From f8091837c92ed096ef3b886d1b09fe758d6ae9f2 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 18 Oct 2022 02:15:03 +0900 Subject: [PATCH 001/137] kor translation update (#26111) --- selfdrive/ui/translations/main_ko.ts | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 86cd8f990a..f84797eb60 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -60,11 +60,11 @@ Cellular Metered - + 데이터 요금제 Prevent large data uploads when on a metered connection - + 데이터 요금제 연결 시 대용량 데이터 업로드 방지 From 93346c31d3728d27eaff56a3068690a47eac86ef Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 01:20:27 +0800 Subject: [PATCH 002/137] Cabana: add chart_height setting (#26066) add chart_height setting --- tools/cabana/canmessages.cc | 5 ++++- tools/cabana/canmessages.h | 1 + tools/cabana/chartswidget.cc | 11 ++++++++++- tools/cabana/chartswidget.h | 1 + tools/cabana/mainwin.cc | 7 +++++++ tools/cabana/mainwin.h | 1 + 6 files changed, 24 insertions(+), 2 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index b717424ece..3cf08eaaa0 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -141,11 +141,14 @@ void Settings::save() { s.setValue("fps", fps); s.setValue("log_size", can_msg_log_size); s.setValue("cached_segment", cached_segment_limit); + s.setValue("chart_height", chart_height); + emit changed(); } void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); can_msg_log_size = s.value("log_size", 100).toInt(); - cached_segment_limit = s.value("cached_segment", 3.).toInt(); + cached_segment_limit = s.value("cached_segment", 3).toInt(); + chart_height = s.value("chart_height", 200).toInt(); } diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 3d33f801a7..7f6955369b 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -19,6 +19,7 @@ public: int fps = 10; int can_msg_log_size = 100; int cached_segment_limit = 3; + int chart_height = 200; signals: void changed(); diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index d0f5356fac..e69729c03a 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -76,6 +76,11 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { docking = !docking; updateTitleBar(); }); + QObject::connect(&settings, &Settings::changed, [this]() { + for (auto chart : charts) { + chart->setHeight(settings.chart_height); + } + }); } void ChartsWidget::updateTitleBar() { @@ -152,7 +157,7 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) main_layout->addWidget(header); chart_view = new ChartView(id, sig, this); - chart_view->setFixedHeight(300); + chart_view->setFixedHeight(settings.chart_height); main_layout->addWidget(chart_view); main_layout->addStretch(); @@ -205,6 +210,10 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) updateSeries(); } +void ChartWidget::setHeight(int height) { + chart_view->setFixedHeight(height); +} + void ChartView::updateState() { auto axis_x = dynamic_cast(chart()->axisX()); int x = chart()->plotArea().left() + chart()->plotArea().width() * (can->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index a3c470e960..3e43409dc4 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -46,6 +46,7 @@ Q_OBJECT public: ChartWidget(const QString &id, const Signal *sig, QWidget *parent); void updateTitle(); + void setHeight(int height); signals: void remove(); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index c9d9c85141..999a4816b0 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -96,6 +96,12 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { cached_segment->setValue(settings.cached_segment_limit); form_layout->addRow(tr("Cached segments limit"), cached_segment); + chart_height = new QSpinBox(this); + chart_height->setRange(100, 500); + chart_height->setSingleStep(10); + chart_height->setValue(settings.chart_height); + form_layout->addRow(tr("Chart height"), chart_height); + main_layout->addLayout(form_layout); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); @@ -110,6 +116,7 @@ void SettingsDlg::save() { settings.fps = fps->value(); settings.can_msg_log_size = log_size->value(); settings.cached_segment_limit = cached_segment->value(); + settings.chart_height = chart_height->value(); settings.save(); accept(); } diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 14c4b1dfa9..594e608b59 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -33,4 +33,5 @@ public: QSpinBox *fps; QSpinBox *log_size ; QSpinBox *cached_segment; + QSpinBox *chart_height; }; From 3a8ddc191fd9a7537254399e3b9e49217de9bf16 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 01:32:31 +0800 Subject: [PATCH 003/137] Move Qt moc files to scons cache directory (#26109) --- SConstruct | 1 + 1 file changed, 1 insertion(+) diff --git a/SConstruct b/SConstruct index 23ab37dc1e..74680c0598 100644 --- a/SConstruct +++ b/SConstruct @@ -327,6 +327,7 @@ qt_flags = [ qt_env['CXXFLAGS'] += qt_flags qt_env['LIBPATH'] += ['#selfdrive/ui'] qt_env['LIBS'] = qt_libs +qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_' if GetOption("clazy"): checks = [ From 6d07268ee5b385010961eab206b0b42a0ae6b5f8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 01:39:07 +0800 Subject: [PATCH 004/137] tools/replay: reduce test running time (#26110) --- tools/replay/tests/test_replay.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 5b61b6b6f2..3fd410bb6e 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -207,8 +207,7 @@ void TestReplay::test_seek() { } TEST_CASE("Replay") { - auto flag = GENERATE(REPLAY_FLAG_NO_FILE_CACHE, REPLAY_FLAG_NONE); - TestReplay replay(DEMO_ROUTE, flag); + TestReplay replay(DEMO_ROUTE, (uint8_t)REPLAY_FLAG_NO_VIPC); REQUIRE(replay.load()); replay.test_seek(); } From 1dffbb629a6b629b3079bcea195f64f389fc5d1d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 10:47:54 -0700 Subject: [PATCH 005/137] GM camera ACC: revert FCW logging (#26114) Revert FCW logging --- selfdrive/car/gm/carstate.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 21eb440d7f..b67b97093a 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -96,9 +96,7 @@ class CarState(CarStateBase): ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL if self.CP.networkLocation == NetworkLocation.fwdCamera: ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS - ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0 - ret.stockFcw = cam_cp.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] != 0 return ret @@ -110,7 +108,6 @@ class CarState(CarStateBase): signals += [ ("AEBCmdActive", "AEBCmd"), ("RollingCounter", "ASCMLKASteeringCmd"), - ("FCWAlert", "ASCMActiveCruiseControlStatus"), ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"), ] checks += [ From 9e2a1121ea1103efaceaf52cca83370da73ba988 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 17 Oct 2022 12:55:40 -0700 Subject: [PATCH 006/137] athenad: small tests cleanup (#26037) * test helpers * create file helper * clearer * type * fix default create path * static methods --- selfdrive/athena/tests/test_athenad.py | 68 ++++++++++++++------------ 1 file changed, 36 insertions(+), 32 deletions(-) diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py index 7f511eecf6..5e86a2e821 100755 --- a/selfdrive/athena/tests/test_athenad.py +++ b/selfdrive/athena/tests/test_athenad.py @@ -9,6 +9,7 @@ import threading import queue import unittest from datetime import datetime, timedelta +from typing import Optional from multiprocessing import Process from pathlib import Path @@ -46,12 +47,26 @@ class TestAthenadMethods(unittest.TestCase): else: os.unlink(p) - def wait_for_upload(self): + + # *** test helpers *** + + @staticmethod + def _wait_for_upload(): now = time.time() while time.time() - now < 5: if athenad.upload_queue.qsize() == 0: break + @staticmethod + def _create_file(file: str, parent: Optional[str] = None) -> str: + fn = os.path.join(athenad.ROOT if parent is None else parent, file) + os.makedirs(os.path.dirname(fn), exist_ok=True) + Path(fn).touch() + return fn + + + # *** test cases *** + def test_echo(self): assert dispatcher["echo"]("bob") == "bob" @@ -85,9 +100,7 @@ class TestAthenadMethods(unittest.TestCase): filenames = ['qlog', 'qcamera.ts', 'rlog', 'fcamera.hevc', 'ecamera.hevc', 'dcamera.hevc'] files = [f'{route}--{s}/{f}' for s in segments for f in filenames] for file in files: - fn = os.path.join(athenad.ROOT, file) - os.makedirs(os.path.dirname(fn), exist_ok=True) - Path(fn).touch() + self._create_file(file) resp = dispatcher["listDataDirectory"]() self.assertTrue(resp, 'list empty!') @@ -121,16 +134,14 @@ class TestAthenadMethods(unittest.TestCase): self.assertCountEqual(resp, expected) def test_strip_bz2_extension(self): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') if fn.endswith('.bz2'): self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) @with_http_server def test_do_upload(self, host): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='') with self.assertRaises(requests.exceptions.ConnectionError): @@ -142,8 +153,7 @@ class TestAthenadMethods(unittest.TestCase): @with_http_server def test_uploadFileToUrl(self, host): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {}) self.assertEqual(resp['enqueued'], 1) @@ -154,8 +164,7 @@ class TestAthenadMethods(unittest.TestCase): @with_http_server def test_uploadFileToUrl_duplicate(self, host): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + self._create_file('qlog.bz2') url1 = f"{host}/qlog.bz2?sig=sig1" dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {}) @@ -172,8 +181,7 @@ class TestAthenadMethods(unittest.TestCase): @with_http_server def test_upload_handler(self, host): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) end_event = threading.Event() @@ -182,7 +190,7 @@ class TestAthenadMethods(unittest.TestCase): athenad.upload_queue.put_nowait(item) try: - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) # TODO: verify that upload actually succeeded @@ -195,8 +203,7 @@ class TestAthenadMethods(unittest.TestCase): def test_upload_handler_retry(self, host, mock_put): for status, retry in ((500, True), (412, False)): mock_put.return_value.status_code = status - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) end_event = threading.Event() @@ -205,7 +212,7 @@ class TestAthenadMethods(unittest.TestCase): athenad.upload_queue.put_nowait(item) try: - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) self.assertEqual(athenad.upload_queue.qsize(), 1 if retry else 0) @@ -217,8 +224,7 @@ class TestAthenadMethods(unittest.TestCase): def test_upload_handler_timeout(self): """When an upload times out or fails to connect it should be placed back in the queue""" - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) item_no_retry = item._replace(retry_count=MAX_RETRY_COUNT) @@ -228,14 +234,14 @@ class TestAthenadMethods(unittest.TestCase): try: athenad.upload_queue.put_nowait(item_no_retry) - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) # Check that upload with retry count exceeded is not put back self.assertEqual(athenad.upload_queue.qsize(), 0) athenad.upload_queue.put_nowait(item) - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) # Check that upload item was put back in the queue with incremented retry count @@ -256,7 +262,7 @@ class TestAthenadMethods(unittest.TestCase): thread = threading.Thread(target=athenad.upload_handler, args=(end_event,)) thread.start() try: - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) self.assertEqual(athenad.upload_queue.qsize(), 0) @@ -269,8 +275,7 @@ class TestAthenadMethods(unittest.TestCase): ts = int(t_future.strftime("%s")) * 1000 # Item that would time out if actually uploaded - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True) @@ -279,7 +284,7 @@ class TestAthenadMethods(unittest.TestCase): thread.start() try: athenad.upload_queue.put_nowait(item) - self.wait_for_upload() + self._wait_for_upload() time.sleep(0.1) self.assertEqual(athenad.upload_queue.qsize(), 0) @@ -292,8 +297,7 @@ class TestAthenadMethods(unittest.TestCase): @with_http_server def test_listUploadQueueCurrent(self, host): - fn = os.path.join(athenad.ROOT, 'qlog.bz2') - Path(fn).touch() + fn = self._create_file('qlog.bz2') item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True) end_event = threading.Event() @@ -302,7 +306,7 @@ class TestAthenadMethods(unittest.TestCase): try: athenad.upload_queue.put_nowait(item) - self.wait_for_upload() + self._wait_for_upload() items = dispatcher["listUploadQueue"]() self.assertEqual(len(items), 1) @@ -405,9 +409,9 @@ class TestAthenadMethods(unittest.TestCase): def test_get_logs_to_send_sorted(self): fl = list() for i in range(10): - fn = os.path.join(swaglog.SWAGLOG_DIR, f'swaglog.{i:010}') - Path(fn).touch() - fl.append(os.path.basename(fn)) + file = f'swaglog.{i:010}' + self._create_file(file, athenad.SWAGLOG_DIR) + fl.append(file) # ensure the list is all logs except most recent sl = athenad.get_logs_to_send_sorted() From 6c65e9bf9837cb00c5feeb3744232597c5b421bb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 13:50:56 -0700 Subject: [PATCH 007/137] HKG FPv2: whitelist queried Ecus (#26115) * whitelist all ecus * remove engine and fwdCamera from queries they never return to --- selfdrive/car/hyundai/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 734e56c033..3585fcc313 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -293,10 +293,12 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera], ), Request( [HYUNDAI_VERSION_REQUEST_MULTI], [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), ], extra_ecus=[ From 581835df80dc2cf4d3c0e18fdf9f2772e643da5a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 14:04:29 -0700 Subject: [PATCH 008/137] 2018 Kia Stinger: add missing FW versions (#26117) add missing versions from 1ce52d9487767eae --- selfdrive/car/hyundai/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3585fcc313..856bf1abd9 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -743,6 +743,7 @@ FW_VERSIONS = { b'\xf1\x81640E0051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00', b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00', + b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CK MDPS R 1.00 1.04 57700-J5200 4C2CL104', @@ -765,6 +766,8 @@ FW_VERSIONS = { b'\xf1\x87VDKLJ18675252DK6\x89vhgwwwwveVU\x88w\x87w\x99vgf\x97vXfgw_\xff\xc2\xfb\xf1\x89E25\x00\x00\x00\x00\x00\x00\x00\xf1\x82TCK0T33NB2', b'\xf1\x87WAJTE17552812CH4vfFffvfVeT5DwvvVVdFeegeg\x88\x88o\xff\x1a]\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00TCK2T20NB1\x19\xd2\x00\x94', b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', + b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', ], }, CAR.PALISADE: { From 60586e0d5835dbb3928321700c9d4d99cdeec216 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 05:39:18 +0800 Subject: [PATCH 009/137] Cabana: align the charts properly (#26116) --- tools/cabana/chartswidget.cc | 20 +++++++++++++++++++- tools/cabana/chartswidget.h | 1 + 2 files changed, 20 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index e69729c03a..3652720e12 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include @@ -183,7 +184,6 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) font.setBold(true); chart->setTitleFont(font); chart->setMargins({0, 0, 0, 0}); - chart->layout()->setContentsMargins(0, 0, 0, 0); track_line = new QGraphicsLineItem(chart); track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine)); @@ -202,14 +202,32 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) rubber->setPalette(pal); } + QTimer *timer = new QTimer(this); + timer->setInterval(100); + timer->setSingleShot(true); + timer->callOnTimeout(this, &ChartView::adjustChartMargins); + QObject::connect(can, &CANMessages::updated, this, &ChartView::updateState); QObject::connect(can, &CANMessages::rangeChanged, this, &ChartView::rangeChanged); QObject::connect(can, &CANMessages::eventsMerged, this, &ChartView::updateSeries); QObject::connect(dynamic_cast(chart->axisX()), &QValueAxis::rangeChanged, can, &CANMessages::setRange); + QObject::connect(chart, &QChart::plotAreaChanged, [=](const QRectF &plotArea) { + // use a singleshot timer to avoid recursion call. + timer->start(); + }); updateSeries(); } +void ChartView::adjustChartMargins() { + // TODO: Remove hardcoded aligned_pos + const int aligned_pos = 60; + if (chart()->plotArea().left() != aligned_pos) { + const float left_margin = chart()->margins().left() + aligned_pos - chart()->plotArea().left(); + chart()->setMargins(QMargins(left_margin, 0, 0, 0)); + } +} + void ChartWidget::setHeight(int height) { chart_view->setFixedHeight(height); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 3e43409dc4..fe2e14db9f 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -27,6 +27,7 @@ private: void mouseMoveEvent(QMouseEvent *ev) override; void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; + void adjustChartMargins(); void rangeChanged(qreal min, qreal max); void updateAxisY(); From c6b8a253e68fc62cd9eb3261e7f08d3cb3d3414d Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 17 Oct 2022 15:36:29 -0700 Subject: [PATCH 010/137] networking: fix metered setting (#26113) when metered set unknown, when unmetered set no --- selfdrive/ui/qt/offroad/wifiManager.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc index 62de3041b9..fde8645586 100644 --- a/selfdrive/ui/qt/offroad/wifiManager.cc +++ b/selfdrive/ui/qt/offroad/wifiManager.cc @@ -368,7 +368,7 @@ void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) { changes = true; } - int meteredInt = metered ? NM_METERED_NO : NM_METERED_UNKNOWN; + int meteredInt = metered ? NM_METERED_UNKNOWN : NM_METERED_NO; if (settings.value("connection").value("metered").toInt() != meteredInt) { qWarning() << "Changing connection.metered to" << meteredInt; settings["connection"]["metered"] = meteredInt; From e6cab24e08323ce1e8d846365a6ca1770a54f851 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Mon, 17 Oct 2022 15:38:31 -0700 Subject: [PATCH 011/137] updated: sync submodules (#26121) --- selfdrive/updated.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 9568b28ae3..57f957cfff 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -365,6 +365,7 @@ class Updater: ["git", "checkout", "--force", "--no-recurse-submodules", "-B", branch, "FETCH_HEAD"], ["git", "reset", "--hard"], ["git", "clean", "-xdff"], + ["git", "submodule", "sync"], ["git", "submodule", "init"], ["git", "submodule", "update"], ] From 15b8c7d1dc3a75d78c0bbaa4f6b866374f6e8672 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 17 Oct 2022 17:14:38 -0700 Subject: [PATCH 012/137] ui: publish draw times + add test (#26119) * ui: publish draw times + add test * add some checks * adjust * fix linter * update max Co-authored-by: Comma Device --- cereal | 2 +- selfdrive/debug/check_timings.py | 2 +- selfdrive/test/test_onroad.py | 23 +++++++++++++++++++++-- selfdrive/ui/qt/onroad.cc | 10 ++++++++++ selfdrive/ui/qt/onroad.h | 1 + 5 files changed, 34 insertions(+), 4 deletions(-) diff --git a/cereal b/cereal index 5766e645f2..107048c83e 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 5766e645f2ee2a131b145fb1ea9e3b7c55a4a740 +Subproject commit 107048c83ec2f488286a1be314e7aece0a20a6b1 diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py index 083e084ca7..fb8467a3c4 100755 --- a/selfdrive/debug/check_timings.py +++ b/selfdrive/debug/check_timings.py @@ -19,7 +19,7 @@ if __name__ == "__main__": for m in msgs: ts[s].append(m.logMonoTime / 1e6) - if len(ts[s]): + if len(ts[s]) > 2: d = np.diff(ts[s]) print(f"{s:25} {np.mean(d):.2f} {np.std(d):.2f} {np.max(d):.2f} {np.min(d):.2f}") time.sleep(1) diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index b29ca5d35b..0d3d7b367a 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -120,8 +120,8 @@ class TestOnroad(unittest.TestCase): if "DEBUG" in os.environ: segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir()) segs = sorted(segs, key=lambda x: x.stat().st_mtime) - print(segs[-1]) - cls.lr = list(LogReader(os.path.join(segs[-1], "rlog"))) + print(segs[-2]) + cls.lr = list(LogReader(os.path.join(segs[-2], "rlog"))) return # setup env @@ -187,6 +187,25 @@ class TestOnroad(unittest.TestCase): big_logs = [f for f, n in cnt.most_common(3) if n / sum(cnt.values()) > 30.] self.assertEqual(len(big_logs), 0, f"Log spam: {big_logs}") + def test_ui_timings(self): + result = "\n" + result += "------------------------------------------------\n" + result += "-------------- UI Draw Timing ------------------\n" + result += "------------------------------------------------\n" + + ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug'] + result += f"min {min(ts):.2f}ms\n" + result += f"max {max(ts):.2f}ms\n" + result += f"std {np.std(ts):.2f}ms\n" + result += f"mean {np.mean(ts):.2f}ms\n" + result += "------------------------------------------------\n" + print(result) + + self.assertGreater(len(ts), 20*50, "insufficient samples") + self.assertLess(max(ts), 30.) + self.assertLess(np.mean(ts), 10.) + self.assertLess(np.std(ts), 5.) + def test_cpu_usage(self): proclogs = [m for m in self.lr if m.which() == 'procLog'] self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples") diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 0fbfb0cfc2..66bc38dbfc 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -176,6 +176,8 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { // NvgWindow NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) { + pm = std::make_unique>({"uiDebug"}); + engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); } @@ -542,6 +544,8 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV } void NvgWindow::paintGL() { + const double start_draw_t = millis_since_boot(); + UIState *s = uiState(); const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2(); CameraViewWidget::setFrameId(model.getFrameId()); @@ -575,6 +579,12 @@ void NvgWindow::paintGL() { LOGW("slow frame rate: %.2f fps", fps); } prev_draw_t = cur_draw_t; + + // publish debug msg + MessageBuilder msg; + auto m = msg.initEvent().initUiDebug(); + m.setDrawTimeMillis(cur_draw_t - start_draw_t); + pm->send("uiDebug", msg); } void NvgWindow::showEvent(QShowEvent *event) { diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 25920ccc6a..7ed2c9cc4a 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -68,6 +68,7 @@ private: bool has_eu_speed_limit = false; bool v_ego_cluster_seen = false; int status = STATUS_DISENGAGED; + std::unique_ptr pm; protected: void paintGL() override; From cd12ef4aa19a83f88532f5c1a8c3f290b87fcbf8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 08:18:04 +0800 Subject: [PATCH 013/137] cabana: add a splitter between message lists and detailview (#26118) * add a splitter between message lists and detailview * space --- tools/cabana/mainwin.cc | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 999a4816b0..7aea8097cf 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -5,6 +5,7 @@ #include #include #include +#include #include MainWindow::MainWindow() : QWidget() { @@ -13,12 +14,16 @@ MainWindow::MainWindow() : QWidget() { QHBoxLayout *h_layout = new QHBoxLayout(); main_layout->addLayout(h_layout); + QSplitter *splitter = new QSplitter(Qt::Horizontal, this); + messages_widget = new MessagesWidget(this); - h_layout->addWidget(messages_widget); + splitter->addWidget(messages_widget); detail_widget = new DetailWidget(this); - detail_widget->setFixedWidth(600); - h_layout->addWidget(detail_widget); + splitter->addWidget(detail_widget); + + splitter->setSizes({100, 500}); + h_layout->addWidget(splitter); // right widgets QWidget *right_container = new QWidget(this); From 409e8f5f89a38f9893a1f28f8fabd3bf526b46eb Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 08:18:24 +0800 Subject: [PATCH 014/137] cabana: faster history log with better stretch mode (#26112) --- tools/cabana/historylog.cc | 59 ++++++++++++++------------------------ tools/cabana/historylog.h | 13 +++++---- 2 files changed, 28 insertions(+), 44 deletions(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index cbb3b6e882..c0efbca280 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -5,21 +5,16 @@ #include QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { - auto msg = dbc()->msg(msg_id); + bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); if (role == Qt::DisplayRole) { - const auto &can_msgs = can->messages(msg_id); - if (index.row() < can_msgs.size()) { - const auto &can_data = can_msgs[index.row()]; - if (msg && index.column() < msg->sigs.size()) { - return get_raw_value((uint8_t *)can_data.dat.begin(), can_data.dat.size(), msg->sigs[index.column()]); - } else { - return toHex(can_data.dat); - } - } - } else if (role == Qt::FontRole) { - if (index.column() == 0 && !(msg && msg->sigs.size() > 0)) { - return QFontDatabase::systemFont(QFontDatabase::FixedFont); + const auto &m = can->messages(msg_id)[index.row()]; + if (index.column() == 0) { + return QString::number(m.ts, 'f', 2); } + return has_signal ? QString::number(get_raw_value((uint8_t *)m.dat.begin(), m.dat.size(), dbc_msg->sigs[index.column() - 1])) + : toHex(m.dat); + } else if (role == Qt::FontRole && index.column() == 1 && !has_signal) { + return QFontDatabase::systemFont(QFontDatabase::FixedFont); } return {}; } @@ -27,8 +22,8 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { void HistoryLogModel::setMessage(const QString &message_id) { beginResetModel(); msg_id = message_id; - const auto msg = dbc()->msg(message_id); - column_count = msg && !msg->sigs.empty() ? msg->sigs.size() : 1; + dbc_msg = dbc()->msg(message_id); + column_count = (dbc_msg && !dbc_msg->sigs.empty() ? dbc_msg->sigs.size() : 1) + 1; row_count = 0; endResetModel(); @@ -37,18 +32,14 @@ void HistoryLogModel::setMessage(const QString &message_id) { QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Horizontal) { - auto msg = dbc()->msg(msg_id); - if (msg && section < msg->sigs.size()) { - if (role == Qt::BackgroundRole) { - return QBrush(QColor(getColor(section))); - } else if (role == Qt::DisplayRole || role == Qt::ToolTipRole) { - return QString::fromStdString(msg->sigs[section].name); + bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); + if (role == Qt::DisplayRole || role == Qt::ToolTipRole) { + if (section == 0) { + return "Time"; } - } - } else if (role == Qt::DisplayRole) { - const auto &can_msgs = can->messages(msg_id); - if (section < can_msgs.size()) { - return QString::number(can_msgs[section].ts, 'f', 2); + return has_signal ? dbc_msg->sigs[section - 1].name.c_str() : "Data"; + } else if (role == Qt::BackgroundRole && section > 0 && has_signal) { + return QBrush(QColor(getColor(section - 1))); } } return {}; @@ -69,7 +60,6 @@ void HistoryLogModel::updateState() { } if (row_count > 0) { emit dataChanged(index(0, 0), index(row_count - 1, column_count - 1), {Qt::DisplayRole}); - emit headerDataChanged(Qt::Vertical, 0, row_count - 1); } } @@ -79,17 +69,10 @@ HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) { model = new HistoryLogModel(this); table = new QTableView(this); table->setModel(model); - table->horizontalHeader()->setStretchLastSection(true); - table->setEditTriggers(QAbstractItemView::NoEditTriggers); + table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); + table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::Fixed); + table->setColumnWidth(0, 60); + table->verticalHeader()->setVisible(false); table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); - table->verticalHeader()->setStyleSheet("QHeaderView::section {padding-left: 5px; padding-right: 5px;min-width:40px;}"); main_layout->addWidget(table); } - -void HistoryLog::setMessage(const QString &message_id) { - model->setMessage(message_id); -} - -void HistoryLog::updateState() { - model->updateState(); -} diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index f3a9046bfa..bc6d1f9376 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -6,21 +6,22 @@ #include "tools/cabana/dbcmanager.h" class HistoryLogModel : public QAbstractTableModel { -Q_OBJECT + Q_OBJECT public: HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {} void setMessage(const QString &message_id); void updateState(); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } - QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } private: QString msg_id; int row_count = 0; - int column_count = 0; + int column_count = 2; + const Msg *dbc_msg = nullptr; }; class HistoryLog : public QWidget { @@ -28,8 +29,8 @@ class HistoryLog : public QWidget { public: HistoryLog(QWidget *parent); - void setMessage(const QString &message_id); - void updateState(); + void setMessage(const QString &message_id) { model->setMessage(message_id); } + void updateState() { model->updateState(); } private: QTableView *table; From 99b16151fcc621832d573b9f7858eb5020f6503a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 08:19:41 +0800 Subject: [PATCH 015/137] Cabana: show MSB/LSB of signals in the BinaryView (#26103) * dispaly msb and lsb in binary view * draw at bottom * move binaryview to seperate files * increase the width of vertical header * re-draw changed cells only * correct lsb/msb position * check bounds * todo --- tools/cabana/SConscript | 2 +- tools/cabana/binaryview.cc | 184 +++++++++++++++++++++++++++++++++++ tools/cabana/binaryview.h | 72 ++++++++++++++ tools/cabana/canmessages.h | 1 + tools/cabana/detailwidget.cc | 98 +------------------ tools/cabana/detailwidget.h | 26 +---- tools/cabana/signaledit.cc | 3 + 7 files changed, 265 insertions(+), 121 deletions(-) create mode 100644 tools/cabana/binaryview.cc create mode 100644 tools/cabana/binaryview.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 8dbd4f1d1c..fd44ecd138 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -12,5 +12,5 @@ else: qt_libs = ['qt_util', 'Qt5Charts'] + base_libs cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs -qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', +qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', 'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc new file mode 100644 index 0000000000..3b962b6de1 --- /dev/null +++ b/tools/cabana/binaryview.cc @@ -0,0 +1,184 @@ +#include "tools/cabana/binaryview.h" + +#include +#include +#include + +#include "tools/cabana/canmessages.h" + +// BinaryView + +const int CELL_HEIGHT = 35; + +BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { + model = new BinaryViewModel(this); + setModel(model); + setItemDelegate(new BinaryItemDelegate(this)); + horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); + horizontalHeader()->hide(); + verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); + setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + + // replace selection model + auto old_model = selectionModel(); + setSelectionModel(new BinarySelectionModel(model)); + delete old_model; + + QObject::connect(model, &QAbstractItemModel::modelReset, [this]() { + setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2); + }); +} + +void BinaryView::mouseReleaseEvent(QMouseEvent *event) { + QTableView::mouseReleaseEvent(event); + + if (auto indexes = selectedIndexes(); !indexes.isEmpty()) { + int start_bit = indexes.first().row() * 8 + indexes.first().column(); + int size = indexes.back().row() * 8 + indexes.back().column() - start_bit + 1; + emit cellsSelected(start_bit, size); + } +} + +void BinaryView::setMessage(const QString &message_id) { + msg_id = message_id; + model->setMessage(message_id); + resizeRowsToContents(); + clearSelection(); + updateState(); +} + +void BinaryView::updateState() { + model->updateState(); +} + +// BinaryViewModel + +void BinaryViewModel::setMessage(const QString &message_id) { + msg_id = message_id; + + beginResetModel(); + items.clear(); + row_count = 0; + + dbc_msg = dbc()->msg(msg_id); + if (dbc_msg) { + row_count = dbc_msg->size; + items.resize(row_count * column_count); + for (int i = 0; i < dbc_msg->sigs.size(); ++i) { + const auto &sig = dbc_msg->sigs[i]; + const int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit); + const int end = start + sig.size - 1; + for (int j = start; j <= end; ++j) { + int idx = column_count * (j / 8) + j % 8; + if (idx >= items.size()) { + qWarning() << "signal " << sig.name.c_str() << "out of bounds.start_bit:" << sig.start_bit << "size:" << sig.size; + break; + } + if (j == start) { + sig.is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; + } else if (j == end) { + sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; + } + items[idx].bg_color = QColor(getColor(i)); + } + } + } + + endResetModel(); +} + +QModelIndex BinaryViewModel::index(int row, int column, const QModelIndex &parent) const { + return createIndex(row, column, (void *)&items[row * column_count + column]); +} + +Qt::ItemFlags BinaryViewModel::flags(const QModelIndex &index) const { + return (index.column() == column_count - 1) ? Qt::ItemIsEnabled : Qt::ItemIsEnabled | Qt::ItemIsSelectable; +} + +void BinaryViewModel::updateState() { + auto prev_items = items; + + const auto &binary = can->lastMessage(msg_id).dat; + // data size may changed. + if (!dbc_msg && binary.size() != row_count) { + beginResetModel(); + row_count = binary.size(); + items.clear(); + items.resize(row_count * column_count); + endResetModel(); + } + + char hex[3] = {'\0'}; + for (int i = 0; i < std::min(binary.size(), row_count); ++i) { + for (int j = 0; j < column_count - 1; ++j) { + items[i * column_count + j].val = QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0'); + } + hex[0] = toHex(binary[i] >> 4); + hex[1] = toHex(binary[i] & 0xf); + items[i * column_count + 8].val = hex; + } + + for (int i = 0; i < items.size(); ++i) { + if (i >= prev_items.size() || prev_items[i].val != items[i].val) { + auto idx = index(i / column_count, i % column_count); + emit dataChanged(idx, idx); + } + } +} + +QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const { + if (orientation == Qt::Vertical) { + switch (role) { + case Qt::DisplayRole: return section + 1; + case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT); + case Qt::TextAlignmentRole: return Qt::AlignCenter; + } + } + return {}; +} + +// BinarySelectionModel + +void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) { + QItemSelection new_selection = selection; + if (auto indexes = selection.indexes(); !indexes.isEmpty()) { + auto [begin_idx, end_idx] = (QModelIndex[]){indexes.first(), indexes.back()}; + for (int row = begin_idx.row(); row <= end_idx.row(); ++row) { + int left_col = (row == begin_idx.row()) ? begin_idx.column() : 0; + int right_col = (row == end_idx.row()) ? end_idx.column() : 7; + new_selection.merge({model()->index(row, left_col), model()->index(row, right_col)}, command); + } + } + QItemSelectionModel::select(new_selection, command); +} + +// BinaryItemDelegate + +BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { + // cache fonts and color + small_font.setPointSize(7); + bold_font.setBold(true); + highlight_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight); +} + +QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { + QSize sz = QStyledItemDelegate::sizeHint(option, index); + return {sz.width(), CELL_HEIGHT}; +} + +void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { + auto item = (const BinaryViewModel::Item *)index.internalPointer(); + painter->save(); + // TODO: highlight signal cells on mouse over + painter->fillRect(option.rect, option.state & QStyle::State_Selected ? highlight_color : item->bg_color); + if (index.column() == 8) { + painter->setFont(bold_font); + } + painter->drawText(option.rect, Qt::AlignCenter, item->val); + if (item->is_msb || item->is_lsb) { + painter->setFont(small_font); + painter->drawText(option.rect, Qt::AlignHCenter | Qt::AlignBottom, item->is_msb ? "MSB" : "LSB"); + } + + painter->restore(); +} diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h new file mode 100644 index 0000000000..631797ca48 --- /dev/null +++ b/tools/cabana/binaryview.h @@ -0,0 +1,72 @@ +#pragma once + +#include +#include + +#include "tools/cabana/dbcmanager.h" + +class BinaryItemDelegate : public QStyledItemDelegate { + Q_OBJECT + +public: + BinaryItemDelegate(QObject *parent); + void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override; + +private: + QFont small_font, bold_font; + QColor highlight_color; +}; + +class BinaryViewModel : public QAbstractTableModel { + Q_OBJECT + +public: + BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {} + void setMessage(const QString &message_id); + void updateState(); + Qt::ItemFlags flags(const QModelIndex &index) const; + QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; + QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const; + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; } + int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } + + struct Item { + QColor bg_color = QColor(Qt::white); + bool is_msb = false; + bool is_lsb = false; + QString val = "0"; + }; + +private: + QString msg_id; + const Msg *dbc_msg; + int row_count = 0; + const int column_count = 9; + std::vector items; +}; + +// the default QItemSelectionModel does not support our selection mode. +class BinarySelectionModel : public QItemSelectionModel { + public: + BinarySelectionModel(QAbstractItemModel *model = nullptr) : QItemSelectionModel(model) {} + void select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) override; +}; + +class BinaryView : public QTableView { + Q_OBJECT + +public: + BinaryView(QWidget *parent = nullptr); + void mouseReleaseEvent(QMouseEvent *event) override; + void setMessage(const QString &message_id); + void updateState(); + +signals: + void cellsSelected(int start_bit, int size); + +private: + QString msg_id; + BinaryViewModel *model; +}; diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 7f6955369b..fe71840d74 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -91,6 +91,7 @@ inline char toHex(uint value) { } inline const QString &getColor(int i) { + // TODO: add more colors static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"}; return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; } diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index a9899ec650..60d0632d4c 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -1,13 +1,13 @@ #include "tools/cabana/detailwidget.h" #include -#include #include -#include #include -#include #include +#include "tools/cabana/canmessages.h" +#include "tools/cabana/dbcmanager.h" + // DetailWidget DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { @@ -141,98 +141,6 @@ void DetailWidget::removeSignal() { } } -// BinaryView - -BinaryView::BinaryView(QWidget *parent) : QTableWidget(parent) { - horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); - verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); - horizontalHeader()->hide(); - setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); - setColumnCount(9); - - // replace selection model - auto old_model = selectionModel(); - setSelectionModel(new BinarySelectionModel(model())); - delete old_model; -} - -void BinaryView::mouseReleaseEvent(QMouseEvent *event) { - QTableWidget::mouseReleaseEvent(event); - - if (auto items = selectedItems(); !items.isEmpty()) { - int start_bit = items.first()->row() * 8 + items.first()->column(); - int size = items.back()->row() * 8 + items.back()->column() - start_bit + 1; - emit cellsSelected(start_bit, size); - } -} - -void BinaryView::setMessage(const QString &message_id) { - msg_id = message_id; - if (msg_id.isEmpty()) return; - - const Msg *msg = dbc()->msg(msg_id); - int row_count = msg ? msg->size : can->lastMessage(msg_id).dat.size(); - setRowCount(row_count); - setColumnCount(9); - for (int i = 0; i < rowCount(); ++i) { - for (int j = 0; j < columnCount(); ++j) { - auto item = new QTableWidgetItem(); - item->setFlags(item->flags() ^ Qt::ItemIsEditable); - item->setTextAlignment(Qt::AlignCenter); - if (j == 8) { - QFont font = QFontDatabase::systemFont(QFontDatabase::FixedFont); - font.setBold(true); - item->setFont(font); - item->setFlags(item->flags() ^ Qt::ItemIsSelectable); - } - setItem(i, j, item); - } - } - - // set background color - if (msg) { - for (int i = 0; i < msg->sigs.size(); ++i) { - const auto &sig = msg->sigs[i]; - int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit); - for (int j = start; j <= std::min(start + sig.size - 1, rowCount() * columnCount() - 1); ++j) { - item(j / 8, j % 8)->setBackground(QColor(getColor(i))); - } - } - } - - setFixedHeight(rowHeight(0) * std::min(row_count, 8) + 2); - clearSelection(); - updateState(); -} - -void BinaryView::updateState() { - const auto &binary = can->lastMessage(msg_id).dat; - setUpdatesEnabled(false); - char hex[3] = {'\0'}; - for (int i = 0; i < binary.size(); ++i) { - for (int j = 0; j < 8; ++j) { - item(i, j)->setText(QChar((binary[i] >> (7 - j)) & 1 ? '1' : '0')); - } - hex[0] = toHex(binary[i] >> 4); - hex[1] = toHex(binary[i] & 0xf); - item(i, 8)->setText(hex); - } - setUpdatesEnabled(true); -} - -void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) { - QItemSelection new_selection = selection; - if (auto indexes = selection.indexes(); !indexes.isEmpty()) { - auto [begin_idx, end_idx] = (QModelIndex[]){indexes.first(), indexes.back()}; - for (int row = begin_idx.row(); row <= end_idx.row(); ++row) { - int left_col = (row == begin_idx.row()) ? begin_idx.column() : 0; - int right_col = (row == end_idx.row()) ? end_idx.column() : 7; - new_selection.merge({model()->index(row, left_col), model()->index(row, right_col)}, command); - } - } - QItemSelectionModel::select(new_selection, command); -} - // EditMessageDialog EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent) : QDialog(parent) { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index db174873f7..9d3b81dcb0 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -1,35 +1,11 @@ #pragma once #include -#include -#include "opendbc/can/common.h" -#include "opendbc/can/common_dbc.h" -#include "tools/cabana/canmessages.h" -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/binaryview.h" #include "tools/cabana/historylog.h" #include "tools/cabana/signaledit.h" -class BinarySelectionModel : public QItemSelectionModel { -public: - BinarySelectionModel(QAbstractItemModel *model = nullptr) : QItemSelectionModel(model) {} - void select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) override; -}; - -class BinaryView : public QTableWidget { - Q_OBJECT -public: - BinaryView(QWidget *parent = nullptr); - void mouseReleaseEvent(QMouseEvent *event) override; - void setMessage(const QString &message_id); - void updateState(); -signals: - void cellsSelected(int start_bit, int size); - -private: - QString msg_id; -}; - class EditMessageDialog : public QDialog { Q_OBJECT diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 2da3e2eec2..b52f83dab6 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -23,6 +23,9 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start endianness->setCurrentIndex(sig.is_little_endian ? 0 : 1); form_layout->addRow(tr("Endianness"), endianness); + form_layout->addRow(tr("lsb"), new QLabel(QString::number(sig.lsb))); + form_layout->addRow(tr("msb"), new QLabel(QString::number(sig.msb))); + sign = new QComboBox(); sign->addItems({"Signed", "Unsigned"}); sign->setCurrentIndex(sig.is_signed ? 0 : 1); From c782e4d796e0981b3717222cb5551911fe40cb7a Mon Sep 17 00:00:00 2001 From: Jake Poznanski Date: Mon, 17 Oct 2022 17:22:47 -0700 Subject: [PATCH 016/137] loggerd: fix length of ArrayPtr in handle_encoder_msg (#26077) --- selfdrive/loggerd/loggerd.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc index e0892e68b4..9beb3c3bf1 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/selfdrive/loggerd/loggerd.cc @@ -55,7 +55,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct int bytes_count = 0; // extract the message - capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize())); + capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word))); auto event = cmsg.getRoot(); auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() : ((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() : From baca1cae1f71c70162374c887cf36d5cf828f2f3 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 17 Oct 2022 18:18:01 -0700 Subject: [PATCH 017/137] UI Onroad widget renames (#26124) Consistent widget naming --- selfdrive/ui/qt/offroad/driverview.cc | 4 +-- selfdrive/ui/qt/offroad/driverview.h | 2 +- selfdrive/ui/qt/onroad.cc | 45 ++++++++++++----------- selfdrive/ui/qt/onroad.h | 6 ++-- selfdrive/ui/qt/widgets/cameraview.cc | 26 +++++++------- selfdrive/ui/qt/widgets/cameraview.h | 6 ++-- selfdrive/ui/translations/main_ar.ts | 2 +- selfdrive/ui/translations/main_ja.ts | 46 ++++++++++++------------ selfdrive/ui/translations/main_ko.ts | 46 ++++++++++++------------ selfdrive/ui/translations/main_nl.ts | 2 +- selfdrive/ui/translations/main_pl.ts | 2 +- selfdrive/ui/translations/main_pt-BR.ts | 46 ++++++++++++------------ selfdrive/ui/translations/main_th.ts | 2 +- selfdrive/ui/translations/main_zh-CHS.ts | 46 ++++++++++++------------ selfdrive/ui/translations/main_zh-CHT.ts | 46 ++++++++++++------------ selfdrive/ui/watch3.cc | 8 ++--- tools/cabana/videowidget.cc | 6 ++-- tools/cabana/videowidget.h | 2 +- 18 files changed, 173 insertions(+), 170 deletions(-) diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index be8b84d45e..0ff786fb91 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -12,11 +12,11 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) { layout = new QStackedLayout(this); layout->setStackingMode(QStackedLayout::StackAll); - cameraView = new CameraViewWidget("camerad", VISION_STREAM_DRIVER, true, this); + cameraView = new CameraWidget("camerad", VISION_STREAM_DRIVER, true, this); layout->addWidget(cameraView); scene = new DriverViewScene(this); - connect(cameraView, &CameraViewWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); + connect(cameraView, &CameraWidget::vipcThreadFrameReceived, scene, &DriverViewScene::frameUpdated); layout->addWidget(scene); layout->setCurrentWidget(scene); } diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 5d090ad772..255857970d 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -42,7 +42,7 @@ protected: void mouseReleaseEvent(QMouseEvent* e) override; private: - CameraViewWidget *cameraView; + CameraWidget *cameraView; DriverViewScene *scene; QStackedLayout *layout; }; diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 66bc38dbfc..1f677fc92d 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -18,7 +18,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { stacked_layout->setStackingMode(QStackedLayout::StackAll); main_layout->addLayout(stacked_layout); - nvg = new NvgWindow(VISION_STREAM_ROAD, this); + nvg = new AnnotatedCameraWidget(VISION_STREAM_ROAD, this); QWidget * split_wrapper = new QWidget; split = new QHBoxLayout(split_wrapper); @@ -27,7 +27,7 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { split->addWidget(nvg); if (getenv("DUAL_CAMERA_VIEW")) { - CameraViewWidget *arCam = new CameraViewWidget("camerad", VISION_STREAM_ROAD, true, this); + CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this); split->insertWidget(0, arCam); } @@ -173,16 +173,15 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) { } } -// NvgWindow -NvgWindow::NvgWindow(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraViewWidget("camerad", type, true, parent) { +AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) { pm = std::make_unique>({"uiDebug"}); engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size}); dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size}); } -void NvgWindow::updateState(const UIState &s) { +void AnnotatedCameraWidget::updateState(const UIState &s) { const int SET_SPEED_NA = 255; const SubMaster &sm = *(s.sm); @@ -234,13 +233,13 @@ void NvgWindow::updateState(const UIState &s) { } if (s.scene.calibration_valid) { - CameraViewWidget::updateCalibration(s.scene.view_from_calib); + CameraWidget::updateCalibration(s.scene.view_from_calib); } else { - CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION); + CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } } -void NvgWindow::drawHud(QPainter &p) { +void AnnotatedCameraWidget::drawHud(QPainter &p) { p.save(); // Header gradient @@ -402,7 +401,11 @@ void NvgWindow::drawHud(QPainter &p) { p.restore(); } -void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { + +// Window that shows camera view and variety of +// info drawn on top + +void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) { QRect real_rect = getTextRect(p, 0, text); real_rect.moveCenter({x, y - real_rect.height() / 2}); @@ -410,7 +413,7 @@ void NvgWindow::drawText(QPainter &p, int x, int y, const QString &text, int alp p.drawText(real_rect.x(), real_rect.bottom(), text); } -void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) { +void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) { p.setPen(Qt::NoPen); p.setBrush(bg); p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius); @@ -419,8 +422,8 @@ void NvgWindow::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, flo } -void NvgWindow::initializeGL() { - CameraViewWidget::initializeGL(); +void AnnotatedCameraWidget::initializeGL() { + CameraWidget::initializeGL(); qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION)); qInfo() << "OpenGL vendor:" << QString((const char*)glGetString(GL_VENDOR)); qInfo() << "OpenGL renderer:" << QString((const char*)glGetString(GL_RENDERER)); @@ -430,8 +433,8 @@ void NvgWindow::initializeGL() { setBackgroundColor(bg_colors[STATUS_DISENGAGED]); } -void NvgWindow::updateFrameMat() { - CameraViewWidget::updateFrameMat(); +void AnnotatedCameraWidget::updateFrameMat() { + CameraWidget::updateFrameMat(); UIState *s = uiState(); int w = width(), h = height(); @@ -448,7 +451,7 @@ void NvgWindow::updateFrameMat() { .