaai/openpilot-base:latest + steps: + - uses: actions/checkout@v3 + - name: pre-commit autoupdate + run: | + git config --global --add safe.directory '*' + pre-commit autoupdate + - name: Create Pull Request + uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5 + with: + token: ${{ secrets.ACTIONS_CREATE_PR_PAT }} + commit-message: Update pre-commit hook versions + title: 'pre-commit: autoupdate hooks' + branch: pre-commit-updates + base: master + delete-branch: true diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 1779947ff9..0b021adfe4 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -4,11 +4,12 @@ repos: - id: check-hooks-apply - id: check-useless-excludes - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.1.0 + rev: v4.4.0 hooks: - id: check-ast exclude: '^(third_party)/' - id: check-json + - id: check-toml - id: check-xml - id: check-yaml - id: check-merge-conflict @@ -16,7 +17,7 @@ repos: - id: check-added-large-files args: ['--maxkb=100'] - repo: https://github.com/codespell-project/codespell - rev: v2.2.1 + rev: v2.2.4 hooks: - id: codespell exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' @@ -33,7 +34,7 @@ repos: types: [python] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/PyCQA/flake8 - rev: 4.0.1 + rev: 6.0.0 hooks: - id: flake8 exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/' @@ -79,6 +80,6 @@ repos: language: script pass_filenames: false - repo: https://github.com/python-poetry/poetry - rev: '1.2.2' + rev: '1.4.0' hooks: - id: poetry-check diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot index acc0fcc784..51907b7a44 100644 --- a/Dockerfile.openpilot +++ b/Dockerfile.openpilot @@ -2,7 +2,7 @@ FROM ghcr.io/commaai/openpilot-base:latest ENV PYTHONUNBUFFERED 1 -ENV OPENPILOT_PATH /home/batman/openpilot/ +ENV OPENPILOT_PATH /home/batman/openpilot ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH} RUN mkdir -p ${OPENPILOT_PATH} @@ -23,5 +23,6 @@ COPY ./cereal ${OPENPILOT_PATH}/cereal COPY ./panda ${OPENPILOT_PATH}/panda COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive COPY ./system ${OPENPILOT_PATH}/system +COPY ./body ${OPENPILOT_PATH}/body RUN scons --cache-readonly -j$(nproc) diff --git a/Jenkinsfile b/Jenkinsfile index 4e80b5fa3c..8978459689 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -20,6 +20,10 @@ if [ -f /TICI ]; then source /etc/profile fi +if [ -d /data/openpilot ]; then + source /data/openpilot/launch_env.sh +fi + ln -snf ${env.TEST_DIR} /data/pythonpath cd ${env.TEST_DIR} || true @@ -125,6 +129,21 @@ pipeline { } */ + stage('tizi-tests') { + agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } + steps { + phone_steps("tizi", [ + ["build openpilot", "cd selfdrive/manager && ./build.py"], + ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"], + ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], + ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], + ["test camerad", "python system/camerad/test/test_camerad.py"], + ["test exposure", "python system/camerad/test/test_exposure.py"], + ["test amp", "python system/hardware/tici/tests/test_amplifier.py"], + ]) + } + } + stage('build') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } environment { @@ -156,7 +175,7 @@ pipeline { steps { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test power draw", "python system/hardware/tici/test_power_draw.py"], + ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"], ["test loggerd", "python system/loggerd/tests/test_loggerd.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"], ["test pigeond", "python system/sensord/tests/test_pigeond.py"], @@ -166,7 +185,7 @@ pipeline { } } - stage('camerad-ar') { + stage('camerad') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { phone_steps("tici-ar0231", [ @@ -174,12 +193,6 @@ pipeline { ["test camerad", "python system/camerad/test/test_camerad.py"], ["test exposure", "python system/camerad/test/test_exposure.py"], ]) - } - } - - stage('camerad-ox') { - agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } - steps { phone_steps("tici-ox03c10", [ ["build", "cd selfdrive/manager && ./build.py"], ["test camerad", "python system/camerad/test/test_camerad.py"], diff --git a/RELEASES.md b/RELEASES.md index 55edc47c27..df4a072cb4 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,10 +1,21 @@ -Version 0.9.2 (2023-03-XX) +Version 0.9.2 (2023-05-XX) ======================== -* New driving model, trained on a new dataset +* New driving model + * fixes turn diving + * trained on a new dataset * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. * Buick LaCrosse 2017-19 support thanks to koch-cf! +* Chevrolet Trailblazer 2021-22 support thanks to TurboCE! +* Ford Bronco Sport 2021-22 support +* Ford Explorer 2020-22 support +* Honda HR-V 2023 support thanks to AlexandreSato and galegozi! +* Kia Niro EV 2023 support thanks to JosselinLecocq! +* Lexus ES 2017-18 support +* Lincoln Aviator 2021 support +* Lincoln Aviator Plug-in Hybrid 2021 support * Škoda Fabia 2022-23 support thanks to jyoung8607! + Version 0.9.1 (2023-02-28) ======================== * New driving model diff --git a/SConstruct b/SConstruct index 387d2e76f4..320590b058 100644 --- a/SConstruct +++ b/SConstruct @@ -5,6 +5,10 @@ import sysconfig import platform import numpy as np +import SCons.Errors + +SCons.Warnings.warningAsException(True) + TICI = os.path.isfile('/TICI') AGNOS = TICI @@ -118,7 +122,7 @@ else: f"#third_party/libyuv/{yuv_dir}/lib", f"{brew_prefix}/lib", f"{brew_prefix}/Library", - f"{brew_prefix}/opt/openssl/lib", + f"{brew_prefix}/opt/openssl@3.0/lib", f"{brew_prefix}/Cellar", "/System/Library/Frameworks/OpenGL.framework/Libraries", ] @@ -131,7 +135,7 @@ else: cxxflags += ["-DGL_SILENCE_DEPRECATION"] cpppath += [ f"{brew_prefix}/include", - f"{brew_prefix}/opt/openssl/include", + f"{brew_prefix}/opt/openssl@3.0/include", ] # Linux 86_64 else: @@ -310,8 +314,14 @@ else: qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath) elif arch != "Darwin": qt_libs += ["GL"] +qt_env['QT3DIR'] = qt_env['QTDIR'] + +# compatibility for older SCons versions +try: + qt_env.Tool('qt3') +except SCons.Errors.UserError: + qt_env.Tool('qt') -qt_env.Tool('qt') qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"] qt_flags = [ "-D_REENTRANT", @@ -432,11 +442,8 @@ SConscript(['system/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) SConscript(['selfdrive/navd/SConscript']) -if arch in ['x86_64', 'Darwin'] or GetOption('extras'): +if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'): SConscript(['tools/replay/SConscript']) - - opendbc = abspath([File('opendbc/can/libdbc.so')]) - Export('opendbc') SConscript(['tools/cabana/SConscript']) external_sconscript = GetOption('external_sconscript') diff --git a/cereal b/cereal index d70d215de6..e5cd59ef00 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit d70d215de6c584f671272d2de2f46a4f778e9f14 +Subproject commit e5cd59ef0057256f4fab807f6bf8744634a2cd11 diff --git a/common/gpio.py b/common/gpio.py index 260f8898a1..711fcff85d 100644 --- a/common/gpio.py +++ b/common/gpio.py @@ -1,4 +1,5 @@ -from typing import Optional +import glob +from typing import Optional, List def gpio_init(pin: int, output: bool) -> None: try: @@ -23,3 +24,13 @@ def gpio_read(pin: int) -> Optional[bool]: print(f"Failed to set gpio {pin} value: {e}") return val + +def get_irq_for_action(action: str) -> List[int]: + ret = [] + for fn in glob.glob('/sys/kernel/irq/*/actions'): + with open(fn) as f: + actions = f.read().strip().split(',') + if action in actions: + irq = int(fn.split('/')[-2]) + ret.append(irq) + return ret diff --git a/common/i2c.cc b/common/i2c.cc index eb10cd64bb..ef788ac9ea 100644 --- a/common/i2c.cc +++ b/common/i2c.cc @@ -15,7 +15,7 @@ #define UNUSED(x) (void)(x) #ifdef QCOM2 -// TODO: decide if we want to isntall libi2c-dev everywhere +// TODO: decide if we want to install libi2c-dev everywhere extern "C" { #include #include diff --git a/common/params.cc b/common/params.cc index 428830a112..a5e6381d9c 100644 --- a/common/params.cc +++ b/common/params.cc @@ -305,14 +305,19 @@ std::map Params::readAll() { void Params::clearAll(ParamKeyType key_type) { FileLock file_lock(params_path + "/.lock"); - if (key_type == ALL) { - util::remove_files_in_dir(getParamPath()); - } else { - for (auto &[key, type] : keys) { - if (type & key_type) { - unlink(getParamPath(key).c_str()); + // 1) delete params of key_type + // 2) delete files that are not defined in the keys. + if (DIR *d = opendir(getParamPath().c_str())) { + struct dirent *de = NULL; + while ((de = readdir(d))) { + if (de->d_type != DT_DIR) { + auto it = keys.find(de->d_name); + if (it == keys.end() || (it->second & key_type)) { + unlink(getParamPath(de->d_name).c_str()); + } } } + closedir(d); } fsync_dir(getParamPath()); diff --git a/common/statlog.cc b/common/statlog.cc index 26945882d9..587f3e8620 100644 --- a/common/statlog.cc +++ b/common/statlog.cc @@ -5,6 +5,7 @@ #include "common/statlog.h" #include "common/util.h" +#include #include #include #include diff --git a/common/swaglog.cc b/common/swaglog.cc index 22682dc54c..54f1c3478a 100644 --- a/common/swaglog.cc +++ b/common/swaglog.cc @@ -5,6 +5,7 @@ #include "common/swaglog.h" #include +#include #include #include #include diff --git a/common/tests/test_params.py b/common/tests/test_params.py index ec13e82217..d432218c8a 100644 --- a/common/tests/test_params.py +++ b/common/tests/test_params.py @@ -1,7 +1,9 @@ +import os import threading import time import tempfile import shutil +import uuid import unittest from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking @@ -28,9 +30,16 @@ class TestParams(unittest.TestCase): self.params.put("CarParams", "test") self.params.put("DongleId", "cb38263377b873ee") assert self.params.get("CarParams") == b"test" + + undefined_param = self.params.get_param_path(uuid.uuid4().hex) + with open(undefined_param, "w") as f: + f.write("test") + assert os.path.isfile(undefined_param) + self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) assert self.params.get("CarParams") is None assert self.params.get("DongleId") is not None + assert not os.path.isfile(undefined_param) def test_params_two_things(self): self.params.put("DongleId", "bob") diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc index b70cc9044a..25ecf09aa9 100644 --- a/common/tests/test_util.cc +++ b/common/tests/test_util.cc @@ -143,20 +143,3 @@ TEST_CASE("util::create_directories") { REQUIRE(util::create_directories("", 0755) == false); } } - -TEST_CASE("util::remove_files_in_dir") { - std::string tmp_dir = "/tmp/test_remove_all_in_dir"; - system("rm /tmp/test_remove_all_in_dir -rf"); - REQUIRE(util::create_directories(tmp_dir, 0755)); - const int tmp_file_cnt = 10; - for (int i = 0; i < tmp_file_cnt; ++i) { - std::string tmp_file = tmp_dir + "/test_XXXXXX"; - int fd = mkstemp((char*)tmp_file.c_str()); - close(fd); - REQUIRE(util::file_exists(tmp_file.c_str())); - } - - REQUIRE(util::read_files_in_dir(tmp_dir).size() == tmp_file_cnt); - util::remove_files_in_dir(tmp_dir); - REQUIRE(util::read_files_in_dir(tmp_dir).empty()); -} diff --git a/common/util.cc b/common/util.cc index 10dff6a9ea..ee1080cbdf 100644 --- a/common/util.cc +++ b/common/util.cc @@ -99,22 +99,6 @@ std::map read_files_in_dir(const std::string &path) { return ret; } -void remove_files_in_dir(const std::string &path) { - DIR *d = opendir(path.c_str()); - if (!d) return; - - std::string fn; - struct dirent *de = NULL; - while ((de = readdir(d))) { - if (de->d_type != DT_DIR) { - fn = path + "/" + de->d_name; - unlink(fn.c_str()); - } - } - - closedir(d); -} - int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) { int fd = HANDLE_EINTR(open(path, flags, mode)); if (fd == -1) { diff --git a/common/util.h b/common/util.h index 028074384e..c80dc234f2 100644 --- a/common/util.h +++ b/common/util.h @@ -81,7 +81,6 @@ std::string dir_name(std::string const& path); // **** file fhelpers ***** std::string read_file(const std::string& fn); std::map read_files_in_dir(const std::string& path); -void remove_files_in_dir(const std::string& path); int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664); FILE* safe_fopen(const char* filename, const char* mode); diff --git a/docs/CARS.md b/docs/CARS.md index 7c8170c275..13f5cc7752 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -2,9 +2,9 @@ # Supported Cars -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. +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. Supported vehicles reference the US market unless otherwise specified. -# 239 Supported Cars +# 248 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -23,13 +23,16 @@ A supported vehicle is one that just works when you install a comma three. All s |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| +|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| |Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| -|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| +|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| +|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|| @@ -44,9 +47,9 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| +|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| +|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| @@ -54,12 +57,13 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| -|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| +|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| |Hyundai|Elantra 2021-23|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|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|| @@ -74,7 +78,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| -|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|| |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|| @@ -92,23 +96,24 @@ A supported vehicle is one that just works when you install a comma three. All s |Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| |Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| -|Hyundai|Tucson Hybrid 2022[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| +|Hyundai|Tucson Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|| |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| |Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| -|Kia|EV6 (with HDA II) 2022[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|| -|Kia|EV6 (without HDA II) 2022[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|| +|Kia|EV6 (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 P|| +|Kia|EV6 (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 L|| |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|| +|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| -|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| -|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| +|Kia|Niro EV 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 A|| +|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|| |Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|| @@ -125,6 +130,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| @@ -141,12 +147,14 @@ A supported vehicle is one that just works when you install a comma three. All s |Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| +|Lincoln|Aviator Plug-in Hybrid 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ford Q3|| |MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|| -|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| |Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|| @@ -237,8 +245,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| -|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| @@ -246,6 +254,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile index a1cdbbeaf0..08b318a59a 100644 --- a/docs/docker/Dockerfile +++ b/docs/docker/Dockerfile @@ -11,6 +11,7 @@ WORKDIR ${OPENPILOT_PATH} COPY SConstruct ${OPENPILOT_PATH} +COPY ./body ${OPENPILOT_PATH}/body COPY ./third_party ${OPENPILOT_PATH}/third_party COPY ./site_scons ${OPENPILOT_PATH}/site_scons COPY ./laika ${OPENPILOT_PATH}/laika diff --git a/laika_repo b/laika_repo index 6fadabd860..e932f32ab9 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 6fadabd86043ee19e06c6ed59aa4e688c14fa8e4 +Subproject commit e932f32ab921ed09ba6e304990574693d8ca5199 diff --git a/opendbc b/opendbc index b7d4a6e271..8faada0494 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit b7d4a6e2718d9ec3cf436441696528bedb1d44cf +Subproject commit 8faada0494c4498a57c2196e80c6da94f508d009 diff --git a/panda b/panda index a12c0a7956..cedb5fd1a6 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit a12c0a795678373d946b644b43d9402b72e502a9 +Subproject commit cedb5fd1a6c0823703280b1941edfed9602a287d diff --git a/poetry.lock b/poetry.lock index b7554ac03a..5d60353f80 100644 --- a/poetry.lock +++ b/poetry.lock @@ -55,7 +55,7 @@ frozenlist = ">=1.1.0" name = "alabaster" version = "0.7.12" description = "A configurable sidebar-enabled Sphinx theme" -category = "dev" +category = "main" optional = false python-versions = "*" @@ -374,7 +374,7 @@ azure-nspkg = ">=2.0.0" name = "babel" version = "2.10.3" description = "Internationalization utilities" -category = "dev" +category = "main" optional = false python-versions = ">=3.6" @@ -856,7 +856,7 @@ python-versions = "*" name = "docutils" version = "0.17.1" description = "Docutils -- Python Documentation Utilities" -category = "dev" +category = "main" optional = false python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*" @@ -1390,7 +1390,7 @@ tifffile = ["tifffile"] name = "imagesize" version = "1.4.1" description = "Getting image size from png/jpeg/jpeg2000/gif file" -category = "dev" +category = "main" optional = false python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*" @@ -2519,6 +2519,33 @@ category = "main" optional = false python-versions = ">=3.8" +[[package]] +name = "nvidia-cublas-cu12" +version = "12.1.0.26" +description = "CUBLAS native runtime libraries" +category = "dev" +optional = false +python-versions = ">=3" + +[[package]] +name = "nvidia-cuda-runtime-cu12" +version = "12.1.55" +description = "CUDA Runtime native Libraries" +category = "dev" +optional = false +python-versions = ">=3" + +[[package]] +name = "nvidia-cudnn-cu12" +version = "8.9.0.131" +description = "cuDNN runtime libraries" +category = "dev" +optional = false +python-versions = ">=3" + +[package.dependencies] +nvidia-cublas-cu12 = "*" + [[package]] name = "nvidia-ml-py3" version = "7.352.0" @@ -2703,6 +2730,23 @@ category = "dev" optional = false python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*" +[[package]] +name = "panflute" +version = "2.3.0" +description = "Pythonic Pandoc filters" +category = "main" +optional = false +python-versions = ">=3.6" + +[package.dependencies] +click = ">=6,<9" +pyyaml = ">=3,<7" + +[package.extras] +dev = ["configparser", "coverage", "flake8", "pandocfilters", "pytest", "pytest-cov", "requests"] +extras = ["yamlloader (>=1,<2)"] +pypi = ["Pygments", "docutils", "twine", "wheel"] + [[package]] name = "parameterized" version = "0.8.1" @@ -3115,7 +3159,7 @@ python-versions = ">=3.6" name = "pygments" version = "2.13.0" description = "Pygments is a syntax highlighting package written in Python." -category = "dev" +category = "main" optional = false python-versions = ">=3.6" @@ -3426,7 +3470,7 @@ numpy = ["numpy (>=1.6.0)"] name = "pytz" version = "2022.5" description = "World timezone definitions, modern and historical" -category = "dev" +category = "main" optional = false python-versions = "*" @@ -3714,6 +3758,27 @@ python-versions = ">=3.6" [package.dependencies] setuptools = "*" +[[package]] +name = "sconscontrib" +version = "1.0" +description = "" +category = "main" +optional = false +python-versions = ">=3.6, <4" +develop = false + +[package.dependencies] +docutils = "*" +panflute = "*" +SCons = ">=4" +sphinx = "*" + +[package.source] +type = "git" +url = "https://github.com/SCons/scons-contrib.git" +reference = "HEAD" +resolved_reference = "f3b0100d3a628e4d18f496815903660a99489bae" + [[package]] name = "secretstorage" version = "3.3.3" @@ -3892,7 +3957,7 @@ python-versions = ">=3.7" name = "snowballstemmer" version = "2.2.0" description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms." -category = "dev" +category = "main" optional = false python-versions = "*" @@ -3930,7 +3995,7 @@ python-versions = ">=3.6" name = "sphinx" version = "5.3.0" description = "Python documentation generator" -category = "dev" +category = "main" optional = false python-versions = ">=3.6" @@ -3989,7 +4054,7 @@ sphinx = ">=1.2" name = "sphinxcontrib-applehelp" version = "1.0.2" description = "sphinxcontrib-applehelp is a sphinx extension which outputs Apple help books" -category = "dev" +category = "main" optional = false python-versions = ">=3.5" @@ -4001,7 +4066,7 @@ test = ["pytest"] name = "sphinxcontrib-devhelp" version = "1.0.2" description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document." -category = "dev" +category = "main" optional = false python-versions = ">=3.5" @@ -4013,7 +4078,7 @@ test = ["pytest"] name = "sphinxcontrib-htmlhelp" version = "2.0.0" description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files" -category = "dev" +category = "main" optional = false python-versions = ">=3.6" @@ -4025,7 +4090,7 @@ test = ["html5lib", "pytest"] name = "sphinxcontrib-jsmath" version = "1.0.1" description = "A sphinx extension which renders display math in HTML via JavaScript" -category = "dev" +category = "main" optional = false python-versions = ">=3.5" @@ -4036,7 +4101,7 @@ test = ["flake8", "mypy", "pytest"] name = "sphinxcontrib-qthelp" version = "1.0.3" description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp document." -category = "dev" +category = "main" optional = false python-versions = ">=3.5" @@ -4048,7 +4113,7 @@ test = ["pytest"] name = "sphinxcontrib-serializinghtml" version = "1.1.5" description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)." -category = "dev" +category = "main" optional = false python-versions = ">=3.5" @@ -4164,6 +4229,22 @@ python-versions = ">=3.6" [package.extras] doc = ["reno", "sphinx", "tornado (>=4.5)"] +[[package]] +name = "tensorrt" +version = "8.6.0" +description = "A high performance deep learning inference library" +category = "dev" +optional = false +python-versions = "*" + +[package.dependencies] +nvidia-cublas-cu12 = "*" +nvidia-cuda-runtime-cu12 = "*" +nvidia-cudnn-cu12 = "*" + +[package.extras] +numpy = ["numpy"] + [[package]] name = "terminado" version = "0.16.0" @@ -4659,7 +4740,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "b7cd75dfa0dcddff224696ccc7f41d87aac64652f744ab386321c1eee920fbe9" +content-hash = "774e90b7d2bef68c6d219c8afc3d5717a104a04b9cd7b1b215655eb48fa62d04" [metadata.files] adal = [ @@ -5579,6 +5660,14 @@ fastcluster = [ {file = "fastcluster-1.2.6-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:9020899b67fe492d0ed87a3e993ec9962c5a0b51ea2df71d86b1766f065f1cef"}, {file = "fastcluster-1.2.6-cp310-cp310-win32.whl", hash = "sha256:6cf156d4203708348522393c523c2e61c81f5a6a500e0411dcba2b064551ea2f"}, {file = "fastcluster-1.2.6-cp310-cp310-win_amd64.whl", hash = "sha256:1801c9daa9aa5bbbb0830efe8bd3034b4b7a417e4b8dd353683999be29797df2"}, + {file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_universal2.whl", hash = "sha256:ce70c743490f6778b463524d1767a9ecccd31c8bd2dbb5739bb2174168c15d39"}, + {file = "fastcluster-1.2.6-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:ac1b84d4b28456a379a71451d13995eb3242143452ce9c861f8913360de842a3"}, + {file = "fastcluster-1.2.6-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:55b49f6033c45a28f93540847b495ed0f718b5c3f4fef446cf77e3726662e1d5"}, + {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c1c776a4ec7594f47cd2e1e2da73a30134f1d402d7c93a81e3cb7c3d8e191173"}, + {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:aca61d16435bb7aea3901939d7d7d7e36aff9bb538123e649166a3014b280054"}, + {file = "fastcluster-1.2.6-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:04ea4a68e0675072ca761bad33322a0e998cb43693fd41165bc420d7db40429a"}, + {file = "fastcluster-1.2.6-cp311-cp311-win32.whl", hash = "sha256:773043d5db2790e1ff2a4e1eae0b6a60afb2a93ad2c74897a56c80bc800db04f"}, + {file = "fastcluster-1.2.6-cp311-cp311-win_amd64.whl", hash = "sha256:841d128daa6597d13781793eb482b0b566bbd58d2a9d1e2cf1b58838773beb14"}, {file = "fastcluster-1.2.6-cp36-cp36m-macosx_10_9_x86_64.whl", hash = "sha256:cf5acfe1156849279ebd44a8d1fbcbe8b8e21334f7538eda782ae31e7dade9e2"}, {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:cb27c13225f5f77f3c5986a27ca27277cce7db12844330cf535019cd38021257"}, {file = "fastcluster-1.2.6-cp36-cp36m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:5fe543b6d45da27e84e5af6248722475b88943d8ef40d835cbabbb0ba5ee786b"}, @@ -6860,6 +6949,17 @@ numpy = [ {file = "numpy-1.23.4-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:4d52914c88b4930dafb6c48ba5115a96cbab40f45740239d9f4159c4ba779962"}, {file = "numpy-1.23.4.tar.gz", hash = "sha256:ed2cc92af0efad20198638c69bb0fc2870a58dabfba6eb722c933b48556c686c"}, ] +nvidia-cublas-cu12 = [ + {file = "nvidia_cublas_cu12-12.1.0.26-py3-none-manylinux1_x86_64.whl", hash = "sha256:4fd00bd12d442f53929616f45ba67552a13d8940f6e766d11d83973a21ada910"}, + {file = "nvidia_cublas_cu12-12.1.0.26-py3-none-win_amd64.whl", hash = "sha256:5c668dcb5cbf49e1add058328300aa90fd012eb958a646a8777d55da2eca5eaa"}, +] +nvidia-cuda-runtime-cu12 = [ + {file = "nvidia_cuda_runtime_cu12-12.1.55-py3-none-manylinux1_x86_64.whl", hash = "sha256:a485693383c7a28ba022587c5a640353ef61a21eb2e87382d0a76340bda92e2e"}, + {file = "nvidia_cuda_runtime_cu12-12.1.55-py3-none-win_amd64.whl", hash = "sha256:6939e48161354dbc096dcc6f7910cb2387227f0bac462c2cff51a7d5b50ad200"}, +] +nvidia-cudnn-cu12 = [ + {file = "nvidia_cudnn_cu12-8.9.0.131-py3-none-manylinux1_x86_64.whl", hash = "sha256:2a95c2e0201187509021270f52971435d171e65627a482b9ebdfdde6749ad485"}, +] nvidia-ml-py3 = [ {file = "nvidia-ml-py3-7.352.0.tar.gz", hash = "sha256:390f02919ee9d73fe63a98c73101061a6b37fa694a793abf56673320f1f51277"}, ] @@ -6980,6 +7080,10 @@ pandocfilters = [ {file = "pandocfilters-1.5.0-py2.py3-none-any.whl", hash = "sha256:33aae3f25fd1a026079f5d27bdd52496f0e0803b3469282162bafdcbdf6ef14f"}, {file = "pandocfilters-1.5.0.tar.gz", hash = "sha256:0b679503337d233b4339a817bfc8c50064e2eff681314376a47cb582305a7a38"}, ] +panflute = [ + {file = "panflute-2.3.0-py3-none-any.whl", hash = "sha256:02673bcbdb521a805f08a2ca0ce864de86ad409ad406a01b3700fcf2aca81635"}, + {file = "panflute-2.3.0.tar.gz", hash = "sha256:cefd9dfc48ccd9732a53db57610701d22806da397a8a97e5cc8dc070b55865ca"}, +] parameterized = [ {file = "parameterized-0.8.1-py2.py3-none-any.whl", hash = "sha256:9cbb0b69a03e8695d68b3399a8a5825200976536fe1cb79db60ed6a4c8c9efe9"}, {file = "parameterized-0.8.1.tar.gz", hash = "sha256:41bbff37d6186430f77f900d777e5bb6a24928a1c46fb1de692f8b52b8833b5c"}, @@ -7968,6 +8072,7 @@ scons = [ {file = "SCons-4.4.0-py3-none-any.whl", hash = "sha256:cbbd73b83cf85f1aaaf986370359de1bbfd3af97a765cb3554734f6dcec734e1"}, {file = "SCons-4.4.0.tar.gz", hash = "sha256:7703c4e9d2200b4854a31800c1dbd4587e1fa86e75f58795c740bcfa7eca7eaa"}, ] +sconscontrib = [] secretstorage = [ {file = "SecretStorage-3.3.3-py3-none-any.whl", hash = "sha256:f356e6628222568e3af06f2eba8df495efa13b3b63081dafd4f7d9a7b7bc9f99"}, {file = "SecretStorage-3.3.3.tar.gz", hash = "sha256:2403533ef369eca6d2ba81718576c5e0f564d5cca1b58f73a8b23e7d4eeebd77"}, @@ -8314,6 +8419,13 @@ tenacity = [ {file = "tenacity-8.1.0-py3-none-any.whl", hash = "sha256:35525cd47f82830069f0d6b73f7eb83bc5b73ee2fff0437952cedf98b27653ac"}, {file = "tenacity-8.1.0.tar.gz", hash = "sha256:e48c437fdf9340f5666b92cd7990e96bc5fc955e1298baf4a907e3972067a445"}, ] +tensorrt = [ + {file = "tensorrt-8.6.0-cp310-none-manylinux_2_17_x86_64.whl", hash = "sha256:8850d470a92e17e65686fce2a5105dc51fc89f2b438d60d66027288a165732ba"}, + {file = "tensorrt-8.6.0-cp36-none-manylinux_2_17_x86_64.whl", hash = "sha256:1eb0b9b29f3f6c9a6f737b95d1edfe63353dd6b5427478b1c580c9cb72340749"}, + {file = "tensorrt-8.6.0-cp37-none-manylinux_2_17_x86_64.whl", hash = "sha256:ae2e99fb98952d71d6a7443335f7f8e1a8c471b8136e33bb491f11e410dea3cd"}, + {file = "tensorrt-8.6.0-cp38-none-manylinux_2_17_x86_64.whl", hash = "sha256:ba9eb8d1a7c32c63981b4203b72b90b38402ad000ec554fb8dd85a7401de60dd"}, + {file = "tensorrt-8.6.0-cp39-none-manylinux_2_17_x86_64.whl", hash = "sha256:4dc971cd8def3b41086c34d93ca8bff56f5d7d9a2ab5f8738307d040b0bf751e"}, +] terminado = [ {file = "terminado-0.16.0-py3-none-any.whl", hash = "sha256:3e995072a7178a104c41134548ce9b03e4e7f0a538e9c29df4f1fbc81c7cfc75"}, {file = "terminado-0.16.0.tar.gz", hash = "sha256:fac14374eb5498bdc157ed32e510b1f60d5c3c7981a9f5ba018bb9a64cec0c25"}, diff --git a/pyproject.toml b/pyproject.toml index 47994779b2..25b61eb50b 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -59,6 +59,7 @@ urllib3 = "^1.26.10" utm = "^0.7.0" websocket_client = "^1.3.3" polyline = "^1.4.0" +sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"} [tool.poetry.group.dev.dependencies] @@ -175,6 +176,7 @@ zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "mas omegaconf = "^2.3.0" osmnx = "==1.2.2" tritonclient = {version = "2.28.0", extras = ["http"]} +tensorrt = "^8.6.0" [build-system] diff --git a/release/files_common b/release/files_common index a20f71018b..2fcbf90c91 100644 --- a/release/files_common +++ b/release/files_common @@ -396,9 +396,9 @@ selfdrive/modeld/runners/run.h selfdrive/monitoring/dmonitoringd.py selfdrive/monitoring/driver_monitor.py +selfdrive/navd/.gitignore selfdrive/navd/__init__.py -selfdrive/navd/navd.py -selfdrive/navd/helpers.py +selfdrive/navd/** selfdrive/assets/.gitignore selfdrive/assets/assets.qrc @@ -411,6 +411,7 @@ selfdrive/assets/images/* selfdrive/assets/offroad/* selfdrive/assets/sounds/* selfdrive/assets/training/* +selfdrive/assets/navigation/* third_party/.gitignore third_party/SConscript diff --git a/release/files_tici b/release/files_tici index b4e0c50516..892b7cd2f4 100644 --- a/release/files_tici +++ b/release/files_tici @@ -4,9 +4,6 @@ third_party/mapbox-gl-native-qt/include/* system/timezoned.py -selfdrive/assets/navigation/* -selfdrive/assets/training_wide/* - system/camerad/cameras/camera_qcom2.cc system/camerad/cameras/camera_qcom2.h system/camerad/cameras/camera_util.cc diff --git a/selfdrive/assets/compress-images.sh b/selfdrive/assets/compress-images.sh index 8601b2d61b..a1a4f8bb40 100755 --- a/selfdrive/assets/compress-images.sh +++ b/selfdrive/assets/compress-images.sh @@ -1,7 +1,7 @@ #!/bin/bash echo "compressing training guide images" -optipng -o7 -strip all training/* training_wide/* +optipng -o7 -strip all training/* # This can sometimes provide smaller images -# mogrify -quality 100 -format jpg training_wide/* training/* +# mogrify -quality 100 -format jpg training/* diff --git a/selfdrive/assets/training/step0.png b/selfdrive/assets/training/step0.png index b942703b5d..3c2c5c72a0 100644 Binary files a/selfdrive/assets/training/step0.png and b/selfdrive/assets/training/step0.png differ diff --git a/selfdrive/assets/training/step1.png b/selfdrive/assets/training/step1.png index e2c9f9f60e..0857893118 100644 Binary files a/selfdrive/assets/training/step1.png and b/selfdrive/assets/training/step1.png differ diff --git a/selfdrive/assets/training/step10.png b/selfdrive/assets/training/step10.png index c5ed8fd624..2941316d17 100644 Binary files a/selfdrive/assets/training/step10.png and b/selfdrive/assets/training/step10.png differ diff --git a/selfdrive/assets/training/step11.png 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/dev/null differ diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 7cb6d5b845..8e335c2b58 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -517,6 +517,11 @@ def getSshAuthorizedKeys() -> str: return Params().get("GithubSshKeys", encoding='utf8') or '' +@dispatcher.add_method +def getGithubUsername() -> str: + return Params().get("GithubUsername", encoding='utf8') or '' + + @dispatcher.add_method def getSimInfo(): return HARDWARE.get_sim_info() diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py index a43527c260..247aedd67a 100644 --- a/selfdrive/athena/tests/helpers.py +++ b/selfdrive/athena/tests/helpers.py @@ -53,6 +53,7 @@ class MockParams(): default_params = { "DongleId": b"0000000000000000", "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501 + "GithubUsername": b"commaci", "GsmMetered": True, "AthenadUploadQueue": '[]', } diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 128fde0319..948fcc07a5 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -377,6 +377,10 @@ class TestAthenadMethods(unittest.TestCase): keys = dispatcher["getSshAuthorizedKeys"]() self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8')) + def test_getGithubUsername(self): + keys = dispatcher["getGithubUsername"]() + self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8')) + def test_getVersion(self): resp = dispatcher["getVersion"]() keys = ["version", "remote", "branch", "commit"] diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript index d99e67a9f0..2fe4591484 100644 --- a/selfdrive/boardd/SConscript +++ b/selfdrive/boardd/SConscript @@ -1,9 +1,11 @@ Import('env', 'envCython', 'common', 'cereal', 'messaging') libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj'] -env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs) +panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc']) + +env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs) env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc']) envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"]) if GetOption('test'): - env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs) + env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 8f045c2a69..8694f6dea7 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -363,6 +363,8 @@ std::optional send_panda_states(PubMaster *pm, const std::vector } auto ps = pss[i]; + ps.setVoltage(health.voltage_pkt); + ps.setCurrent(health.current_pkt); ps.setUptime(health.uptime_pkt); ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt); ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt); @@ -383,7 +385,9 @@ std::optional send_panda_states(PubMaster *pm, const std::vector ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt)); ps.setInterruptLoad(health.interrupt_load); ps.setFanPower(health.fan_power); + ps.setFanStallCount(health.fan_stall_count); ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid)); + ps.setSpiChecksumErrorCount(health.spi_checksum_error_count); std::array cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()}; @@ -418,7 +422,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector size_t j = 0; for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION); - f <= size_t(cereal::PandaState::FaultType::SIREN_MALFUNCTION); f++) { + f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) { if (fault_bits.test(f)) { faults.set(j, cereal::PandaState::FaultType(f)); j++; @@ -479,12 +483,26 @@ void panda_state_thread(PubMaster *pm, std::vector pandas, bool spoofin ignition = *ignition_opt; - // TODO: make this check fast, currently takes 16ms - // check if we have new pandas and are offroad - if (!ignition && (pandas.size() != Panda::list().size())) { - LOGW("Reconnecting to changed amount of pandas!"); - do_exit = true; - break; + // check if we should have pandad reconnect + if (!ignition) { + bool comms_healthy = true; + for (const auto &panda : pandas) { + comms_healthy &= panda->comms_healthy(); + } + + if (!comms_healthy) { + LOGE("Reconnecting, communication to pandas not healthy"); + do_exit = true; + + // TODO: list is slow, takes 16ms + } else if (pandas.size() != Panda::list().size()) { + LOGW("Reconnecting to changed amount of pandas!"); + do_exit = true; + } + + if (do_exit) { + break; + } } // clear ignition-based params and set new safety on car start diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 4ad4b5e652..1e7b510eca 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -13,17 +13,16 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { // try USB first, then SPI try { handle = std::make_unique(serial); + LOGW("conntected to %s over USB", serial.c_str()); } catch (std::exception &e) { #ifndef __APPLE__ handle = std::make_unique(serial); + LOGW("conntected to %s over SPI", serial.c_str()); #endif } hw_type = get_hw_type(); - assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) && - (hw_type != cereal::PandaState::PandaType::GREY_PANDA)); - has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) || (hw_type == cereal::PandaState::PandaType::DOS) || (hw_type == cereal::PandaState::PandaType::TRES); diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index f292b921cf..23c31f8569 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -26,7 +26,7 @@ def flash_panda(panda_serial: str) -> Panda: panda = Panda(panda_serial) fw_signature = get_expected_signature(panda) - internal_panda = panda.is_internal() and not panda.bootstub + internal_panda = panda.is_internal() panda_version = "bootstub" if panda.bootstub else panda.get_version() panda_signature = b"" if panda.bootstub else panda.get_signature() @@ -39,7 +39,7 @@ def flash_panda(panda_serial: str) -> Panda: if panda.bootstub: bootstub_version = panda.get_version() - cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}") + cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}") if internal_panda: HARDWARE.recover_internal_panda() panda.recover(reset=(not internal_panda)) @@ -76,10 +76,13 @@ def panda_sort_cmp(a: Panda, b: Panda): def main() -> NoReturn: + count = 0 first_run = True params = Params() while True: + count += 1 + cloudlog.event("pandad.flash_and_connect", count=count) try: params.remove("PandaSignatures") @@ -92,7 +95,7 @@ def main() -> NoReturn: panda_serials = Panda.list() if len(panda_serials) == 0: if first_run: - cloudlog.info("Resetting internal panda") + cloudlog.info("No pandas found, resetting internal panda") HARDWARE.reset_internal_panda() time.sleep(2) # wait to come back up continue @@ -115,6 +118,14 @@ def main() -> NoReturn: cloudlog.info(f"Resetting panda {panda.get_usb_serial()}") panda.reset() + # Ensure internal panda is present if expected + internal_pandas = [panda for panda in pandas if panda.is_internal()] + if HARDWARE.has_internal_panda() and len(internal_pandas) == 0: + cloudlog.error("Internal panda is missing, resetting") + HARDWARE.reset_internal_panda() + time.sleep(2) # wait to come back up + continue + # sort pandas to have deterministic order pandas.sort(key=cmp_to_key(panda_sort_cmp)) panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py index 7d17be4de9..2159eba5eb 100755 --- a/selfdrive/boardd/set_time.py +++ b/selfdrive/boardd/set_time.py @@ -1,11 +1,9 @@ #!/usr/bin/env python3 -import datetime import os -import struct -import usb1 +import datetime +from panda import Panda -REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE -MIN_DATE = datetime.datetime(year=2021, month=4, day=1) +MIN_DATE = datetime.datetime(year=2023, month=4, day=1) def set_time(logger): sys_time = datetime.datetime.today() @@ -14,24 +12,27 @@ def set_time(logger): return try: - ctx = usb1.USBContext() - dev = ctx.openByVendorIDAndProductID(0xbbaa, 0xddcc) - if dev is None: - logger.info("No panda found") + ps = Panda.list() + if len(ps) == 0: + logger.error("Failed to set time, no pandas found") return - # Set system time from panda RTC time - dat = dev.controlRead(REQUEST_IN, 0xa0, 0, 0, 8) - a = struct.unpack("HBBBBBB", dat) - panda_time = datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6]) - if panda_time > MIN_DATE: - logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'") - os.system(f"TZ=UTC date -s '{panda_time}'") + for s in ps: + with Panda(serial=s) as p: + if not p.is_internal(): + continue + + # Set system time from panda RTC time + panda_time = p.get_datetime() + if panda_time > MIN_DATE: + logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'") + os.system(f"TZ=UTC date -s '{panda_time}'") + break except Exception: - logger.warn("Failed to fetch time from panda") + logger.exception("Failed to fetch time from panda") if __name__ == "__main__": import logging - logging.basicConfig(level=logging.INFO) + logging.basicConfig(level=logging.DEBUG) set_time(logging) diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index 9a10e30f95..d418d2bdac 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -57,9 +57,12 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { uint8_t uid[uid_len] = {0}; uint32_t spi_mode = SPI_MODE_0; - uint32_t spi_speed = 30000000; uint8_t spi_bits_per_word = 8; + // 50MHz is the max of the 845. note that some older + // revs of the comma three may not support this speed + uint32_t spi_speed = 50000000; + spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); if (spi_fd < 0) { LOGE("failed opening SPI device %d", spi_fd); diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index d614f0b126..6217561bd1 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -40,8 +40,9 @@ class TestBoardd(unittest.TestCase): sm.update(1000) num_pandas = len(sm['pandaStates']) - if TICI: - self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests") + expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1 + self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \ + connect another panda for multipanda tests.") # boardd blocks on CarVin and CarParams cp = car.CarParams.new_message() diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 3b2369b39b..09dba6ec7a 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -4,9 +4,11 @@ import unittest import cereal.messaging as messaging from panda import Panda +from common.gpio import gpio_set, gpio_init from selfdrive.test.helpers import phone_only from selfdrive.manager.process_config import managed_processes from system.hardware import HARDWARE +from system.hardware.tici.pins import GPIO class TestPandad(unittest.TestCase): @@ -14,9 +16,9 @@ class TestPandad(unittest.TestCase): def tearDown(self): managed_processes['pandad'].stop() - def _wait_for_boardd(self): + def _wait_for_boardd(self, timeout=30): sm = messaging.SubMaster(['peripheralState']) - for _ in range(30): + for _ in range(timeout): sm.update(1000) if sm.updated['peripheralState']: break @@ -30,7 +32,7 @@ class TestPandad(unittest.TestCase): time.sleep(1) managed_processes['pandad'].start() - self._wait_for_boardd() + self._wait_for_boardd(60) @phone_only def test_in_bootstub(self): @@ -40,6 +42,18 @@ class TestPandad(unittest.TestCase): managed_processes['pandad'].start() self._wait_for_boardd() + @phone_only + def test_internal_panda_reset(self): + gpio_init(GPIO.STM_RST_N, True) + gpio_set(GPIO.STM_RST_N, 1) + time.sleep(0.5) + assert all(not Panda(s).is_internal() for s in Panda.list()) + + managed_processes['pandad'].start() + self._wait_for_boardd() + + assert any(Panda(s).is_internal() for s in Panda.list()) + #def test_out_of_date_fw(self): # pass diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index 1c80ea3d93..8a879954fa 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -6,7 +6,7 @@ # Supported Cars -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. +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. Supported vehicles reference the US market unless otherwise specified. # {{all_car_info | length}} Supported Cars diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 850a3538ad..4d583badae 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.body.values import SPEED_FROM_RPM class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.notCar = True ret.carName = "body" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)] diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 6a131c77de..3d8ea22ef2 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -187,7 +187,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): candidate = "mock" CarInterface, CarController, CarState = interfaces[candidate] - CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed) + CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False) CP.carVin = vin CP.carFw = car_fw CP.fingerprintSource = source diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 303f563c90..22b2073883 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "chrysler" ret.dashcamOnly = candidate in RAM_HD diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 8799f073c9..a9d1a528ca 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -67,7 +67,7 @@ class ChryslerCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), CAR.PACIFICA_2018_HYBRID: None, # same platforms - CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"), + CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"), CAR.PACIFICA_2020: [ ChryslerCarInfo("Chrysler Pacifica 2019-20"), @@ -127,6 +127,9 @@ FINGERPRINTS = { # Based on "8190c7275a24557b|2020-02-24--09-57-23" { 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8 + }, + { + 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 450: 8, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 8 }], CAR.JEEP_CHEROKEE: [{ 55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index bc03619d0d..74fd4616fd 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -29,7 +29,7 @@ def get_all_car_info() -> List[CarInfo]: all_car_info: List[CarInfo] = [] footnotes = get_all_footnotes() for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): - CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False) + CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=False, docs=True) if CP.dashcamOnly or car_info is None: continue diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index c0fb4420df..fa95b03fd8 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -117,8 +117,20 @@ def split_name(name: str) -> Tuple[str, str, str]: @dataclass class CarInfo: + # make + model + model years name: str + + # Example for Toyota Corolla MY20 + # requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC) + # US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC + + # the simplest description of the requirements for the US market package: str + + # the minimum compatibility requirements for this model, regardless + # of market. can be a package, trim, or list of features + requirements: Optional[str] = None + video_link: Optional[str] = None footnotes: List[Enum] = field(default_factory=list) min_steer_speed: Optional[float] = None diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index 86bae91b06..868f12cdb8 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -55,6 +55,10 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que can_packets = messaging.drain_sock(logcan, wait_for_one=True) for packet in can_packets: for msg in packet.can: + if not len(msg.dat): + cloudlog.warning("ECU addr scan: skipping empty remote frame") + continue + subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0] if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr): if debug: diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 99072ae975..edce3418be 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,13 +2,26 @@ from cereal import car from common.numpy_fast import clip from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ +from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams +LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert +def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw): + # No blending at low speed due to lack of torque wind-up and inaccurate current curvature + if v_ego_raw > 9: + apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR, + current_curvature + CarControllerParams.CURVATURE_ERROR) + + # Curvature rate limit after driver torque limit + apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams) + + return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) + + class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP @@ -43,17 +56,16 @@ class CarController: can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### - # send steering commands at 20Hz + # send steer msg at 20Hz if (self.frame % CarControllerParams.STEER_STEP) == 0: if CC.latActive: - # apply limits to curvature and clip to signal range - apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams) - apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX) + # apply rate limits, curvature error limit, and clip to signal range + current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1) + apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw) else: apply_curvature = 0. self.apply_curvature_last = apply_curvature - can_sends.append(create_lka_msg(self.packer)) if self.CP.carFingerprint in CANFD_CARS: # TODO: extended mode @@ -63,29 +75,29 @@ class CarController: else: can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) + # send lka msg at 33Hz + if (self.frame % CarControllerParams.LKA_STEP) == 0: + can_sends.append(create_lka_msg(self.packer)) + ### longitudinal control ### - # send acc command at 50Hz + # send acc msg at 50Hz if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0: accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) - precharge_brake = accel < -0.1 - if accel > -0.5: - gas = accel - decel = False - else: + gas = accel + decel = accel < 0.0 + if accel < -0.5: gas = -5.0 - decel = True - can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel)) + stopping = CC.actuators.longControlState == LongCtrlState.stopping + can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, decel, stopping)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) - - # send lkas ui command at 1Hz or if ui state changes + # send lkas ui msg at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) - - # send acc ui command at 20Hz or if ui state changes + # send acc ui msg at 5Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values)) diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 594d50f59f..81e08c3671 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -19,7 +19,7 @@ def create_lka_msg(packer): This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout. - Frequency is 20Hz. + Frequency is 33Hz. """ return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) @@ -97,7 +97,7 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values) -def create_acc_command(packer, long_active: bool, gas: float, accel: float, precharge_brake: bool, decel: bool): +def create_acc_msg(packer, long_active: bool, gas: float, accel: float, decel: bool, stopping: bool): """ Creates a CAN message for the Ford ACC Command. @@ -111,12 +111,48 @@ def create_acc_command(packer, long_active: bool, gas: float, accel: float, prec "AccBrkTot_A_Rq": accel, # Brake total accel request: [-20|11.9449] m/s^2 "Cmbb_B_Enbl": 1 if long_active else 0, # Enabled: 0=No, 1=Yes "AccPrpl_A_Rq": gas, # Acceleration request: [-5|5.23] m/s^2 - "AccBrkPrchg_B_Rq": 1 if precharge_brake else 0, # Pre-charge brake request: 0=No, 1=Yes + "AccResumEnbl_B_Rq": 1 if long_active else 0, + "AccBrkPrchg_B_Rq": 1 if decel else 0, # Pre-charge brake request: 0=No, 1=Yes "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active + "AccStopStat_B_Rq": 1 if stopping else 0, } return packer.make_can_msg("ACCDATA", CANBUS.main, values) +def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): + """ + Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status. + + Stock functionality is maintained by passing through unmodified signals. + + Frequency is 5Hz. + """ + + # Tja_D_Stat + if enabled: + if hud_control.leftLaneDepart: + status = 3 # ActiveInterventionLeft + elif hud_control.rightLaneDepart: + status = 4 # ActiveInterventionRight + else: + status = 2 # Active + elif main_on: + if hud_control.leftLaneDepart: + status = 5 # ActiveWarningLeft + elif hud_control.rightLaneDepart: + status = 6 # ActiveWarningRight + else: + status = 1 # Standby + else: + status = 0 # Off + + values = { + **stock_values, + "Tja_D_Stat": status, + } + return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) + + def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): """ Creates a CAN message for the Ford IPC IPMA/LKAS status. @@ -158,8 +194,7 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, else: lines = 30 # LA_Off - # TODO: use level 1 for no sound when less severe? - hands_on_wheel_dsply = 2 if steer_alert else 0 + hands_on_wheel_dsply = 1 if steer_alert else 0 values = { **stock_values, @@ -169,46 +204,14 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, return packer.make_can_msg("IPMA_Data", CANBUS.main, values) -def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): - """ - Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status. - - Stock functionality is maintained by passing through unmodified signals. - - Frequency is 20Hz. - """ - - # Tja_D_Stat - if enabled: - if hud_control.leftLaneDepart: - status = 3 # ActiveInterventionLeft - elif hud_control.rightLaneDepart: - status = 4 # ActiveInterventionRight - else: - status = 2 # Active - elif main_on: - if hud_control.leftLaneDepart: - status = 5 # ActiveWarningLeft - elif hud_control.rightLaneDepart: - status = 6 # ActiveWarningRight - else: - status = 1 # Standby - else: - status = 0 # Off - - values = { - **stock_values, - "Tja_D_Stat": status, - } - return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) - - def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False, bus: int = CANBUS.camera): """ Creates a CAN message for the Ford SCCM buttons/switches. Includes cruise control buttons, turn lights and more. + + Frequency is 10Hz. """ values = { diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 9e1366618c..4fb8642b78 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -11,12 +11,14 @@ GearShifter = car.CarState.GearShifter class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "ford" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] - # These cars are dashcam only until the port is finished - ret.dashcamOnly = True + # These cars are dashcam only for lack of test coverage. + # Once a user confirms each car works and a test route is + # added to selfdrive/car/tests/routes.py, we can remove it from this list. + ret.dashcamOnly = candidate in {CAR.ESCAPE_MK4, CAR.FOCUS_MK4, CAR.MAVERICK_MK1} ret.radarUnavailable = True ret.steerControlType = car.CarParams.SteerControlType.angle @@ -53,7 +55,7 @@ class CarInterface(CarInterfaceBase): # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] - if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]: + if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs: ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 50c7d93987..9315a97e89 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -12,25 +12,23 @@ Ecu = car.CarParams.Ecu class CarControllerParams: - # Messages: Lane_Assist_Data1, LateralMotionControl - STEER_STEP = 5 - # Message: ACCDATA - ACC_CONTROL_STEP = 2 - # Message: IPMA_Data - LKAS_UI_STEP = 100 - # Message: ACCDATA_3 - ACC_UI_STEP = 5 - # Message: Steering_Data_FD1, but send twice as fast - BUTTONS_STEP = 10 / 2 + STEER_STEP = 5 # LateralMotionControl, 20Hz + LKA_STEP = 3 # Lane_Assist_Data1, 33Hz + ACC_CONTROL_STEP = 2 # ACCDATA, 50Hz + LKAS_UI_STEP = 100 # IPMA_Data, 1Hz + ACC_UI_STEP = 20 # ACCDATA_3, 5Hz + BUTTONS_STEP = 5 # Steering_Data_FD1, 10Hz, but send twice as fast CURVATURE_MAX = 0.02 # Max curvature for steering command, m^-1 STEER_DRIVER_ALLOWANCE = 1.0 # Driver intervention threshold, Nm # Curvature rate limits - # TODO: unify field names used by curvature and angle control cars - # ~2 m/s^3 up, ~-3 m/s^3 down - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.004, 0.00044, 0.00016]) - ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 15, 25], angle_v=[0.006, 0.00066, 0.00024]) + # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction + # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph + # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015]) + CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s ACCEL_MAX = 2.0 # m/s^s max acceleration ACCEL_MIN = -3.5 # m/s^s max deceleration @@ -83,8 +81,8 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"), FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"), ], - CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"), - CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"), + CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Driver Assistance Pack"), + CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"), } FW_QUERY_CONFIG = FwQueryConfig( @@ -150,6 +148,7 @@ FW_VERSIONS = { b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ @@ -217,6 +216,7 @@ FW_VERSIONS = { ], (Ecu.abs, 0x760, None): [ b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -228,6 +228,7 @@ FW_VERSIONS = { b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.shiftByWire, 0x732, None): [ b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index f85b7f6b7d..1c0d5003ec 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -221,6 +221,10 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand brand_matches = get_brand_ecu_matches(ecu_rx_addrs) for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): + # Skip this brand if there are no matching present ECUs + if not len(brand_matches[brand]): + continue + car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) all_car_fw.extend(car_fw) # Try to match using FW returned from this brand only diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 6e2797ce24..ff578da986 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -69,11 +69,10 @@ class CarInterface(CarInterfaceBase): return self.torque_from_lateral_accel_linear @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "gm" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)] ret.autoResumeSng = False - use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs if candidate in EV_CAR: ret.transmissionType = TransmissionType.direct @@ -98,7 +97,6 @@ class CarInterface(CarInterfaceBase): # Tuning for experimental long ret.longitudinalTuning.kpV = [2.0, 1.5] ret.longitudinalTuning.kiV = [0.72] - ret.stopAccel = -2.0 ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 @@ -111,7 +109,7 @@ class CarInterface(CarInterfaceBase): else: # ASCM, OBD-II harness ret.openpilotLongitudinalControl = True ret.networkLocation = NetworkLocation.gateway - ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not use_off_car_defaults + ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs ret.pcmCruise = False # stock non-adaptive cruise control is kept off # supports stop and go, but initial engage must (conservatively) be above 18mph ret.minEnableSpeed = 18 * CV.MPH_TO_MS @@ -235,6 +233,15 @@ class CarInterface(CarInterfaceBase): ret.centerToFront = ret.wheelbase * 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.TRAILBLAZER: + ret.mass = 1345. + STD_CARGO_KG + ret.wheelbase = 2.64 + ret.steerRatio = 16.8 + ret.centerToFront = ret.wheelbase * 0.4 + tire_stiffness_factor = 1.0 + ret.steerActuatorDelay = 0.2 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 1b814e00b2..bc2858a667 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -73,6 +73,7 @@ class CAR: BOLT_EUV = "CHEVROLET BOLT EUV 2022" SILVERADO = "CHEVROLET SILVERADO 1500 2020" EQUINOX = "CHEVROLET EQUINOX 2019" + TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021" class Footnote(Enum): @@ -105,14 +106,15 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), CAR.BOLT_EUV: [ - GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"), + GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), ], CAR.SILVERADO: [ GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"), - GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"), + GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), ], CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"), + CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"), } @@ -207,6 +209,12 @@ FINGERPRINTS = { { 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7 }], + # Trailblazer also matches as a Silverado, so comment out to avoid conflicts. + # TODO: split with FW versions + CAR.TRAILBLAZER: [ + { + # 190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8 + }], } DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) @@ -214,6 +222,6 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_power EV_CAR = {CAR.VOLT, CAR.BOLT_EUV} # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness) -CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX} +CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER} STEER_THRESHOLD = 1.0 diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 8189800368..bcc239c2df 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -103,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): else: checks.append(("CRUISE_PARAMS", 50)) - if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022): + if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK")) elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) @@ -120,7 +120,10 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg): signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR")) checks.append(("GAS_SENSOR", 50)) - if CP.openpilotLongitudinalControl: + if CP.carFingerprint in HONDA_BOSCH_RADARLESS: + signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS")) + checks.append(("CRUISE_FAULT_STATUS", 50)) + elif CP.openpilotLongitudinalControl: signals += [ ("BRAKE_ERROR_1", "STANDSTILL"), ("BRAKE_ERROR_2", "STANDSTILL") @@ -176,7 +179,7 @@ class CarState(CarStateBase): # panda checks if the signal is non-zero ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 # TODO: find a common signal across all cars - if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022): + if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G): ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"]) elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) @@ -191,7 +194,9 @@ class CarState(CarStateBase): # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") - if self.CP.openpilotLongitudinalControl: + if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: + self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"] + elif self.CP.openpilotLongitudinalControl: self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"] ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0 @@ -293,7 +298,7 @@ class CarState(CarStateBase): if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: self.lkas_hud = cp_cam.vl["LKAS_HUD"] - if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ): + if self.CP.enableBsm: # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0 # more info here: https://github.com/commaai/openpilot/pull/1867 ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1 @@ -340,7 +345,7 @@ class CarState(CarStateBase): @staticmethod def get_body_can_parser(CP): - if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G: + if CP.enableBsm: signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"), ("BSM_ALERT", "BSM_STATUS_LEFT")] diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 3a40f03dd9..65deab7401 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS) @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "honda" if candidate in HONDA_BOSCH: @@ -193,15 +193,18 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] - elif candidate == CAR.HRV: + elif candidate in (CAR.HRV, CAR.HRV_3G): ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.61 ret.centerToFront = ret.wheelbase * 0.41 ret.steerRatio = 15.2 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] - ret.wheelSpeedFactor = 1.025 + if candidate == CAR.HRV: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] + ret.wheelSpeedFactor = 1.025 + else: + ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning elif candidate == CAR.ACURA_RDX: ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 009a549afd..951d3c8218 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -87,6 +87,7 @@ class CAR: FIT = "HONDA FIT 2018" FREED = "HONDA FREED 2020" HRV = "HONDA HRV 2019" + HRV_3G = "HONDA HR-V 2023" ODYSSEY = "HONDA ODYSSEY 2018" ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019" ACURA_RDX = "ACURA RDX 2018" @@ -116,19 +117,19 @@ class HondaCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), + HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), ], CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS), + HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform CAR.CIVIC_2022: [ - HondaCarInfo("Honda Civic 2022", "All"), - HondaCarInfo("Honda Civic Hatchback 2022", "All"), + HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), + HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), ], CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), @@ -138,6 +139,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"), CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"), CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), @@ -146,7 +148,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS), ], - CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), + CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), } @@ -1246,6 +1248,7 @@ FW_VERSIONS = { b'37805-5YF-A750\x00\x00', b'37805-5YF-A850\x00\x00', b'37805-5YF-A870\x00\x00', + b'37805-5YF-AD20\x00\x00', b'37805-5YF-C210\x00\x00', b'37805-5YF-C220\x00\x00', b'37805-5YF-C410\000\000', @@ -1254,16 +1257,20 @@ FW_VERSIONS = { (Ecu.vsa, 0x18da28f1, None): [ b'57114-TJB-A030\x00\x00', b'57114-TJB-A040\x00\x00', + b'57114-TJB-A120\x00\x00', ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TJB-A040\x00\x00', b'36802-TJB-A050\x00\x00', + b'36802-TJB-A540\x00\x00', ], (Ecu.fwdCamera, 0x18dab5f1, None): [ b'36161-TJB-A040\x00\x00', + b'36161-TJB-A530\x00\x00', ], (Ecu.shiftByWire, 0x18da0bf1, None): [ b'54008-TJB-A520\x00\x00', + b'54008-TJB-A530\x00\x00', ], (Ecu.transmission, 0x18da1ef1, None): [ b'28102-5YK-A610\x00\x00', @@ -1271,6 +1278,7 @@ FW_VERSIONS = { b'28102-5YK-A630\x00\x00', b'28102-5YK-A700\x00\x00', b'28102-5YK-A711\x00\x00', + b'28102-5YK-A800\x00\x00', b'28102-5YL-A620\x00\x00', b'28102-5YL-A700\x00\x00', b'28102-5YL-A711\x00\x00', @@ -1282,6 +1290,7 @@ FW_VERSIONS = { b'78109-TJB-AB10\x00\x00', b'78109-TJB-AD10\x00\x00', b'78109-TJB-AF10\x00\x00', + b'78109-TJB-AQ20\x00\x00', b'78109-TJB-AR10\x00\x00', b'78109-TJB-AS10\000\000', b'78109-TJB-AU10\x00\x00', @@ -1293,22 +1302,26 @@ FW_VERSIONS = { ], (Ecu.srs, 0x18da53f1, None): [ b'77959-TJB-A040\x00\x00', + b'77959-TJB-A120\x00\x00', b'77959-TJB-A210\x00\x00', ], (Ecu.electricBrakeBooster, 0x18da2bf1, None): [ b'46114-TJB-A040\x00\x00', b'46114-TJB-A050\x00\x00', b'46114-TJB-A060\x00\x00', + b'46114-TJB-A120\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TJB-A040\x00\x00', b'38897-TJB-A110\x00\x00', b'38897-TJB-A120\x00\x00', + b'38897-TJB-A220\x00\x00', ], (Ecu.eps, 0x18da30f1, None): [ b'39990-TJB-A030\x00\x00', b'39990-TJB-A040\x00\x00', - b'39990-TJB-A130\x00\x00' + b'39990-TJB-A070\x00\x00', + b'39990-TJB-A130\x00\x00', ], }, CAR.RIDGELINE: { @@ -1408,6 +1421,32 @@ FW_VERSIONS = { b'78109-THW-A110\x00\x00', ], }, + CAR.HRV_3G: { + (Ecu.eps, 0x18DA30F1, None): [ + b'39990-3W0-A030\x00\x00', + ], + (Ecu.gateway, 0x18DAEFF1, None): [ + b'38897-3W1-A010\x00\x00', + ], + (Ecu.srs, 0x18DA53F1, None): [ + b'77959-3V0-A820\x00\x00', + ], + (Ecu.combinationMeter, 0x18DA60F1, None): [ + b'78108-3V1-A220\x00\x00', + ], + (Ecu.vsa, 0x18DA28F1, None): [ + b'57114-3W0-A040\x00\x00', + ], + (Ecu.transmission, 0x18DA1EF1, None): [ + b'28101-6EH-A010\x00\x00', + ], + (Ecu.programmedFuelInjection, 0x18DA10F1, None): [ + b'37805-6CT-A710\x00\x00', + ], + (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [ + b'46114-3W0-A020\x00\x00', + ], + }, CAR.ACURA_ILX: { (Ecu.gateway, 0x18daeff1, None): [ b'38897-TX6-A010\x00\x00', @@ -1526,6 +1565,7 @@ DBC = { CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None), CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), @@ -1545,6 +1585,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY} HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, CAR.PILOT, CAR.RIDGELINE} HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, - CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022} -HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G} -HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022} + CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G} +HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G} +HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G} diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 2572038492..ac74d2cc5b 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -5,6 +5,7 @@ from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.hyundai import hyundaicanfd, hyundaican +from selfdrive.car.hyundai.hyundaicanfd import CanBus from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -44,6 +45,7 @@ def process_hud_alert(enabled, fingerprint, hud_control): class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP + self.CAN = CanBus(CP) self.params = CarControllerParams(CP) self.packer = CANPacker(dbc_name) self.angle_limit_counter = 0 @@ -85,12 +87,12 @@ class CarController: # for longitudinal control, either radar or ADAS driving ECU addr, bus = 0x7d0, 0 if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: - addr, bus = 0x730, 5 + addr, bus = 0x730, self.CAN.ECAN can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus]) # for blinkers if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: - can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5]) + can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN]) # >90 degree steering fault prevention # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault @@ -112,25 +114,25 @@ class CarController: hda2_long = hda2 and self.CP.openpilotLongitudinalControl # steering control - can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer)) + can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer)) # disable LFA on HDA2 if self.frame % 5 == 0 and hda2: - can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4)) + can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4)) # LFA and HDA icons if self.frame % 5 == 0 and (not hda2 or hda2_long): - can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled)) + can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled)) # blinkers if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: - can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker)) + can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker)) if self.CP.openpilotLongitudinalControl: if hda2: - can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame)) + can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)) if self.frame % 2 == 0: - can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, + can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, set_speed_in_units)) self.accel_last = accel else: @@ -139,11 +141,11 @@ class CarController: # cruise cancel if CC.cruiseControl.cancel: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info)) + can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info)) self.last_button_frame = self.frame else: for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL)) + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) self.last_button_frame = self.frame # cruise standstill resume @@ -153,7 +155,7 @@ class CarController: pass else: for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL)) + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 22934c05b2..cec2c3e69e 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -6,8 +6,8 @@ from cereal import car from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus -from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams +from selfdrive.car.hyundai.hyundaicanfd import CanBus +from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 8 @@ -27,9 +27,9 @@ class CarState(CarStateBase): "GEAR_SHIFTER" if CP.carFingerprint in CANFD_CAR: self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"] - elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"] - elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: self.shifter_values = can_define.dv["TCU12"]["CUR_GR"] else: # preferred and elect gear methods use same definition self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] @@ -123,11 +123,11 @@ class CarState(CarStateBase): # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, # as this seems to be standard over all cars, but is not the preferred method. - if self.CP.carFingerprint in FEATURES["use_cluster_gears"]: + if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: gear = cp.vl["CLU15"]["CF_Clu_Gear"] - elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: gear = cp.vl["TCU12"]["CUR_GR"] - elif self.CP.carFingerprint in FEATURES["use_elect_gears"]: + elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]: gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"] else: gear = cp.vl["LVR12"]["CF_Lvr_Gear"] @@ -354,12 +354,12 @@ class CarState(CarStateBase): ("EMS16", 100), ] - if CP.carFingerprint in FEATURES["use_cluster_gears"]: + if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]: signals.append(("CF_Clu_Gear", "CLU15")) - elif CP.carFingerprint in FEATURES["use_tcu_gears"]: + elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]: signals.append(("CUR_GR", "TCU12")) checks.append(("TCU12", 100)) - elif CP.carFingerprint in FEATURES["use_elect_gears"]: + elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]: signals.append(("Elect_Gear_Shifter", "ELECT_GEAR")) checks.append(("ELECT_GEAR", 20)) else: @@ -516,7 +516,7 @@ class CarState(CarStateBase): ("ACCELERATOR_BRAKE_ALT", 100), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP)) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).ECAN) @staticmethod def get_cam_can_parser_canfd(CP): @@ -543,4 +543,4 @@ class CarState(CarStateBase): ("SCC_CONTROL", 50), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM) diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index af7239571c..3717a45909 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,14 +1,44 @@ +import math + from common.numpy_fast import clip from selfdrive.car.hyundai.values import HyundaiFlags -def get_e_can_bus(CP): - # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars - # have a different harness than the HDA1 and non-HDA variants in order to split - # a different bus, since the steering is done by different ECUs. - return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 + +class CanBus: + def __init__(self, CP, hda2=None, fingerprint=None): + if CP is None: + assert None not in (hda2, fingerprint) + num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4) + else: + hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value + num = len(CP.safetyConfigs) + + # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars + # have a different harness than the HDA1 and non-HDA variants in order to split + # a different bus, since the steering is done by different ECUs. + self._a, self._e = 1, 0 + if hda2: + self._a, self._e = 0, 1 + + offset = 4*(num - 1) + self._a += offset + self._e += offset + self._cam = 2 + offset + + @property + def ECAN(self): + return self._e + + @property + def ACAN(self): + return self._a + + @property + def CAM(self): + return self._cam -def create_steering_messages(packer, CP, enabled, lat_active, apply_steer): +def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer): ret = [] @@ -26,45 +56,45 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer): if CP.flags & HyundaiFlags.CANFD_HDA2: if CP.openpilotLongitudinalControl: - ret.append(packer.make_can_msg("LFA", 5, values)) - ret.append(packer.make_can_msg("LKAS", 4, values)) + ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) + ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values)) else: - ret.append(packer.make_can_msg("LFA", 4, values)) + ret.append(packer.make_can_msg("LFA", CAN.ECAN, values)) return ret -def create_cam_0x2a4(packer, camera_values): +def create_cam_0x2a4(packer, CAN, camera_values): camera_values.update({ "BYTE7": 0, }) - return packer.make_can_msg("CAM_0x2a4", 4, camera_values) + return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values) -def create_buttons(packer, CP, cnt, btn): +def create_buttons(packer, CP, CAN, cnt, btn): values = { "COUNTER": cnt, "SET_ME_1": 1, "CRUISE_BUTTONS": btn, } - bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6 + bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM return packer.make_can_msg("CRUISE_BUTTONS", bus, values) -def create_acc_cancel(packer, CP, cruise_info_copy): +def create_acc_cancel(packer, CAN, cruise_info_copy): values = cruise_info_copy values.update({ "ACCMode": 4, }) - return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) + return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) -def create_lfahda_cluster(packer, CP, enabled): +def create_lfahda_cluster(packer, CAN, enabled): values = { "HDA_ICON": 1 if enabled else 0, "LFA_ICON": 2 if enabled else 0, } - return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values) + return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values) -def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed): +def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed): jerk = 5 jn = jerk / 50 if not enabled or gas_override: @@ -92,15 +122,15 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove "DISTANCE_SETTING": 4, } - return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values) + return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values) -def create_spas_messages(packer, frame, left_blink, right_blink): +def create_spas_messages(packer, CAN, frame, left_blink, right_blink): ret = [] values = { } - ret.append(packer.make_can_msg("SPAS1", 5, values)) + ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values)) blink = 0 if left_blink: @@ -110,12 +140,12 @@ def create_spas_messages(packer, frame, left_blink, right_blink): values = { "BLINKER_CONTROL": blink, } - ret.append(packer.make_can_msg("SPAS2", 5, values)) + ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values)) return ret -def create_adrv_messages(packer, frame): +def create_adrv_messages(packer, CAN, frame): # messages needed to car happy after disabling # the ADAS Driving ECU to do longitudinal control @@ -123,7 +153,7 @@ def create_adrv_messages(packer, frame): values = { } - ret.append(packer.make_can_msg("ADRV_0x51", 4, values)) + ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values)) if frame % 2 == 0: values = { @@ -133,7 +163,7 @@ def create_adrv_messages(packer, frame): 'SET_ME_FC': 0xfc, 'SET_ME_9': 0x9, } - ret.append(packer.make_can_msg("ADRV_0x160", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values)) if frame % 5 == 0: values = { @@ -142,25 +172,25 @@ def create_adrv_messages(packer, frame): 'SET_ME_TMP_F': 0xf, 'SET_ME_TMP_F_2': 0xf, } - ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values)) values = { 'SET_ME_E1': 0xe1, 'SET_ME_3A': 0x3a, } - ret.append(packer.make_can_msg("ADRV_0x200", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values)) if frame % 20 == 0: values = { 'SET_ME_15': 0x15, } - ret.append(packer.make_can_msg("ADRV_0x345", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values)) if frame % 100 == 0: values = { 'SET_ME_22': 0x22, 'SET_ME_41': 0x41, } - ret.append(packer.make_can_msg("ADRV_0x1da", 5, values)) + ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values)) return ret diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 1dd91ac888..3363ea8eea 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV -from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus +from selfdrive.car.hyundai.hyundaicanfd import CanBus from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config @@ -19,7 +19,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "hyundai" ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None @@ -28,17 +28,20 @@ class CarInterface(CarInterfaceBase): # added to selfdrive/car/tests/routes.py, we can remove it from this list. ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } + hda2 = Ecu.adas in [fw.ecu for fw in car_fw] + CAN = CanBus(None, hda2, fingerprint) + if candidate in CANFD_CAR: # detect HDA2 with ADAS Driving ECU - if Ecu.adas in [fw.ecu for fw in car_fw]: + if hda2: ret.flags |= HyundaiFlags.CANFD_HDA2.value else: # non-HDA2 - if 0x1cf not in fingerprint[4]: + if 0x1cf not in fingerprint[CAN.ECAN]: ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead - if 0x130 not in fingerprint[4]: - if 0x40 not in fingerprint[4]: + if 0x130 not in fingerprint[CAN.ECAN]: + if 0x40 not in fingerprint[CAN.ECAN]: ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value else: ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value @@ -136,10 +139,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): - ret.mass = 3452. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars + elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN): + ret.mass = 3543. * CV.LB_TO_KG + STD_CARGO_KG # average of all the cars ret.wheelbase = 2.7 - ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec + ret.steerRatio = 13.6 # average of all the cars tire_stiffness_factor = 0.385 if candidate == CAR.KIA_NIRO_PHEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS @@ -248,21 +251,23 @@ class CarInterface(CarInterfaceBase): # *** feature detection *** if candidate in CANFD_CAR: - ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)] + ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN] else: ret.enableBsm = 0x58b in fingerprint[0] # *** panda safety config *** if candidate in CANFD_CAR: - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), - get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)] + cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ] + if CAN.ECAN >= 4: + cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) + ret.safetyConfigs = cfgs if ret.flags & HyundaiFlags.CANFD_HDA2: - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2 if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC: - ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC else: if candidate in LEGACY_SAFETY_MODE_CAR: # these cars require a special panda safety mode due to missing counters and checksums in the messages @@ -297,12 +302,12 @@ class CarInterface(CarInterfaceBase): if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value): addr, bus = 0x7d0, 0 if CP.flags & HyundaiFlags.CANFD_HDA2.value: - addr, bus = 0x730, 5 + addr, bus = 0x730, CanBus(CP).ECAN disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01') # for blinkers if CP.flags & HyundaiFlags.ENABLE_BLINKERS: - disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01') + disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01') def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index 6ecfa03796..fba99ae74d 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -2,16 +2,21 @@ import unittest from cereal import car -from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS +from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} class TestHyundaiFingerprint(unittest.TestCase): + def test_canfd_not_in_can_features(self): + can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, CAMERA_SCC_CAR) + for car_model in CANFD_CAR: + self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list") + def test_auxiliary_request_ecu_whitelist(self): # Asserts only auxiliary Ecus can exist in database for CAN-FD cars - whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.bus > 3} + whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary} for car_model in CANFD_CAR: ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()} diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 7fcc5b9140..f22e1ba25d 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -100,6 +100,7 @@ class CAR: KIA_K5_2021 = "KIA K5 2021" KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020" KIA_NIRO_EV = "KIA NIRO EV 2020" + KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN" @@ -160,23 +161,23 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c), CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h), CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "All", harness=Harness.hyundai_h), + CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", harness=Harness.hyundai_h), CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b), CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g), CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o), CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), # TODO: check packages CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l), + CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l), CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l), CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l), - CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), + CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a), CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e), CAR.TUCSON: [ HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l), HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l), ], CAR.PALISADE: [ - HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h), HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h), ], CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e), @@ -190,26 +191,29 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n), HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n), ], - CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n), + CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", harness=Harness.hyundai_n), CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", harness=Harness.hyundai_n), # Kia - CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), + CAR.KIA_FORTE: [ + HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g), + HyundaiCarInfo("Kia Forte 2023", harness=Harness.hyundai_e), + ], CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a), CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a), CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), - HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), - HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), - HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f), + HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h), ], + CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", harness=Harness.hyundai_a), CAR.KIA_NIRO_PHEV: [ HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", harness=Harness.hyundai_d), ], CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f), # TODO: could be hyundai_d, verify - HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h), + HyundaiCarInfo("Kia Niro Hybrid 2021-22", harness=Harness.hyundai_f), # TODO: 2021 could be hyundai_d, verify ], CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", harness=Harness.hyundai_a), CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b), # TODO: may support 2016, 2018 @@ -221,7 +225,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a), CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k), @@ -232,8 +236,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), CAR.KIA_EV6: [ HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_p), - HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l), - HyundaiCarInfo("Kia EV6 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_p) + HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_l), + HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_p) ], # Genesis @@ -383,14 +387,14 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.parkingAdas], + whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], bus=0, auxiliary=True, ), Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.parkingAdas], + whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac], bus=1, auxiliary=True, obd_multiplexing=False, @@ -453,6 +457,7 @@ FW_VERSIONS = { b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2200 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.00 99110-G2600 ', b'\xf1\x00AEhe SCC F-CUP 1.00 1.02 99110-G2100 ', + b'\xf1\x00AEhe SCC FHCUP 1.00 1.00 99110-G2600 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00AE MDPS C 1.00 1.01 56310/G2510 4APHC101', @@ -540,7 +545,6 @@ FW_VERSIONS = { b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', - b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', @@ -549,6 +553,7 @@ FW_VERSIONS = { b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100', b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300', + b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100', b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100', @@ -572,6 +577,7 @@ FW_VERSIONS = { b'HM6M2_0a0_BD0', b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B', b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00', + b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00', b'\xf1\x81HM6M1_0a0_G20', ], (Ecu.eps, 0x7d4, None): [ @@ -591,6 +597,7 @@ FW_VERSIONS = { b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102', + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422', @@ -778,7 +785,6 @@ FW_VERSIONS = { CAR.SANTA_FE_2022: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', - b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP 1.00 1.00 99110-S1500 ', b'\xf1\x00TM__ SCC FHCUP 1.00 1.00 99110-S1500 ', ], (Ecu.abs, 0x7d1, None): [ @@ -792,6 +798,7 @@ FW_VERSIONS = { b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0', ], (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81HM6M1_0a0_H00', b'\xf1\x82TACVN5GMI3XXXH0A', b'\xf1\x82TMBZN5TMD3XXXG2E', b'\xf1\x82TACVN5GSI3XXXH0A', @@ -812,6 +819,7 @@ FW_VERSIONS = { b'\xf1\x00TMA MFC AT USA LHD 1.00 1.01 99211-S2500 210205', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc', b'\xf1\x00T02601BL T02900A1 VTMPT25XXX900NSA\xf3\xf4Uj', b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00', b'\xf1\x00T02601BL T02730A1 VTMPT25XXX730NS2\xa6\x06\x88\xf7', @@ -911,18 +919,23 @@ FW_VERSIONS = { CAR.KIA_STINGER_2022: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CK__ SCC F-CUP 1.00 1.00 99110-J5500 ', + b'\xf1\x00CK__ SCC FHCUP 1.00 1.00 99110-J5500 ', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81HM6M1_0a0_H00', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5380 4C2VR503', + b'\xf1\x00CK MDPS R 1.00 5.03 57700-J5300 4C2CL503', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CK MFC AT AUS RHD 1.00 1.00 99211-J5500 210622', + b'\xf1\x00CK MFC AT KOR LHD 1.00 1.00 99211-J5500 210622', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6', + b'\xf1\x00bcsh8p54 E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2', ], }, CAR.PALISADE: { @@ -1147,21 +1160,27 @@ FW_VERSIONS = { b'\xf1\x00BD MDPS C 1.00 1.02 56310-XX000 4BD2C102', b'\xf1\x00BD MDPS C 1.00 1.08 56310/M6300 4BDDC108', b'\xf1\x00BD MDPS C 1.00 1.08 56310M6300\x00 4BDDC108', + b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103', ], (Ecu.fwdCamera, 0x7C4, None): [ b'\xf1\x00BD LKAS AT USA LHD 1.00 1.04 95740-M6000 J33', + b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744', ], (Ecu.fwdRadar, 0x7D0, None): [ b'\xf1\x00BD__ SCC H-CUP 1.00 1.02 99110-M6000 ', + b'\xf1\x00BDPE_SCC FHCUPC 1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\x01TBDM1NU06F200H01', b'391182B945\x00', + b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00', b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00', b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3", ], @@ -1304,6 +1323,15 @@ FW_VERSIONS = { b'\xf1\x00DEE MFC AT KOR LHD 1.00 1.03 95740-Q4000 180821', ], }, + CAR.KIA_NIRO_EV_2ND_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00SG2EMFC AT EUR LHD 1.01 1.09 99211-AT000 220801', + b'\xf1\x00SG2EMFC AT USA LHD 1.01 1.09 99211-AT000 220801', + ], + }, CAR.KIA_NIRO_PHEV: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1486,6 +1514,7 @@ FW_VERSIONS = { b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.09 99210-AA000 221108', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', @@ -1598,6 +1627,7 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.05 99210-CV000 211027', b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', ], }, @@ -1620,6 +1650,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', @@ -1631,13 +1662,16 @@ FW_VERSIONS = { b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', ], }, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665', b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', ], (Ecu.fwdRadar, 0x7d0, None): [ @@ -1662,6 +1696,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NQ5__ 1.00 1.02 99110-P1000 ', b'\xf1\x00NQ5__ 1.00 1.03 99110-P1000 ', + b'\xf1\x00NQ5__ 1.01 1.03 99110-P1000 ', ], }, CAR.GENESIS_GV70_1ST_GEN: { @@ -1710,14 +1745,14 @@ CHECKSUM = { "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], } -FEATURES = { +CAN_GEARS = { # which message has the gear "use_cluster_gears": {CAR.ELANTRA, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020}, } -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, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_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, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_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, CAR.KIA_SORENTO_4TH_GEN} @@ -1726,7 +1761,7 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C 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, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_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, CAR.GENESIS_GV60_EV_1ST_GEN} +EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, 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, @@ -1789,4 +1824,5 @@ DBC = { CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None), + CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index cf6d7280fa..e5d7430878 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -64,6 +64,7 @@ class CarInterfaceBase(ABC): self.frame = 0 self.steering_unpressed = 0 self.low_speed_alert = False + self.no_steer_warning = False self.silent_steer_warning = True self.v_ego_cluster_seen = False @@ -92,12 +93,12 @@ class CarInterfaceBase(ABC): """ Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints. """ - return cls.get_params(candidate, gen_empty_fingerprint(), list(), False) + return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False) @classmethod - def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool): + def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): ret = CarInterfaceBase.get_std_params(candidate) - ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long) + ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) # Set common params using fields set by the car interface # TODO: get actual value, for now starting with reasonable value for @@ -114,7 +115,7 @@ class CarInterfaceBase(ABC): @staticmethod @abstractmethod - def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool): + def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool): raise NotImplementedError @staticmethod @@ -278,13 +279,19 @@ class CarInterfaceBase(ABC): # Handle permanent and temporary steering faults self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1 if cs_out.steerFaultTemporary: - # if the user overrode recently, show a less harsh alert - if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL): - self.silent_steer_warning = True - events.add(EventName.steerTempUnavailableSilent) + if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning): + self.no_steer_warning = True else: - events.add(EventName.steerTempUnavailable) + self.no_steer_warning = False + + # if the user overrode recently, show a less harsh alert + if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL): + self.silent_steer_warning = True + events.add(EventName.steerTempUnavailableSilent) + else: + events.add(EventName.steerTempUnavailable) else: + self.no_steer_warning = False self.silent_steer_warning = False if cs_out.steerFaultPermanent: events.add(EventName.steerUnavailable) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 70f8b5f50d..965d2e1836 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -100,18 +100,16 @@ class IsoTpParallelQuery: while True: self.rx() - if all(request_done.values()): - break - for tx_addr, msg in msgs.items(): try: - dat, updated = msg.recv() + dat, rx_in_progress = msg.recv() except Exception: cloudlog.exception(f"Error processing UDS response: {tx_addr}") request_done[tx_addr] = True continue - if updated: + # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses + if rx_in_progress: response_timeouts[tx_addr] = time.monotonic() + timeout if not dat: @@ -123,6 +121,7 @@ class IsoTpParallelQuery: if response_valid: if counter + 1 < len(self.request): + response_timeouts[tx_addr] = time.monotonic() + timeout msg.send(self.request[counter + 1]) request_counter[tx_addr] += 1 else: @@ -132,18 +131,21 @@ class IsoTpParallelQuery: error_code = dat[2] if len(dat) > 2 else -1 if error_code == 0x78: response_timeouts[tx_addr] = time.monotonic() + self.response_pending_timeout - if self.debug: - cloudlog.warning(f"iso-tp query response pending: {tx_addr}") + cloudlog.error(f"iso-tp query response pending: {tx_addr}") else: - response_timeouts[tx_addr] = 0 request_done[tx_addr] = True cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}") + # Mark request done if address timed out cur_time = time.monotonic() - if cur_time - max(response_timeouts.values()) > 0: - for tx_addr in msgs: + for tx_addr in response_timeouts: + if cur_time - response_timeouts[tx_addr] > 0: if request_counter[tx_addr] > 0 and not request_done[tx_addr]: cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}") + request_done[tx_addr] = True + + # Break if all requests are done (finished or timed out) + if all(request_done.values()): break if cur_time - start_time > total_timeout: diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 2930b002d4..443116bc18 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -11,7 +11,7 @@ EventName = car.CarEvent.EventName class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "mazda" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)] ret.radarUnavailable = True diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 598b598a16..8f993e2651 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -258,11 +258,14 @@ FW_VERSIONS = { CAR.MAZDA6: { (Ecu.eps, 0x730, None): [ b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000', ], (Ecu.engine, 0x7e0, None): [ + b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000', b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -270,13 +273,16 @@ FW_VERSIONS = { ], (Ecu.abs, 0x760, None): [ b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000', ], (Ecu.fwdCamera, 0x706, None): [ b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000', ], (Ecu.transmission, 0x7e1, None): [ + b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000', b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], @@ -291,6 +297,7 @@ FW_VERSIONS = { b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x764, None): [ b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py index 13210c86d5..1c74aef1fa 100755 --- a/selfdrive/car/mock/interface.py +++ b/selfdrive/car/mock/interface.py @@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase): self.prev_speed = 0. @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "mock" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)] ret.mass = 1700. diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py index 45c3dd720c..73493a9746 100644 --- a/selfdrive/car/nissan/carcontroller.py +++ b/selfdrive/car/nissan/carcontroller.py @@ -26,13 +26,11 @@ class CarController: can_sends = [] ### STEER ### - lkas_hud_msg = CS.lkas_hud_msg - lkas_hud_info_msg = CS.lkas_hud_info_msg steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0 if CC.latActive: # windup slower - apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams) # Max torque from driver before EPS will give up and not apply torque if not bool(CS.out.steeringPressed): @@ -65,14 +63,14 @@ class CarController: can_sends.append(nissancan.create_steering_control( self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque)) - if lkas_hud_msg and lkas_hud_info_msg: + if self.CP.carFingerprint != CAR.ALTIMA: if self.frame % 2 == 0: can_sends.append(nissancan.create_lkas_hud_msg( - self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) if self.frame % 50 == 0: can_sends.append(nissancan.create_lkas_hud_info_msg( - self.packer, lkas_hud_info_msg, steer_hud_alert + self.packer, CS.lkas_hud_info_msg, steer_hud_alert )) new_actuators = actuators.copy() diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index d6b6d17d55..bbba92ddeb 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -14,8 +14,8 @@ class CarState(CarStateBase): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) - self.lkas_hud_msg = None - self.lkas_hud_info_msg = None + self.lkas_hud_msg = {} + self.lkas_hud_info_msg = {} self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES) self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"] diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index 074cd1cc57..573dff9f05 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.nissan.values import CAR class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "nissan" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)] ret.autoResumeSng = False diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 358cf0d0cd..d0f0aa93c9 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -39,7 +39,7 @@ class NissanCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"), - CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22", video_link="https://youtu.be/vaMbtAh_0cY"), + CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), CAR.LEAF_IC: None, # same platforms CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"), CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b), diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index a6dbf4a39e..c4246b3806 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -1,7 +1,7 @@ from opendbc.can.packer import CANPacker from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car.subaru import subarucan -from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams +from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams, SubaruFlags class CarController: @@ -10,9 +10,10 @@ class CarController: self.apply_steer_last = 0 self.frame = 0 - self.es_lkas_cnt = -1 + self.es_lkas_state_cnt = -1 self.es_distance_cnt = -1 self.es_dashstatus_cnt = -1 + self.infotainmentstatus_cnt = -1 self.cruise_button_prev = 0 self.last_cancel_frame = 0 @@ -79,11 +80,15 @@ class CarController: can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg)) self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"] - if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]: - can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert, - hud_control.leftLaneVisible, hud_control.rightLaneVisible, - hud_control.leftLaneDepart, hud_control.rightLaneDepart)) - self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"] + if self.es_lkas_state_cnt != CS.es_lkas_state_msg["COUNTER"]: + can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, + hud_control.leftLaneVisible, hud_control.rightLaneVisible, + hud_control.leftLaneDepart, hud_control.rightLaneDepart)) + self.es_lkas_state_cnt = CS.es_lkas_state_msg["COUNTER"] + + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT and self.infotainmentstatus_cnt != CS.es_infotainmentstatus_msg["COUNTER"]: + can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert)) + self.infotainmentstatus_cnt = CS.es_infotainmentstatus_msg["COUNTER"] new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index ba873c48d7..9d7b0a65cc 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine from common.conversions import Conversions as CV from selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS +from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags class CarState(CarStateBase): @@ -77,11 +77,13 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1 ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3 ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2 - self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) + self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"]) cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"]) self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"]) + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: + self.es_infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"]) return ret @@ -248,7 +250,7 @@ class CarState(CarStateBase): ] else: signals = [ - ("Counter", "ES_DashStatus"), + ("COUNTER", "ES_DashStatus"), ("PCB_Off", "ES_DashStatus"), ("LDW_Off", "ES_DashStatus"), ("Signal1", "ES_DashStatus"), @@ -256,7 +258,7 @@ class CarState(CarStateBase): ("LKAS_State_Msg", "ES_DashStatus"), ("Signal2", "ES_DashStatus"), ("Cruise_Soft_Disable", "ES_DashStatus"), - ("EyeSight_Status_Msg", "ES_DashStatus"), + ("Cruise_Status_Msg", "ES_DashStatus"), ("Signal3", "ES_DashStatus"), ("Cruise_Distance", "ES_DashStatus"), ("Signal4", "ES_DashStatus"), @@ -301,6 +303,15 @@ class CarState(CarStateBase): signals += CarState.get_global_es_distance_signals()[0] checks += CarState.get_global_es_distance_signals()[1] + if CP.flags & SubaruFlags.SEND_INFOTAINMENT: + signals += [ + ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"), + ("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"), + ("Signal1", "INFOTAINMENT_STATUS"), + ("Signal2", "INFOTAINMENT_STATUS"), + ] + checks.append(("INFOTAINMENT_STATUS", 10)) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2) @staticmethod diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 733482ef82..8cd3239a0e 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -3,18 +3,22 @@ from cereal import car from panda import Panda from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase -from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS +from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "subaru" ret.radarUnavailable = True ret.dashcamOnly = candidate in PREGLOBAL_CARS ret.autoResumeSng = False + # Detect infotainment message sent from the camera + if candidate not in PREGLOBAL_CARS and 0x323 in fingerprint[2]: + ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value + if candidate in PREGLOBAL_CARS: ret.enableBsm = 0x25c in fingerprint[0] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)] diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index d83b639a41..3b498d3f70 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -3,6 +3,7 @@ from cereal import car VisualAlert = car.CarControl.HUDControl.VisualAlert + def create_steering_control(packer, apply_steer): values = { "LKAS_Output": apply_steer, @@ -11,9 +12,11 @@ def create_steering_control(packer, apply_steer): } return packer.make_can_msg("ES_LKAS", 0, values) + def create_steering_status(packer): return packer.make_can_msg("ES_LKAS_State", 0, {}) + def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): values = copy.copy(es_distance_msg) values["COUNTER"] = (values["COUNTER"] + 1) % 0x10 @@ -21,9 +24,9 @@ def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd): values["Cruise_Cancel"] = 1 return packer.make_can_msg("ES_Distance", bus, values) -def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): - values = copy.copy(es_lkas_msg) +def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart): + values = copy.copy(es_lkas_state_msg) # Filter the stock LKAS "Keep hands on wheel" alert if values["LKAS_Alert_Msg"] == 1: @@ -52,36 +55,52 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_ # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW) if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0: if left_lane_depart: - values["LKAS_Alert"] = 12 # Left lane departure dash alert + values["LKAS_Alert"] = 12 # Left lane departure dash alert elif right_lane_depart: - values["LKAS_Alert"] = 11 # Right lane departure dash alert + values["LKAS_Alert"] = 11 # Right lane departure dash alert - if enabled: - values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines - values["LKAS_Dash_State"] = 2 # Green enabled indicator - else: - values["LKAS_Dash_State"] = 0 # LKAS Not enabled + values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines + values["LKAS_Dash_State"] = 2 if enabled else 0 # Green enabled indicator values["LKAS_Left_Line_Visible"] = int(left_line) values["LKAS_Right_Line_Visible"] = int(right_line) return packer.make_can_msg("ES_LKAS_State", 0, values) + def create_es_dashstatus(packer, dashstatus_msg): values = copy.copy(dashstatus_msg) # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts - if values["LKAS_State_Msg"] in [2, 3]: + if values["LKAS_State_Msg"] in (2, 3): values["LKAS_State_Msg"] = 0 return packer.make_can_msg("ES_DashStatus", 0, values) + +def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert): + # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts + if infotainmentstatus_msg["LKAS_State_Infotainment"] in (3, 4): + infotainmentstatus_msg["LKAS_State_Infotainment"] = 0 + + # Show Keep hands on wheel alert for openpilot steerRequired alert + if visual_alert == VisualAlert.steerRequired: + infotainmentstatus_msg["LKAS_State_Infotainment"] = 3 + + # Show Obstacle Detected for fcw + if visual_alert == VisualAlert.fcw: + infotainmentstatus_msg["LKAS_State_Infotainment"] = 2 + + return packer.make_can_msg("INFOTAINMENT_STATUS", 0, infotainmentstatus_msg) + + # *** Subaru Pre-global *** def subaru_preglobal_checksum(packer, values, addr): dat = packer.make_can_msg(addr, 0, values)[2] return (sum(dat[:7])) % 256 + def create_preglobal_steering_control(packer, apply_steer): values = { "LKAS_Command": apply_steer, @@ -91,8 +110,8 @@ def create_preglobal_steering_control(packer, apply_steer): return packer.make_can_msg("ES_LKAS", 0, values) -def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): +def create_preglobal_es_distance(packer, cruise_button, es_distance_msg): values = copy.copy(es_distance_msg) values["Cruise_Button"] = cruise_button diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 9c4447631d..446f9be2a3 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -1,5 +1,5 @@ from dataclasses import dataclass -from enum import Enum +from enum import Enum, IntFlag from typing import Dict, List, Union from cereal import car @@ -30,6 +30,10 @@ class CarControllerParams: self.STEER_MAX = 2047 +class SubaruFlags(IntFlag): + SEND_INFOTAINMENT = 1 + + class CAR: # Global platform ASCENT = "SUBARU ASCENT LIMITED 2019" @@ -185,6 +189,7 @@ FW_VERSIONS = { b'\x00\x00d\xdc\x00\x00\x00\x00', b'\x00\x00dd\x00\x00\x00\x00', b'\x00\x00c\xf4\x1f@ \x07', + b'\x00\x00e\x1c\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xaa\x61\x66\x73\x07', @@ -205,6 +210,8 @@ FW_VERSIONS = { b'\xc5!dr\x07', b'\xaa!aw\x07', b'\xaa!av\x07', + b'\xaa\x01bt\x07', + b'\xc5!ap\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe3\xe5\x46\x31\x00', @@ -220,6 +227,7 @@ FW_VERSIONS = { b'\xe4\xf5\002\000\000', b'\xe3\xd0\x081\x00', b'\xe3\xf5\x06\x00\x00', + b'\xe3\xd5\x161\x00', ], }, CAR.IMPREZA_2020: { @@ -239,7 +247,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x787, None): [ b'\000\000eb\037@ \"', - b'\000\000e\x8f\037@ )', + b'\x00\x00e\x8f\x1f@ )', b'\x00\x00eq\x1f@ "', b'\x00\x00eq\x00\x00\x00\x00', b'\x00\x00e\x8f\x00\x00\x00\x00', @@ -254,6 +262,7 @@ FW_VERSIONS = { b'\xca!fp\x07', b'\xf3"f@\x07', b'\xe6!fp\x07', + b'\xf3"fp\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\xe6\xf5\004\000\000', @@ -274,6 +283,7 @@ FW_VERSIONS = { b'\xa3 \x14\x01', b'\xf1\x00\xbb\r\x05', b'\xa3 \x18&\x00', + b'\xa3 \x19&\x00', ], (Ecu.eps, 0x746, None): [ b'\x8d\xc0\x04\x00', @@ -286,6 +296,8 @@ FW_VERSIONS = { b'\xf1\x00\xac\x02\x00', b'\x00\x00e!\x00\x00\x00\x00', b'\x00\x00e\x97\x00\x00\x00\x00', + b'\x00\x00e^\x1f@ !', + b'\x00\x00e^\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xb6"`A\x07', @@ -303,6 +315,7 @@ FW_VERSIONS = { b'\x1a\xf6B`\x00', b'\x1a\xf6b0\x00', b'\x1a\xe6B1\x00', + b'\x1a\xe6F1\x00', ], }, CAR.FORESTER_PREGLOBAL: { @@ -470,6 +483,7 @@ FW_VERSIONS = { b'\xa1 "\t\x01', b'\xa1 \x08\x02', b'\xa1 \x06\x02', + b'\xa1 \x07\x02', b'\xa1 \x08\x00', b'\xa1 "\t\x00', ], @@ -481,6 +495,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00eJ\x00\x1f@ \x19\x00', b'\000\000e\x80\000\037@ \031\000', + b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00', b'\x00\x00e\x9a\x00\x1f@ 1\x00', b'\x00\x00eJ\x00\x00\x00\x00\x00\x00', ], @@ -490,6 +505,7 @@ FW_VERSIONS = { b'\xde"`0\a', b'\xf1\x82\xbc,\xa0q\a', b'\xf1\x82\xe3,\xa0@\x07', + b'\xe2"`0\x07', b'\xe2"`p\x07', b'\xf1\x82\xe2,\xa0@\x07', b'\xbc"`q\x07', @@ -501,6 +517,7 @@ FW_VERSIONS = { b'\xa5\xfe\xf6@\x00', b'\xa7\x8e\xf40\x00', b'\xf1\x82\xa7\xf6D@\x00', + b'\xa7\xf6D@\x00', b'\xa7\xfe\xf4@\x00', ], }, diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 70d49896cb..afd3fb3be4 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -8,7 +8,7 @@ from selfdrive.car.interfaces import CarInterfaceBase class CarInterface(CarInterfaceBase): @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "tesla" # There is no safe way to do steer blending with user torque, diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 4dd19d24e3..3935461e61 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -59,6 +59,7 @@ routes = [ CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1), CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14), # Bolt EV CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO), + CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.TRAILBLAZER), CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G), CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC), @@ -68,6 +69,7 @@ routes = [ CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT), CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED), CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV), + CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HRV_3G), CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX), CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T @@ -126,9 +128,11 @@ routes = [ CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2 CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1 + CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6), CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020), CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), + CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN), CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN), @@ -162,6 +166,7 @@ routes = [ CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2), CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022), + CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2), @@ -185,6 +190,7 @@ routes = [ CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI), CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR), CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2), + CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH), CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2), CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V), diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index ac8213e4c1..7198218d6a 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -6,9 +6,9 @@ from parameterized import parameterized from cereal import car from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.car_helpers import interfaces -from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS +from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars + class TestCarInterfaces(unittest.TestCase): @@ -25,7 +25,7 @@ class TestCarInterfaces(unittest.TestCase): car_fw = [] - car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False) + car_params = CarInterface.get_params(car_name, fingerprints, car_fw, experimental_long=False, docs=False) car_interface = CarInterface(car_params, CarController, CarState) assert car_params assert car_interface @@ -51,7 +51,7 @@ class TestCarInterfaces(unittest.TestCase): elif tune.which() == 'torque': self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0) - self.assertTrue(not math.isnan(tune.torque.friction)) + self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0) elif tune.which() == 'indi': self.assertTrue(len(tune.indi.outerLoopGainV)) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index e9f23145cd..c069280d11 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -1,19 +1,29 @@ #!