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); } -void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { +void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) { painter.save(); const UIScene &scene = s->scene; @@ -507,7 +510,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) { painter.restore(); } -void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) { +void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) { painter.save(); const float speedBuff = 10.; @@ -543,13 +546,13 @@ void NvgWindow::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV painter.restore(); } -void NvgWindow::paintGL() { +void AnnotatedCameraWidget::paintGL() { const double start_draw_t = millis_since_boot(); UIState *s = uiState(); const cereal::ModelDataV2::Reader &model = (*s->sm)["modelV2"].getModelV2(); - CameraViewWidget::setFrameId(model.getFrameId()); - CameraViewWidget::paintGL(); + CameraWidget::setFrameId(model.getFrameId()); + CameraWidget::paintGL(); QPainter painter(this); painter.setRenderHint(QPainter::Antialiasing); @@ -587,8 +590,8 @@ void NvgWindow::paintGL() { pm->send("uiDebug", msg); } -void NvgWindow::showEvent(QShowEvent *event) { - CameraViewWidget::showEvent(event); +void AnnotatedCameraWidget::showEvent(QShowEvent *event) { + CameraWidget::showEvent(event); ui_update_params(uiState()); prev_draw_t = millis_since_boot(); diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 7ed2c9cc4a..2a663185f4 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -25,7 +25,7 @@ private: }; // container window for the NVG UI -class NvgWindow : public CameraViewWidget { +class AnnotatedCameraWidget : public CameraWidget { Q_OBJECT Q_PROPERTY(float speed MEMBER speed); Q_PROPERTY(QString speedUnit MEMBER speedUnit); @@ -43,7 +43,7 @@ class NvgWindow : public CameraViewWidget { Q_PROPERTY(int status MEMBER status); public: - explicit NvgWindow(VisionStreamType type, QWidget* parent = 0); + explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0); void updateState(const UIState &s); private: @@ -98,7 +98,7 @@ private: void paintEvent(QPaintEvent *event); void mousePressEvent(QMouseEvent* e) override; OnroadAlerts *alerts; - NvgWindow *nvg; + AnnotatedCameraWidget *nvg; QColor bg = bg_colors[STATUS_DISENGAGED]; QWidget *map = nullptr; QHBoxLayout* split; diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 63d15660a0..200257235d 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -93,14 +93,14 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) } // namespace -CameraViewWidget::CameraViewWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : +CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); - connect(this, &CameraViewWidget::vipcThreadConnected, this, &CameraViewWidget::vipcConnected, Qt::BlockingQueuedConnection); - connect(this, &CameraViewWidget::vipcThreadFrameReceived, this, &CameraViewWidget::vipcFrameReceived); + connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); + connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived); } -CameraViewWidget::~CameraViewWidget() { +CameraWidget::~CameraWidget() { makeCurrent(); if (isValid()) { glDeleteVertexArrays(1, &frame_vao); @@ -111,7 +111,7 @@ CameraViewWidget::~CameraViewWidget() { doneCurrent(); } -void CameraViewWidget::initializeGL() { +void CameraWidget::initializeGL() { initializeOpenGLFunctions(); program = std::make_unique(context()); @@ -161,7 +161,7 @@ void CameraViewWidget::initializeGL() { #endif } -void CameraViewWidget::showEvent(QShowEvent *event) { +void CameraWidget::showEvent(QShowEvent *event) { frames.clear(); if (!vipc_thread) { vipc_thread = new QThread(); @@ -171,7 +171,7 @@ void CameraViewWidget::showEvent(QShowEvent *event) { } } -void CameraViewWidget::hideEvent(QHideEvent *event) { +void CameraWidget::hideEvent(QHideEvent *event) { if (vipc_thread) { vipc_thread->requestInterruption(); vipc_thread->quit(); @@ -180,7 +180,7 @@ void CameraViewWidget::hideEvent(QHideEvent *event) { } } -void CameraViewWidget::updateFrameMat() { +void CameraWidget::updateFrameMat() { int w = width(), h = height(); if (zoomed_view) { @@ -224,12 +224,12 @@ void CameraViewWidget::updateFrameMat() { } } -void CameraViewWidget::updateCalibration(const mat3 &calib) { +void CameraWidget::updateCalibration(const mat3 &calib) { calibration = calib; updateFrameMat(); } -void CameraViewWidget::paintGL() { +void CameraWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); @@ -286,7 +286,7 @@ void CameraViewWidget::paintGL() { glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); } -void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { +void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { makeCurrent(); frames.clear(); stream_width = vipc_client->buffers[0].width; @@ -339,7 +339,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { updateFrameMat(); } -void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { +void CameraWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { frames.push_back(std::make_pair(frame_id, buf)); while (frames.size() > FRAME_BUFFER_SIZE) { frames.pop_front(); @@ -347,7 +347,7 @@ void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { update(); } -void CameraViewWidget::vipcThread() { +void CameraWidget::vipcThread() { VisionStreamType cur_stream_type = stream_type; std::unique_ptr vipc_client; VisionIpcBufExtra meta_main = {0}; diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 081483b649..9bcad935c0 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -23,13 +23,13 @@ const int FRAME_BUFFER_SIZE = 5; static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT); -class CameraViewWidget : public QOpenGLWidget, protected QOpenGLFunctions { +class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { Q_OBJECT public: using QOpenGLWidget::QOpenGLWidget; - explicit CameraViewWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); - ~CameraViewWidget(); + explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); + ~CameraWidget(); void setStreamType(VisionStreamType type) { stream_type = type; } void setBackgroundColor(const QColor &color) { bg = color; } void setFrameId(int frame_id) { draw_frame_id = frame_id; } diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index 284208720b..a94d2fbc05 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -493,7 +493,7 @@ location set - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index b39c83c098..314a6b8338 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -67,6 +67,29 @@ + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高速度 + + + SPEED + 速度 + + + LIMIT + 制限速度 + + ConfirmationDialog @@ -406,29 +429,6 @@ location set ﾊﾟｽﾜｰﾄﾞが間違っています - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - 最高速度 - - - SPEED - 速度 - - - LIMIT - 制限速度 - - OffroadHome diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index f84797eb60..021243595e 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -67,6 +67,29 @@ 데이터 요금제 연결 시 대용량 데이터 업로드 방지 + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + MAX + + + SPEED + SPEED + + + LIMIT + LIMIT + + ConfirmationDialog @@ -406,29 +429,6 @@ location set 비밀번호가 틀렸습니다 - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - MAX - - - SPEED - SPEED - - - LIMIT - LIMIT - - OffroadHome diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts index 99646ed749..21bb66d356 100644 --- a/selfdrive/ui/translations/main_nl.ts +++ b/selfdrive/ui/translations/main_nl.ts @@ -489,7 +489,7 @@ ingesteld - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts index 8593d68261..92902d04a9 100644 --- a/selfdrive/ui/translations/main_pl.ts +++ b/selfdrive/ui/translations/main_pl.ts @@ -490,7 +490,7 @@ nie zostało ustawione - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 8f59bf4715..2afdaf3388 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -67,6 +67,29 @@ Evite grandes uploads de dados quando estiver em uma conexão limitada + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + LIMITE + + + SPEED + MAX + + + LIMIT + VELO + + ConfirmationDialog @@ -407,29 +430,6 @@ trabalho definido Senha incorreta - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - LIMITE - - - SPEED - MAX - - - LIMIT - VELO - - OffroadHome diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 7e7fcf2788..d502c3fce1 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -488,7 +488,7 @@ location set - NvgWindow + AnnotatedCameraWidget km/h diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 1d942387e0..9e7c354444 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -67,6 +67,29 @@ + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高定速 + + + SPEED + SPEED + + + LIMIT + LIMIT + + ConfirmationDialog @@ -404,29 +427,6 @@ location set 密码错误 - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - 最高定速 - - - SPEED - SPEED - - - LIMIT - LIMIT - - OffroadHome diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 816d4fd3cc..513135c7f4 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -67,6 +67,29 @@ + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + 最高 + + + SPEED + 速度 + + + LIMIT + 速限 + + ConfirmationDialog @@ -406,29 +429,6 @@ location set 密碼錯誤 - - NvgWindow - - km/h - km/h - - - mph - mph - - - MAX - 最高 - - - SPEED - 速度 - - - LIMIT - 速限 - - OffroadHome diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc index d6b5cc67a7..ec35c29b6b 100644 --- a/selfdrive/ui/watch3.cc +++ b/selfdrive/ui/watch3.cc @@ -19,15 +19,15 @@ int main(int argc, char *argv[]) { { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false)); - hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false)); + hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false)); } { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_DRIVER, false)); - hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); } return a.exec(); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index b6fe8de3e2..bb90d56570 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -16,8 +16,8 @@ inline QString formatTime(int seconds) { VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - // TODO: figure out why the CameraViewWidget crashed occasionally. - cam_widget = new CameraViewWidget("camerad", VISION_STREAM_ROAD, false, this); + // TODO: figure out why the CameraWidget crashed occasionally. + cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this); cam_widget->setFixedSize(parent->width(), parent->width() / 1.596); main_layout->addWidget(cam_widget); @@ -60,7 +60,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); - QObject::connect(cam_widget, &CameraViewWidget::clicked, [this]() { pause(!can->isPaused()); }); + QObject::connect(cam_widget, &CameraWidget::clicked, [this]() { pause(!can->isPaused()); }); QObject::connect(play_btn, &QPushButton::clicked, [=]() { pause(!can->isPaused()); }); } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index fd896f1e11..d6d036c461 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -32,7 +32,7 @@ protected: void updateState(); void pause(bool pause); - CameraViewWidget *cam_widget; + CameraWidget *cam_widget; QLabel *end_time_label; QPushButton *play_btn; Slider *slider; From 755a6c0a46f07cdadb06821ced904af458fbf4e3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 17 Oct 2022 19:15:21 -0700 Subject: [PATCH 018/137] Revert "tools/replay: reduce test running time (#26110)" This reverts commit 6d07268ee5b385010961eab206b0b42a0ae6b5f8. --- tools/replay/tests/test_replay.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 3fd410bb6e..5b61b6b6f2 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -207,7 +207,8 @@ void TestReplay::test_seek() { } TEST_CASE("Replay") { - TestReplay replay(DEMO_ROUTE, (uint8_t)REPLAY_FLAG_NO_VIPC); + auto flag = GENERATE(REPLAY_FLAG_NO_FILE_CACHE, REPLAY_FLAG_NONE); + TestReplay replay(DEMO_ROUTE, flag); REQUIRE(replay.load()); replay.test_seek(); } From d522492ba0b80928adc475c1f37b995834c31a90 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Mon, 17 Oct 2022 19:40:06 -0700 Subject: [PATCH 019/137] DM: add use of e2e preds (#26078) * try ml * de56 * j914ef75a * jd1124586 * jd1124586 * d112 * oops * set * update ref * use offset * bump DM power usage * new ref --- .../modeld/models/dmonitoring_model.current | 4 ++-- .../modeld/models/dmonitoring_model.onnx | 4 ++-- .../modeld/models/dmonitoring_model_q.dlc | 4 ++-- selfdrive/monitoring/driver_monitor.py | 21 +++++++++---------- .../process_replay/model_replay_ref_commit | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- system/hardware/tici/test_power_draw.py | 2 +- 7 files changed, 19 insertions(+), 20 deletions(-) diff --git a/selfdrive/modeld/models/dmonitoring_model.current b/selfdrive/modeld/models/dmonitoring_model.current index d1e7d1136f..065bc7d489 100644 --- a/selfdrive/modeld/models/dmonitoring_model.current +++ b/selfdrive/modeld/models/dmonitoring_model.current @@ -1,2 +1,2 @@ -ee8f830b-d6a1-42ef-9b1b-50fd0b2faae4 -cac8f7b69d420506707ff7a19d573d5011ef2533 \ No newline at end of file +d1124586-761e-4e18-a771-6b5ef35124fe +6fec774f513a19e44d4316e46ad38277197d45ea \ No newline at end of file diff --git a/selfdrive/modeld/models/dmonitoring_model.onnx b/selfdrive/modeld/models/dmonitoring_model.onnx index 4cbd6bb7dd..f8bf94c061 100644 --- a/selfdrive/modeld/models/dmonitoring_model.onnx +++ b/selfdrive/modeld/models/dmonitoring_model.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:932e589e5cce66e5d9f48492426a33c74cd7f352a870d3ddafcede3e9156f30d -size 9157561 +oid sha256:517262fa9f1ad3cc8049ad3722903f40356d87ea423ee5cf011226fb6cfc3d5b +size 16072278 diff --git a/selfdrive/modeld/models/dmonitoring_model_q.dlc b/selfdrive/modeld/models/dmonitoring_model_q.dlc index 94632030ed..e4e6fb3347 100644 --- a/selfdrive/modeld/models/dmonitoring_model_q.dlc +++ b/selfdrive/modeld/models/dmonitoring_model_q.dlc @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:3587976a8b7e3be274fa86c2e2233e3e464cad713f5077c4394cd1ddd3c7c6c5 -size 2636965 +oid sha256:64b94659226a1e3c6594a13c2e5d029465d5803a5c3005121ec7217acdbbef20 +size 4443461 diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 9ff3125c15..30781f4d1b 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -29,10 +29,10 @@ class DRIVER_MONITOR_SETTINGS(): self._FACE_THRESHOLD = 0.7 self._EYE_THRESHOLD = 0.65 self._SG_THRESHOLD = 0.9 - self._BLINK_THRESHOLD = 0.87 + self._BLINK_THRESHOLD = 0.895 - self._EE_THRESH11 = 0.75 - self._EE_THRESH12 = 3.25 + self._EE_THRESH11 = 0.275 + self._EE_THRESH12 = 3.0 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 @@ -207,11 +207,11 @@ class DriverStatus(): ee1_dist = self.eev1 > self.ee1_offseter.filtered_stat.M * self.settings._EE_THRESH12 else: ee1_dist = self.eev1 > self.settings._EE_THRESH11 - if self.ee2_calibrated: - ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22 - else: - ee2_dist = self.eev2 < self.settings._EE_THRESH21 - if ee1_dist or ee2_dist: + # if self.ee2_calibrated: + # ee2_dist = self.eev2 < self.ee2_offseter.filtered_stat.M * self.settings._EE_THRESH22 + # else: + # ee2_dist = self.eev2 < self.settings._EE_THRESH21 + if ee1_dist: distracted_types.append(DistractedType.DISTRACTED_E2E) return distracted_types @@ -257,12 +257,11 @@ class DriverStatus(): self.pose.low_std = model_std_max < self.settings._POSESTD_THRESHOLD self.blink.left_blink = driver_data.leftBlinkProb * (driver_data.leftEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) self.blink.right_blink = driver_data.rightBlinkProb * (driver_data.rightEyeProb > self.settings._EYE_THRESHOLD) * (driver_data.sunglassesProb < self.settings._SG_THRESHOLD) - self.eev1 = driver_data.notReadyProb[1] + self.eev1 = driver_data.notReadyProb[0] self.eev2 = driver_data.readyProb[0] self.distracted_types = self._get_distracted_types() - self.driver_distracted = (DistractedType.DISTRACTED_POSE in self.distracted_types or - DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ + self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \ driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std self.driver_distraction_filter.update(self.driver_distracted) diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index b3e9c8c488..5bb045ec29 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -bfb0a2a52212d2aa1619d999aaae97fa7f7ff788 +865885fc49b2766326568e5cc7ec06be8a3f6fad diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 864b7019a0..998bf4e756 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -e5a86c14e2318f2dd218b3985cdbea6f875f7d83 +6bb7d8baae51d88dd61f0baf561e386664ddd266 \ No newline at end of file diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py index 4830975917..2460152998 100755 --- a/system/hardware/tici/test_power_draw.py +++ b/system/hardware/tici/test_power_draw.py @@ -21,7 +21,7 @@ class Proc: PROCS = [ Proc('camerad', 2.15), Proc('modeld', 1.15, atol=0.2), - Proc('dmonitoringmodeld', 0.35), + Proc('dmonitoringmodeld', 0.4), Proc('encoderd', 0.23), ] From 988fede1858486ec0679f208540a88533e9296e3 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 12:00:07 +0800 Subject: [PATCH 020/137] cabana: reduce the padding in DetailsView (#26126) --- tools/cabana/binaryview.cc | 4 ++-- tools/cabana/signaledit.cc | 5 ++--- 2 files changed, 4 insertions(+), 5 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 3b962b6de1..71175e783e 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -8,7 +8,7 @@ // BinaryView -const int CELL_HEIGHT = 35; +const int CELL_HEIGHT = 30; BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { model = new BinaryViewModel(this); @@ -156,7 +156,7 @@ void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectio BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { // cache fonts and color - small_font.setPointSize(7); + small_font.setPointSize(6); bold_font.setBold(true); highlight_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight); } diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index b52f83dab6..7cace48402 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -85,18 +85,17 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid // title bar QHBoxLayout *title_layout = new QHBoxLayout(); icon = new QLabel(">"); - icon->setFixedSize(15, 30); icon->setStyleSheet("font-weight:bold"); title_layout->addWidget(icon); title = new ElidedLabel(this); title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); title->setText(QString("%1. %2").arg(index + 1).arg(sig_name)); title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); - title_layout->addWidget(title); + title_layout->addWidget(title, 1); QPushButton *plot_btn = new QPushButton("📈"); plot_btn->setToolTip(tr("Show Plot")); - plot_btn->setFixedSize(30, 30); + plot_btn->setFixedSize(20, 20); QObject::connect(plot_btn, &QPushButton::clicked, this, &SignalEdit::showChart); title_layout->addWidget(plot_btn); main_layout->addLayout(title_layout); From b89b881bdccb0fb844c597e9d26b64d36ba4af99 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 12:00:20 +0800 Subject: [PATCH 021/137] cabana: sort DBC list alphabetically (#26127) --- tools/cabana/messageswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 3c9af67ea6..878a852e13 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -21,6 +21,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { for (const auto &name : dbc_names) { combo->addItem(QString::fromStdString(name)); } + combo->model()->sort(0); combo->setEditable(true); combo->setCurrentText(QString()); combo->setInsertPolicy(QComboBox::NoInsert); From 544526edeb343d4b6f9c7c6f2521659c34d37012 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 12:00:36 +0800 Subject: [PATCH 022/137] cabana: fix chart margins (#26125) --- tools/cabana/chartswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 3652720e12..811eae68cb 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -184,6 +184,7 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) font.setBold(true); chart->setTitleFont(font); chart->setMargins({0, 0, 0, 0}); + chart->layout()->setContentsMargins(0, 0, 0, 0); track_line = new QGraphicsLineItem(chart); track_line->setPen(QPen(Qt::gray, 1, Qt::DashLine)); From 60fc7274eb631559f772ea0969e0ec28026e1426 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 21:15:57 -0700 Subject: [PATCH 023/137] =?UTF-8?q?Hyundai=20CAN-FD:=20remove=2090=C2=B0?= =?UTF-8?q?=20steering=20lockout=20(#26045)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * bump panda * bump panda * for CAN-FD too * clean up * bump * adjust safety * fix lat active * bump panda to master * same limits * rm line * bump panda to master --- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 29 +++++++++++++------------- 2 files changed, 16 insertions(+), 15 deletions(-) diff --git a/panda b/panda index 62868c36a8..9ed3f75f67 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 62868c36a80d1f44064da7b47423f0ef331f64e9 +Subproject commit 9ed3f75f67c3e5f00f910c8d7497ebed63851b5a diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index a5d995df25..6b38297eb9 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -90,13 +90,27 @@ class CarController: addr, bus = 0x730, 5 can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus]) + # >90 degree steering fault prevention + # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault + if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE: + self.angle_limit_counter += 1 + else: + self.angle_limit_counter = 0 + + # Cut steer actuation bit for two frames and hold torque with induced temporary fault + torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES + lat_active = CC.latActive and not torque_fault + + if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES: + self.angle_limit_counter = 0 + # CAN-FD platforms if self.CP.carFingerprint in CANFD_CAR: hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2 hda2_long = hda2 and self.CP.openpilotLongitudinalControl # steering control - can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, CC.latActive, apply_steer)) + can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer)) # disable LFA on HDA2 if self.frame % 5 == 0 and hda2: @@ -131,19 +145,6 @@ class CarController: can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: - # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault - if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE: - self.angle_limit_counter += 1 - else: - self.angle_limit_counter = 0 - - # Cut steer actuation bit for two frames and hold torque with induced temporary fault - torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES - lat_active = CC.latActive and not torque_fault - - if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES: - self.angle_limit_counter = 0 - can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, From 12058c21c73c7777e260334827b30f4d24c8313d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 18 Oct 2022 12:44:56 +0800 Subject: [PATCH 024/137] cabana: load dbc from paste (#26098) --- opendbc | 2 +- tools/cabana/dbcmanager.cc | 12 ++++++++ tools/cabana/dbcmanager.h | 1 + tools/cabana/messageswidget.cc | 51 ++++++++++++++++++++++++++-------- tools/cabana/messageswidget.h | 13 +++++++++ 5 files changed, 66 insertions(+), 13 deletions(-) diff --git a/opendbc b/opendbc index dde0ff6f44..e37ef84f1a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit dde0ff6f4456c167df204bf5ac1e3f2979c844c9 +Subproject commit e37ef84f1ab848e2bf37f2c755f9e56213ce14e2 diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 5b1bddcabe..fc40fc58e4 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -1,5 +1,6 @@ #include "tools/cabana/dbcmanager.h" +#include #include DBCManager::DBCManager(QObject *parent) : QObject(parent) {} @@ -16,6 +17,17 @@ void DBCManager::open(const QString &dbc_file_name) { emit DBCFileChanged(); } +void DBCManager::open(const QString &name, const QString &content) { + this->dbc_name = name; + std::istringstream stream(content.toStdString()); + dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); + msg_map.clear(); + for (auto &msg : dbc->msgs) { + msg_map[msg.address] = &msg; + } + emit DBCFileChanged(); +} + void save(const QString &dbc_file_name) { // TODO: save DBC to file } diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 1f890a39db..74d935119a 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -12,6 +12,7 @@ public: ~DBCManager(); void open(const QString &dbc_file_name); + void open(const QString &name, const QString &content); void save(const QString &dbc_file_name); void addSignal(const QString &id, const Signal &sig); diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 878a852e13..28f79adad3 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -1,12 +1,13 @@ #include "tools/cabana/messageswidget.h" -#include #include +#include #include #include #include #include #include +#include #include #include "tools/cabana/dbcmanager.h" @@ -16,20 +17,23 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // DBC file selector QHBoxLayout *dbc_file_layout = new QHBoxLayout(); - QComboBox *combo = new QComboBox(this); + dbc_combo = new QComboBox(this); auto dbc_names = dbc()->allDBCNames(); for (const auto &name : dbc_names) { - combo->addItem(QString::fromStdString(name)); + dbc_combo->addItem(QString::fromStdString(name)); } - combo->model()->sort(0); - combo->setEditable(true); - combo->setCurrentText(QString()); - combo->setInsertPolicy(QComboBox::NoInsert); - combo->completer()->setCompletionMode(QCompleter::PopupCompletion); + dbc_combo->model()->sort(0); + dbc_combo->setEditable(true); + dbc_combo->setCurrentText(QString()); + dbc_combo->setInsertPolicy(QComboBox::NoInsert); + dbc_combo->completer()->setCompletionMode(QCompleter::PopupCompletion); QFont font; font.setBold(true); - combo->lineEdit()->setFont(font); - dbc_file_layout->addWidget(combo); + dbc_combo->lineEdit()->setFont(font); + dbc_file_layout->addWidget(dbc_combo); + + QPushButton *load_from_paste = new QPushButton(tr("Load from paste"), this); + dbc_file_layout->addWidget(load_from_paste); dbc_file_layout->addStretch(); QPushButton *save_btn = new QPushButton(tr("Save DBC"), this); @@ -64,7 +68,8 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // signals/slots QObject::connect(filter, &QLineEdit::textChanged, proxy_model, &QSortFilterProxyModel::setFilterFixedString); QObject::connect(can, &CANMessages::updated, model, &MessageListModel::updateState); - QObject::connect(combo, SIGNAL(activated(const QString &)), SLOT(dbcSelectionChanged(const QString &))); + QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(dbcSelectionChanged(const QString &))); + QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadFromPaste); QObject::connect(save_btn, &QPushButton::clicked, [=]() { // TODO: save DBC to file }); @@ -75,7 +80,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { }); // For test purpose - combo->setCurrentText("toyota_nodsu_pt_generated"); + dbc_combo->setCurrentText("toyota_nodsu_pt_generated"); } void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) { @@ -84,6 +89,14 @@ void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) { table_widget->sortByColumn(0, Qt::AscendingOrder); } +void MessagesWidget::loadFromPaste() { + LoadDBCDialog dlg(this); + if (dlg.exec()) { + dbc()->open("from paste", dlg.dbc_edit->toPlainText()); + dbc_combo->setCurrentText("loaded from paste"); + } +} + // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { @@ -133,3 +146,17 @@ void MessageListModel::updateState() { emit dataChanged(index(0, 0), index(row_count - 1, 3), {Qt::DisplayRole}); } } + +LoadDBCDialog::LoadDBCDialog(QWidget *parent) : QDialog(parent) { + QVBoxLayout *main_layout = new QVBoxLayout(this); + dbc_edit = new QTextEdit(this); + dbc_edit->setAcceptRichText(false); + dbc_edit->setPlaceholderText(tr("paste DBC file here")); + main_layout->addWidget(dbc_edit); + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox); + + setFixedWidth(640); + connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); + connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index f6487ba2bd..1184772f3b 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -1,10 +1,21 @@ #pragma once #include +#include +#include #include +#include #include "tools/cabana/canmessages.h" +class LoadDBCDialog : public QDialog { + Q_OBJECT + +public: + LoadDBCDialog(QWidget *parent); + QTextEdit *dbc_edit; +}; + class MessageListModel : public QAbstractTableModel { Q_OBJECT @@ -28,11 +39,13 @@ public: public slots: void dbcSelectionChanged(const QString &dbc_file); + void loadFromPaste(); signals: void msgSelectionChanged(const QString &message_id); protected: QTableView *table_widget; + QComboBox *dbc_combo; MessageListModel *model; }; From dcd804e2bfe2c29287749eb5777ced5a641c5e62 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 22:47:54 -0700 Subject: [PATCH 025/137] bump opendbc --- opendbc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/opendbc b/opendbc index e37ef84f1a..8f245e6ef5 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit e37ef84f1ab848e2bf37f2c755f9e56213ce14e2 +Subproject commit 8f245e6ef5e25814d8e6e1f096221f6dfeefe86b From 7bf70bf7d8aaccd23ad0b0a9af8235eb939a617e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 23:04:06 -0700 Subject: [PATCH 026/137] CAN-FD HKG: query FW versions from camera (#26063) * add adas essential ecus * add adas ecu and query * add queries * add name * after * presence of adas ecu * Revert "presence of adas ecu" (POC) This reverts commit ab88a7e7df32e1c02a175b81848bd4112b2e5c69. * no whitelist for debugging * Apply suggestions from code review * add adas response * remove adas version * temp * read pandaStates * works in debug script * only fwdCamera on tucson * fix pandaStates reading * fix test_startup * fix * simpler * use existing socket * pass in number of pandas * need to create sm using outcome of fingerprinting, which uses sm fix * move default argument * use sock * always ignore always ignore * add canfd fingerprint test * Update selfdrive/car/hyundai/tests/test_hyundai.py * set --- selfdrive/car/car_helpers.py | 8 ++-- selfdrive/car/fw_versions.py | 14 +++++-- selfdrive/car/hyundai/tests/test_hyundai.py | 29 ++++++++++++++ selfdrive/car/hyundai/values.py | 42 +++++++-------------- selfdrive/controls/controlsd.py | 30 +++++++-------- selfdrive/controls/tests/test_startup.py | 3 ++ 6 files changed, 74 insertions(+), 52 deletions(-) create mode 100755 selfdrive/car/hyundai/tests/test_hyundai.py diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 4a8fd5fbd9..61e7a3d55d 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -76,7 +76,7 @@ interfaces = load_interfaces(interface_names) # **** for use live only **** -def fingerprint(logcan, sendcan): +def fingerprint(logcan, sendcan, num_pandas): fixed_fingerprint = os.environ.get('FINGERPRINT', "") skip_fw_query = os.environ.get('SKIP_FW_QUERY', False) ecu_rx_addrs = set() @@ -100,7 +100,7 @@ def fingerprint(logcan, sendcan): cloudlog.warning("Getting VIN & FW versions") vin_rx_addr, vin = get_vin(logcan, sendcan, bus) ecu_rx_addrs = get_present_ecus(logcan, sendcan) - car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs) + car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas) cached = False exact_fw_match, fw_candidates = match_fw_to_car(car_fw) @@ -173,8 +173,8 @@ def fingerprint(logcan, sendcan): return car_fingerprint, finger, vin, car_fw, source, exact_match -def get_car(logcan, sendcan): - candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan) +def get_car(logcan, sendcan, num_pandas=1): + candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) if candidate is None: cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index d3e8eae0de..f4d92ab960 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -194,14 +194,14 @@ def get_brand_ecu_matches(ecu_rx_addrs): return brand_matches -def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False): +def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False): """Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" all_car_fw = [] brand_matches = get_brand_ecu_matches(ecu_rx_addrs) for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True): - car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress) + car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress) all_car_fw.extend(car_fw) # Try to match using FW returned from this brand only matches = match_fw_to_car_exact(build_fw_dict(car_fw)) @@ -211,7 +211,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa return all_car_fw -def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False): +def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False): versions = VERSIONS.copy() # Each brand can define extra ECUs to query for data collection @@ -252,6 +252,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): for brand, r in requests: + # Skip query if no panda available + if r.bus > num_pandas * 4 - 1: + continue + try: addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] @@ -292,6 +296,7 @@ if __name__ == "__main__": args = parser.parse_args() logcan = messaging.sub_sock('can') + pandaStates_sock = messaging.sub_sock('pandaStates') sendcan = messaging.pub_sock('sendcan') extra: Any = None @@ -305,6 +310,7 @@ if __name__ == "__main__": extra = {"any": {"debug": extra}} time.sleep(1.) + num_pandas = len(messaging.recv_one_retry(pandaStates_sock).pandaStates) t = time.time() print("Getting vin...") @@ -314,7 +320,7 @@ if __name__ == "__main__": print() t = time.time() - fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True) + fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, num_pandas=num_pandas, debug=args.debug, progress=True) _, candidates = match_fw_to_car(fw_vers) print() diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py new file mode 100755 index 0000000000..a52027f448 --- /dev/null +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -0,0 +1,29 @@ +#!/usr/bin/env python3 +import unittest + +from cereal import car +from selfdrive.car.car_helpers import get_interface_attr +from selfdrive.car.fw_versions import FW_QUERY_CONFIGS +from selfdrive.car.hyundai.values import CANFD_CAR + +Ecu = car.CarParams.Ecu + +ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} +VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True) + + +class TestHyundaiFingerprint(unittest.TestCase): + def test_auxiliary_request_ecu_whitelist(self): + # Asserts only auxiliary Ecus can exist in database for CAN-FD cars + config = FW_QUERY_CONFIGS['hyundai'] + whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus if r.bus > 3} + + for car_model in CANFD_CAR: + ecus = {fw[0] for fw in VERSIONS['hyundai'][car_model].keys()} + ecus_not_in_whitelist = ecus - whitelisted_ecus + ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist]) + self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}') + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 856bf1abd9..1599005d1c 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -300,6 +300,19 @@ FW_QUERY_CONFIG = FwQueryConfig( [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), + # CAN-FD queries + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdRadar], + bus=4, + ), + Request( + [HYUNDAI_VERSION_REQUEST_LONG], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.fwdCamera, Ecu.adas], + bus=5, + ), ], extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms @@ -1326,15 +1339,6 @@ FW_VERSIONS = { ], }, CAR.KIA_EV6: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', - b'\xf1\x00CV IEB \x03 101!\x10\x18 58520-CV100', - b'\xf1\x8758520CV100\xf1\x00CV IEB \x02 101!\x10\x18 58520-CV100', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00CV1 MDPS R 1.00 1.04 57700-CV000 1B30', - b'\xf1\x00CV1 MDPS R 1.00 1.05 57700-CV000 2425', - ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', b'\xf1\x8799110CV000\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', @@ -1346,16 +1350,6 @@ FW_VERSIONS = { ], }, CAR.IONIQ_5: { - (Ecu.abs, 0x7d1, None): [ - b'\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010', - b'\xf1\x8758520GI010\xf1\x00NE1 IEB \x07 106!\x11) 58520-GI010', - b'\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000', - b'\xf1\x8758520GI000\xf1\x00NE1 IEB \x08 104!\x04\x05 58520-GI000', - ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106', - b'\xf1\x8757700GI000 \xf1\x00NE MDPS R 1.00 1.06 57700GI000 4NEDR106', - ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', b'\xf1\x8799110GI000\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', @@ -1369,16 +1363,6 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', ], - (Ecu.eps, 0x7d4, None): [ - b'\xf1\x00NX4 MDPS C 1.00 1.01 56300-P0100 2228', - ], - (Ecu.engine, 0x7e0, None): [ - b'\xf1\x87391312MND0', - ], - (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa', - b'\xf1\x8795441-3D220\x00\xf1\x81G19_Rev\x00\x00\x00\xf1\x00PSBG2441 G19_Rev\x00\x00\x00SNX4T16XXHS01NS2lS\xdfa', - ], }, } diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 8abb1a02a6..cbc54eadb8 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -82,30 +82,30 @@ class Controls: self.log_sock = messaging.sub_sock('androidLog') - if CI is None: - # wait for one pandaState and one CAN packet - print("Waiting for CAN messages...") - get_one_can(self.can_sock) - - self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan']) - else: - self.CI, self.CP = CI, CI.CP - params = Params() - self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) - joystick_packet = ['testJoystick'] if self.joystick_mode else [] - self.sm = sm if self.sm is None: - ignore = [] + ignore = ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] if params.get_bool('WideCameraOnly'): ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', - 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters'] + self.camera_packets + joystick_packet, - ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan']) + 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets, + ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick']) + + if CI is None: + # wait for one pandaState and one CAN packet + print("Waiting for CAN messages...") + get_one_can(self.can_sock) + + num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) + self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], num_pandas) + else: + self.CI, self.CP = CI, CI.CP + + self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) # set alternative experiences from parameters self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator") diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 63af4c7d95..ba2d2f5c02 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -94,6 +94,9 @@ class TestStartup(unittest.TestCase): time.sleep(2) # wait for controlsd to be ready + pm.send('can', can_list_to_can_capnp([[0, 0, b"", 0]])) + time.sleep(0.1) + msg = messaging.new_message('pandaStates', 1) msg.pandaStates[0].pandaType = log.PandaState.PandaType.uno pm.send('pandaStates', msg) From 5b85c2df4e2d855dc8fcb572bda33d2d456841d9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 17 Oct 2022 23:24:34 -0700 Subject: [PATCH 027/137] Tucson Hybrid 4th gen: add missing fwdRadar (#26128) add missing fwdRadar --- selfdrive/car/hyundai/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1599005d1c..f69273ba55 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1363,6 +1363,9 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', + ], }, } From a121212386c94ea5cc93de68b49971ff4e9d5674 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 02:01:21 +0800 Subject: [PATCH 028/137] cabana: fix background refresh issue (#26134) --- tools/cabana/mainwin.cc | 2 -- 1 file changed, 2 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 7aea8097cf..f3c3bf74ae 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -48,7 +48,6 @@ MainWindow::MainWindow() : QWidget() { } void MainWindow::dockCharts(bool dock) { - charts_widget->setUpdatesEnabled(false); if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); r_layout->addWidget(charts_widget); @@ -62,7 +61,6 @@ void MainWindow::dockCharts(bool dock) { floating_window->setMinimumSize(QGuiApplication::primaryScreen()->size() / 2); floating_window->showMaximized(); } - charts_widget->setUpdatesEnabled(true); } void MainWindow::closeEvent(QCloseEvent *event) { From 855099eb86938d683bb58868697c038b7b7ac650 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 02:01:38 +0800 Subject: [PATCH 029/137] cabana: display fingerprint and route on the top right (#26133) --- tools/cabana/canmessages.cc | 3 ++- tools/cabana/canmessages.h | 3 +++ tools/cabana/mainwin.cc | 11 ++++++++++- tools/cabana/videowidget.cc | 1 + 4 files changed, 16 insertions(+), 2 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 3cf08eaaa0..252a8c680c 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -26,7 +26,8 @@ static bool event_filter(const Event *e, void *opaque) { } bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) { - replay = new Replay(route, {"can", "roadEncodeIdx"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); + routeName = route; + replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->installEventFilter(event_filter, this); QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged); diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index fe71840d74..58f5ad70b7 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -44,6 +44,8 @@ public: bool eventFilter(const Event *event); inline std::pair range() const { return {begin_sec, end_sec}; } + inline QString route() const { return routeName; } + inline QString carFingerprint() const { return replay->carFingerprint().c_str(); } inline double totalSeconds() const { return replay->totalSeconds(); } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } inline double currentSec() const { return current_sec; } @@ -80,6 +82,7 @@ protected: double event_begin_sec = 0; double event_end_sec = 0; bool is_zoomed = false; + QString routeName; Replay *replay = nullptr; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index f3c3bf74ae..50fcbc455c 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -30,8 +30,16 @@ MainWindow::MainWindow() : QWidget() { right_container->setFixedWidth(640); r_layout = new QVBoxLayout(right_container); + QHBoxLayout *right_hlayout = new QHBoxLayout(); + QLabel *fingerprint_label = new QLabel(this); + right_hlayout->addWidget(fingerprint_label); + + // TODO: click to select another route. + right_hlayout->addWidget(new QLabel(can->route())); QPushButton *settings_btn = new QPushButton("Settings"); - r_layout->addWidget(settings_btn, 0, Qt::AlignRight); + right_hlayout->addWidget(settings_btn, 0, Qt::AlignRight); + + r_layout->addLayout(right_hlayout); video_widget = new VideoWidget(this); r_layout->addWidget(video_widget, 0, Qt::AlignTop); @@ -45,6 +53,7 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); + QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); } void MainWindow::dockCharts(bool dock) { diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index bb90d56570..78965e3e8c 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -15,6 +15,7 @@ inline QString formatTime(int seconds) { VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); // TODO: figure out why the CameraWidget crashed occasionally. cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this); From 826d8a8ae34bfd909535f5edff2229b8b2daf1a6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 18 Oct 2022 11:24:13 -0700 Subject: [PATCH 030/137] GM: match panda & ECM standstill checks (#26095) * gm: match panda standstill check * fix * needs to be <= 10 to avoid a fault, fix for safety tests * fix * fix * bump panda to master --- panda | 2 +- selfdrive/car/gm/carstate.py | 4 +++- selfdrive/car/tests/test_models.py | 2 +- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/panda b/panda index 9ed3f75f67..b95a65df58 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 9ed3f75f67c3e5f00f910c8d7497ebed63851b5a +Subproject commit b95a65df58fea89b42b7c6b4fc85289b93a0bdb2 diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index b67b97093a..f531914877 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -8,6 +8,7 @@ from selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD TransmissionType = car.CarParams.TransmissionType NetworkLocation = car.CarParams.NetworkLocation +STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS class CarState(CarStateBase): @@ -39,7 +40,8 @@ class CarState(CarStateBase): ) ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]) ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) - ret.standstill = ret.vEgoRaw < 0.01 + # sample rear wheel speeds, standstill=True if ECM allows engagement with brake + ret.standstill = ret.wheelSpeeds.rl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1: ret.gearShifter = self.parse_gear_shifter("T") diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index bab9f859e6..e4e141153f 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -234,7 +234,7 @@ class TestCarModelBase(unittest.TestCase): checks['gasPressed'] += CS.gasPressed != self.safety.get_gas_pressed_prev() checks['cruiseState'] += CS.cruiseState.enabled and not CS.cruiseState.available - if self.CP.carName not in ("hyundai", "volkswagen", "gm", "body"): + if self.CP.carName not in ("hyundai", "volkswagen", "body"): # TODO: fix standstill mismatches for other makes checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving() From 03d259a51742066e1fbbbad1d6ee1b94bd302bc6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 18 Oct 2022 13:52:05 -0700 Subject: [PATCH 031/137] Honda docs: remove global min steer speed (#26138) * remove global min_steer_speed so we can define in carparams * remove 0 defaults --- selfdrive/car/honda/values.py | 31 +++++++++++++++---------------- 1 file changed, 15 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index e48edc42ba..46a8d6a31e 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -105,7 +105,6 @@ class Footnote(Enum): @dataclass class HondaCarInfo(CarInfo): package: str = "Honda Sensing" - min_steer_speed: float = 12. * CV.MPH_TO_MS CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { @@ -114,31 +113,31 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), - CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"), + CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), - HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a), + HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform CAR.CIVIC_2022: [ - HondaCarInfo("Honda Civic 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), - HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b), + HondaCarInfo("Honda Civic 2022", "All", harness=Harness.bosch_b), + HondaCarInfo("Honda Civic Hatchback 2022", "All", harness=Harness.bosch_b), ], CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec), - CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec), - CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a), + CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), + CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring - CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a), - CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec), - CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec), - CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec), - CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec), + CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a), + CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), + CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), + CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), + CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", harness=Harness.nidec), CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey - CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec), + CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), - CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec), - CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec), - CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec), + CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), + CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), + CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), } From 972951f5f4aadf9b4fd2384efa85ca5378fd09f0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 18 Oct 2022 14:07:54 -0700 Subject: [PATCH 032/137] Fix pass by keyword --- selfdrive/car/honda/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 46a8d6a31e..638008934a 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -115,7 +115,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a), CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.nidec, video_link="https://youtu.be/-IkImTe1NYE"), CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a), + HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS, harness=Harness.bosch_a), HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS, harness=Harness.bosch_a), ], CAR.CIVIC_BOSCH_DIESEL: None, # same platform From 98cac3578b2d0d2e4db283a728f647bc71825bfb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 18 Oct 2022 18:40:47 -0700 Subject: [PATCH 033/137] cabana: fix binary view for can-fd --- tools/cabana/binaryview.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 71175e783e..32811c4b6f 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -25,7 +25,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { delete old_model; QObject::connect(model, &QAbstractItemModel::modelReset, [this]() { - setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2); + setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 64) + 2); }); } From 9a8bd8c0975673a2831ca8af7629d22063b5f8fa Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 18 Oct 2022 20:46:08 -0700 Subject: [PATCH 034/137] Revert "cabana: fix binary view for can-fd" This reverts commit 98cac3578b2d0d2e4db283a728f647bc71825bfb. --- tools/cabana/binaryview.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 32811c4b6f..71175e783e 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -25,7 +25,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { delete old_model; QObject::connect(model, &QAbstractItemModel::modelReset, [this]() { - setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 64) + 2); + setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2); }); } From 1548db8962c2555b53843ec361453ece7abdbc16 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 18 Oct 2022 21:25:06 -0700 Subject: [PATCH 035/137] Partial revert, lax torque control (#26146) * Closer to original * Update ref --- selfdrive/controls/lib/latcontrol_torque.py | 2 +- selfdrive/controls/lib/lateral_planner.