/usr/bin/env python3 import random +import time import unittest from collections import defaultdict from parameterized import parameterized +import threading from cereal import car -from selfdrive.car.car_helpers import get_interface_attr, interfaces +from common.params import Params +from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, match_fw_to_car +from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} -VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True) + + +class FakeSocket: + def receive(self, non_blocking=False): + pass + + def send(self, msg): + pass class TestFwFingerprint(unittest.TestCase): @@ -104,5 +114,69 @@ class TestFwFingerprint(unittest.TestCase): f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}') +class TestFwFingerprintTiming(unittest.TestCase): + @staticmethod + def _benchmark(brand, num_pandas, n): + params = Params() + fake_socket = FakeSocket() + + times = [] + for _ in range(n): + params.put_bool("ObdMultiplexingEnabled", True) + thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas)) + thread.start() + t = time.perf_counter() + while thread.is_alive(): + time.sleep(0.02) + if not params.get_bool("ObdMultiplexingChanged"): + params.put_bool("ObdMultiplexingChanged", True) + times.append(time.perf_counter() - t) + + return round(sum(times) / len(times), 2) + + def _assert_timing(self, avg_time, ref_time, tol): + self.assertLess(avg_time, ref_time + tol) + self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.") + + def test_fw_query_timing(self): + tol = 0.1 + total_ref_time = 4.6 + brand_ref_times = { + 1: { + 'body': 0.1, + 'chrysler': 0.3, + 'ford': 0.2, + 'honda': 0.5, + 'hyundai': 0.7, + 'mazda': 0.1, + 'nissan': 0.3, + 'subaru': 0.1, + 'tesla': 0.2, + 'toyota': 0.7, + 'volkswagen': 0.2, + }, + 2: { + 'hyundai': 1.1, + } + } + + total_time = 0 + for num_pandas in (1, 2): + for brand, config in FW_QUERY_CONFIGS.items(): + with self.subTest(brand=brand, num_pandas=num_pandas): + multi_panda_requests = [r for r in config.requests if r.bus > 3] + if not len(multi_panda_requests) and num_pandas > 1: + raise unittest.SkipTest("No multi-panda FW queries") + + avg_time = self._benchmark(brand, num_pandas, 10) + total_time += avg_time + self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol) + print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds') + + with self.subTest(brand='all_brands'): + self._assert_timing(total_time, total_ref_time, tol) + print(f'all brands, total FW query time={total_time} seconds') + + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index d3e4de1798..7ccd5e3c97 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -10,16 +10,24 @@ from common.realtime import DT_CTRL from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.interfaces import get_torque_params +from selfdrive.car.subaru.values import CAR as SUBARU CAR_MODELS = all_known_cars() -# ISO 11270 -MAX_LAT_JERK = 2.5 # m/s^3 -MAX_LAT_JERK_TOLERANCE = 0.75 # m/s^3 -MAX_LAT_ACCEL = 3.0 # m/s^2 +# ISO 11270 - allowed up jerk is strictly lower than recommended limits +MAX_LAT_ACCEL = 3.0 # m/s^2 +MAX_LAT_JERK_UP = 2.5 # m/s^3 +MAX_LAT_JERK_DOWN = 5.0 # m/s^3 +MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3 # jerk is measured over half a second -JERK_MEAS_FRAMES = 0.5 / DT_CTRL +JERK_MEAS_T = 0.5 + +# TODO: put these cars within limits +ABOVE_LIMITS_CARS = [ + SUBARU.LEGACY, + SUBARU.OUTBACK, +] car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict) @@ -43,6 +51,9 @@ class TestLateralLimits(unittest.TestCase): if CP.notCar: raise unittest.SkipTest + if CP.carFingerprint in ABOVE_LIMITS_CARS: + raise unittest.SkipTest + CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams cls.control_params = CarControllerParams(CP) cls.torque_params = get_torque_params(cls.car_model) @@ -50,20 +61,24 @@ class TestLateralLimits(unittest.TestCase): @staticmethod def calculate_0_5s_jerk(control_params, torque_params): steer_step = control_params.STEER_STEP - steer_up_per_frame = (control_params.STEER_DELTA_UP / control_params.STEER_MAX) / steer_step - steer_down_per_frame = (control_params.STEER_DELTA_DOWN / control_params.STEER_MAX) / steer_step + max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED'] - steer_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_FRAMES, 1.0) - steer_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_FRAMES, 1.0) + # Steer up/down delta per 10ms frame, in percentage of max torque + steer_up_per_frame = control_params.STEER_DELTA_UP / control_params.STEER_MAX / steer_step + steer_down_per_frame = control_params.STEER_DELTA_DOWN / control_params.STEER_MAX / steer_step - max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED'] - return steer_up_0_5_sec * max_lat_accel, steer_down_0_5_sec * max_lat_accel + # Lateral acceleration reached in 0.5 seconds, clipping to max torque + accel_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel + accel_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel + + # Convert to m/s^3 + return accel_up_0_5_sec / JERK_MEAS_T, accel_down_0_5_sec / JERK_MEAS_T def test_jerk_limits(self): up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params) car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk} - self.assertLessEqual(up_jerk, MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE) - self.assertLessEqual(down_jerk, MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE) + self.assertLessEqual(up_jerk, MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE) + self.assertLessEqual(down_jerk, MAX_LAT_JERK_DOWN) def test_max_lateral_accel(self): self.assertLessEqual(self.torque_params["MAX_LAT_ACCEL_MEASURED"], MAX_LAT_ACCEL) @@ -76,7 +91,8 @@ if __name__ == "__main__": max_car_model_len = max([len(car_model) for car_model in car_model_jerks]) for car_model, _jerks in sorted(car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True): - violation = any([_jerk >= MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE for _jerk in _jerks.values()]) + violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \ + _jerks["down_jerk"] > MAX_LAT_JERK_DOWN violation_str = " - VIOLATION" if violation else "" print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 6fbe1436f1..6a89da3e7c 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -103,7 +103,7 @@ class TestCarModelBase(unittest.TestCase): cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime) cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model] - cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long) + cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long, docs=False) assert cls.CP assert cls.CP.carFingerprint == cls.car_model diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 75051316fa..16541e5011 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -27,12 +27,13 @@ FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new cars -RAM 1500 5TH GEN: [2.0, 2.0, 0.0] -RAM HD 5TH GEN: [1.4, 1.4, 0.0] +RAM 1500 5TH GEN: [2.0, 2.0, 0.2] +RAM HD 5TH GEN: [1.4, 1.4, 0.1] SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11] CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694] CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05] CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112] +CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16] CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] @@ -44,9 +45,11 @@ KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1] GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1] KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1] KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12] +KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] # Manually checked HONDA CIVIC 2022: [2.5, 1.2, 0.15] +HONDA HR-V 2023: [2.5, 1.2, 0.2] diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 5feef12206..5ea84e5591 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -12,6 +12,7 @@ TOYOTA C-HR HYBRID 2018: TOYOTA C-HR 2018 TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021 LEXUS IS 2018: LEXUS NX 2018 LEXUS CT HYBRID 2018 : LEXUS NX 2018 +LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018 LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018 LEXUS NX HYBRID 2020: LEXUS NX 2020 LEXUS RC 2020: LEXUS NX 2020 diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index 050f8747a2..68adc2ee57 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -115,7 +115,8 @@ class CarState(CarStateBase): cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR): - self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] + if not (self.CP.flags & ToyotaFlags.SMART_DSU.value): + self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"] ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"]) # some TSS2 cars have low speed lockout permanently set, so ignore on those cars @@ -235,12 +236,17 @@ class CarState(CarStateBase): checks.append(("BSM", 1)) if CP.carFingerprint in RADAR_ACC_CAR: + if not CP.flags & ToyotaFlags.SMART_DSU.value: + signals += [ + ("ACC_TYPE", "ACC_CONTROL"), + ] + checks += [ + ("ACC_CONTROL", 33), + ] signals += [ - ("ACC_TYPE", "ACC_CONTROL"), ("FCW", "ACC_HUD"), ] checks += [ - ("ACC_CONTROL", 33), ("ACC_HUD", 1), ] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 33a87451e9..c222363d18 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -16,7 +16,7 @@ class CarInterface(CarInterfaceBase): return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "toyota" ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] @@ -138,8 +138,9 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG - elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH): - stop_and_go = True + elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2): + if candidate not in (CAR.LEXUS_ES,): # TODO: LEXUS_ES may have sng + stop_and_go = True ret.wheelbase = 2.8702 ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet @@ -201,14 +202,18 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor=tire_stiffness_factor) ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR - # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it - smartDsu = 0x2FF in fingerprint[0] - # In TSS2 cars the camera does long control + + # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it + if 0x2FF in fingerprint[0]: + ret.flags |= ToyotaFlags.SMART_DSU.value + + # In TSS2 cars, the camera does long control found_ecus = [fw.ecu for fw in car_fw] - ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not smartDsu + ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU) ret.enableGasInterceptor = 0x201 in fingerprint[0] + # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected") - ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) + ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR if not ret.openpilotLongitudinalControl: diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index f0e846cc54..ddcdbab786 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -33,6 +33,7 @@ class CarControllerParams: class ToyotaFlags(IntFlag): HYBRID = 1 + SMART_DSU = 2 class CAR: @@ -76,6 +77,7 @@ class CAR: # Lexus LEXUS_CTH = "LEXUS CT HYBRID 2018" + LEXUS_ES = "LEXUS ES 2018" LEXUS_ESH = "LEXUS ES HYBRID 2018" LEXUS_ES_TSS2 = "LEXUS ES 2019" LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019" @@ -140,7 +142,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), CAR.PRIUS: [ - ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ], @@ -154,7 +156,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota RAV4 2017-18") ], CAR.RAV4H: [ - ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"), ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") ], CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), @@ -168,6 +170,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # Lexus CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), + CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"), CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"), CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), @@ -192,23 +195,24 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # (addr, cars, bus, 1/freq*100, vl) STATIC_DSU_MSGS = [ (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'), - (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), - (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), - (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), - (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), + (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'), + (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 2, b'\x00\x00\x00\x46'), + (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'), + (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'), (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'), - (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), + (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'), (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'), (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'), (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'), - (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), + (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'), (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'), - (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), + (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'), (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'), (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'), + (0x366, (CAR.LEXUS_ES,), 0, 20, b'\x00\x95\x07\xfe\x08\x05\x00'), (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'), - (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), - (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), + (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1, 100, b'\x00\x00\x01\x79'), + (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'), ] TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01' @@ -545,6 +549,7 @@ FW_VERSIONS = { b'\x018966306Q5000\x00\x00\x00\x00', b'\x018966306Q9000\x00\x00\x00\x00', b'\x018966306R3000\x00\x00\x00\x00', + b'\x018966306R8000\x00\x00\x00\x00', b'\x018966306T3100\x00\x00\x00\x00', b'\x018966306T3200\x00\x00\x00\x00', b'\x018966306T4000\x00\x00\x00\x00', @@ -557,6 +562,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', @@ -732,12 +738,14 @@ FW_VERSIONS = { (Ecu.eps, 0x7a1, None): [ b'8965B10092\x00\x00\x00\x00\x00\x00', b'8965B10091\x00\x00\x00\x00\x00\x00', + b'8965B10111\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152610041\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x0189663F438000\x00\x00\x00\x00', + b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 15): [ @@ -916,6 +924,7 @@ FW_VERSIONS = { b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00', b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00', @@ -926,6 +935,7 @@ FW_VERSIONS = { b'8965B12451\x00\x00\x00\x00\x00\x00', b'8965B16011\x00\x00\x00\x00\x00\x00', b'8965B16101\x00\x00\x00\x00\x00\x00', + b'8965B16170\x00\x00\x00\x00\x00\x00', b'8965B76012\x00\x00\x00\x00\x00\x00', b'8965B76050\x00\x00\x00\x00\x00\x00', b'\x018965B12350\x00\x00\x00\x00\x00\x00', @@ -953,6 +963,7 @@ FW_VERSIONS = { b'F152612D00\x00\x00\x00\x00\x00\x00', b'F152616011\x00\x00\x00\x00\x00\x00', b'F152616060\x00\x00\x00\x00\x00\x00', + b'F152616030\x00\x00\x00\x00\x00\x00', b'F152642540\x00\x00\x00\x00\x00\x00', b'F152676293\x00\x00\x00\x00\x00\x00', b'F152676303\x00\x00\x00\x00\x00\x00', @@ -1065,6 +1076,7 @@ FW_VERSIONS = { b'\x01896630E62200\x00\x00\x00\x00', b'\x01896630E64100\x00\x00\x00\x00', b'\x01896630E64200\x00\x00\x00\x00', + b'\x01896630E64400\x00\x00\x00\x00', b'\x01896630EB1000\x00\x00\x00\x00', b'\x01896630EB1100\x00\x00\x00\x00', b'\x01896630EB1200\x00\x00\x00\x00', @@ -1107,6 +1119,7 @@ FW_VERSIONS = { b'\x01F152648J4000\x00\x00\x00\x00', b'\x01F152648J5000\x00\x00\x00\x00', b'\x01F152648J6000\x00\x00\x00\x00', + b'\x01F15264872700\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x01896630E67000\x00\x00\x00\x00', @@ -1724,6 +1737,26 @@ FW_VERSIONS = { b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, + CAR.LEXUS_ES: { + (Ecu.engine, 0x7e0, None): [ + b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152606202\x00\x00\x00\x00\x00\x00', + ], + (Ecu.dsu, 0x791, None): [ + b'881513309500\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'8965B33502\x00\x00\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'8821F4701200\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'8646F3302200\x00\x00\x00\x00', + ], + }, CAR.LEXUS_ESH: { (Ecu.engine, 0x7e0, None): [ b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', @@ -1991,6 +2024,8 @@ FW_VERSIONS = { b'\x01896634D12100\x00\x00\x00\x00', b'\x01896634D43000\x00\x00\x00\x00', b'\x01896634D44000\x00\x00\x00\x00', + b'\x018966348X0000\x00\x00\x00\x00', + b'\x01896630ED5000\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'\x01F15260E031\x00\x00\x00\x00\x00\x00', @@ -2016,11 +2051,12 @@ FW_VERSIONS = { }, CAR.LEXUS_RXH_TSS2: { (Ecu.engine, 0x7e0, None): [ + b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', - b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152648831\x00\x00\x00\x00\x00\x00', @@ -2153,6 +2189,7 @@ DBC = { CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), + CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 2f8bd8661b..874b85e68e 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -21,18 +21,16 @@ class CarInterface(CarInterfaceBase): self.cp_ext = self.cp_cam @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): + def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "volkswagen" ret.radarUnavailable = True - use_off_car_defaults = len(fingerprint[0]) == 0 # Pick sensible carParams during offline doc generation/CI jobs - if candidate in PQ_CARS: # Set global PQ35/PQ46/NMS parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 - if 0x440 in fingerprint[0] or use_off_car_defaults: # Getriebe_1 + if 0x440 in fingerprint[0] or docs: # Getriebe_1 ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual @@ -55,7 +53,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 - if 0xAD in fingerprint[0] or use_off_car_defaults: # Getriebe_11 + if 0xAD in fingerprint[0] or docs: # Getriebe_11 ret.transmissionType = TransmissionType.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift ret.transmissionType = TransmissionType.direct @@ -80,7 +78,7 @@ class CarInterface(CarInterfaceBase): # Global longitudinal tuning defaults, can be overridden per-vehicle - ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or use_off_car_defaults + ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs if experimental_long: # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required. ret.openpilotLongitudinalControl = True diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 30a51f6fe6..b461fd02ae 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -1,14 +1,11 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): values = { - "SET_ME_0X3": 0x3, - "Assist_Torque": abs(apply_steer), - "Assist_Requested": lkas_enabled, - "Assist_VZ": 1 if apply_steer < 0 else 0, - "HCA_Available": 1, - "HCA_Standby": not lkas_enabled, - "HCA_Active": lkas_enabled, - "SET_ME_0XFE": 0xFE, - "SET_ME_0X07": 0x07, + "HCA_01_Status_HCA": 5 if lkas_enabled else 3, + "HCA_01_LM_Offset": abs(apply_steer), + "HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0, + "HCA_01_Vib_Freq": 18, + "HCA_01_Sendestatus": 1 if lkas_enabled else 0, + "EA_ACC_Wunschgeschwindigkeit": 327.36, } return packer.make_can_msg("HCA_01", bus, values) @@ -56,18 +53,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active): return acc_control_value(main_switch_on, acc_faulted, long_active) -def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold): +def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold): commands = [] acc_06_values = { "ACC_Typ": acc_type, "ACC_Status_ACC": acc_control, - "ACC_StartStopp_Info": enabled, - "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, + "ACC_StartStopp_Info": acc_enabled, + "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, "ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band "ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band - "ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits - "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits + "ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits "ACC_Anfahren": starting, "ACC_Anhalten": stopping, } @@ -84,9 +81,9 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, acc_07_values = { "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) - "ACC_Freilauf_Info": 2 if enabled else 0, + "ACC_Freilauf_Info": 2 if acc_enabled else 0, "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact - "ACC_Sollbeschleunigung_02": accel if enabled else 3.01, + "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, "ACC_Anforderung_HMS": acc_hold_type, "ACC_Anfahren": starting, "ACC_Anhalten": stopping, diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 84200c2921..bac3ca121d 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -59,17 +59,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active): return hud_status -def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold): +def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold): commands = [] values = { "ACS_Sta_ADR": acc_control, - "ACS_StSt_Info": acc_control != 1, + "ACS_StSt_Info": acc_enabled, "ACS_Typ_ACC": acc_type, "ACS_Anhaltewunsch": acc_type == 1 and stopping, - "ACS_Sollbeschl": accel if acc_control == 1 else 3.01, - "ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27, - "ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08, + "ACS_FreigSollB": acc_enabled, + "ACS_Sollbeschl": accel if acc_enabled else 3.01, + "ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27, + "ACS_max_AendGrad": 3.0 if acc_enabled else 5.08, } commands.append(packer.make_can_msg("ACC_System", bus, values)) @@ -83,9 +84,9 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance "ACA_Zeitluecke": 2, "ACA_V_Wunsch": set_speed, "ACA_gemZeitl": lead_distance, - # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke - # display/display-prio handling probably needed to stop confusing the instrument cluster - # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint + "ACA_PrioDisp": 3, + # TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay + # TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint } return packer.make_can_msg("ACC_GRA_Anzeige", bus, values) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 9873b628cd..6e7ac15466 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -214,8 +214,8 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"), CAR.POLO_MK6: [ - VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_MQB_A0]), - VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]), + VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]), + VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]), ], CAR.SHARAN_MK2: [ VWCarInfo("Volkswagen Sharan 2018-22"), @@ -223,7 +223,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { ], CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"), CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), - CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2018-23"), + CAR.TIGUAN_MK2: [ + VWCarInfo("Volkswagen Tiguan 2018-23"), + VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), + ], CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"), CAR.TRANSPORTER_T61: [ VWCarInfo("Volkswagen Caravelle 2020"), @@ -289,6 +292,7 @@ FW_QUERY_CONFIG = FwQueryConfig( FW_VERSIONS = { CAR.ARTEON_MK1: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x873G0906259M \xf1\x890003', b'\xf1\x873G0906259F \xf1\x890004', b'\xf1\x873G0906259N \xf1\x890004', b'\xf1\x873G0906259P \xf1\x890001', @@ -296,18 +300,21 @@ FW_VERSIONS = { b'\xf1\x873G0906259G \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870DL300014C \xf1\x893704', b'\xf1\x8709G927158L \xf1\x893611', b'\xf1\x870GC300011L \xf1\x891401', b'\xf1\x870GC300014M \xf1\x892802', b'\xf1\x870GC300040P \xf1\x891401', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', @@ -387,6 +394,7 @@ FW_VERSIONS = { b'\xf1\x8704E906016A \xf1\x897697', b'\xf1\x8704E906016AD\xf1\x895758', b'\xf1\x8704E906016CE\xf1\x899096', + b'\xf1\x8704E906016CH\xf1\x899226', b'\xf1\x8704E906023AG\xf1\x891726', b'\xf1\x8704E906023BN\xf1\x894518', b'\xf1\x8704E906024K \xf1\x896811', @@ -397,6 +405,7 @@ FW_VERSIONS = { b'\xf1\x8704L906021DT\xf1\x895520', b'\xf1\x8704L906021DT\xf1\x898127', b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906021N \xf1\x898138', b'\xf1\x8704L906026BN\xf1\x891197', b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026NF\xf1\x899528', @@ -442,7 +451,9 @@ FW_VERSIONS = { b'\xf1\x870CW300044T \xf1\x895245', b'\xf1\x870CW300045 \xf1\x894531', b'\xf1\x870CW300047D \xf1\x895261', + b'\xf1\x870CW300047E \xf1\x895261', b'\xf1\x870CW300048J \xf1\x890611', + b'\xf1\x870CW300049H \xf1\x890905', b'\xf1\x870D9300012 \xf1\x894904', b'\xf1\x870D9300012 \xf1\x894913', b'\xf1\x870D9300012 \xf1\x894937', @@ -536,6 +547,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101', b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101', + b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101', b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101', b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', @@ -615,7 +627,8 @@ FW_VERSIONS = { b'\xf1\x870D9300041A \xf1\x894801', b'\xf1\x870DD300045T \xf1\x891601', b'\xf1\x870DL300011H \xf1\x895201', - b'\xf1\x870GC300042H \xf1\x891404', + b'\xf1\x870CW300042H \xf1\x891601', + b'\xf1\x870GC300042H \xf1\x891404', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', @@ -623,6 +636,7 @@ FW_VERSIONS = { b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', + b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', @@ -636,6 +650,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1', + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600', ], (Ecu.fwdRadar, 0x757, None): [ @@ -670,17 +685,24 @@ FW_VERSIONS = { CAR.POLO_MK6: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704C906025H \xf1\x895177', + b'\xf1\x8705C906032J \xf1\x891702', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300042D \xf1\x891612', b'\xf1\x870CW300050D \xf1\x891908', + b'\xf1\x870CW300051G \xf1\x891909', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14', b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14', + b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471', ], (Ecu.eps, 0x712, None): [ b'\xf1\x872Q1909144M \xf1\x896041', + b'\xf1\x872Q2909144AB\xf1\x896050', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572R \xf1\x890372', ], }, @@ -747,6 +769,7 @@ FW_VERSIONS = { b'\xf1\x8783A907115F \xf1\x890002', b'\xf1\x8783A907115G \xf1\x890001', b'\xf1\x8783A907115K \xf1\x890001', + b'\xf1\x8704E906024AP\xf1\x891461', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158DT\xf1\x893698', @@ -762,6 +785,7 @@ FW_VERSIONS = { b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870DL300013G \xf1\x892120', b'\xf1\x870DL300014C \xf1\x893703', + b'\xf1\x870DD300046K \xf1\x892302', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100', @@ -773,6 +797,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100', b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100', b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100', + b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', @@ -785,6 +810,7 @@ FW_VERSIONS = { b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1', b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', @@ -814,18 +840,24 @@ FW_VERSIONS = { }, CAR.TRANSPORTER_T61: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704L906056AG\xf1\x899970', + b'\xf1\x8704L906056AL\xf1\x899970', b'\xf1\x8704L906057AP\xf1\x891186', b'\xf1\x8704L906057N \xf1\x890413', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870BT300012G \xf1\x893102', b'\xf1\x870BT300012E \xf1\x893105', + b'\xf1\x870BT300046R \xf1\x893102', ], (Ecu.srs, 0x715, None): [ - b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\02316170411110411--04041704161611152S1411', + b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411', + b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411', b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2', + b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2', b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2', ], (Ecu.fwdRadar, 0x757, None): [ @@ -837,9 +869,11 @@ FW_VERSIONS = { b'\xf1\x8705E906018AT\xf1\x899640', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300050J \xf1\x891911', b'\xf1\x870CW300051M \xf1\x891925', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100', b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100', ], (Ecu.eps, 0x712, None): [ @@ -947,14 +981,17 @@ FW_VERSIONS = { b'\xf1\x8705L906022M \xf1\x890901', b'\xf1\x8783A906259 \xf1\x890001', b'\xf1\x8783A906259 \xf1\x890005', + b'\xf1\x8783A906259F \xf1\x890001', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158CN\xf1\x893608', + b'\xf1\x8709G927158GP\xf1\x893937', b'\xf1\x870GC300045D \xf1\x892802', b'\xf1\x870GC300046F \xf1\x892701', ], (Ecu.srs, 0x715, None): [ b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111', + b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111', b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111', b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111', ], @@ -962,8 +999,10 @@ FW_VERSIONS = { b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800', b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1', + b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572T \xf1\x890383', ], @@ -1084,6 +1123,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026HT\xf1\x893617', b'\xf1\x8783A907115E \xf1\x890001', b'\xf1\x8705E906018DJ\xf1\x890915', + b'\xf1\x8705E906018DJ\xf1\x891903', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', ], @@ -1186,15 +1226,19 @@ FW_VERSIONS = { b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026KB\xf1\x894071', b'\xf1\x8704L906026KD\xf1\x894798', + b'\xf1\x8704L906026MT\xf1\x893076', b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906259B \xf1\x890002', + b'\xf1\x873G0906259L \xf1\x890003', b'\xf1\x873G0906264A \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300042H \xf1\x891601', b'\xf1\x870D9300011T \xf1\x894801', b'\xf1\x870D9300012 \xf1\x894940', + b'\xf1\x870D9300013A \xf1\x894905', b'\xf1\x870D9300041H \xf1\x894905', + b'\xf1\x870GC300014M \xf1\x892801', b'\xf1\x870GC300043 \xf1\x892301', b'\xf1\x870D9300043F \xf1\x895202', ], @@ -1204,6 +1248,7 @@ FW_VERSIONS = { b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111', b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100', b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100', + b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203', @@ -1211,11 +1256,14 @@ FW_VERSIONS = { b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700', b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x873Q0907572B \xf1\x890192', b'\xf1\x873Q0907572B \xf1\x890194', b'\xf1\x873Q0907572C \xf1\x890195', + b'\xf1\x875Q0907572R \xf1\x890771', + b'\xf1\x875Q0907572S \xf1\x890780', ], }, } diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 67a4735e14..89fc8d8357 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -719,7 +719,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { EventName.calibrationIncomplete: { ET.PERMANENT: calibration_incomplete_alert, - ET.SOFT_DISABLE: soft_disable_alert("Calibration in Progress"), + ET.SOFT_DISABLE: soft_disable_alert("Device remount detected: recalibrating"), ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"), }, diff --git a/selfdrive/debug/profiling/watch-irqs.sh b/selfdrive/debug/profiling/watch-irqs.sh new file mode 100755 index 0000000000..34cc4596f4 --- /dev/null +++ b/selfdrive/debug/profiling/watch-irqs.sh @@ -0,0 +1,4 @@ +#!/usr/bin/bash +set -e + +RUBYOPT="-W0" irqtop -d1 -R diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py index 4de5b26762..c2f51c9355 100755 --- a/selfdrive/debug/test_car_model.py +++ b/selfdrive/debug/test_car_model.py @@ -6,6 +6,7 @@ import unittest from selfdrive.car.tests.routes import CarTestRoute from selfdrive.car.tests.test_models import TestCarModel +from tools.lib.route import SegmentName def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -> unittest.TestSuite: @@ -21,16 +22,17 @@ def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) - if __name__ == "__main__": parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " + "Uses selfdrive/car/tests/test_models.py") - parser.add_argument("route", help="Specify route to run tests on") + parser.add_argument("route_or_segment_name", help="Specify route to run tests on") parser.add_argument("--car", help="Specify car model for test route") - parser.add_argument("--segment", type=int, nargs="?", help="Specify segment of route to test") parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car") args = parser.parse_args() if len(sys.argv) == 1: parser.print_help() sys.exit() - test_route = CarTestRoute(args.route, args.car, segment=args.segment) + route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True) + segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None + test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num) test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci) unittest.TextTestRunner().run(test_suite) diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index dc6688324f..0bb9aa5e54 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -8,13 +8,11 @@ import traceback from tqdm import tqdm from tools.lib.logreader import LogReader from tools.lib.route import Route -from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.car_helpers import interface_names -from selfdrive.car.fw_versions import match_fw_to_car +from selfdrive.car.fw_versions import VERSIONS, match_fw_to_car NO_API = "NO_API" in os.environ -VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) SUPPORTED_BRANDS = VERSIONS.keys() SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]] UNKNOWN_BRAND = "unknown" diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py index 8952405b8e..6b5ec36935 100755 --- a/selfdrive/debug/vw_mqb_config.py +++ b/selfdrive/debug/vw_mqb_config.py @@ -49,7 +49,7 @@ if __name__ == "__main__": sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8") sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8") component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8") - odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8") + odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00') current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING) # type: ignore coding_text = current_coding.hex() @@ -70,14 +70,14 @@ if __name__ == "__main__": coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0 coding_length = len(current_coding) - # EV_SteerAssisMQB/MNB cover the majority of MQB racks (EPS_MQB_ZFLS) - if odx_file in ("EV_SteerAssisMQB\x00", "EV_SteerAssisMNB\x00"): - coding_variant = "ZF" + # EPS_MQB_ZFLS + if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"): + coding_variant = "ZFLS" coding_byte = 0 coding_bit = 4 - # APA racks (MQB_PP_APA) have a different coding layout - elif odx_file == "EV_SteerAssisVWBSMQBA\x00\x00\x00\x00": + # MQB_PP_APA, MQB_VWBS_GEN2 + elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"): coding_variant = "APA" coding_byte = 3 coding_bit = 0 @@ -111,8 +111,8 @@ if __name__ == "__main__": if args.action in ["enable", "disable"]: print("\nAttempting configuration update") - assert(coding_variant in ("ZF", "APA")) - # ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the + assert(coding_variant in ("ZFLS", "APA")) + # ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the # bit we care about is always in the same place in the first byte if args.action == "enable": new_byte = current_coding_array[coding_byte] | (1 << coding_bit) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 1c68eb67bd..091f211175 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -25,7 +25,7 @@ MAX_VEL_ANGLE_STD = np.radians(0.25) MAX_YAW_RATE_FILTER = np.radians(2) # per second # This is at model frequency, blocks needed for efficiency -SMOOTH_CYCLES = 400 +SMOOTH_CYCLES = 10 BLOCK_SIZE = 100 INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration INPUTS_WANTED = 50 # We want a little bit more than we need for stability @@ -143,7 +143,7 @@ class Calibrator: # If spread is too high, assume mounting was changed and reset to last block. # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model. if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED: - self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy) + self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy) write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5) if self.param_put and write_this_cycle: @@ -162,7 +162,7 @@ class Calibrator: rot: List[float], wide_from_device_euler: List[float], trans_std: List[float]) -> Optional[np.ndarray]: - self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) + self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) angle_std_threshold = MAX_VEL_ANGLE_STD diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 0c0bcbf7ef..e9e2e06b47 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -5,7 +5,6 @@ import time import shutil from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor -from datetime import datetime from enum import IntEnum from typing import List, Optional, Dict, Any @@ -88,7 +87,6 @@ class Laikad: self.auto_fetch_navs = auto_fetch_navs self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None - self.got_first_gnss_msg = False self.last_report_time = GPSTime(0, 0) self.last_fetch_navs_t = GPSTime(0, 0) @@ -254,9 +252,11 @@ class Laikad: processed_measurements = process_measurements(new_meas, self.astro_dog) if self.last_fix_pos is not None: est_pos = self.last_fix_pos + correct_delay = True else: est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() - corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) + correct_delay = False + corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay) return corrected_measurements def calc_fix(self, t, measurements): @@ -282,7 +282,6 @@ class Laikad: week, tow, new_meas = self.read_report(gnss_msg) self.gps_week = week if week > 0: - self.got_first_gnss_msg = True latest_msg_t = GPSTime(week, tow) if self.auto_fetch_navs: self.fetch_navs(latest_msg_t, block) @@ -430,10 +429,7 @@ def main(sm=None, pm=None): raw_name = "qcomGnss" else: raw_name = "ubloxGnss" - raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False, timeout=1000) - - if sm is None: - sm = messaging.SubMaster(['clocks',]) + raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False) if pm is None: pm = messaging.PubMaster(['gnssMeasurements']) @@ -441,23 +437,16 @@ def main(sm=None, pm=None): use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ replay = "REPLAY" in os.environ - if replay or "CI" in os.environ: + if replay: use_internet = True laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom) while True: - for in_msg in messaging.drain_sock(raw_gnss_sock): + for in_msg in messaging.drain_sock(raw_gnss_sock, wait_for_one=True): out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay) pm.send('gnssMeasurements', out_msg) - sm.update(0) - if not laikad.got_first_gnss_msg and sm.updated['clocks']: - clocks_msg = sm['clocks'] - t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9)) - if laikad.auto_fetch_navs: - laikad.fetch_navs(t, block=replay) - if __name__ == "__main__": main() diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 87c5f644c5..6c0307bd64 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -180,6 +180,7 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { fix.setPosenetOK(!(std_spike && this->car_speed > 5.0)); fix.setDeviceStable(!this->device_fell); fix.setExcessiveResets(this->reset_tracker > MAX_RESET_TRACKER); + fix.setTimeToFirstFix(std::isnan(this->ttff) ? -1. : this->ttff); this->device_fell = false; //fix.setGpsWeek(this->time.week); @@ -303,13 +304,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK)); bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK); - // quectel gps verticalAccuracy is clipped to 500 - bool gps_accuracy_insane_quectel = false; - if (!ublox_available) { - gps_accuracy_insane_quectel = log.getVerticalAccuracy() == 500; - } - - if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane || gps_accuracy_insane_quectel) { + if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) { //this->gps_valid = false; this->determine_gps_mode(current_time); return; @@ -535,6 +530,9 @@ void Localizer::time_check(double current_time) { if (std::isnan(this->last_reset_time)) { this->last_reset_time = current_time; } + if (std::isnan(this->first_valid_log_time)) { + this->first_valid_log_time = current_time; + } double filter_time = this->kf->get_filter_time(); bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10); if (big_time_gap) { @@ -706,6 +704,11 @@ int Localizer::locationd_thread() { bool gpsOK = this->is_gps_ok(); bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"}); + // Log time to first fix + if (gpsOK && std::isnan(this->ttff) && !std::isnan(this->first_valid_log_time)) { + this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time); + } + MessageBuilder msg_builder; kj::ArrayPtr bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized); pm.send("liveLocationKalman", bytes.begin(), bytes.size()); diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index 6366b84f8e..e2b2096afc 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -78,6 +78,8 @@ private: double reset_tracker = 0.0; bool device_fell = false; bool gps_mode = false; + double first_valid_log_time = NAN; + double ttff = NAN; double last_gps_msg = 0; bool ublox_available = true; bool observation_timings_invalid = false; diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py index 3612f48276..2c6508fd42 100755 --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -6,7 +6,7 @@ import numpy as np import cereal.messaging as messaging from common.params import Params -from selfdrive.locationd.calibrationd import Calibrator +from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES class TestCalibrationd(unittest.TestCase): @@ -22,5 +22,81 @@ class TestCalibrationd(unittest.TestCase): self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks) + def test_calibration_basics(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, INPUTS_WANTED) + np.testing.assert_allclose(c.rpy, np.zeros(3)) + c.reset() + + def test_calibration_low_speed_reject(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER - 1) + c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c. handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, 0) + np.testing.assert_allclose(c.rpy, np.zeros(3)) + + + def test_calibration_yaw_rate_reject(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, MAX_YAW_RATE_FILTER ], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, 0) + np.testing.assert_allclose(c.rpy, np.zeros(3)) + + + def test_calibration_speed_std_reject(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e3, 1e3, 1e3]) + self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + np.testing.assert_allclose(c.rpy, np.zeros(3)) + + + def test_calibration_auto_reset(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, INPUTS_WANTED) + np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) + old_rpy_weight_prev = 0.0 + for _ in range(BLOCK_SIZE + 10): + self.assertLess(old_rpy_weight_prev - c.old_rpy_weight, 1/SMOOTH_CYCLES + 1e-3) + old_rpy_weight_prev = c.old_rpy_weight + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, 1) + np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2) + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 1b10cee806..e63053fefd 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -20,7 +20,8 @@ from selfdrive.manager.process_config import managed_processes from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID from system.swaglog import cloudlog, add_file_handler from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \ - terms_version, training_version, is_tested_branch, is_release_branch + get_normalized_origin, terms_version, training_version, \ + is_tested_branch, is_release_branch @@ -92,7 +93,12 @@ def manager_init() -> None: # init logging sentry.init(sentry.SentryProject.SELFDRIVE) - cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty(), + cloudlog.bind_global(dongle_id=dongle_id, + version=get_version(), + origin=get_normalized_origin(), + branch=get_short_branch(), + commit=get_commit(), + dirty=is_dirty(), device=HARDWARE.get_device_type()) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 13759c62f8..d8a8b5ef13 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:5121deb0d5c683b0fbee4c1cad7bc625953bf127b1383fb7599a6b644efd0aea +oid sha256:0007958c9bad4a87eb5c28080b5bfdc24834958fbcbaff448674fa570b0196da size 46011200 diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript index 8a2c2a8a91..23b36adc0a 100644 --- a/selfdrive/navd/SConscript +++ b/selfdrive/navd/SConscript @@ -1,21 +1,20 @@ Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations') -base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', - 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] - +map_env = qt_env.Clone() +libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations, + 'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"] if arch == 'larch64': - base_libs.append('EGL') + libs.append('EGL') if arch in ['larch64', 'x86_64']: if arch == 'x86_64': - rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath] - qt_env["RPATH"] += rpath + rpath = Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath + map_env["RPATH"] += [rpath, ] style_path = File("style.json").abspath - qt_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"') - qt_libs = ["qt_widgets", "qt_util", "qmapboxgl"] + base_libs - - nav_src = ["main.cc", "map_renderer.cc"] - qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11']) + map_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"') - qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging']) + map_env["RPATH"].append(Dir('.').abspath) + map_env["LIBPATH"].append(Dir('.').abspath) + maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs) + map_env.Program("map_renderer", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs) diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc index 51676bb3a3..203470bb42 100644 --- a/selfdrive/navd/map_renderer.cc +++ b/selfdrive/navd/map_renderer.cc @@ -11,7 +11,7 @@ #include "selfdrive/ui/qt/maps/map_helpers.h" const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear -const int HEIGHT = 512, WIDTH = 512; +const int HEIGHT = 256, WIDTH = 256; const int NUM_VIPC_BUFFERS = 4; const int EARTH_CIRCUMFERENCE_METERS = 40075000; @@ -177,12 +177,10 @@ void MapRenderer::publish(const double render_time) { uint8_t* dst = (uint8_t*)buf->addr; uint8_t* src = cap.bits(); - // RGB to greyscale and crop + // RGB to greyscale memset(dst, 128, buf->len); - for (int r = 0; r < HEIGHT/2; r++) { - for (int c = 0; c < WIDTH/2; c++) { - dst[r*WIDTH/2 + c] = src[((HEIGHT/4 + r)*WIDTH + (c+WIDTH/4)) * 3]; - } + for (int i = 0; i < WIDTH * HEIGHT; i++) { + dst[i] = src[i * 3]; } vipc_server->send(buf, &extra); diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py index 3239470b23..aa5682169f 100755 --- a/selfdrive/navd/map_renderer.py +++ b/selfdrive/navd/map_renderer.py @@ -10,12 +10,12 @@ from cffi import FFI from common.ffi_wrapper import suffix from common.basedir import BASEDIR -HEIGHT = WIDTH = SIZE = 512 +HEIGHT = WIDTH = SIZE = 256 METERS_PER_PIXEL = 2 def get_ffi(): - lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix()) + lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix()) ffi = FFI() ffi.cdef(""" diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index bd026f5710..b3cc50e559 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -82db08d52b155336e9a1dadd11485d5acdf2eba0 +9d3cd2e7d5fceaaf0e8a4bd798a24fcf470da7c2 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 43b329e916..4ab2d30315 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -279,7 +279,7 @@ CONFIGS = [ fake_pubsubmaster=True, submaster_config={ 'ignore_avg_freq': ['radarState', 'longitudinalPlan', 'driverCameraState', 'driverMonitoringState'], # dcam is expected at 20 Hz - 'ignore_alive': ['wideRoadCameraState'], # TODO: Add to regen + 'ignore_alive': [], } ), ProcessConfig( @@ -372,7 +372,6 @@ CONFIGS = [ pub_sub={ "ubloxGnss": ["gnssMeasurements"], "qcomGnss": ["gnssMeasurements"], - "clocks": [] }, ignore=["logMonoTime"], init_callback=get_car_params, @@ -421,11 +420,7 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None): if lr is not None: services = {m.which() for m in lr} params.put_bool("UbloxAvailable", "ubloxGnss" in services) - - if lr is not None: - services = {m.which() for m in lr} - params.put_bool("UbloxAvailable", "ubloxGnss" in services) - + if cfg is not None: # Clear all custom processConfig environment variables for config in CONFIGS: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index af63dab2f1..03b5914416 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1bb3f665191e1b75c1b786f60e76d51b274f98ae +f3f5f64fb235039517e8a71f34c01955a1c157de \ No newline at end of file diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index c9f9c6c362..dea9a737e8 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -14,12 +14,12 @@ from cereal.services import service_list from cereal.visionipc import VisionIpcServer, VisionStreamType from common.params import Params from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot -from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size +from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size, tici_e_frame_size from panda.python import Panda from selfdrive.car.toyota.values import EPS_SCALE from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled +from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_enabled from selfdrive.test.update_ci_routes import upload_route from tools.lib.route import Route from tools.lib.framereader import FrameReader @@ -123,8 +123,9 @@ def replay_cameras(lr, frs, disable_tqdm=False): ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), ] tici_cameras = [ - ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True), - ("driverCameraState", DT_MDL, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), + ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, False), + ("wideRoadCameraState", DT_MDL, tici_e_frame_size, VisionStreamType.VISION_STREAM_WIDE_ROAD, False), + ("driverCameraState", DT_DMON, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False), ] def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client): @@ -232,7 +233,11 @@ def migrate_sensorEvents(lr, old_logtime=False): return all_msgs -def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): + +def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=False): + if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"): + raise ValueError("whitelist_proc must be a string or iterable") + lr = migrate_carparams(list(lr)) lr = migrate_sensorEvents(list(lr)) if frs is None: @@ -261,33 +266,68 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): multiprocessing.Process(target=replay_service, args=('ubloxRaw', lr)), multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)), ], - 'managerState': [ + 'manager': [ multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)), ], 'thermald': [ multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)), ], + 'rawgpsd': [ + multiprocessing.Process(target=replay_service, args=('qcomGnss', lr)), + multiprocessing.Process(target=replay_service, args=('gpsLocation', lr)), + ], 'camerad': [ *cam_procs, ], } + # TODO add configs for modeld, dmonitoringmodeld + fakeable_daemons = {} + for config in CONFIGS: + replayable_messages = set([msg for sub in config.pub_sub.values() for msg in sub]) + processes = [ + multiprocessing.Process(target=replay_service, args=(msg, lr)) + for msg in replayable_messages + ] + fakeable_daemons[config.proc_name] = processes + + additional_fake_daemons = {} + if daemons != "all": + additional_fake_daemons = fakeable_daemons + if isinstance(daemons, str): + raise ValueError(f"Invalid value for daemons: {daemons}") + + for d in daemons: + if d in fake_daemons: + raise ValueError(f"Running daemon {d} is not supported!") + + if d in fakeable_daemons: + del additional_fake_daemons[d] + + all_fake_daemons = {**fake_daemons, **additional_fake_daemons} try: # TODO: make first run of onnxruntime CUDA provider fast - managed_processes["modeld"].start() - managed_processes["dmonitoringmodeld"].start() + if "modeld" not in all_fake_daemons: + managed_processes["modeld"].start() + if "dmonitoringmodeld" not in all_fake_daemons: + managed_processes["dmonitoringmodeld"].start() time.sleep(5) # start procs up - ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader', 'soundd'] + ignore = list(all_fake_daemons.keys()) \ + + ['ui', 'manage_athenad', 'uploader', 'soundd', 'micd', 'navd'] + + print("Faked daemons:", ", ".join(all_fake_daemons.keys())) + print("Running daemons:", ", ".join([key for key in managed_processes.keys() if key not in ignore])) + ensure_running(managed_processes.values(), started=True, params=Params(), CP=car.CarParams(), not_run=ignore) - for procs in fake_daemons.values(): + for procs in all_fake_daemons.values(): for p in procs: p.start() for _ in tqdm(range(60), disable=disable_tqdm): # ensure all procs are running - for d, procs in fake_daemons.items(): + for d, procs in all_fake_daemons.items(): for p in procs: if not p.is_alive(): raise Exception(f"{d}'s {p.name} died") @@ -296,7 +336,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): # kill everything for p in managed_processes.values(): p.stop() - for procs in fake_daemons.values(): + for procs in all_fake_daemons.values(): for p in procs: p.terminate() @@ -311,15 +351,28 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False): return seg_path -def regen_and_save(route, sidx, upload=False, use_route_meta=True, outdir=FAKEDATA, disable_tqdm=False): +def regen_and_save(route, sidx, daemons="all", upload=False, use_route_meta=False, outdir=FAKEDATA, disable_tqdm=False): if use_route_meta: r = Route(route) lr = LogReader(r.log_paths()[sidx]) fr = FrameReader(r.camera_paths()[sidx]) + if r.ecamera_paths()[sidx] is not None: + wfr = FrameReader(r.ecamera_paths()[sidx]) + else: + wfr = None else: lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2") fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc") - rpath = regen_segment(lr, {'roadCameraState': fr}, outdir=outdir, disable_tqdm=disable_tqdm) + device_type = next(iter(lr)).initData.deviceType + if device_type == 'tici': + wfr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc") + else: + wfr = None + + frs = {'roadCameraState': fr} + if wfr is not None: + frs['wideRoadCameraState'] = wfr + rpath = regen_segment(lr, frs, daemons, outdir=outdir, disable_tqdm=disable_tqdm) # compress raw rlog before uploading with open(os.path.join(rpath, "rlog"), "rb") as f: @@ -342,9 +395,18 @@ def regen_and_save(route, sidx, upload=False, use_route_meta=True, outdir=FAKEDA if __name__ == "__main__": + def comma_separated_list(string): + if string == "all": + return string + return string.split(",") + parser = argparse.ArgumentParser(description="Generate new segments from old ones") parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket") + parser.add_argument("--outdir", help="log output dir", default=FAKEDATA) + parser.add_argument("--whitelist-procs", type=comma_separated_list, default="all", + help="Comma-separated whitelist of processes to regen (e.g. controlsd). Pass 'all' to whitelist all processes.") parser.add_argument("route", type=str, help="The source route") parser.add_argument("seg", type=int, help="Segment in source route") args = parser.parse_args() - regen_and_save(args.route, args.seg, args.upload) + + regen_and_save(args.route, args.seg, args.whitelist_procs, args.upload, outdir=args.outdir) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index a2dd938e2f..2ac4a92cc0 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -25,16 +25,16 @@ source_segments = [ ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"), # HONDA.CIVIC (NIDEC) ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"), # HONDA.ACCORD (BOSCH) ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"), # CHRYSLER.PACIFICA_2018_HYBRID - ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"), # CHRYSLER.RAM_1500 + ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), # CHRYSLER.RAM_1500 ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021 + ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 # Enable when port is tested and dashcamOnly is no longer set - #("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1 #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS ] @@ -49,13 +49,14 @@ segments = [ ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"), ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"), ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"), - ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"), + ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"), ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"), ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"), ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"), ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"), ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"), + ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), ] # dashcamOnly makes don't need to be tested until a full port is done diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 07a3c61bc5..679ba363f4 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -1,11 +1,14 @@ #!/usr/bin/env python3 +import math import json import os +import shutil import subprocess import time import numpy as np import unittest from collections import Counter, defaultdict +from functools import cached_property from pathlib import Path from cereal import car @@ -25,7 +28,7 @@ PROCS = { "./loggerd": 10.0, "./encoderd": 17.0, "./camerad": 14.5, - "./locationd": 9.1, + "./locationd": 11.0, "selfdrive.controls.plannerd": 16.5, "./_ui": 19.2, "selfdrive.locationd.paramsd": 9.0, @@ -45,6 +48,15 @@ PROCS = { "./ubloxd": 0.02, "selfdrive.tombstoned": 0, "./logcatd": 0, + "system.micd": 10.0, + "system.timezoned": 0, + "system.sensord.pigeond": 6.0, + "selfdrive.boardd.pandad": 0, + "selfdrive.statsd": 0.4, + "selfdrive.navd.navd": 0.4, + "system.loggerd.uploader": 4.0, + "system.loggerd.deleter": 0.1, + "selfdrive.locationd.laikad": None, # TODO: laikad cpu usage is sporadic } TIMINGS = { @@ -71,48 +83,6 @@ def cputime_total(ct): return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem -def check_cpu_usage(proclogs): - result = "\n" - result += "------------------------------------------------\n" - result += "------------------ CPU Usage -------------------\n" - result += "------------------------------------------------\n" - - plogs_by_proc = defaultdict(list) - for pl in proclogs: - for x in pl.procLog.procs: - if len(x.cmdline) > 0: - n = list(x.cmdline)[0] - plogs_by_proc[n].append(x) - - print(plogs_by_proc.keys()) - - r = True - dt = (proclogs[-1].logMonoTime - proclogs[0].logMonoTime) / 1e9 - for proc_name, expected_cpu in PROCS.items(): - err = "" - cpu_usage = 0. - x = plogs_by_proc[proc_name] - if len(x) > 2: - cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) - cpu_usage = cpu_time / dt * 100. - if cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0): - # cpu usage is high while playing sounds - if not (proc_name == "./_soundd" and cpu_usage < 65.): - err = "using more CPU than normal" - elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)): - err = "using less CPU than normal" - else: - err = "NO METRICS FOUND" - - result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n" - if len(err) > 0: - r = False - - result += "------------------------------------------------\n" - print(result) - return r - - class TestOnroad(unittest.TestCase): @classmethod @@ -120,19 +90,22 @@ class TestOnroad(unittest.TestCase): if "DEBUG" in os.environ: segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) - print(segs[-2]) - cls.lr = list(LogReader(os.path.join(segs[-2], "rlog"))) + print(segs[-3]) + cls.lr = list(LogReader(os.path.join(segs[-3], "rlog"))) return # setup env + os.environ['PASSIVE'] = "0" os.environ['REPLAY'] = "1" os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" - os.environ['LOGPRINT'] = 'debug' + os.environ['LOGPRINT'] = "debug" params = Params() params.clear_all() set_params_enabled() + if os.path.exists(ROOT): + shutil.rmtree(ROOT) # Make sure athena isn't running os.system("pkill -9 -f athena") @@ -177,6 +150,21 @@ class TestOnroad(unittest.TestCase): # use the second segment by default as it's the first full segment cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog"))) + @cached_property + def service_msgs(self): + msgs = defaultdict(list) + for m in self.lr: + msgs[m.which()].append(m) + return msgs + + def test_service_frequencies(self): + for s, msgs in self.service_msgs.items(): + if s in ('initData', 'sentinel'): + continue + + with self.subTest(service=s): + assert len(msgs) >= math.floor(service_list[s].frequency*55) + def test_cloudlog_size(self): msgs = [m for m in self.lr if m.which() == 'logMessage'] @@ -193,7 +181,7 @@ class TestOnroad(unittest.TestCase): result += "-------------- UI Draw Timing ------------------\n" result += "------------------------------------------------\n" - ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug'] + ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']] result += f"min {min(ts):.2f}ms\n" result += f"max {max(ts):.2f}ms\n" result += f"std {np.std(ts):.2f}ms\n" @@ -201,15 +189,60 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" print(result) - self.assertGreater(len(ts), 20*50, "insufficient samples") #self.assertLess(max(ts), 30.) self.assertLess(np.mean(ts), 10.) #self.assertLess(np.std(ts), 5.) def test_cpu_usage(self): - proclogs = [m for m in self.lr if m.which() == 'procLog'] - self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples") - cpu_ok = check_cpu_usage(proclogs) + result = "\n" + result += "------------------------------------------------\n" + result += "------------------ CPU Usage -------------------\n" + result += "------------------------------------------------\n" + + plogs_by_proc = defaultdict(list) + for pl in self.service_msgs['procLog']: + for x in pl.procLog.procs: + if len(x.cmdline) > 0: + n = list(x.cmdline)[0] + plogs_by_proc[n].append(x) + print(plogs_by_proc.keys()) + + cpu_ok = True + dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9 + for proc_name, expected_cpu in PROCS.items(): + + err = "" + cpu_usage = 0. + x = plogs_by_proc[proc_name] + if len(x) > 2: + cpu_time = cputime_total(x[-1]) - cputime_total(x[0]) + cpu_usage = cpu_time / dt * 100. + + if expected_cpu is None: + result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu}) SKIPPED\n" + continue + elif cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0): + # cpu usage is high while playing sounds + if not (proc_name == "./_soundd" and cpu_usage < 65.): + err = "using more CPU than normal" + elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)): + err = "using less CPU than normal" + else: + err = "NO METRICS FOUND" + + result += f"{proc_name.ljust(35)} {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n" + if len(err) > 0: + cpu_ok = False + + # Ensure there's no missing procs + all_procs = set([p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning]) + for p in all_procs: + with self.subTest(proc=p): + assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}" + + result += "------------------------------------------------\n" + print(result) + self.assertTrue(cpu_ok) def test_camera_processing_time(self): @@ -234,7 +267,7 @@ class TestOnroad(unittest.TestCase): cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)] for (s, instant_max, avg_max) in cfgs: - ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.lr if m.which() == s] + ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") result += f"'{s}' execution time: min {min(ts):.5f}s\n" @@ -254,7 +287,7 @@ class TestOnroad(unittest.TestCase): ("driverStateV2", 0.050, 0.026), ] for (s, instant_max, avg_max) in cfgs: - ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.lr if m.which() == s] + ts = [getattr(getattr(m, s), "modelExecutionTime") for m in self.service_msgs[s]] self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}") self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}") result += f"'{s}' execution time: min {min(ts):.5f}s\n" @@ -270,7 +303,7 @@ class TestOnroad(unittest.TestCase): result += "----------------- Service Timings --------------\n" result += "------------------------------------------------\n" for s, (maxmin, rsd) in TIMINGS.items(): - msgs = [m.logMonoTime for m in self.lr if m.which() == s] + msgs = [m.logMonoTime for m in self.service_msgs[s]] if not len(msgs): raise Exception(f"missing {s}") diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py index 85e9510eb7..06e2b5e8f9 100644 --- a/selfdrive/thermald/power_monitoring.py +++ b/selfdrive/thermald/power_monitoring.py @@ -17,6 +17,7 @@ VBATT_PAUSE_CHARGING = 11.8 # Lower limit on the LPF car battery volta VBATT_INSTANT_PAUSE_CHARGING = 7.0 # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss MAX_TIME_OFFROAD_S = 30*3600 MIN_ON_TIME_S = 3600 +DELAY_SHUTDOWN_TIME_S = 300 # Wait at least DELAY_SHUTDOWN_TIME_S seconds after offroad_time to shutdown. VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 60 class PowerMonitoring: @@ -124,6 +125,7 @@ class PowerMonitoring: should_shutdown &= not ignition should_shutdown &= (not self.params.get_bool("DisablePowerDown")) should_shutdown &= in_car + should_shutdown &= offroad_time > DELAY_SHUTDOWN_TIME_S should_shutdown |= self.params.get_bool("ForcePowerDown") should_shutdown &= started_seen or (now > MIN_ON_TIME_S) return should_shutdown diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index d41e92454b..6b1be2d7ef 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -15,7 +15,7 @@ def mock_sec_since_boot(): with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot): with patch("common.params.put_nonblocking", new=params.put): from selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \ - CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING + CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S TEST_DURATION_S = 50 GOOD_VOLTAGE = 12 * 1e3 @@ -116,10 +116,9 @@ class TestPowerMonitoring(unittest.TestCase): self.assertFalse(pm.should_shutdown(ignition, True, start_time, False)) self.assertTrue(pm.should_shutdown(ignition, True, start_time, False)) - # Test to check policy of stopping charging when the car voltage is too low def test_car_voltage(self): POWER_DRAW = 0 # To stop shutting down for other reasons - TEST_TIME = 100 + TEST_TIME = 350 VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50 with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() @@ -130,8 +129,9 @@ class TestPowerMonitoring(unittest.TestCase): pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) if i % 10 == 0: self.assertEqual(pm.should_shutdown(ignition, True, start_time, True), - (pm.car_voltage_mV < VBATT_PAUSE_CHARGING*1e3 and - (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)) + (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and + (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and + (ssb - start_time) > DELAY_SHUTDOWN_TIME_S)) self.assertTrue(pm.should_shutdown(ignition, True, start_time, True)) # Test to check policy of not stopping charging when DisablePowerDown is set @@ -177,6 +177,26 @@ class TestPowerMonitoring(unittest.TestCase): if i % 10 == 0: self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) self.assertFalse(pm.should_shutdown(ignition, False, ssb, False)) + + def test_delay_shutdown_time(self): + pm = PowerMonitoring() + pm.car_battery_capacity_uWh = 0 + ignition = False + in_car = True + offroad_timestamp = ssb + started_seen = True + pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition) + + while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S: + self.assertFalse(pm.should_shutdown(ignition, in_car, + offroad_timestamp, + started_seen), + f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time") + self.assertTrue(pm.should_shutdown(ignition, in_car, + offroad_timestamp, + started_seen), + f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time") + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index f3e50b572b..64cb357994 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -40,9 +40,6 @@ void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) { } void TrainingGuide::showEvent(QShowEvent *event) { - img_path = width() == WIDE_WIDTH ? "../assets/training_wide/" : "../assets/training/"; - boundingRect = width() == WIDE_WIDTH ? boundingRectWide : boundingRectStandard; - currentIndex = 0; image.load(img_path + "step0.png"); click_timer.start(); diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h index 48f4094899..e907a18449 100644 --- a/selfdrive/ui/qt/offroad/onboarding.h +++ b/selfdrive/ui/qt/offroad/onboarding.h @@ -25,56 +25,31 @@ private: int currentIndex = 0; // Bounding boxes for each training guide step - const QRect continueBtnStandard = {1620, 0, 300, 1080}; - QVector boundingRectStandard { - QRect(112, 804, 619, 166), - continueBtnStandard, - continueBtnStandard, - QRect(1476, 565, 253, 308), - QRect(1501, 529, 184, 108), - continueBtnStandard, - QRect(1613, 665, 178, 153), - QRect(1220, 0, 420, 730), - QRect(1335, 499, 440, 147), - QRect(112, 820, 996, 148), - QRect(1412, 199, 316, 333), - continueBtnStandard, - QRect(1237, 63, 683, 1017), - continueBtnStandard, - QRect(1455, 110, 313, 860), - QRect(1253, 519, 383, 228), - continueBtnStandard, - continueBtnStandard, - QRect(630, 804, 626, 164), - QRect(108, 804, 426, 164), - }; - - const QRect continueBtnWide = {1840, 0, 320, 1080}; - QVector boundingRectWide { + const QRect continueBtn = {1840, 0, 320, 1080}; + QVector boundingRect { QRect(112, 804, 618, 164), - continueBtnWide, - continueBtnWide, + continueBtn, + continueBtn, QRect(1641, 558, 210, 313), QRect(1662, 528, 184, 108), - continueBtnWide, + continueBtn, QRect(1814, 621, 211, 170), QRect(1350, 0, 497, 755), QRect(1553, 516, 406, 112), QRect(112, 804, 1126, 164), QRect(1598, 199, 316, 333), - continueBtnWide, + continueBtn, QRect(1364, 90, 796, 990), - continueBtnWide, + continueBtn, QRect(1593, 114, 318, 853), QRect(1379, 511, 391, 243), - continueBtnWide, - continueBtnWide, + continueBtn, + continueBtn, QRect(630, 804, 626, 164), QRect(108, 804, 426, 164), }; - QString img_path; - QVector boundingRect; + const QString img_path = "../assets/training/"; QElapsedTimer click_timer; signals: diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 4f52310649..c844cb2ba0 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -59,7 +59,8 @@ void configFont(QPainter &p, const QString &family, int size, const QString &sty } void clearLayout(QLayout* layout) { - while (QLayoutItem* item = layout->takeAt(0)) { + while (layout->count() > 0) { + QLayoutItem* item = layout->takeAt(0); if (QWidget* widget = item->widget()) { widget->deleteLater(); } @@ -110,7 +111,7 @@ void sigTermHandler(int s) { qApp->quit(); } -void initApp(int argc, char *argv[]) { +void initApp(int argc, char *argv[], bool disable_hidpi) { Hardware::set_display_power(true); Hardware::set_brightness(65); @@ -118,13 +119,13 @@ void initApp(int argc, char *argv[]) { std::signal(SIGINT, sigTermHandler); std::signal(SIGTERM, sigTermHandler); + if (disable_hidpi) { #ifdef __APPLE__ - { // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering QApplication tmp(argc, argv); qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio() ).toLocal8Bit()); - } #endif + } setQtSurfaceFormat(); } diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 3188f3f9b9..5b66ec9fa4 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -19,7 +19,7 @@ void clearLayout(QLayout* layout); void setQtSurfaceFormat(); QString timeAgo(const QDateTime &date); void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg); -void initApp(int argc, char *argv[]); +void initApp(int argc, char *argv[], bool disable_hidpi = true); QWidget* topWidget (QWidget* widget); QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio); QPixmap bootstrapPixmap(const QString &id); diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index de3b64cffd..016129c348 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -114,6 +114,16 @@ CameraWidget::~CameraWidget() { doneCurrent(); } +// Qt uses device-independent pixels, depending on platform this may be +// different to what OpenGL uses +int CameraWidget::glWidth() { + return width() * devicePixelRatio(); +} + +int CameraWidget::glHeight() { + return height() * devicePixelRatio(); +} + void CameraWidget::initializeGL() { initializeOpenGLFunctions(); @@ -188,7 +198,7 @@ void CameraWidget::availableStreamsUpdated(std::set streams) { } void CameraWidget::updateFrameMat() { - int w = width(), h = height(); + int w = glWidth(), h = glHeight(); if (zoomed_view) { if (active_stream_type == VISION_STREAM_DRIVER) { @@ -266,7 +276,7 @@ void CameraWidget::paintGL() { updateFrameMat(); - glViewport(0, 0, width(), height()); + glViewport(0, 0, glWidth(), glHeight()); glBindVertexArray(frame_vao); glUseProgram(program->programId()); glPixelStorei(GL_UNPACK_ALIGNMENT, 1); diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 9135620d35..8a140e5290 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -54,6 +54,9 @@ protected: void vipcThread(); void clearFrames(); + int glWidth(); + int glHeight(); + bool zoomed_view; GLuint frame_vao, frame_vbo, frame_ibo; GLuint textures[2]; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 94116b11cd..e8b8bdc77a 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -71,7 +71,7 @@ const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1; // always on is fine const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1; const float TARGET_GREY_FACTOR_AR0231 = 1.0; -const float TARGET_GREY_FACTOR_OX03C10 = 0.02; +const float TARGET_GREY_FACTOR_OX03C10 = 0.01; const float sensor_analog_gains_AR0231[] = { 1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3 @@ -101,7 +101,7 @@ 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_REC_IDX_OX03C10 = 0x0; // 1x const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36; const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1; const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.4; diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl index cff5ae455b..e15a873d6d 100644 --- a/system/camerad/cameras/real_debayer.cl +++ b/system/camerad/cameras/real_debayer.cl @@ -18,6 +18,9 @@ float3 color_correct(float3 rgb) { x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782); #endif + #if IS_OX + return -0.507089*exp(-12.54124638*x)+0.9655*powr(x,0.5)-0.472597*x+0.507089; + #else // tone mapping params const float gamma_k = 0.75; const float gamma_b = 0.125; @@ -28,6 +31,7 @@ float3 color_correct(float3 rgb) { return (x > mp) ? ((rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b) : ((rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b); + #endif } float get_vignetting_s(float r) { diff --git a/system/hardware/base.py b/system/hardware/base.py index 31df1babe0..0b6ca44c3c 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -135,6 +135,9 @@ class HardwareBase(ABC): def get_networks(self): pass + def has_internal_panda(self) -> bool: + return False + def reset_internal_panda(self): pass diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index 9725cd689c..5b656a40fa 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -1,5 +1,7 @@ +import time from smbus2 import SMBus from collections import namedtuple +from typing import List # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf @@ -104,31 +106,45 @@ class Amplifier: def __init__(self, debug=False): self.debug = debug - def set_config(self, config): - with SMBus(self.AMP_I2C_BUS) as bus: - if self.debug: - print(f"Setting \"{config.name}\" to {config.value}:") - - old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True) - new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask) - bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True) - - if self.debug: - print(f" Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}") - - def set_global_shutdown(self, amp_disabled): - self.set_config(AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000)) + def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig: + return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000) - def initialize_configuration(self, model): - self.set_global_shutdown(amp_disabled=True) - - for config in BASE_CONFIG: - self.set_config(config) - - for config in CONFIGS[model]: - self.set_config(config) - - self.set_global_shutdown(amp_disabled=False) + def _set_configs(self, configs: List[AmpConfig]) -> None: + with SMBus(self.AMP_I2C_BUS) as bus: + for config in configs: + if self.debug: + print(f"Setting \"{config.name}\" to {config.value}:") + + old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True) + new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask) + bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True) + + if self.debug: + print(f" Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}") + + def set_configs(self, configs: List[AmpConfig]) -> bool: + # retry in case panda is using the amp + tries = 15 + for i in range(15): + try: + self._set_configs(configs) + return True + except OSError: + print(f"Failed to set amp config, {tries - i - 1} retries left") + time.sleep(0.02) + return False + + def set_global_shutdown(self, amp_disabled: bool) -> bool: + return self.set_configs([self._get_shutdown_config(amp_disabled), ]) + + def initialize_configuration(self, model: str) -> bool: + cfgs = [ + self._get_shutdown_config(True), + *BASE_CONFIG, + *CONFIGS[model], + self._get_shutdown_config(False), + ] + return self.set_configs(cfgs) if __name__ == "__main__": diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h index 5f6fb2dc50..765b53ba6e 100644 --- a/system/hardware/tici/hardware.h +++ b/system/hardware/tici/hardware.h @@ -16,8 +16,16 @@ public: static std::string get_os_version() { return "AGNOS " + util::read_file("/VERSION"); }; - static std::string get_name() { return "tici"; }; - static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::TICI; }; + + static std::string get_name() { + std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model"); + return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici"; + }; + + static cereal::InitData::DeviceType get_device_type() { + return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI; + }; + static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }; static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }; diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 46db097da1..3ed27b22e1 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -4,11 +4,11 @@ import os import subprocess import time from enum import IntEnum -from functools import cached_property +from functools import cached_property, lru_cache from pathlib import Path from cereal import log -from common.gpio import gpio_set, gpio_init +from common.gpio import gpio_set, gpio_init, get_irq_for_action from system.hardware.base import HardwareBase, ThermalConfig from system.hardware.tici import iwlist from system.hardware.tici.pins import GPIO @@ -63,8 +63,14 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14 def sudo_write(val, path): os.system(f"sudo su -c 'echo {val} > {path}'") -def affine_irq(val, irq): - sudo_write(str(val), f"/proc/irq/{irq}/smp_affinity_list") + +def affine_irq(val, action): + irq = get_irq_for_action(action) + if len(irq) == 0: + print(f"No IRQs found for '{action}'") + return + for i in irq: + sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list") class Tici(HardwareBase): @@ -85,8 +91,12 @@ class Tici(HardwareBase): def amplifier(self): return Amplifier() - @cached_property - def model(self): + def get_os_version(self): + with open("/VERSION") as f: + return f.read().strip() + + @lru_cache + def get_device_type(self): with open("/sys/firmware/devicetree/base/model") as f: model = f.read().strip('\x00') model = model.split('comma ')[-1] @@ -95,13 +105,6 @@ class Tici(HardwareBase): model = 'tici' return model - def get_os_version(self): - with open("/VERSION") as f: - return f.read().strip() - - def get_device_type(self): - return "tici" - def get_sound_card_online(self): return (os.path.isfile('/proc/asound/card0/state') and open('/proc/asound/card0/state').read().strip() == 'ONLINE') @@ -418,7 +421,7 @@ class Tici(HardwareBase): # amplifier, 100mW at idle self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled) if not powersave_enabled: - self.amplifier.initialize_configuration(self.model) + self.amplifier.initialize_configuration(self.get_device_type()) # *** CPU config *** @@ -432,12 +435,20 @@ class Tici(HardwareBase): sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor') # *** IRQ config *** - affine_irq(5, 565) # kgsl-3d0 - affine_irq(4, 126) # SPI goes on boardd core - affine_irq(4, 740) # xhci-hcd:usb1 goes on the boardd core - affine_irq(4, 1069) # xhci-hcd:usb3 goes on the boardd core - for irq in range(237, 246): - affine_irq(5, irq) # camerad + + # GPU + affine_irq(5, "kgsl-3d0") + + # boardd core + affine_irq(4, "spi_geni") # SPI + affine_irq(4, "xhci-hcd:usb3") # aux panda USB (or potentially anything else on USB) + if "tici" in self.get_device_type(): + affine_irq(4, "xhci-hcd:usb1") # internal panda USB + + # camerad core + camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid", "csid-lite", "ife-lite") + for n in camera_irqs: + affine_irq(5, n) def get_gpu_usage_percent(self): try: @@ -447,23 +458,25 @@ class Tici(HardwareBase): return 0 def initialize_hardware(self): - self.amplifier.initialize_configuration(self.model) + self.amplifier.initialize_configuration(self.get_device_type()) # Allow thermald to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") # TODO: remove the if once agnos 7 ships - # Turn off fan, turned on by the ABL + # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL if os.path.exists('/sys/class/gpio/gpio49/'): gpio_init(GPIO.SOM_ST_IO, True) - gpio_set(GPIO.SOM_ST_IO, 0) + gpio_set(GPIO.SOM_ST_IO, 1) # *** IRQ config *** # move these off the default core - affine_irq(1, 7) # msm_drm - affine_irq(1, 250) # msm_vidc - affine_irq(1, 8) # i2c_geni (sensord) + affine_irq(1, "msm_drm") + affine_irq(1, "msm_vidc") + affine_irq(1, "i2c_geni") + + # mask off big cluster from default affinity sudo_write("f", "/proc/irq/default_smp_affinity") # *** GPU config *** @@ -549,6 +562,9 @@ class Tici(HardwareBase): except Exception: return -1, -1 + def has_internal_panda(self): + return True + def reset_internal_panda(self): gpio_init(GPIO.STM_RST_N, True) @@ -562,8 +578,9 @@ class Tici(HardwareBase): gpio_set(GPIO.STM_RST_N, 1) gpio_set(GPIO.STM_BOOT0, 1) - time.sleep(2) + time.sleep(1) gpio_set(GPIO.STM_RST_N, 0) + time.sleep(1) gpio_set(GPIO.STM_BOOT0, 0) diff --git a/system/hardware/tici/test_agnos_updater.py b/system/hardware/tici/tests/test_agnos_updater.py similarity index 80% rename from system/hardware/tici/test_agnos_updater.py rename to system/hardware/tici/tests/test_agnos_updater.py index e0d6ed8814..86bc78881e 100755 --- a/system/hardware/tici/test_agnos_updater.py +++ b/system/hardware/tici/tests/test_agnos_updater.py @@ -4,8 +4,8 @@ import os import unittest import requests -AGNOS_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__))) -MANIFEST = os.path.join(AGNOS_DIR, "agnos.json") +TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__))) +MANIFEST = os.path.join(TEST_DIR, "../agnos.json") class TestAgnosUpdater(unittest.TestCase): diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py new file mode 100755 index 0000000000..5d5a86c512 --- /dev/null +++ b/system/hardware/tici/tests/test_amplifier.py @@ -0,0 +1,70 @@ +#!/usr/bin/env python3 +import time +import random +import unittest +import subprocess + +from panda import Panda +from system.hardware import TICI +from system.hardware.tici.hardware import Tici +from system.hardware.tici.amplifier import Amplifier + + +class TestAmplifier(unittest.TestCase): + + @classmethod + def setUpClass(cls): + if not TICI: + raise unittest.SkipTest + + def setUp(self): + # clear dmesg + subprocess.check_call("sudo dmesg -C", shell=True) + + self.panda = Panda() + self.panda.reset() + + def tearDown(self): + self.panda.reset(reconnect=False) + + def _check_for_i2c_errors(self, expected): + dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8') + i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l] + i2c_str = '\n'.join(i2c_lines) + if not expected: + assert len(i2c_lines) == 0 + else: + assert "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str + + def test_init(self): + amp = Amplifier(debug=True) + r = amp.initialize_configuration(Tici().get_device_type()) + assert r + self._check_for_i2c_errors(False) + + def test_shutdown(self): + amp = Amplifier(debug=True) + for _ in range(10): + r = amp.set_global_shutdown(True) + r = amp.set_global_shutdown(False) + assert r + self._check_for_i2c_errors(False) + + def test_init_while_siren_play(self): + for _ in range(5): + self.panda.set_siren(False) + time.sleep(0.1) + + self.panda.set_siren(True) + time.sleep(random.randint(0, 5)) + + amp = Amplifier(debug=True) + r = amp.initialize_configuration(Tici().get_device_type()) + assert r + + # make sure we're a good test + self._check_for_i2c_errors(True) + + +if __name__ == "__main__": + unittest.main() diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py similarity index 93% rename from system/hardware/tici/test_power_draw.py rename to system/hardware/tici/tests/test_power_draw.py index f563933285..df4852183e 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -16,11 +16,11 @@ class Proc: name: str power: float rtol: float = 0.05 - atol: float = 0.1 + atol: float = 0.12 warmup: float = 6. PROCS = [ - Proc('camerad', 2.15), + Proc('camerad', 2.1), Proc('modeld', 0.93, atol=0.2), Proc('dmonitoringmodeld', 0.4), Proc('encoderd', 0.23), @@ -60,7 +60,7 @@ class TestPowerDraw(unittest.TestCase): manager_cleanup() tab = [] - tab.append(['process', 'expected (W)', 'current (W)']) + tab.append(['process', 'expected (W)', 'measured (W)']) for proc in PROCS: cur = used[proc.name] expected = proc.power diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py index d4ed6dca28..5fda902bd6 100644 --- a/system/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -9,6 +9,7 @@ import threading import time import traceback from pathlib import Path +from typing import BinaryIO, Iterator, List, Optional, Tuple, Union from cereal import log import cereal.messaging as messaging @@ -31,10 +32,23 @@ force_wifi = os.getenv("FORCEWIFI") is not None fake_upload = os.getenv("FAKEUPLOAD") is not None -def get_directory_sort(d): +class FakeRequest: + def __init__(self): + self.headers = {"Content-Length": "0"} + + +class FakeResponse: + def __init__(self): + self.status_code = 200 + self.request = FakeRequest() + + +UploadResponse = Union[requests.Response, FakeResponse] + +def get_directory_sort(d: str) -> List[str]: return list(map(lambda s: s.rjust(10, '0'), d.rsplit('--', 1))) -def listdir_by_creation(d): +def listdir_by_creation(d: str) -> List[str]: try: paths = os.listdir(d) paths = sorted(paths, key=get_directory_sort) @@ -43,7 +57,7 @@ def listdir_by_creation(d): cloudlog.exception("listdir_by_creation failed") return list() -def clear_locks(root): +def clear_locks(root: str) -> None: for logname in os.listdir(root): path = os.path.join(root, logname) try: @@ -54,16 +68,14 @@ def clear_locks(root): cloudlog.exception("clear_locks failed") -class Uploader(): - def __init__(self, dongle_id, root): +class Uploader: + def __init__(self, dongle_id: str, root: str): self.dongle_id = dongle_id self.api = Api(dongle_id) self.root = root - self.upload_thread = None - - self.last_resp = None - self.last_exc = None + self.last_resp: Optional[UploadResponse] = None + self.last_exc: Optional[Tuple[Exception, str]] = None self.immediate_size = 0 self.immediate_count = 0 @@ -76,12 +88,12 @@ class Uploader(): self.immediate_folders = ["crash/", "boot/"] self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1} - def get_upload_sort(self, name): + def get_upload_sort(self, name: str) -> int: if name in self.immediate_priority: return self.immediate_priority[name] return 1000 - def list_upload_files(self): + def list_upload_files(self) -> Iterator[Tuple[str, str, str]]: if not os.path.isdir(self.root): return @@ -103,7 +115,7 @@ class Uploader(): fn = os.path.join(path, name) # skip files already uploaded try: - is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) + is_uploaded = bool(getxattr(fn, UPLOAD_ATTR_NAME)) except OSError: cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn) is_uploaded = True # deleter could have deleted @@ -117,22 +129,22 @@ class Uploader(): except OSError: pass - yield (name, key, fn) + yield name, key, fn - def next_file_to_upload(self): + def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]: upload_files = list(self.list_upload_files()) for name, key, fn in upload_files: if any(f in fn for f in self.immediate_folders): - return (name, key, fn) + return name, key, fn for name, key, fn in upload_files: if name in self.immediate_priority: - return (name, key, fn) + return name, key, fn return None - def do_upload(self, key, fn): + def do_upload(self, key: str, fn: str) -> None: try: url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token()) if url_resp.status_code == 412: @@ -146,17 +158,13 @@ class Uploader(): if fake_upload: cloudlog.debug(f"*** WARNING, THIS IS A FAKE UPLOAD TO {url} ***") - - class FakeResponse(): - def __init__(self): - self.status_code = 200 - self.last_resp = FakeResponse() else: with open(fn, "rb") as f: + data: BinaryIO if key.endswith('.bz2') and not fn.endswith('.bz2'): - data = bz2.compress(f.read()) - data = io.BytesIO(data) + compressed = bz2.compress(f.read()) + data = io.BytesIO(compressed) else: data = f @@ -165,7 +173,7 @@ class Uploader(): self.last_exc = (e, traceback.format_exc()) raise - def normal_upload(self, key, fn): + def normal_upload(self, key: str, fn: str) -> Optional[UploadResponse]: self.last_resp = None self.last_exc = None @@ -176,7 +184,7 @@ class Uploader(): return self.last_resp - def upload(self, name, key, fn, network_type, metered): + def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool: try: sz = os.path.getsize(fn) except OSError: @@ -197,9 +205,14 @@ class Uploader(): if stat is not None and stat.status_code in (200, 201, 401, 403, 412): self.last_filename = fn self.last_time = time.monotonic() - start_time - self.last_speed = (sz / 1e6) / self.last_time + if stat.status_code == 412: + self.last_speed = 0 + cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) + else: + content_length = int(stat.request.headers.get("Content-Length", 0)) + self.last_speed = (content_length / 1e6) / self.last_time + cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length, network_type=network_type, metered=metered, speed=self.last_speed) success = True - cloudlog.event("upload_success" if stat.status_code != 412 else "upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) else: success = False cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered) @@ -224,7 +237,7 @@ class Uploader(): return msg -def uploader_fn(exit_event): +def uploader_fn(exit_event: threading.Event) -> None: try: set_core_affinity([0, 1, 2, 3]) except Exception: @@ -279,7 +292,7 @@ def uploader_fn(exit_event): pm.send("uploaderState", uploader.get_msg()) -def main(): +def main() -> None: uploader_fn(threading.Event()) diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py index f75ceee7ed..8f243af9a5 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -270,7 +270,6 @@ def main() -> NoReturn: msg = messaging.new_message('gpsLocation') gps = msg.gpsLocation - gps.flags = 1 gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi gps.altitude = report["q_FltFinalPosAlt"] @@ -283,6 +282,8 @@ def main() -> NoReturn: gps.verticalAccuracy = report["q_FltVdop"] gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma])) + # quectel gps verticalAccuracy is clipped to 500, set invalid if so + gps.flags = 1 if gps.verticalAccuracy != 500 else 0 pm.send('gpsLocation', msg) diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index 21b67271d6..6e8dda79bb 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 import os -import glob import time import unittest import numpy as np @@ -8,6 +7,7 @@ from collections import namedtuple, defaultdict import cereal.messaging as messaging from cereal import log +from common.gpio import get_irq_for_action from system.hardware import TICI from selfdrive.manager.process_config import managed_processes @@ -113,13 +113,7 @@ class TestSensord(unittest.TestCase): cls.events = read_sensor_events(cls.sample_secs) # determine sensord's irq - cls.sensord_irq = None - for fn in glob.glob('/sys/kernel/irq/*/actions'): - with open(fn) as f: - if "sensord" in f.read(): - cls.sensord_irq = int(fn.split('/')[-2]) - break - assert cls.sensord_irq is not None + cls.sensord_irq = get_irq_for_action("sensord")[0] finally: # teardown won't run if this doesn't succeed managed_processes["sensord"].stop() diff --git a/tools/README.md b/tools/README.md index 3969deb24d..c3f5b0ada5 100644 --- a/tools/README.md +++ b/tools/README.md @@ -53,6 +53,7 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md ``` ├── ubuntu_setup.sh # Setup script for Ubuntu ├── mac_setup.sh # Setup script for macOS +├── cabana/ # View and plot CAN messages from drives or in realtime ├── joystick/ # Control your car with a joystick ├── lib/ # Libraries to support the tools and reading openpilot logs ├── plotjuggler/ # A tool to plot openpilot logs diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore index c74ab7483c..c3f5ef2b69 100644 --- a/tools/cabana/.gitignore +++ b/tools/cabana/.gitignore @@ -1,7 +1,7 @@ moc_* *.moc -_cabana +cabana settings dbc/car_fingerprint_to_dbc.json -tests/_test_cabana +tests/test_cabana diff --git a/tools/cabana/README.md b/tools/cabana/README.md index db247c39c5..921decff3c 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -8,22 +8,26 @@ Cabana is a tool developed to view raw CAN data. One use for this is creating an ```bash $ ./cabana -h -Usage: ./_cabana [options] route +Usage: ./cabana [options] route Options: - -h, --help Displays this help. - --demo use a demo route instead of providing your own - --qcam load qcamera - --ecam load wide road camera - --stream read can messages from live streaming - --zmq the ip address on which to receive zmq messages - --data_dir local directory with routes - --no-vipc do not output video - --dbc dbc file to open + -h, --help Displays help on commandline options. + --help-all Displays help including Qt specific options. + --demo use a demo route instead of providing your own + --qcam load qcamera + --ecam load wide road camera + --stream read can messages from live streaming + --panda read can messages from panda + --panda-serial read can messages from panda with given serial + --zmq the ip address on which to receive zmq + messages + --data_dir local directory with routes + --no-vipc do not output video + --dbc dbc file to open Arguments: - route the drive to replay. find your drives at - connect.comma.ai + route the drive to replay. find your drives at + connect.comma.ai ``` See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana) diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 7d5129fc16..a735dc438e 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,6 +1,6 @@ import os Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', - 'cereal', 'transformations', 'widgets', 'opendbc') + 'cereal', 'transformations', 'widgets') base_frameworks = qt_env['FRAMEWORKS'] base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', @@ -15,8 +15,9 @@ else: qt_libs = ['qt_util'] + base_libs -cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs cabana_env = qt_env.Clone() +cabana_env["LIBPATH"] += ['../../opendbc/can'] +cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath) cabana_env['CXXFLAGS'] += [opendbc_path] @@ -28,16 +29,14 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', - 'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) -cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) - -if arch == "Darwin": - cabana_env.Execute('install_name_tool -change opendbc/can/libdbc.dylib @loader_path/../../opendbc/can/libdbc.dylib ./_cabana') + 'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc', + 'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) if GetOption('test'): - cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) + cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) def generate_dbc_json(target, source, env): env.Execute('tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json') diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index d0576615c9..3a03ee0b70 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -239,7 +239,19 @@ std::tuple BinaryView::getSelection(QModelIndex index) { if (index.column() == 8) { index = model->index(index.row(), 7); } - bool is_lb = (resize_sig && resize_sig->is_little_endian) || (!resize_sig && index < anchor_index); + bool is_lb = true; + if (resize_sig) { + is_lb = resize_sig->is_little_endian; + } else if (settings.drag_direction == Settings::DragDirection::MsbFirst) { + is_lb = index < anchor_index; + } else if (settings.drag_direction == Settings::DragDirection::LsbFirst) { + is_lb = !(index < anchor_index); + } else if (settings.drag_direction == Settings::DragDirection::AlwaysLE) { + is_lb = true; + } else if (settings.drag_direction == Settings::DragDirection::AlwaysBE) { + is_lb = false; + } + int cur_bit_idx = get_bit_index(index, is_lb); int anchor_bit_idx = get_bit_index(anchor_index, is_lb); auto [start_bit, end_bit] = std::minmax(cur_bit_idx, anchor_bit_idx); @@ -281,11 +293,19 @@ void BinaryViewModel::refresh() { updateState(); } +void BinaryViewModel::updateItem(int row, int col, const QString &val, const QColor &color) { + auto &item = items[row * column_count + col]; + if (item.val != val || item.bg_color != color) { + item.val = val; + item.bg_color = color; + auto idx = index(row, col); + emit dataChanged(idx, idx, {Qt::DisplayRole}); + } +} + void BinaryViewModel::updateState() { - auto prev_items = items; const auto &last_msg = can->lastMessage(msg_id); const auto &binary = last_msg.dat; - // data size may changed. if (binary.size() > row_count) { beginInsertRows({}, row_count, binary.size() - 1); @@ -294,29 +314,23 @@ void BinaryViewModel::updateState() { endInsertRows(); } - double max_f = 255.0; - double factor = 0.25; - double scaler = max_f / log2(1.0 + factor); + const double max_f = 255.0; + const double factor = 0.25; + const double scaler = max_f / log2(1.0 + factor); for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < 8; ++j) { auto &item = items[i * column_count + j]; - item.val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0'; + QString val = ((binary[i] >> (7 - j)) & 1) != 0 ? "1" : "0"; // Bit update frequency based highlighting double offset = !item.sigs.empty() ? 50 : 0; auto n = last_msg.bit_change_counts[i][7 - j]; double min_f = n == 0 ? offset : offset + 25; double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f); - item.bg_color.setAlpha(alpha); - } - items[i * column_count + 8].val = toHex(binary[i]); - items[i * column_count + 8].bg_color = last_msg.colors[i]; - } - - for (int i = 0; i < items.size(); ++i) { - if (i >= prev_items.size() || prev_items[i].val != items[i].val || prev_items[i].bg_color != items[i].bg_color) { - auto idx = index(i / column_count, i % column_count); - emit dataChanged(idx, idx); + auto color = item.bg_color; + color.setAlpha(alpha); + updateItem(i, j, val, color); } + updateItem(i, 8, toHex(binary[i]), last_msg.colors[i]); } } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index aa1f8c656b..f80b4520ed 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -26,6 +26,7 @@ public: BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {} void refresh(); void updateState(); + void updateItem(int row, int col, const QString &val, const QColor &color); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; } int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } diff --git a/tools/cabana/cabana b/tools/cabana/cabana deleted file mode 100755 index 14647b6a10..0000000000 --- a/tools/cabana/cabana +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -cd "$(dirname "$0")" -export LD_LIBRARY_PATH="../../opendbc/can:$LD_LIBRARY_PATH" -exec ./_cabana "$@" diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 5c182f435f..6e354da315 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -4,17 +4,19 @@ #include "common/prefix.h" #include "selfdrive/ui/qt/util.h" #include "tools/cabana/mainwin.h" -#include "tools/cabana/route.h" -#include "tools/cabana/streams/livestream.h" +#include "tools/cabana/streamselector.h" +#include "tools/cabana/streams/devicestream.h" +#include "tools/cabana/streams/pandastream.h" #include "tools/cabana/streams/replaystream.h" int main(int argc, char *argv[]) { QCoreApplication::setApplicationName("Cabana"); QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts); - initApp(argc, argv); + initApp(argc, argv, false); QApplication app(argc, argv); app.setApplicationDisplayName("Cabana"); app.setWindowIcon(QIcon(":cabana-icon.png")); + utils::setTheme(settings.theme); QCommandLineParser cmd_parser; cmd_parser.addHelpOption(); @@ -23,22 +25,28 @@ int main(int argc, char *argv[]) { cmd_parser.addOption({"qcam", "load qcamera"}); cmd_parser.addOption({"ecam", "load wide road camera"}); cmd_parser.addOption({"stream", "read can messages from live streaming"}); + cmd_parser.addOption({"panda", "read can messages from panda"}); + cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"}); cmd_parser.addOption({"zmq", "the ip address on which to receive zmq messages", "zmq"}); cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"}); cmd_parser.addOption({"no-vipc", "do not output video"}); cmd_parser.addOption({"dbc", "dbc file to open", "dbc"}); cmd_parser.process(app); + QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : ""; + std::unique_ptr op_prefix; std::unique_ptr stream; if (cmd_parser.isSet("stream")) { - stream.reset(new LiveStream(&app, cmd_parser.value("zmq"))); + stream.reset(new DeviceStream(&app, cmd_parser.value("zmq"))); + } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) { + PandaStreamConfig config = {}; + if (cmd_parser.isSet("panda-serial")) { + config.serial = cmd_parser.value("panda-serial"); + } + stream.reset(new PandaStream(&app, config)); } else { - // TODO: Remove when OpenpilotPrefix supports ZMQ -#ifndef __APPLE__ - op_prefix.reset(new OpenpilotPrefix()); -#endif uint32_t replay_flags = REPLAY_FLAG_NONE; if (cmd_parser.isSet("ecam")) { replay_flags |= REPLAY_FLAG_ECAM; @@ -56,22 +64,35 @@ int main(int argc, char *argv[]) { route = DEMO_ROUTE; } - auto replay_stream = new ReplayStream(replay_flags, &app); - stream.reset(replay_stream); if (route.isEmpty()) { - if (OpenRouteDialog dlg(nullptr); !dlg.exec()) { + AbstractStream *out_stream = nullptr; + StreamSelector dlg; + dlg.addStreamWidget(ReplayStream::widget(&out_stream)); + dlg.addStreamWidget(PandaStream::widget(&out_stream)); + dlg.addStreamWidget(DeviceStream::widget(&out_stream)); + if (!dlg.exec()) { + return 0; + } + dbc_file = dlg.dbcFile(); + stream.reset(out_stream); + } else { + // TODO: Remove when OpenpilotPrefix supports ZMQ +#ifndef __APPLE__ + op_prefix.reset(new OpenpilotPrefix()); +#endif + auto replay_stream = new ReplayStream(&app); + stream.reset(replay_stream); + if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) { return 0; } - } else if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"))) { - return 0; } } MainWindow w; // Load DBC - if (cmd_parser.isSet("dbc")) { - w.loadFile(cmd_parser.value("dbc")); + if (!dbc_file.isEmpty()) { + w.loadFile(dbc_file); } w.show(); diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc new file mode 100644 index 0000000000..1d61d543dd --- /dev/null +++ b/tools/cabana/chart/chart.cc @@ -0,0 +1,811 @@ +#include "tools/cabana/chart/chart.h" + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/chart/chartswidget.h" + +// ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html) +const int AXIS_X_TOP_MARGIN = 4; +static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } + +ChartView::ChartView(const std::pair &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) { + series_type = (SeriesType)settings.chart_series_type; + QChart *chart = new QChart(); + chart->setBackgroundVisible(false); + axis_x = new QValueAxis(this); + axis_y = new QValueAxis(this); + chart->addAxis(axis_x, Qt::AlignBottom); + chart->addAxis(axis_y, Qt::AlignLeft); + chart->legend()->layout()->setContentsMargins(0, 0, 0, 0); + chart->legend()->setShowToolTips(true); + chart->setMargins({0, 0, 0, 0}); + + axis_x->setRange(x_range.first, x_range.second); + setChart(chart); + + createToolButtons(); + // TODO: enable zoomIn/seekTo in live streaming mode. + setRubberBand(QChartView::HorizontalRubberBand); + setMouseTracking(true); + setTheme(settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); + signal_value_font.setPointSize(9); + + QObject::connect(axis_y, &QValueAxis::rangeChanged, [this]() { resetChartCache(); }); + QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, [this]() { resetChartCache(); }); + QObject::connect(window()->windowHandle(), &QWindow::screenChanged, [this]() { resetChartCache(); }); + + QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved); + QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); + QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved); + QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated); +} + +void ChartView::createToolButtons() { + move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart()); + move_icon->setToolTip(tr("Drag and drop to move chart")); + + QToolButton *remove_btn = new ToolButton("x", tr("Remove Chart")); + close_btn_proxy = new QGraphicsProxyWidget(chart()); + close_btn_proxy->setWidget(remove_btn); + close_btn_proxy->setZValue(chart()->zValue() + 11); + + // series types + QMenu *menu = new QMenu(this); + auto change_series_group = new QActionGroup(menu); + change_series_group->setExclusive(true); + QStringList types{tr("Line"), tr("Step Line"), tr("Scatter")}; + for (int i = 0; i < types.size(); ++i) { + QAction *act = new QAction(types[i], change_series_group); + act->setData(i); + act->setCheckable(true); + act->setChecked(i == (int)series_type); + menu->addAction(act); + } + menu->addSeparator(); + menu->addAction(tr("Manage Signals"), this, &ChartView::manageSignals); + split_chart_act = menu->addAction(tr("Split Chart"), [this]() { charts_widget->splitChart(this); }); + + QToolButton *manage_btn = new ToolButton("list", ""); + manage_btn->setMenu(menu); + manage_btn->setPopupMode(QToolButton::InstantPopup); + manage_btn->setStyleSheet("QToolButton::menu-indicator { image: none; }"); + manage_btn_proxy = new QGraphicsProxyWidget(chart()); + manage_btn_proxy->setWidget(manage_btn); + manage_btn_proxy->setZValue(chart()->zValue() + 11); + + QObject::connect(remove_btn, &QToolButton::clicked, [this]() { charts_widget->removeChart(this); }); + QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) { + setSeriesType((SeriesType)action->data().toInt()); + }); +} + +QSize ChartView::sizeHint() const { + return {CHART_MIN_WIDTH, settings.chart_height}; +} + +void ChartView::setTheme(QChart::ChartTheme theme) { + chart()->setTheme(theme); + if (theme == QChart::ChartThemeDark) { + axis_x->setTitleBrush(palette().text()); + axis_x->setLabelsBrush(palette().text()); + axis_y->setTitleBrush(palette().text()); + axis_y->setLabelsBrush(palette().text()); + chart()->legend()->setLabelColor(palette().color(QPalette::Text)); + } + for (auto &s : sigs) { + s.series->setColor(getColor(s.sig)); + } +} + +void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) { + if (hasSignal(msg_id, sig)) return; + + QXYSeries *series = createSeries(series_type, getColor(sig)); + sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series}); + updateSeries(sig); + updateSeriesPoints(); + updateTitle(); + emit charts_widget->seriesChanged(); +} + +bool ChartView::hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const { + return std::any_of(sigs.cbegin(), sigs.cend(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); +} + +void ChartView::removeIf(std::function predicate) { + int prev_size = sigs.size(); + for (auto it = sigs.begin(); it != sigs.end(); /**/) { + if (predicate(*it)) { + chart()->removeSeries(it->series); + it->series->deleteLater(); + it = sigs.erase(it); + } else { + ++it; + } + } + if (sigs.empty()) { + charts_widget->removeChart(this); + } else if (sigs.size() != prev_size) { + emit charts_widget->seriesChanged(); + updateAxisY(); + resetChartCache(); + } +} + +void ChartView::signalUpdated(const cabana::Signal *sig) { + if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) { + updateTitle(); + updateSeries(sig); + } +} + +void ChartView::msgUpdated(MessageId id) { + if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id == id; })) + updateTitle(); +} + +void ChartView::manageSignals() { + SignalSelector dlg(tr("Mange Chart"), this); + for (auto &s : sigs) { + dlg.addSelected(s.msg_id, s.sig); + } + if (dlg.exec() == QDialog::Accepted) { + auto items = dlg.seletedItems(); + for (auto s : items) { + addSignal(s->msg_id, s->sig); + } + removeIf([&](auto &s) { + return std::none_of(items.cbegin(), items.cend(), [&](auto &it) { return s.msg_id == it->msg_id && s.sig == it->sig; }); + }); + } +} + +void ChartView::resizeEvent(QResizeEvent *event) { + qreal left, top, right, bottom; + chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); + move_icon->setPos(left, top); + close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top); + int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing); + manage_btn_proxy->setPos(x, top); + if (align_to > 0) { + updatePlotArea(align_to, true); + } + QChartView::resizeEvent(event); +} + +void ChartView::updatePlotArea(int left_pos, bool force) { + if (align_to != left_pos || force) { + align_to = left_pos; + + qreal left, top, right, bottom; + chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); + QSizeF legend_size = chart()->legend()->layout()->minimumSize(); + legend_size.setWidth(manage_btn_proxy->sceneBoundingRect().left() - move_icon->sceneBoundingRect().right()); + chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), legend_size}); + + // add top space for signal value + int adjust_top = chart()->legend()->geometry().height() + QFontMetrics(signal_value_font).height() + 3; + adjust_top = std::max(adjust_top, manage_btn_proxy->sceneBoundingRect().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin)); + // add right space for x-axis label + QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2)); + x_label_size += QSizeF{5, 5}; + chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom)); + chart()->layout()->invalidate(); + resetChartCache(); + } +} + +void ChartView::updateTitle() { + for (QLegendMarker *marker : chart()->legend()->markers()) { + QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection); + } + for (auto &s : sigs) { + auto decoration = s.series->isVisible() ? "none" : "line-through"; + s.series->setName(QString("%2 %3 %4").arg(decoration, s.sig->name, msgName(s.msg_id), s.msg_id.toString())); + } + split_chart_act->setEnabled(sigs.size() > 1); + resetChartCache(); +} + +void ChartView::updatePlot(double cur, double min, double max) { + cur_sec = cur; + if (min != axis_x->min() || max != axis_x->max()) { + axis_x->setRange(min, max); + updateAxisY(); + updateSeriesPoints(); + // update tooltip + if (tooltip_x >= 0) { + showTip(chart()->mapToValue({tooltip_x, 0}).x()); + } + resetChartCache(); + } + viewport()->update(); +} + +void ChartView::updateSeriesPoints() { + // Show points when zoomed in enough + for (auto &s : sigs) { + auto begin = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); + auto end = std::lower_bound(begin, s.vals.cend(), axis_x->max(), xLessThan); + if (begin != end) { + int num_points = std::max((end - begin), 1); + QPointF right_pt = end == s.vals.cend() ? s.vals.back() : *end; + double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points; + + if (series_type == SeriesType::Scatter) { + qreal size = std::clamp(pixels_per_point / 2.0, 2.0, 8.0); + if (s.series->useOpenGL()) { + size *= devicePixelRatioF(); + } + ((QScatterSeries *)s.series)->setMarkerSize(size); + } else { + s.series->setPointsVisible(pixels_per_point > 20); + } + } + } +} + +void ChartView::updateSeries(const cabana::Signal *sig) { + for (auto &s : sigs) { + if (!sig || s.sig == sig) { + if (!can->liveStreaming()) { + s.vals.clear(); + s.step_vals.clear(); + s.last_value_mono_time = 0; + } + s.series->setColor(getColor(s.sig)); + + const auto &msgs = can->events(s.msg_id); + s.vals.reserve(msgs.capacity()); + s.step_vals.reserve(msgs.capacity() * 2); + + auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, [](uint64_t ts, auto e) { + return ts < e->mono_time; + }); + const double route_start_time = can->routeStartTime(); + for (auto end = msgs.cend(); first != end; ++first) { + const CanEvent *e = *first; + double value = get_raw_value(e->dat, e->size, *s.sig); + double ts = e->mono_time / 1e9 - route_start_time; // seconds + s.vals.append({ts, value}); + if (!s.step_vals.empty()) { + s.step_vals.append({ts, s.step_vals.back().y()}); + } + s.step_vals.append({ts, value}); + s.last_value_mono_time = e->mono_time; + } + if (!can->liveStreaming()) { + s.segment_tree.build(s.vals); + } + s.series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); + } + } + updateAxisY(); + // invoke resetChartCache in ui thread + QMetaObject::invokeMethod(this, &ChartView::resetChartCache, Qt::QueuedConnection); +} + +// auto zoom on yaxis +void ChartView::updateAxisY() { + if (sigs.isEmpty()) return; + + double min = std::numeric_limits::max(); + double max = std::numeric_limits::lowest(); + QString unit = sigs[0].sig->unit; + + for (auto &s : sigs) { + if (!s.series->isVisible()) continue; + + // Only show unit when all signals have the same unit + if (unit != s.sig->unit) { + unit.clear(); + } + + auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); + auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan); + s.min = std::numeric_limits::max(); + s.max = std::numeric_limits::lowest(); + if (can->liveStreaming()) { + for (auto it = first; it != last; ++it) { + if (it->y() < s.min) s.min = it->y(); + if (it->y() > s.max) s.max = it->y(); + } + } else { + auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last)); + s.min = min_y; + s.max = max_y; + } + min = std::min(min, s.min); + max = std::max(max, s.max); + } + if (min == std::numeric_limits::max()) min = 0; + if (max == std::numeric_limits::lowest()) max = 0; + + if (axis_y->titleText() != unit) { + axis_y->setTitleText(unit); + y_label_width = 0; // recalc width + } + + double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05; + auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, 3); + if (min_y != axis_y->min() || max_y != axis_y->max() || y_label_width == 0) { + axis_y->setRange(min_y, max_y); + axis_y->setTickCount(tick_count); + + int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1; + int max_label_width = 0; + QFontMetrics fm(axis_y->labelsFont()); + for (int i = 0; i < tick_count; i++) { + qreal value = min_y + (i * (max_y - min_y) / (tick_count - 1)); + max_label_width = std::max(max_label_width, fm.width(QString::number(value, 'f', n))); + } + + int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height(); + y_label_width = title_spacing + max_label_width + 15; + axis_y->setLabelFormat(QString("%.%1f").arg(n)); + emit axisYLabelWidthChanged(y_label_width); + } +} + +std::tuple ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) { + qreal range = niceNumber((max - min), true); // range with ceiling + qreal step = niceNumber(range / (tick_count - 1), false); + min = qFloor(min / step); + max = qCeil(max / step); + tick_count = int(max - min) + 1; + return {min * step, max * step, tick_count}; +} + +// nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n +qreal ChartView::niceNumber(qreal x, bool ceiling) { + qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x + qreal q = x / z; //q<10 && q>=1; + if (ceiling) { + if (q <= 1.0) q = 1; + else if (q <= 2.0) q = 2; + else if (q <= 5.0) q = 5; + else q = 10; + } else { + if (q < 1.5) q = 1; + else if (q < 3.0) q = 2; + else if (q < 7.0) q = 5; + else q = 10; + } + return q * z; +} + +void ChartView::leaveEvent(QEvent *event) { + if (tip_label.isVisible()) { + charts_widget->showValueTip(-1); + } + QChartView::leaveEvent(event); +} + +QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) { + QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect; + e->setColor(QColor(40, 40, 40, 245)); + e->setOffset(0, 0); + e->setBlurRadius(radius); + + qreal dpr = px.devicePixelRatio(); + QPixmap blank(px.size()); + blank.setDevicePixelRatio(dpr); + blank.fill(Qt::white); + + QGraphicsScene scene; + QGraphicsPixmapItem item(blank); + item.setGraphicsEffect(e); + scene.addItem(&item); + + QPixmap shadow(px.size() + QSize(radius * dpr * 2, radius * dpr * 2)); + shadow.setDevicePixelRatio(dpr); + shadow.fill(Qt::transparent); + QPainter p(&shadow); + scene.render(&p, {QPoint(), shadow.size() / dpr}, item.boundingRect().adjusted(-radius, -radius, radius, radius)); + return shadow; +} + +static QPixmap getDropPixmap(const QPixmap &src) { + static QPixmap shadow_px; + const int radius = 10; + if (shadow_px.size() != src.size() + QSize(radius * 2, radius * 2)) { + shadow_px = getBlankShadowPixmap(src, radius); + } + QPixmap px = shadow_px; + QPainter p(&px); + QRectF target_rect(QPointF(radius, radius), src.size() / src.devicePixelRatio()); + p.drawPixmap(target_rect.topLeft(), src); + p.setCompositionMode(QPainter::CompositionMode_DestinationIn); + p.fillRect(target_rect, QColor(0, 0, 0, 200)); + return px; +} + +void ChartView::mousePressEvent(QMouseEvent *event) { + if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) { + QMimeData *mimeData = new QMimeData; + mimeData->setData(CHART_MIME_TYPE, QByteArray::number((qulonglong)this)); + QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH * viewport()->devicePixelRatio(), Qt::SmoothTransformation); + charts_widget->stopAutoScroll(); + QDrag *drag = new QDrag(this); + drag->setMimeData(mimeData); + drag->setPixmap(getDropPixmap(px)); + drag->setHotSpot(-QPoint(5, 5)); + drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction); + } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + // Save current playback state when scrubbing + resume_after_scrub = !can->isPaused(); + if (resume_after_scrub) { + can->pause(true); + } + is_scrubbing = true; + } else { + QChartView::mousePressEvent(event); + } +} + +void ChartView::mouseReleaseEvent(QMouseEvent *event) { + auto rubber = findChild(); + if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { + rubber->hide(); + QRectF rect = rubber->geometry().normalized(); + double min = chart()->mapToValue(rect.topLeft()).x(); + double max = chart()->mapToValue(rect.bottomRight()).x(); + + // Prevent zooming/seeking past the end of the route + min = std::clamp(min, 0., can->totalSeconds()); + max = std::clamp(max, 0., can->totalSeconds()); + + if (rubber->width() <= 0) { + // no rubber dragged, seek to mouse position + can->seekTo(min); + } else if (rubber->width() > 10) { + charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max})); + } else { + viewport()->update(); + } + event->accept(); + } else if (event->button() == Qt::RightButton) { + charts_widget->zoom_undo_stack->undo(); + event->accept(); + } else { + QGraphicsView::mouseReleaseEvent(event); + } + + // Resume playback if we were scrubbing + is_scrubbing = false; + if (resume_after_scrub) { + can->pause(false); + resume_after_scrub = false; + } +} + +void ChartView::mouseMoveEvent(QMouseEvent *ev) { + const auto plot_area = chart()->plotArea(); + // Scrubbing + if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + if (plot_area.contains(ev->pos())) { + can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds())); + } + } + + auto rubber = findChild(); + bool is_zooming = rubber && rubber->isVisible(); + clearTrackPoints(); + + if (!is_zooming && plot_area.contains(ev->pos())) { + const double sec = chart()->mapToValue(ev->pos()).x(); + charts_widget->showValueTip(sec); + } else if (tip_label.isVisible()) { + charts_widget->showValueTip(-1); + } + + QChartView::mouseMoveEvent(ev); + if (is_zooming) { + QRect rubber_rect = rubber->geometry(); + rubber_rect.setLeft(std::max(rubber_rect.left(), (int)plot_area.left())); + rubber_rect.setRight(std::min(rubber_rect.right(), (int)plot_area.right())); + if (rubber_rect != rubber->geometry()) { + rubber->setGeometry(rubber_rect); + } + viewport()->update(); + } +} + +void ChartView::showTip(double sec) { + QRect tip_area(0, chart()->plotArea().top(), rect().width(), chart()->plotArea().height()); + QRect visible_rect = charts_widget->chartVisibleRect(this).intersected(tip_area); + if (visible_rect.isEmpty()) { + tip_label.hide(); + return; + } + + tooltip_x = chart()->mapToPosition({sec, 0}).x(); + qreal x = -1; + QStringList text_list; + for (auto &s : sigs) { + if (s.series->isVisible()) { + QString value = "--"; + // use reverse iterator to find last item <= sec. + auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double x) { return p.x() > x; }); + if (it != s.vals.crend() && it->x() >= axis_x->min()) { + value = QString::number(it->y()); + s.track_pt = *it; + x = std::max(x, chart()->mapToPosition(*it).x()); + } + QString name = sigs.size() > 1 ? s.sig->name + ": " : ""; + QString min = s.min == std::numeric_limits::max() ? "--" : QString::number(s.min); + QString max = s.max == std::numeric_limits::lowest() ? "--" : QString::number(s.max); + text_list << QString("■ %2%3 (%4, %5)") + .arg(s.series->color().name(), name, value, min, max); + } + } + if (x < 0) { + x = tooltip_x; + } + QPoint pt(x, chart()->plotArea().top()); + text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3)); + QString text = "

" % text_list.join("