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 7d656b55a9..51676086ba 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -17,7 +17,7 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY # friction in the steering wheel that needs to be overcome to # move it at all, this is compensated for too. -LOW_SPEED_FACTOR = 100 +LOW_SPEED_FACTOR = 200 class LatControlTorque(LatControl): diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 9fbfd4a11f..29137defd3 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -22,8 +22,7 @@ LATERAL_JERK_COST = 0.05 # TODO this cost should be lowered when low # speed lateral control is stable on all cars STEERING_RATE_COST = 800.0 - -MIN_SPEED = .3 +MIN_SPEED = 1.5 class LateralPlanner: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 998bf4e756..0b4081595b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -6bb7d8baae51d88dd61f0baf561e386664ddd266 \ No newline at end of file +1c1287691cbdd866d9e435d5d27f59f6a027d270 From 1bd9632156a78ae947eeaaebe96a08bd5b0cfeeb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 01:02:51 -0700 Subject: [PATCH 036/137] FPv2 tests: consider extra ECUs in brand ECUs (#26149) * Hyundai: add corner radar FW query * add extra ecus to brand ecus * add comment * rev * bumpo * cmt Co-authored-by: Adeeb Shihadeh --- selfdrive/car/tests/test_fw_fingerprint.py | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index ed323b0563..b9926301f1 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -45,6 +45,7 @@ class TestFwFingerprint(unittest.TestCase): self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") def test_data_collection_ecus(self): + # Asserts no extra ECUs are in the fingerprinting database for brand, config in FW_QUERY_CONFIGS.items(): for car_model, ecus in VERSIONS[brand].items(): bad_ecus = set(ecus).intersection(config.extra_ecus) @@ -80,10 +81,11 @@ class TestFwFingerprint(unittest.TestCase): def test_fw_request_ecu_whitelist(self): for brand, config in FW_QUERY_CONFIGS.items(): with self.subTest(brand=brand): - whitelisted_ecus = set([ecu for r in config.requests for ecu in r.whitelist_ecus]) - brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw]) + whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus} + brand_ecus = {fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw} + brand_ecus |= {ecu[0] for ecu in config.extra_ecus} - # each ecu in brand's fw versions needs to be whitelisted at least once + # each ecu in brand's fw versions + extra ecus needs to be whitelisted at least once ecus_not_whitelisted = brand_ecus - whitelisted_ecus ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted]) From e46d162b1e5d4414d54d27c54190e7b3116596ba Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 01:28:46 -0700 Subject: [PATCH 037/137] GM camera ACC: show under enable speed alert (#26148) * fix the fault more generically * fix * need this * some clean up * comment and use standstill * comment * add comment * better fix * rm * better (for now) * update docs --- docs/CARS.md | 6 +++--- selfdrive/car/gm/interface.py | 20 +++++++------------- 2 files changed, 10 insertions(+), 16 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 40eef06102..4c65f0007b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -18,8 +18,8 @@ A supported vehicle is one that just works when you install a comma three. All s |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|VW| |Cadillac|Escalade ESV 2016[1](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| -|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Chevrolet|Volt 2017-18[1](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA| @@ -32,7 +32,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Genesis|G90 2017-18|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |GMC|Acadia 2018[1](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM| |Honda|Accord 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Accord Hybrid 2018-22|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 248828e757..e25f203772 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -62,11 +62,14 @@ class CarInterface(CarInterfaceBase): ret.radarOffCan = True # no radar ret.pcmCruise = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM + ret.minEnableSpeed = 5 * CV.KPH_TO_MS else: # ASCM, OBD-II harness ret.openpilotLongitudinalControl = True ret.networkLocation = NetworkLocation.gateway ret.radarOffCan = False ret.pcmCruise = False # stock non-adaptive cruise control is kept off + # supports stop and go, but initial engage must (conservatively) be above 18mph + ret.minEnableSpeed = 18 * CV.MPH_TO_MS # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is @@ -90,9 +93,6 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz - # supports stop and go, but initial engage must (conservatively) be above 18mph - ret.minEnableSpeed = 18 * CV.MPH_TO_MS - if candidate == CAR.VOLT: ret.mass = 1607. + STD_CARGO_KG ret.wheelbase = 2.69 @@ -153,7 +153,6 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 1.0 elif candidate in (CAR.BOLT_EV, CAR.BOLT_EUV): - ret.minEnableSpeed = -1 ret.mass = 1669. + STD_CARGO_KG ret.wheelbase = 2.63779 ret.steerRatio = 16.8 @@ -163,7 +162,6 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SILVERADO: - ret.minEnableSpeed = -1 ret.mass = 2200. + STD_CARGO_KG ret.wheelbase = 3.75 ret.steerRatio = 16.3 @@ -172,7 +170,6 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.EQUINOX: - ret.minEnableSpeed = -1 ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 14.4 @@ -207,19 +204,16 @@ class CarInterface(CarInterfaceBase): GearShifter.eco, GearShifter.manumatic], pcm_enable=self.CP.pcmCruise) - if ret.vEgo < self.CP.minEnableSpeed: + # Enabling at a standstill with brake is allowed + # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs + if ret.vEgo < self.CP.minEnableSpeed and not (ret.standstill and ret.brake >= 20 and + self.CP.networkLocation == NetworkLocation.fwdCamera): events.add(EventName.belowEngageSpeed) if ret.cruiseState.standstill: events.add(EventName.resumeRequired) if ret.vEgo < self.CP.minSteerSpeed: events.add(EventName.belowSteerSpeed) - if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.pcmCruise: - # The ECM has a higher brake pressed threshold than the camera, causing an - # ACC fault when you engage at a stop with your foot partially on the brake - if ret.vEgoRaw < 0.1 and ret.brake < 20: - events.add(EventName.gmAccFaultedTemp) - ret.events = events.to_msg() return ret From b1efdab788da77380dfd3f5765bb6cc03ccc3a77 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 01:31:12 -0700 Subject: [PATCH 038/137] Rename gmAccFaultedTemp -> accFaultedTemp --- cereal | 2 +- selfdrive/controls/lib/events.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index 107048c83e..1e3dd70a39 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 107048c83ec2f488286a1be314e7aece0a20a6b1 +Subproject commit 1e3dd70a391bc1bbe437d3eea8be30947f929a75 diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index 5bfe89b31c..44426620e9 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -811,7 +811,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"), }, - EventName.gmAccFaultedTemp: { + EventName.accFaultedTemp: { ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"), }, From a24e6616c2f701896328c7cba5e6e8e76b42de1e Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 23:01:42 +0800 Subject: [PATCH 039/137] Cabana: fix time column was being cutoff (#26156) fix time column --- tools/cabana/historylog.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index c0efbca280..a20845f15f 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -70,7 +70,7 @@ HistoryLog::HistoryLog(QWidget *parent) : QWidget(parent) { table = new QTableView(this); table->setModel(model); table->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); - table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::Fixed); + table->horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents); table->setColumnWidth(0, 60); table->verticalHeader()->setVisible(false); table->setStyleSheet("QTableView::item { border:0px; padding-left:5px; padding-right:5px; }"); From a927d7b0ea25d1fde6a121888f8abd34e2fef867 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 23:02:47 +0800 Subject: [PATCH 040/137] Cabana: warn when DBC message length is wrong (#26154) display warning if message size is incorrect --- tools/cabana/detailwidget.cc | 16 ++++++++++++++++ tools/cabana/detailwidget.h | 3 ++- 2 files changed, 18 insertions(+), 1 deletion(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 60d0632d4c..a92969d4d3 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -29,6 +29,17 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { title_layout->addWidget(edit_btn); main_layout->addLayout(title_layout); + // warning + warning_widget = new QWidget(this); + QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); + QLabel *warning_icon = new QLabel(this); + warning_icon->setPixmap(style()->standardIcon(QStyle::SP_MessageBoxWarning).pixmap({16, 16})); + warning_hlayout->addWidget(warning_icon); + warning_label = new QLabel(this); + warning_hlayout->addWidget(warning_label,1, Qt::AlignLeft); + warning_widget->hide(); + main_layout->addWidget(warning_widget); + // binary view binary_view = new BinaryView(this); main_layout->addWidget(binary_view, 0, Qt::AlignTop); @@ -64,6 +75,7 @@ void DetailWidget::setMessage(const QString &message_id) { void DetailWidget::dbcMsgChanged() { if (msg_id.isEmpty()) return; + warning_widget->hide(); qDeleteAll(signals_container->findChildren()); QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { @@ -76,6 +88,10 @@ void DetailWidget::dbcMsgChanged() { QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); } msg_name = msg->name.c_str(); + if (msg->size != can->lastMessage(msg_id).dat.size()) { + warning_label->setText(tr("Message size (%1) is incorrect!").arg(msg->size)); + warning_widget->show(); + } } edit_btn->setVisible(true); name_label->setText(msg_name); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 9d3b81dcb0..07c78caa4a 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -46,7 +46,8 @@ private: void updateState(); QString msg_id; - QLabel *name_label, *time_label; + QLabel *name_label, *time_label, *warning_label; + QWidget *warning_widget; QPushButton *edit_btn; QWidget *signals_container; HistoryLog *history_log; From 3fae3b366087c20621624de8b4f3e00da4de987b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 23:03:14 +0800 Subject: [PATCH 041/137] cabana: use monospaced font for hex in BinaryView (#26153) use fixedfont --- tools/cabana/binaryview.cc | 6 ++++-- tools/cabana/binaryview.h | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 71175e783e..4fc55077da 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -1,6 +1,7 @@ #include "tools/cabana/binaryview.h" #include +#include #include #include @@ -157,7 +158,8 @@ void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectio BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { // cache fonts and color small_font.setPointSize(6); - bold_font.setBold(true); + hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); + hex_font.setBold(true); highlight_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight); } @@ -172,7 +174,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op // TODO: highlight signal cells on mouse over painter->fillRect(option.rect, option.state & QStyle::State_Selected ? highlight_color : item->bg_color); if (index.column() == 8) { - painter->setFont(bold_font); + painter->setFont(hex_font); } painter->drawText(option.rect, Qt::AlignCenter, item->val); if (item->is_msb || item->is_lsb) { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 631797ca48..38f0ddf216 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -14,7 +14,7 @@ public: QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override; private: - QFont small_font, bold_font; + QFont small_font, hex_font; QColor highlight_color; }; From 1211ffbcf22800049682244727984a596395c217 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 23:03:34 +0800 Subject: [PATCH 042/137] cabana: display a clear button in filter string edit box (#26152) display clear button --- tools/cabana/messageswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 28f79adad3..f39ce97684 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -42,6 +42,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // message filter QLineEdit *filter = new QLineEdit(this); + filter->setClearButtonEnabled(true); filter->setPlaceholderText(tr("filter messages")); main_layout->addWidget(filter); From d1495a90903ea3a29f2987af6de996dfbd9ab9ff Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 19 Oct 2022 23:07:01 +0800 Subject: [PATCH 043/137] Cabana: add dialog to find and locate signal values (#26131) * add dialog to find signals * dont close dlg after goto * limit number * cleanup * merge master --- tools/cabana/canmessages.cc | 29 ++++++++++++++ tools/cabana/canmessages.h | 4 ++ tools/cabana/signaledit.cc | 79 ++++++++++++++++++++++++++++++++++++- tools/cabana/signaledit.h | 7 ++++ 4 files changed, 118 insertions(+), 1 deletion(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 252a8c680c..897381b3f2 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -3,6 +3,8 @@ #include #include +#include "tools/cabana/dbcmanager.h" + Q_DECLARE_METATYPE(std::vector); Settings settings; @@ -38,6 +40,33 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool return false; } +QList CANMessages::findSignalValues(const QString &id, const Signal *signal, double value, FindFlags flag, int max_count) { + auto evts = events(); + if (!evts) return {}; + + auto l = id.split(':'); + int bus = l[0].toInt(); + uint32_t address = l[1].toUInt(nullptr, 16); + + QList ret; + ret.reserve(max_count); + for (auto &evt : *evts) { + if (evt->which != cereal::Event::Which::CAN) continue; + + for (auto c : evt->event.getCan()) { + if (bus == c.getSrc() && address == c.getAddress()) { + double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal); + if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) { + ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val}); + } + if (ret.size() >= max_count) + return ret; + } + } + } + return ret; +} + void CANMessages::process(QHash> *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { ++counters[it.key()]; diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 58f5ad70b7..44131ad5c9 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -5,7 +5,9 @@ #include #include +#include +#include "opendbc/can/common_dbc.h" #include "tools/replay/replay.h" class Settings : public QObject { @@ -35,12 +37,14 @@ class CANMessages : public QObject { Q_OBJECT public: + enum FindFlags{ EQ, LT, GT }; CANMessages(QObject *parent); ~CANMessages(); bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam); void seekTo(double ts); void resetRange(); void setRange(double min, double max); + QList findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count); bool eventFilter(const Event *event); inline std::pair range() const { return {begin_sec, end_sec}; } diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 7cace48402..050802d452 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -3,8 +3,12 @@ #include #include #include +#include +#include #include +#include "selfdrive/ui/qt/util.h" + // SignalForm SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start_bit), QWidget(parent) { @@ -93,6 +97,12 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); title_layout->addWidget(title, 1); + QPushButton *seek_btn = new QPushButton("⌕"); + seek_btn->setStyleSheet("font-weight:bold;font-size:20px"); + seek_btn->setToolTip(tr("Find signal values")); + seek_btn->setFixedSize(20, 20); + title_layout->addWidget(seek_btn); + QPushButton *plot_btn = new QPushButton("📈"); plot_btn->setToolTip(tr("Show Plot")); plot_btn->setFixedSize(20, 20); @@ -124,13 +134,17 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid main_layout->addWidget(hline); QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); + QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); QObject::connect(save_btn, &QPushButton::clicked, [=]() { QString new_name = form->getSignal().name.c_str(); title->setText(QString("%1. %2").arg(index + 1).arg(new_name)); emit save(); sig_name = new_name; }); - QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); + QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id, s = &sig]() { + SignalFindDlg dlg(msg_id, s, this); + dlg.exec(); + }); } void SignalEdit::setFormVisible(bool visible) { @@ -159,3 +173,66 @@ AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWi connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); } + +SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Find signal values")); + QVBoxLayout *main_layout = new QVBoxLayout(this); + + QHBoxLayout *h = new QHBoxLayout(); + h->addWidget(new QLabel(signal->name.c_str())); + QComboBox *comp_box = new QComboBox(); + comp_box->addItems({">", "=", "<"}); + h->addWidget(comp_box); + QLineEdit *value_edit = new QLineEdit("0", this); + value_edit->setValidator( new QDoubleValidator(-500000, 500000, 6, this) ); + h->addWidget(value_edit, 1); + QPushButton *search_btn = new QPushButton(tr("Find"), this); + h->addWidget(search_btn); + main_layout->addLayout(h); + + QWidget *container = new QWidget(this); + QVBoxLayout *signals_layout = new QVBoxLayout(container); + QScrollArea *scroll = new QScrollArea(this); + scroll->setWidget(container); + scroll->setWidgetResizable(true); + scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + main_layout->addWidget(scroll); + + QObject::connect(search_btn, &QPushButton::clicked, [=]() { + clearLayout(signals_layout); + + CANMessages::FindFlags comp = CANMessages::EQ; + if (comp_box->currentIndex() == 0) { + comp = CANMessages::GT; + } else if (comp_box->currentIndex() == 2) { + comp = CANMessages::LT; + } + double value = value_edit->text().toDouble(); + + const int limit_results = 50; + auto values = can->findSignalValues(id, signal, value, comp, limit_results); + for (auto &v : values) { + QHBoxLayout *item_layout = new QHBoxLayout(); + item_layout->addWidget(new QLabel(QString::number(v.x(), 'f', 2))); + item_layout->addWidget(new QLabel(QString::number(v.y()))); + item_layout->addStretch(1); + + QPushButton *goto_btn = new QPushButton(tr("Goto"), this); + QObject::connect(goto_btn, &QPushButton::clicked, [sec = v.x()]() { can->seekTo(sec); }); + item_layout->addWidget(goto_btn); + signals_layout->addLayout(item_layout); + } + if (values.size() == limit_results) { + QFrame *hline = new QFrame(); + hline->setFrameShape(QFrame::HLine); + hline->setFrameShadow(QFrame::Sunken); + signals_layout->addWidget(hline); + QLabel *info = new QLabel(tr("Only display the first %1 results").arg(limit_results)); + info->setAlignment(Qt::AlignCenter); + signals_layout->addWidget(info); + } + if (values.size() * 30 > container->height()) { + scroll->setFixedHeight(std::min(values.size() * 30, 300)); + } + }); +} diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index f31408657f..f7611747ec 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -51,3 +51,10 @@ public: AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent); SignalForm *form; }; + +class SignalFindDlg : public QDialog { + Q_OBJECT + +public: + SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent); +}; From bc2b247d7116e8c5962e6767732be61846dd6f47 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Oct 2022 02:04:08 +0800 Subject: [PATCH 044/137] Cabana: highlight signal on mouse over (#26157) --- tools/cabana/binaryview.cc | 41 +++++++++++++++++++++++++++++++++--- tools/cabana/binaryview.h | 10 ++++++++- tools/cabana/canmessages.h | 7 ++++++ tools/cabana/detailwidget.cc | 2 ++ tools/cabana/signaledit.cc | 17 ++++++++++++++- tools/cabana/signaledit.h | 7 ++++++ 6 files changed, 79 insertions(+), 5 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 4fc55077da..168edc75f4 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -3,7 +3,9 @@ #include #include #include +#include #include +#include #include "tools/cabana/canmessages.h" @@ -19,6 +21,7 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { horizontalHeader()->hide(); verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); + setMouseTracking(true); // replace selection model auto old_model = selectionModel(); @@ -30,6 +33,24 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { }); } +void BinaryView::highlight(const Signal *sig) { + if (sig != hovered_sig) { + hovered_sig = sig; + model->dataChanged(model->index(0, 0), model->index(model->rowCount() - 1, model->columnCount() - 1)); + emit signalHovered(hovered_sig); + } +} + +void BinaryView::mouseMoveEvent(QMouseEvent *event) { + if (auto index = indexAt(event->pos()); index.isValid()) { + auto item = (BinaryViewModel::Item *)index.internalPointer(); + highlight(item->sig); + if (item->sig) + QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect()); + } + QTableView::mouseMoveEvent(event); +} + void BinaryView::mouseReleaseEvent(QMouseEvent *event) { QTableView::mouseReleaseEvent(event); @@ -40,6 +61,11 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) { } } +void BinaryView::leaveEvent(QEvent *event) { + highlight(nullptr); + QTableView::leaveEvent(event); +} + void BinaryView::setMessage(const QString &message_id) { msg_id = message_id; model->setMessage(message_id); @@ -80,7 +106,8 @@ void BinaryViewModel::setMessage(const QString &message_id) { } else if (j == end) { sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; } - items[idx].bg_color = QColor(getColor(i)); + items[idx].bg_color = getColor(i); + items[idx].sig = &dbc_msg->sigs[i]; } } } @@ -170,9 +197,17 @@ QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { auto item = (const BinaryViewModel::Item *)index.internalPointer(); + BinaryView *bin_view = (BinaryView *)parent(); painter->save(); - // TODO: highlight signal cells on mouse over - painter->fillRect(option.rect, option.state & QStyle::State_Selected ? highlight_color : item->bg_color); + + // background + QColor bg_color = item->sig && bin_view->hoveredSignal() == item->sig ? hoverColor(item->bg_color) : item->bg_color; + if (option.state & QStyle::State_Selected) { + bg_color = highlight_color; + } + painter->fillRect(option.rect, bg_color); + + // text if (index.column() == 8) { painter->setFont(hex_font); } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 38f0ddf216..48eb5eff8a 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -37,6 +37,7 @@ public: bool is_msb = false; bool is_lsb = false; QString val = "0"; + const Signal *sig = nullptr; }; private: @@ -59,14 +60,21 @@ class BinaryView : public QTableView { public: BinaryView(QWidget *parent = nullptr); - void mouseReleaseEvent(QMouseEvent *event) override; void setMessage(const QString &message_id); void updateState(); + void highlight(const Signal *sig); + const Signal *hoveredSignal() const { return hovered_sig; } signals: void cellsSelected(int start_bit, int size); + void signalHovered(const Signal *sig); private: + void mouseMoveEvent(QMouseEvent *event) override; + void mouseReleaseEvent(QMouseEvent *event) override; + void leaveEvent(QEvent *event) override; + QString msg_id; BinaryViewModel *model; + const Signal *hovered_sig = nullptr; }; diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 44131ad5c9..a468fb2956 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -4,6 +4,7 @@ #include #include +#include #include #include @@ -103,6 +104,12 @@ inline const QString &getColor(int i) { return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)]; } +inline QColor hoverColor(const QColor &color) { + QColor c = color.convertTo(QColor::Hsv); + c.setHsv(color.hue(), 180, 180); + return c; +} + // A global pointer referring to the unique CANMessages object extern CANMessages *can; extern Settings settings; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index a92969d4d3..1f1b73638b 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -86,6 +86,8 @@ void DetailWidget::dbcMsgChanged() { QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal); QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); + QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); + QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); } msg_name = msg->name.c_str(); if (msg->size != can->lastMessage(msg_id).dat.size()) { diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 050802d452..d5dccf0e6d 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -82,7 +82,7 @@ Signal SignalForm::getSignal() { // SignalEdit SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent) - : sig_name(sig.name.c_str()), QWidget(parent) { + : sig(&sig), form_idx(index), sig_name(sig.name.c_str()), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); @@ -152,6 +152,21 @@ void SignalEdit::setFormVisible(bool visible) { icon->setText(visible ? "▼" : ">"); } +void SignalEdit::signalHovered(const Signal *s) { + auto color = sig == s ? hoverColor(getColor(form_idx)) : QColor(getColor(form_idx)); + title->setStyleSheet(QString("font-weight:bold; color:%1").arg(color.name())); +} + +void SignalEdit::enterEvent(QEvent *event) { + emit highlight(sig); + QWidget::enterEvent(event); +} + +void SignalEdit::leaveEvent(QEvent *event) { + emit highlight(nullptr); + QWidget::leaveEvent(event); +} + // AddSignalDialog AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent) : QDialog(parent) { diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index f7611747ec..1213b3ec51 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -30,17 +30,24 @@ class SignalEdit : public QWidget { public: SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent = nullptr); void setFormVisible(bool show); + void signalHovered(const Signal *sig); inline bool isFormVisible() const { return form_container->isVisible(); } QString sig_name; SignalForm *form; + int form_idx = 0; + const Signal *sig = nullptr; signals: + void highlight(const Signal *sig); void showChart(); void showFormClicked(); void remove(); void save(); protected: + void enterEvent(QEvent *event) override; + void leaveEvent(QEvent *event) override; + ElidedLabel *title; QWidget *form_container; QLabel *icon; From d2c1bb4238436dd5e39447f367b7ff1dc0b531b8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 14:13:06 -0700 Subject: [PATCH 045/137] Update CI routes: speed up (#26162) * cache get_azure_keys * tqdm --- selfdrive/test/update_ci_routes.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 201ffb745a..933027840d 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -1,6 +1,8 @@ #!/usr/bin/env python3 +from functools import lru_cache import sys import subprocess +from tqdm import tqdm from azure.storage.blob import BlockBlobService # pylint: disable=import-error from selfdrive.car.tests.routes import routes as test_car_models_routes @@ -15,6 +17,7 @@ SOURCES = [ ] +@lru_cache def get_azure_keys(): dest_key = azureutil.get_user_token(_DATA_ACCOUNT_CI, "openpilotci") source_keys = [azureutil.get_user_token(account, bucket) for account, bucket in SOURCES] @@ -82,7 +85,7 @@ if __name__ == "__main__": to_sync.extend([rt.route for rt in test_car_models_routes]) to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments]) - for r in to_sync: + for r in tqdm(to_sync): if not sync_to_ci_public(r): failed_routes.append(r) From 2ed51e31517e1e1948833cfcf8d2c83471b1e1be Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Oct 2022 05:18:28 +0800 Subject: [PATCH 046/137] Cabana: load DBC from car fingerprint (#26158) * auto load DBC from fingerprint * generate json in scons --- tools/cabana/.gitignore | 2 ++ tools/cabana/SConscript | 1 + tools/cabana/generate_dbc_json.py | 24 +++++++++++++++++++++++ tools/cabana/messageswidget.cc | 32 ++++++++++++++++++++++--------- tools/cabana/messageswidget.h | 7 +++++-- 5 files changed, 55 insertions(+), 11 deletions(-) create mode 100755 tools/cabana/generate_dbc_json.py diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore index 88ffab2717..d7a552eabb 100644 --- a/tools/cabana/.gitignore +++ b/tools/cabana/.gitignore @@ -3,3 +3,5 @@ moc_* _cabana settings +car_fingerprint_to_dbc.json + diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index fd44ecd138..d791466ce7 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -12,5 +12,6 @@ else: qt_libs = ['qt_util', 'Qt5Charts'] + base_libs cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs +qt_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json') qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', 'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/generate_dbc_json.py b/tools/cabana/generate_dbc_json.py new file mode 100755 index 0000000000..cb122e2eb2 --- /dev/null +++ b/tools/cabana/generate_dbc_json.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 +import argparse +import json + +from selfdrive.car.car_helpers import get_interface_attr + + +def generate_dbc_json() -> str: + all_cars_by_brand = get_interface_attr("CAR_INFO") + all_dbcs_by_brand = get_interface_attr("DBC") + dbc_map = {car: all_dbcs_by_brand[brand][car]['pt'] for brand, cars in all_cars_by_brand.items() for car in cars if car != 'mock'} + return json.dumps(dict(sorted(dbc_map.items())), indent=2) + + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Generate mapping for all car fingerprints to DBC names and outputs json file", + formatter_class=argparse.ArgumentDefaultsHelpFormatter) + + parser.add_argument("--out", required=True, help="Generated json filepath") + args = parser.parse_args() + + with open(args.out, 'w') as f: + f.write(generate_dbc_json()) + print(f"Generated and written to {args.out}") diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index f39ce97684..dfe665d750 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -68,9 +68,10 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // signals/slots QObject::connect(filter, &QLineEdit::textChanged, proxy_model, &QSortFilterProxyModel::setFilterFixedString); + QObject::connect(can, &CANMessages::eventsMerged, this, &MessagesWidget::loadDBCFromFingerprint); QObject::connect(can, &CANMessages::updated, model, &MessageListModel::updateState); - QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(dbcSelectionChanged(const QString &))); - QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadFromPaste); + QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); + QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadDBCFromPaste); QObject::connect(save_btn, &QPushButton::clicked, [=]() { // TODO: save DBC to file }); @@ -80,17 +81,20 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { } }); - // For test purpose - dbc_combo->setCurrentText("toyota_nodsu_pt_generated"); + QFile json_file("./car_fingerprint_to_dbc.json"); + if(json_file.open(QIODevice::ReadOnly)) { + fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); + } } -void MessagesWidget::dbcSelectionChanged(const QString &dbc_file) { - dbc()->open(dbc_file); - // TODO: reset model? - table_widget->sortByColumn(0, Qt::AscendingOrder); +void MessagesWidget::loadDBCFromName(const QString &name) { + dbc()->open(name); + dbc_combo->setCurrentText(name); + // refresh model + model->updateState(); } -void MessagesWidget::loadFromPaste() { +void MessagesWidget::loadDBCFromPaste() { LoadDBCDialog dlg(this); if (dlg.exec()) { dbc()->open("from paste", dlg.dbc_edit->toPlainText()); @@ -98,6 +102,16 @@ void MessagesWidget::loadFromPaste() { } } +void MessagesWidget::loadDBCFromFingerprint() { + auto fingerprint = can->carFingerprint(); + if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) { + auto dbc_name = fingerprint_to_dbc[fingerprint]; + if (dbc_name != QJsonValue::Undefined) { + loadDBCFromName(dbc_name.toString()); + } + } +} + // MessageListModel QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 1184772f3b..bef15c2cf7 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include @@ -38,8 +39,9 @@ public: MessagesWidget(QWidget *parent); public slots: - void dbcSelectionChanged(const QString &dbc_file); - void loadFromPaste(); + void loadDBCFromName(const QString &name); + void loadDBCFromFingerprint(); + void loadDBCFromPaste(); signals: void msgSelectionChanged(const QString &message_id); @@ -48,4 +50,5 @@ protected: QTableView *table_widget; QComboBox *dbc_combo; MessageListModel *model; + QJsonDocument fingerprint_to_dbc; }; From f6416e776995df68c5ae43354c9af7c335ed2e26 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 14:21:03 -0700 Subject: [PATCH 047/137] Hyundai HDA2 detection: use ADAS ECU (#26130) * use adas ecu * new route * update refs * new route * update refs * new test routes * bump --- selfdrive/car/hyundai/interface.py | 5 +++-- selfdrive/car/tests/routes.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/process_replay/test_processes.py | 4 ++-- 4 files changed, 8 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 13e93c7d06..cf7063aacc 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -8,6 +8,7 @@ from selfdrive.car import STD_CARGO_KG, create_button_event, scale_rot_inertia, from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu +Ecu = car.CarParams.Ecu ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL) @@ -33,8 +34,8 @@ class CarInterface(CarInterfaceBase): ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} if candidate in CANFD_CAR: - # detect HDA2 with LKAS message - if 0x50 in fingerprint[6]: + # detect HDA2 with ADAS Driving ECU + if Ecu.adas in [fw.ecu for fw in car_fw]: ret.flags |= HyundaiFlags.CANFD_HDA2.value else: # non-HDA2 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 85787ae88d..1dea53a05e 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -97,7 +97,7 @@ routes = [ CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN), CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO), CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE), - CarTestRoute("22de8111a8c5463c|2022-07-29--13-34-49", HYUNDAI.IONIQ_5), + CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5), # HDA2 CarTestRoute("3f29334d6134fcd4|2022-03-30--22-00-50", HYUNDAI.IONIQ_PHEV_2019), CarTestRoute("fa8db5869167f821|2021-06-10--22-50-10", HYUNDAI.IONIQ_PHEV), CarTestRoute("2c5cf2dd6102e5da|2020-12-17--16-06-44", HYUNDAI.IONIQ_EV_2020), @@ -110,7 +110,7 @@ routes = [ CarTestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV), CarTestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER), CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER), - CarTestRoute("d824e27e8c60172c|2022-05-19--16-15-28", HYUNDAI.KIA_EV6), # HDA2 + CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2 CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1 CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 0b4081595b..b0613393ad 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1c1287691cbdd866d9e435d5d27f59f6a027d270 +a87455caf93e91fae0f3704aa476e0732d066b77 \ No newline at end of file diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 683387dce8..cecabd8a3a 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI2", "d824e27e8c60172c|2022-09-13--11-26-50--2"), # HYUNDAI.KIA_EV6 + ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"), # HYUNDAI.KIA_EV6 ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI) ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR) ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2 @@ -40,7 +40,7 @@ source_segments = [ segments = [ ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"), ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"), - ("HYUNDAI2", "regenFA8B5CA9840|2022-10-12--21-47-06--0"), + ("HYUNDAI2", "d545129f3ca90f28|2022-10-19--09-22-54--9"), ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"), ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"), ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"), From 1766cf9fc232e56e54429ff464fa237e913a348c Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 19 Oct 2022 17:31:02 -0400 Subject: [PATCH 048/137] HKG: Car Port for Kia Sportage Hybrid 2023 (#26106) * HKG: Car Port for Kia Sportage Hybrid 2023 * Add torque values * Add test route * Fix CARS.md * cleanup Co-authored-by: Adeeb Shihadeh --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/hyundai/interface.py | 5 +++++ selfdrive/car/hyundai/values.py | 15 +++++++++++++-- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.yaml | 1 + 6 files changed, 23 insertions(+), 3 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 35ed1b9520..51387091b8 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -12,6 +12,7 @@ Version 0.8.17 (2022-XX-XX) * Border turns grey while overriding steering * Added button to bookmark events while driving; view them later in comma connect * AGNOS 6 +* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin! Version 0.8.16 (2022-08-26) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 4c65f0007b..a03da5ca6a 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 208 Supported Cars +# 209 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -100,6 +100,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A| |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| +|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N| |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| |Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index cf7063aacc..b1fa8d9e1d 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -248,6 +248,11 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16. tire_stiffness_factor = 0.65 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: + ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only + ret.wheelbase = 2.756 + ret.steerRatio = 13.6 + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Genesis elif candidate == CAR.GENESIS_G70: diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index f69273ba55..0c4cf3c743 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -90,6 +90,7 @@ class CAR: KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" KIA_SELTOS = "KIA SELTOS 2021" KIA_SORENTO = "KIA SORENTO GT LINE 2018" + KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN" KIA_STINGER = "KIA STINGER GT2 2018" KIA_CEED = "KIA CEED INTRO ED 2019" KIA_EV6 = "KIA EV6 2022" @@ -172,6 +173,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n), CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e), CAR.KIA_EV6: [ @@ -1367,6 +1369,14 @@ FW_VERSIONS = { b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', ], }, + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NQ5__ 1.01 1.03 99110-CH000 ', + ], + }, } CHECKSUM = { @@ -1384,12 +1394,12 @@ FEATURES = { "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN} +CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN} # The camera does SCC on these cars, rather than the radar CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } -HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN} # these cars use a different gas signal +HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN} # these cars use a different gas signal EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5} # these cars require a special panda safety mode due to missing counters and checksums in the messages @@ -1442,4 +1452,5 @@ DBC = { CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 1dea53a05e..8c4efe3061 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -91,6 +91,7 @@ routes = [ CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4), CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0), CarTestRoute("c75a59efa0ecd502|2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS), + CarTestRoute("b3537035ffe6a7d6|2022-10-17--15-23-49", HYUNDAI.KIA_SPORTAGE_HYBRID_5TH_GEN), CarTestRoute("5b7c365c50084530|2020-04-15--16-13-24", HYUNDAI.SONATA), CarTestRoute("b2a38c712dcf90bd|2020-05-18--18-12-48", HYUNDAI.SONATA_LF), CarTestRoute("fb3fd42f0baaa2f8|2022-03-30--15-25-05", HYUNDAI.TUCSON), diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index 889eeffb25..13a0dae7a7 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -32,6 +32,7 @@ CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05] VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1] VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI TUCSON HYBRID 4TH GEN: [2.5, 2.5, 0.0] +KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.0] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From bd3b2e624617eb8f46990f8f1bb3e061a6387195 Mon Sep 17 00:00:00 2001 From: Kyumin Han Date: Wed, 19 Oct 2022 17:35:57 -0400 Subject: [PATCH 049/137] HKG: Remove Kia Stinger from 255 torque blacklist (#25866) --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0c4cf3c743..0fee3ccc51 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -36,7 +36,7 @@ class CarControllerParams: # If the max stock LKAS request is <384, add your car to this list. elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV, - CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER): + CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO): self.STEER_MAX = 255 # Default for most HKG From 334ee602f53b7645baba41610051c807ffe5bebb Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 14:43:12 -0700 Subject: [PATCH 050/137] cabana: add usage to readme --- tools/cabana/README.md | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/tools/cabana/README.md b/tools/cabana/README.md index f64e6b2d2d..99d0d4c9ce 100644 --- a/tools/cabana/README.md +++ b/tools/cabana/README.md @@ -6,4 +6,19 @@ Cabana is a tool developed to view raw CAN data. One use for this is creating an ## Usage Instructions +```bash +$ ./cabana -h +Usage: ./_cabana [options] route + +Options: + -h, --help Displays this help. + --demo use a demo route instead of providing your own + --qcam load qcamera + --data_dir local directory with routes + +Arguments: + route the drive to replay. find your drives at + connect.comma.ai +``` + See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana) From 3ee8572d585cf1e56bb00666cb8747dc8f2e77e7 Mon Sep 17 00:00:00 2001 From: hoomoose <94947902+hoomoose@users.noreply.github.com> Date: Wed, 19 Oct 2022 16:19:38 -0600 Subject: [PATCH 051/137] HKG: resume from standstill for HDA1 CAN-FD (#26069) * Cruise Button Press on bus 6 for HDA1 Canfd * use bus helper * Update hyundaicanfd.py * Update hyundaicanfd.py * Update hyundaicanfd.py * Update hyundaicanfd.py * Update selfdrive/car/hyundai/hyundaicanfd.py Co-authored-by: Shane Smiskol * Update selfdrive/car/hyundai/hyundaicanfd.py Co-authored-by: Shane Smiskol * bump panda Co-authored-by: Shane Smiskol Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/car/hyundai/carcontroller.py | 9 ++++++--- selfdrive/car/hyundai/hyundaicanfd.py | 8 +++++--- 3 files changed, 12 insertions(+), 7 deletions(-) diff --git a/panda b/panda index b95a65df58..dd751862c3 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b95a65df58fea89b42b7c6b4fc85289b93a0bdb2 +Subproject commit dd751862c34f6a9c9c95748acaf31b8534b42497 diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 6b38297eb9..913f683e2c 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -135,14 +135,17 @@ class CarController: self.last_button_frame = self.frame else: for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL)) + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL)) self.last_button_frame = self.frame # cruise standstill resume elif CC.cruiseControl.resume: - if not (self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): + if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: + # TODO: resume for alt button cars + pass + else: for _ in range(20): - can_sends.append(hyundaicanfd.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL)) + can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame else: can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index f2cbafdcf0..e1478e6f18 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -3,7 +3,7 @@ from selfdrive.car.hyundai.values import HyundaiFlags def get_e_can_bus(CP): # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars - # have a a different harness than the HDA1 and non-HDA variants in order to split + # have a different harness than the HDA1 and non-HDA variants in order to split # a different bus, since the steering is done by different ECUs. return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 @@ -39,13 +39,15 @@ def create_cam_0x2a4(packer, camera_values): }) return packer.make_can_msg("CAM_0x2a4", 4, camera_values) -def create_buttons(packer, cnt, btn): +def create_buttons(packer, CP, cnt, btn): values = { "COUNTER": cnt, "SET_ME_1": 1, "CRUISE_BUTTONS": btn, } - return packer.make_can_msg("CRUISE_BUTTONS", 5, values) + + bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6 + return packer.make_can_msg("CRUISE_BUTTONS", bus, values) def create_acc_cancel(packer, CP, cruise_info_copy): values = cruise_info_copy From 017b5b27718afc844bc5c08cff09dfac95d5ba46 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 15:20:55 -0700 Subject: [PATCH 052/137] HKG CAN-FD: query camera on both buses (#26167) fwdCamera is only on bus 4 on HDA1, only bus 5 on HDA2 --- selfdrive/car/hyundai/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 0fee3ccc51..d5b8427f66 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -306,7 +306,7 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdRadar], + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar], bus=4, ), Request( From ffc151ed8facbb6b29c6cf1aa6676f2c59271483 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 15:34:06 -0700 Subject: [PATCH 053/137] no more preserve bucket --- selfdrive/test/update_ci_routes.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py index 933027840d..a2b971999c 100755 --- a/selfdrive/test/update_ci_routes.py +++ b/selfdrive/test/update_ci_routes.py @@ -12,7 +12,6 @@ from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DA SOURCES = [ (_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION), - (_DATA_ACCOUNT_PRODUCTION, "preserve"), (_DATA_ACCOUNT_CI, "commadataci"), ] From 93e972e6f9907382d62807c5d4c2eb80327ebc43 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 16:55:14 -0700 Subject: [PATCH 054/137] Update RELEASES.md --- RELEASES.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 51387091b8..b424259581 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -2,9 +2,10 @@ Version 0.8.17 (2022-XX-XX) ======================== * New driving model * Internal feature space accuracy increased tenfold during training, this makes the model dramatically more accurate. +* New driver monitoring model + * New end-to-end distracted trigger * Self-tuning torque lateral controller parameters * Parameters learned live for each car - * Enabled only on Toyota Corolla for now * UI updates * Multi-language in navigation * Matched speeds shown on car's dash @@ -12,6 +13,7 @@ Version 0.8.17 (2022-XX-XX) * Border turns grey while overriding steering * Added button to bookmark events while driving; view them later in comma connect * AGNOS 6 +* tools: new and improved cabana thanks to deanlee! * Kia Sportage Hybrid 2023 support thanks to sunnyhaibin! Version 0.8.16 (2022-08-26) From 1800592f5a4403a38891f8513e6438300a3b5e01 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 19 Oct 2022 17:09:25 -0700 Subject: [PATCH 055/137] DM: finetune e2e policy but keep alert rate (#26168) --- selfdrive/monitoring/driver_monitor.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py index 30781f4d1b..a2dda5da9d 100644 --- a/selfdrive/monitoring/driver_monitor.py +++ b/selfdrive/monitoring/driver_monitor.py @@ -32,7 +32,8 @@ class DRIVER_MONITOR_SETTINGS(): self._BLINK_THRESHOLD = 0.895 self._EE_THRESH11 = 0.275 - self._EE_THRESH12 = 3.0 + self._EE_THRESH12 = 5.5 + self._EE_MAX_OFFSET1 = 0.06 self._EE_THRESH21 = 0.01 self._EE_THRESH22 = 0.35 @@ -204,7 +205,7 @@ class DriverStatus(): distracted_types.append(DistractedType.DISTRACTED_BLINK) if self.ee1_calibrated: - ee1_dist = self.eev1 > self.ee1_offseter.filtered_stat.M * self.settings._EE_THRESH12 + ee1_dist = self.eev1 > min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1) * self.settings._EE_THRESH12 else: ee1_dist = self.eev1 > self.settings._EE_THRESH11 # if self.ee2_calibrated: From 301a7ce1899a3212900dc6cfb08de6840d276a05 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 20:40:52 -0700 Subject: [PATCH 056/137] GM: make loopback updated check more explicit This previously checked if parser_pyx filled the defaultdict, now it checks the values in the list (same either way) --- selfdrive/car/gm/carstate.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index f531914877..b651606b79 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -28,7 +28,7 @@ class CarState(CarStateBase): self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] # Variables used for avoiding LKAS faults - self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]) > 0 + self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 if self.CP.networkLocation == NetworkLocation.fwdCamera: self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"] From eaedfb9a66012b82091c4b602184a0078d7f0c25 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 19 Oct 2022 23:31:24 -0700 Subject: [PATCH 057/137] Hyundai CAN-FD: use cruise signals from SCC ECU (#26171) * Hyundai CAN-FD: use cruise signals from SCC ECU * bump panda * bumppanda * update refs --- panda | 2 +- selfdrive/car/hyundai/carstate.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/panda b/panda index dd751862c3..723e60cb43 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit dd751862c34f6a9c9c95748acaf31b8534b42497 +Subproject commit 723e60cb435ad5d3b6a8e99080be46a6590259cd diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 5da1dd72c8..60d434a603 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -189,13 +189,13 @@ class CarState(CarStateBase): cp.vl["BLINKERS"]["RIGHT_LAMP"]) ret.cruiseState.available = True - ret.cruiseState.enabled = cp.vl["SCC1"]["CRUISE_ACTIVE"] == 1 self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1 if not self.CP.openpilotLongitudinalControl: speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS cp_cruise_info = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam ret.cruiseState.speed = cp_cruise_info.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor ret.cruiseState.standstill = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STANDSTILL"] == 1 + ret.cruiseState.enabled = cp_cruise_info.vl["CRUISE_INFO"]["CRUISE_STATUS"] != 0 self.cruise_info = copy.copy(cp_cruise_info.vl["CRUISE_INFO"]) cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS" @@ -452,6 +452,7 @@ class CarState(CarStateBase): if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl: signals += [ + ("CRUISE_STATUS", "CRUISE_INFO"), ("SET_SPEED", "CRUISE_INFO"), ("CRUISE_STANDSTILL", "CRUISE_INFO"), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index b0613393ad..84658effee 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a87455caf93e91fae0f3704aa476e0732d066b77 \ No newline at end of file +1f41cd8bbf2431ae89c489a81698120d14a44145 \ No newline at end of file From 63d552cafc6e4728cfe097e7a3f8e3f5cd98a566 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 19 Oct 2022 23:41:54 -0700 Subject: [PATCH 058/137] GM camera ACC: hide take steering alert (#26010) * add all signals * try to forward this PSCMStatus * fixes * see if this works * modify checksum when bit flipped * bump opendbc * so i can test without restarting * bump * bump panda * clean up * comment * also fix this * bump * bump * every 5 seconds * only send our values * fix * try sending everything again (+1 counter) * revert * revert, forward msg * forward * fix that * bump panda * bump panda * fine to not copy * after cancel, pass bus * fix * Revert "fine to not copy" This reverts commit 654ac1a7dad4f7b9b0a3de52768522fb60cc55bd. --- panda | 2 +- selfdrive/car/gm/carcontroller.py | 4 ++++ selfdrive/car/gm/carstate.py | 7 +++++++ selfdrive/car/gm/gmcan.py | 6 ++++++ 4 files changed, 18 insertions(+), 1 deletion(-) diff --git a/panda b/panda index 723e60cb43..54f9390ff5 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 723e60cb435ad5d3b6a8e99080be46a6590259cd +Subproject commit 54f9390ff51b4fb0c2b3a81b9cde8727acdd1977 diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index 7c883dacc0..dbad355c46 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -117,6 +117,10 @@ class CarController: self.last_button_frame = self.frame can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) + # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1 + if self.frame % 10 == 0: + can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) + # Show green icon when LKA torque is applied, and # alarming orange icon when approaching torque limit. # If not sent again, LKA icon disappears in about 5 seconds. diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index b651606b79..de63f56eab 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -1,3 +1,4 @@ +import copy from cereal import car from common.conversions import Conversions as CV from common.numpy_fast import mean @@ -26,6 +27,7 @@ class CarState(CarStateBase): self.prev_cruise_buttons = self.cruise_buttons self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"] self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"] + self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"]) # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0 @@ -147,6 +149,11 @@ class CarState(CarStateBase): ("LKADriverAppldTrq", "PSCMStatus"), ("LKATorqueDelivered", "PSCMStatus"), ("LKATorqueDeliveredStatus", "PSCMStatus"), + ("HandsOffSWlDetectionStatus", "PSCMStatus"), + ("HandsOffSWDetectionMode", "PSCMStatus"), + ("LKATotalTorqueDelivered", "PSCMStatus"), + ("PSCMStatusChecksum", "PSCMStatus"), + ("RollingCounter", "PSCMStatus"), ("TractionControlOn", "ESPStatus"), ("ParkBrake", "VehicleIgnitionAlt"), ("CruiseMainOn", "ECMEngineStatus"), diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 20e4c4ab6e..ec046dc3c2 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -7,6 +7,12 @@ def create_buttons(packer, bus, idx, button): } return packer.make_can_msg("ASCMSteeringButton", bus, values) +def create_pscm_status(packer, bus, pscm_status): + checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5 + pscm_status["HandsOffSWlDetectionStatus"] = 1 + pscm_status["PSCMStatusChecksum"] += checksum_mod + return packer.make_can_msg("PSCMStatus", bus, pscm_status) + def create_steering_control(packer, bus, apply_steer, idx, lkas_active): values = { From 5d8840b6ee2302def37b2e6cd8b4c826127fc0f4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Oct 2022 22:56:12 +0800 Subject: [PATCH 059/137] cabana: remove unused metatype (#26175) remove unused metatype --- tools/cabana/canmessages.