") % "

"; + tip_label.showText(pt, text, this, visible_rect); + viewport()->update(); +} + +void ChartView::hideTip() { + clearTrackPoints(); + tooltip_x = -1; + tip_label.hide(); + viewport()->update(); +} + +void ChartView::dragEnterEvent(QDragEnterEvent *event) { + if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { + drawDropIndicator(event->source() != this); + event->acceptProposedAction(); + } +} + +void ChartView::dragMoveEvent(QDragMoveEvent *event) { + if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { + event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction); + event->accept(); + } + charts_widget->startAutoScroll(); +} + +void ChartView::dropEvent(QDropEvent *event) { + if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { + if (event->source() != this) { + ChartView *source_chart = (ChartView *)event->source(); + for (auto &s : source_chart->sigs) { + source_chart->chart()->removeSeries(s.series); + addSeries(s.series); + } + sigs.append(source_chart->sigs); + updateAxisY(); + updateTitle(); + startAnimation(); + + source_chart->sigs.clear(); + charts_widget->removeChart(source_chart); + event->acceptProposedAction(); + } + can_drop = false; + } +} + +void ChartView::resetChartCache() { + chart_pixmap = QPixmap(); + viewport()->update(); +} + +void ChartView::startAnimation() { + QGraphicsOpacityEffect *eff = new QGraphicsOpacityEffect(this); + viewport()->setGraphicsEffect(eff); + QPropertyAnimation *a = new QPropertyAnimation(eff, "opacity"); + a->setDuration(250); + a->setStartValue(0.3); + a->setEndValue(1); + a->setEasingCurve(QEasingCurve::InBack); + a->start(QPropertyAnimation::DeleteWhenStopped); +} + +void ChartView::paintEvent(QPaintEvent *event) { + if (!can->liveStreaming()) { + if (chart_pixmap.isNull()) { + const qreal dpr = viewport()->devicePixelRatioF(); + chart_pixmap = QPixmap(viewport()->size() * dpr); + chart_pixmap.setDevicePixelRatio(dpr); + QPainter p(&chart_pixmap); + p.setRenderHints(QPainter::Antialiasing); + drawBackground(&p, viewport()->rect()); + scene()->setSceneRect(viewport()->rect()); + scene()->render(&p, viewport()->rect()); + } + + QPainter painter(viewport()); + painter.setRenderHints(QPainter::Antialiasing); + painter.drawPixmap(QPoint(), chart_pixmap); + if (can_drop) { + painter.setPen(QPen(palette().color(QPalette::Highlight), 4)); + painter.drawRect(viewport()->rect()); + } + QRectF exposed_rect = mapToScene(event->region().boundingRect()).boundingRect(); + drawForeground(&painter, exposed_rect); + } else { + QChartView::paintEvent(event); + } +} + +void ChartView::drawBackground(QPainter *painter, const QRectF &rect) { + painter->fillRect(rect, palette().color(QPalette::Base)); +} + +void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { + drawTimeline(painter); + // draw track points + painter->setPen(Qt::NoPen); + qreal track_line_x = -1; + for (auto &s : sigs) { + if (!s.track_pt.isNull() && s.series->isVisible()) { + painter->setBrush(s.series->color().darker(125)); + QPointF pos = chart()->mapToPosition(s.track_pt); + painter->drawEllipse(pos, 5.5, 5.5); + track_line_x = std::max(track_line_x, pos.x()); + } + } + if (track_line_x > 0) { + auto plot_area = chart()->plotArea(); + painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); + painter->drawLine(QPointF{track_line_x, plot_area.top()}, QPointF{track_line_x, plot_area.bottom()}); + } + + // paint points. OpenGL mode lacks certain features (such as showing points) + painter->setPen(Qt::NoPen); + for (auto &s : sigs) { + if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) { + auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan); + auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan); + painter->setBrush(s.series->color()); + for (auto it = first; it != last; ++it) { + painter->drawEllipse(chart()->mapToPosition(*it), 4, 4); + } + } + } + + // paint zoom range + auto rubber = findChild(); + if (rubber && rubber->isVisible() && rubber->width() > 1) { + painter->setPen(Qt::white); + auto rubber_rect = rubber->geometry().normalized(); + for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) { + QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 2); + auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN); + pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2}); + painter->fillRect(r, Qt::gray); + painter->drawText(r, Qt::AlignCenter, sec); + } + } +} + +void ChartView::drawTimeline(QPainter *painter) { + const auto plot_area = chart()->plotArea(); + // draw line + qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right()); + painter->setPen(QPen(chart()->titleBrush().color(), 2)); + painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1}); + + // draw current time + QString time_str = QString::number(cur_sec, 'f', 2); + QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2); + QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size); + QPainterPath path; + path.addRoundedRect(time_str_rect, 3, 3); + painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray); + painter->setPen(palette().color(QPalette::BrightText)); + painter->setFont(axis_x->labelsFont()); + painter->drawText(time_str_rect, Qt::AlignCenter, time_str); + + // draw signal value + auto item_group = qgraphicsitem_cast(chart()->legend()->childItems()[0]); + assert(item_group != nullptr); + auto legend_markers = item_group->childItems(); + assert(legend_markers.size() == sigs.size()); + + painter->setFont(signal_value_font); + painter->setPen(chart()->legend()->labelColor()); + int i = 0; + for (auto &s : sigs) { + QString value = "--"; + if (s.series->isVisible()) { + auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; }); + if (it != s.vals.crend() && it->x() >= axis_x->min()) { + value = s.sig->formatValue(it->y()); + } + } + QRectF marker_rect = legend_markers[i++]->sceneBoundingRect(); + QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size()); + QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width()); + painter->drawText(value_rect, Qt::AlignHCenter | Qt::AlignTop, elided_val); + } +} + +QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { + QXYSeries *series = nullptr; + if (type == SeriesType::Line) { + series = new QLineSeries(this); + chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle); + } else if (type == SeriesType::StepLine) { + series = new QLineSeries(this); + chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries); + } else { + series = new QScatterSeries(this); + chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle); + } + series->setColor(color); + // TODO: Due to a bug in CameraWidget the camera frames + // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed +#ifndef __APPLE__ + series->setUseOpenGL(true); + // Qt doesn't properly apply device pixel ratio in OpenGL mode + QPen pen = series->pen(); + pen.setWidthF(2.0 * devicePixelRatioF()); + series->setPen(pen); +#endif + addSeries(series); + return series; +} + +void ChartView::addSeries(QXYSeries *series) { + chart()->addSeries(series); + series->attachAxis(axis_x); + series->attachAxis(axis_y); + + // disables the delivery of mouse events to the opengl widget. + // this enables the user to select the zoom area when the mouse press on the data point. + auto glwidget = findChild(); + if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) { + glwidget->setAttribute(Qt::WA_TransparentForMouseEvents); + } +} + +void ChartView::setSeriesType(SeriesType type) { + if (type != series_type) { + series_type = type; + for (auto &s : sigs) { + chart()->removeSeries(s.series); + s.series->deleteLater(); + } + for (auto &s : sigs) { + auto series = createSeries(series_type, getColor(s.sig)); + series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); + s.series = series; + } + updateSeriesPoints(); + updateTitle(); + } +} + +void ChartView::handleMarkerClicked() { + auto marker = qobject_cast(sender()); + Q_ASSERT(marker); + if (sigs.size() > 1) { + auto series = marker->series(); + series->setVisible(!series->isVisible()); + marker->setVisible(true); + updateAxisY(); + updateTitle(); + } +} diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h new file mode 100644 index 0000000000..4170da4c95 --- /dev/null +++ b/tools/cabana/chart/chart.h @@ -0,0 +1,111 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +using namespace QtCharts; + +#include "tools/cabana/chart/tiplabel.h" +#include "tools/cabana/dbc/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" + +enum class SeriesType { + Line = 0, + StepLine, + Scatter +}; + +class ChartsWidget; +class ChartView : public QChartView { + Q_OBJECT + +public: + ChartView(const std::pair &x_range, ChartsWidget *parent = nullptr); + void addSignal(const MessageId &msg_id, const cabana::Signal *sig); + bool hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const; + void updateSeries(const cabana::Signal *sig = nullptr); + void updatePlot(double cur, double min, double max); + void setSeriesType(SeriesType type); + void updatePlotArea(int left, bool force = false); + void showTip(double sec); + void hideTip(); + void startAnimation(); + + struct SigItem { + MessageId msg_id; + const cabana::Signal *sig = nullptr; + QXYSeries *series = nullptr; + QVector vals; + QVector step_vals; + uint64_t last_value_mono_time = 0; + QPointF track_pt{}; + SegmentTree segment_tree; + double min = 0; + double max = 0; + }; + +signals: + void axisYLabelWidthChanged(int w); + +private slots: + void signalUpdated(const cabana::Signal *sig); + void manageSignals(); + void handleMarkerClicked(); + void msgUpdated(MessageId id); + void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); } + void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } + +private: + void createToolButtons(); + void addSeries(QXYSeries *series); + void mousePressEvent(QMouseEvent *event) override; + void mouseReleaseEvent(QMouseEvent *event) override; + void mouseMoveEvent(QMouseEvent *ev) override; + void dragEnterEvent(QDragEnterEvent *event) override; + void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); } + void dragMoveEvent(QDragMoveEvent *event) override; + void dropEvent(QDropEvent *event) override; + void leaveEvent(QEvent *event) override; + void resizeEvent(QResizeEvent *event) override; + QSize sizeHint() const override; + void updateAxisY(); + void updateTitle(); + void resetChartCache(); + void setTheme(QChart::ChartTheme theme); + void paintEvent(QPaintEvent *event) override; + void drawForeground(QPainter *painter, const QRectF &rect) override; + void drawBackground(QPainter *painter, const QRectF &rect) override; + void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); } + void drawTimeline(QPainter *painter); + std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); + qreal niceNumber(qreal x, bool ceiling); + QXYSeries *createSeries(SeriesType type, QColor color); + void updateSeriesPoints(); + void removeIf(std::function predicate); + inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; } + + int y_label_width = 0; + int align_to = 0; + QValueAxis *axis_x; + QValueAxis *axis_y; + QAction *split_chart_act; + QGraphicsPixmapItem *move_icon; + QGraphicsProxyWidget *close_btn_proxy; + QGraphicsProxyWidget *manage_btn_proxy; + TipLabel tip_label; + QList sigs; + double cur_sec = 0; + SeriesType series_type = SeriesType::Line; + bool is_scrubbing = false; + bool resume_after_scrub = false; + QPixmap chart_pixmap; + bool can_drop = false; + double tooltip_x = -1; + QFont signal_value_font; + ChartsWidget *charts_widget; + friend class ChartsWidget; +}; diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc new file mode 100644 index 0000000000..3a735e2978 --- /dev/null +++ b/tools/cabana/chart/chartswidget.cc @@ -0,0 +1,528 @@ +#include "tools/cabana/chart/chartswidget.h" + +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/chart/chart.h" + +const int MAX_COLUMN_COUNT = 4; +const int CHART_SPACING = 10; + +ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) { + setFrameStyle(QFrame::StyledPanel | QFrame::Plain); + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); + main_layout->setSpacing(0); + + // toolbar + QToolBar *toolbar = new QToolBar(tr("Charts"), this); + int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize); + toolbar->setIconSize({icon_size, icon_size}); + + auto new_plot_btn = new ToolButton("file-plus", tr("New Chart")); + auto new_tab_btn = new ToolButton("window-stack", tr("New Tab")); + toolbar->addWidget(new_plot_btn); + toolbar->addWidget(new_tab_btn); + toolbar->addWidget(title_label = new QLabel()); + title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0); + + QMenu *menu = new QMenu(this); + for (int i = 0; i < MAX_COLUMN_COUNT; ++i) { + menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); }); + } + columns_action = toolbar->addAction(""); + columns_action->setMenu(menu); + qobject_cast(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup); + + QLabel *stretch_label = new QLabel(this); + stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); + toolbar->addWidget(stretch_label); + + range_lb_action = toolbar->addWidget(range_lb = new QLabel(this)); + range_slider = new LogSlider(1000, Qt::Horizontal, this); + range_slider->setMaximumWidth(200); + range_slider->setToolTip(tr("Set the chart range")); + range_slider->setRange(1, settings.max_cached_minutes * 60); + range_slider->setSingleStep(1); + range_slider->setPageStep(60); // 1 min + range_slider_action = toolbar->addWidget(range_slider); + + // zoom controls + zoom_undo_stack = new QUndoStack(this); + toolbar->addAction(undo_zoom_action = zoom_undo_stack->createUndoAction(this)); + undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise")); + toolbar->addAction(redo_zoom_action = zoom_undo_stack->createRedoAction(this)); + redo_zoom_action->setIcon(utils::icon("arrow-clockwise")); + reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom"))); + reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); + + toolbar->addWidget(remove_all_btn = new ToolButton("x-square", tr("Remove all charts"))); + toolbar->addWidget(dock_btn = new ToolButton("")); + main_layout->addWidget(toolbar); + + // tabbar + tabbar = new TabBar(this); + tabbar->setAutoHide(true); + tabbar->setExpanding(false); + tabbar->setDrawBase(true); + tabbar->setAcceptDrops(true); + tabbar->setChangeCurrentOnDrag(true); + tabbar->setUsesScrollButtons(true); + main_layout->addWidget(tabbar); + + // charts + charts_container = new ChartsContainer(this); + + charts_scroll = new QScrollArea(this); + charts_scroll->setFrameStyle(QFrame::NoFrame); + charts_scroll->setWidgetResizable(true); + charts_scroll->setWidget(charts_container); + charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + main_layout->addWidget(charts_scroll); + + // init settings + current_theme = settings.theme; + column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT); + max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60); + display_range = {0, max_chart_range}; + range_slider->setValue(max_chart_range); + updateToolBar(); + + align_timer.setSingleShot(true); + QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts); + QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); + QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged); + QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState); + QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange); + QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart); + QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll); + QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset); + QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged); + QObject::connect(new_tab_btn, &QToolButton::clicked, this, &ChartsWidget::newTab); + QObject::connect(this, &ChartsWidget::seriesChanged, this, &ChartsWidget::updateTabBar); + QObject::connect(tabbar, &QTabBar::tabCloseRequested, this, &ChartsWidget::removeTab); + QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { + if (index != -1) updateLayout(true); + }); + QObject::connect(dock_btn, &QToolButton::clicked, [this]() { + emit dock(!docking); + docking = !docking; + updateToolBar(); + }); + + newTab(); + setWhatsThis(tr(R"( + Chart view
+ + )")); +} + +void ChartsWidget::newTab() { + static int tab_unique_id = 0; + int idx = tabbar->addTab(""); + tabbar->setTabData(idx, tab_unique_id++); + tabbar->setCurrentIndex(idx); + updateTabBar(); +} + +void ChartsWidget::removeTab(int index) { + int id = tabbar->tabData(index).toInt(); + for (auto &c : tab_charts[id]) { + removeChart(c); + } + tab_charts.erase(id); + tabbar->removeTab(index); + updateTabBar(); +} + +void ChartsWidget::updateTabBar() { + for (int i = 0; i < tabbar->count(); ++i) { + const auto &charts_in_tab = tab_charts[tabbar->tabData(i).toInt()]; + tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg(charts_in_tab.count())); + } +} + +void ChartsWidget::eventsMerged() { + QFutureSynchronizer future_synchronizer; + for (auto c : charts) { + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr)); + } +} + +void ChartsWidget::setZoom(double min, double max) { + zoomed_range = {min, max}; + is_zoomed = zoomed_range != display_range; + updateToolBar(); + updateState(); + emit rangeChanged(min, max, is_zoomed); +} + +void ChartsWidget::zoomReset() { + setZoom(display_range.first, display_range.second); + zoom_undo_stack->clear(); +} + +QRect ChartsWidget::chartVisibleRect(ChartView *chart) { + const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size()); + return chart->rect().intersected(QRect(chart->mapFrom(charts_container, visible_rect.topLeft()), visible_rect.size())); +} + +void ChartsWidget::showValueTip(double sec) { + for (auto c : currentCharts()) { + sec >= 0 ? c->showTip(sec) : c->hideTip(); + } +} + +void ChartsWidget::updateState() { + if (charts.isEmpty()) return; + + const double cur_sec = can->currentSec(); + if (!is_zoomed) { + double pos = (cur_sec - display_range.first) / std::max(1.0, max_chart_range); + if (pos < 0 || pos > 0.8) { + display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1); + } + double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->totalSeconds()); + display_range.first = std::max(0.0, max_sec - max_chart_range); + display_range.second = display_range.first + max_chart_range; + } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) { + // loop in zoomed range + can->seekTo(zoomed_range.first); + } + + const auto &range = is_zoomed ? zoomed_range : display_range; + for (auto c : charts) { + c->updatePlot(cur_sec, range.first, range.second); + } +} + +void ChartsWidget::setMaxChartRange(int value) { + max_chart_range = settings.chart_range = range_slider->value(); + updateToolBar(); + updateState(); +} + +void ChartsWidget::updateToolBar() { + title_label->setText(tr("Charts: %1").arg(charts.size())); + columns_action->setText(tr("Column: %1").arg(column_count)); + range_lb->setText(utils::formatSeconds(max_chart_range)); + range_lb_action->setVisible(!is_zoomed); + range_slider_action->setVisible(!is_zoomed); + undo_zoom_action->setVisible(is_zoomed); + redo_zoom_action->setVisible(is_zoomed); + reset_zoom_action->setVisible(is_zoomed); + reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : ""); + remove_all_btn->setEnabled(!charts.isEmpty()); + dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square"); + dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); +} + +void ChartsWidget::settingChanged() { + if (std::exchange(current_theme, settings.theme) != current_theme) { + undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise")); + redo_zoom_action->setIcon(utils::icon("arrow-clockwise")); + auto theme = settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight; + for (auto c : charts) { + c->setTheme(theme); + } + } + range_slider->setRange(1, settings.max_cached_minutes * 60); + for (auto c : charts) { + c->setFixedHeight(settings.chart_height); + c->setSeriesType((SeriesType)settings.chart_series_type); + c->resetChartCache(); + } +} + +ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) { + for (auto c : charts) + if (c->hasSignal(id, sig)) return c; + return nullptr; +} + +ChartView *ChartsWidget::createChart() { + auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this); + chart->setFixedHeight(settings.chart_height); + chart->setMinimumWidth(CHART_MIN_WIDTH); + chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed); + QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start)); + charts.push_front(chart); + currentCharts().push_front(chart); + updateLayout(true); + updateToolBar(); + return chart; +} + +void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) { + ChartView *chart = findChart(id, sig); + if (show && !chart) { + chart = merge && currentCharts().size() > 0 ? currentCharts().front() : createChart(); + chart->addSignal(id, sig); + updateState(); + } else if (!show && chart) { + chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; }); + } +} + +void ChartsWidget::splitChart(ChartView *src_chart) { + if (src_chart->sigs.size() > 1) { + for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) { + auto c = createChart(); + src_chart->chart()->removeSeries(it->series); + c->addSeries(it->series); + c->sigs.push_back(*it); + c->updateAxisY(); + c->updateTitle(); + it = src_chart->sigs.erase(it); + } + src_chart->updateAxisY(); + src_chart->updateTitle(); + } +} + +void ChartsWidget::setColumnCount(int n) { + n = std::clamp(n, 1, MAX_COLUMN_COUNT); + if (column_count != n) { + column_count = settings.chart_column_count = n; + updateToolBar(); + updateLayout(); + } +} + +void ChartsWidget::updateLayout(bool force) { + auto charts_layout = charts_container->charts_layout; + int n = MAX_COLUMN_COUNT; + for (; n > 1; --n) { + if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->horizontalSpacing()) < charts_layout->geometry().width()) break; + } + + bool show_column_cb = n > 1; + columns_action->setVisible(show_column_cb); + + n = std::min(column_count, n); + auto ¤t_charts = currentCharts(); + if ((current_charts.size() != charts_layout->count() || n != current_column_count) || force) { + current_column_count = n; + charts_container->setUpdatesEnabled(false); + for (auto c : charts) { + c->setVisible(false); + } + for (int i = 0; i < current_charts.size(); ++i) { + charts_layout->addWidget(current_charts[i], i / n, i % n); + if (current_charts[i]->sigs.isEmpty()) { + // the chart will be resized after add signal. delay setVisible to reduce flicker. + QTimer::singleShot(0, [c = current_charts[i]]() { c->setVisible(true); }); + } else { + current_charts[i]->setVisible(true); + } + } + charts_container->setUpdatesEnabled(true); + } +} + +void ChartsWidget::startAutoScroll() { + auto_scroll_timer.start(50); +} + +void ChartsWidget::stopAutoScroll() { + auto_scroll_timer.stop(); + auto_scroll_count = 0; +} + +void ChartsWidget::doAutoScroll() { + QScrollBar *scroll = charts_scroll->verticalScrollBar(); + if (auto_scroll_count < scroll->pageStep()) { + ++auto_scroll_count; + } + + int value = scroll->value(); + QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos()); + QRect area = charts_scroll->viewport()->rect(); + + if (pos.y() - area.top() < settings.chart_height / 2) { + scroll->setValue(value - auto_scroll_count); + } else if (area.bottom() - pos.y() < settings.chart_height / 2) { + scroll->setValue(value + auto_scroll_count); + } + bool vertical_unchanged = value == scroll->value(); + if (vertical_unchanged) { + stopAutoScroll(); + } else { + // mouseMoveEvent to updates the drag-selection rectangle + const QPoint globalPos = charts_scroll->viewport()->mapToGlobal(pos); + const QPoint windowPos = charts_scroll->window()->mapFromGlobal(globalPos); + QMouseEvent mm(QEvent::MouseMove, pos, windowPos, globalPos, + Qt::NoButton, Qt::LeftButton, Qt::NoModifier, Qt::MouseEventSynthesizedByQt); + QApplication::sendEvent(charts_scroll->viewport(), &mm); + } +} + +void ChartsWidget::resizeEvent(QResizeEvent *event) { + QWidget::resizeEvent(event); + updateLayout(); +} + +void ChartsWidget::newChart() { + SignalSelector dlg(tr("New Chart"), this); + if (dlg.exec() == QDialog::Accepted) { + auto items = dlg.seletedItems(); + if (!items.isEmpty()) { + auto c = createChart(); + for (auto it : items) { + c->addSignal(it->msg_id, it->sig); + } + } + } +} + +void ChartsWidget::removeChart(ChartView *chart) { + charts.removeOne(chart); + chart->deleteLater(); + for (auto &[_, list] : tab_charts) { + list.removeOne(chart); + } + updateToolBar(); + updateLayout(true); + alignCharts(); + emit seriesChanged(); +} + +void ChartsWidget::removeAll() { + while (tabbar->count() > 1) { + tabbar->removeTab(1); + } + tab_charts.clear(); + + if (!charts.isEmpty()) { + for (auto c : charts) { + c->deleteLater(); + } + charts.clear(); + updateToolBar(); + emit seriesChanged(); + } +} + +void ChartsWidget::alignCharts() { + int plot_left = 0; + for (auto c : charts) { + plot_left = std::max(plot_left, c->y_label_width); + } + plot_left = std::max((plot_left / 10) * 10 + 10, 50); + for (auto c : charts) { + c->updatePlotArea(plot_left); + } +} + +bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { + if (obj != this && event->type() == QEvent::Close) { + emit dock_btn->clicked(); + return true; + } + return false; +} + +bool ChartsWidget::event(QEvent *event) { + bool back_button = false; + switch (event->type()) { + case QEvent::MouseButtonPress: { + QMouseEvent *ev = static_cast(event); + back_button = ev->button() == Qt::BackButton; + break; + } + case QEvent::NativeGesture: { + QNativeGestureEvent *ev = static_cast(event); + back_button = (ev->value() == 180); + break; + } + case QEvent::WindowActivate: + case QEvent::WindowDeactivate: + case QEvent::FocusIn: + case QEvent::FocusOut: + case QEvent::Leave: + showValueTip(-1); + break; + default: + break; + } + + if (back_button) { + zoom_undo_stack->undo(); + return true; + } + return QFrame::event(event); +} + +// ChartsContainer + +ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) { + setAcceptDrops(true); + QVBoxLayout *charts_main_layout = new QVBoxLayout(this); + charts_main_layout->setContentsMargins(0, 10, 0, 0); + charts_layout = new QGridLayout(); + charts_layout->setSpacing(CHART_SPACING); + charts_main_layout->addLayout(charts_layout); + charts_main_layout->addStretch(0); +} + +void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) { + if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { + event->acceptProposedAction(); + drawDropIndicator(event->pos()); + } +} + +void ChartsContainer::dropEvent(QDropEvent *event) { + if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) { + auto w = getDropAfter(event->pos()); + auto chart = qobject_cast(event->source()); + if (w != chart) { + for (auto &[_, list] : charts_widget->tab_charts) { + list.removeOne(chart); + } + int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0; + charts_widget->currentCharts().insert(to, chart); + charts_widget->updateLayout(true); + charts_widget->updateTabBar(); + event->acceptProposedAction(); + chart->startAnimation(); + } + drawDropIndicator({}); + } +} + +void ChartsContainer::paintEvent(QPaintEvent *ev) { + if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) { + QRect r; + if (auto insert_after = getDropAfter(drop_indictor_pos)) { + QRect area = insert_after->geometry(); + r = QRect(area.left(), area.bottom() + 1, area.width(), CHART_SPACING); + } else { + r = geometry(); + r.setHeight(CHART_SPACING); + } + + const int margin = (CHART_SPACING - 2) / 2; + QPainterPath path; + path.addPolygon(QPolygonF({r.topLeft(), QPointF(r.left() + CHART_SPACING, r.top() + r.height() / 2), r.bottomLeft()})); + path.addPolygon(QPolygonF({r.topRight(), QPointF(r.right() - CHART_SPACING, r.top() + r.height() / 2), r.bottomRight()})); + + QPainter p(this); + p.setRenderHint(QPainter::Antialiasing); + p.fillPath(path, palette().highlight()); + p.fillRect(r.adjusted(2, margin, -2, -margin), palette().highlight()); + } +} + +ChartView *ChartsContainer::getDropAfter(const QPoint &pos) const { + auto it = std::find_if(charts_widget->currentCharts().crbegin(), charts_widget->currentCharts().crend(), [&pos](auto c) { + auto area = c->geometry(); + return pos.x() >= area.left() && pos.x() <= area.right() && pos.y() >= area.bottom(); + }); + return it == charts_widget->currentCharts().crend() ? nullptr : *it; +} diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h new file mode 100644 index 0000000000..ee0c07292d --- /dev/null +++ b/tools/cabana/chart/chartswidget.h @@ -0,0 +1,127 @@ +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/chart/signalselector.h" +#include "tools/cabana/dbc/dbcmanager.h" +#include "tools/cabana/streams/abstractstream.h" + +const int CHART_MIN_WIDTH = 300; +const QString CHART_MIME_TYPE = "application/x-cabanachartview"; + +class ChartView; +class ChartsWidget; + +class ChartsContainer : public QWidget { +public: + ChartsContainer(ChartsWidget *parent); + void dragEnterEvent(QDragEnterEvent *event) override; + void dropEvent(QDropEvent *event) override; + void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); } + void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); } + void paintEvent(QPaintEvent *ev) override; + ChartView *getDropAfter(const QPoint &pos) const; + + QGridLayout *charts_layout; + ChartsWidget *charts_widget; + QPoint drop_indictor_pos; +}; + +class ChartsWidget : public QFrame { + Q_OBJECT + +public: + ChartsWidget(QWidget *parent = nullptr); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); + inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; } + +public slots: + void setColumnCount(int n); + void removeAll(); + void setZoom(double min, double max); + +signals: + void dock(bool floating); + void rangeChanged(double min, double max, bool is_zommed); + void seriesChanged(); + +private: + void resizeEvent(QResizeEvent *event) override; + bool event(QEvent *event) override; + void alignCharts(); + void newChart(); + ChartView *createChart(); + void removeChart(ChartView *chart); + void splitChart(ChartView *chart); + QRect chartVisibleRect(ChartView *chart); + void eventsMerged(); + void updateState(); + void zoomReset(); + void startAutoScroll(); + void stopAutoScroll(); + void doAutoScroll(); + void updateToolBar(); + void updateTabBar(); + void setMaxChartRange(int value); + void updateLayout(bool force = false); + void settingChanged(); + void showValueTip(double sec); + bool eventFilter(QObject *obj, QEvent *event) override; + void newTab(); + void removeTab(int index); + inline QList ¤tCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; } + ChartView *findChart(const MessageId &id, const cabana::Signal *sig); + + QLabel *title_label; + QLabel *range_lb; + LogSlider *range_slider; + QAction *range_lb_action; + QAction *range_slider_action; + bool docking = true; + ToolButton *dock_btn; + + QAction *undo_zoom_action; + QAction *redo_zoom_action; + QAction *reset_zoom_action; + ToolButton *reset_zoom_btn; + QUndoStack *zoom_undo_stack; + + ToolButton *remove_all_btn; + QList charts; + std::unordered_map> tab_charts; + TabBar *tabbar; + ChartsContainer *charts_container; + QScrollArea *charts_scroll; + uint32_t max_chart_range = 0; + bool is_zoomed = false; + std::pair display_range; + std::pair zoomed_range; + QAction *columns_action; + int column_count = 1; + int current_column_count = 0; + int auto_scroll_count = 0; + QTimer auto_scroll_timer; + QTimer align_timer; + int current_theme = 0; + friend class ZoomCommand; + friend class ChartView; + friend class ChartsContainer; +}; + +class ZoomCommand : public QUndoCommand { +public: + ZoomCommand(ChartsWidget *charts, std::pair range) : charts(charts), range(range), QUndoCommand() { + prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range; + setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1)); + } + void undo() override { charts->setZoom(prev_range.first, prev_range.second); } + void redo() override { charts->setZoom(range.first, range.second); } + ChartsWidget *charts; + std::pair prev_range, range; +}; + diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc new file mode 100644 index 0000000000..1aa8fc5016 --- /dev/null +++ b/tools/cabana/chart/signalselector.cc @@ -0,0 +1,108 @@ +#include "tools/cabana/chart/signalselector.h" + +#include +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/streams/abstractstream.h" + +SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent) { + setWindowTitle(title); + QGridLayout *main_layout = new QGridLayout(this); + + // left column + main_layout->addWidget(new QLabel(tr("Available Signals")), 0, 0); + main_layout->addWidget(msgs_combo = new QComboBox(this), 1, 0); + msgs_combo->setEditable(true); + msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg...")); + msgs_combo->setInsertPolicy(QComboBox::NoInsert); + msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); + msgs_combo->completer()->setFilterMode(Qt::MatchContains); + + main_layout->addWidget(available_list = new QListWidget(this), 2, 0); + + // buttons + QVBoxLayout *btn_layout = new QVBoxLayout(); + QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this); + add_btn->setEnabled(false); + QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this); + remove_btn->setEnabled(false); + btn_layout->addStretch(0); + btn_layout->addWidget(add_btn); + btn_layout->addWidget(remove_btn); + btn_layout->addStretch(0); + main_layout->addLayout(btn_layout, 0, 1, 3, 1); + + // right column + main_layout->addWidget(new QLabel(tr("Selected Signals")), 0, 2); + main_layout->addWidget(selected_list = new QListWidget(this), 1, 2, 2, 1); + + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox, 3, 2); + + for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) { + if (auto m = dbc()->msg(it.key())) { + msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key())); + } + } + msgs_combo->model()->sort(0); + msgs_combo->setCurrentIndex(-1); + + QObject::connect(msgs_combo, qOverload(&QComboBox::currentIndexChanged), this, &SignalSelector::updateAvailableList); + QObject::connect(available_list, &QListWidget::currentRowChanged, [=](int row) { add_btn->setEnabled(row != -1); }); + QObject::connect(selected_list, &QListWidget::currentRowChanged, [=](int row) { remove_btn->setEnabled(row != -1); }); + QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SignalSelector::add); + QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SignalSelector::remove); + QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); }); + QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); }); + QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); + QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} + +void SignalSelector::add(QListWidgetItem *item) { + auto it = (ListItem *)item; + addItemToList(selected_list, it->msg_id, it->sig, true); + delete item; +} + +void SignalSelector::remove(QListWidgetItem *item) { + auto it = (ListItem *)item; + if (it->msg_id == msgs_combo->currentData().value()) { + addItemToList(available_list, it->msg_id, it->sig); + } + delete item; +} + +void SignalSelector::updateAvailableList(int index) { + if (index == -1) return; + available_list->clear(); + MessageId msg_id = msgs_combo->itemData(index).value(); + auto selected_items = seletedItems(); + for (auto s : dbc()->msg(msg_id)->getSignals()) { + bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; }); + if (!is_selected) { + addItemToList(available_list, msg_id, s); + } + } +} + +void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) { + QString text = QString("■ %1").arg(getColor(sig).name(), sig->name); + if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id.toString()); + + QLabel *label = new QLabel(text); + label->setContentsMargins(5, 0, 5, 0); + auto new_item = new ListItem(id, sig, parent); + new_item->setSizeHint(label->sizeHint()); + parent->setItemWidget(new_item, label); +} + +QList SignalSelector::seletedItems() { + QList ret; + for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i)); + return ret; +} diff --git a/tools/cabana/chart/signalselector.h b/tools/cabana/chart/signalselector.h new file mode 100644 index 0000000000..f46779f044 --- /dev/null +++ b/tools/cabana/chart/signalselector.h @@ -0,0 +1,30 @@ +#pragma once + +#include +#include +#include + +#include "tools/cabana/dbc/dbcmanager.h" + +class SignalSelector : public QDialog { +public: + struct ListItem : public QListWidgetItem { + ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} + MessageId msg_id; + const cabana::Signal *sig; + }; + + SignalSelector(QString title, QWidget *parent); + QList seletedItems(); + inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); } + +private: + void updateAvailableList(int index); + void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false); + void add(QListWidgetItem *item); + void remove(QListWidgetItem *item); + + QComboBox *msgs_combo; + QListWidget *available_list; + QListWidget *selected_list; +}; diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc new file mode 100644 index 0000000000..6d7b35f3a9 --- /dev/null +++ b/tools/cabana/chart/sparkline.cc @@ -0,0 +1,74 @@ +#include "tools/cabana/chart/sparkline.h" + +#include + +#include "tools/cabana/streams/abstractstream.h" + +void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) { + const auto &msgs = can->events(msg_id); + uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9; + uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0; + auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, [](auto e, uint64_t ts) { + return e->mono_time < ts; + }); + auto last = std::upper_bound(first, msgs.cend(), ts, [](uint64_t ts, auto e) { + return ts < e->mono_time; + }); + + bool update_values = last_ts != last_msg_ts || time_range != range; + last_ts = last_msg_ts; + time_range = range; + + if (first != last) { + if (update_values) { + values.clear(); + values.reserve(std::distance(first, last)); + min_val = std::numeric_limits::max(); + max_val = std::numeric_limits::lowest(); + for (auto it = first; it != last; ++it) { + const CanEvent *e = *it; + double value = get_raw_value(e->dat, e->size, *sig); + values.emplace_back((e->mono_time - (*first)->mono_time) / 1e9, value); + if (min_val > value) min_val = value; + if (max_val < value) max_val = value; + } + if (min_val == max_val) { + min_val -= 1; + max_val += 1; + } + } + render(getColor(sig), size); + } else { + pixmap = QPixmap(); + min_val = -1; + max_val = 1; + } +} + +void Sparkline::render(const QColor &color, QSize size) { + const double xscale = (size.width() - 1) / (double)time_range; + const double yscale = (size.height() - 3) / (max_val - min_val); + points.clear(); + points.reserve(values.size()); + for (auto &v : values) { + points.emplace_back(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale); + } + + qreal dpr = qApp->devicePixelRatio(); + size *= dpr; + if (size != pixmap.size()) { + pixmap = QPixmap(size); + } + pixmap.setDevicePixelRatio(dpr); + pixmap.fill(Qt::transparent); + QPainter painter(&pixmap); + painter.setRenderHint(QPainter::Antialiasing, points.size() < 500); + painter.setPen(color); + painter.drawPolyline(points.data(), points.size()); + painter.setPen(QPen(color, 3)); + if ((points.back().x() - points.front().x()) / points.size() > 8) { + painter.drawPoints(points.data(), points.size()); + } else { + painter.drawPoint(points.back()); + } +} diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h new file mode 100644 index 0000000000..69d4f4bc55 --- /dev/null +++ b/tools/cabana/chart/sparkline.h @@ -0,0 +1,24 @@ +#pragma once + +#include +#include +#include + +#include "tools/cabana/dbc/dbcmanager.h" + +class Sparkline { +public: + void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size); + const QSize size() const { return pixmap.size() / pixmap.devicePixelRatio(); } + + QPixmap pixmap; + double min_val = 0; + double max_val = 0; + double last_ts = 0; + int time_range = 0; + +private: + void render(const QColor &color, QSize size); + std::vector values; + std::vector points; +}; diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc new file mode 100644 index 0000000000..f34d7e8dfe --- /dev/null +++ b/tools/cabana/chart/tiplabel.cc @@ -0,0 +1,53 @@ +#include "tools/cabana/chart/tiplabel.h" + +#include +#include +#include + +#include "tools/cabana/settings.h" + +TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) { + setForegroundRole(QPalette::ToolTipText); + setBackgroundRole(QPalette::ToolTipBase); + QFont font; + font.setPointSizeF(8.34563465); + setFont(font); + auto palette = QToolTip::palette(); + if (settings.theme != DARK_THEME) { + palette.setColor(QPalette::ToolTipBase, QApplication::palette().color(QPalette::Base)); + palette.setColor(QPalette::ToolTipText, QRgb(0x404044)); // same color as chart label brush + } + setPalette(palette); + ensurePolished(); + setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this)); + setAttribute(Qt::WA_ShowWithoutActivating); + setTextFormat(Qt::RichText); + setVisible(false); +} + +void TipLabel::showText(const QPoint &pt, const QString &text, QWidget *w, const QRect &rect) { + setText(text); + if (!text.isEmpty()) { + QSize extra(1, 1); + resize(sizeHint() + extra); + QPoint tip_pos(pt.x() + 8, rect.top() + 2); + if (tip_pos.x() + size().width() >= rect.right()) { + tip_pos.rx() = pt.x() - size().width() - 8; + } + if (rect.contains({tip_pos, size()})) { + move(w->mapToGlobal(tip_pos)); + setVisible(true); + return; + } + } + setVisible(false); +} + +void TipLabel::paintEvent(QPaintEvent *ev) { + QStylePainter p(this); + QStyleOptionFrame opt; + opt.init(this); + p.drawPrimitive(QStyle::PE_PanelTipLabel, opt); + p.end(); + QLabel::paintEvent(ev); +} diff --git a/tools/cabana/chart/tiplabel.h b/tools/cabana/chart/tiplabel.h new file mode 100644 index 0000000000..ac6e09e976 --- /dev/null +++ b/tools/cabana/chart/tiplabel.h @@ -0,0 +1,10 @@ +#pragma once + +#include + +class TipLabel : public QLabel { +public: + TipLabel(QWidget *parent = nullptr); + void showText(const QPoint &pt, const QString &sec, QWidget *w, const QRect &rect); + void paintEvent(QPaintEvent *ev) override; +}; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc deleted file mode 100644 index 845667bad7..0000000000 --- a/tools/cabana/chartswidget.cc +++ /dev/null @@ -1,1097 +0,0 @@ -#include "tools/cabana/chartswidget.h" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -const int MAX_COLUMN_COUNT = 4; -static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } - -// ChartsWidget - -ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent) { - setFrameStyle(QFrame::StyledPanel | QFrame::Plain); - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - - // toolbar - QToolBar *toolbar = new QToolBar(tr("Charts"), this); - int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize); - toolbar->setIconSize({icon_size, icon_size}); - - QAction *new_plot_btn = toolbar->addAction(utils::icon("file-plus"), tr("New Plot")); - toolbar->addWidget(title_label = new QLabel()); - title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0); - - QMenu *menu = new QMenu(this); - for (int i = 0; i < MAX_COLUMN_COUNT; ++i) { - menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); }); - } - columns_action = toolbar->addAction(""); - columns_action->setMenu(menu); - qobject_cast(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup); - - QLabel *stretch_label = new QLabel(this); - stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); - toolbar->addWidget(stretch_label); - - range_lb_action = toolbar->addWidget(range_lb = new QLabel(this)); - range_slider = new LogSlider(1000, Qt::Horizontal, this); - range_slider->setMaximumWidth(200); - range_slider->setToolTip(tr("Set the chart range")); - range_slider->setRange(1, settings.max_cached_minutes * 60); - range_slider->setSingleStep(1); - range_slider->setPageStep(60); // 1 min - range_slider_action = toolbar->addWidget(range_slider); - - undo_zoom_action = toolbar->addAction(utils::icon("arrow-counterclockwise"), tr("Previous zoom")); - qobject_cast(toolbar->widgetForAction(undo_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); - - reset_zoom_action = toolbar->addAction(utils::icon("zoom-out"), tr("Reset Zoom")); - qobject_cast(toolbar->widgetForAction(reset_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); - - remove_all_btn = toolbar->addAction(utils::icon("x"), tr("Remove all charts")); - dock_btn = toolbar->addAction(""); - main_layout->addWidget(toolbar); - - // charts - charts_layout = new QGridLayout(); - charts_layout->setSpacing(10); - - charts_container = new QWidget(this); - QVBoxLayout *charts_main_layout = new QVBoxLayout(charts_container); - charts_main_layout->setContentsMargins(0, 0, 0, 0); - charts_main_layout->addLayout(charts_layout); - charts_main_layout->addStretch(0); - - charts_scroll = new QScrollArea(this); - charts_scroll->setFrameStyle(QFrame::NoFrame); - charts_scroll->setWidgetResizable(true); - charts_scroll->setWidget(charts_container); - charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - main_layout->addWidget(charts_scroll); - - // init settings - use_dark_theme = QApplication::palette().color(QPalette::WindowText).value() > - QApplication::palette().color(QPalette::Background).value(); - column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT); - max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60); - display_range = {0, max_chart_range}; - range_slider->setValue(max_chart_range); - updateToolBar(); - - align_timer.setSingleShot(true); - QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); - QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged); - QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState); - QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange); - QObject::connect(new_plot_btn, &QAction::triggered, this, &ChartsWidget::newChart); - QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll); - QObject::connect(undo_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomUndo); - QObject::connect(reset_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomReset); - QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged); - QObject::connect(dock_btn, &QAction::triggered, [this]() { - emit dock(!docking); - docking = !docking; - updateToolBar(); - }); - - setWhatsThis(tr(R"( - Chart view
- - )")); -} - -void ChartsWidget::eventsMerged() { - { - QFutureSynchronizer future_synchronizer; - for (auto c : charts) { - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr)); - } - } - if (can->isPaused()) { - updateState(); - } -} - -void ChartsWidget::setZoom(double min, double max) { - zoomed_range = {min, max}; - is_zoomed = zoomed_range != display_range; - updateToolBar(); - updateState(); - emit rangeChanged(min, max, is_zoomed); -} - -void ChartsWidget::zoomIn(double min, double max) { - // Save previous zoom on undo stack - if (is_zoomed) { - zoom_stack.push({zoomed_range.first, zoomed_range.second}); - } - setZoom(min, max); -} - -void ChartsWidget::zoomReset() { - setZoom(display_range.first, display_range.second); - zoom_stack.clear(); -} - -void ChartsWidget::zoomUndo() { - if (!zoom_stack.isEmpty()) { - auto r = zoom_stack.pop(); - setZoom(r.first, r.second); - } else { - zoomReset(); - } -} - -void ChartsWidget::showValueTip(double sec) { - const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size()); - for (auto c : charts) { - if (sec >= 0 && visible_rect.contains(QRect(c->mapTo(charts_container, QPoint(0, 0)), c->size()))) { - c->showTip(sec); - } else { - c->hideTip(); - } - } -} - -void ChartsWidget::updateState() { - if (charts.isEmpty()) return; - - const double cur_sec = can->currentSec(); - if (!is_zoomed) { - double pos = (cur_sec - display_range.first) / std::max(1.0, max_chart_range); - if (pos < 0 || pos > 0.8) { - display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1); - } - double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond()); - display_range.first = std::max(0.0, max_sec - max_chart_range); - display_range.second = display_range.first + max_chart_range; - } else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) { - // loop in zoomed range - can->seekTo(zoomed_range.first); - } - - const auto &range = is_zoomed ? zoomed_range : display_range; - for (auto c : charts) { - c->updatePlot(cur_sec, range.first, range.second); - } -} - -void ChartsWidget::setMaxChartRange(int value) { - max_chart_range = settings.chart_range = range_slider->value(); - updateToolBar(); - updateState(); -} - -void ChartsWidget::updateToolBar() { - title_label->setText(tr("Charts: %1").arg(charts.size())); - columns_action->setText(tr("Column: %1").arg(column_count)); - range_lb->setText(QString("Range: %1 ").arg(utils::formatSeconds(max_chart_range))); - range_lb_action->setVisible(!is_zoomed); - range_slider_action->setVisible(!is_zoomed); - undo_zoom_action->setVisible(is_zoomed); - reset_zoom_action->setVisible(is_zoomed); - reset_zoom_action->setText(is_zoomed ? tr("Zoomin: %1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : ""); - remove_all_btn->setEnabled(!charts.isEmpty()); - dock_btn->setIcon(utils::icon(docking ? "arrow-up-right-square" : "arrow-down-left-square")); - dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); -} - -void ChartsWidget::settingChanged() { - range_slider->setRange(1, settings.max_cached_minutes * 60); - for (auto c : charts) { - c->setFixedHeight(settings.chart_height); - c->setSeriesType((SeriesType)settings.chart_series_type); - } -} - -ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) { - for (auto c : charts) - if (c->hasSeries(id, sig)) return c; - return nullptr; -} - -ChartView *ChartsWidget::createChart() { - auto chart = new ChartView(this); - chart->setFixedHeight(settings.chart_height); - chart->setMinimumWidth(CHART_MIN_WIDTH); - chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed); - chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); - QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); - QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); - QObject::connect(chart, &ChartView::zoomUndo, this, &ChartsWidget::zoomUndo); - QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged); - QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged); - QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start)); - QObject::connect(chart, &ChartView::hovered, this, &ChartsWidget::showValueTip); - charts.push_back(chart); - updateLayout(); - return chart; -} - -void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) { - ChartView *chart = findChart(id, sig); - if (show && !chart) { - chart = merge && charts.size() > 0 ? charts.back() : createChart(); - chart->addSeries(id, sig); - updateState(); - } else if (!show && chart) { - chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; }); - } - updateToolBar(); -} - -void ChartsWidget::setColumnCount(int n) { - n = std::clamp(n, 1, MAX_COLUMN_COUNT); - if (column_count != n) { - column_count = settings.chart_column_count = n; - updateToolBar(); - updateLayout(); - } -} - -void ChartsWidget::updateLayout() { - int n = MAX_COLUMN_COUNT; - for (; n > 1; --n) { - if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break; - } - - bool show_column_cb = n > 1; - columns_action->setVisible(show_column_cb); - - n = std::min(column_count, n); - if (charts.size() != charts_layout->count() || n != current_column_count) { - current_column_count = n; - charts_layout->parentWidget()->setUpdatesEnabled(false); - for (int i = 0; i < charts.size(); ++i) { - charts_layout->addWidget(charts[charts.size() - i - 1], i / n, i % n); - } - QTimer::singleShot(0, [this]() { charts_layout->parentWidget()->setUpdatesEnabled(true); }); - } -} - -void ChartsWidget::resizeEvent(QResizeEvent *event) { - QWidget::resizeEvent(event); - updateLayout(); -} - -void ChartsWidget::newChart() { - SeriesSelector dlg(tr("New Chart"), this); - if (dlg.exec() == QDialog::Accepted) { - auto items = dlg.seletedItems(); - if (!items.isEmpty()) { - auto c = createChart(); - for (auto it : items) { - c->addSeries(it->msg_id, it->sig); - } - } - } -} - -void ChartsWidget::removeChart(ChartView *chart) { - charts.removeOne(chart); - chart->deleteLater(); - updateToolBar(); - alignCharts(); - updateLayout(); - emit seriesChanged(); -} - -void ChartsWidget::removeAll() { - for (auto c : charts) { - c->deleteLater(); - } - charts.clear(); - updateToolBar(); - emit seriesChanged(); -} - -void ChartsWidget::alignCharts() { - int plot_left = 0; - for (auto c : charts) { - plot_left = std::max(plot_left, c->y_label_width); - } - plot_left = std::max((plot_left / 10) * 10 + 10, 50); - for (auto c : charts) { - c->updatePlotArea(plot_left); - } -} - -bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { - if (obj != this && event->type() == QEvent::Close) { - emit dock_btn->triggered(); - return true; - } - return false; -} - -bool ChartsWidget::event(QEvent *event) { - bool back_button = false; - if (event->type() == QEvent::MouseButtonPress) { - QMouseEvent *ev = static_cast(event); - back_button = ev->button() == Qt::BackButton; - } else if (event->type() == QEvent::NativeGesture) { // MacOS emulates a back swipe on pressing the mouse back button - QNativeGestureEvent *ev = static_cast(event); - back_button = (ev->value() == 180); - } - - if (back_button) { - zoomUndo(); - return true; - } - return QFrame::event(event); -} - -// ChartView - -ChartView::ChartView(QWidget *parent) : tip_label(this), QChartView(nullptr, parent) { - series_type = (SeriesType)settings.chart_series_type; - QChart *chart = new QChart(); - chart->setBackgroundVisible(false); - axis_x = new QValueAxis(this); - axis_y = new QValueAxis(this); - chart->addAxis(axis_x, Qt::AlignBottom); - chart->addAxis(axis_y, Qt::AlignLeft); - chart->legend()->layout()->setContentsMargins(0, 0, 0, 0); - chart->legend()->setShowToolTips(true); - chart->setMargins({0, 0, 0, 0}); - - background = new QGraphicsRectItem(chart); - background->setBrush(QApplication::palette().color(QPalette::Base)); - background->setPen(Qt::NoPen); - background->setZValue(chart->zValue() - 1); - - setChart(chart); - - createToolButtons(); - setRenderHint(QPainter::Antialiasing); - // TODO: enable zoomIn/seekTo in live streaming mode. - setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand); - setMouseTracking(true); - - QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved); - QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); - QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved); - QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated); -} - -void ChartView::createToolButtons() { - move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart()); - move_icon->setToolTip(tr("Drag and drop to combine charts")); - - QToolButton *remove_btn = toolButton("x", tr("Remove Chart")); - close_btn_proxy = new QGraphicsProxyWidget(chart()); - close_btn_proxy->setWidget(remove_btn); - close_btn_proxy->setZValue(chart()->zValue() + 11); - - // series types - QMenu *menu = new QMenu(this); - auto change_series_group = new QActionGroup(menu); - change_series_group->setExclusive(true); - QStringList types{tr("line"), tr("Step Line"), tr("Scatter")}; - for (int i = 0; i < types.size(); ++i) { - QAction *act = new QAction(types[i], change_series_group); - act->setData(i); - act->setCheckable(true); - act->setChecked(i == (int)series_type); - menu->addAction(act); - } - menu->addSeparator(); - menu->addAction(tr("Manage series"), this, &ChartView::manageSeries); - - QToolButton *manage_btn = toolButton("list", ""); - manage_btn->setMenu(menu); - manage_btn->setPopupMode(QToolButton::InstantPopup); - manage_btn_proxy = new QGraphicsProxyWidget(chart()); - manage_btn_proxy->setWidget(manage_btn); - manage_btn_proxy->setZValue(chart()->zValue() + 11); - - QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove); - QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) { - setSeriesType((SeriesType)action->data().toInt()); - }); -} - -void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) { - if (hasSeries(msg_id, sig)) return; - - QXYSeries *series = createSeries(series_type, getColor(sig)); - sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series}); - updateTitle(); - updateSeries(sig); - updateSeriesPoints(); - emit seriesAdded(msg_id, sig); -} - -bool ChartView::hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const { - return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); -} - -void ChartView::removeIf(std::function predicate) { - int prev_size = sigs.size(); - for (auto it = sigs.begin(); it != sigs.end(); /**/) { - if (predicate(*it)) { - chart()->removeSeries(it->series); - it->series->deleteLater(); - auto msg_id = it->msg_id; - auto sig = it->sig; - it = sigs.erase(it); - emit seriesRemoved(msg_id, sig); - } else { - ++it; - } - } - if (sigs.empty()) { - emit remove(); - } else if (sigs.size() != prev_size) { - updateAxisY(); - } -} - -void ChartView::signalUpdated(const cabana::Signal *sig) { - if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; })) { - updateTitle(); - // TODO: don't update series if only name changed. - updateSeries(sig); - } -} - -void ChartView::msgUpdated(MessageId id) { - if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id == id; })) - updateTitle(); -} - -void ChartView::manageSeries() { - SeriesSelector dlg(tr("Mange Chart"), this); - for (auto &s : sigs) { - dlg.addSelected(s.msg_id, s.sig); - } - if (dlg.exec() == QDialog::Accepted) { - auto items = dlg.seletedItems(); - for (auto s : items) { - addSeries(s->msg_id, s->sig); - } - removeIf([&](auto &s) { - return std::none_of(items.cbegin(), items.cend(), [&](auto &it) { return s.msg_id == it->msg_id && s.sig == it->sig; }); - }); - } -} - -void ChartView::resizeEvent(QResizeEvent *event) { - qreal left, top, right, bottom; - chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); - move_icon->setPos(left, top); - close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top); - int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing); - manage_btn_proxy->setPos(x, top); - chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), manage_btn_proxy->sceneBoundingRect().bottomLeft()}); - if (align_to > 0) { - updatePlotArea(align_to); - } - QChartView::resizeEvent(event); -} - -void ChartView::updatePlotArea(int left_pos) { - if (align_to != left_pos || rect() != background->rect()) { - align_to = left_pos; - background->setRect(rect()); - - qreal left, top, right, bottom; - chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); - QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2)); - x_label_size += QSizeF{5 * devicePixelRatioF(), 5 * devicePixelRatioF()}; - int adjust_top = chart()->legend()->geometry().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin); - chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom)); - chart()->layout()->invalidate(); - if (can->isPaused()) { - update(); - } - } -} - -void ChartView::updateTitle() { - for (QLegendMarker *marker : chart()->legend()->markers()) { - QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection); - } - for (auto &s : sigs) { - auto decoration = s.series->isVisible() ? "none" : "line-through"; - s.series->setName(QString("%2 %3 %4").arg(decoration, s.sig->name, msgName(s.msg_id), s.msg_id.toString())); - } -} - -void ChartView::updatePlot(double cur, double min, double max) { - cur_sec = cur; - if (min != axis_x->min() || max != axis_x->max()) { - axis_x->setRange(min, max); - updateAxisY(); - updateSeriesPoints(); - } - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); -} - -void ChartView::updateSeriesPoints() { - // Show points when zoomed in enough - for (auto &s : sigs) { - auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); - auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), xLessThan); - if (begin != end) { - int num_points = std::max((end - begin), 1); - QPointF right_pt = end == s.vals.end() ? s.vals.back() : *end; - double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points; - - if (series_type == SeriesType::Scatter) { - qreal size = std::clamp(pixels_per_point / 2.0, 2.0, 8.0); - if (s.series->useOpenGL()) { - size *= devicePixelRatioF(); - } - ((QScatterSeries *)s.series)->setMarkerSize(size); - } else { - s.series->setPointsVisible(pixels_per_point > 20); - } - } - } -} - -void ChartView::updateSeries(const cabana::Signal *sig) { - for (auto &s : sigs) { - if (!sig || s.sig == sig) { - if (!can->liveStreaming()) { - s.vals.clear(); - s.step_vals.clear(); - s.last_value_mono_time = 0; - } - s.series->setColor(getColor(s.sig)); - - const auto &msgs = can->events().at(s.msg_id); - auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = s.last_value_mono_time}); - int new_size = std::max(s.vals.size() + std::distance(first, msgs.cend()), settings.max_cached_minutes * 60 * 100); - if (s.vals.capacity() <= new_size) { - s.vals.reserve(new_size * 2); - s.step_vals.reserve(new_size * 4); - } - - const double route_start_time = can->routeStartTime(); - for (auto end = msgs.cend(); first != end; ++first) { - double value = get_raw_value(first->dat, first->size, *s.sig); - double ts = first->mono_time / 1e9 - route_start_time; // seconds - s.vals.append({ts, value}); - if (!s.step_vals.empty()) { - s.step_vals.append({ts, s.step_vals.back().y()}); - } - s.step_vals.append({ts, value}); - s.last_value_mono_time = first->mono_time; - } - if (!can->liveStreaming()) { - s.segment_tree.build(s.vals); - } - s.series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); - } - } - updateAxisY(); -} - -// auto zoom on yaxis -void ChartView::updateAxisY() { - if (sigs.isEmpty()) return; - - double min = std::numeric_limits::max(); - double max = std::numeric_limits::lowest(); - QString unit = sigs[0].sig->unit; - - for (auto &s : sigs) { - if (!s.series->isVisible()) continue; - - // Only show unit when all signals have the same unit - if (unit != s.sig->unit) { - unit.clear(); - } - - auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); - auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan); - s.min = std::numeric_limits::max(); - s.max = std::numeric_limits::lowest(); - if (can->liveStreaming()) { - for (auto it = first; it != last; ++it) { - if (it->y() < s.min) s.min = it->y(); - if (it->y() > s.max) s.max = it->y(); - } - } else { - auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.begin(), first), std::distance(s.vals.begin(), last)); - s.min = min_y; - s.max = max_y; - } - min = std::min(min, s.min); - max = std::max(max, s.max); - } - if (min == std::numeric_limits::max()) min = 0; - if (max == std::numeric_limits::lowest()) max = 0; - - if (axis_y->titleText() != unit) { - axis_y->setTitleText(unit); - y_label_width = 0; // recalc width - } - - double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05; - auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, axis_y->tickCount()); - if (min_y != axis_y->min() || max_y != axis_y->max() || y_label_width == 0) { - axis_y->setRange(min_y, max_y); - axis_y->setTickCount(tick_count); - - int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height(); - QFontMetrics fm(axis_y->labelsFont()); - int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1; - y_label_width = title_spacing + qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 15; - axis_y->setLabelFormat(QString("%.%1f").arg(n)); - emit axisYLabelWidthChanged(y_label_width); - } -} - -std::tuple ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) { - qreal range = niceNumber((max - min), true); // range with ceiling - qreal step = niceNumber(range / (tick_count - 1), false); - min = qFloor(min / step); - max = qCeil(max / step); - tick_count = int(max - min) + 1; - return {min * step, max * step, tick_count}; -} - -// nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n -qreal ChartView::niceNumber(qreal x, bool ceiling) { - qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x - qreal q = x / z; //q<10 && q>=1; - if (ceiling) { - if (q <= 1.0) q = 1; - else if (q <= 2.0) q = 2; - else if (q <= 5.0) q = 5; - else q = 10; - } else { - if (q < 1.5) q = 1; - else if (q < 3.0) q = 2; - else if (q < 7.0) q = 5; - else q = 10; - } - return q * z; -} - -void ChartView::leaveEvent(QEvent *event) { - if (tip_label.isVisible()) { - emit hovered(-1); - } - QChartView::leaveEvent(event); -} - -void ChartView::mousePressEvent(QMouseEvent *event) { - if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) { - QMimeData *mimeData = new QMimeData; - mimeData->setData(mime_type, QByteArray::number((qulonglong)this)); - QDrag *drag = new QDrag(this); - drag->setMimeData(mimeData); - drag->setPixmap(grab()); - drag->setHotSpot(event->pos()); - drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction); - } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { - if (!can->liveStreaming()) { - // Save current playback state when scrubbing - resume_after_scrub = !can->isPaused(); - if (resume_after_scrub) { - can->pause(true); - } - is_scrubbing = true; - } - } else { - QChartView::mousePressEvent(event); - } -} - -void ChartView::mouseReleaseEvent(QMouseEvent *event) { - auto rubber = findChild(); - if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { - rubber->hide(); - QRectF rect = rubber->geometry().normalized(); - double min = chart()->mapToValue(rect.topLeft()).x(); - double max = chart()->mapToValue(rect.bottomRight()).x(); - - // Prevent zooming/seeking past the end of the route - min = std::clamp(min, 0., can->totalSeconds()); - max = std::clamp(max, 0., can->totalSeconds()); - - double min_rounded = std::floor(min * 10.0) / 10.0; - double max_rounded = std::floor(max * 10.0) / 10.0; - if (rubber->width() <= 0) { - // no rubber dragged, seek to mouse position - can->seekTo(min); - } else if (rubber->width() > 10) { - emit zoomIn(min_rounded, max_rounded); - } else { - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); - } - event->accept(); - } else if (!can->liveStreaming() && event->button() == Qt::RightButton) { - emit zoomUndo(); - event->accept(); - } else { - QGraphicsView::mouseReleaseEvent(event); - } - - // Resume playback if we were scrubbing - is_scrubbing = false; - if (resume_after_scrub) { - can->pause(false); - resume_after_scrub = false; - } -} - -void ChartView::mouseMoveEvent(QMouseEvent *ev) { - const auto plot_area = chart()->plotArea(); - // Scrubbing - if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { - if (plot_area.contains(ev->pos())) { - can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds())); - } - } - - auto rubber = findChild(); - bool is_zooming = rubber && rubber->isVisible(); - clearTrackPoints(); - - if (!is_zooming && plot_area.contains(ev->pos())) { - const double sec = chart()->mapToValue(ev->pos()).x(); - emit hovered(sec); - } else if (tip_label.isVisible()) { - emit hovered(-1); - } - - QChartView::mouseMoveEvent(ev); - if (is_zooming) { - QRect rubber_rect = rubber->geometry(); - rubber_rect.setLeft(std::max(rubber_rect.left(), (int)plot_area.left())); - rubber_rect.setRight(std::min(rubber_rect.right(), (int)plot_area.right())); - if (rubber_rect != rubber->geometry()) { - rubber->setGeometry(rubber_rect); - } - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); - } -} - -void ChartView::showTip(double sec) { - qreal x = chart()->mapToPosition({sec, 0}).x(); - QStringList text_list(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3)); - for (auto &s : sigs) { - if (s.series->isVisible()) { - QString value = "--"; - // use reverse iterator to find last item <= sec. - auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; }); - if (it != s.vals.rend() && it->x() >= axis_x->min()) { - value = QString::number(it->y()); - s.track_pt = chart()->mapToPosition(*it); - x = std::max(x, s.track_pt.x()); - } - text_list << QString("■ %2: %3 (%4 - %5)") - .arg(s.series->color().name(), s.sig->name, value, QString::number(s.min), QString::number(s.max)); - } - } - QPointF tooltip_pt(x, chart()->plotArea().top()); - int plot_right = mapToGlobal(chart()->plotArea().topRight().toPoint()).x(); - tip_label.showText(mapToGlobal(tooltip_pt.toPoint()), "