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 897381b3f2..2ef9dba600 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -13,7 +13,6 @@ CANMessages *can = nullptr; CANMessages::CANMessages(QObject *parent) : QObject(parent) { can = this; - qRegisterMetaType>(); QObject::connect(this, &CANMessages::received, this, &CANMessages::process, Qt::QueuedConnection); QObject::connect(&settings, &Settings::changed, this, &CANMessages::settingChanged); } From b2b27ff7ee00da4b1bffa7bbe95462303b835024 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 20 Oct 2022 22:56:28 +0800 Subject: [PATCH 060/137] cabana: improve signal highlight on hover (#26161) * just change font color * merge master --- tools/cabana/binaryview.cc | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 168edc75f4..c0ebfa9f0a 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -200,16 +200,19 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op BinaryView *bin_view = (BinaryView *)parent(); painter->save(); + bool hover = item->sig && bin_view->hoveredSignal() == item->sig; // background - QColor bg_color = item->sig && bin_view->hoveredSignal() == item->sig ? hoverColor(item->bg_color) : item->bg_color; + QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color; if (option.state & QStyle::State_Selected) { bg_color = highlight_color; } painter->fillRect(option.rect, bg_color); // text - if (index.column() == 8) { + if (index.column() == 8) { // hex column painter->setFont(hex_font); + } else if (hover) { + painter->setPen(Qt::white); } painter->drawText(option.rect, Qt::AlignCenter, item->val); if (item->is_msb || item->is_lsb) { From 998d18783dee2c0d17acd7c5f0ebf82d5ac42d19 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 02:21:22 +0800 Subject: [PATCH 061/137] Cabana: multiple tabs detail view (#26174) --- tools/cabana/detailwidget.cc | 48 ++++++++++++++++++++++++++++-------- tools/cabana/detailwidget.h | 3 +++ 2 files changed, 41 insertions(+), 10 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 1f1b73638b..fdedb066fb 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -12,13 +12,26 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); - - // title + main_layout->setSpacing(0); + + // tabbar + tabbar = new QTabBar(this); + tabbar->setTabsClosable(true); + tabbar->setDrawBase(false); + tabbar->setUsesScrollButtons(true); + tabbar->setAutoHide(true); + main_layout->addWidget(tabbar); + + // message title + QFrame *title_frame = new QFrame(); + main_layout->addWidget(title_frame); + QVBoxLayout *frame_layout = new QVBoxLayout(title_frame); + title_frame->setFrameShape(QFrame::StyledPanel); QHBoxLayout *title_layout = new QHBoxLayout(); title_layout->addWidget(new QLabel("time:")); time_label = new QLabel(this); - title_layout->addWidget(time_label); time_label->setStyleSheet("font-weight:bold"); + title_layout->addWidget(time_label); title_layout->addStretch(); name_label = new QLabel(this); name_label->setStyleSheet("font-weight:bold;"); @@ -27,18 +40,18 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { edit_btn = new QPushButton(tr("Edit"), this); edit_btn->setVisible(false); title_layout->addWidget(edit_btn); - main_layout->addLayout(title_layout); + frame_layout->addLayout(title_layout); // warning warning_widget = new QWidget(this); QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); - QLabel *warning_icon = new QLabel(this); + QLabel *warning_icon = new QLabel(this); warning_icon->setPixmap(style()->standardIcon(QStyle::SP_MessageBoxWarning).pixmap({16, 16})); warning_hlayout->addWidget(warning_icon); warning_label = new QLabel(this); - warning_hlayout->addWidget(warning_label,1, Qt::AlignLeft); + warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); warning_widget->hide(); - main_layout->addWidget(warning_widget); + frame_layout->addWidget(warning_widget); // binary view binary_view = new BinaryView(this); @@ -63,13 +76,28 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QObject::connect(binary_view, &BinaryView::cellsSelected, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::dbcMsgChanged); + QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { setMessage(messages[index]); }); + QObject::connect(tabbar, &QTabBar::tabCloseRequested, [=](int index) { + messages.removeAt(index); + tabbar->removeTab(index); + setMessage(messages.isEmpty() ? "" : messages[0]); + }); } void DetailWidget::setMessage(const QString &message_id) { - if (msg_id != message_id) { - msg_id = message_id; - dbcMsgChanged(); + if (message_id.isEmpty()) return; + + int index = messages.indexOf(message_id); + if (index == -1) { + messages.push_back(message_id); + tabbar->addTab(message_id); + index = tabbar->count() - 1; + auto msg = dbc()->msg(message_id); + tabbar->setTabToolTip(index, msg ? msg->name.c_str() : "untitled"); } + tabbar->setCurrentIndex(index); + msg_id = message_id; + dbcMsgChanged(); } void DetailWidget::dbcMsgChanged() { diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 07c78caa4a..d935839dc4 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include "tools/cabana/binaryview.h" #include "tools/cabana/historylog.h" @@ -50,6 +51,8 @@ private: QWidget *warning_widget; QPushButton *edit_btn; QWidget *signals_container; + QTabBar *tabbar; + QStringList messages; HistoryLog *history_log; BinaryView *binary_view; ScrollArea *scroll; From 4bf86742e64bbfb826540fbd263c0e250349f49a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 02:22:09 +0800 Subject: [PATCH 062/137] Cabana: move settings to seperate files (#26173) --- tools/cabana/SConscript | 11 ++++-- tools/cabana/canmessages.cc | 24 ----------- tools/cabana/canmessages.h | 20 +--------- tools/cabana/mainwin.cc | 52 ------------------------ tools/cabana/mainwin.h | 12 ------ tools/cabana/settings.cc | 79 +++++++++++++++++++++++++++++++++++++ tools/cabana/settings.h | 35 ++++++++++++++++ 7 files changed, 124 insertions(+), 109 deletions(-) create mode 100644 tools/cabana/settings.cc create mode 100644 tools/cabana/settings.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d791466ce7..4e4e11dbd8 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -1,3 +1,4 @@ +import os Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib', 'cereal', 'transformations', 'widgets', 'opendbc') @@ -12,6 +13,10 @@ else: qt_libs = ['qt_util', 'Qt5Charts'] + base_libs cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs -qt_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json') -qt_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', - 'canmessages.cc', 'messageswidget.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) +cabana_env = qt_env.Clone() + +prev_moc_path = cabana_env['QT_MOCHPREFIX'] +cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' +cabana_env.Execute('./generate_dbc_json.py --out car_fingerprint_to_dbc.json') +cabana_env.Program('_cabana', ['cabana.cc', 'mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', + 'canmessages.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 2ef9dba600..3900ad93f7 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -7,7 +7,6 @@ Q_DECLARE_METATYPE(std::vector); -Settings settings; CANMessages *can = nullptr; CANMessages::CANMessages(QObject *parent) : QObject(parent) { @@ -158,26 +157,3 @@ void CANMessages::resetRange() { void CANMessages::settingChanged() { replay->setSegmentCacheLimit(settings.cached_segment_limit); } - -// Settings - -Settings::Settings() { - load(); -} - -void Settings::save() { - QSettings s("settings", QSettings::IniFormat); - s.setValue("fps", fps); - s.setValue("log_size", can_msg_log_size); - s.setValue("cached_segment", cached_segment_limit); - s.setValue("chart_height", chart_height); - emit changed(); -} - -void Settings::load() { - QSettings s("settings", QSettings::IniFormat); - fps = s.value("fps", 10).toInt(); - can_msg_log_size = s.value("log_size", 100).toInt(); - cached_segment_limit = s.value("cached_segment", 3).toInt(); - chart_height = s.value("chart_height", 200).toInt(); -} diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index a468fb2956..84f4e06dfb 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -9,25 +9,9 @@ #include #include "opendbc/can/common_dbc.h" +#include "tools/cabana/settings.h" #include "tools/replay/replay.h" -class Settings : public QObject { - Q_OBJECT - -public: - Settings(); - void save(); - void load(); - - int fps = 10; - int can_msg_log_size = 100; - int cached_segment_limit = 3; - int chart_height = 200; - -signals: - void changed(); -}; - struct CanData { double ts; uint16_t bus_time; @@ -112,4 +96,4 @@ inline QColor hoverColor(const QColor &color) { // A global pointer referring to the unique CANMessages object extern CANMessages *can; -extern Settings settings; + diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 50fcbc455c..9ba69f8a90 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -1,9 +1,7 @@ #include "tools/cabana/mainwin.h" #include -#include #include -#include #include #include #include @@ -82,53 +80,3 @@ void MainWindow::setOption() { SettingsDlg dlg(this); dlg.exec(); } - -// SettingsDlg - -SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Settings")); - QVBoxLayout *main_layout = new QVBoxLayout(this); - QFormLayout *form_layout = new QFormLayout(); - - fps = new QSpinBox(this); - fps->setRange(10, 100); - fps->setSingleStep(10); - fps->setValue(settings.fps); - form_layout->addRow("FPS", fps); - - log_size = new QSpinBox(this); - log_size->setRange(50, 500); - log_size->setSingleStep(10); - log_size->setValue(settings.can_msg_log_size); - form_layout->addRow(tr("Log size"), log_size); - - cached_segment = new QSpinBox(this); - cached_segment->setRange(3, 60); - cached_segment->setSingleStep(1); - cached_segment->setValue(settings.cached_segment_limit); - form_layout->addRow(tr("Cached segments limit"), cached_segment); - - chart_height = new QSpinBox(this); - chart_height->setRange(100, 500); - chart_height->setSingleStep(10); - chart_height->setValue(settings.chart_height); - form_layout->addRow(tr("Chart height"), chart_height); - - main_layout->addLayout(form_layout); - - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox); - - setFixedWidth(360); - connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save); - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); -} - -void SettingsDlg::save() { - settings.fps = fps->value(); - settings.can_msg_log_size = log_size->value(); - settings.cached_segment_limit = cached_segment->value(); - settings.chart_height = chart_height->value(); - settings.save(); - accept(); -} diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 594e608b59..792390d5c1 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -23,15 +23,3 @@ protected: QWidget *floating_window = nullptr; QVBoxLayout *r_layout; }; - -class SettingsDlg : public QDialog { - Q_OBJECT - -public: - SettingsDlg(QWidget *parent); - void save(); - QSpinBox *fps; - QSpinBox *log_size ; - QSpinBox *cached_segment; - QSpinBox *chart_height; -}; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc new file mode 100644 index 0000000000..0b36f25fbc --- /dev/null +++ b/tools/cabana/settings.cc @@ -0,0 +1,79 @@ +#include "tools/cabana/settings.h" + +#include +#include +#include + +// Settings +Settings settings; + +Settings::Settings() { + load(); +} + +void Settings::save() { + QSettings s("settings", QSettings::IniFormat); + s.setValue("fps", fps); + s.setValue("log_size", can_msg_log_size); + s.setValue("cached_segment", cached_segment_limit); + s.setValue("chart_height", chart_height); + emit changed(); +} + +void Settings::load() { + QSettings s("settings", QSettings::IniFormat); + fps = s.value("fps", 10).toInt(); + can_msg_log_size = s.value("log_size", 100).toInt(); + cached_segment_limit = s.value("cached_segment", 3).toInt(); + chart_height = s.value("chart_height", 200).toInt(); +} + +// SettingsDlg + +SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { + setWindowTitle(tr("Settings")); + QVBoxLayout *main_layout = new QVBoxLayout(this); + QFormLayout *form_layout = new QFormLayout(); + + fps = new QSpinBox(this); + fps->setRange(10, 100); + fps->setSingleStep(10); + fps->setValue(settings.fps); + form_layout->addRow("FPS", fps); + + log_size = new QSpinBox(this); + log_size->setRange(50, 500); + log_size->setSingleStep(10); + log_size->setValue(settings.can_msg_log_size); + form_layout->addRow(tr("Log size"), log_size); + + cached_segment = new QSpinBox(this); + cached_segment->setRange(3, 60); + cached_segment->setSingleStep(1); + cached_segment->setValue(settings.cached_segment_limit); + form_layout->addRow(tr("Cached segments limit"), cached_segment); + + chart_height = new QSpinBox(this); + chart_height->setRange(100, 500); + chart_height->setSingleStep(10); + chart_height->setValue(settings.chart_height); + form_layout->addRow(tr("Chart height"), chart_height); + + main_layout->addLayout(form_layout); + + auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); + main_layout->addWidget(buttonBox); + + setFixedWidth(360); + connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save); + connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); +} + +void SettingsDlg::save() { + settings.fps = fps->value(); + settings.can_msg_log_size = log_size->value(); + settings.cached_segment_limit = cached_segment->value(); + settings.chart_height = chart_height->value(); + settings.save(); + accept(); +} diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h new file mode 100644 index 0000000000..22542fc04c --- /dev/null +++ b/tools/cabana/settings.h @@ -0,0 +1,35 @@ +#pragma once + +#include +#include + +class Settings : public QObject { + Q_OBJECT + +public: + Settings(); + void save(); + void load(); + + int fps = 10; + int can_msg_log_size = 100; + int cached_segment_limit = 3; + int chart_height = 200; + +signals: + void changed(); +}; + +class SettingsDlg : public QDialog { + Q_OBJECT + +public: + SettingsDlg(QWidget *parent); + void save(); + QSpinBox *fps; + QSpinBox *log_size ; + QSpinBox *cached_segment; + QSpinBox *chart_height; +}; + +extern Settings settings; From 85d39ec34ef80ab292eae0ac18600037f7903e44 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 02:23:27 +0800 Subject: [PATCH 063/137] Cabana: dynamic sorting message list (#26150) --- tools/cabana/messageswidget.cc | 106 +++++++++++++++++++++++---------- tools/cabana/messageswidget.h | 16 ++++- 2 files changed, 89 insertions(+), 33 deletions(-) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index dfe665d750..c34d883b3f 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -6,7 +6,6 @@ #include #include #include -#include #include #include @@ -49,27 +48,23 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { // message table table_widget = new QTableView(this); model = new MessageListModel(this); - QSortFilterProxyModel *proxy_model = new QSortFilterProxyModel(this); - proxy_model->setSourceModel(model); - proxy_model->setFilterCaseSensitivity(Qt::CaseInsensitive); - proxy_model->setDynamicSortFilter(false); - table_widget->setModel(proxy_model); + table_widget->setModel(model); table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); table_widget->setSelectionMode(QAbstractItemView::SingleSelection); table_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding); table_widget->setSortingEnabled(true); + table_widget->sortByColumn(0, Qt::AscendingOrder); table_widget->setColumnWidth(0, 250); table_widget->setColumnWidth(1, 80); table_widget->setColumnWidth(2, 80); table_widget->horizontalHeader()->setStretchLastSection(true); table_widget->verticalHeader()->hide(); - table_widget->sortByColumn(0, Qt::AscendingOrder); main_layout->addWidget(table_widget); // signals/slots - QObject::connect(filter, &QLineEdit::textChanged, proxy_model, &QSortFilterProxyModel::setFilterFixedString); + QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString); QObject::connect(can, &CANMessages::eventsMerged, this, &MessagesWidget::loadDBCFromFingerprint); - QObject::connect(can, &CANMessages::updated, model, &MessageListModel::updateState); + QObject::connect(can, &CANMessages::updated, [this]() { model->updateState(); }); QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &))); QObject::connect(load_from_paste, &QPushButton::clicked, this, &MessagesWidget::loadDBCFromPaste); QObject::connect(save_btn, &QPushButton::clicked, [=]() { @@ -122,21 +117,15 @@ QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { - auto it = std::next(can->can_msgs.begin(), index.row()); - if (it != can->can_msgs.end() && !it.value().empty()) { - const QString &msg_id = it.key(); - switch (index.column()) { - case 0: { - auto msg = dbc()->msg(msg_id); - return msg ? msg->name.c_str() : "untitled"; - } - case 1: return msg_id; - case 2: return can->counters[msg_id]; - case 3: return toHex(it.value().front().dat); - } + const auto &m = msgs[index.row()]; + switch (index.column()) { + case 0: return m->name; + case 1: return m->id; + case 2: return can->counters[m->id]; + case 3: return toHex(can->lastMessage(m->id).dat); } } else if (role == Qt::UserRole) { - return std::next(can->can_msgs.begin(), index.row()).key(); + return msgs[index.row()]->id; } else if (role == Qt::FontRole) { if (index.column() == 3) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); @@ -145,20 +134,77 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const { return {}; } -void MessageListModel::updateState() { - int prev_row_count = row_count; - row_count = can->can_msgs.size(); - int delta = row_count - prev_row_count; +bool MessageListModel::updateMessages(bool sort) { + if (msgs.size() == can->can_msgs.size() && filter_str.isEmpty() && !sort) + return false; + + // update message list + int i = 0; + bool search_id = filter_str.contains(':'); + for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { + const Msg *msg = dbc()->msg(it.key()); + QString msg_name = msg ? msg->name.c_str() : "untitled"; + if (!filter_str.isEmpty() && !(search_id ? it.key() : msg_name).contains(filter_str, Qt::CaseInsensitive)) + continue; + auto &m = i < msgs.size() ? msgs[i] : msgs.emplace_back(new Message); + m->id = it.key(); + m->name = msg_name; + ++i; + } + msgs.resize(i); + + if (sort_column == 0) { + std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + bool ret = l->name < r->name || (l->name == r->name && l->id < r->id); + return sort_order == Qt::AscendingOrder ? ret : !ret; + }); + } else if (sort_column == 1) { + std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + return sort_order == Qt::AscendingOrder ? l->id < r->id : l->id > r->id; + }); + } else if (sort_column == 2) { + std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + uint32_t lcount = can->counters[l->id], rcount = can->counters[r->id]; + bool ret = lcount < rcount || (lcount == rcount && l->id < r->id); + return sort_order == Qt::AscendingOrder ? ret : !ret; + }); + } + return true; +} + +void MessageListModel::updateState(bool sort) { + int prev_row_count = msgs.size(); + auto prev_idx = persistentIndexList(); + QString selected_msg_id = prev_idx.empty() ? "" : prev_idx[0].data(Qt::UserRole).toString(); + + bool msg_updated = updateMessages(sort); + int delta = msgs.size() - prev_row_count; if (delta > 0) { - beginInsertRows({}, prev_row_count, row_count - 1); + beginInsertRows({}, prev_row_count, msgs.size() - 1); endInsertRows(); } else if (delta < 0) { - beginRemoveRows({}, row_count, prev_row_count - 1); + beginRemoveRows({}, msgs.size(), prev_row_count - 1); endRemoveRows(); } - if (row_count > 0) { - emit dataChanged(index(0, 0), index(row_count - 1, 3), {Qt::DisplayRole}); + if (!msgs.empty()) { + if (msg_updated && !prev_idx.isEmpty()) { + // keep selection + auto it = std::find_if(msgs.begin(), msgs.end(), [&](auto &m) { return m->id == selected_msg_id; }); + if (it != msgs.end()) { + for (auto &idx : prev_idx) + changePersistentIndex(idx, index(std::distance(msgs.begin(), it), idx.column())); + } + } + emit dataChanged(index(0, 0), index(msgs.size() - 1, 3), {Qt::DisplayRole}); + } +} + +void MessageListModel::sort(int column, Qt::SortOrder order) { + if (column != columnCount() - 1) { + sort_column = column; + sort_order = order; + updateState(true); } } diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index bef15c2cf7..7b6c8e53cf 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -25,11 +25,21 @@ public: QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 4; } QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; - int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } - void updateState(); + int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } + void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; + void updateState(bool sort = false); + void setFilterString(const QString &string) { filter_str = string; } private: - int row_count = 0; + bool updateMessages(bool sort); + + struct Message { + QString id, name; + }; + std::vector> msgs; + QString filter_str; + int sort_column = 0; + Qt::SortOrder sort_order = Qt::AscendingOrder; }; class MessagesWidget : public QWidget { From f957f3391d291c355a789782f00d85aeaa67fabb Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 20 Oct 2022 20:25:20 +0200 Subject: [PATCH 064/137] ui brightness: fix exposure scale factor (#26104) --- selfdrive/ui/ui.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 152c7fbfcd..1a6027bf7f 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -163,7 +163,8 @@ static void update_state(UIState *s) { scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl(); } if (sm.updated("wideRoadCameraState")) { - scene.light_sensor = 100.0f - sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(); + float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0321) ? 6.0f : 1.0f; + scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f); } scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition; } From d6a0f1c25a44ad5629f491bb0066999eb0a9d357 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 04:09:49 +0800 Subject: [PATCH 065/137] Cabana: drag to adjust signal size (#26172) * drag to adjust signal size * rename * override setSelection * use signal color as selection color while resing * helper funtion * hide tooltip if not in signal * cleanup * cabana: remove unused metatype (#26175) remove unused metatype * cabana: improve signal highlight on hover (#26161) * just change font color * merge master * cleanup --- tools/cabana/binaryview.cc | 100 ++++++++++++++++++++++++----------- tools/cabana/binaryview.h | 18 +++---- tools/cabana/detailwidget.cc | 23 ++++++-- tools/cabana/detailwidget.h | 3 +- 4 files changed, 101 insertions(+), 43 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index c0ebfa9f0a..eee3f90986 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -13,21 +13,23 @@ const int CELL_HEIGHT = 30; +static std::pair getSignalRange(const Signal *s) { + int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); + int to = from + s->size - 1; + return {from, to}; +} + BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { model = new BinaryViewModel(this); setModel(model); - setItemDelegate(new BinaryItemDelegate(this)); + delegate = new BinaryItemDelegate(this); + setItemDelegate(delegate); horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch); horizontalHeader()->hide(); verticalHeader()->setSectionResizeMode(QHeaderView::Stretch); setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); setMouseTracking(true); - // replace selection model - auto old_model = selectionModel(); - setSelectionModel(new BinarySelectionModel(model)); - delete old_model; - QObject::connect(model, &QAbstractItemModel::modelReset, [this]() { setFixedHeight((CELL_HEIGHT + 1) * std::min(model->rowCount(), 8) + 2); }); @@ -41,12 +43,42 @@ void BinaryView::highlight(const Signal *sig) { } } +void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) { + QModelIndex tl = indexAt({qMin(rect.left(), rect.right()), qMin(rect.top(), rect.bottom())}); + QModelIndex br = indexAt({qMax(rect.left(), rect.right()), qMax(rect.top(), rect.bottom())}); + if (!tl.isValid() || !br.isValid()) + return; + + if (tl < anchor_index) { + br = anchor_index; + } else if (anchor_index < br) { + tl = anchor_index; + } + QItemSelection selection; + for (int row = tl.row(); row <= br.row(); ++row) { + int left_col = (row == tl.row()) ? tl.column() : 0; + int right_col = (row == br.row()) ? br.column() : 7; + selection.merge({model->index(row, left_col), model->index(row, right_col)}, flags); + } + selectionModel()->select(selection, flags); +} + +void BinaryView::mousePressEvent(QMouseEvent *event) { + delegate->setSelectionColor(style()->standardPalette().color(QPalette::Active, QPalette::Highlight)); + anchor_index = indexAt(event->pos()); + if (getResizingSignal() != nullptr) { + auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); + delegate->setSelectionColor(item->bg_color); + } + QTableView::mousePressEvent(event); +} + void BinaryView::mouseMoveEvent(QMouseEvent *event) { if (auto index = indexAt(event->pos()); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); highlight(item->sig); - if (item->sig) - QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect()); + item->sig ? QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect()) + : QToolTip::hideText(); } QTableView::mouseMoveEvent(event); } @@ -55,10 +87,21 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) { QTableView::mouseReleaseEvent(event); if (auto indexes = selectedIndexes(); !indexes.isEmpty()) { - int start_bit = indexes.first().row() * 8 + indexes.first().column(); - int size = indexes.back().row() * 8 + indexes.back().column() - start_bit + 1; - emit cellsSelected(start_bit, size); + int from = indexes.first().row() * 8 + indexes.first().column(); + int to = indexes.back().row() * 8 + indexes.back().column(); + if (auto sig = getResizingSignal()) { + auto [sig_from, sig_to] = getSignalRange(sig); + if (from >= sig_from && to <= sig_to) { // reduce size + emit(from == sig_from ? resizeSignal(sig, to, sig_to) : resizeSignal(sig, sig_from, from)); + } else { // increase size + emit resizeSignal(sig, std::min(from, sig_from), std::max(to, sig_to)); + } + } else { + emit addSignal(from, to); + } + clearSelection(); } + anchor_index = QModelIndex(); } void BinaryView::leaveEvent(QEvent *event) { @@ -78,6 +121,19 @@ void BinaryView::updateState() { model->updateState(); } +const Signal *BinaryView::getResizingSignal() const { + if (anchor_index.isValid()) { + auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); + if (item && item->sig) { + int archor_pos = anchor_index.row() * 8 + anchor_index.column(); + auto [sig_from, sig_to] = getSignalRange(item->sig); + if (archor_pos == sig_from || archor_pos == sig_to) + return item->sig; + } + } + return nullptr; +} + // BinaryViewModel void BinaryViewModel::setMessage(const QString &message_id) { @@ -93,8 +149,7 @@ void BinaryViewModel::setMessage(const QString &message_id) { items.resize(row_count * column_count); for (int i = 0; i < dbc_msg->sigs.size(); ++i) { const auto &sig = dbc_msg->sigs[i]; - const int start = sig.is_little_endian ? sig.start_bit : bigEndianBitIndex(sig.start_bit); - const int end = start + sig.size - 1; + auto [start, end] = getSignalRange(&sig); for (int j = start; j <= end; ++j) { int idx = column_count * (j / 8) + j % 8; if (idx >= items.size()) { @@ -165,21 +220,6 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i return {}; } -// BinarySelectionModel - -void BinarySelectionModel::select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) { - QItemSelection new_selection = selection; - if (auto indexes = selection.indexes(); !indexes.isEmpty()) { - auto [begin_idx, end_idx] = (QModelIndex[]){indexes.first(), indexes.back()}; - for (int row = begin_idx.row(); row <= end_idx.row(); ++row) { - int left_col = (row == begin_idx.row()) ? begin_idx.column() : 0; - int right_col = (row == end_idx.row()) ? end_idx.column() : 7; - new_selection.merge({model()->index(row, left_col), model()->index(row, right_col)}, command); - } - } - QItemSelectionModel::select(new_selection, command); -} - // BinaryItemDelegate BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { @@ -187,7 +227,7 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa small_font.setPointSize(6); hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); hex_font.setBold(true); - highlight_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight); + selection_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight); } QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -204,7 +244,7 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op // background QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color; if (option.state & QStyle::State_Selected) { - bg_color = highlight_color; + bg_color = selection_color; } painter->fillRect(option.rect, bg_color); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 48eb5eff8a..8c1a582014 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -12,10 +12,11 @@ public: BinaryItemDelegate(QObject *parent); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override; + void setSelectionColor(const QColor &color) { selection_color = color; } private: QFont small_font, hex_font; - QColor highlight_color; + QColor selection_color; }; class BinaryViewModel : public QAbstractTableModel { @@ -48,13 +49,6 @@ private: std::vector items; }; -// the default QItemSelectionModel does not support our selection mode. -class BinarySelectionModel : public QItemSelectionModel { - public: - BinarySelectionModel(QAbstractItemModel *model = nullptr) : QItemSelectionModel(model) {} - void select(const QItemSelection &selection, QItemSelectionModel::SelectionFlags command) override; -}; - class BinaryView : public QTableView { Q_OBJECT @@ -66,15 +60,21 @@ public: const Signal *hoveredSignal() const { return hovered_sig; } signals: - void cellsSelected(int start_bit, int size); void signalHovered(const Signal *sig); + void addSignal(int from, int size); + void resizeSignal(const Signal *sig, int from, int size); private: + void setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) override; + void mousePressEvent(QMouseEvent *event) override; void mouseMoveEvent(QMouseEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override; void leaveEvent(QEvent *event) override; + const Signal *getResizingSignal() const; QString msg_id; + QModelIndex anchor_index; BinaryViewModel *model; + BinaryItemDelegate *delegate; const Signal *hovered_sig = nullptr; }; diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index fdedb066fb..579bb1af75 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -73,7 +73,8 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(history_log); QObject::connect(edit_btn, &QPushButton::clicked, this, &DetailWidget::editMsg); - QObject::connect(binary_view, &BinaryView::cellsSelected, this, &DetailWidget::addSignal); + QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); + QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::dbcMsgChanged); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { setMessage(messages[index]); }); @@ -159,9 +160,9 @@ void DetailWidget::editMsg() { } } -void DetailWidget::addSignal(int start_bit, int size) { +void DetailWidget::addSignal(int start_bit, int to) { if (dbc()->msg(msg_id)) { - AddSignalDialog dlg(msg_id, start_bit, size, this); + AddSignalDialog dlg(msg_id, start_bit, to - start_bit + 1, this); if (dlg.exec()) { dbc()->addSignal(msg_id, dlg.form->getSignal()); dbcMsgChanged(); @@ -169,6 +170,22 @@ void DetailWidget::addSignal(int start_bit, int size) { } } +void DetailWidget::resizeSignal(const Signal *sig, int from, int to) { + assert(sig != nullptr); + Signal s = *sig; + s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from);; + s.size = to - from + 1; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } + dbc()->updateSignal(msg_id, s.name.c_str(), s); + dbcMsgChanged(); +} + void DetailWidget::saveSignal() { SignalEdit *sig_form = qobject_cast(QObject::sender()); auto s = sig_form->form->getSignal(); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index d935839dc4..02bbb2a9e8 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -39,7 +39,8 @@ signals: void removeChart(const Signal *sig); private: - void addSignal(int start_bit, int size); + void addSignal(int start_bit, int to); + void resizeSignal(const Signal *sig, int from, int to); void saveSignal(); void removeSignal(); void editMsg(); From 68530f18b4cb2a1f20dfb19319d91216c23e00bb Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 20 Oct 2022 13:23:59 -0700 Subject: [PATCH 066/137] ci: don't trigger on pull request sync event (#25900) --- .github/workflows/selfdrive_tests.yaml | 1 + .github/workflows/tools_tests.yaml | 1 + 2 files changed, 2 insertions(+) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index d84779103b..20bf8c3d8e 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -5,6 +5,7 @@ on: branches-ignore: - 'testing-closet*' pull_request: + types: [opened, reopened] concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 549a2f4195..71bad021d0 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -5,6 +5,7 @@ on: branches-ignore: - 'testing-closet*' pull_request: + types: [opened, reopened] concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} From 02a0a1c201e2c203e79669fd927b38768ef645b7 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 04:37:27 +0800 Subject: [PATCH 067/137] Cabana: add status bar to main window (#26159) --- tools/cabana/detailwidget.cc | 1 + tools/cabana/mainwin.cc | 43 ++++++++++++++++++++++++++++++++-- tools/cabana/mainwin.h | 10 ++++++++ tools/cabana/messageswidget.cc | 1 + 4 files changed, 53 insertions(+), 2 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 579bb1af75..c7bfdee164 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -12,6 +12,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); main_layout->setSpacing(0); // tabbar diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 9ba69f8a90..2478155fcf 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -6,14 +6,18 @@ #include #include +#include "tools/replay/util.h" + MainWindow::MainWindow() : QWidget() { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(11, 11, 11, 5); + main_layout->setSpacing(0); QHBoxLayout *h_layout = new QHBoxLayout(); + h_layout->setContentsMargins(0, 0, 0, 0); main_layout->addLayout(h_layout); QSplitter *splitter = new QSplitter(Qt::Horizontal, this); - messages_widget = new MessagesWidget(this); splitter->addWidget(messages_widget); @@ -27,7 +31,7 @@ MainWindow::MainWindow() : QWidget() { QWidget *right_container = new QWidget(this); right_container->setFixedWidth(640); r_layout = new QVBoxLayout(right_container); - + r_layout->setContentsMargins(11, 0, 0, 0); QHBoxLayout *right_hlayout = new QHBoxLayout(); QLabel *fingerprint_label = new QLabel(this); right_hlayout->addWidget(fingerprint_label); @@ -47,6 +51,30 @@ MainWindow::MainWindow() : QWidget() { h_layout->addWidget(right_container); + // status bar + status_bar = new QStatusBar(this); + status_bar->setContentsMargins(0, 0, 0, 0); + status_bar->setSizeGripEnabled(true); + progress_bar = new QProgressBar(); + progress_bar->setRange(0, 100); + progress_bar->setTextVisible(true); + progress_bar->setFixedSize({230, 16}); + progress_bar->setVisible(false); + status_bar->addPermanentWidget(progress_bar); + main_layout->addWidget(status_bar); + + qRegisterMetaType("uint64_t"); + qRegisterMetaType("ReplyMsgType"); + installMessageHandler([this](ReplyMsgType type, const std::string msg) { + // use queued connection to recv the log messages from replay. + emit logMessageFromReplay(QString::fromStdString(msg), 3000); + }); + installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) { + emit updateProgressBar(cur, total, success); + }); + + QObject::connect(this, &MainWindow::logMessageFromReplay, status_bar, &QStatusBar::showMessage); + QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress); QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); @@ -54,6 +82,17 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); } +void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) { + if (success && cur < total) { + progress_bar->setValue((cur / (double)total) * 100); + progress_bar->setFormat(tr("Downloading %p% (%1)").arg(formattedDataSize(total).c_str())); + progress_bar->show(); + } else { + progress_bar->hide(); + } +} + + void MainWindow::dockCharts(bool dock) { if (dock && floating_window) { floating_window->removeEventFilter(charts_widget); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 792390d5c1..56d2da145b 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -1,5 +1,8 @@ #pragma once +#include +#include + #include "tools/cabana/chartswidget.h" #include "tools/cabana/detailwidget.h" #include "tools/cabana/messageswidget.h" @@ -12,8 +15,13 @@ public: MainWindow(); void dockCharts(bool dock); +signals: + void logMessageFromReplay(const QString &msg, int timeout); + void updateProgressBar(uint64_t cur, uint64_t total, bool success); + protected: void closeEvent(QCloseEvent *event) override; + void updateDownloadProgress(uint64_t cur, uint64_t total, bool success); void setOption(); VideoWidget *video_widget; @@ -22,4 +30,6 @@ protected: ChartsWidget *charts_widget; QWidget *floating_window = nullptr; QVBoxLayout *r_layout; + QProgressBar *progress_bar; + QStatusBar *status_bar; }; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index c34d883b3f..46776a4f5d 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -13,6 +13,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); + main_layout->setContentsMargins(0, 0, 0, 0); // DBC file selector QHBoxLayout *dbc_file_layout = new QHBoxLayout(); From 4f84b2998579a630e1577e60dd1d30d23261cd28 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Thu, 20 Oct 2022 14:34:36 -0700 Subject: [PATCH 068/137] Use same minimum speed for lateral planning and controls (#26177) * Use same speed for lag adjustmenet * One is a nicer number * Update ref --- selfdrive/controls/lib/drive_helpers.py | 3 ++- selfdrive/controls/lib/lateral_planner.py | 3 +-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index f81cd0c40c..e74be7199e 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -13,6 +13,7 @@ V_CRUISE_MIN = 8 # kph V_CRUISE_ENABLE_MIN = 40 # kph V_CRUISE_INITIAL = 255 # kph +MIN_SPEED = 1.0 LAT_MPC_N = 16 LON_MPC_N = 32 CONTROL_N = 17 @@ -102,7 +103,7 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): psis = [0.0]*CONTROL_N curvatures = [0.0]*CONTROL_N curvature_rates = [0.0]*CONTROL_N - v_ego = max(v_ego, 0.1) + v_ego = max(MIN_SPEED, v_ego) # TODO this needs more thought, use .2s extra for now to estimate other delays delay = CP.steerActuatorDelay + .2 diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 29137defd3..932ad49535 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -4,7 +4,7 @@ from common.numpy_fast import interp from system.swaglog import cloudlog from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N -from selfdrive.controls.lib.drive_helpers import CONTROL_N +from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED from selfdrive.controls.lib.desire_helper import DesireHelper import cereal.messaging as messaging from cereal import log @@ -22,7 +22,6 @@ LATERAL_JERK_COST = 0.05 # TODO this cost should be lowered when low # speed lateral control is stable on all cars STEERING_RATE_COST = 800.0 -MIN_SPEED = 1.5 class LateralPlanner: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 84658effee..230e81d949 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1f41cd8bbf2431ae89c489a81698120d14a44145 \ No newline at end of file +f5a352666728344ca5065bb44c47c1f5650b4243 From 6b36f73870bebf467971b5e6020e35ddf1a456c9 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Thu, 20 Oct 2022 15:13:58 -0700 Subject: [PATCH 069/137] desire: give the pulse at t=0 (#26180) input desire at t0 --- selfdrive/modeld/models/driving.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 3316e6d114..8b70589036 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -62,9 +62,9 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, // Model decides when action is completed // so desire input is just a pulse triggered on rising edge if (desire_in[i] - s->prev_desire[i] > .99) { - s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = desire_in[i]; + s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = desire_in[i]; } else { - s->pulse_desire[DESIRE_LEN*(HISTORY_BUFFER_LEN-1)+i] = 0.0; + s->pulse_desire[DESIRE_LEN*HISTORY_BUFFER_LEN+i] = 0.0; } s->prev_desire[i] = desire_in[i]; } From 63035e535bd1c4d269e240a789a2d06a75c45703 Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Thu, 20 Oct 2022 21:50:42 -0500 Subject: [PATCH 070/137] Mazda: add missing CX5 2021 FW (#25477) dongle-id: 82c6d952da5e2122 Signed-off-by: Jafar Al-Gharaibeh Signed-off-by: Jafar Al-Gharaibeh Co-authored-by: Shane Smiskol --- selfdrive/car/mazda/values.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 9befad4d0b..921dc7a634 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -98,13 +98,15 @@ FW_VERSIONS = { }, CAR.CX5: { (Ecu.eps, 0x730, None): [ + b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'KCB8-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KJ01-3210X-G-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KJ01-3210X-J-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'KJ01-3210X-M-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'K319-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'PA53-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PAR4-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFA-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFC-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PYFD-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', @@ -146,6 +148,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'PA66-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'PA66-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX39-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX39-21PS1-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PX68-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', From c35e2b8e305b2648ce392ffdefd5d90b39ce353e Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 20 Oct 2022 19:55:04 -0700 Subject: [PATCH 071/137] Hyundai: common CAN-FD brake pressed signal (#26170) * Hyundai: common CAN-FD brake pressed signal * new name * bump panda * bump opendbc to master * bump opendbc * bump panda * bump panda Co-authored-by: Shane Smiskol --- opendbc | 2 +- panda | 2 +- selfdrive/car/hyundai/carstate.py | 8 ++++---- selfdrive/debug/can_print_changes.py | 8 ++++++-- 4 files changed, 12 insertions(+), 8 deletions(-) diff --git a/opendbc b/opendbc index 8f245e6ef5..7bd94e3ff4 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 8f245e6ef5e25814d8e6e1f096221f6dfeefe86b +Subproject commit 7bd94e3ff4a2890eb69118f0dfadb64f9d32d618 diff --git a/panda b/panda index 54f9390ff5..fcb1a5a8e2 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 54f9390ff51b4fb0c2b3a81b9cde8727acdd1977 +Subproject commit fcb1a5a8e233a8b520c42c58cf8bfaa82753ac5a diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 60d434a603..e27432e23b 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -159,7 +159,7 @@ class CarState(CarStateBase): elif self.CP.carFingerprint in HYBRID_CAR: ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023. ret.gasPressed = ret.gas > 1e-5 - ret.brakePressed = cp.vl["BRAKE"]["BRAKE_PRESSED"] == 1 + ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1 ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0 @@ -415,7 +415,6 @@ class CarState(CarStateBase): ("WHEEL_SPEED_4", "WHEEL_SPEEDS"), ("GEAR", "GEAR_SHIFTER"), - ("BRAKE_PRESSED", "BRAKE"), ("STEERING_RATE", "STEERING_SENSORS"), ("STEERING_ANGLE", "STEERING_SENSORS"), @@ -423,7 +422,8 @@ class CarState(CarStateBase): ("STEERING_OUT_TORQUE", "MDPS"), ("LKA_FAULT", "MDPS"), - ("CRUISE_ACTIVE", "SCC1"), + ("DriverBraking", "TCS"), + ("COUNTER", cruise_btn_msg), ("CRUISE_BUTTONS", cruise_btn_msg), ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg), @@ -443,7 +443,7 @@ class CarState(CarStateBase): ("BRAKE", 100), ("STEERING_SENSORS", 100), ("MDPS", 100), - ("SCC1", 50), + ("TCS", 50), (cruise_btn_msg, 50), ("CLUSTER_INFO", 4), ("BLINKERS", 4), diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index b883fbc23f..ff98c20e60 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -54,6 +54,7 @@ def can_printer(bus=0, init_msgs=None, new_msgs=None, table=False): update(new_msgs, bus, dat, low_to_high, high_to_low) else: # Live mode + print(f"Waiting for messages on bus {bus}") try: while 1: can_recv = messaging.drain_sock(logcan) @@ -89,14 +90,17 @@ if __name__ == "__main__": formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--bus", type=int, help="CAN bus to print out", default=0) parser.add_argument("--table", action="store_true", help="Print a cabana-like table") - parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with") + parser.add_argument("init", type=str, nargs='?', help="Route or segment to initialize with. Use empty quotes to compare against all zeros.") parser.add_argument("comp", type=str, nargs='?', help="Route or segment to compare against init") args = parser.parse_args() init_lr, new_lr = None, None if args.init: - init_lr = logreader_from_route_or_segment(args.init) + if args.init == '': + init_lr = [] + else: + init_lr = logreader_from_route_or_segment(args.init) if args.comp: new_lr = logreader_from_route_or_segment(args.comp) From d828b69e140f5dda2450d40bafe4c018b01a2577 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 20 Oct 2022 20:10:09 -0700 Subject: [PATCH 072/137] Hyundai: add corner radar FW query (#26143) * Hyundai: add corner radar FW query * Add to both, and fix when we look at data * add TODO * comments Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 11 +++++++---- 1 file changed, 7 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index d5b8427f66..c11bf67d15 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -292,6 +292,8 @@ HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x4 FW_QUERY_CONFIG = FwQueryConfig( requests=[ + # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD + # CAN queries (OBD-II port) Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], @@ -302,22 +304,23 @@ FW_QUERY_CONFIG = FwQueryConfig( [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), - # CAN-FD queries + # CAN-FD queries (camera) Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar], + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar], bus=4, ), Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.adas], + whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar], bus=5, ), ], extra_ecus=[ - (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms + (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms + (Ecu.cornerRadar, 0x7b7, None), ], ) From 188c2c1c5e1c06d68ae957ab16bcb77e29052f4b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 20 Oct 2022 20:58:58 -0700 Subject: [PATCH 073/137] model replay speedup (#26181) * model replay speedup * less frames too Co-authored-by: Comma Device --- selfdrive/test/process_replay/model_replay.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index ecfacbf5d2..a63ec6489b 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -22,7 +22,7 @@ from tools.lib.logreader import LogReader TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36" SEGMENT = 0 -MAX_FRAMES = 100 if PC else 1300 +MAX_FRAMES = 100 if PC else 600 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) @@ -149,9 +149,9 @@ if __name__ == "__main__": # load logs lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT))) frs = { - 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera")), - 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera")), - 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera")) + 'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="fcamera"), readahead=True), + 'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="dcamera"), readahead=True), + 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True) } # run replay From 0ac12b82c770504199f0f9ecad8ab9c6a9b3a470 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Fri, 21 Oct 2022 00:24:11 -0700 Subject: [PATCH 074/137] d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700 --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 59b8883d2a..21602ea70a 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d -size 56972617 +oid sha256:9c119aa811a929b3a442dbe8e462a9d88e8bfb9f5809a4e737687fb7380d7e05 +size 45922882 From 3a50d5fd852b6d8938fd7974c6966a649cba7ca5 Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Fri, 21 Oct 2022 00:32:34 -0700 Subject: [PATCH 075/137] Revert "d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700" This reverts commit 0ac12b82c770504199f0f9ecad8ab9c6a9b3a470. --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 21602ea70a..59b8883d2a 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9c119aa811a929b3a442dbe8e462a9d88e8bfb9f5809a4e737687fb7380d7e05 -size 45922882 +oid sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d +size 56972617 From 3a70253567cc908204b73cf5df53369b19506b7b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Oct 2022 01:14:15 -0700 Subject: [PATCH 076/137] GM: inactive gas/regen safety (#26184) * Add INACTIVE_REGEN * bump * Update selfdrive/car/gm/carcontroller.py --- panda | 2 +- selfdrive/car/gm/carcontroller.py | 4 ++-- selfdrive/car/gm/values.py | 1 + 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/panda b/panda index fcb1a5a8e2..d51dd496cb 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit fcb1a5a8e233a8b520c42c58cf8bfaa82753ac5a +Subproject commit d51dd496cbdc8665928af40247582bc62dba1f2a diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index dbad355c46..f28a0f7b59 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -67,8 +67,8 @@ class CarController: # Gas/regen, brakes, and UI commands - all at 25Hz if self.frame % 4 == 0: if not CC.longActive: - # Stock ECU sends max regen when not enabled - self.apply_gas = self.params.MAX_ACC_REGEN + # ASCM sends max regen when not enabled + self.apply_gas = self.params.INACTIVE_REGEN self.apply_brake = 0 else: if self.CP.carFingerprint in EV_CAR: diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 999dabfee3..f8f9e7f043 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -30,6 +30,7 @@ class CarControllerParams: ZERO_GAS = 2048 # Coasting MAX_BRAKE = 400 # ~ -4.0 m/s^2 with regen MAX_ACC_REGEN = 1404 # Max ACC regen is slightly less than max paddle regen + INACTIVE_REGEN = 1404 # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we # perform the closed loop control, and might need some From d25ab3e3663f1e8a7b08348692d6555fac84e73b Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 21 Oct 2022 01:29:58 -0700 Subject: [PATCH 077/137] Wide transform model (#26165) * d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700 * Change model outs * Add cereal * Publish transform * d8501d20-bb59-4193-aa82-82b2737dedd6/449 f78009d1-2184-4136-9fbc-1c5de55d460d/700 * Bump cereal to master * Bump cereal to master * Update model ref --- cereal | 2 +- selfdrive/modeld/models/driving.cc | 5 +++ selfdrive/modeld/models/driving.h | 41 ++++--------------- selfdrive/modeld/models/supercombo.onnx | 4 +- .../process_replay/model_replay_ref_commit | 2 +- 5 files changed, 17 insertions(+), 37 deletions(-) diff --git a/cereal b/cereal index 1e3dd70a39..38133307b2 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 1e3dd70a391bc1bbe437d3eea8be30947f929a75 +Subproject commit 38133307b2e6036e76684b39878e79212e545e06 diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 8b70589036..cc4a83de62 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -363,14 +363,19 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe MessageBuilder msg; const auto &v_mean = net_outputs.pose.velocity_mean; const auto &r_mean = net_outputs.pose.rotation_mean; + const auto &t_mean = net_outputs.wide_from_device_euler.mean; const auto &v_std = net_outputs.pose.velocity_std; const auto &r_std = net_outputs.pose.rotation_std; + const auto &t_std = net_outputs.wide_from_device_euler.std; auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); + posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z}); posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); + posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)}); + posenetd.setTimestampEof(timestamp_eof); posenetd.setFrameId(vipc_frame_id); diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 8bb84d0245..64218467df 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -28,7 +28,6 @@ constexpr int BLINKER_LEN = 6; constexpr int META_STRIDE = 7; constexpr int PLAN_MHP_N = 5; -constexpr int STOP_LINE_MHP_N = 3; constexpr int LEAD_MHP_N = 2; constexpr int LEAD_TRAJ_LEN = 6; @@ -151,36 +150,6 @@ struct ModelOutputLeads { }; static_assert(sizeof(ModelOutputLeads) == (sizeof(ModelOutputLeadPrediction)*LEAD_MHP_N) + (sizeof(float)*LEAD_MHP_SELECTION)); -struct ModelOutputStopLineElement { - ModelOutputXYZ position; - ModelOutputXYZ rotation; - float speed; - float time; -}; -static_assert(sizeof(ModelOutputStopLineElement) == (sizeof(ModelOutputXYZ)*2 + sizeof(float)*2)); - -struct ModelOutputStopLinePrediction { - ModelOutputStopLineElement mean; - ModelOutputStopLineElement std; - float prob; -}; -static_assert(sizeof(ModelOutputStopLinePrediction) == (sizeof(ModelOutputStopLineElement)*2 + sizeof(float))); - -struct ModelOutputStopLines { - std::array prediction; - float prob; - - constexpr const ModelOutputStopLinePrediction &get_best_prediction(int t_idx) const { - int max_idx = 0; - for (int i = 1; i < prediction.size(); i++) { - if (prediction[i].prob > prediction[max_idx].prob) { - max_idx = i; - } - } - return prediction[max_idx]; - } -}; -static_assert(sizeof(ModelOutputStopLines) == (sizeof(ModelOutputStopLinePrediction)*STOP_LINE_MHP_N) + sizeof(float)); struct ModelOutputPose { ModelOutputXYZ velocity_mean; @@ -190,6 +159,12 @@ struct ModelOutputPose { }; static_assert(sizeof(ModelOutputPose) == sizeof(ModelOutputXYZ)*4); +struct ModelOutputWideFromDeviceEuler { + ModelOutputXYZ mean; + ModelOutputXYZ std; +}; +static_assert(sizeof(ModelOutputWideFromDeviceEuler) == sizeof(ModelOutputXYZ)*2); + struct ModelOutputDisengageProb { float gas_disengage; float brake_disengage; @@ -245,9 +220,9 @@ struct ModelOutput { const ModelOutputLaneLines lane_lines; const ModelOutputRoadEdges road_edges; const ModelOutputLeads leads; - const ModelOutputStopLines stop_lines; const ModelOutputMeta meta; const ModelOutputPose pose; + const ModelOutputWideFromDeviceEuler wide_from_device_euler; }; constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); @@ -257,7 +232,7 @@ constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); #else constexpr int TEMPORAL_SIZE = 0; #endif -constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN; +constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + 2; // TODO: convert remaining arrays to std::array and update model runners struct ModelState { diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 59b8883d2a..21602ea70a 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:022a830c39267f378f45204682060c93e3aa304bbd8cfa6b2dfe4fa8f419102d -size 56972617 +oid sha256:9c119aa811a929b3a442dbe8e462a9d88e8bfb9f5809a4e737687fb7380d7e05 +size 45922882 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 5bb045ec29..b5fd11fee8 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -865885fc49b2766326568e5cc7ec06be8a3f6fad +46cb9c522e942d8b25deac90ffdee89efff60ce9 From 931cecf41a5546c0cfd96138f954fa20b8e75d1d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 23:00:49 +0800 Subject: [PATCH 078/137] Canaba: remove unused metatype in canmessage (#26190) remove metatype --- tools/cabana/canmessages.cc | 2 -- tools/cabana/canmessages.h | 1 - 2 files changed, 3 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 3900ad93f7..212a0d9020 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -5,8 +5,6 @@ #include "tools/cabana/dbcmanager.h" -Q_DECLARE_METATYPE(std::vector); - CANMessages *can = nullptr; CANMessages::CANMessages(QObject *parent) : QObject(parent) { diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 84f4e06dfb..7a641a0e32 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -96,4 +96,3 @@ inline QColor hoverColor(const QColor &color) { // A global pointer referring to the unique CANMessages object extern CANMessages *can; - From d0c0972ba44e72f4875ed4f3c6fc3b25fd862b99 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 23:01:26 +0800 Subject: [PATCH 079/137] Cabana: show frequency column in message table (#26189) * show frequency column in message table * add comments --- tools/cabana/canmessages.cc | 12 ++++++++++++ tools/cabana/canmessages.h | 11 ++++++++--- tools/cabana/messageswidget.cc | 22 +++++++++++++++++----- tools/cabana/messageswidget.h | 2 +- 4 files changed, 38 insertions(+), 9 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 212a0d9020..4cc91031ad 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -97,6 +97,12 @@ bool CANMessages::eventFilter(const Event *event) { } current_sec = (event->mono_time - replay->routeStartTime()) / (double)1e9; + if (counters_begin_sec > current_sec) { + // clear counters + counters.clear(); + counters_begin_sec = current_sec; + } + auto can_events = event->event.getCan(); for (const auto &c : can_events) { QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16); @@ -108,6 +114,12 @@ bool CANMessages::eventFilter(const Event *event) { data.ts = current_sec; data.bus_time = c.getBusTime(); data.dat.append((char *)c.getDat().begin(), c.getDat().size()); + + auto &count = counters[id]; + data.count = ++count; + if (double delta = (current_sec - counters_begin_sec); delta > 0) { + data.freq = count / delta; + } } if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / settings.fps) { diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index 7a641a0e32..d1bb1b73b6 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -13,8 +13,10 @@ #include "tools/replay/replay.h" struct CanData { - double ts; - uint16_t bus_time; + double ts = 0.; + uint32_t count = 0; + uint32_t freq = 0; + uint16_t bus_time = 0; QByteArray dat; }; @@ -57,7 +59,6 @@ signals: public: QMap> can_msgs; std::unique_ptr>> received_msgs = nullptr; - QHash counters; protected: void process(QHash> *); @@ -66,6 +67,7 @@ protected: std::atomic current_sec = 0.; std::atomic seeking = false; + double begin_sec = 0; double end_sec = 0; double event_begin_sec = 0; @@ -73,6 +75,9 @@ protected: bool is_zoomed = false; QString routeName; Replay *replay = nullptr; + + double counters_begin_sec = std::numeric_limits::max(); + QHash counters; }; inline QString toHex(const QByteArray &dat) { diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 46776a4f5d..c289f54fc4 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -112,23 +112,25 @@ void MessagesWidget::loadDBCFromFingerprint() { QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Horizontal && role == Qt::DisplayRole) - return (QString[]){"Name", "ID", "Count", "Bytes"}[section]; + return (QString[]){"Name", "ID", "Freq", "Count", "Bytes"}[section]; return {}; } QVariant MessageListModel::data(const QModelIndex &index, int role) const { if (role == Qt::DisplayRole) { const auto &m = msgs[index.row()]; + auto &can_data = can->lastMessage(m->id); switch (index.column()) { case 0: return m->name; case 1: return m->id; - case 2: return can->counters[m->id]; - case 3: return toHex(can->lastMessage(m->id).dat); + case 2: return can_data.freq; + case 3: return can_data.count; + case 4: return toHex(can_data.dat); } } else if (role == Qt::UserRole) { return msgs[index.row()]->id; } else if (role == Qt::FontRole) { - if (index.column() == 3) { + if (index.column() == columnCount() - 1) { return QFontDatabase::systemFont(QFontDatabase::FixedFont); } } @@ -164,8 +166,18 @@ bool MessageListModel::updateMessages(bool sort) { return sort_order == Qt::AscendingOrder ? l->id < r->id : l->id > r->id; }); } else if (sort_column == 2) { + // sort by frequency std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { - uint32_t lcount = can->counters[l->id], rcount = can->counters[r->id]; + uint32_t lfreq = can->lastMessage(l->id).freq; + uint32_t rfreq = can->lastMessage(r->id).freq; + bool ret = lfreq < rfreq || (lfreq == rfreq && l->id < r->id); + return sort_order == Qt::AscendingOrder ? ret : !ret; + }); + } else if (sort_column == 3) { + // sort by count + std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) { + uint32_t lcount = can->lastMessage(l->id).count; + uint32_t rcount = can->lastMessage(r->id).count; bool ret = lcount < rcount || (lcount == rcount && l->id < r->id); return sort_order == Qt::AscendingOrder ? ret : !ret; }); diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 7b6c8e53cf..fcd4939dac 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -23,7 +23,7 @@ Q_OBJECT public: MessageListModel(QObject *parent) : QAbstractTableModel(parent) {} QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 4; } + int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 5; } QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); } void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override; From ae1d15094169b5cad2921e5320bc53ce3bcb6b96 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 23:01:55 +0800 Subject: [PATCH 080/137] Cabana: redirect qt logs to status bar (#26187) Redirect qt logs to status bar --- tools/cabana/mainwin.cc | 8 ++++++++ tools/cabana/mainwin.h | 1 + 2 files changed, 9 insertions(+) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 2478155fcf..60a1f7a3a3 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -8,7 +8,15 @@ #include "tools/replay/util.h" +static MainWindow *main_win = nullptr; +void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { + main_win->showStatusMessage(msg); +} + MainWindow::MainWindow() : QWidget() { + main_win = this; + qInstallMessageHandler(qLogMessageHandler); + QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(11, 11, 11, 5); main_layout->setSpacing(0); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 56d2da145b..63f704dcc8 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -14,6 +14,7 @@ class MainWindow : public QWidget { public: MainWindow(); void dockCharts(bool dock); + void showStatusMessage(const QString &msg, int timeout = 0) { status_bar->showMessage(msg, timeout); } signals: void logMessageFromReplay(const QString &msg, int timeout); From 8697e928fc23dc256c746c1561095e36d86cb964 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 21 Oct 2022 23:31:28 +0800 Subject: [PATCH 081/137] Cabana: Fix unable to display charts for same signals from different buses. (#26191) keep charts in list instead of hash --- tools/cabana/chartswidget.cc | 48 ++++++++++++++++++++++-------------- tools/cabana/chartswidget.h | 8 +++--- 2 files changed, 34 insertions(+), 22 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 811eae68cb..f0bef36f4a 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -55,11 +55,13 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { main_layout->addWidget(charts_scroll); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); - QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeChart); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { removeAll(nullptr); }); + QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeAll); QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const Signal *sig) { - if (auto it = charts.find(sig); it != charts.end()) { - it.value()->chart_view->updateSeries(); + for (auto chart : charts) { + if (chart->signal == sig) { + chart->chart_view->updateSeries(); + } } }); QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &id) { @@ -71,7 +73,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(can, &CANMessages::rangeChanged, [this]() { updateTitleBar(); }); QObject::connect(reset_zoom_btn, &QPushButton::clicked, can, &CANMessages::resetRange); - QObject::connect(remove_all_btn, &QPushButton::clicked, this, &ChartsWidget::removeAll); + QObject::connect(remove_all_btn, &QPushButton::clicked, [this]() { removeAll(); }); QObject::connect(dock_btn, &QPushButton::clicked, [this]() { emit dock(!docking); docking = !docking; @@ -102,28 +104,38 @@ void ChartsWidget::updateTitleBar() { } void ChartsWidget::addChart(const QString &id, const Signal *sig) { - if (!charts.contains(sig)) { + auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); + if (it == charts.end()) { auto chart = new ChartWidget(id, sig, this); - QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(sig); }); + QObject::connect(chart, &ChartWidget::remove, this, &ChartsWidget::removeChart); charts_layout->insertWidget(0, chart); - charts.insert(sig, chart); + charts.push_back(chart); } updateTitleBar(); } -void ChartsWidget::removeChart(const Signal *sig) { - auto it = charts.find(sig); - if (it != charts.end()) { - it.value()->deleteLater(); - charts.remove(sig); +void ChartsWidget::removeChart(const QString &msg_id, const Signal *sig) { + QMutableListIterator it(charts); + while (it.hasNext()) { + auto c = it.next(); + if (c->id == msg_id && c->signal == sig) { + c->deleteLater(); + it.remove(); + break; + } } updateTitleBar(); } -void ChartsWidget::removeAll() { - for (auto chart : charts) - chart->deleteLater(); - charts.clear(); +void ChartsWidget::removeAll(const Signal *sig) { + QMutableListIterator it(charts); + while (it.hasNext()) { + auto c = it.next(); + if (sig == nullptr || c->signal == sig) { + c->deleteLater(); + it.remove(); + } + } updateTitleBar(); } @@ -153,7 +165,7 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) QPushButton *remove_btn = new QPushButton("✖", this); remove_btn->setFixedSize(30, 30); remove_btn->setToolTip(tr("Remove chart")); - QObject::connect(remove_btn, &QPushButton::clicked, this, &ChartWidget::remove); + QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); header_layout->addWidget(remove_btn); main_layout->addWidget(header); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index fe2e14db9f..5adbdfcd04 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -50,7 +50,7 @@ public: void setHeight(int height); signals: - void remove(); + void remove(const QString &msg_id, const Signal *sig); public: QString id; @@ -65,7 +65,7 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); void addChart(const QString &id, const Signal *sig); - void removeChart(const Signal *sig); + void removeChart(const QString &id, const Signal *sig); signals: void dock(bool floating); @@ -73,7 +73,7 @@ signals: private: void updateState(); void updateTitleBar(); - void removeAll(); + void removeAll(const Signal *sig = nullptr); bool eventFilter(QObject *obj, QEvent *event); QWidget *title_bar; @@ -84,5 +84,5 @@ private: QPushButton *reset_zoom_btn; QPushButton *remove_all_btn; QVBoxLayout *charts_layout; - QHash charts; + QList charts; }; From 22c5be5ec12f1e94eb56092d123257ca46132124 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 22 Oct 2022 01:33:00 +0800 Subject: [PATCH 082/137] Cabana: fix segment fault in QApplication::notify(QObject*, QEvent*) () (#26194) fix segment fault in QApplication::notify(QObject*, QEvent*) () --- tools/cabana/detailwidget.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index c7bfdee164..039a7c4e55 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -5,6 +5,7 @@ #include #include +#include "selfdrive/ui/qt/util.h" #include "tools/cabana/canmessages.h" #include "tools/cabana/dbcmanager.h" @@ -106,7 +107,7 @@ void DetailWidget::dbcMsgChanged() { if (msg_id.isEmpty()) return; warning_widget->hide(); - qDeleteAll(signals_container->findChildren()); + clearLayout(signals_container->layout()); QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { for (int i = 0; i < msg->sigs.size(); ++i) { From d75cbf2338f098a9c2143c94a9db8ddce68699b4 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 22 Oct 2022 01:33:13 +0800 Subject: [PATCH 083/137] Cabana: fix segfault on exit (#26193) fix segfault on exit --- tools/cabana/mainwin.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 60a1f7a3a3..d0e171c86e 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -10,7 +10,7 @@ static MainWindow *main_win = nullptr; void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) { - main_win->showStatusMessage(msg); + if (main_win) main_win->showStatusMessage(msg); } MainWindow::MainWindow() : QWidget() { @@ -118,6 +118,7 @@ void MainWindow::dockCharts(bool dock) { } void MainWindow::closeEvent(QCloseEvent *event) { + main_win = nullptr; if (floating_window) floating_window->deleteLater(); QWidget::closeEvent(event); From 0edbbdeaf9e5c8ad23b73089d2871f88ff29509e Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 21 Oct 2022 11:20:52 -0700 Subject: [PATCH 084/137] Modeld: Add comment (#26188) Rename and add comment --- selfdrive/modeld/models/driving.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 64218467df..dd1609b1d1 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -33,6 +33,8 @@ constexpr int LEAD_MHP_N = 2; constexpr int LEAD_TRAJ_LEN = 6; constexpr int LEAD_PRED_DIM = 4; constexpr int LEAD_MHP_SELECTION = 3; +// Padding to get output shape as multiple of 4 +constexpr int PAD_SIZE = 2; struct ModelOutputXYZ { float x; @@ -232,7 +234,7 @@ constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); #else constexpr int TEMPORAL_SIZE = 0; #endif -constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + 2; +constexpr int NET_OUTPUT_SIZE = OUTPUT_SIZE + FEATURE_LEN + PAD_SIZE; // TODO: convert remaining arrays to std::array and update model runners struct ModelState { From 6e257300eac6d5c26a59ef7aaa8976791a7682f5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Oct 2022 12:51:41 -0700 Subject: [PATCH 085/137] Kia: add missing Stinger transmission FW (#26198) Add missing transmission --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index c11bf67d15..1eed03923c 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -786,6 +786,7 @@ FW_VERSIONS = { b'\xf1\x87VDHLG17274082DK2wfFf\x89x\x98wUT5T\x88v\x97xgeGefTGTVvO\xff\x1c\x14\xf1\x81E19\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E19\x00\x00\x00\x00\x00\x00\x00SCK0T33UB2\xee[\x97S', b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\t\xb7\x17\xf5', + b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0', ], }, CAR.PALISADE: { From 68e7f42d68232efb89a5dc882fafa71daab72a28 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 21 Oct 2022 13:11:50 -0700 Subject: [PATCH 086/137] use upstream tinygrad (#26178) * use upstream tinygrad * add networkx to pipfile * Revert "add networkx to pipfile" This reverts commit 6cfa164378fa072b325a27040f0388730771437c. * dont need networkx and update tinygrad * submodule sync * add new thneed file * fix release files Co-authored-by: Adeeb Shihadeh --- .gitmodules | 2 +- release/files_common | 1 + selfdrive/modeld/SConscript | 1 + selfdrive/test/setup_device_ci.sh | 1 + tinygrad_repo | 2 +- 5 files changed, 5 insertions(+), 2 deletions(-) diff --git a/.gitmodules b/.gitmodules index 544c95c943..26f93ef164 100644 --- a/.gitmodules +++ b/.gitmodules @@ -18,4 +18,4 @@ url = ../../commaai/body.git [submodule "tinygrad"] path = tinygrad_repo - url = ../../commaai/tinygrad.git + url = https://github.com/geohot/tinygrad.git diff --git a/release/files_common b/release/files_common index 07ffaf8501..e3c417040c 100644 --- a/release/files_common +++ b/release/files_common @@ -565,6 +565,7 @@ opendbc/tesla_powertrain.dbc tinygrad_repo/openpilot/compile.py tinygrad_repo/accel/opencl/* tinygrad_repo/extra/onnx.py +tinygrad_repo/extra/thneed.py tinygrad_repo/extra/utils.py tinygrad_repo/tinygrad/llops/ops_gpu.py tinygrad_repo/tinygrad/llops/ops_opencl.py diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript index 5c02e2b15f..f1a8d71881 100644 --- a/selfdrive/modeld/SConscript +++ b/selfdrive/modeld/SConscript @@ -83,6 +83,7 @@ if use_thneed and arch == "larch64" or GetOption('pc_thneed'): "#tinygrad_repo/accel/opencl/ops_opencl.py", "#tinygrad_repo/accel/opencl/preprocessing.py", "#tinygrad_repo/extra/onnx.py", + "#tinygrad_repo/extra/thneed.py", "#tinygrad_repo/extra/utils.py", "#tinygrad_repo/tinygrad/llops/ops_gpu.py", "#tinygrad_repo/tinygrad/llops/ops_opencl.py", diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh index a9c6527970..02c7d76637 100755 --- a/selfdrive/test/setup_device_ci.sh +++ b/selfdrive/test/setup_device_ci.sh @@ -60,6 +60,7 @@ find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm - git reset --hard $GIT_COMMIT git checkout $GIT_COMMIT git clean -xdff +git submodule sync git submodule update --init --recursive git submodule foreach --recursive "git reset --hard && git clean -xdff" diff --git a/tinygrad_repo b/tinygrad_repo index 870ea766ee..8e22d5ee67 160000 --- a/tinygrad_repo +++ b/tinygrad_repo @@ -1 +1 @@ -Subproject commit 870ea766eec7a38d7d590c81436f15271ba2667e +Subproject commit 8e22d5ee675277181e1eff644dde9e844fc40fce From a98d105cb95a445f5ec69e783585c56604b09449 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 21 Oct 2022 16:23:56 -0700 Subject: [PATCH 087/137] Pipenv -> poetry (#24858) * Try poetry * Remove casadi for now * Update docker * Copy pipfiles * add casadi back * Too many slashes * New poetry api * Install system * Try again * No more pipenv * new dependencies * updates * poetry 1.2.1, install dev dependencies * keep install pipenv for xx for now? * add pre-commit checks for poetry * poetry lock is too slow * update pip * migrate to poetry groups * update lockfile * don't need to specify dev group unless it is made optional * always install poetry * set POETRY_VIRTUALENVS_CREATE instead, and use pipenv for xx * use env for docs docker image * alphabetical * poetry 1.2.2 * add dev dependencies for typing added in 4e310b80 * remove constraint * fix PIPENV_SYSTEM * remove constraint * don't need this here * bump * bump pipenv adds support for installing local pyprojects (can add openpilot as dependency of xx) * README improvements * probably not necessary * bump pip * maybe not necessary? * revert * don't install openpilot itself into the virtual env * remove PySide2 and shiboken2 reverts c6b749fb96b3b6332fd850e733140357f84d53a4 * remove Pipenv, add xx dependencies, sync system python * add pipenv as xx dep * semver package constraints, use old lockfile versions * fix casadi * remove whitespace Co-authored-by: Adeeb Shihadeh * disable poetry cache * cleanup * prefer config file Co-authored-by: Cameron Clough Co-authored-by: Adeeb Shihadeh --- .github/workflows/selfdrive_tests.yaml | 6 +- .gitignore | 2 + .pre-commit-config.yaml | 4 + Dockerfile.openpilot_base | 6 +- Pipfile | 100 - Pipfile.lock | 3072 --------- docs/docker/Dockerfile | 7 +- poetry.lock | 7963 ++++++++++++++++++++++++ pyproject.toml | 176 + tools/README.md | 9 +- tools/mac_setup.sh | 2 +- update_requirements.sh | 30 +- 12 files changed, 8173 insertions(+), 3204 deletions(-) delete mode 100644 Pipfile delete mode 100644 Pipfile.lock create mode 100644 poetry.lock create mode 100644 pyproject.toml diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 20bf8c3d8e..0693a66164 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -106,7 +106,7 @@ jobs: # /usr/local/Cellar # ~/github_brew_cache_entries.txt # /tmp/scons_cache - # key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'Pipfile*') }} + # key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }} # restore-keys: macos- # - name: Brew link restored dependencies # run: | @@ -122,11 +122,11 @@ jobs: # - name: Build openpilot # run: | # source tools/openpilot_env.sh - # pipenv run selfdrive/manager/build.py + # poetry run selfdrive/manager/build.py # # # cleanup scons cache # rm -rf /tmp/scons_cache/ - # pipenv run scons -j$(nproc) --cache-populate + # poetry run scons -j$(nproc) --cache-populate # - name: Remove pre-existing Homebrew packages for caching # if: steps.dependency-cache.outputs.cache-hit != 'true' # run: | diff --git a/.gitignore b/.gitignore index 062358ef24..31cef94222 100644 --- a/.gitignore +++ b/.gitignore @@ -83,3 +83,5 @@ selfdrive/modeld/models/*.thneed build/ !**/.gitkeep + +poetry.toml diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 85c24b911b..91b9c61628 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -78,3 +78,7 @@ repos: entry: selfdrive/ui/tests/test_translations.py language: script pass_filenames: false +- repo: https://github.com/python-poetry/poetry + rev: '1.2.2' + hooks: + - id: poetry-check diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base index 0de3008baf..4cd82259e2 100644 --- a/Dockerfile.openpilot_base +++ b/Dockerfile.openpilot_base @@ -12,19 +12,19 @@ ENV LANG en_US.UTF-8 ENV LANGUAGE en_US:en ENV LC_ALL en_US.UTF-8 -ENV PIPENV_SYSTEM=1 +ENV POETRY_VIRTUALENVS_CREATE=false ENV PYENV_VERSION=3.8.10 ENV PYENV_ROOT="/root/.pyenv" ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH" -COPY Pipfile Pipfile.lock .python-version update_requirements.sh /tmp/ +COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/ COPY tools/ubuntu_setup.sh /tmp/tools/ RUN cd /tmp && \ tools/ubuntu_setup.sh && \ rm -rf /var/lib/apt/lists/* && \ rm -rf /tmp/* && \ rm -rf /root/.cache && \ - pip uninstall -y pipenv && \ + pip uninstall -y poetry && \ # remove unused architectures from gcc for panda cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \ rm -rf arm/ && \ diff --git a/Pipfile b/Pipfile deleted file mode 100644 index 778cf8c33c..0000000000 --- a/Pipfile +++ /dev/null @@ -1,100 +0,0 @@ -[[source]] -name = "pypi" -url = "https://pypi.org/simple" -verify_ssl = true - -[dev-packages] -av = "*" -azure-storage-blob = "~=2.1" -control = "*" -coverage = "*" -dictdiffer = "*" -fastcluster = "*" -hexdump = "*" -hypothesis = "==6.46.7" -inputs = "*" -lru-dict = "*" -markdown-it-py = "*" -matplotlib = "*" -mypy = "*" -myst-parser = "*" -natsort = "*" -numpy = "*" -opencv-python-headless = "*" -parameterized = "*" -paramiko = "*" -pprofile = "*" -pre-commit = "*" -pycurl = "*" -pygame = "*" -pyprof2calltree = "*" -pytest = "*" -pytest-xdist = "*" -reverse_geocoder = "*" -scipy = "*" -sphinx = "*" -sphinx-sitemap = "*" -sphinx-rtd-theme = "*" -breathe = "*" -subprocess32 = "*" -tenacity = "*" -mpld3 = "*" -carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"} -ft4222 = "*" -pandas = "*" -tabulate = "*" -types-pyyaml = "*" -lxml = "*" -types-atomicwrites = "*" -types-pycurl = "*" -types-requests = "*" -types-certifi = "*" - -[packages] -atomicwrites = "*" -casadi = {version = "*", markers="platform_system != 'Darwin'"} -cffi = "*" -crcmod = "*" -cryptography = "*" -Cython = "*" -flake8 = "*" -Flask = "*" -future-fstrings = "*" # for acados -gunicorn = "*" -hexdump = "*" -Jinja2 = "*" -json-rpc = "*" -libusb1 = "*" -nose = "*" -numpy = "*" -protobuf = "==3.20.1" -onnx = "*" -onnxruntime-gpu = {version = "*", markers="platform_system != 'Darwin'"} -pillow = "*" -psutil = "*" -pycapnp = "==1.1.0" -pycryptodome = "*" -PyJWT = "*" -pylint = "*" -pyopencl = "*" -pyserial = "*" -python-dateutil = "*" -PyYAML = "*" -pyzmq = "*" -requests = "*" -scons = "*" -sentry-sdk = "*" -setproctitle = "*" -six = "*" -smbus2 = "*" -sympy = "!=1.6.1" -timezonefinder = "*" -tqdm = "*" -urllib3 = "*" -utm = "*" -websocket_client = "*" -hatanaka = "==2.4" -PySide2 = "*" - -[requires] -python_version = "3.8" diff --git a/Pipfile.lock b/Pipfile.lock deleted file mode 100644 index d033a517cb..0000000000 --- a/Pipfile.lock +++ /dev/null @@ -1,3072 +0,0 @@ -{ - "_meta": { - "hash": { - "sha256": "c406463198490fc40dcac3dd438c77cf36f6fe681793072e96fdecf089ff7639" - }, - "pipfile-spec": 6, - "requires": { - "python_version": "3.8" - }, - "sources": [ - { - "name": "pypi", - "url": "https://pypi.org/simple", - "verify_ssl": true - } - ] - }, - "default": { - "astroid": { - "hashes": [ - "sha256:81f870105d892e73bf535da77a8261aa5bde838fa4ed12bb2f435291a098c581", - "sha256:997e0c735df60d4a4caff27080a3afc51f9bdd693d3572a4a0b7090b645c36c5" - ], - "markers": "python_full_version >= '3.7.2'", - "version": "==2.12.10" - }, - "atomicwrites": { - "hashes": [ - "sha256:81b2c9071a49367a7f770170e5eec8cb66567cfbbc8c73d20ce5ca4a8d71cf11" - ], - "index": "pypi", - "version": "==1.4.1" - }, - "casadi": { - "hashes": [ - "sha256:09e103bb597d46aa338fc57bc49270068a1f07be35f9494c9f796dea4b801aeb", - "sha256:13277151efc76b221de8ca6b5ab7b8bbdd2b0e139f282866840adf88dfe53bc9", - "sha256:1c451a07b2440c00d552e040b6285b6e79b677d2978212368b28b86f5d267669", - "sha256:2322748a8d5e88750fd2fc0abcdc56cfbad1a8cd538fe0e7d7b6d8ce0cb3fa62", - 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The ADAL for Python library makes it easy for python application to authenticate to Azure Active Directory (AAD) in order to access AAD protected web resources." +category = "dev" +optional = false +python-versions = "*" + +[package.dependencies] +cryptography = ">=1.1.0" +PyJWT = ">=1.0.0,<3" +python-dateutil = ">=2.1.0,<3" +requests = ">=2.0.0,<3" + +[[package]] +name = "aenum" +version = "3.1.11" +description = "Advanced Enumerations (compatible with Python's stdlib Enum), NamedTuples, and NamedConstants" +category = "dev" +optional = false +python-versions = "*" + +[[package]] +name = "aiohttp" +version = "3.8.3" +description = "Async http client/server framework (asyncio)" +category = "dev" +optional = false +python-versions = ">=3.6" + +[package.dependencies] +aiosignal = ">=1.1.2" +async-timeout = ">=4.0.0a3,<5.0" +attrs = ">=17.3.0" +charset-normalizer = ">=2.0,<3.0" +frozenlist = ">=1.1.1" +multidict = ">=4.5,<7.0" +yarl = ">=1.0,<2.0" + +[package.extras] +speedups = 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+onnxruntime-gpu = { version = "^1.11.1", markers = "platform_system != 'Darwin'" } +pillow = "^9.2.0" +poetry = "==1.2.2" +protobuf = "==3.20.1" +psutil = "^5.9.1" +pycapnp = "==1.1.0" +pycryptodome = "^3.15.0" +PyJWT = "^2.5.0" +pylint = "^2.15.4" +pyopencl = "^2022.2.4" +pyserial = "^3.5" +python-dateutil = "^2.8.2" +PyYAML = "^6.0" +pyzmq = "^23.2.0" +requests = "^2.28.1" +scons = "^4.3.0" +sentry-sdk = "^1.6.0" +setproctitle = "^1.2.3" +six = "^1.16.0" +smbus2 = "^0.4.2" +sympy = "^1.10.1" +timezonefinder = "^6.0.1" +tqdm = "^4.64.0" +urllib3 = "^1.26.10" +utm = "^0.7.0" +websocket_client = "^1.3.3" + + +[tool.poetry.group.dev.dependencies] +av = "^9.2.0" +azure-storage-blob = "~2.1" +breathe = "^4.34.0" +carla = "==0.9.13" +control = "^0.9.2" +coverage = "^6.4.1" +dictdiffer = "^0.9.0" +fastcluster = "^1.2.6" +ft4222 = "^1.4.1" +hexdump = "^3.3" +hypothesis = "==6.46.7" +inputs = "^0.5" +lru-dict = "^1.1.7" +lxml = "^4.9.1" +markdown-it-py = "^2.1.0" +matplotlib = "^3.5.2" +mpld3 = "^0.5.8" +mypy = "^0.961" +myst-parser = "^0.18.0" +natsort = "^8.1.0" +numpy = "^1.23.0" +opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" } +pandas = "^1.4.3" +parameterized = "^0.8.1" +paramiko = "^2.11.0" +pprofile = "^2.1.0" +pre-commit = "^2.19.0" +pycurl = "^7.45.1" +pygame = "^2.1.2" +pyprof2calltree = "^1.4.5" +pytest = "^7.1.2" +pytest-xdist = "^2.5.0" +reverse_geocoder = "^1.5.1" +scipy = "^1.8.1" +sphinx = "^5.0.2" +sphinx-rtd-theme = "^1.0.0" +sphinx-sitemap = "^2.2.0" +subprocess32 = "^3.5.4" +tabulate = "^0.8.10" +tenacity = "^8.0.1" +types-atomicwrites = "^1.4.5" +types-certifi = "^2021.10.8" +types-pycurl = "^7.45.1" +types-PyYAML = "^6.0" +types-requests = "^2.28.11" + + +[tool.poetry.group.xx] +optional = true + +[tool.poetry.group.xx.dependencies] +aenum = "^3.1.11" +aiohttp = "^3.8.1" +albumentations = "^1.2.1" +apex = { url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" } +azure-cli-core = "^2.38.0" +azure-common = "^1.1.28" +azure-core = "^1.24.2" +azure-nspkg = "~3.0" +azure-storage-blob = "~2.1" +azure-storage-common = "~2.1" +azure-storage-nspkg = "~3.1" +blosc = "==1.9.2" +cloudpickle = "^2.1.0" +configargparse = "^1.5.3" +cupy-cuda113 = "^10.6.0" +datadog = "^0.44.0" +dotmap = "^1.3.30" +elasticsearch = "^8.3.1" +Flask-Cors = "^3.0.10" +Flask-SocketIO = "^5.2.0" +GeoAlchemy2 = "^0.12.1" +imageio = "^2.19.5" +influxdb-client = "^1.30.0" +ipykernel = "^6.15.1" +ipython = "^8.4.0" +joblib = "^1.1.0" +json-logging-py = "^0.2" +jupyter = "^1.0.0" +jupyterlab = "^3.4.4" +jupyterlab-vim = "^0.15.1" +Markdown = "^3.4.1" +mpld3 = "^0.5.8" +msgpack-python = "^0.5.6" +networkx = "~2.3" +nvidia-ml-py3 = "^7.352.0" +onnxoptimizer = "^0.2.6" +opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" } +osmium = "^3.3.0" +pandas = "^1.4.3" +pillow-avif-plugin = "^1.2.2" +pipenv = "==2022.10.12" +plotly = "^5.9.0" +pycuda = "^2022.1" +Pygments = "^2.12.0" +PyMySQL = "~0.9" +pyproj = "^3.3.1" +python-logstash = "^0.4.8" +redis = "^4.3.4" +s2sphere = "^0.2.5" +scikit-image = "^0.19.3" +scikit-learn = "^1.1.1" +segmentation-models-pytorch = "==0.2.1" +simplejson = "^3.17.6" +SQLAlchemy = "^1.4.39" +torch = { url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl" } +torchsummary = "^1.5.1" +torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" } +triton = "^1.1.1" +Werkzeug = "^2.1.2" +zerorpc = { git = "git@github.com:commaai/zerorpc-python.git", branch = "master" } + + +[build-system] +requires = ["poetry-core"] +build-backend = "poetry.core.masonry.api" diff --git a/tools/README.md b/tools/README.md index 59eea3230d..3969deb24d 100644 --- a/tools/README.md +++ b/tools/README.md @@ -6,13 +6,12 @@ openpilot is developed and tested on **Ubuntu 20.04**, which is the primary deve ## Setup your PC - First, clone openpilot: ``` bash cd ~ git clone https://github.com/commaai/openpilot.git -cd openpilot +cd openpilot git submodule update --init ``` @@ -26,10 +25,10 @@ tools/ubuntu_setup.sh tools/mac_setup.sh ``` -Activate a shell with the install Python dependencies: +Activate a shell with the Python dependencies installed: ``` bash -cd openpilot && pipenv shell +cd openpilot && poetry shell ``` Build openpilot with this command: @@ -43,7 +42,7 @@ Neither openpilot nor any of the tools are developed or tested on Windows, but t Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. -GUI applications do not work with WSL out of the box. You will have to either [upgrade your system to Windows 11](https://docs.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) or [set up an Xorg server](https://techcommunity.microsoft.com/t5/windows-dev-appconsult/running-wsl-gui-apps-on-windows-10/ba-p/1493242). +GUI applications do not work with WSL out of the box. You will have to either [upgrade your system to Windows 11](https://docs.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) or [set up an Xorg server](https://techcommunity.microsoft.com/t5/windows-dev-appconsult/running-wsl-gui-apps-on-windows-10/ba-p/1493242). ## CTF diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh index 214a917f8b..e85292da03 100755 --- a/tools/mac_setup.sh +++ b/tools/mac_setup.sh @@ -88,7 +88,7 @@ eval "$(pyenv init --path)" echo "[ ] installed python dependencies t=$SECONDS" # install casadi -VENV=`pipenv --venv` +VENV=`poetry env info --path` PYTHON_VER=3.8 PYTHON_VERSION=$(cat $ROOT/.python-version) if [ ! -f "$VENV/include/casadi/casadi.hpp" ]; then diff --git a/update_requirements.sh b/update_requirements.sh index 060dca76ef..8571726e10 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -40,27 +40,29 @@ fi eval "$(pyenv init --path)" echo "update pip" -pip install pip==21.3.1 -pip install pipenv==2021.11.23 +pip install pip==22.3 +pip install poetry==1.2.2 -if [ -d "./xx" ]; then - echo "WARNING: using xx Pipfile ******" - export PIPENV_SYSTEM=1 - export PIPENV_PIPFILE=./xx/Pipfile -fi +poetry config virtualenvs.prefer-active-python true --local -if [ -z "$PIPENV_SYSTEM" ]; then - echo "PYTHONPATH=${PWD}" > .env - RUN="pipenv run" -else - RUN="" +POETRY_INSTALL_ARGS="" +if [ -d "./xx" ]; then + echo "WARNING: using xx dependency group, installing globally" + poetry config virtualenvs.create false --local + POETRY_INSTALL_ARGS="--with xx --sync" fi echo "pip packages install..." -pipenv sync --dev -pipenv --clear +poetry install --no-cache --no-root $POETRY_INSTALL_ARGS pyenv rehash +if [ -d "./xx" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ]; then + RUN="" +else + echo "PYTHONPATH=${PWD}" > .env + RUN="poetry run" +fi + echo "pre-commit hooks install..." shopt -s nullglob for f in .pre-commit-config.yaml */.pre-commit-config.yaml; do From dba8e8ec0ee026f73b5a87d2c4b00556fdee58f7 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 21 Oct 2022 18:04:07 -0700 Subject: [PATCH 088/137] Revert "ci: don't trigger on pull request sync event (#25900)" This reverts commit 68530f18b4cb2a1f20dfb19319d91216c23e00bb. --- .github/workflows/selfdrive_tests.yaml | 1 - .github/workflows/tools_tests.yaml | 1 - 2 files changed, 2 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 0693a66164..e921cd3d00 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -5,7 +5,6 @@ on: branches-ignore: - 'testing-closet*' pull_request: - types: [opened, reopened] concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 71bad021d0..549a2f4195 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -5,7 +5,6 @@ on: branches-ignore: - 'testing-closet*' pull_request: - types: [opened, reopened] concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} From 6efd2c3de3d5b2955f3e7ab5c93701e94ac25537 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 21 Oct 2022 18:15:52 -0700 Subject: [PATCH 089/137] GM camera ACC: cancel after delay (#26197) * add delay to GM camera ACC cancel to avoid FCW and cruise fault * we can revert brake pressed threshold now * bump panda * add proper threshold * bump * bujmp panda --- panda | 2 +- selfdrive/car/gm/carcontroller.py | 10 +++++++++- selfdrive/car/gm/carstate.py | 7 +------ 3 files changed, 11 insertions(+), 8 deletions(-) diff --git a/panda b/panda index d51dd496cb..2db69bc941 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d51dd496cbdc8665928af40247582bc62dba1f2a +Subproject commit 2db69bc94120a3c10f39cdedc9d83315f9ba801e diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index f28a0f7b59..c96b982503 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -10,6 +10,9 @@ from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButt VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation +# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s +CAMERA_CANCEL_DELAY_FRAMES = 10 + class CarController: def __init__(self, dbc_name, CP, VM): @@ -20,6 +23,7 @@ class CarController: self.apply_brake = 0 self.frame = 0 self.last_button_frame = 0 + self.cancel_counter = 0 self.lka_steering_cmd_counter = 0 self.sent_lka_steering_cmd = False @@ -111,9 +115,13 @@ class CarController: can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) else: + # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status. + # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly + self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0 + # Stock longitudinal, integrated at camera if (self.frame - self.last_button_frame) * DT_CTRL > 0.04: - if CC.cruiseControl.cancel: + if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES: self.last_button_frame = self.frame can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index de63f56eab..7cb2274674 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -55,12 +55,7 @@ class CarState(CarStateBase): # To avoid a cruise fault we need to match the ECM's brake pressed signal and threshold # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"] - if self.CP.networkLocation != NetworkLocation.fwdCamera: - ret.brakePressed = ret.brake >= 8 - else: - # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status. - # Match ECM threshold at a standstill to allow the camera to cancel earlier - ret.brakePressed = ret.brake >= 20 + ret.brakePressed = ret.brake >= 8 # Regen braking is braking if self.CP.transmissionType == TransmissionType.direct: From 42ef62e39102ca5ad03982232ebadc37928a6ca2 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Fri, 21 Oct 2022 20:30:48 -0700 Subject: [PATCH 090/137] Use calibrator to stabilize wide transform (#26201) * Use calibrator to stabilize wide transform * Need array * Needs init * Bump to master * Needs to be arr * publish mshg * Check size * Update ref --- cereal | 2 +- selfdrive/locationd/calibrationd.py | 35 +++++++++++++++++++++--- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 33 insertions(+), 6 deletions(-) diff --git a/cereal b/cereal index 38133307b2..79e6e4c26d 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 38133307b2e6036e76684b39878e79212e545e06 +Subproject commit 79e6e4c26dd12ba979a5fb872b4e68a707c32203 diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 9e6536f9b5..163c3cfd4d 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -31,6 +31,7 @@ INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration INPUTS_WANTED = 50 # We want a little bit more than we need for stability MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) +WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) # These values are needed to accommodate biggest modelframe PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657]) @@ -67,6 +68,7 @@ class Calibrator: calibration_params = params.get("CalibrationParams") self.wide_camera = params.get_bool('WideCameraOnly') rpy_init = RPY_INIT + wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT valid_blocks = 0 if param_put and calibration_params: @@ -74,24 +76,34 @@ class Calibrator: msg = log.Event.from_bytes(calibration_params) rpy_init = np.array(msg.liveCalibration.rpyCalib) valid_blocks = msg.liveCalibration.validBlocks + wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) except Exception: cloudlog.exception("Error reading cached CalibrationParams") - self.reset(rpy_init, valid_blocks) + self.reset(rpy_init, valid_blocks, wide_from_device_euler) self.update_status() - def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, smooth_from: Optional[np.ndarray] = None) -> None: + def reset(self, rpy_init: np.ndarray = RPY_INIT, + valid_blocks: int = 0, + wide_from_device_euler: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, + smooth_from: Optional[np.ndarray] = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: self.rpy = rpy_init.copy() + if not np.isfinite(wide_from_device_euler).all(): + self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() + else: + self.wide_from_device_euler = wide_from_device_euler.copy() + if not np.isfinite(valid_blocks) or valid_blocks < 0: self.valid_blocks = 0 else: self.valid_blocks = valid_blocks self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) + self.wide_from_device_eulers = np.tile(wide_from_device_euler, (INPUTS_WANTED, 1)) self.idx = 0 self.block_idx = 0 @@ -115,6 +127,8 @@ class Calibrator: if valid_idxs: rpys = self.rpys[valid_idxs] self.rpy = np.mean(rpys, axis=0) + wide_from_device_eulers = self.wide_from_device_eulers[valid_idxs] + self.wide_from_device_euler = np.mean(wide_from_device_eulers, axis=0) max_rpy_calib = np.array(np.max(rpys, axis=0)) min_rpy_calib = np.array(np.min(rpys, axis=0)) self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib) @@ -146,7 +160,10 @@ class Calibrator: else: return self.rpy - def handle_cam_odom(self, trans: List[float], rot: List[float], trans_std: List[float]) -> Optional[np.ndarray]: + def handle_cam_odom(self, trans: List[float], + rot: List[float], + wide_from_device_euler: List[float], + trans_std: List[float]) -> Optional[np.ndarray]: self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) @@ -165,7 +182,15 @@ class Calibrator: new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy))) new_rpy = sanity_clip(new_rpy) - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) + if len(wide_from_device_euler): + new_wide_from_device_euler = np.array(wide_from_device_euler) + else: + new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT + + self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) + self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + + (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) self.idx = (self.idx + 1) % BLOCK_SIZE if self.idx == 0: self.block_idx += 1 @@ -187,6 +212,7 @@ class Calibrator: liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() + liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED @@ -223,6 +249,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, + sm['cameraOdometry'].wideFromDeviceEuler, sm['cameraOdometry'].transStd) if DEBUG and new_rpy is not None: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 230e81d949..d03b897f9d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f5a352666728344ca5065bb44c47c1f5650b4243 +a5c77655fba5563e8128fb655f69b1bbd02198aa From 04b40aad92afaac555c3c7d814699c467d975627 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 21 Oct 2022 21:13:55 -0700 Subject: [PATCH 091/137] ci: run some jobs only on push (#26202) * ci: run some jobs only on push alternative to #25900 * tools too --- .github/workflows/selfdrive_tests.yaml | 11 ++++++++++- .github/workflows/tools_tests.yaml | 5 +---- 2 files changed, 11 insertions(+), 5 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index e921cd3d00..a5f2bf3452 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -33,6 +33,7 @@ jobs: name: build release runs-on: ubuntu-20.04 timeout-minutes: 30 + if: github.event_name == 'push' env: STRIPPED_DIR: /tmp/releasepilot steps: @@ -67,6 +68,7 @@ jobs: name: build all runs-on: ubuntu-20.04 timeout-minutes: 30 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -85,6 +87,7 @@ jobs: # name: build macos # runs-on: macos-latest # timeout-minutes: 60 + # if: github.event_name == 'push' # steps: # - uses: actions/checkout@v3 # with: @@ -142,7 +145,7 @@ jobs: name: docker push runs-on: ubuntu-20.04 timeout-minutes: 22 - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' + if: github.ref == 'refs/heads/master' && github.event_name == 'push' && github.repository == 'commaai/openpilot' needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast steps: - uses: actions/checkout@v3 @@ -167,6 +170,7 @@ jobs: name: static analysis runs-on: ubuntu-20.04 timeout-minutes: 20 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -181,6 +185,7 @@ jobs: name: valgrind runs-on: ubuntu-20.04 timeout-minutes: 20 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -199,6 +204,7 @@ jobs: name: unit tests runs-on: ubuntu-20.04 timeout-minutes: 30 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -279,6 +285,7 @@ jobs: name: model tests runs-on: ubuntu-20.04 timeout-minutes: 20 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -307,6 +314,7 @@ jobs: name: longitudinal runs-on: ubuntu-20.04 timeout-minutes: 20 + if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -335,6 +343,7 @@ jobs: name: cars runs-on: ubuntu-20.04 timeout-minutes: 20 + if: github.event_name == 'push' strategy: fail-fast: false matrix: diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 549a2f4195..25357e0889 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -4,7 +4,6 @@ on: push: branches-ignore: - 'testing-closet*' - pull_request: concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} @@ -83,9 +82,7 @@ jobs: run: | DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . - name: Push docker container - if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' + if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/openpilot-docs:latest - - From 75b7fd0a7d9728dbf84e4cff209cbc44799dbdeb Mon Sep 17 00:00:00 2001 From: Bruce Wayne Date: Fri, 21 Oct 2022 21:44:47 -0700 Subject: [PATCH 092/137] Revert "Use calibrator to stabilize wide transform (#26201)" This reverts commit 42ef62e39102ca5ad03982232ebadc37928a6ca2. --- cereal | 2 +- selfdrive/locationd/calibrationd.py | 35 +++--------------------- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 6 insertions(+), 33 deletions(-) diff --git a/cereal b/cereal index 79e6e4c26d..38133307b2 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 79e6e4c26dd12ba979a5fb872b4e68a707c32203 +Subproject commit 38133307b2e6036e76684b39878e79212e545e06 diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 163c3cfd4d..9e6536f9b5 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -31,7 +31,6 @@ INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration INPUTS_WANTED = 50 # We want a little bit more than we need for stability MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) -WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) # These values are needed to accommodate biggest modelframe PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657]) @@ -68,7 +67,6 @@ class Calibrator: calibration_params = params.get("CalibrationParams") self.wide_camera = params.get_bool('WideCameraOnly') rpy_init = RPY_INIT - wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT valid_blocks = 0 if param_put and calibration_params: @@ -76,34 +74,24 @@ class Calibrator: msg = log.Event.from_bytes(calibration_params) rpy_init = np.array(msg.liveCalibration.rpyCalib) valid_blocks = msg.liveCalibration.validBlocks - wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) except Exception: cloudlog.exception("Error reading cached CalibrationParams") - self.reset(rpy_init, valid_blocks, wide_from_device_euler) + self.reset(rpy_init, valid_blocks) self.update_status() - def reset(self, rpy_init: np.ndarray = RPY_INIT, - valid_blocks: int = 0, - wide_from_device_euler: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, - smooth_from: Optional[np.ndarray] = None) -> None: + def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, smooth_from: Optional[np.ndarray] = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: self.rpy = rpy_init.copy() - if not np.isfinite(wide_from_device_euler).all(): - self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() - else: - self.wide_from_device_euler = wide_from_device_euler.copy() - if not np.isfinite(valid_blocks) or valid_blocks < 0: self.valid_blocks = 0 else: self.valid_blocks = valid_blocks self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) - self.wide_from_device_eulers = np.tile(wide_from_device_euler, (INPUTS_WANTED, 1)) self.idx = 0 self.block_idx = 0 @@ -127,8 +115,6 @@ class Calibrator: if valid_idxs: rpys = self.rpys[valid_idxs] self.rpy = np.mean(rpys, axis=0) - wide_from_device_eulers = self.wide_from_device_eulers[valid_idxs] - self.wide_from_device_euler = np.mean(wide_from_device_eulers, axis=0) max_rpy_calib = np.array(np.max(rpys, axis=0)) min_rpy_calib = np.array(np.min(rpys, axis=0)) self.calib_spread = np.abs(max_rpy_calib - min_rpy_calib) @@ -160,10 +146,7 @@ class Calibrator: else: return self.rpy - def handle_cam_odom(self, trans: List[float], - rot: List[float], - wide_from_device_euler: List[float], - trans_std: List[float]) -> Optional[np.ndarray]: + def handle_cam_odom(self, trans: List[float], rot: List[float], trans_std: List[float]) -> Optional[np.ndarray]: self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) @@ -182,15 +165,7 @@ class Calibrator: new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy))) new_rpy = sanity_clip(new_rpy) - if len(wide_from_device_euler): - new_wide_from_device_euler = np.array(wide_from_device_euler) - else: - new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT - - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + - (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) - self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + - (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) + self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) self.idx = (self.idx + 1) % BLOCK_SIZE if self.idx == 0: self.block_idx += 1 @@ -212,7 +187,6 @@ class Calibrator: liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() - liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED @@ -249,7 +223,6 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, - sm['cameraOdometry'].wideFromDeviceEuler, sm['cameraOdometry'].transStd) if DEBUG and new_rpy is not None: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d03b897f9d..230e81d949 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a5c77655fba5563e8128fb655f69b1bbd02198aa +f5a352666728344ca5065bb44c47c1f5650b4243 From db6c9b9d456ce6b7246f9002bde05ea6b6f53054 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 21 Oct 2022 23:09:24 -0700 Subject: [PATCH 093/137] install xx deps with XX env (#26205) --- update_requirements.