" + text_list.join("
") + "

", plot_right); - scene()->update(); -} - -void ChartView::hideTip() { - clearTrackPoints(); - tip_label.hide(); - scene()->update(); -} - -void ChartView::dragMoveEvent(QDragMoveEvent *event) { - if (event->mimeData()->hasFormat(mime_type)) { - event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction); - event->accept(); - } else { - event->ignore(); - } -} - -void ChartView::dropEvent(QDropEvent *event) { - if (event->mimeData()->hasFormat(mime_type)) { - if (event->source() == this) { - event->setDropAction(Qt::MoveAction); - event->accept(); - } else { - ChartView *source_chart = (ChartView *)event->source(); - for (auto &s : source_chart->sigs) { - addSeries(s.msg_id, s.sig); - } - emit source_chart->remove(); - event->acceptProposedAction(); - } - } else { - event->ignore(); - } -} - -void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { - // draw time line - qreal x = chart()->mapToPosition(QPointF{cur_sec, 0}).x(); - x = std::clamp(x, chart()->plotArea().left(), chart()->plotArea().right()); - qreal y1 = chart()->plotArea().top() - 2; - qreal y2 = chart()->plotArea().bottom() + 2; - painter->setPen(QPen(chart()->titleBrush().color(), 2)); - painter->drawLine(QPointF{x, y1}, QPointF{x, y2}); - - // draw track points - painter->setPen(Qt::NoPen); - qreal track_line_x = -1; - for (auto &s : sigs) { - if (!s.track_pt.isNull() && s.series->isVisible()) { - painter->setBrush(s.series->color().darker(125)); - painter->drawEllipse(s.track_pt, 5.5, 5.5); - track_line_x = std::max(track_line_x, s.track_pt.x()); - } - } - if (track_line_x > 0) { - painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine)); - painter->drawLine(QPointF{track_line_x, y1}, QPointF{track_line_x, y2}); - } - - // paint points. OpenGL mode lacks certain features (such as showing points) - painter->setPen(Qt::NoPen); - for (auto &s : sigs) { - if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) { - auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); - auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan); - painter->setBrush(s.series->color()); - for (auto it = first; it != last; ++it) { - painter->drawEllipse(chart()->mapToPosition(*it), 4, 4); - } - } - } - - // paint zoom range - auto rubber = findChild(); - if (rubber && rubber->isVisible() && rubber->width() > 1) { - painter->setPen(Qt::white); - auto rubber_rect = rubber->geometry().normalized(); - for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) { - QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 1); - // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html) - auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -4, 6, 4); - pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2}); - painter->fillRect(r, Qt::gray); - painter->drawText(r, Qt::AlignCenter, sec); - } - } -} - -QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { - QXYSeries *series = nullptr; - if (type == SeriesType::Line) { - series = new QLineSeries(this); - chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle); - } else if (type == SeriesType::StepLine) { - series = new QLineSeries(this); - chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries); - } else { - series = new QScatterSeries(this); - chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle); - } - series->setColor(color); - // TODO: Due to a bug in CameraWidget the camera frames - // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed -#ifndef __APPLE__ - series->setUseOpenGL(true); - // Qt doesn't properly apply device pixel ratio in OpenGL mode - QPen pen = series->pen(); - pen.setWidthF(2.0 * devicePixelRatioF()); - series->setPen(pen); -#endif - chart()->addSeries(series); - series->attachAxis(axis_x); - series->attachAxis(axis_y); - - // disables the delivery of mouse events to the opengl widget. - // this enables the user to select the zoom area when the mouse press on the data point. - auto glwidget = findChild(); - if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) { - glwidget->setAttribute(Qt::WA_TransparentForMouseEvents); - } - return series; -} - -void ChartView::setSeriesType(SeriesType type) { - if (type != series_type) { - series_type = type; - for (auto &s : sigs) { - chart()->removeSeries(s.series); - s.series->deleteLater(); - } - for (auto &s : sigs) { - auto series = createSeries(series_type, getColor(s.sig)); - series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); - s.series = series; - } - updateSeriesPoints(); - updateTitle(); - } -} - -void ChartView::handleMarkerClicked() { - auto marker = qobject_cast(sender()); - Q_ASSERT(marker); - if (sigs.size() > 1) { - auto series = marker->series(); - series->setVisible(!series->isVisible()); - marker->setVisible(true); - updateAxisY(); - updateTitle(); - } -} - -// SeriesSelector - -SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent) { - setWindowTitle(title); - QGridLayout *main_layout = new QGridLayout(this); - - // left column - main_layout->addWidget(new QLabel(tr("Available Signals")), 0, 0); - main_layout->addWidget(msgs_combo = new QComboBox(this), 1, 0); - msgs_combo->setEditable(true); - msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg...")); - msgs_combo->setInsertPolicy(QComboBox::NoInsert); - msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); - msgs_combo->completer()->setFilterMode(Qt::MatchContains); - - main_layout->addWidget(available_list = new QListWidget(this), 2, 0); - - // buttons - QVBoxLayout *btn_layout = new QVBoxLayout(); - QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this); - add_btn->setEnabled(false); - QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this); - remove_btn->setEnabled(false); - btn_layout->addStretch(0); - btn_layout->addWidget(add_btn); - btn_layout->addWidget(remove_btn); - btn_layout->addStretch(0); - main_layout->addLayout(btn_layout, 0, 1, 3, 1); - - // right column - main_layout->addWidget(new QLabel(tr("Selected Signals")), 0, 2); - main_layout->addWidget(selected_list = new QListWidget(this), 1, 2, 2, 1); - - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox, 3, 2); - - for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) { - if (auto m = dbc()->msg(it.key())) { - msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key())); - } - } - msgs_combo->model()->sort(0); - msgs_combo->setCurrentIndex(-1); - - QObject::connect(msgs_combo, qOverload(&QComboBox::currentIndexChanged), this, &SeriesSelector::updateAvailableList); - QObject::connect(available_list, &QListWidget::currentRowChanged, [=](int row) { add_btn->setEnabled(row != -1); }); - QObject::connect(selected_list, &QListWidget::currentRowChanged, [=](int row) { remove_btn->setEnabled(row != -1); }); - QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::add); - QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::remove); - QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); }); - QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); }); - QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); - QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); -} - -void SeriesSelector::add(QListWidgetItem *item) { - auto it = (ListItem *)item; - addItemToList(selected_list, it->msg_id, it->sig, true); - delete item; -} - -void SeriesSelector::remove(QListWidgetItem *item) { - auto it = (ListItem *)item; - if (it->msg_id == msgs_combo->currentData().value()) { - addItemToList(available_list, it->msg_id, it->sig); - } - delete item; -} - -void SeriesSelector::updateAvailableList(int index) { - if (index == -1) return; - available_list->clear(); - MessageId msg_id = msgs_combo->itemData(index).value(); - auto selected_items = seletedItems(); - for (auto s : dbc()->msg(msg_id)->getSignals()) { - bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig=s](auto it) { return it->msg_id == msg_id && it->sig == sig; }); - if (!is_selected) { - addItemToList(available_list, msg_id, s); - } - } -} - -void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) { - QString text = QString("■ %1").arg(getColor(sig).name(), sig->name); - if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id.toString()); - - QLabel *label = new QLabel(text); - label->setContentsMargins(5, 0, 5, 0); - auto new_item = new ListItem(id, sig, parent); - new_item->setSizeHint(label->sizeHint()); - parent->setItemWidget(new_item, label); -} - -QList SeriesSelector::seletedItems() { - QList ret; - for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i)); - return ret; -} - -// ValueTipLabel - -ValueTipLabel::ValueTipLabel(QWidget *parent) : QLabel(parent, Qt::Tool | Qt::FramelessWindowHint) { - setForegroundRole(QPalette::ToolTipText); - setBackgroundRole(QPalette::ToolTipBase); - setPalette(QToolTip::palette()); - ensurePolished(); - setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this)); - setAttribute(Qt::WA_ShowWithoutActivating); - setTextFormat(Qt::RichText); - setVisible(false); -} - -void ValueTipLabel::showText(const QPoint &pt, const QString &text, int right_edge) { - setText(text); - if (!text.isEmpty()) { - QSize extra(1, 1); - resize(sizeHint() + extra); - QPoint tip_pos(pt.x() + 12, pt.y()); - if (tip_pos.x() + size().width() >= right_edge) { - tip_pos.rx() = pt.x() - size().width() - 12; - } - move(tip_pos); - } - setVisible(!text.isEmpty()); -} - -void ValueTipLabel::paintEvent(QPaintEvent *ev) { - QStylePainter p(this); - QStyleOptionFrame opt; - opt.init(this); - p.drawPrimitive(QStyle::PE_PanelTipLabel, opt); - p.end(); - QLabel::paintEvent(ev); -} diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h deleted file mode 100644 index 98ceb02674..0000000000 --- a/tools/cabana/chartswidget.h +++ /dev/null @@ -1,202 +0,0 @@ -#pragma once - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#include "tools/cabana/dbc/dbcmanager.h" -#include "tools/cabana/streams/abstractstream.h" -using namespace QtCharts; - -const int CHART_MIN_WIDTH = 300; - -enum class SeriesType { - Line = 0, - StepLine, - Scatter -}; - -class ValueTipLabel : public QLabel { -public: - ValueTipLabel(QWidget *parent = nullptr); - void showText(const QPoint &pt, const QString &sec, int right_edge); - void paintEvent(QPaintEvent *ev) override; -}; - -class ChartView : public QChartView { - Q_OBJECT - -public: - ChartView(QWidget *parent = nullptr); - void addSeries(const MessageId &msg_id, const cabana::Signal *sig); - bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const; - void updateSeries(const cabana::Signal *sig = nullptr); - void updatePlot(double cur, double min, double max); - void setSeriesType(SeriesType type); - void updatePlotArea(int left); - void showTip(double sec); - void hideTip(); - - struct SigItem { - MessageId msg_id; - const cabana::Signal *sig = nullptr; - QXYSeries *series = nullptr; - QVector vals; - QVector step_vals; - uint64_t last_value_mono_time = 0; - QPointF track_pt{}; - SegmentTree segment_tree; - double min = 0; - double max = 0; - }; - -signals: - void seriesRemoved(const MessageId &id, const cabana::Signal *sig); - void seriesAdded(const MessageId &id, const cabana::Signal *sig); - void zoomIn(double min, double max); - void zoomUndo(); - void remove(); - void axisYLabelWidthChanged(int w); - void hovered(double sec); - -private slots: - void signalUpdated(const cabana::Signal *sig); - void manageSeries(); - void handleMarkerClicked(); - void msgUpdated(MessageId id); - void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); } - void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } - -private: - void createToolButtons(); - void mousePressEvent(QMouseEvent *event) override; - void mouseReleaseEvent(QMouseEvent *event) override; - void mouseMoveEvent(QMouseEvent *ev) override; - void dragMoveEvent(QDragMoveEvent *event) override; - void dropEvent(QDropEvent *event) override; - void leaveEvent(QEvent *event) override; - void resizeEvent(QResizeEvent *event) override; - QSize sizeHint() const override { return {CHART_MIN_WIDTH, settings.chart_height}; } - void updateAxisY(); - void updateTitle(); - void drawForeground(QPainter *painter, const QRectF &rect) override; - std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); - qreal niceNumber(qreal x, bool ceiling); - QXYSeries *createSeries(SeriesType type, QColor color); - void updateSeriesPoints(); - void removeIf(std::function predicate); - inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; } - - int y_label_width = 0; - int align_to = 0; - QValueAxis *axis_x; - QValueAxis *axis_y; - QGraphicsPixmapItem *move_icon; - QGraphicsProxyWidget *close_btn_proxy; - QGraphicsProxyWidget *manage_btn_proxy; - QGraphicsRectItem *background; - ValueTipLabel tip_label; - QList sigs; - double cur_sec = 0; - const QString mime_type = "application/x-cabanachartview"; - SeriesType series_type = SeriesType::Line; - bool is_scrubbing = false; - bool resume_after_scrub = false; - friend class ChartsWidget; - }; - -class ChartsWidget : public QFrame { - Q_OBJECT - -public: - ChartsWidget(QWidget *parent = nullptr); - void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); - inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; } - -public slots: - void setColumnCount(int n); - void removeAll(); - -signals: - void dock(bool floating); - void rangeChanged(double min, double max, bool is_zommed); - void seriesChanged(); - -private: - void resizeEvent(QResizeEvent *event) override; - bool event(QEvent *event) override; - void alignCharts(); - void newChart(); - ChartView *createChart(); - void removeChart(ChartView *chart); - void eventsMerged(); - void updateState(); - void zoomIn(double min, double max); - void zoomReset(); - void zoomUndo(); - void setZoom(double min, double max); - void updateToolBar(); - void setMaxChartRange(int value); - void updateLayout(); - void settingChanged(); - void showValueTip(double sec); - bool eventFilter(QObject *obj, QEvent *event) override; - ChartView *findChart(const MessageId &id, const cabana::Signal *sig); - - QLabel *title_label; - QLabel *range_lb; - LogSlider *range_slider; - QAction *range_lb_action; - QAction *range_slider_action; - bool docking = true; - QAction *dock_btn; - QAction *undo_zoom_action; - QAction *reset_zoom_action; - QAction *remove_all_btn; - QGridLayout *charts_layout; - QList charts; - QWidget *charts_container; - QScrollArea *charts_scroll; - uint32_t max_chart_range = 0; - bool is_zoomed = false; - std::pair display_range; - std::pair zoomed_range; - QStack> zoom_stack; - bool use_dark_theme = false; - QAction *columns_action; - int column_count = 1; - int current_column_count = 0; - QTimer align_timer; -}; - -class SeriesSelector : public QDialog { -public: - struct ListItem : public QListWidgetItem { - ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} - MessageId msg_id; - const cabana::Signal *sig; - }; - - SeriesSelector(QString title, QWidget *parent); - QList seletedItems(); - inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); } - -private: - void updateAvailableList(int index); - void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false); - void add(QListWidgetItem *item); - void remove(QListWidgetItem *item); - - QComboBox *msgs_combo; - QListWidget *available_list; - QListWidget *selected_list; -}; diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index 46302ad789..e404bde99c 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -13,10 +13,49 @@ std::vector cabana::Msg::getSignals() const { return ret; } +void cabana::Msg::updateMask() { + mask.clear(); + for (int i = 0; i < size; i++) { + mask.push_back(0x00); + } + + for (auto &sig : sigs) { + int i = sig.msb / 8; + int bits = sig.size; + while (i >= 0 && i < size && bits > 0) { + int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; + int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; + + int sz = msb - lsb + 1; + int shift = (lsb - (i * 8)); + + mask[i] |= ((1ULL << sz) - 1) << shift; + + bits -= size; + i = sig.is_little_endian ? i - 1 : i + 1; + } + } +} + void cabana::Signal::updatePrecision() { precision = std::max(num_decimals(factor), num_decimals(offset)); } +QString cabana::Signal::formatValue(double value) const { + // Show enum string + for (auto &[val, desc] : val_desc) { + if (std::abs(value - val.toInt()) < 1e-6) { + return desc; + } + } + + QString val_str = QString::number(value, 'f', precision); + if (!unit.isEmpty()) { + val_str += " " + unit; + } + return val_str; +} + // helper functions static QVector BIG_ENDIAN_START_BITS = []() { diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index 701908112f..be0057cf56 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -11,8 +11,8 @@ const QString UNTITLED = "untitled"; struct MessageId { - uint8_t source; - uint32_t address; + uint8_t source = 0; + uint32_t address = 0; QString toString() const { return QString("%1:%2").arg(source).arg(address, 1, 16); @@ -57,6 +57,7 @@ namespace cabana { ValueDescription val_desc; int precision = 0; void updatePrecision(); + QString formatValue(double value) const; }; struct Msg { @@ -64,6 +65,9 @@ namespace cabana { uint32_t size; QList sigs; + QList mask; + void updateMask(); + std::vector getSignals() const; const cabana::Signal *sig(const QString &sig_name) const { auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; }); diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index 8b4f98508c..9173080796 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -55,6 +55,7 @@ void DBCFile::open(const QString &content) { sig.is_little_endian = s.is_little_endian; sig.updatePrecision(); } + m.updateMask(); } parseExtraInfo(content); @@ -103,6 +104,7 @@ bool DBCFile::writeContents(const QString &fn) { cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &sig) { if (auto m = const_cast(msg(id.address))) { m->sigs.push_back(sig); + m->updateMask(); return &m->sigs.last(); } @@ -113,6 +115,7 @@ cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &si if (auto m = const_cast(msg(id))) { if (auto s = (cabana::Signal *)m->sig(sig_name)) { *s = sig; + m->updateMask(); return s; } } @@ -135,6 +138,7 @@ void DBCFile::removeSignal(const MessageId &id, const QString &sig_name) { auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); if (it != m->sigs.end()) { m->sigs.erase(it); + m->updateMask(); } } } @@ -149,6 +153,33 @@ void DBCFile::removeMsg(const MessageId &id) { msgs.erase(id.address); } +QString DBCFile::newMsgName(const MessageId &id) { + return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper(); +} + +QString DBCFile::newSignalName(const MessageId &id) { + auto m = msg(id); + assert(m != nullptr); + + QString name; + + for (int i = 1; /**/; ++i) { + name = QString("NEW_SIGNAL_%1").arg(i); + if (m->sig(name) == nullptr) break; + } + + return name; +} + +const QList& DBCFile::mask(const MessageId &id) const { + const cabana::Msg *m = msg(id); + if (m != nullptr) { + return m->mask; + } else { + return empty_mask; + } +} + std::map DBCFile::getMessages() { return msgs; } @@ -186,12 +217,29 @@ QStringList DBCFile::signalNames() const { return ret; } +int DBCFile::signalCount(const MessageId &id) const { + if (msgs.count(id.address) == 0) return 0; + return msgs.at(id.address).sigs.size(); +} + +int DBCFile::signalCount() const { + int total = 0; + for (auto const& [_, msg] : msgs) { + total += msg.sigs.size(); + } + return total; +} + int DBCFile::msgCount() const { return msgs.size(); } QString DBCFile::name() const { - return name_; + return name_.isEmpty() ? "untitled" : name_; +} + +bool DBCFile::isEmpty() const { + return (signalCount() == 0) && name_.isEmpty(); } void DBCFile::parseExtraInfo(const QString &content) { diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h index 082ee773b1..8083704160 100644 --- a/tools/cabana/dbc/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -38,13 +38,21 @@ public: void updateMsg(const MessageId &id, const QString &name, uint32_t size); void removeMsg(const MessageId &id); + QString newMsgName(const MessageId &id); + QString newSignalName(const MessageId &id); + + const QList& mask(const MessageId &id) const; + std::map getMessages(); const cabana::Msg *msg(const MessageId &id) const; const cabana::Msg *msg(uint32_t address) const; const cabana::Msg* msg(const QString &name); QStringList signalNames() const; + int signalCount(const MessageId &id) const; + int signalCount() const; int msgCount() const; QString name() const; + bool isEmpty() const; QString filename; @@ -52,4 +60,5 @@ private: void parseExtraInfo(const QString &content); std::map msgs; QString name_; + QList empty_mask; }; diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc index 49527765a8..2451ff9b00 100644 --- a/tools/cabana/dbc/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -19,20 +19,6 @@ bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error) emit DBCFileChanged(); return true; } - - // Check if there is already a file for this sourceset, then replace it - if (ss == s) { - try { - dbc_files[i] = {s, new DBCFile(dbc_file_name, this)}; - delete dbc_file; - - emit DBCFileChanged(); - return true; - } catch (std::exception &e) { - if (error) *error = e.what(); - return false; - } - } } try { @@ -58,7 +44,41 @@ bool DBCManager::open(SourceSet s, const QString &name, const QString &content, return true; } +void DBCManager::close(SourceSet s) { + // Build new list of dbc files, removing the ones that match the sourceset + QList> new_dbc_files; + for (auto entry : dbc_files) { + if (entry.first == s) { + delete entry.second; + } else { + new_dbc_files.push_back(entry); + } + } + + dbc_files = new_dbc_files; + emit DBCFileChanged(); +} + +void DBCManager::close(DBCFile *dbc_file) { + assert(dbc_file != nullptr); + + // Build new list of dbc files, removing the one that matches dbc_file* + QList> new_dbc_files; + for (auto entry : dbc_files) { + if (entry.second == dbc_file) { + delete entry.second; + } else { + new_dbc_files.push_back(entry); + } + } + + dbc_files = new_dbc_files; + emit DBCFileChanged(); +} + void DBCManager::closeAll() { + if (dbc_files.isEmpty()) return; + while (dbc_files.size()) { DBCFile *dbc_file = dbc_files.back().second; dbc_files.pop_back(); @@ -67,6 +87,29 @@ void DBCManager::closeAll() { emit DBCFileChanged(); } +void DBCManager::removeSourcesFromFile(DBCFile *dbc_file, SourceSet s) { + assert(dbc_file != nullptr); + + // Build new list of dbc files, for the given dbc_file* remove s from the current sources + QList> new_dbc_files; + for (auto entry : dbc_files) { + if (entry.second == dbc_file) { + SourceSet ss = (entry.first == SOURCE_ALL) ? sources : entry.first; + ss -= s; + if (ss.empty()) { // Close file if no more sources remain + delete dbc_file; + } else { + new_dbc_files.push_back({ss, dbc_file}); + } + } else { + new_dbc_files.push_back(entry); + } + } + + dbc_files = new_dbc_files; + emit DBCFileChanged(); +} + void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { auto sources_dbc_file = findDBCFile(id); @@ -131,6 +174,29 @@ void DBCManager::removeMsg(const MessageId &id) { } } +QString DBCManager::newMsgName(const MessageId &id) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->newMsgName(id); +} + +QString DBCManager::newSignalName(const MessageId &id) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->newSignalName(id); +} + +const QList& DBCManager::mask(const MessageId &id) const { + auto sources_dbc_file = findDBCFile(id); + if (!sources_dbc_file) { + return empty_mask; + } + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->mask(id); +} + std::map DBCManager::getMessages(uint8_t source) { std::map ret; @@ -178,6 +244,26 @@ QStringList DBCManager::signalNames() const { return ret; } +int DBCManager::signalCount(const MessageId &id) const { + auto sources_dbc_file = findDBCFile(id); + if (!sources_dbc_file) { + return 0; + } + + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->signalCount(id); +} + +int DBCManager::signalCount() const { + int ret = 0; + + for (auto &[_, dbc_file] : dbc_files) { + ret += dbc_file->signalCount(); + } + + return ret; +} + int DBCManager::msgCount() const { int ret = 0; @@ -192,6 +278,16 @@ int DBCManager::dbcCount() const { return dbc_files.size(); } +int DBCManager::nonEmptyDBCCount() const { + int cnt = 0; + for (auto &[_, dbc_file] : dbc_files) { + if (!dbc_file->isEmpty()) { + cnt++; + } + } + return cnt; +} + void DBCManager::updateSources(const SourceSet &s) { sources = s; } diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index f9af96516c..3b148bb61d 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -24,7 +24,10 @@ public: ~DBCManager() {} bool open(SourceSet s, const QString &dbc_file_name, QString *error = nullptr); bool open(SourceSet s, const QString &name, const QString &content, QString *error = nullptr); + void close(SourceSet s); + void close(DBCFile *dbc_file); void closeAll(); + void removeSourcesFromFile(DBCFile *dbc_file, SourceSet s); void addSignal(const MessageId &id, const cabana::Signal &sig); void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); @@ -33,13 +36,21 @@ public: void updateMsg(const MessageId &id, const QString &name, uint32_t size); void removeMsg(const MessageId &id); + QString newMsgName(const MessageId &id); + QString newSignalName(const MessageId &id); + + const QList& mask(const MessageId &id) const; + std::map getMessages(uint8_t source); const cabana::Msg *msg(const MessageId &id) const; const cabana::Msg* msg(uint8_t source, const QString &name); QStringList signalNames() const; + int signalCount(const MessageId &id) const; + int signalCount() const; int msgCount() const; int dbcCount() const; + int nonEmptyDBCCount() const; std::optional> findDBCFile(const uint8_t source) const; std::optional> findDBCFile(const MessageId &id) const; @@ -48,6 +59,7 @@ public: private: SourceSet sources; + QList empty_mask; public slots: void updateSources(const SourceSet &s); @@ -67,3 +79,17 @@ inline QString msgName(const MessageId &id) { auto msg = dbc()->msg(id); return msg ? msg->name : UNTITLED; } + +inline QString toString(SourceSet ss) { + if (ss == SOURCE_ALL) { + return "all"; + } else { + QStringList ret; + QList source_list = ss.values(); + std::sort(source_list.begin(), source_list.end()); + for (auto s : source_list) { + ret << QString::number(s); + } + return ret.join(", "); + } +} diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 543946b19a..a9bbf15980 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -13,8 +13,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart main_layout->setContentsMargins(0, 0, 0, 0); // tabbar - tabbar = new QTabBar(this); - tabbar->setTabsClosable(true); + tabbar = new TabBar(this); tabbar->setUsesScrollButtons(true); tabbar->setAutoHide(true); tabbar->setContextMenuPolicy(Qt::CustomContextMenu); @@ -22,7 +21,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart // message title QHBoxLayout *title_layout = new QHBoxLayout(); - title_layout->setContentsMargins(0, 6, 0, 0); + title_layout->setContentsMargins(3, 6, 3, 0); time_label = new QLabel(this); time_label->setToolTip(tr("Current time")); time_label->setStyleSheet("QLabel{font-weight:bold;}"); @@ -32,9 +31,9 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart name_label->setAlignment(Qt::AlignCenter); name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred); title_layout->addWidget(name_label); - auto edit_btn = toolButton("pencil", tr("Edit Message")); + auto edit_btn = new ToolButton("pencil", tr("Edit Message")); title_layout->addWidget(edit_btn); - remove_btn = toolButton("x-lg", tr("Remove Message")); + remove_btn = new ToolButton("x-lg", tr("Remove Message")); title_layout->addWidget(remove_btn); main_layout->addLayout(title_layout); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index b7cfed376c..ce65adb34e 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -6,7 +6,7 @@ #include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/binaryview.h" -#include "tools/cabana/chartswidget.h" +#include "tools/cabana/chart/chartswidget.h" #include "tools/cabana/historylog.h" #include "tools/cabana/signalview.h" @@ -41,7 +41,7 @@ private: QLabel *time_label, *warning_icon, *warning_label; ElidedLabel *name_label; QWidget *warning_widget; - QTabBar *tabbar; + TabBar *tabbar; QTabWidget *tab_widget; QToolButton *remove_btn; LogsWidget *history_log; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 4ebe8e0473..13e8f70a8f 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -39,7 +39,7 @@ void HistoryLogModel::refresh(bool fetch_message) { last_fetch_time = 0; has_more_data = true; messages.clear(); - hex_colors.clear(); + hex_colors = {}; if (fetch_message) { updateState(); } @@ -119,14 +119,15 @@ template std::deque HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) { std::deque msgs; QVector values(sigs.size()); - for (; first != last && first->mono_time > min_time; ++first) { + for (; first != last && (*first)->mono_time > min_time; ++first) { + const CanEvent *e = *first; for (int i = 0; i < sigs.size(); ++i) { - values[i] = get_raw_value(first->dat, first->size, *sigs[i]); + values[i] = get_raw_value(e->dat, e->size, *sigs[i]); } if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { auto &m = msgs.emplace_back(); - m.mono_time = first->mono_time; - m.data = QByteArray((const char *)first->dat, first->size); + m.mono_time = e->mono_time; + m.data = QByteArray((const char *)e->dat, e->size); m.sig_values = values; if (msgs.size() >= batch_size && min_time == 0) { return msgs; @@ -137,27 +138,33 @@ std::deque HistoryLogModel::fetchData(InputIt first, I } std::deque HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) { - const auto &events = can->events().at(msg_id); + const QList mask; + const auto &events = can->events(msg_id); const auto freq = can->lastMessage(msg_id).freq; const bool update_colors = !display_signals_mode || sigs.empty(); + const auto speed = can->getSpeed(); if (dynamic_mode) { - auto first = std::upper_bound(events.rbegin(), events.rend(), CanEvent{.mono_time=from_time}, std::greater()); + auto first = std::upper_bound(events.rbegin(), events.rend(), from_time, [](uint64_t ts, auto e) { + return ts > e->mono_time; + }); auto msgs = fetchData(first, events.rend(), min_time); if (update_colors && (min_time > 0 || messages.empty())) { for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { - hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); + hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, mask, freq); it->colors = hex_colors.colors; } } return msgs; } else { assert(min_time == 0); - auto first = std::upper_bound(events.begin(), events.end(), CanEvent{.mono_time=from_time}); - auto msgs = fetchData(first, events.end(), 0); + auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, [](uint64_t ts, auto e) { + return ts < e->mono_time; + }); + auto msgs = fetchData(first, events.cend(), 0); if (update_colors) { for (auto it = msgs.begin(); it != msgs.end(); ++it) { - hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); + hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, mask, freq); it->colors = hex_colors.colors; } } @@ -186,6 +193,7 @@ void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalI painter->fillRect(rect, bg_role.value()); } QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString(); + painter->setPen(palette().color(settings.theme == DARK_THEME ? QPalette::BrightText : QPalette::Text)); painter->drawText(rect.adjusted(5, 3, -5, -3), defaultAlignment(), text.replace(QChar('_'), ' ')); } diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 8b8d1b06d2..1f8c157f21 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -54,7 +54,7 @@ public: std::deque fetchData(uint64_t from_time, uint64_t min_time = 0); MessageId msg_id; - ChangeTracker hex_colors; + CanData hex_colors; bool has_more_data = true; const int batch_size = 50; int filter_sig_idx = -1; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index c979a20f16..891bfc4bb1 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -17,7 +17,8 @@ #include #include "tools/cabana/commands.h" -#include "tools/cabana/route.h" +#include "tools/cabana/streamselector.h" +#include "tools/cabana/streams/replaystream.h" static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { @@ -39,7 +40,6 @@ MainWindow::MainWindow() : QMainWindow() { setGeometry(QApplication::desktop()->availableGeometry(this)); } restoreState(settings.window_state); - messages_widget->restoreHeaderState(settings.message_header_state); qRegisterMetaType("uint64_t"); qRegisterMetaType("SourceSet"); @@ -92,8 +92,7 @@ void MainWindow::createActions() { file_menu->addAction(tr("New DBC File"), this, &MainWindow::newFile)->setShortcuts(QKeySequence::New); file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::openFile)->setShortcuts(QKeySequence::Open); - open_dbc_for_source = file_menu->addMenu(tr("Open &DBC File for Bus")); - open_dbc_for_source->setEnabled(false); + manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files")); open_recent_menu = file_menu->addMenu(tr("Open &Recent")); for (int i = 0; i < MAX_RECENT_FILES; ++i) { @@ -113,7 +112,7 @@ void MainWindow::createActions() { load_opendbc_menu->addAction(QString::fromStdString(name), this, &MainWindow::openOpendbcFile); } - file_menu->addAction(tr("Load DBC From Clipboard"), this, &MainWindow::loadDBCFromClipboard); + file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); }); file_menu->addSeparator(); save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save); @@ -122,7 +121,7 @@ void MainWindow::createActions() { save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs); save_dbc_as->setShortcuts(QKeySequence::SaveAs); - copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard); + copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveToClipboard); file_menu->addSeparator(); file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences); @@ -146,10 +145,8 @@ void MainWindow::createActions() { commands_act->setDefaultWidget(undo_view); commands_menu->addAction(commands_act); - if (!can->liveStreaming()) { - QMenu *tools_menu = menuBar()->addMenu(tr("&Tools")); - tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits); - } + QMenu *tools_menu = menuBar()->addMenu(tr("&Tools")); + tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits); QMenu *help_menu = menuBar()->addMenu(tr("&Help")); help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents); @@ -232,6 +229,7 @@ void MainWindow::undoStackIndexChanged(int index) { prev_undostack_index = index; prev_undostack_count = count; autoSave(); + updateLoadSaveMenus(); } void MainWindow::undoStackCleanChanged(bool clean) { @@ -248,12 +246,13 @@ void MainWindow::DBCFileChanged() { } void MainWindow::openRoute() { - OpenRouteDialog dlg(this); + StreamSelector dlg(this); + dlg.addStreamWidget(ReplayStream::widget(&can)); if (dlg.exec()) { center_widget->clear(); charts_widget->removeAll(); statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000); - } else if (dlg.failedToLoad()) { + } else if (dlg.failed()) { close(); } } @@ -273,18 +272,20 @@ void MainWindow::openFile() { } } -void MainWindow::openFileForSource() { - if (auto action = qobject_cast(sender())) { - uint8_t source = action->data().value(); - assert(source < 64); - - QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); - if (!fn.isEmpty()) { - loadFile(fn, {source, uint8_t(source + 128), uint8_t(source + 192)}, false); - } +void MainWindow::openFileForSource(SourceSet s) { + QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); + if (!fn.isEmpty()) { + loadFile(fn, s, false); } } +void MainWindow::newFileForSource(SourceSet s) { + remindSaveChanges(); + + dbc()->close(s); + dbc()->open(s, "", ""); +} + void MainWindow::loadFile(const QString &fn, SourceSet s, bool close_all) { if (!fn.isEmpty()) { QString dbc_fn = fn; @@ -305,6 +306,7 @@ void MainWindow::loadFile(const QString &fn, SourceSet s, bool close_all) { dbc()->closeAll(); } + dbc()->close(s); bool ret = dbc()->open(s, dbc_fn, &error); if (ret) { updateRecentFiles(fn); @@ -344,13 +346,17 @@ void MainWindow::loadDBCFromOpendbc(const QString &name) { updateLoadSaveMenus(); } -void MainWindow::loadDBCFromClipboard() { +void MainWindow::loadFromClipboard(SourceSet s, bool close_all) { remindSaveChanges(); QString dbc_str = QGuiApplication::clipboard()->text(); QString error; - dbc()->closeAll(); - bool ret = dbc()->open(SOURCE_ALL, "", dbc_str, &error); + if (close_all) { + dbc()->closeAll(); + } + + dbc()->close(s); + bool ret = dbc()->open(s, "", dbc_str, &error); if (ret && dbc()->msgCount() > 0) { QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } else { @@ -386,9 +392,22 @@ void MainWindow::loadDBCFromFingerprint() { } void MainWindow::save() { - saveFile(); + // Save all open DBC files + for (auto &[s, dbc_file] : dbc()->dbc_files) { + if (dbc_file->isEmpty()) continue; + saveFile(dbc_file); + } +} + +void MainWindow::saveAs() { + // Save as all open DBC files. Should not be called with more than 1 file open + for (auto &[s, dbc_file] : dbc()->dbc_files) { + if (dbc_file->isEmpty()) continue; + saveFileAs(dbc_file); + } } + void MainWindow::autoSave() { if (!UndoStack::instance()->isClean()) { for (auto &[_, dbc_file] : dbc()->dbc_files) { @@ -405,41 +424,82 @@ void MainWindow::cleanupAutoSaveFile() { } } -void MainWindow::saveFile() { - // Save all open DBC files - for (auto &[s, dbc_file] : dbc()->dbc_files) { - if (!dbc_file->filename.isEmpty()) { - dbc_file->save(); - updateRecentFiles(dbc_file->filename); - } else { - QString fn = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); - if (!fn.isEmpty()) { - dbc_file->saveAs(fn); - updateRecentFiles(fn); - } +void MainWindow::closeFile(DBCFile *dbc_file) { + assert(dbc_file != nullptr); + remindSaveChanges(); + + dbc()->close(dbc_file); + + // Ensure we always have at least one file open + if (dbc()->dbcCount() == 0) { + newFile(); + } +} + +void MainWindow::saveFile(DBCFile *dbc_file) { + assert(dbc_file != nullptr); + + SourceSet s; + for (auto &[s_, dbc_file_] : dbc()->dbc_files) { + if (dbc_file_ == dbc_file) { + s = s_; + break; + } + } + + if (!dbc_file->filename.isEmpty()) { + dbc_file->save(); + updateRecentFiles(dbc_file->filename); + } else if (!dbc_file->isEmpty()) { + QString fn = QFileDialog::getSaveFileName(this, tr("Save File (bus: %1)").arg(toString(s)), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); + if (!fn.isEmpty()) { + dbc_file->saveAs(fn); + updateRecentFiles(fn); } } UndoStack::instance()->setClean(); statusBar()->showMessage(tr("File saved"), 2000); + updateLoadSaveMenus(); } -void MainWindow::saveAs() { - // Assume only one file is open - assert(dbc()->dbcCount() > 0); - auto &[_, dbc_file] = dbc()->dbc_files.first(); +void MainWindow::saveFileAs(DBCFile *dbc_file) { + assert(dbc_file != nullptr); + + SourceSet s; + for (auto &[s_, dbc_file_] : dbc()->dbc_files) { + if (dbc_file_ == dbc_file) { + s = s_; + break; + } + } - QString fn = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); + QString fn = QFileDialog::getSaveFileName(this, tr("Save File (bus: %1)").arg(toString(s)), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); if (!fn.isEmpty()) { dbc_file->saveAs(fn); + updateRecentFiles(fn); + updateLoadSaveMenus(); } } -void MainWindow::saveDBCToClipboard() { - // Assume only one file is open - assert(dbc()->dbcCount() > 0); +void MainWindow::removeBusFromFile(DBCFile *dbc_file, uint8_t source) { + assert(dbc_file != nullptr); + SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)}; + dbc()->removeSourcesFromFile(dbc_file, ss); + updateLoadSaveMenus(); +} + - auto &[_, dbc_file] = dbc()->dbc_files.first(); +void MainWindow::saveToClipboard() { + // Copy all open DBC files to clipboard. Should not be called with more than 1 file open + for (auto &[s, dbc_file] : dbc()->dbc_files) { + if (dbc_file->isEmpty()) continue; + saveFileToClipboard(dbc_file); + } +} + +void MainWindow::saveFileToClipboard(DBCFile *dbc_file) { + assert(dbc_file != nullptr); QGuiApplication::clipboard()->setText(dbc_file->generateDBC()); QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!")); } @@ -450,43 +510,112 @@ void MainWindow::updateSources(const SourceSet &s) { } void MainWindow::updateLoadSaveMenus() { - if (dbc()->dbcCount() > 1) { + int cnt = dbc()->nonEmptyDBCCount(); + save_dbc->setEnabled(cnt > 0); + + if (cnt > 1) { save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount())); } else { save_dbc->setText(tr("Save DBC...")); } - // TODO: Support save as for multiple files - save_dbc_as->setEnabled(dbc()->dbcCount() == 1); + save_dbc_as->setEnabled(cnt == 1); // TODO: Support clipboard for multiple files - copy_dbc_to_clipboard->setEnabled(dbc()->dbcCount() == 1); + copy_dbc_to_clipboard->setEnabled(cnt == 1); QList sources_sorted = sources.toList(); std::sort(sources_sorted.begin(), sources_sorted.end()); - open_dbc_for_source->setEnabled(sources.size() > 0); - open_dbc_for_source->clear(); + manage_dbcs_menu->clear(); for (uint8_t source : sources_sorted) { if (source >= 64) continue; // Sent and blocked buses are handled implicitly - QAction *action = new QAction(this); - - auto d = dbc()->findDBCFile(source); - QString name = tr("no DBC"); - if (d && !d->second->name().isEmpty()) { - name = tr("%1").arg(d->second->name()); - } else if (d) { - name = "untitled"; + + SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)}; + + QMenu *bus_menu = new QMenu(this); + + // New + QAction *new_action = new QAction(this); + new_action->setText(tr("New DBC File...")); + QObject::connect(new_action, &QAction::triggered, [=]() { newFileForSource(ss); }); + bus_menu->addAction(new_action); + + // Open + QAction *open_action = new QAction(this); + open_action->setText(tr("Open DBC File...")); + QObject::connect(open_action, &QAction::triggered, [=]() { openFileForSource(ss); }); + bus_menu->addAction(open_action); + + // Open + QAction *load_clipboard_action = new QAction(this); + load_clipboard_action->setText(tr("Load DBC From Clipboard...")); + QObject::connect(load_clipboard_action, &QAction::triggered, [=]() { loadFromClipboard(ss, false); }); + bus_menu->addAction(load_clipboard_action); + + // Show sub-menu for each dbc for this source. + QStringList bus_menu_fns; + for (auto it : dbc()->dbc_files) { + auto &[src, dbc_file] = it; + if (!src.contains(source) && (src != SOURCE_ALL)) { + continue; + } + + QString fn = dbc_file->filename.isEmpty() ? "untitled" : QFileInfo(dbc_file->filename).baseName(); + // QMenu *manage_menu = bus_menu; + + bus_menu->addSeparator(); + QAction *fn_action = new QAction(this); + fn_action->setText(fn + " (" + toString(src) + ")"); + fn_action->setEnabled(false); + bus_menu->addAction(fn_action); + + // Save + QAction *save_action = new QAction(this); + save_action->setText(tr("Save...")); + bus_menu->addAction(save_action); + QObject::connect(save_action, &QAction::triggered, [=](){ saveFile(it.second); }); + + // Save as + QAction *save_as_action = new QAction(this); + save_as_action->setText(tr("Save As...")); + bus_menu->addAction(save_as_action); + QObject::connect(save_as_action, &QAction::triggered, [=](){ saveFileAs(it.second); }); + + // Copy to clipboard + QAction *save_clipboard_action = new QAction(this); + save_clipboard_action->setText(tr("Copy to Clipboard...")); + bus_menu->addAction(save_clipboard_action); + QObject::connect(save_clipboard_action, &QAction::triggered, [=](){ saveFileToClipboard(it.second); }); + + // Remove from this bus + QAction *remove_action = new QAction(this); + remove_action->setText(tr("Remove from this bus...")); + bus_menu->addAction(remove_action); + QObject::connect(remove_action, &QAction::triggered, [=](){ removeBusFromFile(it.second, source); }); + + // Close/Remove from all buses + QAction *close_action = new QAction(this); + close_action->setText(tr("Remove from all buses...")); + bus_menu->addAction(close_action); + QObject::connect(close_action, &QAction::triggered, [=](){ closeFile(it.second); }); + + bus_menu_fns << fn; } - action->setText(tr("Bus %1 (current: %2)").arg(source).arg(name)); - action->setData(source); + manage_dbcs_menu->addMenu(bus_menu); + QString bus_menu_title = bus_menu_fns.size() ? bus_menu_fns.join(", ") : "No DBCs loaded"; + bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(bus_menu_title)); + } - QObject::connect(action, &QAction::triggered, this, &MainWindow::openFileForSource); - open_dbc_for_source->addAction(action); + QStringList title; + for (auto &[src, dbc_file] : dbc()->dbc_files) { + QString fn = dbc_file->filename.isEmpty() ? "untitled" : QFileInfo(dbc_file->filename).baseName(); + title.push_back(tr("(%1) %2").arg(toString(src)).arg(fn)); } + setWindowFilePath(title.join(" | ")); } void MainWindow::updateRecentFiles(const QString &fn) { diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 991a34931d..5e76d86e5c 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -7,7 +7,7 @@ #include #include -#include "tools/cabana/chartswidget.h" +#include "tools/cabana/chart/chartswidget.h" #include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/detailwidget.h" #include "tools/cabana/messageswidget.h" @@ -27,15 +27,13 @@ public slots: void openRoute(); void newFile(); void openFile(); - void openFileForSource(); void openRecentFile(); void openOpendbcFile(); void loadDBCFromOpendbc(const QString &name); void loadDBCFromFingerprint(); - void loadDBCFromClipboard(); void save(); void saveAs(); - void saveDBCToClipboard(); + void saveToClipboard(); void updateSources(const SourceSet &s); signals: @@ -44,7 +42,14 @@ signals: protected: void remindSaveChanges(); - void saveFile(); + void closeFile(DBCFile *dbc_file); + void saveFile(DBCFile *dbc_file); + void saveFileAs(DBCFile *dbc_file); + void saveFileToClipboard(DBCFile *dbc_file); + void removeBusFromFile(DBCFile *dbc_file, uint8_t source); + void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true); + void openFileForSource(SourceSet s); + void newFileForSource(SourceSet s); void autoSave(); void cleanupAutoSaveFile(); void updateRecentFiles(const QString &fn); @@ -79,7 +84,7 @@ protected: enum { MAX_RECENT_FILES = 15 }; QAction *recent_files_acts[MAX_RECENT_FILES] = {}; QMenu *open_recent_menu = nullptr; - QMenu *open_dbc_for_source = nullptr; + QMenu *manage_dbcs_menu = nullptr; QAction *save_dbc = nullptr; QAction *save_dbc_as = nullptr; QAction *copy_dbc_to_clipboard = nullptr; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 8dd0bac820..f43185e025 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,37 +1,53 @@ #include "tools/cabana/messageswidget.h" - #include +#include #include +#include #include MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0 ,0, 0, 0); - // message filter - filter = new QLineEdit(this); - QRegularExpression re("\\S+"); - filter->setValidator(new QRegularExpressionValidator(re, this)); - filter->setClearButtonEnabled(true); - filter->setPlaceholderText(tr("filter messages")); - main_layout->addWidget(filter); + QHBoxLayout *title_layout = new QHBoxLayout(); + num_msg_label = new QLabel(this); + title_layout->addSpacing(10); + title_layout->addWidget(num_msg_label); + + title_layout->addStretch(); + title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines Bytes"), this)); + multiple_lines_bytes->setToolTip(tr("Display bytes in multiple lines")); + multiple_lines_bytes->setChecked(settings.multiple_lines_bytes); + QPushButton *clear_filters = new QPushButton(tr("Clear Filters")); + title_layout->addWidget(clear_filters); + main_layout->addLayout(title_layout); // message table - table_widget = new QTableView(this); + view = new MessageView(this); model = new MessageListModel(this); - table_widget->setModel(model); - table_widget->setItemDelegateForColumn(5, new MessageBytesDelegate(table_widget)); - table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); - table_widget->setSelectionMode(QAbstractItemView::SingleSelection); - table_widget->setSortingEnabled(true); - table_widget->sortByColumn(0, Qt::AscendingOrder); - table_widget->setColumnWidth(0, 150); - table_widget->setColumnWidth(1, 50); - table_widget->setColumnWidth(2, 50); - table_widget->setColumnWidth(3, 50); - table_widget->horizontalHeader()->setStretchLastSection(true); - table_widget->verticalHeader()->hide(); - main_layout->addWidget(table_widget); + header = new MessageViewHeader(this, model); + auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes); + + view->setItemDelegate(delegate); + view->setModel(model); + view->setSortingEnabled(true); + view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder); + view->setAllColumnsShowFocus(true); + view->setEditTriggers(QAbstractItemView::NoEditTriggers); + view->setItemsExpandable(false); + view->setIndentation(0); + view->setRootIsDecorated(false); + view->setHeader(header); + + // Must be called before setting any header parameters to avoid overriding + restoreHeaderState(settings.message_header_state); + view->header()->setSectionsMovable(true); + + // Header context menu + view->header()->setContextMenuPolicy(Qt::CustomContextMenu); + QObject::connect(view->header(), &QHeaderView::customContextMenuRequested, view, &MessageView::headerContextMenuEvent); + + main_layout->addWidget(view); // suppress QHBoxLayout *suppress_layout = new QHBoxLayout(); @@ -39,21 +55,41 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { suppress_clear = new QPushButton(); suppress_layout->addWidget(suppress_add); suppress_layout->addWidget(suppress_clear); + QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Defined Signals"), this); + suppress_defined_signals->setChecked(settings.suppress_defined_signals); + suppress_layout->addWidget(suppress_defined_signals); main_layout->addLayout(suppress_layout); // signals/slots - QObject::connect(filter, &QLineEdit::textEdited, model, &MessageListModel::setFilterString); + QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings); + QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions); + QObject::connect(clear_filters, &QPushButton::clicked, header, &MessageViewHeader::clearFilters); + QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) { + settings.multiple_lines_bytes = (state == Qt::Checked); + delegate->setMultipleLines(settings.multiple_lines_bytes); + view->setUniformRowHeights(!settings.multiple_lines_bytes); + + // Reset model to force recalculation of the width of the bytes column + model->forceResetModel(); + }); + QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) { + settings.suppress_defined_signals = (state == Qt::Checked); + }); QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived); QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages); - QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages); - QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified); + QObject::connect(dbc(), &DBCManager::msgUpdated, this, &MessagesWidget::dbcModified); + QObject::connect(dbc(), &DBCManager::msgRemoved, this, &MessagesWidget::dbcModified); + QObject::connect(dbc(), &DBCManager::signalAdded, this, &MessagesWidget::dbcModified); + QObject::connect(dbc(), &DBCManager::signalRemoved, this, &MessagesWidget::dbcModified); + QObject::connect(dbc(), &DBCManager::signalUpdated, this, &MessagesWidget::dbcModified); QObject::connect(model, &MessageListModel::modelReset, [this]() { if (current_msg_id) { selectMessage(*current_msg_id); } + view->updateBytesSectionSize(); }); - QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { + QObject::connect(view->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex ¤t, const QModelIndex &previous) { if (current.isValid() && current.row() < model->msgs.size()) { auto &id = model->msgs[current.row()]; if (!current_msg_id || id != *current_msg_id) { @@ -72,6 +108,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { }); updateSuppressedButtons(); + dbcModified(); setWhatsThis(tr(R"( Message View