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/update_requirements.sh b/update_requirements.sh index 8571726e10..0967e2dc6c 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -46,7 +46,7 @@ pip install poetry==1.2.2 poetry config virtualenvs.prefer-active-python true --local POETRY_INSTALL_ARGS="" -if [ -d "./xx" ]; then +if [ -d "./xx" ] || [ -n "$XX" ]; then echo "WARNING: using xx dependency group, installing globally" poetry config virtualenvs.create false --local POETRY_INSTALL_ARGS="--with xx --sync" From 66c01801a5223503435f1da366a3a6c4974ef988 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 22 Oct 2022 00:09:37 -0700 Subject: [PATCH 094/137] GM: clean up gmcan (#26206) * camera * clean up gmcan * fix * revv --- selfdrive/car/gm/carcontroller.py | 1 + selfdrive/car/gm/gmcan.py | 43 +++++++++++++++++++------------ 2 files changed, 28 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index c96b982503..b56b3bfca6 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -125,6 +125,7 @@ class CarController: self.last_button_frame = self.frame can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) + if self.CP.networkLocation == NetworkLocation.fwdCamera: # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1 if self.frame % 10 == 0: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index ec046dc3c2..42df2c6afd 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -1,5 +1,6 @@ from selfdrive.car import make_can_msg + def create_buttons(packer, bus, idx, button): values = { "ACCButtons": button, @@ -7,14 +8,15 @@ def create_buttons(packer, bus, idx, button): } return packer.make_can_msg("ASCMSteeringButton", bus, values) + def create_pscm_status(packer, bus, pscm_status): checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5 pscm_status["HandsOffSWlDetectionStatus"] = 1 pscm_status["PSCMStatusChecksum"] += checksum_mod return packer.make_can_msg("PSCMStatus", bus, pscm_status) -def create_steering_control(packer, bus, apply_steer, idx, lkas_active): +def create_steering_control(packer, bus, apply_steer, idx, lkas_active): values = { "LKASteeringCmdActive": lkas_active, "LKASteeringCmd": apply_steer, @@ -24,15 +26,17 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active): return packer.make_can_msg("ASCMLKASteeringCmd", bus, values) + def create_adas_keepalive(bus): dat = b"\x00\x00\x00\x00\x00\x00\x00" return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)] -def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_stop): + +def create_gas_regen_command(packer, bus, throttle, idx, enabled, at_full_stop): values = { - "GasRegenCmdActive": acc_engaged, + "GasRegenCmdActive": enabled, "RollingCounter": idx, - "GasRegenCmdActiveInv": 1 - acc_engaged, + "GasRegenCmdActiveInv": 1 - enabled, "GasRegenCmd": throttle, "GasRegenFullStopActive": at_full_stop, "GasRegenAlwaysOne": 1, @@ -47,6 +51,7 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st return packer.make_can_msg("ASCMGasRegenCmd", bus, values) + def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop): mode = 0x1 if apply_brake > 0: @@ -63,44 +68,48 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff values = { - "RollingCounter" : idx, - "FrictionBrakeMode" : mode, + "RollingCounter": idx, + "FrictionBrakeMode": mode, "FrictionBrakeChecksum": checksum, - "FrictionBrakeCmd" : -apply_brake + "FrictionBrakeCmd": -apply_brake } return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values) -def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw): + +def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw): target_speed = min(target_speed_kph, 255) values = { - "ACCAlwaysOne" : 1, - "ACCResumeButton" : 0, - "ACCSpeedSetpoint" : target_speed, - "ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive" - "ACCCmdActive" : acc_engaged, - "ACCAlwaysOne2" : 1, - "ACCLeadCar" : lead_car_in_sight, + "ACCAlwaysOne": 1, + "ACCResumeButton": 0, + "ACCSpeedSetpoint": target_speed, + "ACCGapLevel": 3 * enabled, # 3 "far", 0 "inactive" + "ACCCmdActive": enabled, + "ACCAlwaysOne2": 1, + "ACCLeadCar": lead_car_in_sight, "FCWAlert": 0x3 if fcw else 0 } return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values) + def create_adas_time_status(bus, tt, idx): dat = [(tt >> 20) & 0xff, (tt >> 12) & 0xff, (tt >> 4) & 0xff, - ((tt & 0xf) << 4) + (idx << 2)] + ((tt & 0xf) << 4) + (idx << 2)] chksum = 0x1000 - dat[0] - dat[1] - dat[2] - dat[3] chksum = chksum & 0xfff dat += [0x40 + (chksum >> 8), chksum & 0xff, 0x12] return make_can_msg(0xa1, bytes(dat), bus) + def create_adas_steering_status(bus, idx): dat = [idx << 6, 0xf0, 0x20, 0, 0, 0] chksum = 0x60 + sum(dat) dat += [chksum >> 8, chksum & 0xff] return make_can_msg(0x306, bytes(dat), bus) + def create_adas_accelerometer_speed_status(bus, speed_ms, idx): spd = int(speed_ms * 16) & 0xfff accel = 0 & 0xfff @@ -114,6 +123,7 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx): dat += [(idx << 5) + (far_range_mode << 4) + (near_range_mode << 3) + (chksum >> 8), chksum & 0xff] return make_can_msg(0x308, bytes(dat), bus) + def create_adas_headlights_status(packer, bus): values = { "Always42": 0x42, @@ -121,6 +131,7 @@ def create_adas_headlights_status(packer, bus): } return packer.make_can_msg("ASCMHeadlight", bus, values) + def create_lka_icon_command(bus, active, critical, steer): if active and steer == 1: if critical: From 8bd512f9d76c8ad789bc80fb807d0ece193cb456 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 22 Oct 2022 00:53:50 -0700 Subject: [PATCH 095/137] deps: zerorpc over https --- poetry.lock | 2 +- pyproject.toml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/poetry.lock b/poetry.lock index 7ad02c58cd..bf5c750069 100644 --- a/poetry.lock +++ b/poetry.lock @@ -4316,7 +4316,7 @@ pyzmq = ">=13.1.0" [package.source] type = "git" -url = "git@github.com:commaai/zerorpc-python.git" +url = "https://github.com/commaai/zerorpc-python.git" reference = "master" resolved_reference = "0e27fd795bb9a7ec9cab81a771a2e35a91e397c9" diff --git a/pyproject.toml b/pyproject.toml index 7855ad0124..cbb5a983f3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -168,7 +168,7 @@ torchsummary = "^1.5.1" torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" } triton = "^1.1.1" Werkzeug = "^2.1.2" -zerorpc = { git = "git@github.com:commaai/zerorpc-python.git", branch = "master" } +zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" } [build-system] From 335351123ab8a34d06bf164b5cf5be9046bf2c3c Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 22 Oct 2022 01:04:22 -0700 Subject: [PATCH 096/137] Revert "ci: run some jobs only on push (#26202)" This reverts commit 04b40aad92afaac555c3c7d814699c467d975627. --- .github/workflows/selfdrive_tests.yaml | 11 +---------- .github/workflows/tools_tests.yaml | 5 ++++- 2 files changed, 5 insertions(+), 11 deletions(-) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a5f2bf3452..e921cd3d00 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -33,7 +33,6 @@ jobs: name: build release runs-on: ubuntu-20.04 timeout-minutes: 30 - if: github.event_name == 'push' env: STRIPPED_DIR: /tmp/releasepilot steps: @@ -68,7 +67,6 @@ jobs: name: build all runs-on: ubuntu-20.04 timeout-minutes: 30 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -87,7 +85,6 @@ jobs: # name: build macos # runs-on: macos-latest # timeout-minutes: 60 - # if: github.event_name == 'push' # steps: # - uses: actions/checkout@v3 # with: @@ -145,7 +142,7 @@ jobs: name: docker push runs-on: ubuntu-20.04 timeout-minutes: 22 - if: github.ref == 'refs/heads/master' && github.event_name == 'push' && github.repository == 'commaai/openpilot' + if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast steps: - uses: actions/checkout@v3 @@ -170,7 +167,6 @@ jobs: name: static analysis runs-on: ubuntu-20.04 timeout-minutes: 20 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -185,7 +181,6 @@ jobs: name: valgrind runs-on: ubuntu-20.04 timeout-minutes: 20 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -204,7 +199,6 @@ jobs: name: unit tests runs-on: ubuntu-20.04 timeout-minutes: 30 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -285,7 +279,6 @@ jobs: name: model tests runs-on: ubuntu-20.04 timeout-minutes: 20 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -314,7 +307,6 @@ jobs: name: longitudinal runs-on: ubuntu-20.04 timeout-minutes: 20 - if: github.event_name == 'push' steps: - uses: actions/checkout@v3 with: @@ -343,7 +335,6 @@ jobs: name: cars runs-on: ubuntu-20.04 timeout-minutes: 20 - if: github.event_name == 'push' strategy: fail-fast: false matrix: diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index 25357e0889..549a2f4195 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -4,6 +4,7 @@ on: push: branches-ignore: - 'testing-closet*' + pull_request: concurrency: group: ${{ github.workflow }}-${{ github.ref != 'refs/heads/master' && github.ref || github.run_id }}-${{ github.event_name }} @@ -82,7 +83,9 @@ jobs: run: | DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile . - name: Push docker container - if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' + if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | $DOCKER_LOGIN docker push $DOCKER_REGISTRY/openpilot-docs:latest + + From e7e64be734899fa2cd8f3a2fe178c1aa958dd258 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 22 Oct 2022 16:05:09 +0800 Subject: [PATCH 097/137] cabana: fix incorrect freq&counter (#26207) fix wrong freq --- tools/cabana/canmessages.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 4cc91031ad..defeacd75a 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -65,7 +65,6 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si void CANMessages::process(QHash> *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { - ++counters[it.key()]; auto &msgs = can_msgs[it.key()]; const auto &new_msgs = it.value(); if (new_msgs.size() == settings.can_msg_log_size || msgs.empty()) { From 25b9588019beda1d1d79390bde738097a58b0c0f Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sat, 22 Oct 2022 01:32:27 -0700 Subject: [PATCH 098/137] deps: add missing package einops --- poetry.lock | 66 ++++++++++++++++++++++++++++---------------------- pyproject.toml | 1 + 2 files changed, 38 insertions(+), 29 deletions(-) diff --git a/poetry.lock b/poetry.lock index bf5c750069..41fe2eb18c 100644 --- a/poetry.lock +++ b/poetry.lock @@ -108,6 +108,7 @@ python-versions = "*" [package.source] type = "url" url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" + [[package]] name = "appdirs" version = "1.4.4" @@ -229,7 +230,7 @@ python-versions = ">=3.5" dev = ["cloudpickle", "coverage[toml] (>=5.0.2)", "furo", "hypothesis", "mypy (>=0.900,!=0.940)", "pre-commit", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "sphinx", "sphinx-notfound-page", "zope.interface"] docs = ["furo", "sphinx", "sphinx-notfound-page", "zope.interface"] tests = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "zope.interface"] -tests-no-zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"] +tests_no_zope = ["cloudpickle", "coverage[toml] (>=5.0.2)", "hypothesis", "mypy (>=0.900,!=0.940)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins"] [[package]] name = "av" @@ -530,7 +531,7 @@ optional = false python-versions = ">=3.6.0" [package.extras] -unicode-backport = ["unicodedata2"] +unicode_backport = ["unicodedata2"] [[package]] name = "cleo" @@ -837,6 +838,14 @@ python-versions = ">=3.5.0" [package.dependencies] torch = "*" +[[package]] +name = "einops" +version = "0.5.0" +description = "A new flavour of deep learning operations" +category = "dev" +optional = false +python-versions = ">=3.7" + [[package]] name = "elastic-transport" version = "8.4.0" @@ -1401,7 +1410,7 @@ notebook = ["ipywidgets", "notebook"] parallel = ["ipyparallel"] qtconsole = ["qtconsole"] test = ["pytest (<7.1)", "pytest-asyncio", "testpath"] -test-extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"] +test_extra = ["curio", "matplotlib (!=3.2.0)", "nbformat", "numpy (>=1.19)", "pandas", "pytest (<7.1)", "pytest-asyncio", "testpath", "trio"] [[package]] name = "ipython-genutils" @@ -1450,9 +1459,9 @@ python-versions = ">=3.6.1,<4.0" [package.extras] colors = ["colorama (>=0.4.3,<0.5.0)"] -pipfile-deprecated-finder = ["pipreqs", "requirementslib"] +pipfile_deprecated_finder = ["pipreqs", "requirementslib"] plugins = ["setuptools"] -requirements-deprecated-finder = ["pip-api", "pipreqs"] +requirements_deprecated_finder = ["pip-api", "pipreqs"] [[package]] name = "itsdangerous" @@ -1883,7 +1892,7 @@ mdurl = ">=0.1,<1.0" [package.extras] benchmarking = ["psutil", "pytest", "pytest-benchmark (>=3.2,<4.0)"] -code-style = ["pre-commit (==2.6)"] +code_style = ["pre-commit (==2.6)"] compare = ["commonmark (>=0.9.1,<0.10.0)", "markdown (>=3.3.6,<3.4.0)", "mistletoe (>=0.8.1,<0.9.0)", "mistune (>=2.0.2,<2.1.0)", "panflute (>=2.1.3,<2.2.0)"] linkify = ["linkify-it-py (>=1.0,<2.0)"] plugins = ["mdit-py-plugins"] @@ -1950,7 +1959,7 @@ python-versions = ">=3.7" markdown-it-py = ">=1.0.0,<3.0.0" [package.extras] -code-style = ["pre-commit"] +code_style = ["pre-commit"] rtd = ["attrs", "myst-parser (>=0.16.1,<0.17.0)", "sphinx-book-theme (>=0.1.0,<0.2.0)"] testing = ["coverage", "pytest", "pytest-cov", "pytest-regressions"] @@ -2160,7 +2169,7 @@ sphinx = ">=4,<6" typing-extensions = "*" [package.extras] -code-style = ["pre-commit (>=2.12,<3.0)"] +code_style = ["pre-commit (>=2.12,<3.0)"] linkify = ["linkify-it-py (>=1.0,<2.0)"] rtd = ["ipython", "sphinx-book-theme", "sphinx-design", "sphinxcontrib.mermaid (>=0.7.1,<0.8.0)", "sphinxext-opengraph (>=0.6.3,<0.7.0)", "sphinxext-rediraffe (>=0.2.7,<0.3.0)"] testing = ["beautifulsoup4", "coverage[toml]", "pytest (>=6,<7)", "pytest-cov", "pytest-param-files (>=0.3.4,<0.4.0)", "pytest-regressions", "sphinx (<5.2)", "sphinx-pytest"] @@ -2479,6 +2488,7 @@ numpy = [ [package.source] type = "url" url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" + [[package]] name = "osmium" version = "3.4.1" @@ -3183,7 +3193,7 @@ optional = false python-versions = ">=3.6" [package.extras] -asyncio-client = ["aiohttp (>=3.4)"] +asyncio_client = ["aiohttp (>=3.4)"] client = ["requests (>=2.21.0)", "websocket-client (>=0.54.0)"] [[package]] @@ -3207,7 +3217,7 @@ bidict = ">=0.21.0" python-engineio = ">=4.3.0" [package.extras] -asyncio-client = ["aiohttp (>=3.4)"] +asyncio_client = ["aiohttp (>=3.4)"] client = ["requests (>=2.21.0)", "websocket-client (>=0.54.0)"] [[package]] @@ -3383,7 +3393,7 @@ urllib3 = ">=1.21.1,<1.27" [package.extras] socks = ["PySocks (>=1.5.6,!=1.5.7)"] -use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"] +use_chardet_on_py3 = ["chardet (>=3.0.2,<6)"] [[package]] name = "requests-oauthlib" @@ -3574,7 +3584,7 @@ falcon = ["falcon (>=1.4)"] fastapi = ["fastapi (>=0.79.0)"] flask = ["blinker (>=1.1)", "flask (>=0.11)"] httpx = ["httpx (>=0.16.0)"] -pure-eval = ["asttokens", "executing", "pure-eval"] +pure_eval = ["asttokens", "executing", "pure-eval"] pyspark = ["pyspark (>=2.4.4)"] quart = ["blinker (>=1.1)", "quart (>=0.16.1)"] rq = ["rq (>=0.6)"] @@ -3840,19 +3850,19 @@ aiomysql = ["aiomysql", "greenlet (!=0.4.17)"] aiosqlite = ["aiosqlite", "greenlet (!=0.4.17)", "typing_extensions (!=3.10.0.1)"] asyncio = ["greenlet (!=0.4.17)"] asyncmy = ["asyncmy (>=0.2.3,!=0.2.4)", "greenlet (!=0.4.17)"] -mariadb-connector = ["mariadb (>=1.0.1,!=1.1.2)"] +mariadb_connector = ["mariadb (>=1.0.1,!=1.1.2)"] mssql = ["pyodbc"] -mssql-pymssql = ["pymssql"] -mssql-pyodbc = ["pyodbc"] +mssql_pymssql = ["pymssql"] +mssql_pyodbc = ["pyodbc"] mypy = ["mypy (>=0.910)", "sqlalchemy2-stubs"] mysql = ["mysqlclient (>=1.4.0)", "mysqlclient (>=1.4.0,<2)"] -mysql-connector = ["mysql-connector-python"] +mysql_connector = ["mysql-connector-python"] oracle = ["cx_oracle (>=7)", "cx_oracle (>=7,<8)"] postgresql = ["psycopg2 (>=2.7)"] -postgresql-asyncpg = ["asyncpg", "greenlet (!=0.4.17)"] -postgresql-pg8000 = ["pg8000 (>=1.16.6,!=1.29.0)"] -postgresql-psycopg2binary = ["psycopg2-binary"] -postgresql-psycopg2cffi = ["psycopg2cffi"] +postgresql_asyncpg = ["asyncpg", "greenlet (!=0.4.17)"] +postgresql_pg8000 = ["pg8000 (>=1.16.6,!=1.29.0)"] +postgresql_psycopg2binary = ["psycopg2-binary"] +postgresql_psycopg2cffi = ["psycopg2cffi"] pymysql = ["pymysql", "pymysql (<1)"] sqlcipher = ["sqlcipher3_binary"] @@ -4033,6 +4043,7 @@ typing-extensions = "*" [package.source] type = "url" url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl" + [[package]] name = "torchsummary" version = "1.5.1" @@ -4062,6 +4073,7 @@ scipy = ["scipy"] [package.source] type = "url" url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" + [[package]] name = "tornado" version = "6.2" @@ -4366,7 +4378,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "f357744f2550b64cbd25e35881d6ec3c1180c90f830eb8d9f53322d6de485561" +content-hash = 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17 00:00:00 2001 From: Cameron Clough Date: Sat, 22 Oct 2022 11:41:45 -0700 Subject: [PATCH 099/137] deps(xx): bump onnxoptimizer --- poetry.lock | 27 ++++++++++++--------------- pyproject.toml | 2 +- 2 files changed, 13 insertions(+), 16 deletions(-) diff --git a/poetry.lock b/poetry.lock index 41fe2eb18c..2dff4fecf1 100644 --- a/poetry.lock +++ b/poetry.lock @@ -2441,7 +2441,7 @@ lint = ["clang-format (==13.0.0)", "flake8", "mypy (==0.782)", "types-protobuf ( [[package]] name = "onnxoptimizer" -version = "0.2.7" +version = "0.3.1" description = "Open Neural Network Exchange" category = "dev" optional = false @@ -4378,7 +4378,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "e596391b3ebe3de6835da44c7a4e9018e5e4c1f5a5450568ebfc156fa2c0ae0c" +content-hash = "76f06d46b1c308e59968994e42193599d8ba3cab6d552460c9c48f282313b64d" [metadata.files] adal = [ @@ -6380,19 +6380,16 @@ onnx = [ {file = 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@@ mpld3 = "^0.5.8" msgpack-python = "^0.5.6" networkx = "~2.3" nvidia-ml-py3 = "^7.352.0" -onnxoptimizer = "^0.2.6" +onnxoptimizer = "^0.3.1" opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" } osmium = "^3.3.0" pandas = "^1.4.3" From 8a0475bd3bc4c86777be234d393a4e80da1a5fcd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 22 Oct 2022 16:15:03 -0700 Subject: [PATCH 100/137] cabana: fix BinaryView byte indices --- tools/cabana/binaryview.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index eee3f90986..785e5c4a05 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -212,7 +212,7 @@ void BinaryViewModel::updateState() { QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, int role) const { if (orientation == Qt::Vertical) { switch (role) { - case Qt::DisplayRole: return section + 1; + case Qt::DisplayRole: return section; case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT); case Qt::TextAlignmentRole: return Qt::AlignCenter; } From 6d443007bcf47b02972e9b5f0ccc84ba1ff5165d Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 23 Oct 2022 14:03:58 -0400 Subject: [PATCH 101/137] VW MQB: Add FW for 2016 Volkswagen Passat (#26212) --- selfdrive/car/volkswagen/values.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 8c679c7406..695868452d 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -555,6 +555,7 @@ FW_VERSIONS = { b'\xf1\x8703N906026E \xf1\x892114', b'\xf1\x8704E906023AH\xf1\x893379', b'\xf1\x8704L906026ET\xf1\x891990', + b'\xf1\x8704L906026FP\xf1\x892012', b'\xf1\x8704L906026GA\xf1\x892013', b'\xf1\x8704L906026KD\xf1\x894798', b'\xf1\x873G0906264 \xf1\x890004', @@ -562,6 +563,7 @@ FW_VERSIONS = { (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300043H \xf1\x891601', b'\xf1\x870CW300048R \xf1\x890610', + b'\xf1\x870D9300013A \xf1\x894905', b'\xf1\x870D9300014L \xf1\x895002', b'\xf1\x870D9300041A \xf1\x894801', b'\xf1\x870DD300045T \xf1\x891601', @@ -579,6 +581,7 @@ FW_VERSIONS = { ], (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', From 80c565d9fe9b10a05e34ae867f7711389ae240d1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:38:38 +0800 Subject: [PATCH 102/137] Cabana: no popup when adding a new signal. (#26155) * merge master * GM: make loopback updated check more explicit This previously checked if parser_pyx filled the defaultdict, now it checks the values in the list (same either way) * merge master * continue * continue * check for duplicate name * check duplicate signal name in saveSignal * check signal size * size*8 * cleanup * check size after push_back * install qlog handler at end * remove todo Co-authored-by: Shane Smiskol --- tools/cabana/binaryview.cc | 6 --- tools/cabana/canmessages.cc | 4 +- tools/cabana/dbcmanager.cc | 18 ++++++++ tools/cabana/dbcmanager.h | 2 + tools/cabana/detailwidget.cc | 75 ++++++++++++++++++-------------- tools/cabana/detailwidget.h | 6 +-- tools/cabana/mainwin.cc | 6 +-- tools/cabana/signaledit.cc | 84 +++++++++++++----------------------- tools/cabana/signaledit.h | 23 ++++------ 9 files changed, 108 insertions(+), 116 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 785e5c4a05..915ec8bb8f 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -13,12 +13,6 @@ const int CELL_HEIGHT = 30; -static std::pair getSignalRange(const Signal *s) { - int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); - int to = from + s->size - 1; - return {from, to}; -} - BinaryView::BinaryView(QWidget *parent) : QTableView(parent) { model = new BinaryViewModel(this); setModel(model); diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index defeacd75a..d88f34801b 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -54,9 +54,9 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal); if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) { ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val}); + if (ret.size() >= max_count) + return ret; } - if (ret.size() >= max_count) - return ret; } } } diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index fc40fc58e4..c3fbab0349 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -121,3 +121,21 @@ double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { double value = val * sig.factor + sig.offset; return value; } + +void updateSigSizeParamsFromRange(Signal &s, int from, int to) { + s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from); + s.size = to - from + 1; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } +} + +std::pair getSignalRange(const Signal *s) { + int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); + int to = from + s->size - 1; + return {from, to}; +} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 74d935119a..9e64c4ed53 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -47,5 +47,7 @@ private: double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); int bigEndianStartBitsIndex(int start_bit); int bigEndianBitIndex(int index); +void updateSigSizeParamsFromRange(Signal &s, int from, int to); +std::pair getSignalRange(const Signal *s); DBCManager *dbc(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 039a7c4e55..443b33b521 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -48,7 +48,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { warning_widget = new QWidget(this); QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); QLabel *warning_icon = new QLabel(this); - warning_icon->setPixmap(style()->standardIcon(QStyle::SP_MessageBoxWarning).pixmap({16, 16})); + warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning)); warning_hlayout->addWidget(warning_icon); warning_label = new QLabel(this); warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); @@ -78,7 +78,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal); QObject::connect(can, &CANMessages::updated, this, &DetailWidget::updateState); - QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::dbcMsgChanged); + QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); }); QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { setMessage(messages[index]); }); QObject::connect(tabbar, &QTabBar::tabCloseRequested, [=](int index) { messages.removeAt(index); @@ -103,7 +103,7 @@ void DetailWidget::setMessage(const QString &message_id) { dbcMsgChanged(); } -void DetailWidget::dbcMsgChanged() { +void DetailWidget::dbcMsgChanged(int show_form_idx) { if (msg_id.isEmpty()) return; warning_widget->hide(); @@ -111,7 +111,7 @@ void DetailWidget::dbcMsgChanged() { QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { for (int i = 0; i < msg->sigs.size(); ++i) { - auto form = new SignalEdit(i, msg_id, msg->sigs[i]); + auto form = new SignalEdit(i, msg_id, &(msg->sigs[i])); signals_container->layout()->addWidget(form); QObject::connect(form, &SignalEdit::showChart, [this, sig = &msg->sigs[i]]() { emit showChart(msg_id, sig); }); QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm); @@ -119,6 +119,9 @@ void DetailWidget::dbcMsgChanged() { QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal); QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight); QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered); + if (i == show_form_idx) { + QTimer::singleShot(0, [=]() { emit form->showFormClicked(); }); + } } msg_name = msg->name.c_str(); if (msg->size != can->lastMessage(msg_id).dat.size()) { @@ -162,46 +165,54 @@ void DetailWidget::editMsg() { } } -void DetailWidget::addSignal(int start_bit, int to) { - if (dbc()->msg(msg_id)) { - AddSignalDialog dlg(msg_id, start_bit, to - start_bit + 1, this); - if (dlg.exec()) { - dbc()->addSignal(msg_id, dlg.form->getSignal()); - dbcMsgChanged(); +void DetailWidget::addSignal(int from, int to) { + if (auto msg = dbc()->msg(msg_id)) { + Signal sig = {}; + for (int i = 1; /**/; ++i) { + sig.name = "NEW_SIGNAL_" + std::to_string(i); + auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return sig.name == s.name; }); + if (it == msg->sigs.end()) break; } + sig.is_little_endian = false, + updateSigSizeParamsFromRange(sig, from, to); + dbc()->addSignal(msg_id, sig); + dbcMsgChanged(msg->sigs.size() - 1); } } void DetailWidget::resizeSignal(const Signal *sig, int from, int to) { - assert(sig != nullptr); Signal s = *sig; - s.start_bit = s.is_little_endian ? from : bigEndianBitIndex(from);; - s.size = to - from + 1; - if (s.is_little_endian) { - s.lsb = s.start_bit; - s.msb = s.start_bit + s.size - 1; - } else { - s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); - s.msb = s.start_bit; - } - dbc()->updateSignal(msg_id, s.name.c_str(), s); - dbcMsgChanged(); + updateSigSizeParamsFromRange(s, from, to); + saveSignal(sig, s); } -void DetailWidget::saveSignal() { - SignalEdit *sig_form = qobject_cast(QObject::sender()); - auto s = sig_form->form->getSignal(); - dbc()->updateSignal(msg_id, sig_form->sig_name, s); +void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) { + auto msg = dbc()->msg(msg_id); + if (new_sig.name != sig->name) { + auto it = std::find_if(msg->sigs.begin(), msg->sigs.end(), [&](auto &s) { return s.name == new_sig.name; }); + if (it != msg->sigs.end()) { + QString warning_str = tr("There is already a signal with the same name '%1'").arg(new_sig.name.c_str()); + QMessageBox::warning(this, tr("Failed to save signal"), warning_str); + return; + } + } + + auto [start, end] = getSignalRange(&new_sig); + if (start < 0 || end >= msg->size * 8) { + QString warning_str = tr("Signal size [%1] exceed limit").arg(new_sig.size); + QMessageBox::warning(this, tr("Failed to save signal"), warning_str); + return; + } + + dbc()->updateSignal(msg_id, sig->name.c_str(), new_sig); // update binary view and history log - binary_view->setMessage(msg_id); - history_log->setMessage(msg_id); + dbcMsgChanged(); } -void DetailWidget::removeSignal() { - SignalEdit *sig_form = qobject_cast(QObject::sender()); - QString text = tr("Are you sure you want to remove signal '%1'").arg(sig_form->sig_name); +void DetailWidget::removeSignal(const Signal *sig) { + QString text = tr("Are you sure you want to remove signal '%1'").arg(sig->name.c_str()); if (QMessageBox::Yes == QMessageBox::question(this, tr("Remove signal"), text)) { - dbc()->removeSignal(msg_id, sig_form->sig_name); + dbc()->removeSignal(msg_id, sig->name.c_str()); dbcMsgChanged(); } } diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 02bbb2a9e8..5924cdd43f 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -32,7 +32,7 @@ class DetailWidget : public QWidget { public: DetailWidget(QWidget *parent); void setMessage(const QString &message_id); - void dbcMsgChanged(); + void dbcMsgChanged(int show_form_idx = -1); signals: void showChart(const QString &msg_id, const Signal *sig); @@ -41,8 +41,8 @@ signals: private: void addSignal(int start_bit, int to); void resizeSignal(const Signal *sig, int from, int to); - void saveSignal(); - void removeSignal(); + void saveSignal(const Signal *sig, const Signal &new_sig); + void removeSignal(const Signal *sig); void editMsg(); void showForm(); void updateState(); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d0e171c86e..65e7bb1af8 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -14,9 +14,6 @@ void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const } MainWindow::MainWindow() : QWidget() { - main_win = this; - qInstallMessageHandler(qLogMessageHandler); - QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(11, 11, 11, 5); main_layout->setSpacing(0); @@ -88,6 +85,9 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); + + main_win = this; + qInstallMessageHandler(qLogMessageHandler); } void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) { diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index d5dccf0e6d..3926cda01f 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -11,7 +12,7 @@ // SignalForm -SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start_bit), QWidget(parent) { +SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { QFormLayout *form_layout = new QFormLayout(this); name = new QLineEdit(sig.name.c_str()); @@ -59,30 +60,9 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : start_bit(sig.start form_layout->addRow(tr("Value descriptions"), val_desc); } -Signal SignalForm::getSignal() { - // TODO: Check if the size is valid, and no duplicate name - Signal sig = {}; - sig.start_bit = start_bit; - sig.name = name->text().toStdString(); - sig.size = size->text().toInt(); - sig.offset = offset->text().toDouble(); - sig.factor = factor->text().toDouble(); - sig.is_signed = sign->currentIndex() == 0; - sig.is_little_endian = endianness->currentIndex() == 0; - if (sig.is_little_endian) { - sig.lsb = sig.start_bit; - sig.msb = sig.start_bit + sig.size - 1; - } else { - sig.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(sig.start_bit) + sig.size - 1); - sig.msb = sig.start_bit; - } - return sig; -} - // SignalEdit -SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent) - : sig(&sig), form_idx(index), sig_name(sig.name.c_str()), QWidget(parent) { +SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent) : msg_id(msg_id), sig(sig), form_idx(index), QWidget(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); @@ -93,7 +73,7 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid title_layout->addWidget(icon); title = new ElidedLabel(this); title->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - title->setText(QString("%1. %2").arg(index + 1).arg(sig_name)); + title->setText(QString("%1. %2").arg(index + 1).arg(sig->name.c_str())); title->setStyleSheet(QString("font-weight:bold; color:%1").arg(getColor(index))); title_layout->addWidget(title, 1); @@ -113,7 +93,7 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid // signal form form_container = new QWidget(this); QVBoxLayout *v_layout = new QVBoxLayout(form_container); - form = new SignalForm(sig, this); + form = new SignalForm(*sig, this); v_layout->addWidget(form); QHBoxLayout *h = new QHBoxLayout(); @@ -133,20 +113,34 @@ SignalEdit::SignalEdit(int index, const QString &msg_id, const Signal &sig, QWid hline->setFrameShadow(QFrame::Sunken); main_layout->addWidget(hline); - QObject::connect(remove_btn, &QPushButton::clicked, this, &SignalEdit::remove); + QObject::connect(remove_btn, &QPushButton::clicked, [this]() { emit remove(this->sig); }); QObject::connect(title, &ElidedLabel::clicked, this, &SignalEdit::showFormClicked); - QObject::connect(save_btn, &QPushButton::clicked, [=]() { - QString new_name = form->getSignal().name.c_str(); - title->setText(QString("%1. %2").arg(index + 1).arg(new_name)); - emit save(); - sig_name = new_name; - }); - QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id, s = &sig]() { - SignalFindDlg dlg(msg_id, s, this); + QObject::connect(save_btn, &QPushButton::clicked, this, &SignalEdit::saveSignal); + QObject::connect(seek_btn, &QPushButton::clicked, [this, msg_id]() { + SignalFindDlg dlg(msg_id, this->sig, this); dlg.exec(); }); } +void SignalEdit::saveSignal() { + Signal s = *sig; + s.name = form->name->text().toStdString(); + s.size = form->size->text().toInt(); + s.offset = form->offset->text().toDouble(); + s.factor = form->factor->text().toDouble(); + s.is_signed = form->sign->currentIndex() == 0; + s.is_little_endian = form->endianness->currentIndex() == 0; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } + title->setText(QString("%1. %2").arg(form_idx + 1).arg(form->name->text())); + emit save(this->sig, s); +} + void SignalEdit::setFormVisible(bool visible) { form_container->setVisible(visible); icon->setText(visible ? "▼" : ">"); @@ -167,27 +161,7 @@ void SignalEdit::leaveEvent(QEvent *event) { QWidget::leaveEvent(event); } -// AddSignalDialog - -AddSignalDialog::AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent) : QDialog(parent) { - setWindowTitle(tr("Add signal to %1").arg(dbc()->msg(id)->name.c_str())); - QVBoxLayout *main_layout = new QVBoxLayout(this); - - Signal sig = { - .name = "untitled", - .start_bit = bigEndianBitIndex(start_bit), - .is_little_endian = false, - .size = size, - }; - form = new SignalForm(sig, this); - main_layout->addWidget(form); - auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - main_layout->addWidget(buttonBox); - setFixedWidth(parent->width() * 0.9); - - connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); - connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); -} +// SignalFindDlg SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) { setWindowTitle(tr("Find signal values")); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 1213b3ec51..472453d4b1 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -15,48 +15,41 @@ class SignalForm : public QWidget { public: SignalForm(const Signal &sig, QWidget *parent); - Signal getSignal(); QLineEdit *name, *unit, *comment, *val_desc; QSpinBox *size, *offset; QDoubleSpinBox *factor, *min_val, *max_val; QComboBox *sign, *endianness; - int start_bit = 0; }; class SignalEdit : public QWidget { Q_OBJECT public: - SignalEdit(int index, const QString &msg_id, const Signal &sig, QWidget *parent = nullptr); + SignalEdit(int index, const QString &msg_id, const Signal *sig, QWidget *parent = nullptr); void setFormVisible(bool show); void signalHovered(const Signal *sig); inline bool isFormVisible() const { return form_container->isVisible(); } - QString sig_name; - SignalForm *form; - int form_idx = 0; - const Signal *sig = nullptr; signals: void highlight(const Signal *sig); void showChart(); void showFormClicked(); - void remove(); - void save(); + void remove(const Signal *sig); + void save(const Signal *sig, const Signal &new_sig); protected: void enterEvent(QEvent *event) override; void leaveEvent(QEvent *event) override; + void saveSignal(); + SignalForm *form; ElidedLabel *title; QWidget *form_container; QLabel *icon; -}; - -class AddSignalDialog : public QDialog { -public: - AddSignalDialog(const QString &id, int start_bit, int size, QWidget *parent); - SignalForm *form; + int form_idx = 0; + QString msg_id; + const Signal *sig = nullptr; }; class SignalFindDlg : public QDialog { From 64f89beb0d8d594e10876b2df11cfdba42b8c2c1 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:39:06 +0800 Subject: [PATCH 103/137] Cabana: delete all selected cells when shrinking signal (#26211) --- tools/cabana/binaryview.cc | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 915ec8bb8f..ed5f243f08 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -86,7 +86,8 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) { if (auto sig = getResizingSignal()) { auto [sig_from, sig_to] = getSignalRange(sig); if (from >= sig_from && to <= sig_to) { // reduce size - emit(from == sig_from ? resizeSignal(sig, to, sig_to) : resizeSignal(sig, sig_from, from)); + emit(from == sig_from ? resizeSignal(sig, std::min(to + 1, sig_to), sig_to) + : resizeSignal(sig, sig_from, std::max(from - 1, sig_from))); } else { // increase size emit resizeSignal(sig, std::min(from, sig_from), std::max(to, sig_to)); } From 0844662f845130bb536d7c8cad093fffbdefd761 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:39:38 +0800 Subject: [PATCH 104/137] Cabana: use deque::resize() instead of pop_back in loop (#26209) use resize instead of pop_front in loop --- tools/cabana/canmessages.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index d88f34801b..d2141c3630 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -71,8 +71,8 @@ void CANMessages::process(QHash> *messages) { msgs = std::move(new_msgs); } else { msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end())); - while (msgs.size() >= settings.can_msg_log_size) { - msgs.pop_back(); + if (msgs.size() > settings.can_msg_log_size) { + msgs.resize(settings.can_msg_log_size); } } } From 062267f4696c304b6ed0824a3b1046fecdd07e04 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 04:57:32 +0800 Subject: [PATCH 105/137] replay: reduce test running time (#26160) --- tools/replay/tests/test_replay.cc | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 5b61b6b6f2..30e3c811ee 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -197,8 +197,8 @@ void TestReplay::test_seek() { stream_thread_ = new QThread(this); QEventLoop loop; std::thread thread = std::thread([&]() { - for (int i = 0; i < 50; ++i) { - testSeekTo(random_int(0, 3 * 60)); + for (int i = 0; i < 10; ++i) { + testSeekTo(random_int(0, 1 * 60)); } loop.quit(); }); @@ -207,8 +207,7 @@ void TestReplay::test_seek() { } TEST_CASE("Replay") { - auto flag = GENERATE(REPLAY_FLAG_NO_FILE_CACHE, REPLAY_FLAG_NONE); - TestReplay replay(DEMO_ROUTE, flag); + TestReplay replay(DEMO_ROUTE); REQUIRE(replay.load()); replay.test_seek(); } From 60b666fe3b24495b8a6c51dc016988049803bc2d Mon Sep 17 00:00:00 2001 From: Oxygen Date: Mon, 24 Oct 2022 06:25:50 +0800 Subject: [PATCH 106/137] Add #include in cabana (#26208) * Add #include * fix import order Co-authored-by: Cameron Clough --- tools/cabana/messageswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index c289f54fc4..9b831ad18c 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include #include From 20dced4edcbebfcf496800fb236f0d6f2be26665 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 24 Oct 2022 06:28:25 +0800 Subject: [PATCH 107/137] Cabana: Added ability to highlight and resize overlapped signals (#26210) --- tools/cabana/binaryview.cc | 22 +++++++++++++--------- tools/cabana/binaryview.h | 3 ++- 2 files changed, 15 insertions(+), 10 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index ed5f243f08..5d191d2ca3 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -70,9 +70,10 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { void BinaryView::mouseMoveEvent(QMouseEvent *event) { if (auto index = indexAt(event->pos()); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); - highlight(item->sig); - item->sig ? QToolTip::showText(event->globalPos(), item->sig->name.c_str(), this, rect()) - : QToolTip::hideText(); + const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); + highlight(sig); + sig ? QToolTip::showText(event->globalPos(), sig->name.c_str(), this, rect()) + : QToolTip::hideText(); } QTableView::mouseMoveEvent(event); } @@ -119,11 +120,13 @@ void BinaryView::updateState() { const Signal *BinaryView::getResizingSignal() const { if (anchor_index.isValid()) { auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer(); - if (item && item->sig) { + if (item && item->sigs.size() > 0) { int archor_pos = anchor_index.row() * 8 + anchor_index.column(); - auto [sig_from, sig_to] = getSignalRange(item->sig); - if (archor_pos == sig_from || archor_pos == sig_to) - return item->sig; + for (auto s : item->sigs) { + auto [sig_from, sig_to] = getSignalRange(s); + if (archor_pos == sig_from || archor_pos == sig_to) + return s; + } } } return nullptr; @@ -157,7 +160,7 @@ void BinaryViewModel::setMessage(const QString &message_id) { sig.is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; } items[idx].bg_color = getColor(i); - items[idx].sig = &dbc_msg->sigs[i]; + items[idx].sigs.push_back(&dbc_msg->sigs[i]); } } } @@ -235,7 +238,8 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op BinaryView *bin_view = (BinaryView *)parent(); painter->save(); - bool hover = item->sig && bin_view->hoveredSignal() == item->sig; + bool hover = std::find_if(item->sigs.begin(), item->sigs.end(), [=](auto s) { return s == bin_view->hoveredSignal(); }) != + item->sigs.end(); // background QColor bg_color = hover ? hoverColor(item->bg_color) : item->bg_color; if (option.state & QStyle::State_Selected) { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 8c1a582014..e57033b797 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include @@ -38,7 +39,7 @@ public: bool is_msb = false; bool is_lsb = false; QString val = "0"; - const Signal *sig = nullptr; + QList sigs; }; private: From 1be5cecfa256c16ae8ec9f71bbcd1a57220bf282 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Sun, 23 Oct 2022 15:49:32 -0700 Subject: [PATCH 108/137] add poetry-dotenv-plugin (#26216) --- update_requirements.sh | 1 + 1 file changed, 1 insertion(+) diff --git a/update_requirements.sh b/update_requirements.sh index 0967e2dc6c..8511a0a4d6 100755 --- a/update_requirements.sh +++ b/update_requirements.sh @@ -60,6 +60,7 @@ if [ -d "./xx" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ]; then RUN="" else echo "PYTHONPATH=${PWD}" > .env + poetry self add poetry-dotenv-plugin@^0.1.0 RUN="poetry run" fi From c00afb51be233cb507f18021cf5a44eea32e237e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 24 Oct 2022 10:58:00 -0700 Subject: [PATCH 109/137] Multilang: remove locations (#26223) remove locations from langs not in UI --- selfdrive/ui/translations/main_ar.ts | 391 +++++++-------------------- selfdrive/ui/translations/main_nl.ts | 391 +++++++-------------------- selfdrive/ui/translations/main_pl.ts | 391 +++++++-------------------- selfdrive/ui/translations/main_th.ts | 391 +++++++-------------------- 4 files changed, 408 insertions(+), 1156 deletions(-) diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index a94d2fbc05..3c47e6e8e8 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -4,17 +4,14 @@ AbstractAlert - Close أغلق - Snooze Update تأخير التحديث - Reboot and Update إعادة التشغيل والتحديث @@ -22,67 +19,84 @@ AdvancedNetworking - Back خلف - Enable Tethering تمكين الربط - Tethering Password كلمة مرور للربط - - EDIT تعديل - Enter new tethering password أدخل كلمة مرور جديدة للربط - IP Address عنوان IP - Enable Roaming تمكين التجوال - APN Setting إعداد APN - Enter APN أدخل APN - leave blank for automatic configuration اتركه فارغا للتكوين التلقائي + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + الأعلى + + + SPEED + سرعة + + + LIMIT + حد + ConfirmationDialog - - Ok موافق - Cancel إلغاء @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. يجب عليك قبول الشروط والأحكام من أجل استخدام openpilot. - Back خلف - Decline, uninstall %1 رفض ، قم بإلغاء تثبيت %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID معرف دونجل - N/A غير متاح - Serial التسلسلي - Driver Camera كاميرا السائق - PREVIEW لمح - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) قم بمعاينة الكاميرا المواجهة للسائق للتأكد من أن نظام مراقبة السائق يتمتع برؤية جيدة. (يجب أن تكون السيارة معطلة) - Reset Calibration إعادة ضبط المعايرة - RESET إعادة تعيين - Are you sure you want to reset calibration? هل أنت متأكد أنك تريد إعادة ضبط المعايرة؟ - Review Training Guide مراجعة دليل التدريب - REVIEW مراجعة - Review the rules, features, and limitations of openpilot راجع القواعد والميزات والقيود الخاصة بـ openpilot - Are you sure you want to review the training guide? هل أنت متأكد أنك تريد مراجعة دليل التدريب؟ - Regulatory تنظيمية - VIEW عرض - Change Language تغيير اللغة - CHANGE تغيير - Select a language اختر لغة - Reboot اعادة التشغيل - Power Off أطفاء - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. يتطلب openpilot أن يتم تركيب الجهاز في حدود 4 درجات يسارًا أو يمينًا و 5 درجات لأعلى أو 8 درجات لأسفل. يقوم برنامج openpilot بالمعايرة بشكل مستمر ، ونادراً ما تكون إعادة الضبط مطلوبة. - Your device is pointed %1° %2 and %3° %4. جهازك يشير %1° %2 و %3° %4. - down لأسفل - up إلى أعلى - left إلى اليسار - right إلى اليمين - Are you sure you want to reboot? هل أنت متأكد أنك تريد إعادة التشغيل؟ - Disengage to Reboot فك الارتباط لإعادة التشغيل - Are you sure you want to power off? هل أنت متأكد أنك تريد إيقاف التشغيل؟ - Disengage to Power Off فك الارتباط لإيقاف التشغيل @@ -261,32 +242,26 @@ DriveStats - Drives أرقام القيادة - Hours ساعات - ALL TIME في كل وقت - PAST WEEK الأسبوع الماضي - KM كم - Miles اميال @@ -294,7 +269,6 @@ DriverViewScene - camera starting بدء تشغيل الكاميرا @@ -302,12 +276,10 @@ InputDialog - Cancel إلغاء - Need at least %n character(s)! تحتاج على الأقل %n حرف! @@ -322,22 +294,18 @@ Installer - Installing... جارٍ التثبيت ... - Receiving objects: استقبال الكائنات: - Resolving deltas: حل دلتا: - Updating files: جارٍ تحديث الملفات: @@ -345,27 +313,22 @@ MapETA - eta eta - min دق - hr سع - km كم - mi مل @@ -373,22 +336,18 @@ MapInstructions - km كم - m م - mi مل - ft قد @@ -396,48 +355,40 @@ MapPanel - Current Destination الوجهة الحالية - CLEAR مسح - Recent Destinations الوجهات الأخيرة - Try the Navigation Beta جرب التنقل التجريبي - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai احصل على الاتجاهات خطوة بخطوة معروضة والمزيد باستخدام comma الاشتراك الرئيسي. اشترك الآن: https://connect.comma.ai - No home location set لم يتم تعيين موقع المنزل - No work location set لم يتم تعيين موقع العمل - no recent destinations لا توجد وجهات حديثة @@ -445,12 +396,10 @@ location set MapWindow - Map Loading تحميل الخريطة - Waiting for GPS في انتظار GPS @@ -458,12 +407,10 @@ location set MultiOptionDialog - Select اختر - Cancel إلغاء @@ -471,72 +418,33 @@ location set Networking - Advanced متقدم - Enter password أدخل كلمة المرور - - for "%1" ل "%1" - Wrong password كلمة مرور خاطئة - - AnnotatedCameraWidget - - - km/h - km/h - - - - mph - mph - - - - - MAX - الأعلى - - - - - SPEED - سرعة - - - - - LIMIT - حد - - OffroadHome - UPDATE تحديث - ALERTS تنبيهات - ALERT تنبيه @@ -544,22 +452,18 @@ location set PairingPopup - Pair your device to your comma account قم بإقران جهازك بحساب comma الخاص بك - Go to https://connect.comma.ai on your phone اذهب إلى https://connect.comma.ai من هاتفك - Click "add new device" and scan the QR code on the right انقر على "إضافة جهاز جديد" وامسح رمز الاستجابة السريعة على اليمين - Bookmark connect.comma.ai to your home screen to use it like an app ضع إشارة مرجعية على connect.comma.ai على شاشتك الرئيسية لاستخدامه مثل أي تطبيق @@ -567,32 +471,26 @@ location set PrimeAdWidget - Upgrade Now قم بالترقية الآن - Become a comma prime member at connect.comma.ai كن عضوًا comme prime في connect.comma.ai - PRIME FEATURES: ميزات PRIME: - Remote access الوصول عن بعد - 1 year of storage سنة واحدة من التخزين - Developer perks امتيازات المطور @@ -600,22 +498,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ مشترك - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA POINTS @@ -623,27 +517,22 @@ location set QObject - Reboot اعادة التشغيل - Exit أغلق - dashcam dashcam - openpilot openpilot - %n minute(s) ago منذ %n دقيقة @@ -655,7 +544,6 @@ location set - %n hour(s) ago منذ %n ساعة @@ -667,7 +555,6 @@ location set - %n day(s) ago منذ %n يوم @@ -682,47 +569,38 @@ location set Reset - Reset failed. Reboot to try again. فشل إعادة التعيين. أعد التشغيل للمحاولة مرة أخرى. - Are you sure you want to reset your device? هل أنت متأكد أنك تريد إعادة ضبط جهازك؟ - Resetting device... جارٍ إعادة ضبط الجهاز ... - System Reset إعادة تعيين النظام - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. تم تشغيل إعادة تعيين النظام. اضغط على تأكيد لمسح كل المحتوى والإعدادات. اضغط على إلغاء لاستئناف التمهيد. - Cancel إلغاء - Reboot اعادة التشغيل - Confirm تأكيد - Unable to mount data partition. Press confirm to reset your device. تعذر تحميل قسم البيانات. اضغط على تأكيد لإعادة ضبط جهازك. @@ -730,7 +608,6 @@ location set RichTextDialog - Ok موافق @@ -738,33 +615,26 @@ location set SettingsWindow - × x - Device جهاز - - Network شبكة الاتصال - Toggles التبديل - Software برمجة - Navigation ملاحة @@ -772,105 +642,82 @@ location set Setup - WARNING: Low Voltage تحذير: الجهد المنخفض - Power your device in a car with a harness or proceed at your own risk. قم بتشغيل جهازك في سيارة باستخدام أداة تثبيت أو المضي قدمًا على مسؤوليتك الخاصة. - Power off اطفئ الجهاز - - - Continue أكمل - Getting Started ابدء - Before we get on the road, let’s finish installation and cover some details. قبل أن ننطلق على الطريق ، دعنا ننتهي من التثبيت ونغطي بعض التفاصيل. - Connect to Wi-Fi اتصل بشبكة Wi-Fi - - Back خلف - Continue without Wi-Fi استمر بدون Wi-Fi - Waiting for internet في انتظار الاتصال بالإنترنت - Choose Software to Install اختر البرنامج المراد تثبيته - Dashcam Dashcam - Custom Software برامج مخصصة - Enter URL إدخال عنوان الموقع - for Custom Software للبرامج المخصصة - Downloading... جارى التحميل... - Download Failed فشل التنزيل - Ensure the entered URL is valid, and the device’s internet connection is good. تأكد من أن عنوان موقع الويب الذي تم إدخاله صالح ، وأن اتصال الجهاز بالإنترنت جيد. - Reboot device إعادة تشغيل الجهاز - Start over ابدأ من جديد @@ -878,17 +725,14 @@ location set SetupWidget - Finish Setup إنهاء الإعداد - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. قم بإقران جهازك بفاصلة connect (connect.comma.ai) واطلب عرض comma prime الخاص بك. - Pair device إقران الجهاز @@ -896,106 +740,82 @@ location set Sidebar - - CONNECT الاتصال - OFFLINE غير متصل - - ONLINE متصل - ERROR خطأ - - - TEMP درجة الحرارة - HIGH عالي - GOOD جيد - OK موافق - VEHICLE مركبة - NO لا - PANDA PANDA - GPS GPS - SEARCH بحث - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -1003,138 +823,141 @@ location set SoftwarePanel - Git Branch - Git Branch + Git Branch - Git Commit - Git Commit + Git Commit - OS Version - إصدار نظام التشغيل + إصدار نظام التشغيل - Version - إصدار + إصدار - Last Update Check - التحقق من آخر تحديث + التحقق من آخر تحديث - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة. + آخر مرة نجح برنامج openpilot في التحقق من التحديث. يعمل المحدث فقط أثناء إيقاف تشغيل السيارة. - Check for Update - فحص التحديثات + فحص التحديثات - CHECKING - تدقيق + تدقيق - Switch Branch - تبديل الفرع + تبديل الفرع - ENTER - أدخل + أدخل - - The new branch will be pulled the next time the updater runs. - سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث. + سيتم سحب الفرع الجديد في المرة التالية التي يتم فيها تشغيل أداة التحديث. - Enter branch name - أدخل اسم الفرع + أدخل اسم الفرع - UNINSTALL الغاء التثبيت - Uninstall %1 الغاء التثبيت %1 - Are you sure you want to uninstall? هل أنت متأكد أنك تريد إلغاء التثبيت؟ - failed to fetch update - فشل في جلب التحديث + فشل في جلب التحديث - - CHECK تأكد الان + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys SSH Keys - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. تحذير: هذا يمنح SSH الوصول إلى جميع المفاتيح العامة في إعدادات GitHub. لا تدخل أبدًا اسم مستخدم GitHub بخلاف اسم المستخدم الخاص بك. لن يطلب منك موظف comma أبدًا إضافة اسم مستخدم GitHub الخاص به. - - ADD أضف - Enter your GitHub username أدخل اسم مستخدم GitHub الخاص بك - LOADING جار التحميل - REMOVE نزع - Username '%1' has no keys on GitHub لا يحتوي اسم المستخدم '%1' على مفاتيح على GitHub - Request timed out انتهت مهلة الطلب - Username '%1' doesn't exist on GitHub اسم المستخدم '%1' غير موجود على GitHub @@ -1142,7 +965,6 @@ location set SshToggle - Enable SSH تفعيل SSH @@ -1150,22 +972,18 @@ location set TermsPage - Terms & Conditions البنود و الظروف - Decline انحدار - Scroll to accept قم بالتمرير للقبول - Agree موافق @@ -1173,125 +991,125 @@ location set TogglesPanel - Enable openpilot تمكين openpilot - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. استخدم نظام الطيار المفتوح للتحكم التكيفي في ثبات السرعة والحفاظ على مساعدة السائق. انتباهك مطلوب في جميع الأوقات لاستخدام هذه الميزة. يسري تغيير هذا الإعداد عند إيقاف تشغيل السيارة. - Enable Lane Departure Warnings قم بتمكين تحذيرات مغادرة حارة السير - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). تلقي تنبيهات للتوجه مرة أخرى إلى الحارة عندما تنجرف سيارتك فوق خط المسار المكتشف دون تنشيط إشارة الانعطاف أثناء القيادة لمسافة تزيد عن 31 ميلاً في الساعة (50 كم / ساعة). - Use Metric System استخدم النظام المتري - Display speed in km/h instead of mph. عرض السرعة بالكيلو متر في الساعة بدلاً من ميل في الساعة. - Record and Upload Driver Camera تسجيل وتحميل كاميرا السائق - Upload data from the driver facing camera and help improve the driver monitoring algorithm. قم بتحميل البيانات من الكاميرا المواجهة للسائق وساعد في تحسين خوارزمية مراقبة السائق. - Disengage On Accelerator Pedal فك الارتباط على دواسة التسريع - When enabled, pressing the accelerator pedal will disengage openpilot. عند التمكين ، سيؤدي الضغط على دواسة الوقود إلى فصل الطيار المفتوح. - Show ETA in 24h Format إظهار الوقت المقدر للوصول بتنسيق 24 ساعة - Use 24h format instead of am/pm استخدم تنسيق 24 ساعة بدلاً من صباحًا / مساءً - Show Map on Left Side of UI إظهار الخريطة على الجانب الأيسر من واجهة المستخدم - Show map on left side when in split screen view. إظهار الخريطة على الجانب الأيسر عندما تكون في طريقة عرض الشاشة المنقسمة. - openpilot Longitudinal Control - openpilot التحكم الطولي + openpilot التحكم الطولي - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB! + سوف يقوم برنامج openpilot بتعطيل رادار السيارة وسيتولى التحكم في الغاز والمكابح. تحذير: هذا يعطل AEB! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required مطلوب التحديث - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. مطلوب تحديث نظام التشغيل. قم بتوصيل جهازك بشبكة Wi-Fi للحصول على أسرع تجربة تحديث. حجم التنزيل 1 غيغابايت تقريبًا. - Connect to Wi-Fi اتصل بشبكة Wi-Fi - Install ثبيت - Back خلف - Loading... جار التحميل... - Reboot اعادة التشغيل - Update failed فشل التحديث @@ -1299,23 +1117,18 @@ location set WifiUI - - Scanning for networks... جارٍ البحث عن شبكات ... - CONNECTING... جارٍ الاتصال ... - FORGET نزع - Forget Wi-Fi Network "%1"? نزع شبكة اWi-Fi "%1"? diff --git a/selfdrive/ui/translations/main_nl.ts b/selfdrive/ui/translations/main_nl.ts index 21bb66d356..24d2031f31 100644 --- a/selfdrive/ui/translations/main_nl.ts +++ b/selfdrive/ui/translations/main_nl.ts @@ -4,17 +4,14 @@ AbstractAlert - Close Sluit - Snooze Update Update uitstellen - Reboot and Update Opnieuw Opstarten en Updaten @@ -22,67 +19,84 @@ AdvancedNetworking - Back Terug - Enable Tethering Tethering Inschakelen - Tethering Password Tethering Wachtwoord - - EDIT AANPASSEN - Enter new tethering password Voer nieuw tethering wachtwoord in - IP Address IP Adres - Enable Roaming Roaming Inschakelen - APN Setting APN Instelling - Enter APN Voer APN in - leave blank for automatic configuration laat leeg voor automatische configuratie + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + km/u + + + mph + mph + + + MAX + MAX + + + SPEED + SPEED + + + LIMIT + LIMIT + ConfirmationDialog - - Ok Ok - Cancel Annuleren @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. U moet de Algemene Voorwaarden accepteren om openpilot te gebruiken. - Back Terug - Decline, uninstall %1 Afwijzen, verwijder %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID Dongle ID - N/A Nvt - Serial Serienummer - Driver Camera Bestuurders Camera - PREVIEW BEKIJKEN - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) Bekijk de naar de bestuurder gerichte camera om ervoor te zorgen dat het monitoren van de bestuurder goed zicht heeft. (Voertuig moet uitgschakeld zijn) - Reset Calibration Kalibratie Resetten - RESET RESET - Are you sure you want to reset calibration? Weet u zeker dat u de kalibratie wilt resetten? - Review Training Guide Doorloop de Training Opnieuw - REVIEW BEKIJKEN - Review the rules, features, and limitations of openpilot Bekijk de regels, functies en beperkingen van openpilot - Are you sure you want to review the training guide? Weet u zeker dat u de training opnieuw wilt doorlopen? - Regulatory Regelgeving - VIEW BEKIJKEN - Change Language Taal Wijzigen - CHANGE WIJZIGEN - Select a language Selecteer een taal - Reboot Opnieuw Opstarten - Power Off Uitschakelen - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot vereist dat het apparaat binnen 4° links of rechts en binnen 5° omhoog of 8° omlaag wordt gemonteerd. openpilot kalibreert continu, resetten is zelden nodig. - Your device is pointed %1° %2 and %3° %4. Uw apparaat is gericht op %1° %2 en %3° %4. - down omlaag - up omhoog - left links - right rechts - Are you sure you want to reboot? Weet u zeker dat u opnieuw wilt opstarten? - Disengage to Reboot Deactiveer openpilot om opnieuw op te starten - Are you sure you want to power off? Weet u zeker dat u wilt uitschakelen? - Disengage to Power Off Deactiveer openpilot om uit te schakelen @@ -261,32 +242,26 @@ DriveStats - Drives Ritten - Hours Uren - ALL TIME TOTAAL - PAST WEEK AFGELOPEN WEEK - KM Km - Miles Mijl @@ -294,7 +269,6 @@ DriverViewScene - camera starting Camera wordt gestart @@ -302,12 +276,10 @@ InputDialog - Cancel Annuleren - Need at least %n character(s)! Heeft minstens %n karakter nodig! @@ -318,22 +290,18 @@ Installer - Installing... Installeren... - Receiving objects: Objecten ontvangen: - Resolving deltas: Deltas verwerken: - Updating files: Bestanden bijwerken: @@ -341,27 +309,22 @@ MapETA - eta eta - min min - hr uur - km km - mi mi @@ -369,22 +332,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -392,48 +351,40 @@ MapPanel - Current Destination Huidige Bestemming - CLEAR LEEGMAKEN - Recent Destinations Recente Bestemmingen - Try the Navigation Beta Probeer de Navigatie Bèta - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai Krijg stapsgewijze routebeschrijving en meer met een comma prime abonnement. Meld u nu aan: https://connect.comma.ai - No home location set Geen thuislocatie ingesteld - No work location set Geen werklocatie ingesteld - no recent destinations geen recente bestemmingen @@ -441,12 +392,10 @@ ingesteld MapWindow - Map Loading Kaart wordt geladen - Waiting for GPS Wachten op GPS @@ -454,12 +403,10 @@ ingesteld MultiOptionDialog - Select Selecteer - Cancel Annuleren @@ -467,72 +414,33 @@ ingesteld Networking - Advanced Geavanceerd - Enter password Voer wachtwoord in - - for "%1" voor "%1" - Wrong password Verkeerd wachtwoord - - AnnotatedCameraWidget - - - km/h - km/u - - - - mph - mph - - - - - MAX - MAX - - - - - SPEED - SPEED - - - - - LIMIT - LIMIT - - OffroadHome - UPDATE UPDATE - ALERTS WAARSCHUWINGEN - ALERT WAARSCHUWING @@ -540,22 +448,18 @@ ingesteld PairingPopup - Pair your device to your comma account Koppel uw apparaat aan uw comma-account - Go to https://connect.comma.ai on your phone Ga naar https://connect.comma.ai op uw telefoon - Click "add new device" and scan the QR code on the right Klik op "add new device" en scan de QR-code aan de rechterkant - Bookmark connect.comma.ai to your home screen to use it like an app Voeg connect.comma.ai toe op uw startscherm om het als een app te gebruiken @@ -563,32 +467,26 @@ ingesteld PrimeAdWidget - Upgrade Now Upgrade nu - Become a comma prime member at connect.comma.ai Word een comma prime lid op connect.comma.ai - PRIME FEATURES: PRIME BEVAT: - Remote access Toegang op afstand - 1 year of storage 1 jaar lang opslag - Developer perks Voordelen voor ontwikkelaars @@ -596,22 +494,18 @@ ingesteld PrimeUserWidget - ✓ SUBSCRIBED ✓ GEABONNEERD - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA PUNTEN @@ -619,27 +513,22 @@ ingesteld QObject - Reboot Opnieuw Opstarten - Exit Afsluiten - dashcam dashcam - openpilot openpilot - %n minute(s) ago %n minuut geleden @@ -647,7 +536,6 @@ ingesteld - %n hour(s) ago %n uur geleden @@ -655,7 +543,6 @@ ingesteld - %n day(s) ago %n dag geleden @@ -666,47 +553,38 @@ ingesteld Reset - Reset failed. Reboot to try again. Opnieuw instellen mislukt. Start opnieuw op om opnieuw te proberen. - Are you sure you want to reset your device? Weet u zeker dat u uw apparaat opnieuw wilt instellen? - Resetting device... Apparaat opnieuw instellen... - System Reset Systeemreset - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. Systeemreset geactiveerd. Druk op bevestigen om alle inhoud en instellingen te wissen. Druk op Annuleren om het opstarten te hervatten. - Cancel Annuleren - Reboot Opnieuw Opstarten - Confirm Bevestigen - Unable to mount data partition. Press confirm to reset your device. Kan gegevenspartitie niet koppelen. Druk op bevestigen om uw apparaat te resetten. @@ -714,7 +592,6 @@ ingesteld RichTextDialog - Ok Ok @@ -722,33 +599,26 @@ ingesteld SettingsWindow - × × - Device Apparaat - - Network Netwerk - Toggles Opties - Software Software - Navigation Navigatie @@ -756,105 +626,82 @@ ingesteld Setup - WARNING: Low Voltage WAARCHUWING: Lage Spanning - Power your device in a car with a harness or proceed at your own risk. Voorzie uw apparaat van stroom in een auto met een harnas (car harness) of ga op eigen risico verder. - Power off Uitschakelen - - - Continue Doorgaan - Getting Started Aan de slag - Before we get on the road, let’s finish installation and cover some details. Laten we, voordat we op pad gaan, de installatie afronden en enkele details bespreken. - Connect to Wi-Fi Maak verbinding met Wi-Fi - - Back Terug - Continue without Wi-Fi Doorgaan zonder Wi-Fi - Waiting for internet Wachten op internet - Choose Software to Install Kies Software om te Installeren - Dashcam Dashcam - Custom Software Andere Software - Enter URL Voer URL in - for Custom Software voor Andere Software - Downloading... Downloaden... - Download Failed Downloaden Mislukt - Ensure the entered URL is valid, and the device’s internet connection is good. Zorg ervoor dat de ingevoerde URL geldig is en dat de internetverbinding van het apparaat goed is. - Reboot device Apparaat opnieuw opstarten - Start over Begin opnieuw @@ -862,17 +709,14 @@ ingesteld SetupWidget - Finish Setup Installatie voltooien - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Koppel uw apparaat met comma connect (connect.comma.ai) en claim uw comma prime-aanbieding. - Pair device Apparaat koppelen @@ -880,106 +724,82 @@ ingesteld Sidebar - - CONNECT VERBINDING - OFFLINE OFFLINE - - ONLINE ONLINE - ERROR FOUT - - - TEMP TEMP - HIGH HOOG - GOOD GOED - OK OK - VEHICLE VOERTUIG - NO GEEN - PANDA PANDA - GPS GPS - SEARCH ZOEKEN - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE 4G - 5G 5G @@ -987,138 +807,141 @@ ingesteld SoftwarePanel - Git Branch - Git Branch + Git Branch - Git Commit - Git Commit + Git Commit - OS Version - OS Versie + OS Versie - Version - Versie + Versie - Last Update Check - Laatste Updatecontrole + Laatste Updatecontrole - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - De laatste keer dat openpilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld. + De laatste keer dat openpilot met succes heeft gecontroleerd op een update. De updater werkt alleen als de auto is uitgeschakeld. - Check for Update - Controleer op Updates + Controleer op Updates - CHECKING - CONTROLEER + CONTROLEER - Switch Branch - Branch Verwisselen + Branch Verwisselen - ENTER - INVOEREN + INVOEREN - - The new branch will be pulled the next time the updater runs. - Tijdens de volgende update wordt de nieuwe branch opgehaald. + Tijdens de volgende update wordt de nieuwe branch opgehaald. - Enter branch name - Voer branch naam in + Voer branch naam in - Uninstall %1 Verwijder %1 - UNINSTALL VERWIJDER - Are you sure you want to uninstall? Weet u zeker dat u de installatie ongedaan wilt maken? - failed to fetch update - ophalen van update mislukt + ophalen van update mislukt - - CHECK CONTROLEER + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys SSH Sleutels - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. Waarschuwing: dit geeft SSH toegang tot alle openbare sleutels in uw GitHub-instellingen. Voer nooit een andere GitHub-gebruikersnaam in dan die van uzelf. Een medewerker van comma zal u NOOIT vragen om zijn GitHub-gebruikersnaam toe te voegen. - - ADD TOEVOEGEN - Enter your GitHub username Voer uw GitHub gebruikersnaam in - LOADING LADEN - REMOVE VERWIJDEREN - Username '%1' has no keys on GitHub Gebruikersnaam '%1' heeft geen SSH sleutels op GitHub - Request timed out Time-out van aanvraag - Username '%1' doesn't exist on GitHub Gebruikersnaam '%1' bestaat niet op GitHub @@ -1126,7 +949,6 @@ ingesteld SshToggle - Enable SSH SSH Inschakelen @@ -1134,22 +956,18 @@ ingesteld TermsPage - Terms & Conditions Algemene Voorwaarden - Decline Afwijzen - Scroll to accept Scroll om te accepteren - Agree Akkoord @@ -1157,125 +975,125 @@ ingesteld TogglesPanel - Enable openpilot openpilot Inschakelen - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. Gebruik het openpilot-systeem voor adaptieve cruisecontrol en rijstrookassistentie. Uw aandacht is te allen tijde vereist om deze functie te gebruiken. Het wijzigen van deze instelling wordt van kracht wanneer de auto wordt uitgeschakeld. - Enable Lane Departure Warnings Waarschuwingen bij Verlaten Rijstrook Inschakelen - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). Ontvang waarschuwingen om terug naar de rijstrook te sturen wanneer uw voertuig over een gedetecteerde rijstrookstreep drijft zonder dat de richtingaanwijzer wordt geactiveerd terwijl u harder rijdt dan 50 km/u (31 mph). - Use Metric System Gebruik Metrisch Systeem - Display speed in km/h instead of mph. Geef snelheid weer in km/u in plaats van mph. - Record and Upload Driver Camera Opnemen en Uploaden van de Bestuurders Camera - Upload data from the driver facing camera and help improve the driver monitoring algorithm. Upload gegevens van de bestuurders camera en help het algoritme voor het monitoren van de bestuurder te verbeteren. - Disengage On Accelerator Pedal Deactiveren Met Gaspedaal - When enabled, pressing the accelerator pedal will disengage openpilot. Indien ingeschakeld, zal het indrukken van het gaspedaal openpilot deactiveren. - Show ETA in 24h Format Toon verwachte aankomsttijd in 24-uurs formaat - Use 24h format instead of am/pm Gebruik 24-uurs formaat in plaats van AM en PM - Show Map on Left Side of UI Toon kaart aan linkerkant van het scherm - Show map on left side when in split screen view. Toon kaart links in gesplitste schermweergave. - openpilot Longitudinal Control - openpilot Longitudinale Controle + openpilot Longitudinale Controle - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld! + openpilot zal de radar van de auto uitschakelen en de controle over gas en remmen overnemen. Waarschuwing: hierdoor wordt AEB (automatische noodrem) uitgeschakeld! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required Update Vereist - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. Een update van het besturingssysteem is vereist. Verbind je apparaat met Wi-Fi voor de snelste update-ervaring. De downloadgrootte is ongeveer 1 GB. - Connect to Wi-Fi Maak verbinding met Wi-Fi - Install Installeer - Back Terug - Loading... Aan het laden... - Reboot Opnieuw Opstarten - Update failed Update mislukt @@ -1283,23 +1101,18 @@ ingesteld WifiUI - - Scanning for networks... Scannen naar netwerken... - CONNECTING... VERBINDEN... - FORGET VERGETEN - Forget Wi-Fi Network "%1"? Vergeet Wi-Fi Netwerk "%1"? diff --git a/selfdrive/ui/translations/main_pl.ts b/selfdrive/ui/translations/main_pl.ts index 92902d04a9..bdce181375 100644 --- a/selfdrive/ui/translations/main_pl.ts +++ b/selfdrive/ui/translations/main_pl.ts @@ -4,17 +4,14 @@ AbstractAlert - Close Zamknij - Snooze Update Zaktualizuj później - Reboot and Update Uruchom ponownie i zaktualizuj @@ -22,67 +19,84 @@ AdvancedNetworking - Back Wróć - Enable Tethering Włącz hotspot osobisty - Tethering Password Hasło do hotspotu - - EDIT EDYTUJ - Enter new tethering password Wprowadź nowe hasło do hotspotu - IP Address Adres IP - Enable Roaming Włącz roaming danych - APN Setting Ustawienia APN - Enter APN Wprowadź APN - leave blank for automatic configuration Pozostaw puste, aby użyć domyślnej konfiguracji + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + km/h + + + mph + mph + + + MAX + MAX + + + SPEED + PRĘDKOŚĆ + + + LIMIT + OGRANICZENIE + ConfirmationDialog - - Ok Ok - Cancel Anuluj @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. Aby korzystać z openpilota musisz zaakceptować regulamin. - Back Wróć - Decline, uninstall %1 Odrzuć, odinstaluj %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID ID adaptera - N/A N/A - Serial Numer seryjny - Driver Camera Kamera kierowcy - PREVIEW PODGLĄD - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) Wyświetl podgląd z kamery skierowanej na kierowcę, aby upewnić się, że monitoring kierowcy ma dobry zakres widzenia. (pojazd musi być wyłączony) - Reset Calibration Zresetuj kalibrację - RESET ZRESETUJ - Are you sure you want to reset calibration? Czy na pewno chcesz zresetować kalibrację? - Review Training Guide Zapoznaj się z samouczkiem - REVIEW ZAPOZNAJ SIĘ - Review the rules, features, and limitations of openpilot Zapoznaj się z zasadami, funkcjami i ograniczeniami openpilota - Are you sure you want to review the training guide? Czy na pewno chcesz się zapoznać z samouczkiem? - Regulatory Regulacja - VIEW WIDOK - Change Language Zmień język - CHANGE ZMIEŃ - Select a language Wybierz język - Reboot Uruchom ponownie - Power Off Wyłącz - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot wymaga, aby urządzenie było zamontowane z maksymalnym odchyłem 4° poziomo, 5° w górę oraz 8° w dół. openpilot jest ciągle kalibrowany, rzadko konieczne jest resetowania urządzenia. - Your device is pointed %1° %2 and %3° %4. Twoje urządzenie jest skierowane %1° %2 oraz %3° %4. - down w dół - up w górę - left w lewo - right w prawo - Are you sure you want to reboot? Czy na pewno chcesz uruchomić ponownie urządzenie? - Disengage to Reboot Aby uruchomić ponownie, odłącz sterowanie - Are you sure you want to power off? Czy na pewno chcesz wyłączyć urządzenie? - Disengage to Power Off Aby wyłączyć urządzenie, odłącz sterowanie @@ -261,32 +242,26 @@ DriveStats - Drives Przejazdy - Hours Godziny - ALL TIME CAŁKOWICIE - PAST WEEK OSTATNI TYDZIEŃ - KM KM - Miles Mile @@ -294,7 +269,6 @@ DriverViewScene - camera starting uruchamianie kamery @@ -302,12 +276,10 @@ InputDialog - Cancel Anuluj - Need at least %n character(s)! Wpisana wartość powinna składać się przynajmniej z %n znaku! @@ -319,22 +291,18 @@ Installer - Installing... Instalowanie... - Receiving objects: Odbieranie obiektów: - Resolving deltas: Rozwiązywanie różnic: - Updating files: Aktualizacja plików: @@ -342,27 +310,22 @@ MapETA - eta przewidywany czas - min min - hr godz - km km - mi mi @@ -370,22 +333,18 @@ MapInstructions - km km - m m - mi mi - ft ft @@ -393,48 +352,40 @@ MapPanel - Current Destination Miejsce docelowe - CLEAR WYCZYŚĆ - Recent Destinations Ostatnie miejsca docelowe - Try the Navigation Beta Wypróbuj nawigację w wersji beta - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai Odblokuj nawigację zakręt po zakęcie i wiele więcej subskrybując comma prime. Zarejestruj się teraz: https://connect.comma.ai - No home location set Lokalizacja domu nie została ustawiona - No work location set Miejsce pracy nie zostało ustawione - no recent destinations brak ostatnich miejsc docelowych @@ -442,12 +393,10 @@ nie zostało ustawione MapWindow - Map Loading Ładowanie Mapy - Waiting for GPS Oczekiwanie na sygnał GPS @@ -455,12 +404,10 @@ nie zostało ustawione MultiOptionDialog - Select Wybierz - Cancel Anuluj @@ -468,72 +415,33 @@ nie zostało ustawione Networking - Advanced Zaawansowane - Enter password Wprowadź hasło - - for "%1" do "%1" - Wrong password Niepoprawne hasło - - AnnotatedCameraWidget - - - km/h - km/h - - - - mph - mph - - - - - MAX - MAX - - - - - SPEED - PRĘDKOŚĆ - - - - - LIMIT - OGRANICZENIE - - OffroadHome - UPDATE UAKTUALNIJ - ALERTS ALERTY - ALERT ALERT @@ -541,22 +449,18 @@ nie zostało ustawione PairingPopup - Pair your device to your comma account Sparuj swoje urzadzenie ze swoim kontem comma - Go to https://connect.comma.ai on your phone Wejdź na stronę https://connect.comma.ai na swoim telefonie - Click "add new device" and scan the QR code on the right Kliknij "add new device" i zeskanuj kod QR znajdujący się po prawej stronie - Bookmark connect.comma.ai to your home screen to use it like an app Dodaj connect.comma.ai do zakładek na swoim ekranie początkowym, aby korzystać z niej jak z aplikacji @@ -564,32 +468,26 @@ nie zostało ustawione PrimeAdWidget - Upgrade Now Uaktualnij teraz - Become a comma prime member at connect.comma.ai Zostań członkiem comma prime na connect.comma.ai - PRIME FEATURES: FUNKCJE PRIME: - Remote access Zdalny dostęp - 1 year of storage 1 rok przechowywania danych - Developer perks Udogodnienia dla programistów @@ -597,22 +495,18 @@ nie zostało ustawione PrimeUserWidget - ✓ SUBSCRIBED ✓ ZASUBSKRYBOWANO - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS COMMA POINTS @@ -620,27 +514,22 @@ nie zostało ustawione QObject - Reboot Uruchom Ponownie - Exit Wyjdź - dashcam wideorejestrator - openpilot openpilot - %n minute(s) ago %n minutę temu @@ -649,7 +538,6 @@ nie zostało ustawione - %n hour(s) ago % godzinę temu @@ -658,7 +546,6 @@ nie zostało ustawione - %n day(s) ago %n dzień temu @@ -670,47 +557,38 @@ nie zostało ustawione Reset - Reset failed. Reboot to try again. Wymazywanie zakończone niepowodzeniem. Aby spróbować ponownie, uruchom ponownie urządzenie. - Are you sure you want to reset your device? Czy na pewno chcesz wymazać urządzenie? - Resetting device... Wymazywanie urządzenia... - System Reset Przywróć do ustawień fabrycznych - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. Przywracanie do ustawień fabrycznych. Wciśnij potwierdź, aby usunąć wszystkie dane oraz ustawienia. Wciśnij anuluj, aby wznowić uruchamianie. - Cancel Anuluj - Reboot Uruchom ponownie - Confirm Potwiedź - Unable to mount data partition. Press confirm to reset your device. Partycja nie została zamontowana poprawnie. Wciśnij potwierdź, aby uruchomić ponownie urządzenie. @@ -718,7 +596,6 @@ nie zostało ustawione RichTextDialog - Ok Ok @@ -726,33 +603,26 @@ nie zostało ustawione SettingsWindow - × x - Device Urządzenie - - Network Sieć - Toggles Przełączniki - Software Oprogramowanie - Navigation Nawigacja @@ -760,105 +630,82 @@ nie zostało ustawione Setup - WARNING: Low Voltage OSTRZEŻENIE: Niskie Napięcie - Power your device in a car with a harness or proceed at your own risk. Podłącz swoje urządzenie do zasilania poprzez podłączenienie go do pojazdu lub kontynuuj na własną odpowiedzialność. - Power off Wyłącz - - - Continue Kontynuuj - Getting Started Zacznij - Before we get on the road, let’s finish installation and cover some details. Zanim ruszysz w drogę, dokończ instalację i podaj kilka szczegółów. - Connect to Wi-Fi Połącz z Wi-Fi - - Back Wróć - Continue without Wi-Fi Kontynuuj bez połączenia z Wif-Fi - Waiting for internet Oczekiwanie na połączenie sieciowe - Choose Software to Install Wybierz oprogramowanie do instalacji - Dashcam Wideorejestrator - Custom Software Własne oprogramowanie - Enter URL Wprowadź adres URL - for Custom Software do własnego oprogramowania - Downloading... Pobieranie... - Download Failed Pobieranie nie powiodło się - Ensure the entered URL is valid, and the device’s internet connection is good. Upewnij się, że wpisany adres URL jest poprawny, a połączenie internetowe działa poprawnie. - Reboot device Uruchom ponownie - Start over Zacznij od początku @@ -866,17 +713,14 @@ nie zostało ustawione SetupWidget - Finish Setup Zakończ konfigurację - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. Sparuj swoje urządzenie z comma connect (connect.comma.ai) i wybierz swoją ofertę comma prime. - Pair device Sparuj urządzenie @@ -884,106 +728,82 @@ nie zostało ustawione Sidebar - - CONNECT POŁĄCZENIE - OFFLINE OFFLINE - - ONLINE ONLINE - ERROR BŁĄD - - - TEMP TEMP - HIGH WYSOKA - GOOD DOBRA - OK OK - VEHICLE POJAZD - NO BRAK - PANDA PANDA - GPS GPS - SEARCH SZUKAJ - -- -- - Wi-Fi Wi-FI - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -991,138 +811,141 @@ nie zostało ustawione SoftwarePanel - Git Branch - Gałąź Git + Gałąź Git - Git Commit - Git commit + Git commit - OS Version - Wersja systemu + Wersja systemu - Version - Wersja + Wersja - Last Update Check - Ostatnie sprawdzenie aktualizacji + Ostatnie sprawdzenie aktualizacji - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - Ostatni raz kiedy openpilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony. + Ostatni raz kiedy openpilot znalazł aktualizację. Aktualizator może być uruchomiony wyłącznie wtedy, kiedy pojazd jest wyłączony. - Check for Update - Sprawdź uaktualnienia + Sprawdź uaktualnienia - CHECKING - SPRAWDZANIE + SPRAWDZANIE - Switch Branch - Zmień gąłąź + Zmień gąłąź - ENTER - WPROWADŹ + WPROWADŹ - - The new branch will be pulled the next time the updater runs. - Nowa gałąź będzie pobrana przy następnym uruchomieniu aktualizatora. + Nowa gałąź będzie pobrana przy następnym uruchomieniu aktualizatora. - Enter branch name - Wprowadź nazwę gałęzi + Wprowadź nazwę gałęzi - Uninstall %1 Odinstaluj %1 - UNINSTALL ODINSTALUJ - Are you sure you want to uninstall? Czy na pewno chcesz odinstalować? - failed to fetch update - pobieranie aktualizacji zakończone niepowodzeniem + pobieranie aktualizacji zakończone niepowodzeniem - - CHECK SPRAWDŹ + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys Klucze SSH - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. Ostrzeżenie: To spowoduje przekazanie dostępu do wszystkich Twoich publicznych kuczy z ustawień GitHuba. Nigdy nie wprowadzaj nazwy użytkownika innej niż swoja. Pracownik comma NIGDY nie poprosi o dodanie swojej nazwy uzytkownika. - - ADD DODAJ - Enter your GitHub username Wpisz swoją nazwę użytkownika GitHub - LOADING ŁADOWANIE - REMOVE USUŃ - Username '%1' has no keys on GitHub Użytkownik '%1' nie posiada żadnych kluczy na GitHubie - Request timed out Limit czasu rządania - Username '%1' doesn't exist on GitHub Użytkownik '%1' nie istnieje na GitHubie @@ -1130,7 +953,6 @@ nie zostało ustawione SshToggle - Enable SSH Włącz SSH @@ -1138,22 +960,18 @@ nie zostało ustawione TermsPage - Terms & Conditions Regulamin - Decline Odrzuć - Scroll to accept Przewiń w dół, aby zaakceptować - Agree Zaakceptuj @@ -1161,125 +979,125 @@ nie zostało ustawione TogglesPanel - Enable openpilot Włącz openpilota - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. Użyj openpilota do zachowania bezpiecznego odstępu między pojazdami i do asystowania w utrzymywaniu pasa ruchu. Twoja pełna uwaga jest wymagana przez cały czas korzystania z tej funkcji. Ustawienie to może być wdrożone wyłącznie wtedy, gdy pojazd jest wyłączony. - Enable Lane Departure Warnings Włącz ostrzeganie przed zmianą pasa ruchu - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). Otrzymuj alerty o powrocie na właściwy pas, kiedy Twój pojazd przekroczy linię bez włączonego kierunkowskazu jadąc powyżej 50 km/h (31 mph). - Use Metric System Korzystaj z systemu metrycznego - Display speed in km/h instead of mph. Wyświetl prędkość w km/h zamiast mph. - Record and Upload Driver Camera Nagraj i prześlij nagranie z kamery kierowcy - Upload data from the driver facing camera and help improve the driver monitoring algorithm. Prześlij dane z kamery skierowanej na kierowcę i pomóż poprawiać algorytm monitorowania kierowcy. - Disengage On Accelerator Pedal Odłącz poprzez naciśnięcie gazu - When enabled, pressing the accelerator pedal will disengage openpilot. Po włączeniu, naciśnięcie na pedał gazu odłączy openpilota. - Show ETA in 24h Format Pokaż oczekiwany czas dojazdu w formacie 24-godzinnym - Use 24h format instead of am/pm Korzystaj z formatu 24-godzinnego zamiast 12-godzinnego - Show Map on Left Side of UI Pokaż mapę po lewej stronie ekranu - Show map on left side when in split screen view. Pokaż mapę po lewej stronie kiedy ekran jest podzielony. - openpilot Longitudinal Control - Kontrola wzdłużna openpilota + Kontrola wzdłużna openpilota - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB! + openpilot wyłączy radar samochodu i przejmie kontrolę nad gazem i hamulcem. Ostrzeżenie: wyłączony zostanie system AEB! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required Wymagana Aktualizacja - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. Wymagana aktualizacja systemu operacyjnego. Aby przyspieszyć proces aktualizacji połącz swoje urzeądzenie do Wi-Fi. Rozmiar pobieranej paczki wynosi około 1GB. - Connect to Wi-Fi Połącz się z Wi-Fi - Install Zainstaluj - Back Wróć - Loading... Ładowanie... - Reboot Uruchom ponownie - Update failed Aktualizacja nie powiodła się @@ -1287,23 +1105,18 @@ nie zostało ustawione WifiUI - - Scanning for networks... Wyszukiwanie sieci... - CONNECTING... ŁĄCZENIE... - FORGET ZAPOMNIJ - Forget Wi-Fi Network "%1"? Czy chcesz zapomnieć sieć "%1"? diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index d502c3fce1..5a8bf861df 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -4,17 +4,14 @@ AbstractAlert - Close ปิด - Snooze Update เลื่อนการอัปเดต - Reboot and Update รีบูตและอัปเดต @@ -22,67 +19,84 @@ AdvancedNetworking - Back ย้อนกลับ - Enable Tethering ปล่อยฮอตสปอต - Tethering Password รหัสผ่านฮอตสปอต - - EDIT แก้ไข - Enter new tethering password ป้อนรหัสผ่านฮอตสปอตใหม่ - IP Address หมายเลขไอพี - Enable Roaming เปิดใช้งานโรมมิ่ง - APN Setting ตั้งค่า APN - Enter APN ป้อนค่า APN - leave blank for automatic configuration เว้นว่างเพื่อตั้งค่าอัตโนมัติ + + Cellular Metered + + + + Prevent large data uploads when on a metered connection + + + + + AnnotatedCameraWidget + + km/h + กม./ชม. + + + mph + ไมล์/ชม. + + + MAX + สูงสุด + + + SPEED + ความเร็ว + + + LIMIT + จำกัด + ConfirmationDialog - - Ok ตกลง - Cancel ยกเลิก @@ -90,17 +104,14 @@ DeclinePage - You must accept the Terms and Conditions in order to use openpilot. คุณต้องยอมรับเงื่อนไขและข้อตกลง เพื่อใช้งาน openpilot - Back ย้อนกลับ - Decline, uninstall %1 ปฏิเสธ และถอนการติดตั้ง %1 @@ -108,152 +119,122 @@ DevicePanel - Dongle ID Dongle ID - N/A ไม่มี - Serial ซีเรียล - Driver Camera กล้องฝั่งคนขับ - PREVIEW แสดงภาพ - Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off) ดูภาพตัวอย่างกล้องที่หันเข้าหาคนขับเพื่อให้แน่ใจว่าการตรวจสอบคนขับมีทัศนวิสัยที่ดี (รถต้องดับเครื่องยนต์) - Reset Calibration รีเซ็ตการคาลิเบรท - RESET รีเซ็ต - Are you sure you want to reset calibration? คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตการคาลิเบรท? - Review Training Guide ทบทวนคู่มือการใช้งาน - REVIEW ทบทวน - Review the rules, features, and limitations of openpilot ตรวจสอบกฎ คุณสมบัติ และข้อจำกัดของ openpilot - Are you sure you want to review the training guide? คุณแน่ใจหรือไม่ว่าต้องการทบทวนคู่มือการใช้งาน? - Regulatory ระเบียบข้อบังคับ - VIEW ดู - Change Language เปลี่ยนภาษา - CHANGE เปลี่ยน - Select a language เลือกภาษา - Reboot รีบูต - Power Off ปิดเครื่อง - openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. openpilot กำหนดให้ติดตั้งอุปกรณ์ โดยสามารถเอียงด้านซ้ายหรือขวาไม่เกิน 4° และเอียงขึ้นด้านบนไม่เกิน 5° หรือเอียงลงด้านล่างไม่เกิน 8° openpilot ทำการคาลิเบรทอย่างต่อเนื่อง แทบจะไม่จำเป็นต้องทำการรีเซ็ตการคาลิเบรท - Your device is pointed %1° %2 and %3° %4. อุปกรณ์ของคุณเอียงไปทาง %2 %1° และ %4 %3° - down ด้านล่าง - up ด้านบน - left ด้านซ้าย - right ด้านขวา - Are you sure you want to reboot? คุณแน่ใจหรือไม่ว่าต้องการรีบูต? - Disengage to Reboot ยกเลิกระบบช่วยขับเพื่อรีบูต - Are you sure you want to power off? คุณแน่ใจหรือไม่ว่าต้องการปิดเครื่อง? - Disengage to Power Off ยกเลิกระบบช่วยขับเพื่อปิดเครื่อง @@ -261,32 +242,26 @@ DriveStats - Drives การขับขี่ - Hours ชั่วโมง - ALL TIME ทั้งหมด - PAST WEEK สัปดาห์ที่ผ่านมา - KM กิโลเมตร - Miles ไมล์ @@ -294,7 +269,6 @@ DriverViewScene - camera starting กำลังเปิดกล้อง @@ -302,12 +276,10 @@ InputDialog - Cancel ยกเลิก - Need at least %n character(s)! ต้องการอย่างน้อย %n ตัวอักษร! @@ -317,22 +289,18 @@ Installer - Installing... กำลังติดตั้ง... - Receiving objects: กำลังรับข้อมูล: - Resolving deltas: การแก้ไขเดลต้า: - Updating files: กำลังอัปเดตไฟล์: @@ -340,27 +308,22 @@ MapETA - eta eta - min นาที - hr ชม. - km กม. - mi ไมล์ @@ -368,22 +331,18 @@ MapInstructions - km กม. - m ม. - mi ไมล์ - ft ฟุต @@ -391,48 +350,40 @@ MapPanel - Current Destination ปลายทางปัจจุบัน - CLEAR ล้างข้อมูล - Recent Destinations ปลายทางล่าสุด - Try the Navigation Beta ลองใช้ระบบนำทาง (เบต้า) - Get turn-by-turn directions displayed and more with a comma prime subscription. Sign up now: https://connect.comma.ai รับการแสดงเส้นทางแบบเลี้ยวต่อเลี้ยว และอื่นๆ ด้วยการสมัครบริการ comma prime สมัครเลย: https://connect.comma.ai - No home location set ยังไม่ได้กำหนด ตำแหน่งของบ้าน - No work location set ยังไม่ได้กำหนด ตำแหน่งของที่ทำงาน - no recent destinations ไม่พบปลายทางล่าสุด @@ -440,12 +391,10 @@ location set MapWindow - Map Loading กำลังโหลดแผนที่ - Waiting for GPS กำลังรอสัญญาณ GPS @@ -453,12 +402,10 @@ location set MultiOptionDialog - Select เลือก - Cancel ยกเลิก @@ -466,72 +413,33 @@ location set Networking - Advanced ขั้นสูง - Enter password ใส่รหัสผ่าน - - for "%1" สำหรับ "%1" - Wrong password รหัสผ่านผิด - - AnnotatedCameraWidget - - - km/h - กม./ชม. - - - - mph - ไมล์/ชม. - - - - - MAX - สูงสุด - - - - - SPEED - ความเร็ว - - - - - LIMIT - จำกัด - - OffroadHome - UPDATE อัปเดต - ALERTS การแจ้งเตือน - ALERT การแจ้งเตือน @@ -539,22 +447,18 @@ location set PairingPopup - Pair your device to your comma account จับคู่อุปกรณ์ของคุณกับบัญชี comma ของคุณ - Go to https://connect.comma.ai on your phone ไปที่ https://connect.comma.ai ด้วยโทรศัพท์ของคุณ - Click "add new device" and scan the QR code on the right กดที่ "add new device" และสแกนคิวอาร์โค้ดทางด้านขวา - Bookmark connect.comma.ai to your home screen to use it like an app จดจำ connect.comma.ai โดยการเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็นแอปพลิเคชัน @@ -562,32 +466,26 @@ location set PrimeAdWidget - Upgrade Now อัพเกรดเดี๋ยวนี้ - Become a comma prime member at connect.comma.ai สมัครสมาชิก comma prime ได้ที่ connect.comma.ai - PRIME FEATURES: คุณสมบัติของ PRIME: - Remote access การเข้าถึงระยะไกล - 1 year of storage จัดเก็บข้อมูลนาน 1 ปี - Developer perks สิทธิพิเศษสำหรับนักพัฒนา @@ -595,22 +493,18 @@ location set PrimeUserWidget - ✓ SUBSCRIBED ✓ สมัครสำเร็จ - comma prime comma prime - CONNECT.COMMA.AI CONNECT.COMMA.AI - COMMA POINTS คะแนน COMMA @@ -618,41 +512,34 @@ location set QObject - Reboot รีบูต - Exit ปิด - dashcam กล้องติดรถยนต์ - openpilot openpilot - %n minute(s) ago %n นาทีที่แล้ว - %n hour(s) ago %n ชั่วโมงที่แล้ว - %n day(s) ago %n วันที่แล้ว @@ -662,47 +549,38 @@ location set Reset - Reset failed. Reboot to try again. การรีเซ็ตล้มเหลว รีบูตเพื่อลองอีกครั้ง - Are you sure you want to reset your device? คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์? - Resetting device... กำลังรีเซ็ตอุปกรณ์... - System Reset รีเซ็ตระบบ - System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ - Cancel ยกเลิก - Reboot รีบูต - Confirm ยืนยัน - Unable to mount data partition. Press confirm to reset your device. ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ @@ -710,7 +588,6 @@ location set RichTextDialog - Ok ตกลง @@ -718,33 +595,26 @@ location set SettingsWindow - × × - Device อุปกรณ์ - - Network เครือข่าย - Toggles ตัวเลือก - Software ซอฟต์แวร์ - Navigation การนำทาง @@ -752,105 +622,82 @@ location set Setup - WARNING: Low Voltage คำเตือน: แรงดันแบตเตอรี่ต่ำ - Power your device in a car with a harness or proceed at your own risk. โปรดต่ออุปกรณ์ของคุณเข้ากับสายควบคุมในรถยนต์ หรือดำเนินการด้วยความเสี่ยงของคุณเอง - Power off ปิดเครื่อง - - - Continue ดำเนินการต่อ - Getting Started เริ่มกันเลย - Before we get on the road, let’s finish installation and cover some details. ก่อนออกเดินทาง เรามาทำการติดตั้งซอฟต์แวร์ และตรวจสอบการตั้งค่า - Connect to Wi-Fi เชื่อมต่อ Wi-Fi - - Back ย้อนกลับ - Continue without Wi-Fi ดำเนินการต่อโดยไม่ใช้ Wi-Fi - Waiting for internet กำลังรอสัญญาณอินเตอร์เน็ต - Choose Software to Install เลือกซอฟต์แวร์ที่จะติดตั้ง - Dashcam กล้องติดรถยนต์ - Custom Software ซอฟต์แวร์ที่กำหนดเอง - Enter URL ป้อน URL - for Custom Software สำหรับซอฟต์แวร์ที่กำหนดเอง - Downloading... กำลังดาวน์โหลด... - Download Failed ดาวน์โหลดล้มเหลว - Ensure the entered URL is valid, and the device’s internet connection is good. ตรวจสอบให้แน่ใจว่า URL ที่ป้อนนั้นถูกต้อง และอุปกรณ์เชื่อมต่ออินเทอร์เน็ตอยู่ - Reboot device รีบูตอุปกรณ์ - Start over เริ่มต้นใหม่ @@ -858,17 +705,14 @@ location set SetupWidget - Finish Setup ตั้งค่าเสร็จสิ้น - Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer. จับคู่อุปกรณ์ของคุณกับ comma connect (connect.comma.ai) และรับข้อเสนอ comma prime ของคุณ - Pair device จับคู่อุปกรณ์ @@ -876,106 +720,82 @@ location set Sidebar - - CONNECT เชื่อมต่อ - OFFLINE ออฟไลน์ - - ONLINE ออนไลน์ - ERROR เกิดข้อผิดพลาด - - - TEMP อุณหภูมิ - HIGH สูง - GOOD ดี - OK พอใช้ - VEHICLE รถยนต์ - NO ไม่พบ - PANDA PANDA - GPS จีพีเอส - SEARCH ค้นหา - -- -- - Wi-Fi Wi-Fi - ETH ETH - 2G 2G - 3G 3G - LTE LTE - 5G 5G @@ -983,138 +803,141 @@ location set SoftwarePanel - Git Branch - Git Branch + Git Branch - Git Commit - Git Commit + Git Commit - OS Version - เวอร์ชันระบบปฏิบัติการ + เวอร์ชันระบบปฏิบัติการ - Version - เวอร์ชั่น + เวอร์ชั่น - Last Update Check - ตรวจสอบการอัปเดตล่าสุด + ตรวจสอบการอัปเดตล่าสุด - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น + ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น - Check for Update - ตรวจสอบการอัปเดต + ตรวจสอบการอัปเดต - CHECKING - กำลังตรวจสอบ + กำลังตรวจสอบ - Switch Branch - เปลี่ยน Branch + เปลี่ยน Branch - ENTER - เปลี่ยน + เปลี่ยน - - The new branch will be pulled the next time the updater runs. - Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน + Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน - Enter branch name - ใส่ชื่อ Branch + ใส่ชื่อ Branch - Uninstall %1 ถอนการติดตั้ง %1 - UNINSTALL ถอนการติดตั้ง - Are you sure you want to uninstall? คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง? - failed to fetch update - โหลดข้อมูลอัปเดตไม่สำเร็จ + โหลดข้อมูลอัปเดตไม่สำเร็จ - - CHECK ตรวจสอบ + + Updates are only downloaded while the car is off. + + + + Current Version + + + + Download + + + + Install Update + + + + INSTALL + + + + Target Branch + + + + SELECT + + + + Select a branch + + SshControl - SSH Keys คีย์ SSH - Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username. คำเตือน: สิ่งนี้ให้สิทธิ์ SSH เข้าถึงคีย์สาธารณะทั้งหมดใน GitHub ของคุณ อย่าป้อนชื่อผู้ใช้ GitHub อื่นนอกเหนือจากของคุณเอง พนักงาน comma จะไม่ขอให้คุณเพิ่มชื่อผู้ใช้ GitHub ของพวกเขา - - ADD เพิ่ม - Enter your GitHub username ป้อนชื่อผู้ใช้ GitHub ของคุณ - LOADING กำลังโหลด - REMOVE ลบ - Username '%1' has no keys on GitHub ชื่อผู้ใช้ '%1' ไม่มีคีย์บน GitHub - Request timed out ตรวจสอบไม่สำเร็จ เนื่องจากใช้เวลามากเกินไป - Username '%1' doesn't exist on GitHub ไม่พบชื่อผู้ใช้ '%1' บน GitHub @@ -1122,7 +945,6 @@ location set SshToggle - Enable SSH เปิดใช้งาน SSH @@ -1130,22 +952,18 @@ location set TermsPage - Terms & Conditions ข้อตกลงและเงื่อนไข - Decline ปฏิเสธ - Scroll to accept เลื่อนเพื่อตอบรับข้อตกลง - Agree ยอมรับ @@ -1153,125 +971,125 @@ location set TogglesPanel - Enable openpilot เปิดใช้งาน openpilot - Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off. ใช้ระบบ openpilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์ - Enable Lane Departure Warnings เปิดใช้งานการเตือนการออกนอกเลน - Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h). รับการแจ้งเตือนให้เลี้ยวกลับเข้าเลนเมื่อรถของคุณตรวจพบการข้ามช่องจราจรโดยไม่เปิดสัญญาณไฟเลี้ยวในขณะขับขี่ที่ความเร็วเกิน 31 ไมล์ต่อชั่วโมง (50 กม./ชม) - Use Metric System ใช้ระบบเมตริก - Display speed in km/h instead of mph. แสดงความเร็วเป็น กม./ชม. แทน ไมล์/ชั่วโมง - Record and Upload Driver Camera บันทึกและอัปโหลดภาพจากกล้องคนขับ - Upload data from the driver facing camera and help improve the driver monitoring algorithm. อัปโหลดข้อมูลจากกล้องที่หันหน้าไปทางคนขับ และช่วยปรับปรุงอัลกอริธึมการตรวจสอบผู้ขับขี่ - Disengage On Accelerator Pedal ยกเลิกระบบช่วยขับเมื่อเหยียบคันเร่ง - When enabled, pressing the accelerator pedal will disengage openpilot. เมื่อเปิดใช้งาน การกดแป้นคันเร่งจะเป็นการยกเลิกระบบช่วยขับโดย openpilot - Show ETA in 24h Format แสดงเวลา ETA ในรูปแบบ 24 ชั่วโมง - Use 24h format instead of am/pm ใช้รูปแบบเวลา 24 ชั่วโมง แทน am/pm - Show Map on Left Side of UI แสดงแผนที่ที่ด้านซ้ายของหน้าจอ - Show map on left side when in split screen view. แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ - openpilot Longitudinal Control - openpilot การควบคุมการเร่งและลดความเร็ว + openpilot การควบคุมการเร่งและลดความเร็ว - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB! + openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB! + + + 🌮 End-to-end longitudinal (extremely alpha) 🌮 + + + + Experimental openpilot longitudinal control + + + + <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> + + + + Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. + + + + openpilot longitudinal control is not currently available for this car. + + + + Enable experimental longitudinal control to enable this. + Updater - Update Required จำเป็นต้องอัปเดต - An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB. จำเป็นต้องมีการอัปเดตระบบปฏิบัติการ เชื่อมต่ออุปกรณ์ของคุณกับ Wi-Fi เพื่อประสบการณ์การอัปเดตที่เร็วที่สุด ขนาดดาวน์โหลดประมาณ 1GB - Connect to Wi-Fi เชื่อมต่อกับ Wi-Fi - Install ติดตั้ง - Back ย้อนกลับ - Loading... กำลังโหลด... - Reboot รีบูต - Update failed การอัปเดตล้มเหลว @@ -1279,23 +1097,18 @@ location set WifiUI - - Scanning for networks... กำลังสแกนหาเครือข่าย... - CONNECTING... กำลังเชื่อมต่อ... - FORGET เลิกใช้ - Forget Wi-Fi Network "%1"? เลิกใช้เครือข่าย Wi-Fi "%1"? From 686506f4003964e230550e100d6a841c2ff5d3ac Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 25 Oct 2022 02:46:07 +0800 Subject: [PATCH 110/137] cabana: stable FPS (#26120) * stable FPS * fix --- tools/cabana/canmessages.cc | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index d2141c3630..1b46bd9da7 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -87,7 +87,7 @@ void CANMessages::process(QHash> *messages) { } bool CANMessages::eventFilter(const Event *event) { - static double prev_update_sec = 0; + static double prev_update_ts = 0; // drop packets when the GUI thread is calling seekTo. to make sure the current_sec is accurate. if (!seeking && event->which == cereal::Event::Which::CAN) { if (!received_msgs) { @@ -121,8 +121,9 @@ bool CANMessages::eventFilter(const Event *event) { } } - if (current_sec < prev_update_sec || (current_sec - prev_update_sec) > 1.0 / settings.fps) { - prev_update_sec = current_sec; + double ts = millis_since_boot(); + if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { + prev_update_ts = ts; // use pointer to avoid data copy in queued connection. emit received(received_msgs.release()); } From 87e0a5dd1a0f58ce119d652808df8888e85ced2a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 25 Oct 2022 02:46:40 +0800 Subject: [PATCH 111/137] Cabana: display overlapping bits warning (#26219) display overlapping bits warning --- tools/cabana/binaryview.cc | 14 ++++++++++++++ tools/cabana/binaryview.h | 2 ++ tools/cabana/detailwidget.cc | 21 ++++++++++++++++----- 3 files changed, 32 insertions(+), 5 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 5d191d2ca3..26fecd8c38 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -132,6 +132,20 @@ const Signal *BinaryView::getResizingSignal() const { return nullptr; } +QSet BinaryView::getOverlappingSignals() const { + QSet overlapping; + for (int i = 0; i < model->rowCount(); ++i) { + for (int j = 0; j < model->columnCount() - 1; ++j) { + auto item = (const BinaryViewModel::Item *)model->index(i, j).internalPointer(); + if (item && item->sigs.size() > 1) { + for (auto s : item->sigs) + overlapping.insert(s); + } + } + } + return overlapping; +} + // BinaryViewModel void BinaryViewModel::setMessage(const QString &message_id) { diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index e57033b797..0f58e9ed20 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -59,6 +60,7 @@ public: void updateState(); void highlight(const Signal *sig); const Signal *hoveredSignal() const { return hovered_sig; } + QSet getOverlappingSignals() const; signals: void signalHovered(const Signal *sig); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 443b33b521..7290e4e6ff 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -49,7 +49,7 @@ DetailWidget::DetailWidget(QWidget *parent) : QWidget(parent) { QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget); QLabel *warning_icon = new QLabel(this); warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning)); - warning_hlayout->addWidget(warning_icon); + warning_hlayout->addWidget(warning_icon, 0, Qt::AlignTop); warning_label = new QLabel(this); warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft); warning_widget->hide(); @@ -107,6 +107,8 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { if (msg_id.isEmpty()) return; warning_widget->hide(); + QStringList warnings; + clearLayout(signals_container->layout()); QString msg_name = tr("untitled"); if (auto msg = dbc()->msg(msg_id)) { @@ -124,16 +126,25 @@ void DetailWidget::dbcMsgChanged(int show_form_idx) { } } msg_name = msg->name.c_str(); - if (msg->size != can->lastMessage(msg_id).dat.size()) { - warning_label->setText(tr("Message size (%1) is incorrect!").arg(msg->size)); - warning_widget->show(); - } + if (msg->size != can->lastMessage(msg_id).dat.size()) + warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size)); } edit_btn->setVisible(true); name_label->setText(msg_name); binary_view->setMessage(msg_id); history_log->setMessage(msg_id); + + // Check overlapping bits + if (auto overlapping = binary_view->getOverlappingSignals(); !overlapping.isEmpty()) { + for (auto s : overlapping) + warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str())); + } + + if (!warnings.isEmpty()) { + warning_label->setText(warnings.join('\n')); + warning_widget->show(); + } } void DetailWidget::updateState() { From 3df83a7809d60cb25122881aadbcbe050374d7c7 Mon Sep 17 00:00:00 2001 From: d3v1n11 <115375208+d3v1n11@users.noreply.github.com> Date: Mon, 24 Oct 2022 14:57:13 -0500 Subject: [PATCH 112/137] Hyundai: add 2020 Palisade FW versions (#26085) * Update values.py * Remove unknown versions Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1eed03923c..96c4201773 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -791,6 +791,7 @@ FW_VERSIONS = { }, CAR.PALISADE: { (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00LX2_ SCC F-CUP 1.00 1.04 99110-S8100 ', b'\xf1\x00LX2_ SCC F-CUP 1.00 1.05 99110-S8100 ', b'\xf1\x00LX2 SCC FHCUP 1.00 1.04 99110-S8100 ', b'\xf1\x00LX2_ SCC FHCU- 1.00 1.05 99110-S8100 ', @@ -804,6 +805,7 @@ FW_VERSIONS = { b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', + b'\xf1\x00LX ESC \x0b 103\x19\t\t 58910-S8350', b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', b'\xf1\x00LX ESC \x0b 103\x19\t\x10 58910-S8360', b'\xf1\x00LX ESC \x0b 104 \x10\x16 58910-S8360', @@ -818,6 +820,7 @@ FW_VERSIONS = { ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', + b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', @@ -834,6 +837,7 @@ FW_VERSIONS = { ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', + b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8', From 92b458c70990572dfefcf29e78c04bac822be56e Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Mon, 24 Oct 2022 21:40:01 -0400 Subject: [PATCH 113/137] HKG: Add FW and Remove from dashcamOnly for 2019 Elantra GT i30 (#25951) * HKG: Add FW for 2019 Elantra GT i30 * Add test route * remove can fp * revert that * actually shares the same platform with the ceed * marketed as Elantra i30 * stash * Revert "stash" This reverts commit 03b164c9dbad53ff22a961d7a93848b8c91d1722. * add car infos * gen docs * combine with elantra * legacy again * update docs Co-authored-by: Adeeb Shihadeh Co-authored-by: Shane Smiskol --- docs/CARS.md | 4 ++- selfdrive/car/hyundai/interface.py | 4 +-- selfdrive/car/hyundai/values.py | 42 +++++++++++++---------- selfdrive/car/tests/routes.py | 2 +- selfdrive/car/torque_data/substitute.yaml | 1 - 5 files changed, 30 insertions(+), 23 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a03da5ca6a..13ac13fe66 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. -# 209 Supported Cars +# 211 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:| @@ -55,8 +55,10 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B| |Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| +|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J| +|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E| |Hyundai|Ioniq 5 (with HDA II) 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q| |Hyundai|Ioniq 5 (without HDA II) 2022|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K| |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C| diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index b1fa8d9e1d..114d124a38 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase): # These cars have been put into dashcam only due to both a lack of users and test coverage. # These cars likely still work fine. Once a user confirms each car works and a test route is # added to selfdrive/car/tests/routes.py, we can remove it from this list. - ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} + ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } if candidate in CANFD_CAR: # detect HDA2 with ADAS Driving ECU @@ -75,7 +75,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.6 * 1.15 tire_stiffness_factor = 0.63 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): + elif candidate == CAR.ELANTRA: ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 96c4201773..29d0cb3dce 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -34,7 +34,7 @@ class CarControllerParams: # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. - elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, + elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV, CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO): self.STEER_MAX = 255 @@ -54,7 +54,6 @@ class CAR: ELANTRA = "HYUNDAI ELANTRA 2017" ELANTRA_2021 = "HYUNDAI ELANTRA 2021" ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021" - ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT" HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016" IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019" IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022" @@ -108,13 +107,13 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { - CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), - CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), - CAR.ELANTRA_GT_I30: [ + CAR.ELANTRA: [ + HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b), HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e), HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e), ], + CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k), CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j), # TODO: check 2015 packages CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c), CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h), # TODO: confirm 2020-21 harness @@ -199,15 +198,6 @@ FINGERPRINTS = { CAR.ELANTRA: [{ 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 897: 8, 832: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1345: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2001: 8, 2003: 8, 2004: 8, 2009: 8, 2012: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 }], - CAR.ELANTRA_GT_I30: [{ - 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1193: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1952: 8, 1960: 8, 1988: 8, 2000: 8, 2001: 8, 2005: 8, 2008: 8, 2009: 8, 2013: 8, 2017: 8, 2025: 8 - }, - { - 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1415: 8, 1419: 8, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8 - }, - { - 66: 8, 67: 8, 68: 8, 127: 8, 128: 8, 129: 8, 273: 8, 274: 8, 275: 8, 339: 8, 354: 3, 356: 4, 399: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 897: 8, 899: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1265: 4, 1280: 1, 1282: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1356: 8, 1363: 8, 1366: 8, 1367: 8, 1369: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1486: 8, 1487: 8, 1491: 8, 1960: 8, 1990: 8, 1998: 8, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], CAR.HYUNDAI_GENESIS: [{ 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 }, @@ -1214,6 +1204,23 @@ FW_VERSIONS = { b'\xf1\x87\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xff\xf1\x816T6B8051\x00\x00\xf1\x006T6H0_C2\x00\x006T6B8051\x00\x00TJFSG24NH27\xa7\xc2\xb4', ], }, + CAR.ELANTRA: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00PD LKAS AT USA LHD 1.01 1.01 95740-G3100 A54', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00PD MDPS C 1.00 1.04 56310/G3300 4PDDC104', + ], + (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00PD__ SCC F-CUP 1.00 1.00 96400-G3300 ', + ], + }, CAR.ELANTRA_2021: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', @@ -1394,12 +1401,12 @@ CHECKSUM = { FEATURES = { # which message has the gear - "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, + "use_cluster_gears": {CAR.ELANTRA, CAR.KONA}, "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022}, # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12 - "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, + "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022}, } CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN} @@ -1419,7 +1426,6 @@ DBC = { CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None), CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None), diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 8c4efe3061..326d80b822 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -23,7 +23,6 @@ non_tested_cars = [ GM.MALIBU, GM.EQUINOX, GM.BOLT_EV, - HYUNDAI.ELANTRA_GT_I30, HYUNDAI.GENESIS_G90, HYUNDAI.KIA_OPTIMA_H, ] @@ -119,6 +118,7 @@ routes = [ CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021), CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE), CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA), + CarTestRoute("734ef96182ddf940|2022-10-02--16-41-44", HYUNDAI.ELANTRA), # 2019 Elantra GT CarTestRoute("82e9cdd3f43bf83e|2021-05-15--02-42-51", HYUNDAI.ELANTRA_2021), CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021), CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index f5e3d1d61d..acd7526003 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -26,7 +26,6 @@ KIA SELTOS 2021: HYUNDAI SONATA 2020 KIA NIRO HYBRID 2019: KIA NIRO EV 2020 KIA NIRO HYBRID 2021: KIA NIRO EV 2020 HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019 -HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019 HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019 From e9fcef99e1edace1d4950c9ac58de0b535926709 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 24 Oct 2022 19:08:20 -0700 Subject: [PATCH 114/137] FPv2 tests: test all addrs map to one ECU (#26151) * add test * fix mapping --- selfdrive/car/honda/values.py | 10 +++++----- selfdrive/car/tests/test_fw_fingerprint.py | 11 +++++++++++ 2 files changed, 16 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 638008934a..e0810e0bbb 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -446,7 +446,7 @@ FW_VERSIONS = { b'78109-TED-Q510\x00\x00', b'78109-TEG-A310\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TBA-A020\x00\x00', b'36161-TBA-A030\x00\x00', b'36161-TBA-A040\x00\x00', @@ -964,7 +964,7 @@ FW_VERSIONS = { b'77959-THR-A110\x00\x00', b'77959-THR-X010\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-THR-A020\x00\x00', b'36161-THR-A030\x00\x00', b'36161-THR-A110\x00\x00', @@ -1068,7 +1068,7 @@ FW_VERSIONS = { b'39990-TG7-A070\x00\x00', b'39990-TGS-A230\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TG7-A310\x00\x00', b'36161-TG7-A520\x00\x00', b'36161-TG7-A630\x00\x00', @@ -1176,7 +1176,7 @@ FW_VERSIONS = { b'57114-TX5-A220\x00\x00', b'57114-TX4-A220\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-TX5-A030\x00\x00', b'36161-TX4-A030\x00\x00', ], @@ -1273,7 +1273,7 @@ FW_VERSIONS = { b'39990-T6Z-A030\x00\x00', b'39990-T6Z-A050\x00\x00', ], - (Ecu.fwdCamera, 0x18dab0f1, None): [ + (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36161-T6Z-A020\x00\x00', b'36161-T6Z-A310\x00\x00', b'36161-T6Z-A420\x00\x00', diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index b9926301f1..2e43103852 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -1,6 +1,7 @@ #!