@@ -83,9 +120,14 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { )")); } +void MessagesWidget::dbcModified() { + num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount())); + model->fetchData(); +} + void MessagesWidget::selectMessage(const MessageId &msg_id) { if (int row = model->msgs.indexOf(msg_id); row != -1) { - table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect); + view->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect); } } @@ -101,9 +143,8 @@ void MessagesWidget::updateSuppressedButtons() { void MessagesWidget::reset() { current_msg_id = std::nullopt; - table_widget->selectionModel()->clear(); + view->selectionModel()->clear(); model->reset(); - filter->clear(); updateSuppressedButtons(); } @@ -111,8 +152,16 @@ void MessagesWidget::reset() { // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { - if (orientation == Qt::Horizontal && role == Qt::DisplayRole) - return (QString[]){"Name", "Bus", "ID", "Freq", "Count", "Bytes"}[section]; + if (orientation == Qt::Horizontal && role == Qt::DisplayRole) { + switch (section) { + case Column::NAME: return tr("Name"); + case Column::SOURCE: return tr("Bus"); + case Column::ADDRESS: return tr("ID"); + case Column::FREQ: return tr("Freq"); + case Column::COUNT: return tr("Count"); + case Column::DATA: return tr("Bytes"); + } + } return {}; } @@ -120,14 +169,22 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { const auto &id = msgs[index.row()]; auto &can_data = can->lastMessage(id); + auto getFreq = [](const CanData &d) -> QString { + if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) { + return d.freq >= 1 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2); + } else { + return "--"; + } + }; + if (role == Qt::DisplayRole) { switch (index.column()) { - case 0: return msgName(id); - case 1: return id.source; - case 2: return QString::number(id.address, 16);; - case 3: return can_data.freq; - case 4: return can_data.count; - case 5: return toHex(can_data.dat); + case Column::NAME: return msgName(id); + case Column::SOURCE: return id.source; + case Column::ADDRESS: return QString::number(id.address, 16); + case Column::FREQ: return getFreq(can_data); + case Column::COUNT: return can_data.count; + case Column::DATA: return toHex(can_data.dat); } } else if (role == ColorsRole) { QVector colors = can_data.colors; @@ -139,83 +196,173 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { } } return QVariant::fromValue(colors); - } else if (role == BytesRole) { + } else if (role == BytesRole && index.column() == Column::DATA) { return can_data.dat; } return {}; } -void MessageListModel::setFilterString(const QString &string) { - auto contains = [](const MessageId &id, const QString &txt) { - auto cs = Qt::CaseInsensitive; - if (id.toString().contains(txt, cs) || msgName(id).contains(txt, cs)) return true; - // Search by signal name - if (const auto msg = dbc()->msg(id)) { - for (auto s : msg->getSignals()) { - if (s->name.contains(txt, cs)) return true; - } - } - return false; - }; - - filter_str = string; - msgs.clear(); - for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) { - if (filter_str.isEmpty() || contains(it.key(), filter_str)) { - msgs.push_back(it.key()); - } - } - sortMessages(); +void MessageListModel::setFilterStrings(const QMap &filters) { + filter_str = filters; + fetchData(); } -void MessageListModel::sortMessages() { - beginResetModel(); - if (sort_column == 0) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { +void MessageListModel::sortMessages(Qt::SortOrder sort_order, int sort_column, QList &new_msgs) { + if (sort_column == Column::NAME) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{msgName(l), l}; auto rr = std::pair{msgName(r), r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 1) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + } else if (sort_column == Column::SOURCE) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{l.source, l}; auto rr = std::pair{r.source, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 2) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + } else if (sort_column == Column::ADDRESS) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{l.address, l}; auto rr = std::pair{r.address, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 3) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + } else if (sort_column == Column::FREQ) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{can->lastMessage(l).freq, l}; auto rr = std::pair{can->lastMessage(r).freq, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); - } else if (sort_column == 4) { - std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + } else if (sort_column == Column::COUNT) { + std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) { auto ll = std::pair{can->lastMessage(l).count, l}; auto rr = std::pair{can->lastMessage(r).count, r}; return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr; }); } - endResetModel(); } -void MessageListModel::msgsReceived(const QHash *new_msgs) { - int prev_row_count = msgs.size(); - if (filter_str.isEmpty() && msgs.size() != can->last_msgs.size()) { - msgs = can->last_msgs.keys(); +static std::pair parseRange(QString &filter, bool *ok = nullptr, int base = 10) { + // Parse out filter string into a range (e.g. "1" -> {1, 1}, "1-3" -> {1, 3}, "1-" -> {1, inf}) + bool ok1 = true, ok2 = true; + unsigned int parsed1 = std::numeric_limits::min(); + unsigned int parsed2 = std::numeric_limits::max(); + + auto s = filter.split('-'); + if (s.size() == 1) { + parsed1 = s[0].toUInt(ok, base); + return {parsed1, parsed1}; + } else if (s.size() == 2) { + if (!s[0].isEmpty()) parsed1 = s[0].toUInt(&ok1, base); + if (!s[1].isEmpty()) parsed2 = s[1].toUInt(&ok2, base); + + *ok = ok1 & ok2; + return {parsed1, parsed2}; + } else { + *ok = false; + return {0, 0}; + } +} + +bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, QMap &filters) { + auto cs = Qt::CaseInsensitive; + bool match = true; + bool convert_ok; + + for (int column = Column::NAME; column <= Column::DATA; column++) { + if (!filters.contains(column)) continue; + QString txt = filters[column]; + + QRegularExpression re(txt, QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption); + + switch (column) { + case Column::NAME: + { + bool name_match = re.match(msgName(id)).hasMatch(); + + // Message signals + if (const auto msg = dbc()->msg(id)) { + for (auto s : msg->getSignals()) { + if (re.match(s->name).hasMatch()) { + name_match = true; + break; + } + } + } + if (!name_match) match = false; + } + break; + case Column::SOURCE: + { + auto source = parseRange(txt, &convert_ok); + bool source_match = convert_ok && (id.source >= source.first && id.source <= source.second); + if (!source_match) match = false; + } + break; + case Column::ADDRESS: + { + QString address_str = QString::number(id.address, 16); + bool address_re_match = re.match(address_str).capturedLength() == address_str.length(); + + auto address = parseRange(txt, &convert_ok, 16); + bool address_match = convert_ok && (id.address >= address.first && id.address <= address.second); + + if (!address_re_match && !address_match) match = false; + } + break; + case Column::FREQ: + { + // TODO: Hide stale messages? + auto freq = parseRange(txt, &convert_ok); + bool freq_match = convert_ok && (data.freq >= freq.first && data.freq <= freq.second); + if (!freq_match) match = false; + } + break; + case Column::COUNT: + { + auto count = parseRange(txt, &convert_ok); + bool count_match = convert_ok && (data.count >= count.first && data.count <= count.second); + if (!count_match) match = false; + } + break; + case Column::DATA: + { + bool data_match = false; + data_match |= QString(data.dat.toHex()).contains(txt, cs); + data_match |= re.match(QString(data.dat.toHex())).hasMatch(); + data_match |= re.match(QString(data.dat.toHex(' '))).hasMatch(); + + if (!data_match) match = false; + } + break; + } + } + return match; +} + + +void MessageListModel::fetchData() { + QList new_msgs; + for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) { + if (matchMessage(it.key(), it.value(), filter_str)) { + new_msgs.push_back(it.key()); + } } - if (msgs.size() != prev_row_count) { - sortMessages(); - return; + sortMessages(sort_order, sort_column, new_msgs); + + if (msgs != new_msgs) { + beginResetModel(); + msgs = new_msgs; + endResetModel(); } +} + +void MessageListModel::msgsReceived(const QHash *new_msgs) { + QList prev_msgs = msgs; + fetchData(); + for (int i = 0; i < msgs.size(); ++i) { if (new_msgs->contains(msgs[i])) { - for (int col = 3; col < columnCount(); ++col) + for (int col = Column::FREQ; col < columnCount(); ++col) emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole}); } } @@ -225,7 +372,7 @@ void MessageListModel::sort(int column, Qt::SortOrder order) { if (column != columnCount() - 1) { sort_column = column; sort_order = order; - sortMessages(); + fetchData(); } } @@ -249,8 +396,155 @@ void MessageListModel::clearSuppress() { void MessageListModel::reset() { beginResetModel(); - filter_str = ""; + filter_str.clear(); msgs.clear(); clearSuppress(); endResetModel(); } + +void MessageListModel::forceResetModel() { + beginResetModel(); + endResetModel(); +} + +// MessageView + +void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { + QTreeView::drawRow(painter, option, index); + const int gridHint = style()->styleHint(QStyle::SH_Table_GridLineColor, &option, this); + const QColor gridColor = QColor::fromRgba(static_cast(gridHint)); + QPen old_pen = painter->pen(); + painter->setPen(gridColor); + painter->drawLine(option.rect.left(), option.rect.bottom(), option.rect.right(), option.rect.bottom()); + + auto y = option.rect.y(); + painter->translate(visualRect(model()->index(0, 0)).x() - indentation() - .5, -.5); + for (int i = 0; i < header()->count(); ++i) { + painter->translate(header()->sectionSize(header()->logicalIndex(i)), 0); + painter->drawLine(0, y, 0, y + option.rect.height()); + } + painter->setPen(old_pen); + painter->resetTransform(); +} + +void MessageView::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles) { + // Bypass the slow call to QTreeView::dataChanged. + // QTreeView::dataChanged will invalidate the height cache and that's what we don't need in MessageView. + QAbstractItemView::dataChanged(topLeft, bottomRight, roles); +} + +void MessageView::updateBytesSectionSize() { + auto delegate = ((MessageBytesDelegate *)itemDelegate()); + int max_bytes = 8; + if (!delegate->multipleLines()) { + for (auto it = can->last_msgs.constBegin(); it != can->last_msgs.constEnd(); ++it) { + max_bytes = std::max(max_bytes, it.value().dat.size()); + } + } + int width = delegate->widthForBytes(max_bytes); + if (header()->sectionSize(5) != width) { + header()->resizeSection(5, width); + } +} + +void MessageView::headerContextMenuEvent(const QPoint &pos) { + QMenu *menu = new QMenu(this); + int cur_index = header()->logicalIndexAt(pos); + + QString column_name; + QAction *action; + for (int visual_index = 0; visual_index < header()->count(); visual_index++) { + int logical_index = header()->logicalIndex(visual_index); + column_name = model()->headerData(logical_index, Qt::Horizontal).toString(); + + // Hide show action + if (header()->isSectionHidden(logical_index)) { + action = menu->addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); }); + } else { + action = menu->addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); }); + } + + // Can't hide the name column + action->setEnabled(logical_index > 0); + + // Make current column bold + if (logical_index == cur_index) { + QFont font = action->font(); + font.setBold(true); + action->setFont(font); + } + } + + menu->popup(header()->mapToGlobal(pos)); +} + +MessageViewHeader::MessageViewHeader(QWidget *parent, MessageListModel *model) : model(model), QHeaderView(Qt::Horizontal, parent) { + QObject::connect(this, &QHeaderView::sectionResized, this, &MessageViewHeader::updateHeaderPositions); + QObject::connect(this, &QHeaderView::sectionMoved, this, &MessageViewHeader::updateHeaderPositions); +} + +void MessageViewHeader::showEvent(QShowEvent *e) { + + for (int i = 0; i < count(); i++) { + if (!editors[i]) { + QString column_name = model->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString(); + editors[i] = new QLineEdit(this); + editors[i]->setClearButtonEnabled(true); + editors[i]->setPlaceholderText(tr("Filter %1").arg(column_name)); + + QObject::connect(editors[i], &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters); + } + editors[i]->show(); + } + QHeaderView::showEvent(e); +} + +void MessageViewHeader::updateFilters() { + QMap filters; + for (int i = 0; i < count(); i++) { + if (editors[i]) { + QString filter = editors[i]->text(); + if (!filter.isEmpty()) { + filters[i] = filter; + } + } + } + emit filtersUpdated(filters); +} + +void MessageViewHeader::clearFilters() { + for (QLineEdit *editor : editors) { + editor->clear(); + } +} + +void MessageViewHeader::updateHeaderPositions() { + QSize sz = QHeaderView::sizeHint(); + for (int i = 0; i < count(); i++) { + if (editors[i]) { + int h = editors[i]->sizeHint().height(); + editors[i]->move(sectionViewportPosition(i), sz.height()); + editors[i]->resize(sectionSize(i), h); + editors[i]->setHidden(isSectionHidden(i)); + } + } +} + +void MessageViewHeader::updateGeometries() { + if (editors[0]) { + setViewportMargins(0, 0, 0, editors[0]->sizeHint().height()); + } else { + setViewportMargins(0, 0, 0, 0); + } + QHeaderView::updateGeometries(); + updateHeaderPositions(); +} + + +QSize MessageViewHeader::sizeHint() const { + QSize sz = QHeaderView::sizeHint(); + if (editors[0]) { + sz.setHeight(sz.height() + editors[0]->minimumSizeHint().height()); + } + return sz; +} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index d4ef896519..c559467919 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -1,10 +1,14 @@ #pragma once #include +#include +#include #include +#include #include +#include #include -#include +#include #include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" @@ -13,47 +17,102 @@ class MessageListModel : public QAbstractTableModel { Q_OBJECT public: + + enum Column { + NAME = 0, + SOURCE, + ADDRESS, + FREQ, + COUNT, + DATA, + }; + MessageListModel(QObject *parent) : QAbstractTableModel(parent) {} QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 6; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return Column::DATA + 1; } QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; - void setFilterString(const QString &string); + void setFilterStrings(const QMap &filters); void msgsReceived(const QHash *new_msgs = nullptr); - void sortMessages(); + void fetchData(); void suppress(); void clearSuppress(); void reset(); + void forceResetModel(); QList msgs; QSet> suppressed_bytes; private: - QString filter_str; + static void sortMessages(Qt::SortOrder sort_order, int sort_column, QList &new_msgs); + static bool matchMessage(const MessageId &id, const CanData &data, QMap &filters); + + QMap filter_str; int sort_column = 0; Qt::SortOrder sort_order = Qt::AscendingOrder; }; +class MessageView : public QTreeView { + Q_OBJECT +public: + MessageView(QWidget *parent) : QTreeView(parent) {} + void drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {} + void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles = QVector()) override; + void updateBytesSectionSize(); + void headerContextMenuEvent(const QPoint &pos); +}; + +class MessageViewHeader : public QHeaderView { + // https://stackoverflow.com/a/44346317 + + Q_OBJECT +public: + MessageViewHeader(QWidget *parent, MessageListModel *model); + void showEvent(QShowEvent *e) override; + void updateHeaderPositions(); + + void updateGeometries() override; + QSize sizeHint() const override; + +public slots: + void clearFilters(); + +signals: + void filtersUpdated(const QMap &filters); + +private: + void updateFilters(); + + QMap editors; + QMap> values; + MessageListModel *model; +}; + class MessagesWidget : public QWidget { Q_OBJECT public: MessagesWidget(QWidget *parent); void selectMessage(const MessageId &message_id); - QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); } - bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); } + QByteArray saveHeaderState() const { return view->header()->saveState(); } + bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); } void updateSuppressedButtons(); void reset(); +public slots: + void dbcModified(); + signals: void msgSelectionChanged(const MessageId &message_id); protected: - QTableView *table_widget; + MessageView *view; + MessageViewHeader *header; std::optional current_msg_id; - QLineEdit *filter; + QCheckBox *multiple_lines_bytes; MessageListModel *model; QPushButton *suppress_add; QPushButton *suppress_clear; - + QLabel *num_msg_label; }; diff --git a/tools/cabana/route.cc b/tools/cabana/route.cc deleted file mode 100644 index ab322cdf90..0000000000 --- a/tools/cabana/route.cc +++ /dev/null @@ -1,68 +0,0 @@ -#include "tools/cabana/route.h" - -#include -#include -#include -#include -#include -#include - -#include "tools/cabana/streams/replaystream.h" - -OpenRouteDialog::OpenRouteDialog(QWidget *parent) : QDialog(parent) { - // TODO: get route list from api.comma.ai - QHBoxLayout *edit_layout = new QHBoxLayout; - edit_layout->addWidget(new QLabel(tr("Route:"))); - edit_layout->addWidget(route_edit = new QLineEdit(this)); - route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route")); - auto file_btn = new QPushButton(tr("Browse..."), this); - edit_layout->addWidget(file_btn); - - btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); - btn_box->button(QDialogButtonBox::Open)->setEnabled(false); - - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->addStretch(0); - main_layout->addLayout(edit_layout); - main_layout->addStretch(0); - main_layout->addWidget(btn_box); - setMinimumSize({550, 120}); - - QObject::connect(btn_box, &QDialogButtonBox::accepted, this, &OpenRouteDialog::loadRoute); - QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); - QObject::connect(route_edit, &QLineEdit::textChanged, [this]() { - btn_box->button(QDialogButtonBox::Open)->setEnabled(!route_edit->text().isEmpty()); - }); - QObject::connect(file_btn, &QPushButton::clicked, [=]() { - QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir); - if (!dir.isEmpty()) { - route_edit->setText(dir); - settings.last_route_dir = QFileInfo(dir).absolutePath(); - } - }); -} - -void OpenRouteDialog::loadRoute() { - btn_box->setEnabled(false); - - QString route = route_edit->text(); - QString data_dir; - if (int idx = route.lastIndexOf('/'); idx != -1) { - data_dir = route.mid(0, idx + 1); - route = route.mid(idx + 1); - } - - bool is_valid_format = Route::parseRoute(route).str.size() > 0; - if (!is_valid_format) { - QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route)); - } else { - failed_to_load = !dynamic_cast(can)->loadRoute(route, data_dir); - if (failed_to_load) { - QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route)); - } else { - accept(); - } - } - - btn_box->setEnabled(true); -} diff --git a/tools/cabana/route.h b/tools/cabana/route.h deleted file mode 100644 index ceda71d585..0000000000 --- a/tools/cabana/route.h +++ /dev/null @@ -1,19 +0,0 @@ -#pragma once - -#include -#include -#include - -class OpenRouteDialog : public QDialog { - Q_OBJECT - -public: - OpenRouteDialog(QWidget *parent); - void loadRoute(); - inline bool failedToLoad() const { return failed_to_load; } - -private: - QLineEdit *route_edit; - QDialogButtonBox *btn_box; - bool failed_to_load = false; -}; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 9e829708b1..d0cada680a 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -1,11 +1,16 @@ #include "tools/cabana/settings.h" +#include #include #include +#include #include +#include #include +#include + +#include "tools/cabana/util.h" -// Settings Settings settings; Settings::Settings() { @@ -25,9 +30,15 @@ void Settings::save() { s.setValue("geometry", geometry); s.setValue("video_splitter_state", video_splitter_state); s.setValue("recent_files", recent_files); - s.setValue("message_header_state", message_header_state); + s.setValue("message_header_state_v3", message_header_state); s.setValue("chart_series_type", chart_series_type); + s.setValue("theme", theme); s.setValue("sparkline_range", sparkline_range); + s.setValue("multiple_lines_bytes", multiple_lines_bytes); + s.setValue("log_livestream", log_livestream); + s.setValue("log_path", log_path); + s.setValue("drag_direction", drag_direction); + s.setValue("suppress_defined_signals", suppress_defined_signals); } void Settings::load() { @@ -43,16 +54,33 @@ void Settings::load() { geometry = s.value("geometry").toByteArray(); video_splitter_state = s.value("video_splitter_state").toByteArray(); recent_files = s.value("recent_files").toStringList(); - message_header_state = s.value("message_header_state").toByteArray(); + message_header_state = s.value("message_header_state_v3").toByteArray(); chart_series_type = s.value("chart_series_type", 0).toInt(); + theme = s.value("theme", 0).toInt(); sparkline_range = s.value("sparkline_range", 15).toInt(); + multiple_lines_bytes = s.value("multiple_lines_bytes", true).toBool(); + log_livestream = s.value("log_livestream", true).toBool(); + log_path = s.value("log_path").toString(); + drag_direction = (Settings::DragDirection)s.value("drag_direction", 0).toInt(); + suppress_defined_signals = s.value("suppress_defined_signals", false).toBool(); + if (log_path.isEmpty()) { + log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/"; + } } // SettingsDlg SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Settings")); - QFormLayout *form_layout = new QFormLayout(this); + QVBoxLayout *main_layout = new QVBoxLayout(this); + QGroupBox *groupbox = new QGroupBox("General"); + QFormLayout *form_layout = new QFormLayout(groupbox); + + theme = new QComboBox(this); + theme->setToolTip(tr("You may need to restart cabana after changes theme")); + theme->addItems({tr("Automatic"), tr("Light"), tr("Dark")}); + theme->setCurrentIndex(settings.theme); + form_layout->addRow(tr("Color Theme"), theme); fps = new QSpinBox(this); fps->setRange(10, 100); @@ -65,7 +93,18 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { cached_minutes->setSingleStep(1); cached_minutes->setValue(settings.max_cached_minutes); form_layout->addRow(tr("Max Cached Minutes"), cached_minutes); + main_layout->addWidget(groupbox); + + groupbox = new QGroupBox("New Signal Settings"); + form_layout = new QFormLayout(groupbox); + drag_direction = new QComboBox(this); + drag_direction->addItems({tr("MSB First"), tr("LSB First"), tr("Always Little Endian"), tr("Always Big Endian")}); + drag_direction->setCurrentIndex(settings.drag_direction); + form_layout->addRow(tr("Drag Direction"), drag_direction); + main_layout->addWidget(groupbox); + groupbox = new QGroupBox("Chart"); + form_layout = new QFormLayout(groupbox); chart_series_type = new QComboBox(this); chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")}); chart_series_type->setCurrentIndex(settings.chart_series_type); @@ -76,21 +115,56 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { chart_height->setSingleStep(10); chart_height->setValue(settings.chart_height); form_layout->addRow(tr("Chart Height"), chart_height); + main_layout->addWidget(groupbox); + + log_livestream = new QGroupBox(tr("Enable live stream logging"), this); + log_livestream->setCheckable(true); + QHBoxLayout *path_layout = new QHBoxLayout(log_livestream); + path_layout->addWidget(log_path = new QLineEdit(settings.log_path, this)); + log_path->setReadOnly(true); + auto browse_btn = new QPushButton(tr("B&rowse...")); + path_layout->addWidget(browse_btn); + main_layout->addWidget(log_livestream); + - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - form_layout->addRow(buttonBox); + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply); + main_layout->addWidget(buttonBox); + main_layout->addStretch(1); - setFixedWidth(360); - connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save); - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); + QObject::connect(browse_btn, &QPushButton::clicked, [this]() { + QString fn = QFileDialog::getExistingDirectory( + this, tr("Log File Location"), + QStandardPaths::writableLocation(QStandardPaths::HomeLocation), + QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks); + if (!fn.isEmpty()) { + log_path->setText(fn); + } + }); + QObject::connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) { + auto role = buttonBox->buttonRole(button); + if (role == QDialogButtonBox::AcceptRole) { + save(); + accept(); + } else if (role == QDialogButtonBox::ApplyRole) { + save(); + } else if (role == QDialogButtonBox::RejectRole) { + reject(); + } + }); } void SettingsDlg::save() { settings.fps = fps->value(); + if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) { + // set theme before emit changed + utils::setTheme(settings.theme); + } settings.max_cached_minutes = cached_minutes->value(); settings.chart_series_type = chart_series_type->currentIndex(); settings.chart_height = chart_height->value(); + settings.log_livestream = log_livestream->isChecked(); + settings.log_path = log_path->text(); + settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex(); settings.save(); - accept(); emit settings.changed(); } diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index a8b6d189a5..b8a3797f86 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -1,14 +1,27 @@ #pragma once #include +#include #include #include +#include +#include #include +#define LIGHT_THEME 1 +#define DARK_THEME 2 + class Settings : public QObject { Q_OBJECT public: + enum DragDirection { + MsbFirst, + LsbFirst, + AlwaysLE, + AlwaysBE, + }; + Settings(); void save(); void load(); @@ -19,7 +32,12 @@ public: int chart_column_count = 1; int chart_range = 3 * 60; // 3 minutes int chart_series_type = 0; + int theme = 0; int sparkline_range = 15; // 15 seconds + bool multiple_lines_bytes = true; + bool log_livestream = true; + bool suppress_defined_signals = false; + QString log_path; QString last_dir; QString last_route_dir; QByteArray geometry; @@ -27,6 +45,7 @@ public: QByteArray window_state; QStringList recent_files; QByteArray message_header_state; + DragDirection drag_direction; signals: void changed(); @@ -42,6 +61,10 @@ public: QSpinBox *cached_minutes; QSpinBox *chart_height; QComboBox *chart_series_type; + QComboBox *theme; + QGroupBox *log_livestream; + QLineEdit *log_path; + QComboBox *drag_direction; }; extern Settings settings; diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 4f841a2866..84043f7a1f 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -5,8 +5,13 @@ #include #include #include +#include #include +#include +#include #include +#include +#include #include #include "tools/cabana/commands.h" @@ -20,7 +25,6 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalModel::handleSignalAdded); QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalModel::handleSignalUpdated); QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved); - QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalModel::updateState); } void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) { @@ -36,7 +40,6 @@ void SignalModel::setMessage(const MessageId &id) { msg_id = id; filter_str = ""; refresh(); - updateState(nullptr); } void SignalModel::setFilter(const QString &txt) { @@ -57,32 +60,6 @@ void SignalModel::refresh() { endResetModel(); } -void SignalModel::updateState(const QHash *msgs) { - if (!msgs || msgs->contains(msg_id)) { - auto &dat = can->lastMessage(msg_id).dat; - int row = 0; - for (auto item : root->children) { - double value = get_raw_value((uint8_t *)dat.constData(), dat.size(), *item->sig); - item->sig_val = QString::number(value, 'f', item->sig->precision); - - // Show unit - if (!item->sig->unit.isEmpty()) { - item->sig_val += " " + item->sig->unit; - } - - // Show enum string - for (auto &[val, desc] : item->sig->val_desc) { - if (std::abs(value - val.toInt()) < 1e-6) { - item->sig_val = desc; - } - } - - emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole}); - ++row; - } - } -} - SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const { SignalModel::Item *item = nullptr; if (index.isValid()) { @@ -247,19 +224,13 @@ bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) void SignalModel::addSignal(int start_bit, int size, bool little_endian) { auto msg = dbc()->msg(msg_id); - for (int i = 0; !msg; ++i) { - QString name = QString("NEW_MSG_") + QString::number(msg_id.address, 16).toUpper(); - if (!dbc()->msg(msg_id.source, name)) { - UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); - msg = dbc()->msg(msg_id); - } + if (!msg) { + QString name = dbc()->newMsgName(msg_id); + UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); + msg = dbc()->msg(msg_id); } - cabana::Signal sig = {.is_little_endian = little_endian, .factor = 1, .min = "0", .max = QString::number(std::pow(2, size) - 1)}; - for (int i = 1; /**/; ++i) { - sig.name = QString("NEW_SIGNAL_%1").arg(i); - if (msg->sig(sig.name) == nullptr) break; - } + cabana::Signal sig = {.name = dbc()->newSignalName(msg_id), .is_little_endian = little_endian, .factor = 1, .min = "0", .max = QString::number(std::pow(2, size) - 1)}; updateSigSizeParamsFromRange(sig, start_bit, size); UndoStack::push(new AddSigCommand(msg_id, sig)); } @@ -272,6 +243,9 @@ void SignalModel::resizeSignal(const cabana::Signal *sig, int start_bit, int siz void SignalModel::removeSignal(const cabana::Signal *sig) { UndoStack::push(new RemoveSigCommand(msg_id, sig)); + if (dbc()->signalCount(msg_id) == 0) { + UndoStack::push(new RemoveMsgCommand(msg_id)); + } } void SignalModel::handleMsgChanged(MessageId id) { @@ -289,7 +263,6 @@ void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) { beginInsertRows({}, i, i); insertItem(root.get(), i, sig); endInsertRows(); - updateState(nullptr); } } @@ -313,7 +286,8 @@ SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(pa name_validator = new NameValidator(this); double_validator = new QDoubleValidator(this); double_validator->setLocale(QLocale::C); // Match locale of QString::toDouble() instead of system - small_font.setPointSize(8); + label_font.setPointSize(8); + minmax_font.setPixelSize(10); } QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -347,122 +321,71 @@ bool SignalItemDelegate::helpEvent(QHelpEvent *event, QAbstractItemView *view, c void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const { auto item = (SignalModel::Item *)index.internalPointer(); if (editor && item->type == SignalModel::Item::Sig && index.column() == 1) { - QRect geom = option.widget->style()->subElementRect(QStyle::SE_ItemViewItemText, &option); + QRect geom = option.rect; geom.setLeft(geom.right() - editor->sizeHint().width()); editor->setGeometry(geom); + button_size = geom.size(); return; } QStyledItemDelegate::updateEditorGeometry(editor, option, index); } void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { - int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; - int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); auto item = (SignalModel::Item *)index.internalPointer(); - if (index.column() == 0 && item && item->type == SignalModel::Item::Sig) { - painter->save(); + if (item && item->type == SignalModel::Item::Sig) { painter->setRenderHint(QPainter::Antialiasing); if (option.state & QStyle::State_Selected) { painter->fillRect(option.rect, option.palette.highlight()); } - // color label - auto bg_color = getColor(item->sig); - QRect rc{option.rect.left() + h_margin, option.rect.top(), color_label_width, option.rect.height()}; - painter->setPen(Qt::NoPen); - painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color); - painter->drawRoundedRect(rc.adjusted(0, v_margin, 0, -v_margin), 3, 3); - painter->setPen(item->highlight ? Qt::white : Qt::black); - painter->setFont(small_font); - painter->drawText(rc, Qt::AlignCenter, QString::number(item->row() + 1)); - - // signal name - painter->setFont(option.font); - painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); - QString text = index.data(Qt::DisplayRole).toString(); - QRect text_rect = option.rect; - text_rect.setLeft(rc.right() + h_margin * 2); - text = painter->fontMetrics().elidedText(text, Qt::ElideRight, text_rect.width()); - painter->drawText(text_rect, option.displayAlignment, text); - painter->restore(); - } else if (index.column() == 1 && item && item->type == SignalModel::Item::Sig) { - painter->save(); - if (option.state & QStyle::State_Selected) { - painter->fillRect(option.rect, option.palette.highlight()); + int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; + int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); + QRect r = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin); + if (index.column() == 0) { + // color label + QPainterPath path; + QRect icon_rect{r.x(), r.y(), color_label_width, r.height()}; + path.addRoundedRect(icon_rect, 3, 3); + painter->setPen(item->highlight ? Qt::white : Qt::black); + painter->setFont(label_font); + painter->fillPath(path, getColor(item->sig).darker(item->highlight ? 125 : 0)); + painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1)); + + r.setLeft(icon_rect.right() + h_margin * 2); + auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, r.width()); + painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); + painter->setFont(option.font); + painter->drawText(r, option.displayAlignment, text); + } else if (index.column() == 1) { + // sparkline + QSize sparkline_size = item->sparkline.pixmap.size() / item->sparkline.pixmap.devicePixelRatio(); + painter->drawPixmap(QRect(r.topLeft(), sparkline_size), item->sparkline.pixmap); + // min-max value + painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); + QRect rect = r.adjusted(sparkline_size.width() + 1, 0, 0, 0); + int value_adjust = 10; + if (item->highlight || option.state & QStyle::State_Selected) { + painter->drawLine(rect.topLeft(), rect.bottomLeft()); + rect.adjust(5, -v_margin, 0, v_margin); + painter->setFont(minmax_font); + QString min = QString::number(item->sparkline.min_val); + QString max = QString::number(item->sparkline.max_val); + painter->drawText(rect, Qt::AlignLeft | Qt::AlignTop, max); + painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min); + QFontMetrics fm(minmax_font); + value_adjust = std::max(fm.width(min), fm.width(max)) + 5; + } + // value + painter->setFont(option.font); + rect.adjust(value_adjust, 0, -button_size.width(), 0); + auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width()); + painter->drawText(rect, Qt::AlignRight | Qt::AlignVCenter, text); } - - int adjust_right = ((SignalView *)parent())->tree->indexWidget(index)->sizeHint().width() + 2 * h_margin; - QRect r = option.rect.adjusted(h_margin, v_margin, -adjust_right, -v_margin); - // draw signal value - QRect value_rect = r.adjusted(r.width() * 0.6 + h_margin, 0, 0, 0); - auto text = painter->fontMetrics().elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, value_rect.width()); - painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); - painter->drawText(value_rect, Qt::AlignRight | Qt::AlignVCenter, text); - - QRect sparkline_rect = r.adjusted(0, 0, -r.width() * 0.4 - h_margin, 0); - drawSparkline(painter, sparkline_rect, index); - painter->restore(); } else { QStyledItemDelegate::paint(painter, option, index); } } -void SignalItemDelegate::drawSparkline(QPainter *painter, const QRect &rect, const QModelIndex &index) const { - static std::vector points; - const auto &msg_id = ((SignalView *)parent())->msg_id; - const auto &msgs = can->events().at(msg_id); - - uint64_t ts = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9; - auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = (uint64_t)std::max(ts - settings.sparkline_range * 1e9, 0)}); - auto last = std::upper_bound(first, msgs.cend(), CanEvent{.mono_time = ts}); - - if (first != last) { - double min = std::numeric_limits::max(); - double max = std::numeric_limits::lowest(); - const auto item = (const SignalModel::Item *)index.internalPointer(); - const auto sig = item->sig; - points.clear(); - for (auto it = first; it != last; ++it) { - double value = get_raw_value(it->dat, it->size, *sig); - points.emplace_back((it->mono_time - first->mono_time) / 1e9, value); - min = std::min(min, value); - max = std::max(max, value); - } - if (min == max) { - min -= 1; - max += 1; - } - - const double xscale = rect.width() / (double)settings.sparkline_range; - const double yscale = rect.height() / (max - min); - for (auto &pt : points) { - pt.rx() = rect.left() + pt.x() * xscale; - pt.ry() = rect.top() + std::abs(pt.y() - max) * yscale; - } - - painter->setPen(getColor(sig)); - painter->drawPolyline(points.data(), points.size()); - if ((points.back().x() - points.front().x()) / points.size() > 10) { - painter->setPen(Qt::NoPen); - painter->setBrush(getColor(sig)); - for (const auto &pt : points) { - painter->drawEllipse(pt, 2, 2); - } - } - - if (item->highlight) { - QFont font; - font.setPixelSize(10); - painter->setFont(font); - painter->setPen(Qt::darkGray); - painter->drawLine(rect.topRight(), rect.bottomRight()); - QRect minmax_rect{rect.right() + 3, rect.top(), 1000, rect.height()}; - painter->drawText(minmax_rect, Qt::AlignLeft | Qt::AlignTop, QString::number(max)); - painter->drawText(minmax_rect, Qt::AlignLeft | Qt::AlignBottom, QString::number(min)); - } - } -} - QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const { auto item = (SignalModel::Item *)index.internalPointer(); if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset || @@ -521,14 +444,14 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), sparkline_range_slider->setValue(settings.sparkline_range); sparkline_range_slider->setToolTip(tr("Sparkline time range")); - auto collapse_btn = toolButton("dash-square", tr("Collapse All")); + auto collapse_btn = new ToolButton("dash-square", tr("Collapse All")); collapse_btn->setIconSize({12, 12}); hl->addWidget(collapse_btn); // tree view tree = new TreeView(this); tree->setModel(model = new SignalModel(this)); - tree->setItemDelegate(new SignalItemDelegate(this)); + tree->setItemDelegate(delegate = new SignalItemDelegate(this)); tree->setFrameShape(QFrame::NoFrame); tree->setHeaderHidden(true); tree->setMouseTracking(true); @@ -554,6 +477,10 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged); QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged); QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); }); + QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState); + QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalView::handleSignalUpdated); + QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); }); + QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); }); setWhatsThis(tr(R"( Signal view
@@ -562,7 +489,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), } void SignalView::setMessage(const MessageId &id) { - msg_id = id; + max_value_width = 0; filter_edit->clear(); model->setMessage(id); } @@ -578,8 +505,8 @@ void SignalView::rowsChanged() { h->setContentsMargins(0, v_margin, -h_margin, v_margin); h->setSpacing(style()->pixelMetric(QStyle::PM_ToolBarItemSpacing)); - auto remove_btn = toolButton("x", tr("Remove signal")); - auto plot_btn = toolButton("graph-up", ""); + auto remove_btn = new ToolButton("x", tr("Remove signal")); + auto plot_btn = new ToolButton("graph-up", ""); plot_btn->setCheckable(true); h->addWidget(plot_btn); h->addWidget(remove_btn); @@ -588,12 +515,13 @@ void SignalView::rowsChanged() { auto sig = model->getItem(index)->sig; QObject::connect(remove_btn, &QToolButton::clicked, [=]() { model->removeSignal(sig); }); QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) { - emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); + emit showChart(model->msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier); }); } } updateToolBar(); updateChartState(); + updateState(); } void SignalView::rowClicked(const QModelIndex &index) { @@ -620,7 +548,7 @@ void SignalView::selectSignal(const cabana::Signal *sig, bool expand) { void SignalView::updateChartState() { int i = 0; for (auto item : model->root->children) { - bool chart_opened = charts->hasSignal(msg_id, item->sig); + bool chart_opened = charts->hasSignal(model->msg_id, item->sig); auto buttons = tree->indexWidget(model->index(i, 1))->findChildren(); if (buttons.size() > 0) { buttons[0]->setChecked(chart_opened); @@ -643,13 +571,68 @@ void SignalView::signalHovered(const cabana::Signal *sig) { void SignalView::updateToolBar() { signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount())); - sparkline_label->setText(QString("Range: %1 ").arg(utils::formatSeconds(settings.sparkline_range))); + sparkline_label->setText(utils::formatSeconds(settings.sparkline_range)); } void SignalView::setSparklineRange(int value) { settings.sparkline_range = value; updateToolBar(); - model->updateState(nullptr); + updateState(); +} + +void SignalView::handleSignalUpdated(const cabana::Signal *sig) { + if (int row = model->signalRow(sig); row != -1) { + auto item = model->getItem(model->index(row, 1)); + // invalidate the sparkline + item->sparkline.last_ts = 0; + updateState(); + } +} + +void SignalView::updateState(const QHash *msgs) { + if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id))) return; + + const auto &last_msg = can->lastMessage(model->msg_id); + for (auto item : model->root->children) { + double value = get_raw_value((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), *item->sig); + item->sig_val = item->sig->formatValue(value); + max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val)); + } + + QModelIndex top = tree->indexAt(QPoint(0, 0)); + if (top.isValid()) { + // update visible sparkline + int first_visible_row = top.parent().isValid() ? top.parent().row() + 1 : top.row(); + int last_visible_row = model->rowCount() - 1; + QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft()); + if (bottom.isValid()) { + last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row(); + } + + QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height()); + int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5); + int value_width = std::min(max_value_width, size.width() * 0.35); + size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2}; + + QFutureSynchronizer synchronizer; + for (int i = first_visible_row; i <= last_visible_row; ++i) { + auto item = model->getItem(model->index(i, 1)); + auto &s = item->sparkline; + if (s.last_ts != last_msg.ts || s.size() != size || s.time_range != settings.sparkline_range) { + synchronizer.addFuture(QtConcurrent::run( + &s, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size)); + } + } + } + + for (int i = 0; i < model->rowCount(); ++i) { + emit model->dataChanged(model->index(i, 1), model->index(i, 1), {Qt::DisplayRole}); + } +} + +void SignalView::resizeEvent(QResizeEvent* event) { + updateState(); + QFrame::resizeEvent(event); } void SignalView::leaveEvent(QEvent *event) { diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 711748937a..02741234a6 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -8,7 +8,8 @@ #include #include -#include "tools/cabana/chartswidget.h" +#include "tools/cabana/chart/chartswidget.h" +#include "tools/cabana/chart/sparkline.h" class SignalModel : public QAbstractItemModel { Q_OBJECT @@ -27,6 +28,7 @@ public: bool highlight = false; bool extra_expanded = false; QString sig_val = "-"; + Sparkline sparkline; }; SignalModel(QObject *parent); @@ -54,12 +56,12 @@ private: void handleSignalRemoved(const cabana::Signal *sig); void handleMsgChanged(MessageId id); void refresh(); - void updateState(const QHash *msgs); MessageId msg_id; QString filter_str; std::unique_ptr root; friend class SignalView; + friend class SignalItemDelegate; }; class ValueDescriptionDlg : public QDialog { @@ -84,11 +86,12 @@ public: QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const; QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override; bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override; - void drawSparkline(QPainter *painter, const QRect &rect, const QModelIndex &index) const; - void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + QValidator *name_validator, *double_validator; - QFont small_font; + QFont label_font, minmax_font; const int color_label_width = 18; + mutable QSize button_size; mutable QHash width_cache; }; @@ -103,7 +106,6 @@ public: void selectSignal(const cabana::Signal *sig, bool expand = false); void rowClicked(const QModelIndex &index); SignalModel *model = nullptr; - MessageId msg_id; signals: void highlight(const cabana::Signal *sig); @@ -111,9 +113,12 @@ signals: private: void rowsChanged(); - void leaveEvent(QEvent *event); + void leaveEvent(QEvent *event) override; + void resizeEvent(QResizeEvent* event) override; void updateToolBar(); void setSparklineRange(int value); + void handleSignalUpdated(const cabana::Signal *sig); + void updateState(const QHash *msgs = nullptr); struct TreeView : public QTreeView { TreeView(QWidget *parent) : QTreeView(parent) {} @@ -122,13 +127,18 @@ private: // update widget geometries in QTreeView::rowsInserted QTreeView::rowsInserted(parent, start, end); } + void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles = QVector()) override { + // Bypass the slow call to QTreeView::dataChanged. + QAbstractItemView::dataChanged(topLeft, bottomRight, roles); + } }; - + int max_value_width = 0; TreeView *tree; QLabel *sparkline_label; QSlider *sparkline_range_slider; QLineEdit *filter_edit; ChartsWidget *charts; QLabel *signal_count_lb; + SignalItemDelegate *delegate; friend SignalItemDelegate; }; diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index d60beed0c8..3451c15291 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,18 +1,24 @@ #include "tools/cabana/streams/abstractstream.h" + #include AbstractStream *can = nullptr; -AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) { +AbstractStream::AbstractStream(QObject *parent) : QObject(parent) { can = this; new_msgs = std::make_unique>(); - QObject::connect(this, &AbstractStream::received, this, &AbstractStream::process, Qt::QueuedConnection); QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo); } -void AbstractStream::process(QHash *messages) { +void AbstractStream::updateMessages(QHash *messages) { + auto prev_src_size = sources.size(); for (auto it = messages->begin(); it != messages->end(); ++it) { - last_msgs[it.key()] = it.value(); + const auto &id = it.key(); + last_msgs[id] = it.value(); + sources.insert(id.source); + } + if (sources.size() != prev_src_size) { + emit sourcesUpdated(sources); } emit updated(); emit msgsReceived(messages); @@ -20,109 +26,193 @@ void AbstractStream::process(QHash *messages) { processing = false; } -bool AbstractStream::updateEvent(const Event *event) { - static double prev_update_ts = 0; - - if (event->which == cereal::Event::Which::CAN) { - double current_sec = event->mono_time / 1e9 - routeStartTime(); - for (const auto &c : event->event.getCan()) { - MessageId id = {.source = c.getSrc(), .address = c.getAddress()}; - CanData &data = (*new_msgs)[id]; - data.ts = current_sec; - data.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); - data.count = ++counters[id]; - data.freq = data.count / std::max(1.0, current_sec); - - auto &tracker = change_trackers[id]; - tracker.compute(data.dat, data.ts, data.freq); - data.colors = tracker.colors; - data.last_change_t = tracker.last_change_t; - data.bit_change_counts = tracker.bit_change_counts; - - if (!sources.contains(id.source)) { - sources.insert(id.source); - emit sourcesUpdated(sources); - } - } +void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) { + QList mask = settings.suppress_defined_signals ? dbc()->mask(id) : QList(); + all_msgs[id].compute((const char *)data, size, sec, getSpeed(), mask); + if (!new_msgs->contains(id)) { + new_msgs->insert(id, {}); + } +} - double ts = millis_since_boot(); - 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); +bool AbstractStream::postEvents() { + // delay posting CAN message if UI thread is busy + if (!processing) { + processing = true; + for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) { + it.value() = all_msgs[it.key()]; } + // use pointer to avoid data copy in queued connection. + QMetaObject::invokeMethod(this, std::bind(&AbstractStream::updateMessages, this, new_msgs.release()), Qt::QueuedConnection); + new_msgs.reset(new QHash); + new_msgs->reserve(100); + return true; } - return true; + return false; } const CanData &AbstractStream::lastMessage(const MessageId &id) { - static CanData empty_data; + static CanData empty_data = {}; auto it = last_msgs.find(id); return it != last_msgs.end() ? it.value() : empty_data; } // it is thread safe to update data in updateLastMsgsTo. -// updateEvent will not be called before replayStream::seekedTo return. +// updateLastMsgsTo is always called in UI thread. void AbstractStream::updateLastMsgsTo(double sec) { - new_msgs->clear(); - change_trackers.clear(); + new_msgs.reset(new QHash); + all_msgs.clear(); last_msgs.clear(); - counters.clear(); - - CanEvent last_event = {.mono_time = uint64_t((sec + routeStartTime()) * 1e9)}; - for (auto &[id, e] : events_) { - auto it = std::lower_bound(e.crbegin(), e.crend(), last_event, std::greater()); - if (it != e.crend()) { - auto &m = last_msgs[id]; - m.dat = QByteArray((const char *)it->dat, it->size); - m.ts = it->mono_time / 1e9 - routeStartTime(); - m.count = std::distance(it, e.crend()); - m.freq = m.count / std::max(1.0, m.ts); - m.last_change_t = QVector(m.dat.size(), m.ts); - m.colors = QVector(m.dat.size(), QColor(0, 0, 0, 0)); - m.bit_change_counts = QVector>(m.dat.size()); - counters[id] = m.count; + + uint64_t last_ts = (sec + routeStartTime()) * 1e9; + for (auto &[id, ev] : events_) { + auto it = std::lower_bound(ev.crbegin(), ev.crend(), last_ts, [](auto e, uint64_t ts) { + return e->mono_time > ts; + }); + QList mask = settings.suppress_defined_signals ? dbc()->mask(id) : QList(); + if (it != ev.crend()) { + double ts = (*it)->mono_time / 1e9 - routeStartTime(); + auto &m = all_msgs[id]; + m.compute((const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask); + m.count = std::distance(it, ev.crend()); + m.freq = m.count / std::max(1.0, ts); } } + last_msgs = all_msgs; + // use a timer to prevent recursive calls QTimer::singleShot(0, [this]() { emit updated(); emit msgsReceived(&last_msgs); }); } -void AbstractStream::parseEvents(std::unordered_map> &msgs, - std::vector::const_iterator first, std::vector::const_iterator last) { - for (; first != last; ++first) { - if ((*first)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*first)->event.getCan()) { +void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last) { + size_t memory_size = 0; + size_t events_cnt = 0; + for (auto it = first; it != last; ++it) { + if ((*it)->which == cereal::Event::Which::CAN) { + for (const auto &c : (*it)->event.getCan()) { + memory_size += sizeof(CanEvent) + sizeof(uint8_t) * c.getDat().size(); + ++events_cnt; + } + } + } + if (memory_size == 0) return; + + char *ptr = memory_blocks.emplace_back(new char[memory_size]).get(); + std::unordered_map> new_events_map; + std::vector new_events; + new_events.reserve(events_cnt); + for (auto it = first; it != last; ++it) { + if ((*it)->which == cereal::Event::Which::CAN) { + uint64_t ts = (*it)->mono_time; + for (const auto &c : (*it)->event.getCan()) { + CanEvent *e = (CanEvent *)ptr; + e->src = c.getSrc(); + e->address = c.getAddress(); + e->mono_time = ts; auto dat = c.getDat(); - auto &m = msgs[{.source = c.getSrc(), .address = c.getAddress()}].emplace_back(); - m.size = std::min(dat.size(), std::size(m.dat)); - memcpy(m.dat, (uint8_t *)dat.begin(), m.size); - m.mono_time = (*first)->mono_time; + e->size = dat.size(); + memcpy(e->dat, (uint8_t *)dat.begin(), e->size); + + new_events_map[{.source = e->src, .address = e->address}].push_back(e); + new_events.push_back(e); + ptr += sizeof(CanEvent) + sizeof(uint8_t) * e->size; } - last_event_ts = std::max(last_event_ts, (*first)->mono_time); } } + + bool append = new_events.front()->mono_time > lastest_event_ts; + for (auto &[id, new_e] : new_events_map) { + auto &e = events_[id]; + auto pos = append ? e.end() : std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) { + return l->mono_time < r->mono_time; + }); + e.insert(pos, new_e.cbegin(), new_e.cend()); + } + + auto pos = append ? all_events_.end() : std::upper_bound(all_events_.begin(), all_events_.end(), new_events.front(), [](auto l, auto r) { + return l->mono_time < r->mono_time; + }); + all_events_.insert(pos, new_events.cbegin(), new_events.cend()); + + lastest_event_ts = all_events_.back()->mono_time; + emit eventsMerged(); } -void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last, bool append) { - if (first == last) return; +// CanData + +constexpr int periodic_threshold = 10; +constexpr int start_alpha = 128; +constexpr float fade_time = 2.0; +const QColor CYAN = QColor(0, 187, 255, start_alpha); +const QColor RED = QColor(255, 0, 0, start_alpha); +const QColor GREYISH_BLUE = QColor(102, 86, 169, start_alpha / 2); +const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135); +const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135); +const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135); - if (append) { - parseEvents(events_, first, last); +static inline QColor blend(const QColor &a, const QColor &b) { + return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2); +} + +void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, const QList &mask, uint32_t in_freq) { + ts = current_sec; + ++count; + freq = in_freq == 0 ? count / std::max(1.0, current_sec) : in_freq; + if (dat.size() != size) { + dat.resize(size); + bit_change_counts.resize(size); + colors = QVector(size, QColor(0, 0, 0, 0)); + last_change_t = QVector(size, ts); + last_delta.resize(size); + same_delta_counter.resize(size); } else { - std::unordered_map> new_events; - parseEvents(new_events, first, last); - for (auto &[id, new_e] : new_events) { - auto &e = events_[id]; - auto it = std::upper_bound(e.cbegin(), e.cend(), new_e.front()); - e.insert(it, new_e.cbegin(), new_e.cend()); + bool lighter = settings.theme == DARK_THEME; + const QColor &cyan = !lighter ? CYAN : CYAN_LIGHTER; + const QColor &red = !lighter ? RED : RED_LIGHTER; + const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER; + + for (int i = 0; i < size; ++i) { + const uint8_t mask_byte = (i < mask.size()) ? (~mask[i]) : 0xff; + const uint8_t last = dat[i] & mask_byte; + const uint8_t cur = can_data[i] & mask_byte; + const int delta = cur - last; + + if (last != cur) { + double delta_t = ts - last_change_t[i]; + + // Keep track if signal is changing randomly, or mostly moving in the same direction + if (std::signbit(delta) == std::signbit(last_delta[i])) { + same_delta_counter[i] = std::min(16, same_delta_counter[i] + 1); + } else { + same_delta_counter[i] = std::max(0, same_delta_counter[i] - 4); + } + + // Mostly moves in the same direction, color based on delta up/down + if (delta_t * freq > periodic_threshold || same_delta_counter[i] > 8) { + // Last change was while ago, choose color based on delta up or down + colors[i] = (cur > last) ? cyan : red; + } else { + // Periodic changes + colors[i] = blend(colors[i], greyish_blue); + } + + // Track bit level changes + const uint8_t tmp = (cur ^ last); + for (int bit = 0; bit < 8; bit++) { + if (tmp & (1 << bit)) { + bit_change_counts[i][bit] += 1; + } + } + + last_change_t[i] = ts; + last_delta[i] = delta; + } else { + // Fade out + float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed); + colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta)); + } } } - emit eventsMerged(); + memcpy(dat.data(), can_data, size); } diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 0515f7c7e8..80c11d2f19 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -12,48 +13,50 @@ #include "tools/replay/replay.h" struct CanData { + void compute(const char *dat, const int size, double current_sec, double playback_speed, const QList &mask, uint32_t in_freq = 0); + double ts = 0.; uint32_t count = 0; - uint32_t freq = 0; + double freq = 0; QByteArray dat; QVector colors; QVector last_change_t; QVector> bit_change_counts; + QVector last_delta; + QVector same_delta_counter; }; struct CanEvent { + uint8_t src; + uint32_t address; uint64_t mono_time; uint8_t size; - uint8_t dat[64]; - inline bool operator<(const CanEvent &r) const { return mono_time < r.mono_time; } - inline bool operator>(const CanEvent &r) const { return mono_time > r.mono_time; } + uint8_t dat[]; }; class AbstractStream : public QObject { Q_OBJECT public: - AbstractStream(QObject *parent, bool is_live_streaming); + AbstractStream(QObject *parent); virtual ~AbstractStream() {}; - inline bool liveStreaming() const { return is_live_streaming; } - inline double lastEventSecond() const { return last_event_ts / 1e9 - routeStartTime(); } + inline bool liveStreaming() const { return route() == nullptr; } virtual void seekTo(double ts) {} virtual QString routeName() const = 0; virtual QString carFingerprint() const { return ""; } - virtual double totalSeconds() const { return 0; } virtual double routeStartTime() const { return 0; } virtual double currentSec() const = 0; - virtual QDateTime currentDateTime() const { return {}; } - virtual const CanData &lastMessage(const MessageId &id); + virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); } + const CanData &lastMessage(const MessageId &id); virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; } virtual const Route *route() const { return nullptr; } virtual void setSpeed(float speed) {} + virtual double getSpeed() { return 1; } virtual bool isPaused() const { return false; } virtual void pause(bool pause) {} - virtual const std::vector *rawEvents() const { return nullptr; } - const std::unordered_map> &events() const { return events_; } + const std::vector &allEvents() const { return all_events_; } + const std::vector &events(const MessageId &id) const { return events_.at(id); } virtual const std::vector> getTimeline() { return {}; } - void mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last, bool append); signals: void paused(); @@ -63,7 +66,6 @@ signals: void eventsMerged(); void updated(); void msgsReceived(const QHash *); - void received(QHash *); void sourcesUpdated(const SourceSet &s); public: @@ -71,18 +73,31 @@ public: SourceSet sources; protected: - virtual void process(QHash *); - bool updateEvent(const Event *event); + void mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last); + bool postEvents(); + uint64_t lastEventMonoTime() const { return lastest_event_ts; } + void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size); + void updateMessages(QHash *); void updateLastMsgsTo(double sec); - void parseEvents(std::unordered_map> &msgs, std::vector::const_iterator first, std::vector::const_iterator last); - bool is_live_streaming = false; + uint64_t lastest_event_ts = 0; std::atomic processing = false; - QHash counters; std::unique_ptr> new_msgs; - QHash change_trackers; - std::unordered_map> events_; - uint64_t last_event_ts = 0; + QHash all_msgs; + std::unordered_map> events_; + std::vector all_events_; + std::deque> memory_blocks; +}; + +class AbstractOpenStreamWidget : public QWidget { + Q_OBJECT +public: + AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {} + virtual bool open() = 0; + virtual QString title() = 0; + +protected: + AbstractStream **stream = nullptr; }; // A global pointer referring to the unique AbstractStream object diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc new file mode 100644 index 0000000000..5bbe527773 --- /dev/null +++ b/tools/cabana/streams/devicestream.cc @@ -0,0 +1,72 @@ +#include "tools/cabana/streams/devicestream.h" + +#include +#include +#include +#include +#include + +// DeviceStream + +DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) { + startStreamThread(); +} + +void DeviceStream::streamThread() { + if (!zmq_address.isEmpty()) { + setenv("ZMQ", "1", 1); + } + + std::unique_ptr context(Context::create()); + std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString(); + std::unique_ptr sock(SubSocket::create(context.get(), "can", address)); + assert(sock != NULL); + sock->setTimeout(50); + // run as fast as messages come in + while (!QThread::currentThread()->isInterruptionRequested()) { + Message *msg = sock->receive(true); + if (!msg) { + QThread::msleep(50); + continue; + } + + handleEvent(msg->getData(), msg->getSize()); + delete msg; + } +} + +AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) { + return new OpenDeviceWidget(stream); +} + +// OpenDeviceWidget + +OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { + QRadioButton *msgq = new QRadioButton(tr("MSGQ")); + QRadioButton *zmq = new QRadioButton(tr("ZMQ")); + ip_address = new QLineEdit(this); + ip_address->setPlaceholderText(tr("Enter device Ip Address")); + QString ip_range = "(?:[0-1]?[0-9]?[0-9]|2[0-4][0-9]|25[0-5])"; + QString pattern("^" + ip_range + "\\." + ip_range + "\\." + ip_range + "\\." + ip_range + "$"); + QRegularExpression re(pattern); + ip_address->setValidator(new QRegularExpressionValidator(re, this)); + + group = new QButtonGroup(this); + group->addButton(msgq, 0); + group->addButton(zmq, 1); + + QFormLayout *form_layout = new QFormLayout(this); + form_layout->addRow(msgq); + form_layout->addRow(zmq, ip_address); + QObject::connect(group, qOverload(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) { + ip_address->setEnabled(button == zmq && checked); + }); + zmq->setChecked(true); +} + +bool OpenDeviceWidget::open() { + QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text(); + bool msgq = group->checkedId() == 0; + *stream = new DeviceStream(qApp, msgq ? "" : ip); + return true; +} diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h new file mode 100644 index 0000000000..a65f073458 --- /dev/null +++ b/tools/cabana/streams/devicestream.h @@ -0,0 +1,30 @@ +#pragma once + +#include "tools/cabana/streams/livestream.h" + +class DeviceStream : public LiveStream { + Q_OBJECT +public: + DeviceStream(QObject *parent, QString address = {}); + static AbstractOpenStreamWidget *widget(AbstractStream **stream); + inline QString routeName() const override { + return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address); + } + +protected: + void streamThread() override; + const QString zmq_address; +}; + +class OpenDeviceWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenDeviceWidget(AbstractStream **stream); + bool open() override; + QString title() override { return tr("&Device"); } + +private: + QLineEdit *ip_address; + QButtonGroup *group; +}; diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 62ad635152..6546860089 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -2,85 +2,113 @@ #include -LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) { +LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) { + if (settings.log_livestream) { + std::string path = (settings.log_path + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd--hh-mm-ss") + "--0").toStdString(); + util::create_directories(path, 0755); + fs.reset(new std::ofstream(path + "/rlog", std::ios::binary | std::ios::out)); + } stream_thread = new QThread(this); + + QObject::connect(&settings, &Settings::changed, this, &LiveStream::startUpdateTimer); QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); }); QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater); +} + +void LiveStream::startUpdateTimer() { + update_timer.stop(); + update_timer.start(1000.0 / settings.fps, this); + timer_id = update_timer.timerId(); +} + +void LiveStream::startStreamThread() { + // delay the start of the thread to avoid calling startStreamThread + // in the constructor when other classes' slots have not been connected to + // the signals of the livestream. QTimer::singleShot(0, [this]() { stream_thread->start(); }); + startUpdateTimer(); } LiveStream::~LiveStream() { + update_timer.stop(); stream_thread->requestInterruption(); stream_thread->quit(); stream_thread->wait(); } -void LiveStream::streamThread() { - if (!zmq_address.isEmpty()) { - setenv("ZMQ", "1", 1); +// called in streamThread +void LiveStream::handleEvent(const char *data, const size_t size) { + if (fs) { + fs->write(data, size); } - std::unique_ptr context(Context::create()); - std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString(); - std::unique_ptr sock(SubSocket::create(context.get(), "can", address)); - assert(sock != NULL); - sock->setTimeout(50); - // run as fast as messages come in - while (!QThread::currentThread()->isInterruptionRequested()) { - Message *msg = sock->receive(true); - if (!msg) { - QThread::msleep(50); - continue; + + std::lock_guard lk(lock); + auto &msg = receivedMessages.emplace_back(data, size); + receivedEvents.push_back(msg.event); +} + +void LiveStream::timerEvent(QTimerEvent *event) { + if (event->timerId() == timer_id) { + { + // merge events received from live stream thread. + std::lock_guard lk(lock); + mergeEvents(receivedEvents.cbegin(), receivedEvents.cend()); + receivedEvents.clear(); + receivedMessages.clear(); + } + if (!all_events_.empty()) { + begin_event_ts = all_events_.front()->mono_time; + updateEvents(); + return; } - std::lock_guard lk(lock); - handleEvent(messages.emplace_back(msg).event); - // TODO: write stream to log file to replay it with cabana --data_dir flag. } + QObject::timerEvent(event); } -void LiveStream::handleEvent(Event *evt) { - if (start_ts == 0 || evt->mono_time < start_ts) { - if (evt->mono_time < start_ts) { - qDebug() << "stream is looping back to old time stamp"; - } - start_ts = current_ts = evt->mono_time; +void LiveStream::updateEvents() { + static double prev_speed = 1.0; + + if (first_update_ts == 0) { + first_update_ts = nanos_since_boot(); + first_event_ts = current_event_ts = all_events_.back()->mono_time; emit streamStarted(); } - received.push_back(evt); - if (!pause_) { - if (speed_ < 1 && last_update_ts > 0) { - auto it = std::upper_bound(received.cbegin(), received.cend(), current_ts, [](uint64_t ts, auto &e) { - return ts < e->mono_time; - }); - if (it != received.cend()) { - bool skip = (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - current_ts) / speed_; - if (skip) return; - - evt = *it; - } - } - current_ts = evt->mono_time; - last_update_ts = nanos_since_boot(); - updateEvent(evt); + if (paused_ || prev_speed != speed_) { + prev_speed = speed_; + first_update_ts = nanos_since_boot(); + first_event_ts = current_event_ts; + return; } -} -void LiveStream::process(QHash *last_messages) { - { - std::lock_guard lk(lock); - auto first = std::upper_bound(received.cbegin(), received.cend(), last_event_ts, [](uint64_t ts, auto &e) { - return ts < e->mono_time; - }); - mergeEvents(first, received.cend(), true); - if (speed_ == 1) { - received.clear(); - messages.clear(); - } + uint64_t last_ts = post_last_event && speed_ == 1.0 + ? all_events_.back()->mono_time + : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_; + auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, [](uint64_t ts, auto e) { + return ts < e->mono_time; + }); + auto last = std::upper_bound(first, all_events_.cend(), last_ts, [](uint64_t ts, auto e) { + return ts < e->mono_time; + }); + + for (auto it = first; it != last; ++it) { + const CanEvent *e = *it; + MessageId id = {.source = e->src, .address = e->address}; + updateEvent(id, (e->mono_time - begin_event_ts) / 1e9, e->dat, e->size); + current_event_ts = e->mono_time; } - AbstractStream::process(last_messages); + postEvents(); +} + +void LiveStream::seekTo(double sec) { + sec = std::max(0.0, sec); + first_update_ts = nanos_since_boot(); + current_event_ts = first_event_ts = std::min(sec * 1e9 + begin_event_ts, lastEventMonoTime()); + post_last_event = (first_event_ts == lastEventMonoTime()); + emit seekedTo((current_event_ts - begin_event_ts) / 1e9); } void LiveStream::pause(bool pause) { - pause_ = pause; - emit paused(); + paused_ = pause; + emit(pause ? paused() : resume()); } diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 598c0b9365..87ba7a0133 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -1,46 +1,56 @@ #pragma once +#include + #include "tools/cabana/streams/abstractstream.h" class LiveStream : public AbstractStream { Q_OBJECT public: - LiveStream(QObject *parent, QString address = {}); + LiveStream(QObject *parent); virtual ~LiveStream(); - inline QString routeName() const override { - return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address); - } - inline double routeStartTime() const override { return start_ts / (double)1e9; } - inline double currentSec() const override { return (current_ts - start_ts) / (double)1e9; } - void setSpeed(float speed) override { speed_ = std::min(1.0, speed); } - bool isPaused() const override { return pause_; } + inline double routeStartTime() const override { return begin_event_ts / 1e9; } + inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; } + void setSpeed(float speed) override { speed_ = speed; } + double getSpeed() override { return speed_; } + bool isPaused() const override { return paused_; } void pause(bool pause) override; + void seekTo(double sec) override; protected: - virtual void handleEvent(Event *evt); - virtual void streamThread(); - void process(QHash *) override; + virtual void streamThread() = 0; + void startStreamThread(); + void handleEvent(const char *data, const size_t size); + +private: + void startUpdateTimer(); + void timerEvent(QTimerEvent *event) override; + void updateEvents(); struct Msg { - Msg(Message *m) { - event = ::new Event(aligned_buf.align(m)); - delete m; + Msg(const char *data, const size_t size) { + event = ::new Event(aligned_buf.align(data, size)); } ~Msg() { ::delete event; } Event *event; AlignedBuffer aligned_buf; }; - mutable std::mutex lock; - std::vector received; - std::deque messages; - std::atomic start_ts = 0; - std::atomic current_ts = 0; - std::atomic speed_ = 1; - std::atomic pause_ = false; - uint64_t last_update_ts = 0; - - const QString zmq_address; + std::mutex lock; QThread *stream_thread; + std::vector receivedEvents; + std::deque receivedMessages; + + std::unique_ptr fs; + int timer_id; + QBasicTimer update_timer; + + uint64_t begin_event_ts = 0; + uint64_t current_event_ts = 0; + uint64_t first_event_ts = 0; + uint64_t first_update_ts = 0; + bool post_last_event = true; + double speed_ = 1; + bool paused_ = false; }; diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc new file mode 100644 index 0000000000..5b3bf890e8 --- /dev/null +++ b/tools/cabana/streams/pandastream.cc @@ -0,0 +1,208 @@ +#include "tools/cabana/streams/pandastream.h" + +#include +#include +#include +#include + +#include "selfdrive/ui/qt/util.h" + +PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) { + if (config.serial.isEmpty()) { + auto serials = Panda::list(); + if (serials.size() == 0) { + throw std::runtime_error("No panda found"); + } + config.serial = QString::fromStdString(serials[0]); + } + + qDebug() << "Connecting to panda with serial" << config.serial; + if (!connect()) { + throw std::runtime_error("Failed to connect to panda"); + } + startStreamThread(); +} + +bool PandaStream::connect() { + try { + panda.reset(new Panda(config.serial.toStdString())); + config.bus_config.resize(3); + qDebug() << "Connected"; + } catch (const std::exception& e) { + return false; + } + + panda->set_safety_model(cereal::CarParams::SafetyModel::SILENT); + + for (int bus = 0; bus < config.bus_config.size(); bus++) { + panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps); + + // CAN-FD + if (panda->hw_type == cereal::PandaState::PandaType::RED_PANDA || panda->hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) { + if (config.bus_config[bus].can_fd) { + panda->set_data_speed_kbps(bus, config.bus_config[bus].data_speed_kbps); + } else { + // Hack to disable can-fd by setting data speed to a low value + panda->set_data_speed_kbps(bus, 10); + } + } + + } + return true; +} + +void PandaStream::streamThread() { + std::vector raw_can_data; + + while (!QThread::currentThread()->isInterruptionRequested()) { + QThread::msleep(1); + + if (!panda->connected()) { + qDebug() << "Connection to panda lost. Attempting reconnect."; + if (!connect()){ + QThread::msleep(1000); + continue; + } + } + + raw_can_data.clear(); + if (!panda->can_receive(raw_can_data)) { + qDebug() << "failed to receive"; + continue; + } + + MessageBuilder msg; + auto evt = msg.initEvent(); + auto canData = evt.initCan(raw_can_data.size()); + + for (uint i = 0; isend_heartbeat(false); + } +} + +AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) { + return new OpenPandaWidget(stream); +} + +// OpenPandaWidget + +OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addStretch(1); + + QFormLayout *form_layout = new QFormLayout(); + + QHBoxLayout *serial_layout = new QHBoxLayout(); + serial_edit = new QComboBox(); + serial_edit->setFixedWidth(300); + serial_layout->addWidget(serial_edit); + + QPushButton *refresh = new QPushButton(tr("Refresh")); + refresh->setFixedWidth(100); + serial_layout->addWidget(refresh); + form_layout->addRow(tr("Serial"), serial_layout); + main_layout->addLayout(form_layout); + + config_layout = new QFormLayout(); + main_layout->addLayout(config_layout); + + main_layout->addStretch(1); + + QObject::connect(refresh, &QPushButton::clicked, this, &OpenPandaWidget::refreshSerials); + QObject::connect(serial_edit, &QComboBox::currentTextChanged, this, &OpenPandaWidget::buildConfigForm); + + // Populate serials + refreshSerials(); + buildConfigForm(); +} + +void OpenPandaWidget::refreshSerials() { + serial_edit->clear(); + for (auto serial : Panda::list()) { + serial_edit->addItem(QString::fromStdString(serial)); + } +} + +void OpenPandaWidget::buildConfigForm() { + clearLayout(config_layout); + QString serial = serial_edit->currentText(); + + bool has_fd = false; + bool has_panda = !serial.isEmpty(); + + if (has_panda) { + try { + Panda panda = Panda(serial.toStdString()); + has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2); + } catch (const std::exception& e) { + has_panda = false; + } + } + + if (has_panda) { + config.serial = serial; + config.bus_config.resize(3); + for (int i = 0; i < config.bus_config.size(); i++) { + QHBoxLayout *bus_layout = new QHBoxLayout; + + // CAN Speed + bus_layout->addWidget(new QLabel(tr("CAN Speed (kbps):"))); + QComboBox *can_speed = new QComboBox; + for (int j = 0; j < std::size(speeds); j++) { + can_speed->addItem(QString::number(speeds[j])); + + if (data_speeds[j] == config.bus_config[i].can_speed_kbps) { + can_speed->setCurrentIndex(j); + } + } + QObject::connect(can_speed, qOverload(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].can_speed_kbps = speeds[index];}); + bus_layout->addWidget(can_speed); + + // CAN-FD Speed + if (has_fd) { + QCheckBox *enable_fd = new QCheckBox("CAN-FD"); + bus_layout->addWidget(enable_fd); + bus_layout->addWidget(new QLabel(tr("Data Speed (kbps):"))); + QComboBox *data_speed = new QComboBox; + for (int j = 0; j < std::size(data_speeds); j++) { + data_speed->addItem(QString::number(data_speeds[j])); + + if (data_speeds[j] == config.bus_config[i].data_speed_kbps) { + data_speed->setCurrentIndex(j); + } + } + + data_speed->setEnabled(false); + bus_layout->addWidget(data_speed); + + QObject::connect(data_speed, qOverload(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].data_speed_kbps = data_speeds[index];}); + QObject::connect(enable_fd, &QCheckBox::stateChanged, data_speed, &QComboBox::setEnabled); + QObject::connect(enable_fd, &QCheckBox::stateChanged, [=](int state) {config.bus_config[i].can_fd = (bool)state;}); + } + + config_layout->addRow(tr("Bus %1:").arg(i), bus_layout); + } + } else { + config.serial = ""; + config_layout->addWidget(new QLabel(tr("No panda found"))); + } +} + +bool OpenPandaWidget::open() { + try { + *stream = new PandaStream(qApp, config); + } catch (std::exception &e) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what())); + return false; + } + return true; +} diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h new file mode 100644 index 0000000000..f726c5cfb6 --- /dev/null +++ b/tools/cabana/streams/pandastream.h @@ -0,0 +1,56 @@ +#pragma once + +#include +#include +#include + +#include "tools/cabana/streams/livestream.h" +#include "selfdrive/boardd/panda.h" + +const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U}; +const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U}; + +struct BusConfig { + int can_speed_kbps = 500; + int data_speed_kbps = 2000; + bool can_fd = false; +}; + +struct PandaStreamConfig { + QString serial = ""; + std::vector bus_config; +}; + +class PandaStream : public LiveStream { + Q_OBJECT +public: + PandaStream(QObject *parent, PandaStreamConfig config_ = {}); + static AbstractOpenStreamWidget *widget(AbstractStream **stream); + inline QString routeName() const override { + return QString("Live Streaming From Panda %1").arg(config.serial); + } + +protected: + void streamThread() override; + bool connect(); + + std::unique_ptr panda; + PandaStreamConfig config = {}; +}; + +class OpenPandaWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenPandaWidget(AbstractStream **stream); + bool open() override; + QString title() override { return tr("&Panda"); } + +private: + void refreshSerials(); + void buildConfigForm(); + + QComboBox *serial_edit; + QFormLayout *config_layout; + PandaStreamConfig config = {}; +}; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 8bc9af8ab2..46103764be 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -1,6 +1,14 @@ #include "tools/cabana/streams/replaystream.h" -ReplayStream::ReplayStream(uint32_t replay_flags, QObject *parent) : replay_flags(replay_flags), AbstractStream(parent, false) { +#include +#include +#include +#include +#include + +#include "common/prefix.h" + +ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) { QObject::connect(&settings, &Settings::changed, [this]() { if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes); }); @@ -17,15 +25,14 @@ static bool event_filter(const Event *e, void *opaque) { void ReplayStream::mergeSegments() { for (auto &[n, seg] : replay->segments()) { if (seg && seg->isLoaded() && !processed_segments.count(n)) { - const auto &events = seg->log->events; - bool append = processed_segments.empty() || *processed_segments.rbegin() < n; processed_segments.insert(n); - mergeEvents(events.cbegin(), events.cend(), append); + const auto &events = seg->log->events; + mergeEvents(events.cbegin(), events.cend()); } } } -bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) { +bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); @@ -40,8 +47,21 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) { } bool ReplayStream::eventFilter(const Event *event) { + static double prev_update_ts = 0; + // delay posting CAN message if UI thread is busy if (event->which == cereal::Event::Which::CAN) { - updateEvent(event); + double current_sec = event->mono_time / 1e9 - routeStartTime(); + for (const auto &c : event->event.getCan()) { + MessageId id = {.source = c.getSrc(), .address = c.getAddress()}; + const auto dat = c.getDat(); + updateEvent(id, current_sec, (const uint8_t*)dat.begin(), dat.size()); + } + double ts = millis_since_boot(); + if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { + if (postEvents()) { + prev_update_ts = ts; + } + } } return true; } @@ -50,3 +70,74 @@ void ReplayStream::pause(bool pause) { replay->pause(pause); emit(pause ? paused() : resume()); } + + +AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) { + return new OpenReplayWidget(stream); +} + +// OpenReplayWidget + +static std::unique_ptr op_prefix; + +OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) { + // TODO: get route list from api.comma.ai + QGridLayout *grid_layout = new QGridLayout(); + grid_layout->addWidget(new QLabel(tr("Route")), 0, 0); + grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1); + route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route")); + auto file_btn = new QPushButton(tr("Browse..."), this); + grid_layout->addWidget(file_btn, 0, 2); + + grid_layout->addWidget(new QLabel(tr("Video")), 1, 0); + grid_layout->addWidget(choose_video_cb = new QComboBox(this), 1, 1); + QString items[] = {tr("No Video"), tr("Road Camera"), tr("Wide Road Camera"), tr("Driver Camera"), tr("QCamera")}; + for (int i = 0; i < std::size(items); ++i) { + choose_video_cb->addItem(items[i]); + } + choose_video_cb->setCurrentIndex(1); // default is road camera; + + QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->addLayout(grid_layout); + setMinimumWidth(550); + + QObject::connect(file_btn, &QPushButton::clicked, [=]() { + QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir); + if (!dir.isEmpty()) { + route_edit->setText(dir); + settings.last_route_dir = QFileInfo(dir).absolutePath(); + } + }); +} + +bool OpenReplayWidget::open() { + QString route = route_edit->text(); + QString data_dir; + if (int idx = route.lastIndexOf('/'); idx != -1) { + data_dir = route.mid(0, idx + 1); + route = route.mid(idx + 1); + } + + bool ret = false; + bool is_valid_format = Route::parseRoute(route).str.size() > 0; + if (!is_valid_format) { + QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route)); + } else { + // TODO: Remove when OpenpilotPrefix supports ZMQ +#ifndef __APPLE__ + op_prefix.reset(new OpenpilotPrefix()); +#endif + uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA}; + ReplayStream *replay_stream = *stream ? (ReplayStream *)*stream : new ReplayStream(qApp); + ret = replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()]); + if (!ret) { + if (replay_stream != *stream) { + delete replay_stream; + } + QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route)); + } else { + *stream = replay_stream; + } + } + return ret; +} diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 10dc804716..aefc763d20 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -1,34 +1,45 @@ #pragma once #include "tools/cabana/streams/abstractstream.h" -#include "tools/cabana/settings.h" class ReplayStream : public AbstractStream { Q_OBJECT public: - ReplayStream(uint32_t replay_flags, QObject *parent); + ReplayStream(QObject *parent); ~ReplayStream(); - bool loadRoute(const QString &route, const QString &data_dir); + bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE); bool eventFilter(const Event *event); void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }; inline QString routeName() const override { return replay->route()->name(); } inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); } + double totalSeconds() const override { return replay->totalSeconds(); } inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; } - inline double totalSeconds() const override { return replay->totalSeconds(); } inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; } inline double currentSec() const override { return replay->currentSeconds(); } - inline QDateTime currentDateTime() const override { return replay->currentDateTime(); } inline const Route *route() const override { return replay->route(); } inline void setSpeed(float speed) override { replay->setSpeed(speed); } + inline float getSpeed() const { return replay->getSpeed(); } inline bool isPaused() const override { return replay->isPaused(); } void pause(bool pause) override; - const std::vector *rawEvents() const override { return replay->events(); } inline const std::vector> getTimeline() override { return replay->getTimeline(); } + static AbstractOpenStreamWidget *widget(AbstractStream **stream); private: void mergeSegments(); std::unique_ptr replay = nullptr; - uint32_t replay_flags = REPLAY_FLAG_NONE; std::set processed_segments; }; + +class OpenReplayWidget : public AbstractOpenStreamWidget { + Q_OBJECT + +public: + OpenReplayWidget(AbstractStream **stream); + bool open() override; + QString title() override { return tr("&Replay"); } + +private: + QLineEdit *route_edit; + QComboBox *choose_video_cb; +}; diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc new file mode 100644 index 0000000000..bfd6ff24d9 --- /dev/null +++ b/tools/cabana/streamselector.cc @@ -0,0 +1,52 @@ +#include "tools/cabana/streamselector.h" + +#include +#include +#include +#include +#include + +StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Open stream")); + QVBoxLayout *main_layout = new QVBoxLayout(this); + + tab = new QTabWidget(this); + tab->setTabBarAutoHide(true); + main_layout->addWidget(tab); + + QHBoxLayout *dbc_layout = new QHBoxLayout(); + dbc_file = new QLineEdit(this); + dbc_file->setReadOnly(true); + dbc_file->setPlaceholderText(tr("Choose a dbc file to open")); + QPushButton *file_btn = new QPushButton(tr("Browse...")); + dbc_layout->addWidget(new QLabel(tr("dbc File"))); + dbc_layout->addWidget(dbc_file); + dbc_layout->addWidget(file_btn); + main_layout->addLayout(dbc_layout); + + QFrame *line = new QFrame(this); + line->setFrameStyle(QFrame::HLine | QFrame::Sunken); + main_layout->addWidget(line); + + auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel); + main_layout->addWidget(btn_box); + + QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject); + QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() { + success = ((AbstractOpenStreamWidget *)tab->currentWidget())->open(); + if (success) { + accept(); + } + }); + QObject::connect(file_btn, &QPushButton::clicked, [this]() { + QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); + if (!fn.isEmpty()) { + dbc_file->setText(fn); + settings.last_dir = QFileInfo(fn).absolutePath(); + } + }); +} + +void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) { + tab->addTab(w, w->title()); +} diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h new file mode 100644 index 0000000000..ecd0e8530c --- /dev/null +++ b/tools/cabana/streamselector.h @@ -0,0 +1,22 @@ +#pragma once + +#include +#include +#include + +#include "tools/cabana/streams/abstractstream.h" + +class StreamSelector : public QDialog { + Q_OBJECT + +public: + StreamSelector(QWidget *parent = nullptr); + void addStreamWidget(AbstractOpenStreamWidget *w); + QString dbcFile() const { return dbc_file->text(); } + inline bool failed() const { return !success; } + +private: + QLineEdit *dbc_file; + QTabWidget *tab; + bool success = true; +}; diff --git a/tools/cabana/tests/test_cabana b/tools/cabana/tests/test_cabana deleted file mode 100755 index bac242fbdd..0000000000 --- a/tools/cabana/tests/test_cabana +++ /dev/null @@ -1,4 +0,0 @@ -#!/bin/sh -cd "$(dirname "$0")" -export LD_LIBRARY_PATH="../../../opendbc/can:$LD_LIBRARY_PATH" -exec ./_test_cabana "$1" diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 4bc01a6a81..a3921d727b 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -52,7 +52,8 @@ TEST_CASE("Parse can messages") { } can_parser.UpdateCans(e->mono_time, e->event.getCan()); - auto values_2 = can_parser.query_latest(); + std::vector values_2; + can_parser.query_latest(values_2); for (auto &[key, v1] : values_1) { bool found = false; for (auto &v2 : values_2) { diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 7fe5b26671..9d81ebd5d0 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -122,33 +122,26 @@ QList FindSimilarBitsDlg::calcBits(uint8_ int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) { QHash> mismatches; QHash msg_count; - auto events = can->rawEvents(); + const auto &events = can->allEvents(); int bit_to_find = -1; - for (auto e : *events) { - if (e->which == cereal::Event::Which::CAN) { - for (const auto &c : e->event.getCan()) { - uint8_t src = c.getSrc(); - uint32_t address = c.getAddress(); - const auto dat = c.getDat(); - if (src == bus) { - if (address == selected_address && dat.size() > byte_idx) { - bit_to_find = ((dat[byte_idx] >> (7 - bit_idx)) & 1) != 0; - } - } - if (src == find_bus) { - ++msg_count[address]; - if (bit_to_find == -1) continue; - - auto &mismatched = mismatches[address]; - if (mismatched.size() < dat.size() * 8) { - mismatched.resize(dat.size() * 8); - } - for (int i = 0; i < dat.size(); ++i) { - for (int j = 0; j < 8; ++j) { - int bit = ((dat[i] >> (7 - j)) & 1) != 0; - mismatched[i * 8 + j] += equal ? (bit != bit_to_find) : (bit == bit_to_find); - } - } + for (const CanEvent *e : events) { + if (e->src == bus) { + if (e->address == selected_address && e->size > byte_idx) { + bit_to_find = ((e->dat[byte_idx] >> (7 - bit_idx)) & 1) != 0; + } + } + if (e->src == find_bus) { + ++msg_count[e->address]; + if (bit_to_find == -1) continue; + + auto &mismatched = mismatches[e->address]; + if (mismatched.size() < e->size * 8) { + mismatched.resize(e->size * 8); + } + for (int i = 0; i < e->size; ++i) { + for (int j = 0; j < 8; ++j) { + int bit = ((e->dat[i] >> (7 - j)) & 1) != 0; + mismatched[i * 8 + j] += equal ? (bit != bit_to_find) : (bit == bit_to_find); } } } diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index e5a9749103..d95d6ac525 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -1,70 +1,13 @@ #include "tools/cabana/util.h" -#include #include +#include #include #include -#include -#include +#include #include "selfdrive/ui/qt/util.h" -static QColor blend(QColor a, QColor b) { - return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2); -} - -void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) { - if (prev_dat.size() != dat.size()) { - colors.resize(dat.size()); - last_change_t.resize(dat.size()); - bit_change_counts.resize(dat.size()); - std::fill(colors.begin(), colors.end(), QColor(0, 0, 0, 0)); - std::fill(last_change_t.begin(), last_change_t.end(), ts); - } else { - for (int i = 0; i < dat.size(); ++i) { - const uint8_t last = prev_dat[i]; - const uint8_t cur = dat[i]; - - if (last != cur) { - double delta_t = ts - last_change_t[i]; - if (delta_t * freq > periodic_threshold) { - // Last change was while ago, choose color based on delta up or down - if (cur > last) { - colors[i] = QColor(0, 187, 255, start_alpha); // Cyan - } else { - colors[i] = QColor(255, 0, 0, start_alpha); // Red - } - } else { - // Periodic changes - colors[i] = blend(colors[i], QColor(102, 86, 169, start_alpha / 2)); // Greyish/Blue - } - - // Track bit level changes - for (int bit = 0; bit < 8; bit++) { - if ((cur ^ last) & (1 << bit)) { - bit_change_counts[i][bit] += 1; - } - } - - last_change_t[i] = ts; - } else { - // Fade out - float alpha_delta = 1.0 / (freq + 1) / fade_time; - colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta)); - } - } - } - - prev_dat = dat; -} - -void ChangeTracker::clear() { - prev_dat.clear(); - last_change_t.clear(); - bit_change_counts.clear(); - colors.clear(); -} - // SegmentTree void SegmentTree::build(const QVector &arr) { @@ -100,28 +43,114 @@ std::pair SegmentTree::get_minmax(int n, int left, int right, in // MessageBytesDelegate -MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegate(parent) { +MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) { fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); - byte_width = QFontMetrics(fixed_font).width("00 "); + byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2); +} + +void MessageBytesDelegate::setMultipleLines(bool v) { + if (std::exchange(multiple_lines, v) != multiple_lines) { + std::fill_n(size_cache, std::size(size_cache), QSize{}); + } +} + +int MessageBytesDelegate::widthForBytes(int n) const { + int h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; + return n * byte_size.width() + h_margin * 2; +} + +QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { + int v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1; + auto data = index.data(BytesRole); + if (!data.isValid()) { + return {1, byte_size.height() + 2 * v_margin}; + } + int n = data.toByteArray().size(); + assert(n >= 0 && n <= 64); + + QSize size = size_cache[n]; + if (size.isEmpty()) { + if (!multiple_lines) { + size.setWidth(widthForBytes(n)); + size.setHeight(byte_size.height() + 2 * v_margin); + } else { + size.setWidth(widthForBytes(8)); + size.setHeight(byte_size.height() * std::max(1, n / 8) + 2 * v_margin); + } + size_cache[n] = size; + } + return size; +} + +bool MessageBytesDelegate::helpEvent(QHelpEvent *e, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) { + if (e->type() == QEvent::ToolTip && index.column() == 0) { + if (view->visualRect(index).width() < QStyledItemDelegate::sizeHint(option, index).width()) { + QToolTip::showText(e->globalPos(), index.data(Qt::DisplayRole).toString(), view); + return true; + } + } + QToolTip::hideText(); + return false; } void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { + auto data = index.data(BytesRole); + if (!data.isValid()) { + return QStyledItemDelegate::paint(painter, option, index); + } + + auto byte_list = data.toByteArray(); auto colors = index.data(ColorsRole).value>(); - auto byte_list = index.data(BytesRole).toByteArray(); int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin); - QRect rc{option.rect.left() + h_margin, option.rect.top() + v_margin, byte_width, option.rect.height() - 2 * v_margin}; + if (option.state & QStyle::State_Selected) { + painter->fillRect(option.rect, option.palette.highlight()); + } - auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text; - painter->setPen(option.palette.color(color_role)); + const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin}; + QFont old_font = painter->font(); + QPen old_pen = painter->pen(); painter->setFont(fixed_font); for (int i = 0; i < byte_list.size(); ++i) { + int row = !multiple_lines ? 0 : i / 8; + int column = !multiple_lines ? i : i % 8; + QRect r = QRect({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size); if (i < colors.size() && colors[i].alpha() > 0) { - painter->fillRect(rc, colors[i]); + if (option.state & QStyle::State_Selected) { + painter->setPen(option.palette.color(QPalette::Text)); + painter->fillRect(r, option.palette.color(QPalette::Window)); + } + painter->fillRect(r, colors[i]); + } else if (option.state & QStyle::State_Selected) { + painter->setPen(option.palette.color(QPalette::HighlightedText)); + } + painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i])); + } + painter->setFont(old_font); + painter->setPen(old_pen); +} + +// TabBar + +int TabBar::addTab(const QString &text) { + int index = QTabBar::addTab(text); + QToolButton *btn = new ToolButton("x", tr("Close Tab")); + int width = style()->pixelMetric(QStyle::PM_TabCloseIndicatorWidth, nullptr, btn); + int height = style()->pixelMetric(QStyle::PM_TabCloseIndicatorHeight, nullptr, btn); + btn->setFixedSize({width, height}); + setTabButton(index, QTabBar::RightSide, btn); + QObject::connect(btn, &QToolButton::clicked, this, &TabBar::closeTabClicked); + return index; +} + +void TabBar::closeTabClicked() { + QObject *object = sender(); + for (int i = 0; i < count(); ++i) { + if (tabButton(i, QTabBar::RightSide) == object) { + emit tabCloseRequested(i); + break; } - painter->drawText(rc, Qt::AlignCenter, toHex(byte_list[i])); - rc.moveLeft(rc.right() + 1); } } @@ -145,8 +174,7 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const { namespace utils { QPixmap icon(const QString &id) { - static bool dark_theme = QApplication::palette().color(QPalette::WindowText).value() > - QApplication::palette().color(QPalette::Background).value(); + bool dark_theme = settings.theme == DARK_THEME; QPixmap pm; QString key = "bootstrap_" % id % (dark_theme ? "1" : "0"); if (!QPixmapCache::find(key, &pm)) { @@ -154,23 +182,52 @@ QPixmap icon(const QString &id) { if (dark_theme) { QPainter p(&pm); p.setCompositionMode(QPainter::CompositionMode_SourceIn); - p.fillRect(pm.rect(), Qt::lightGray); + p.fillRect(pm.rect(), QColor("#bbbbbb")); } QPixmapCache::insert(key, pm); } return pm; } -} // namespace utils -QToolButton *toolButton(const QString &icon, const QString &tooltip) { - auto btn = new QToolButton(); - btn->setIcon(utils::icon(icon)); - btn->setToolTip(tooltip); - btn->setAutoRaise(true); - const int metric = qApp->style()->pixelMetric(QStyle::PM_SmallIconSize); - btn->setIconSize({metric, metric}); - return btn; -}; +void setTheme(int theme) { + auto style = QApplication::style(); + if (!style) return; + + static int prev_theme = 0; + if (theme != prev_theme) { + prev_theme = theme; + QPalette new_palette; + if (theme == DARK_THEME) { + // "Darcula" like dark theme + new_palette.setColor(QPalette::Window, QColor("#353535")); + new_palette.setColor(QPalette::WindowText, QColor("#bbbbbb")); + new_palette.setColor(QPalette::Base, QColor("#3c3f41")); + new_palette.setColor(QPalette::AlternateBase, QColor("#3c3f41")); + new_palette.setColor(QPalette::ToolTipBase, QColor("#3c3f41")); + new_palette.setColor(QPalette::ToolTipText, QColor("#bbb")); + new_palette.setColor(QPalette::Text, QColor("#bbbbbb")); + new_palette.setColor(QPalette::Button, QColor("#3c3f41")); + new_palette.setColor(QPalette::ButtonText, QColor("#bbbbbb")); + new_palette.setColor(QPalette::Highlight, QColor("#2f65ca")); + new_palette.setColor(QPalette::HighlightedText, QColor("#bbbbbb")); + new_palette.setColor(QPalette::BrightText, QColor("#f0f0f0")); + new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777")); + new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777")); + new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));; + new_palette.setColor(QPalette::Light, QColor("#777777")); + new_palette.setColor(QPalette::Dark, QColor("#353535")); + } else { + new_palette = style->standardPalette(); + } + qApp->setPalette(new_palette); + style->polish(qApp); + for (auto w : QApplication::allWidgets()) { + w->setPalette(new_palette); + } + } +} + +} // namespace utils QString toHex(uint8_t byte) { static std::array hex = []() { diff --git a/tools/cabana/util.h b/tools/cabana/util.h index e90a838af8..dcf1ac0cbf 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,8 +1,9 @@ #pragma once -#include #include +#include +#include #include #include #include @@ -14,22 +15,7 @@ #include #include "tools/cabana/dbc/dbc.h" - -class ChangeTracker { -public: - void compute(const QByteArray &dat, double ts, uint32_t freq); - void clear(); - - QVector last_change_t; - QVector colors; - QVector> bit_change_counts; - -private: - const int periodic_threshold = 10; - const int start_alpha = 128; - const float fade_time = 2.0; - QByteArray prev_dat; -}; +#include "tools/cabana/settings.h" class LogSlider : public QSlider { Q_OBJECT @@ -78,10 +64,19 @@ private: class MessageBytesDelegate : public QStyledItemDelegate { Q_OBJECT public: - MessageBytesDelegate(QObject *parent); + MessageBytesDelegate(QObject *parent, bool multiple_lines = false); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override; + bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override; + void setMultipleLines(bool v); + int widthForBytes(int n) const; + bool multipleLines() const { return multiple_lines; } + +private: QFont fixed_font; - int byte_width; + QSize byte_size = {}; + bool multiple_lines = false; + mutable QSize size_cache[65] = {}; }; inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } @@ -98,10 +93,44 @@ public: namespace utils { QPixmap icon(const QString &id); +void setTheme(int theme); inline QString formatSeconds(int seconds) { return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } } -QToolButton *toolButton(const QString &icon, const QString &tooltip); +class ToolButton : public QToolButton { + Q_OBJECT +public: + ToolButton(const QString &icon, const QString &tooltip = {}, QWidget *parent = nullptr) : QToolButton(parent) { + setIcon(icon); + setToolTip(tooltip); + setAutoRaise(true); + const int metric = QApplication::style()->pixelMetric(QStyle::PM_SmallIconSize); + setIconSize({metric, metric}); + theme = settings.theme; + connect(&settings, &Settings::changed, this, &ToolButton::updateIcon); + } + void setIcon(const QString &icon) { + icon_str = icon; + QToolButton::setIcon(utils::icon(icon_str)); + } + +private: + void updateIcon() { if (std::exchange(theme, settings.theme) != theme) setIcon(icon_str); } + QString icon_str; + int theme; +}; + +class TabBar : public QTabBar { + Q_OBJECT + +public: + TabBar(QWidget *parent) : QTabBar(parent) {} + int addTab(const QString &text); + +private: + void closeTabClicked(); +}; + int num_decimals(double num); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index fe9e00bc45..846a83c24c 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -19,6 +20,18 @@ static const QColor timeline_colors[] = { [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), }; +bool sortTimelineBasedOnEventPriority(const std::tuple &left, const std::tuple &right){ + const static std::map timelinePriority = { + { TimelineType::None, 0 }, + { TimelineType::Engaged, 10 }, + { TimelineType::AlertInfo, 20 }, + { TimelineType::AlertWarning, 30 }, + { TimelineType::AlertCritical, 40 }, + { TimelineType::UserFlag, 35 } + }; + return timelinePriority.at(std::get<2>(left)) < timelinePriority.at(std::get<2>(right)); +} + VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { setFrameStyle(QFrame::StyledPanel | QFrame::Plain); auto main_layout = new QVBoxLayout(this); @@ -35,8 +48,6 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { QButtonGroup *group = new QButtonGroup(this); group->setExclusive(true); for (float speed : {0.1, 0.5, 1., 2.}) { - if (can->liveStreaming() && speed > 1) continue; - QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this); btn->setCheckable(true); QObject::connect(btn, &QPushButton::clicked, [=]() { can->setSpeed(speed); }); @@ -50,6 +61,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState); QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState); + QObject::connect(&settings, &Settings::changed, this, &VideoWidget::updatePlayBtnState); updatePlayBtnState(); setWhatsThis(tr(R"( @@ -78,10 +90,14 @@ QWidget *VideoWidget::createCameraWidget() { QWidget *w = new QWidget(this); QVBoxLayout *l = new QVBoxLayout(w); l->setContentsMargins(0, 0, 0, 0); - cam_widget = new CameraWidget("camerad", can->visionStreamType(), false); + + QStackedLayout *stacked = new QStackedLayout(); + stacked->setStackingMode(QStackedLayout::StackAll); + stacked->addWidget(cam_widget = new CameraWidget("camerad", can->visionStreamType(), false)); cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - l->addWidget(cam_widget); + stacked->addWidget(alert_label = new InfoLabel(this)); + l->addLayout(stacked); // slider controls slider_layout = new QHBoxLayout(); @@ -97,27 +113,42 @@ QWidget *VideoWidget::createCameraWidget() { l->addLayout(slider_layout); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(value / 1000)); }); + QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState); - QObject::connect(can, &AbstractStream::streamStarted, [this]() { - end_time_label->setText(utils::formatSeconds(can->totalSeconds())); - slider->setRange(0, can->totalSeconds() * 1000); - }); + QObject::connect(can, &AbstractStream::streamStarted, [this]() { setMaximumTime(can->totalSeconds()); }); return w; } +void VideoWidget::setMaximumTime(double sec) { + maximum_time = sec; + end_time_label->setText(utils::formatSeconds(sec)); + slider->setRange(0, sec * 1000); +} + void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { + if (can->liveStreaming()) return; + if (!is_zoomed) { min = 0; - max = can->totalSeconds(); + max = maximum_time; } end_time_label->setText(utils::formatSeconds(max)); slider->setRange(min * 1000, max * 1000); } void VideoWidget::updateState() { - if (!slider->isSliderDown()) + if (!slider->isSliderDown()) { slider->setValue(can->currentSec() * 1000); + } + std::lock_guard lk(slider->thumbnail_lock); + uint64_t mono_time = (can->currentSec() + can->routeStartTime()) * 1e9; + auto it = slider->alerts.lower_bound(mono_time); + if (it != slider->alerts.end() && (it->first - mono_time) < 1e9) { + alert_label->showAlert(it->second); + } else { + alert_label->showAlert({}); + } } void VideoWidget::updatePlayBtnState() { @@ -126,9 +157,10 @@ void VideoWidget::updatePlayBtnState() { } // Slider -Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(this), QSlider(Qt::Horizontal, parent) { +Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(parent), QSlider(Qt::Horizontal, parent) { timer.callOnTimeout([this]() { timeline = can->getTimeline(); + std::sort(timeline.begin(), timeline.end(), sortTimelineBasedOnEventPriority); update(); }); setMouseTracking(true); @@ -152,12 +184,17 @@ void Slider::streamStarted() { void Slider::loadThumbnails() { const auto &segments = can->route()->segments(); + double max_time = 0; for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) { + LogReader log; std::string qlog = it->second.qlog.toStdString(); - if (!qlog.empty()) { - LogReader log; - if (log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL}, true, 0, 3)) { - for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) { + if (!qlog.empty() && log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) { + if (max_time == 0 && !log.events.empty()) { + max_time = (*(log.events.rbegin()))->mono_time / 1e9 - can->routeStartTime(); + emit updateMaximumTime(max_time); + } + for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) { + if ((*ev)->which == cereal::Event::Which::THUMBNAIL) { auto thumb = (*ev)->event.getThumbnail(); auto data = thumb.getThumbnail(); if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) { @@ -165,6 +202,12 @@ void Slider::loadThumbnails() { std::lock_guard lk(thumbnail_lock); thumbnails[thumb.getTimestampEof()] = pm; } + } else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) { + auto cs = (*ev)->event.getControlsState(); + if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0) { + std::lock_guard lk(thumbnail_lock); + alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()}); + } } } } @@ -189,6 +232,7 @@ void Slider::paintEvent(QPaintEvent *ev) { p.fillRect(r, timeline_colors[(int)TimelineType::None]); double min = minimum() / 1000.0; double max = maximum() / 1000.0; + for (auto [begin, end, type] : timeline) { if (begin > max || end < min) continue; @@ -217,44 +261,97 @@ void Slider::mousePressEvent(QMouseEvent *e) { void Slider::mouseMoveEvent(QMouseEvent *e) { QPixmap thumb; - double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0; + AlertInfo alert; + int pos = std::clamp(e->pos().x(), 0, width()); + double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / 1000.0; { std::lock_guard lk(thumbnail_lock); - auto it = thumbnails.lowerBound((seconds + can->routeStartTime()) * 1e9); + uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9; + auto it = thumbnails.lowerBound(mono_time); if (it != thumbnails.end()) thumb = it.value(); + auto alert_it = alerts.lower_bound(mono_time); + if (alert_it != alerts.end() && (alert_it->first - mono_time) < 1e9) { + alert = alert_it->second; + } } - int x = std::clamp(e->pos().x() - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN); - int y = -thumb.height() - THUMBNAIL_MARGIN - style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing); - thumbnail_label.showPixmap(mapToGlobal({x, y}), utils::formatSeconds(seconds), thumb); + int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN); + int y = -thumb.height(); + thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alert); QSlider::mouseMoveEvent(e); } -void Slider::leaveEvent(QEvent *event) { - thumbnail_label.hide(); - QSlider::leaveEvent(event); +bool Slider::event(QEvent *event) { + switch (event->type()) { + case QEvent::WindowActivate: + case QEvent::WindowDeactivate: + case QEvent::FocusIn: + case QEvent::FocusOut: + case QEvent::Leave: + thumbnail_label.hide(); + break; + default: + break; + } + return QSlider::event(event); } -// ThumbnailLabel +// InfoLabel -ThumbnailLabel::ThumbnailLabel(QWidget *parent) : QWidget(parent, Qt::Tool | Qt::FramelessWindowHint) { +InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) { setAttribute(Qt::WA_ShowWithoutActivating); setVisible(false); } -void ThumbnailLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm) { +void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert) { pixmap = pm; second = sec; + alert_info = alert; setVisible(!pm.isNull()); if (isVisible()) { - setGeometry({pt, pm.size()}); + resize(pm.size()); + move(pt); + update(); + } +} + +void InfoLabel::showAlert(const AlertInfo &alert) { + alert_info = alert; + pixmap = {}; + setVisible(!alert_info.text1.isEmpty()); + if (isVisible()) { update(); } } -void ThumbnailLabel::paintEvent(QPaintEvent *event) { +void InfoLabel::paintEvent(QPaintEvent *event) { QPainter p(this); - p.drawPixmap(0, 0, pixmap); - p.setPen(QPen(Qt::white, 2)); - p.drawRect(rect()); - p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom); + p.setPen(QPen(palette().color(QPalette::BrightText), 2)); + if (!pixmap.isNull()) { + p.drawPixmap(0, 0, pixmap); + p.drawRect(rect()); + p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom); + } + if (alert_info.text1.size() > 0) { + QColor color = timeline_colors[(int)TimelineType::AlertInfo]; + if (alert_info.status == cereal::ControlsState::AlertStatus::USER_PROMPT) { + color = timeline_colors[(int)TimelineType::AlertWarning]; + } else if (alert_info.status == cereal::ControlsState::AlertStatus::CRITICAL) { + color = timeline_colors[(int)TimelineType::AlertCritical]; + } + color.setAlphaF(0.5); + QString text = alert_info.text1; + if (!alert_info.text2.isEmpty()) { + text += "\n" + alert_info.text2; + } + + if (!pixmap.isNull()) { + QFont font; + font.setPixelSize(11); + p.setFont(font); + } + QRect text_rect = rect().adjusted(2, 2, -2, -2); + QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text); + p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color); + p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text); + } } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 00b059428d..c2ec759919 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -13,13 +13,21 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" #include "tools/cabana/streams/abstractstream.h" -class ThumbnailLabel : public QWidget { +struct AlertInfo { + cereal::ControlsState::AlertStatus status; + QString text1; + QString text2; +}; + +class InfoLabel : public QWidget { public: - ThumbnailLabel(QWidget *parent); - void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm); + InfoLabel(QWidget *parent); + void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert); + void showAlert(const AlertInfo &alert); void paintEvent(QPaintEvent *event) override; QPixmap pixmap; QString second; + AlertInfo alert_info; }; class Slider : public QSlider { @@ -29,23 +37,29 @@ public: Slider(QWidget *parent); ~Slider(); +signals: + void updateMaximumTime(double); + private: void mousePressEvent(QMouseEvent *e) override; void mouseMoveEvent(QMouseEvent *e) override; - void leaveEvent(QEvent *event) override; + bool event(QEvent *event) override; void sliderChange(QAbstractSlider::SliderChange change) override; void paintEvent(QPaintEvent *ev) override; void streamStarted(); void loadThumbnails(); + double max_sec = 0; int slider_x = -1; std::vector> timeline; std::mutex thumbnail_lock; std::atomic abort_load_thumbnail = false; QMap thumbnails; + std::map alerts; QFuture thumnail_future; - ThumbnailLabel thumbnail_label; + InfoLabel thumbnail_label; QTimer timer; + friend class VideoWidget; }; class VideoWidget : public QFrame { @@ -54,6 +68,7 @@ class VideoWidget : public QFrame { public: VideoWidget(QWidget *parnet = nullptr); void rangeChanged(double min, double max, bool is_zommed); + void setMaximumTime(double sec); protected: void updateState(); @@ -61,9 +76,11 @@ protected: QWidget *createCameraWidget(); CameraWidget *cam_widget; + double maximum_time = 0; QLabel *end_time_label; QLabel *time_label; QHBoxLayout *slider_layout; QPushButton *play_btn; + InfoLabel *alert_label; Slider *slider; }; diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index dd2041e0cb..67ca098c00 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -45,7 +45,7 @@ brew "libarchive" brew "libusb" brew "libtool" brew "llvm" -brew "openssl" +brew "openssl@3.0" brew "pyenv" brew "qt@5" brew "zeromq" diff --git a/tools/plotjuggler/layouts/camera-timings.xml b/tools/plotjuggler/layouts/camera-timings.xml new file mode 100644 index 0000000000..5cc1650909 --- /dev/null +++ b/tools/plotjuggler/layouts/camera-timings.xml @@ -0,0 +1,148 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tools/plotjuggler/layouts/ublox-debug.xml b/tools/plotjuggler/layouts/ublox-debug.xml new file mode 100644 index 0000000000..d595a9ecc7 --- /dev/null +++ b/tools/plotjuggler/layouts/ublox-debug.xml @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/tools/replay/README.md b/tools/replay/README.md index 2d0b702bd0..6c2cdf9521 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -5,16 +5,16 @@ `replay` replays all the messages logged while running openpilot. ```bash -# Log in via browser to have access to non-public routes +# Log in via browser to have access to routes from your comma account python tools/lib/auth.py # Start a replay tools/replay/replay # Example: -# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' +tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' # or use --demo to replay the default demo route: -# tools/replay/replay --demo +tools/replay/replay --demo # watch the replay with the normal openpilot UI cd selfdrive/ui && ./ui @@ -64,12 +64,24 @@ cd selfdrive/ui && ./watch3 Replay CAN messages as they were recorded using a [panda jungle](https://comma.ai/shop/products/panda-jungle). The jungle has 6x OBD-C ports for connecting all your comma devices. Check out the [jungle repo](https://github.com/commaai/panda_jungle) for more info. -`can_replay.py` is a convenient script for when any CAN data will do. +In order to run your device as if it was in a car: +* connect a panda jungle to your PC +* connect a comma device or panda to the jungle via OBD-C +* run `can_replay.py` -In order to replay specific route: -```bash -MOCK=1 selfdrive/boardd/tests/boardd_old.py +``` bash +batman:replay$ ./can_replay.py -h +usage: can_replay.py [-h] [route_or_segment_name] -# In another terminal: -tools/replay/replay +Replay CAN messages from a route to all connected pandas and jungles +in a loop. + +positional arguments: + route_or_segment_name + The route or segment name to replay. If not + specified, a default public route will be + used. (default: None) + +optional arguments: + -h, --help show this help message and exit ``` diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 0b8b4fe0a1..52666c4db0 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -1,4 +1,5 @@ #!/usr/bin/env python3 +import argparse import os import time import threading @@ -11,6 +12,7 @@ from common.basedir import BASEDIR from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from selfdrive.boardd.boardd import can_capnp_to_can_list from tools.plotjuggler.juggle import load_segment +from tools.lib.logreader import logreader_from_route_or_segment from panda import Panda try: @@ -87,18 +89,27 @@ def connect(): if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.") + args = parser.parse_args() + if not panda_jungle_imported: print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m") print("\033[34m", f"cd {BASEDIR} && git clone https://github.com/commaai/panda_jungle", "\033[0m") print("Loading log...") - ROUTE = "77611a1fac303767/2020-03-24--09-50-38" - REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available - CAN_MSGS = [] - logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS] - with multiprocessing.Pool(24) as pool: - for lr in tqdm(pool.map(load_segment, logs)): - CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + if args.route_or_segment_name is None: + ROUTE = "77611a1fac303767/2020-03-24--09-50-38" + REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available + CAN_MSGS = [] + logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS] + with multiprocessing.Pool(24) as pool: + for lr in tqdm(pool.map(load_segment, logs)): + CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + else: + lr = logreader_from_route_or_segment(args.route_or_segment_name) + CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] # set both to cycle ignition IGN_ON = int(os.getenv("ON", "0")) diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index a1ff7b9f8e..ed276c627c 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -68,14 +68,20 @@ FrameReader::~FrameReader() { bool FrameReader::load(const std::string &url, bool no_hw_decoder, std::atomic *abort, bool local_cache, int chunk_size, int retries) { FileReader f(local_cache, chunk_size, retries); std::string data = f.read(url, abort); - if (data.empty()) return false; + if (data.empty()) { + rWarning("URL %s returned no data", url.c_str()); + return false; + } return load((std::byte *)data.data(), data.size(), no_hw_decoder, abort); } bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, std::atomic *abort) { input_ctx = avformat_alloc_context(); - if (!input_ctx) return false; + if (!input_ctx) { + rError("Error calling avformat_alloc_context"); + return false; + } struct buffer_data bd = { .data = (const uint8_t*)data, @@ -121,7 +127,10 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s } ret = avcodec_open2(decoder_ctx, decoder, nullptr); - if (ret < 0) return false; + if (ret < 0) { + rError("avcodec_open2 failed %d", ret); + return false; + } packets.reserve(60 * 20); // 20fps, one minute while (!(abort && *abort)) { diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim index be16f8c863..48aa12ebc6 100644 --- a/tools/sim/Dockerfile.sim +++ b/tools/sim/Dockerfile.sim @@ -14,6 +14,7 @@ RUN mkdir -p $HOME/openpilot COPY SConstruct $HOME/openpilot/ +COPY ./body $HOME/openpilot/body COPY ./third_party $HOME/openpilot/third_party COPY ./site_scons $HOME/openpilot/site_scons COPY ./rednose $HOME/openpilot/rednose diff --git a/update_requirements.sh b/update_requirements.sh index b430df59e5..b2b36e7097 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -50,25 +50,27 @@ pip install poetry==1.2.2 poetry config virtualenvs.prefer-active-python true --local -POETRY_INSTALL_ARGS="" -if [ -d "./xx" ] || [ -n "$XX" ]; then - echo "WARNING: using xx dependency group, installing globally" - poetry config virtualenvs.create false --local - POETRY_INSTALL_ARGS="--with xx --sync" +if [[ -n "$XX" ]] || [[ "$(basename "$(dirname "$(pwd)")")" == "xx" ]]; then + XX=true fi -echo "pip packages install..." -poetry install --no-cache --no-root $POETRY_INSTALL_ARGS -pyenv rehash +POETRY_INSTALL_ARGS="--no-cache --no-root" -if [ -d "./xx" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ]; then - RUN="" +if [ -n "$XX" ]; then + echo "WARNING: using xx dependency group, installing globally" + poetry config virtualenvs.create false --local + POETRY_INSTALL_ARGS="$POETRY_INSTALL_ARGS --with xx --sync" else echo "PYTHONPATH=${PWD}" > .env poetry self add poetry-dotenv-plugin@^0.1.0 - RUN="poetry run" fi +echo "pip packages install..." +poetry install $POETRY_INSTALL_ARGS +pyenv rehash + +[ -n "$XX" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run" + if [ "$(uname)" != "Darwin" ]; then echo "pre-commit hooks install..." shopt -s nullglob