/usr/bin/env python3 import random import unittest +from collections import defaultdict from parameterized import parameterized from cereal import car @@ -44,6 +45,16 @@ class TestFwFingerprint(unittest.TestCase): duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") + def test_all_addrs_map_to_one_ecu(self): + for brand, cars in VERSIONS.items(): + addr_to_ecu = defaultdict(set) + for ecus in cars.values(): + for ecu_type, addr, sub_addr in ecus.keys(): + addr_to_ecu[(addr, sub_addr)].add(ecu_type) + ecus_for_addr = addr_to_ecu[(addr, sub_addr)] + ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_for_addr]) + self.assertLessEqual(len(ecus_for_addr), 1, f"{brand} has multiple ECUs that map to one address: {ecu_strings} -> ({hex(addr)}, {sub_addr})") + def test_data_collection_ecus(self): # Asserts no extra ECUs are in the fingerprinting database for brand, config in FW_QUERY_CONFIGS.items(): From a22ce68699ef4d6714a2921f19ed7d793ea619a5 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 24 Oct 2022 19:37:18 -0700 Subject: [PATCH 115/137] jenkins: disable camerad while new box is built --- Jenkinsfile | 2 ++ 1 file changed, 2 insertions(+) diff --git a/Jenkinsfile b/Jenkinsfile index b9b9eda667..85b4880463 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -137,6 +137,7 @@ pipeline { } } + /* stage('camerad') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { @@ -147,6 +148,7 @@ pipeline { ]) } } + */ stage('replay') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } From 506a150e735e72b5af53d800260a65a821b95949 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 24 Oct 2022 19:37:52 -0700 Subject: [PATCH 116/137] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 38133307b2..1d25fc3f20 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 38133307b2e6036e76684b39878e79212e545e06 +Subproject commit 1d25fc3f202d5ddeee97848480323e9b14f9bdfa From 15595fc8599f0ddf1e72ed02422e9f6d266db1f6 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 24 Oct 2022 20:17:05 -0700 Subject: [PATCH 117/137] Calibrationd: Calibrate wide from device (#26204) * Use calibrator to stabilize wide transform * Need array * Needs init * Needs to be arr * publish mshg * Check size * Update ref * fix calibration param read when no wide calib * need self! --- selfdrive/locationd/calibrationd.py | 34 +++++++++++++++++++++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 31 insertions(+), 5 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 9e6536f9b5..4e996bc3b9 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -31,6 +31,7 @@ INPUTS_NEEDED = 5 # Minimum blocks needed for valid calibration INPUTS_WANTED = 50 # We want a little bit more than we need for stability MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) +WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) # These values are needed to accommodate biggest modelframe PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657]) @@ -67,6 +68,7 @@ class Calibrator: calibration_params = params.get("CalibrationParams") self.wide_camera = params.get_bool('WideCameraOnly') rpy_init = RPY_INIT + wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT valid_blocks = 0 if param_put and calibration_params: @@ -74,24 +76,34 @@ class Calibrator: msg = log.Event.from_bytes(calibration_params) rpy_init = np.array(msg.liveCalibration.rpyCalib) valid_blocks = msg.liveCalibration.validBlocks + wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) except Exception: cloudlog.exception("Error reading cached CalibrationParams") - self.reset(rpy_init, valid_blocks) + self.reset(rpy_init, valid_blocks, wide_from_device_euler) self.update_status() - def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, smooth_from: Optional[np.ndarray] = None) -> None: + def reset(self, rpy_init: np.ndarray = RPY_INIT, + valid_blocks: int = 0, + wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, + smooth_from: Optional[np.ndarray] = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: self.rpy = rpy_init.copy() + if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3: + self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() + else: + self.wide_from_device_euler = wide_from_device_euler_init.copy() + if not np.isfinite(valid_blocks) or valid_blocks < 0: self.valid_blocks = 0 else: self.valid_blocks = valid_blocks self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) + self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1)) self.idx = 0 self.block_idx = 0 @@ -113,6 +125,7 @@ class Calibrator: def update_status(self) -> None: valid_idxs = self.get_valid_idxs() if valid_idxs: + self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0) rpys = self.rpys[valid_idxs] self.rpy = np.mean(rpys, axis=0) max_rpy_calib = np.array(np.max(rpys, axis=0)) @@ -146,7 +159,10 @@ class Calibrator: else: return self.rpy - def handle_cam_odom(self, trans: List[float], rot: List[float], trans_std: List[float]) -> Optional[np.ndarray]: + def handle_cam_odom(self, trans: List[float], + rot: List[float], + wide_from_device_euler: List[float], + trans_std: List[float]) -> Optional[np.ndarray]: self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) @@ -165,7 +181,15 @@ class Calibrator: new_rpy = euler_from_rot(rot_from_euler(self.get_smooth_rpy()).dot(rot_from_euler(observed_rpy))) new_rpy = sanity_clip(new_rpy) - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) + if len(wide_from_device_euler) == 3: + new_wide_from_device_euler = np.array(wide_from_device_euler) + else: + new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT + + self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + + (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) + self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + + (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) self.idx = (self.idx + 1) % BLOCK_SIZE if self.idx == 0: self.block_idx += 1 @@ -187,6 +211,7 @@ class Calibrator: liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100) liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() + liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED @@ -223,6 +248,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, + sm['cameraOdometry'].wideFromDeviceEuler, sm['cameraOdometry'].transStd) if DEBUG and new_rpy is not None: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 230e81d949..d03b897f9d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f5a352666728344ca5065bb44c47c1f5650b4243 +a5c77655fba5563e8128fb655f69b1bbd02198aa From 27e315e58f5273da79803ad95737fc15483fef21 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 25 Oct 2022 00:12:49 -0700 Subject: [PATCH 118/137] GM: reduce LKAS faults while inactive (#26196) * send at 10hz when inactive * try to make it fine to switch rates * fix rate * todododo * fine if we skip, we usually send too early * clean up * this may be required, 50Hz is not really needed to sync/initialize * preserves previous behavior (not sure if this makes sense) * Revert "preserves previous behavior (not sure if this makes sense)" This reverts commit 3b297bca72307b5cba09bec4e2cd8e0f2761af42. * Revert "this may be required, 50Hz is not really needed to sync/initialize" This reverts commit a6b4693814214d3f508db922f3b371c402a13995. * rm com * Update ref_commit * gate behind GM Cam * common logic * bet * update refs --- selfdrive/car/gm/carcontroller.py | 16 ++++++++++++---- selfdrive/car/gm/values.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 15 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index b56b3bfca6..a75eb89f25 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -22,6 +22,7 @@ class CarController: self.apply_gas = 0 self.apply_brake = 0 self.frame = 0 + self.last_steer_frame = 0 self.last_button_frame = 0 self.cancel_counter = 0 @@ -46,15 +47,21 @@ class CarController: # Send CAN commands. can_sends = [] - # Steering (50Hz) + # Steering (Active: 50Hz, inactive: 10Hz) + # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked + init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera + steer_step = self.params.INACTIVE_STEER_STEP + if CC.latActive or init_lka_counter: + steer_step = self.params.ACTIVE_STEER_STEP + # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the # next Panda loopback confirmation in the current CS frame. if CS.loopback_lka_steering_cmd_updated: self.lka_steering_cmd_counter += 1 self.sent_lka_steering_cmd = True - elif (self.frame % self.params.STEER_STEP) == 0: - # Initialize ASCMLKASteeringCmd counter using the camera - if not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera: + elif (self.frame - self.last_steer_frame) >= steer_step: + # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus + if init_lka_counter: self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1 if CC.latActive: @@ -63,6 +70,7 @@ class CarController: else: apply_steer = 0 + self.last_steer_frame = self.frame self.apply_steer_last = apply_steer idx = self.lka_steering_cmd_counter % 4 can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive)) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index f8f9e7f043..85e291aaf6 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -11,7 +11,8 @@ Ecu = car.CarParams.Ecu class CarControllerParams: STEER_MAX = 300 # GM limit is 3Nm. Used by carcontroller to generate LKA output - STEER_STEP = 2 # Control frames per command (50hz) + ACTIVE_STEER_STEP = 2 # Active control frames per command (50hz) + INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz) STEER_DELTA_UP = 7 # Delta rates require review due to observed EPS weakness STEER_DELTA_DOWN = 17 STEER_DRIVER_ALLOWANCE = 50 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d03b897f9d..604abd666c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a5c77655fba5563e8128fb655f69b1bbd02198aa +9d042d06f61c8f48e8c7a4e30001630c14712272 \ No newline at end of file From bc7fc481d57cbdfb8c727a38ba5a32e856315df0 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 11:33:02 -0700 Subject: [PATCH 119/137] pj: update thermal layout + layout test (#26224) --- tools/plotjuggler/layouts/thermal_debug.xml | 93 +++++++++++---------- tools/plotjuggler/test_plotjuggler.py | 22 ++++- 2 files changed, 68 insertions(+), 47 deletions(-) diff --git a/tools/plotjuggler/layouts/thermal_debug.xml b/tools/plotjuggler/layouts/thermal_debug.xml index cebda81753..c10b78f1c5 100644 --- a/tools/plotjuggler/layouts/thermal_debug.xml +++ b/tools/plotjuggler/layouts/thermal_debug.xml @@ -1,82 +1,83 @@ - + - + - - + + - - - - - - - - + + + + + + + + - - + + - - - - + + + + - - + + - + - + - - + + - + - - + + - + + - - + + - + - + - - + + - - - - + + + + - - + + - - - - + + + + @@ -92,8 +93,8 @@ - - + + diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index edaec9c80a..8fc032042a 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import os +import glob import signal import subprocess import time @@ -9,12 +10,14 @@ from common.basedir import BASEDIR from common.timeout import Timeout from tools.plotjuggler.juggle import install +PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") + class TestPlotJuggler(unittest.TestCase): def test_demo(self): install() - pj = os.path.join(BASEDIR, "tools/plotjuggler/juggle.py") + pj = os.path.join(PJ_DIR, "juggle.py") p = subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', stderr=subprocess.PIPE, shell=True, start_new_session=True) @@ -29,5 +32,22 @@ class TestPlotJuggler(unittest.TestCase): self.assertEqual(p.poll(), None) os.killpg(os.getpgid(p.pid), signal.SIGTERM) + # TODO: also test that layouts successfully load + def test_layouts(self): + bad_strings = ( + # if a previously loaded file is defined, + # PJ will throw a warning when loading the layout + "fileInfo", + "previouslyLoaded_Datafiles", + ) + for fn in glob.glob(os.path.join(PJ_DIR, "layouts/*")): + name = os.path.basename(fn) + with self.subTest(layout=name): + with open(fn) as f: + layout = f.read() + violations = [s for s in bad_strings if s in layout] + assert len(violations) == 0, f"These should be stripped out of the layout: {str(violations)}" + + if __name__ == "__main__": unittest.main() From 6d30b1ee8314539f66eee000ac7a13ac7ccb506c Mon Sep 17 00:00:00 2001 From: Rewat S <76684800+taperec@users.noreply.github.com> Date: Wed, 26 Oct 2022 02:50:50 +0700 Subject: [PATCH 120/137] Multilang: add missing Thai translations (#26234) --- selfdrive/ui/translations/main_th.ts | 92 +++++----------------------- 1 file changed, 16 insertions(+), 76 deletions(-) diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 5a8bf861df..95880e69c9 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -60,11 +60,11 @@ Cellular Metered - + ลดการส่งข้อมูลผ่านเซลลูล่าร์ Prevent large data uploads when on a metered connection - + ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์ @@ -802,54 +802,6 @@ location set SoftwarePanel - - Git Branch - Git Branch - - - Git Commit - Git Commit - - - OS Version - เวอร์ชันระบบปฏิบัติการ - - - Version - เวอร์ชั่น - - - Last Update Check - ตรวจสอบการอัปเดตล่าสุด - - - The last time openpilot successfully checked for an update. The updater only runs while the car is off. - ครั้งสุดท้ายที่ openpilot ตรวจสอบการอัปเดตสำเร็จ ตัวอัปเดตจะทำงานในขณะที่รถดับเครื่องอยู่เท่านั้น - - - Check for Update - ตรวจสอบการอัปเดต - - - CHECKING - กำลังตรวจสอบ - - - Switch Branch - เปลี่ยน Branch - - - ENTER - เปลี่ยน - - - The new branch will be pulled the next time the updater runs. - Branch ใหม่จะถูกติดตั้งในครั้งต่อไปที่ตัวอัปเดตทำงาน - - - Enter branch name - ใส่ชื่อ Branch - Uninstall %1 ถอนการติดตั้ง %1 @@ -862,45 +814,41 @@ location set Are you sure you want to uninstall? คุณแน่ใจหรือไม่ว่าต้องการถอนการติดตั้ง? - - failed to fetch update - โหลดข้อมูลอัปเดตไม่สำเร็จ - CHECK ตรวจสอบ Updates are only downloaded while the car is off. - + ตัวอัปเดตจะดำเนินการดาวน์โหลดเมื่อรถดับเครื่องยนต์อยู่เท่านั้น Current Version - + เวอร์ชั่นปัจจุบัน Download - + ดาวน์โหลด Install Update - + ติดตั้งตัวอัปเดต INSTALL - + ติดตั้ง Target Branch - + Branch ที่เลือก SELECT - + เลือก Select a branch - + เลือก Branch @@ -1026,37 +974,29 @@ location set Show map on left side when in split screen view. แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ - - openpilot Longitudinal Control - openpilot การควบคุมการเร่งและลดความเร็ว - - - openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB! - openpilot จะปิดการใช้งานเรดาร์ของรถ และจะเข้าควบคุมการเร่งและเบรก คำเตือน: สิ่งนี้จะปิดระบบ AEB! - 🌮 End-to-end longitudinal (extremely alpha) 🌮 - + 🌮 ควบคุมเร่ง/เบรคแบบ End-to-end (อยู่ขั้นพัฒนา) 🌮 Experimental openpilot longitudinal control - + ทดลองใช้ระบบควบคุมการเร่ง/เบรคโดย openpilot <b>WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.</b> - + <b>คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในขั้นทดลอง และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</b> Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental. - + ให้ openpilot ควบคุมการเร่ง/เบรคแบบ end-to-end โดย openpilot จะขับอย่างที่มนุษย์คิด ระบบยังอยู่ในขั้นทดลอง openpilot longitudinal control is not currently available for this car. - + ขณะนี้ยังไม่มีระบบควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ Enable experimental longitudinal control to enable this. - + เปิดใช้งานระบบควบคุมการเร่ง/เบรคขั้นทดลอง เพื่อเปิดใช้งานสิ่งนี้ From 339253bc05179530e47509e548c482495fbc6e82 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 13:51:23 -0700 Subject: [PATCH 121/137] Hyundai: CAN-FD blindspot signals (#26229) * Hyundai: CAN-FD blindspot signals * fix that * update refs --- opendbc | 2 +- selfdrive/car/hyundai/carstate.py | 12 ++++++++++++ selfdrive/car/hyundai/interface.py | 9 +++++++-- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 21 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 7bd94e3ff4..a95b0ae8a5 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 7bd94e3ff4a2890eb69118f0dfadb64f9d32d618 +Subproject commit a95b0ae8a5244a9d6311bf72aa2a7d63d41b4a9f diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index e27432e23b..ec2b3059a3 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -187,6 +187,9 @@ class CarState(CarStateBase): ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], cp.vl["BLINKERS"]["RIGHT_LAMP"]) + if self.CP.enableBsm: + ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 + ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 ret.cruiseState.available = True self.is_metric = cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] != 1 @@ -450,6 +453,15 @@ class CarState(CarStateBase): ("DOORS_SEATBELTS", 4), ] + if CP.enableBsm: + signals += [ + ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), + ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"), + ] + checks += [ + ("BLINDSPOTS_REAR_CORNERS", 20), + ] + if CP.flags & HyundaiFlags.CANFD_HDA2 and not CP.openpilotLongitudinalControl: signals += [ ("CRUISE_STATUS", "CRUISE_INFO"), diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 114d124a38..147c766008 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -311,6 +311,13 @@ class CarInterface(CarInterfaceBase): ret.vEgoStarting = 0.1 ret.startAccel = 2.0 + # *** feature detection *** + if candidate in CANFD_CAR: + bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4 + ret.enableBsm = 0x1e5 in fingerprint[bus] + else: + ret.enableBsm = 0x58b in fingerprint[0] + # *** panda safety config *** if candidate in CANFD_CAR: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), @@ -321,8 +328,6 @@ class CarInterface(CarInterfaceBase): if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS: ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS else: - ret.enableBsm = 0x58b in fingerprint[0] - if candidate in LEGACY_SAFETY_MODE_CAR: # these cars require a special panda safety mode due to missing counters and checksums in the messages ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 604abd666c..44eed18493 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -9d042d06f61c8f48e8c7a4e30001630c14712272 \ No newline at end of file +68457035e9223fcbd70bd40966d5a1d9fe4f1567 \ No newline at end of file From 4639862baecfc8ed708827580f441a34731ba137 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 15:21:43 -0700 Subject: [PATCH 122/137] UI: show git commit date (#26240) * show version description while offroad * ui fixups * parse date * cleanup --- selfdrive/ui/qt/home.cc | 16 +++++----------- selfdrive/ui/qt/home.h | 6 +++++- selfdrive/ui/qt/offroad/software_settings.cc | 4 ++-- selfdrive/ui/qt/util.cc | 4 ---- selfdrive/ui/qt/util.h | 1 - selfdrive/ui/qt/widgets/controls.cc | 4 ++-- selfdrive/ui/qt/widgets/controls.h | 2 +- selfdrive/ui/qt/widgets/scrollview.cc | 2 ++ selfdrive/updated.py | 14 +++++++++++--- 9 files changed, 28 insertions(+), 25 deletions(-) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 78bc6aab40..3fe00e6ed9 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -1,11 +1,9 @@ #include "selfdrive/ui/qt/home.h" -#include #include #include #include -#include "common/params.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/widgets/drive_stats.h" #include "selfdrive/ui/qt/widgets/prime.h" @@ -109,22 +107,20 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { header_layout->setContentsMargins(15, 15, 15, 0); header_layout->setSpacing(16); - date = new QLabel(); - header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft); - update_notif = new QPushButton(tr("UPDATE")); update_notif->setVisible(false); update_notif->setStyleSheet("background-color: #364DEF;"); QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); }); - header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignRight); + header_layout->addWidget(update_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); alert_notif = new QPushButton(); alert_notif->setVisible(false); alert_notif->setStyleSheet("background-color: #E22C2C;"); QObject::connect(alert_notif, &QPushButton::clicked, [=] { center_layout->setCurrentIndex(2); }); - header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignRight); + header_layout->addWidget(alert_notif, 0, Qt::AlignHCenter | Qt::AlignLeft); - header_layout->addWidget(new QLabel(getBrandVersion()), 0, Qt::AlignHCenter | Qt::AlignRight); + version = new ElidedLabel(); + header_layout->addWidget(version, 0, Qt::AlignHCenter | Qt::AlignRight); main_layout->addLayout(header_layout); @@ -184,9 +180,7 @@ void OffroadHome::hideEvent(QHideEvent *event) { } void OffroadHome::refresh() { - QString locale_name = QString(uiState()->language).replace("main_", ""); - QString dateString = QLocale(locale_name).toString(QDateTime::currentDateTime(), "dddd, MMMM d"); - date->setText(dateString); + version->setText(getBrand() + " " + QString::fromStdString(params.get("UpdaterCurrentDescription"))); bool updateAvailable = update_widget->refresh(); int alerts = alerts_widget->refresh(); diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h index 94f1330109..6636da56ec 100644 --- a/selfdrive/ui/qt/home.h +++ b/selfdrive/ui/qt/home.h @@ -7,10 +7,12 @@ #include #include +#include "common/params.h" #include "selfdrive/ui/qt/offroad/driverview.h" #include "selfdrive/ui/qt/body.h" #include "selfdrive/ui/qt/onroad.h" #include "selfdrive/ui/qt/sidebar.h" +#include "selfdrive/ui/qt/widgets/controls.h" #include "selfdrive/ui/qt/widgets/offroad_alerts.h" #include "selfdrive/ui/ui.h" @@ -25,8 +27,10 @@ private: void hideEvent(QHideEvent *event) override; void refresh(); + Params params; + QTimer* timer; - QLabel* date; + ElidedLabel* version; QStackedLayout* center_layout; UpdateAlert *update_widget; OffroadAlert* alerts_widget; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index 4f048241c3..e08a02a4d6 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -145,11 +145,11 @@ void SoftwarePanel::updateLabels() { targetBranchBtn->setValue(QString::fromStdString(params.get("UpdaterTargetBranch"))); // current + new versions - versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")).left(40)); + versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription"))); versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes"))); installBtn->setVisible(!is_onroad && params.getBool("UpdateAvailable")); - installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")).left(35)); + installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription"))); installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes"))); update(); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index c5697c1045..59903e3376 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -21,10 +21,6 @@ QString getBrand() { return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot"); } -QString getBrandVersion() { - return getBrand() + " v" + getVersion().left(14).trimmed(); -} - QString getUserAgent() { return "openpilot-" + getVersion(); } diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h index 209f051963..61a27a8669 100644 --- a/selfdrive/ui/qt/util.h +++ b/selfdrive/ui/qt/util.h @@ -11,7 +11,6 @@ QString getVersion(); QString getBrand(); -QString getBrandVersion(); QString getUserAgent(); std::optional getDongleId(); QMap getSupportedLanguages(); diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc index a1ebf57b07..d3b77935df 100644 --- a/selfdrive/ui/qt/widgets/controls.cc +++ b/selfdrive/ui/qt/widgets/controls.cc @@ -41,7 +41,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons hlayout->addWidget(title_label); // value next to control button - value = new QLabel(); + value = new ElidedLabel(); value->setAlignment(Qt::AlignRight | Qt::AlignVCenter); value->setStyleSheet("color: #aaaaaa"); hlayout->addWidget(value); @@ -70,7 +70,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons } void AbstractControl::hideEvent(QHideEvent *e) { - if(description != nullptr) { + if (description != nullptr) { description->hide(); } } diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index c42716828f..f11f9baf59 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -65,7 +65,7 @@ protected: QPushButton *title_label; private: - QLabel *value; + ElidedLabel *value; QLabel *description = nullptr; }; diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc index bd4309d8d0..5536593016 100644 --- a/selfdrive/ui/qt/widgets/scrollview.cc +++ b/selfdrive/ui/qt/widgets/scrollview.cc @@ -3,6 +3,8 @@ #include #include +// TODO: disable horizontal scrolling and resize + ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) { setWidget(w); setWidgetResizable(true); diff --git a/selfdrive/updated.py b/selfdrive/updated.py index 57f957cfff..c261a92a84 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -280,17 +280,25 @@ class Updater: # Write out current and new version info def get_description(basedir: str) -> str: + if not os.path.exists(basedir): + return "" + version = "" branch = "" commit = "" + commit_date = "" try: branch = self.get_branch(basedir) - commit = self.get_commit_hash(basedir) + commit = self.get_commit_hash(basedir)[:7] with open(os.path.join(basedir, "common", "version.h")) as f: version = f.read().split('"')[1] + + commit_unix_ts = run(["git", "show", "-s", "--format=%ct", "HEAD"], basedir).rstrip() + dt = datetime.datetime.fromtimestamp(int(commit_unix_ts)) + commit_date = dt.strftime("%b %d") except Exception: - pass - return f"{version} / {branch} / {commit[:7]}" + cloudlog.exception("updater.get_description") + return f"{version} / {branch} / {commit} / {commit_date}" self.params.put("UpdaterCurrentDescription", get_description(BASEDIR)) self.params.put("UpdaterCurrentReleaseNotes", parse_release_notes(BASEDIR)) self.params.put("UpdaterNewDescription", get_description(FINALIZED)) From 1be4150089a4ac9281879ddfaccd0f9447c14f3d Mon Sep 17 00:00:00 2001 From: Jafar Al-Gharaibeh Date: Tue, 25 Oct 2022 17:32:49 -0500 Subject: [PATCH 123/137] Mazda: Add CX-5 2023 to supported cars (#26182) * Mazda: Add CX-5 2023 to supported cars Signed-off-by: Jafar Al-Gharaibeh * add missing cam fw Signed-off-by: Jafar Al-Gharaibeh Co-authored-by: Adeeb Shihadeh --- selfdrive/car/mazda/values.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 921dc7a634..129273efee 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -43,7 +43,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"), CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"), CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"), - CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"), + CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"), } @@ -89,6 +89,7 @@ FW_VERSIONS = { ], (Ecu.fwdCamera, 0x706, None): [ b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', From 9091e737c8fea44158570e6e15668e30d518d4d3 Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Tue, 25 Oct 2022 15:51:39 -0700 Subject: [PATCH 124/137] controlsd: update is_metric live (#26228) * fix speed increment if units changed while driving * don't recreate params Co-authored-by: Adeeb Shihadeh --- selfdrive/controls/controlsd.py | 40 +++++++++++++++++---------------- 1 file changed, 21 insertions(+), 19 deletions(-) diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index cbc54eadb8..5172cc4044 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -82,13 +82,13 @@ class Controls: self.log_sock = messaging.sub_sock('androidLog') - params = Params() + self.params = Params() self.sm = sm if self.sm is None: ignore = ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] - if params.get_bool('WideCameraOnly'): + if self.params.get_bool('WideCameraOnly'): ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', @@ -105,22 +105,22 @@ class Controls: else: self.CI, self.CP = CI, CI.CP - self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) + self.joystick_mode = self.params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None) # set alternative experiences from parameters - self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator") + self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - if self.CP.dashcamOnly and params.get_bool("DashcamOverride"): + if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"): self.CP.dashcamOnly = False # read params - self.is_metric = params.get_bool("IsMetric") - self.is_ldw_enabled = params.get_bool("IsLdwEnabled") - openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle") - passive = params.get_bool("Passive") or not openpilot_enabled_toggle + self.is_metric = self.params.get_bool("IsMetric") + self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") + openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") + passive = self.params.get_bool("Passive") or not openpilot_enabled_toggle # detect sound card presence and ensure successful init sounds_available = HARDWARE.get_sound_card_online() @@ -139,15 +139,15 @@ class Controls: # Write CarParams for radard cp_bytes = self.CP.to_bytes() - params.put("CarParams", cp_bytes) + self.params.put("CarParams", cp_bytes) put_nonblocking("CarParamsCache", cp_bytes) put_nonblocking("CarParamsPersistent", cp_bytes) # cleanup old params if not self.CP.experimentalLongitudinalAvailable: - params.remove("ExperimentalLongitudinalEnabled") + self.params.remove("ExperimentalLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: - params.remove("EndToEndLong") + self.params.remove("EndToEndLong") self.CC = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() @@ -583,9 +583,9 @@ class Controls: """Given the state, this function returns a CarControl packet""" # Update VehicleModel - params = self.sm['liveParameters'] - x = max(params.stiffnessFactor, 0.1) - sr = max(params.steerRatio, 0.1) + lp = self.sm['liveParameters'] + x = max(lp.stiffnessFactor, 0.1) + sr = max(lp.steerRatio, 0.1) self.VM.update_params(x, sr) # Update Torque Params @@ -628,7 +628,7 @@ class Controls: lat_plan.psis, lat_plan.curvatures, lat_plan.curvatureRates) - actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params, + actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp, self.last_actuators, self.steer_limited, self.desired_curvature, self.desired_curvature_rate, self.sm['liveLocationKalman']) else: @@ -768,10 +768,10 @@ class Controls: (self.state == State.softDisabling) # Curvature & Steering angle - params = self.sm['liveParameters'] + lp = self.sm['liveParameters'] - steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg) - curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, params.roll) + steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg) + curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll) # controlsState dat = messaging.new_message('controlsState') @@ -856,6 +856,8 @@ class Controls: start_time = sec_since_boot() self.prof.checkpoint("Ratekeeper", ignore=True) + self.is_metric = self.params.get_bool("IsMetric") + # Sample data from sockets and get a carState CS = self.data_sample() cloudlog.timestamp("Data sampled") From 87e26b09c17ba029b2054c256acae1c2413a3bd1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 25 Oct 2022 15:57:29 -0700 Subject: [PATCH 125/137] update car docs --- docs/CARS.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/CARS.md b/docs/CARS.md index 13ac13fe66..2df2b96e24 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -122,7 +122,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Lexus|RX Hybrid 2017-19|All|Stock[3](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota| |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota| -|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| +|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| |Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda| |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B| |Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A| From f6bab0cd678e3020c7b0e2257309df69f83de0f0 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Tue, 25 Oct 2022 16:09:36 -0700 Subject: [PATCH 126/137] [torqued] Extend to all Toyota and Hyundai cars (#26238) * extend to toyota and hyundai * remove all pid control in hyundai * remove indi tunes * remove toyota lat tunes * release notes * rm tunes.py Co-authored-by: Adeeb Shihadeh --- RELEASES.md | 1 + selfdrive/car/hyundai/interface.py | 94 +------------------------- selfdrive/car/toyota/interface.py | 38 ++++------- selfdrive/car/toyota/tunes.py | 102 ----------------------------- 4 files changed, 15 insertions(+), 220 deletions(-) delete mode 100644 selfdrive/car/toyota/tunes.py diff --git a/RELEASES.md b/RELEASES.md index b424259581..744168c8fb 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -6,6 +6,7 @@ Version 0.8.17 (2022-XX-XX) * New end-to-end distracted trigger * Self-tuning torque lateral controller parameters * Parameters learned live for each car +* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models * UI updates * Multi-language in navigation * Matched speeds shown on car's dash diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 147c766008..6a1d741dec 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -45,141 +45,92 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 # Default delay ret.steerLimitTimer = 0.4 tire_stiffness_factor = 1. + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.766 # Values from optimizer ret.steerRatio = 16.55 # 13.8 is spec end-to-end tire_stiffness_factor = 0.82 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]] elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): ret.mass = 1513. + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SONATA_LF: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 4497. * CV.LB_TO_KG ret.wheelbase = 2.804 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.PALISADE: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1999. + STD_CARGO_KG ret.wheelbase = 2.90 ret.steerRatio = 15.6 * 1.15 tire_stiffness_factor = 0.63 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ELANTRA: - ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1275. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 tire_stiffness_factor = 0.385 # stiffnessFactor settled on 1.0081302973865127 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.ELANTRA_2021: ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ELANTRA_HEV_2021: ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.HYUNDAI_GENESIS: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [3.5] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [2.0] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [2.3] ret.minSteerSpeed = 60 * CV.KPH_TO_MS elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022): ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG ret.wheelbase = 2.6 ret.steerRatio = 13.42 # Spec tire_stiffness_factor = 0.385 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): - ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1490. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx ret.wheelbase = 2.7 ret.steerRatio = 13.73 # Spec tire_stiffness_factor = 0.385 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022): ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.IONIQ_PHEV_2019: ret.mass = 1550. + STD_CARGO_KG # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs ret.wheelbase = 2.7 ret.steerRatio = 13.73 - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [2.5] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [3.5] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.VELOSTER: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 * 1.15 tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.TUCSON: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3520. * CV.LB_TO_KG ret.wheelbase = 2.67 ret.steerRatio = 14.00 * 1.15 tire_stiffness_factor = 0.385 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.TUCSON_HYBRID_4TH_GEN: ret.mass = 1680. + STD_CARGO_KG # average of all 3 trims ret.wheelbase = 2.756 ret.steerRatio = 16. tire_stiffness_factor = 0.385 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Kia elif candidate == CAR.KIA_SORENTO: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1985. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021): - ret.lateralTuning.pid.kf = 0.00006 ret.mass = 1737. + STD_CARGO_KG ret.wheelbase = 2.7 ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73 # Spec tire_stiffness_factor = 0.385 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] if candidate == CAR.KIA_NIRO_PHEV: ret.minSteerSpeed = 32 * CV.MPH_TO_MS elif candidate == CAR.KIA_SELTOS: @@ -187,15 +138,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.63 ret.steerRatio = 14.56 tire_stiffness_factor = 1 - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [4.] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [3.] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H): ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 @@ -203,92 +145,58 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.5 if candidate == CAR.KIA_OPTIMA_G4: ret.minSteerSpeed = 32 * CV.MPH_TO_MS - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_STINGER: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG ret.wheelbase = 2.78 ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_FORTE: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3558. * CV.LB_TO_KG ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_CEED: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1450. + STD_CARGO_KG ret.wheelbase = 2.65 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kf = 0.00005 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_K5_2021: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3228. * CV.LB_TO_KG ret.wheelbase = 2.85 ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) tire_stiffness_factor = 0.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.05]] elif candidate == CAR.KIA_EV6: ret.mass = 2055 + STD_CARGO_KG ret.wheelbase = 2.9 ret.steerRatio = 16. tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.IONIQ_5: ret.mass = 2012 + STD_CARGO_KG ret.wheelbase = 3.0 ret.steerRatio = 16. tire_stiffness_factor = 0.65 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: ret.mass = 1767. + STD_CARGO_KG # SX Prestige trim support only ret.wheelbase = 2.756 ret.steerRatio = 13.6 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Genesis elif candidate == CAR.GENESIS_G70: - ret.lateralTuning.init('indi') - ret.lateralTuning.indi.innerLoopGainBP = [0.] - ret.lateralTuning.indi.innerLoopGainV = [2.5] - ret.lateralTuning.indi.outerLoopGainBP = [0.] - ret.lateralTuning.indi.outerLoopGainV = [3.5] - ret.lateralTuning.indi.timeConstantBP = [0.] - ret.lateralTuning.indi.timeConstantV = [1.4] - ret.lateralTuning.indi.actuatorEffectivenessBP = [0.] - ret.lateralTuning.indi.actuatorEffectivenessV = [1.8] ret.steerActuatorDelay = 0.1 ret.mass = 1640.0 + STD_CARGO_KG ret.wheelbase = 2.84 ret.steerRatio = 13.56 elif candidate == CAR.GENESIS_G70_2020: - ret.lateralTuning.pid.kf = 0. - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.112], [0.004]] ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG ret.wheelbase = 2.83 ret.steerRatio = 12.9 elif candidate == CAR.GENESIS_G80: - ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG ret.wheelbase = 3.01 ret.steerRatio = 16.5 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] elif candidate == CAR.GENESIS_G90: ret.mass = 2200 ret.wheelbase = 3.15 ret.steerRatio = 12.069 - ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] - ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.01]] # *** longitudinal control *** if candidate in CANFD_CAR: diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 28912645ac..0d5acbfff4 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,6 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda -from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -74,7 +73,6 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.035 tire_stiffness_factor = 0.5533 ret.mass = 4481. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.CHR, CAR.CHRH): stop_and_go = True @@ -82,7 +80,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.6 tire_stiffness_factor = 0.7933 ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_F) elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): stop_and_go = True @@ -90,8 +87,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.7 tire_stiffness_factor = 0.7933 ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2): - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2): stop_and_go = True @@ -99,7 +94,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 tire_stiffness_factor = 0.8 ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - set_lat_tune(ret.lateralTuning, LatTunes.PID_G) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2): # starting from 2019, all Avalon variants have stop and go @@ -109,7 +103,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - set_lat_tune(ret.lateralTuning, LatTunes.PID_H) elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): stop_and_go = True @@ -117,14 +110,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.3 tire_stiffness_factor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG + STD_CARGO_KG # Average between ICE and Hybrid - set_lat_tune(ret.lateralTuning, LatTunes.PID_D) - - # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. - # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 - for fw in car_fw: - if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): - set_lat_tune(ret.lateralTuning, LatTunes.PID_I) - break elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): stop_and_go = True @@ -139,7 +124,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 16.0 # not optimized tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 3677. * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - set_lat_tune(ret.lateralTuning, LatTunes.PID_D) elif candidate == CAR.SIENNA: stop_and_go = True @@ -147,14 +131,12 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 15.5 tire_stiffness_factor = 0.444 ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_J) elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC): ret.wheelbase = 2.79908 ret.steerRatio = 13.3 tire_stiffness_factor = 0.444 ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_L) elif candidate == CAR.LEXUS_CTH: stop_and_go = True @@ -162,7 +144,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 18.6 tire_stiffness_factor = 0.517 ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG # mean between min and max - set_lat_tune(ret.lateralTuning, LatTunes.PID_M) elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NXH, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2): stop_and_go = True @@ -170,7 +151,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.7 tire_stiffness_factor = 0.444 # not optimized yet ret.mass = 4070 * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate == CAR.PRIUS_TSS2: stop_and_go = True @@ -178,7 +158,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 13.4 # True steerRatio from older prius tire_stiffness_factor = 0.6371 # hand-tune ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_N) elif candidate == CAR.MIRAI: stop_and_go = True @@ -186,7 +165,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.8 tire_stiffness_factor = 0.8 ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_C) elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2): stop_and_go = True @@ -194,7 +172,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.2 tire_stiffness_factor = 0.444 ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG - set_lat_tune(ret.lateralTuning, LatTunes.PID_J) ret.centerToFront = ret.wheelbase * 0.44 @@ -230,12 +207,23 @@ class CarInterface(CarInterfaceBase): # to a negative value, so it won't matter. ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED + tune = ret.longitudinalTuning if candidate in TSS2_CAR or ret.enableGasInterceptor: - set_long_tune(ret.longitudinalTuning, LongTunes.TSS2) + tune.deadzoneBP = [0., 8.05] + tune.deadzoneV = [.0, .14] + tune.kpBP = [0., 5., 20.] + tune.kpV = [1.3, 1.0, 0.7] + tune.kiBP = [0., 5., 12., 20., 27.] + tune.kiV = [.35, .23, .20, .17, .1] if candidate in TSS2_CAR: ret.stoppingDecelRate = 0.3 # reach stopping target smoothly else: - set_long_tune(ret.longitudinalTuning, LongTunes.TSS) + tune.deadzoneBP = [0., 9.] + tune.deadzoneV = [.0, .15] + tune.kpBP = [0., 5., 35.] + tune.kiBP = [0., 35.] + tune.kpV = [3.6, 2.4, 1.5] + tune.kiV = [0.54, 0.36] return ret diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py deleted file mode 100644 index b73ab4c8c9..0000000000 --- a/selfdrive/car/toyota/tunes.py +++ /dev/null @@ -1,102 +0,0 @@ -#!/usr/bin/env python3 -from enum import Enum - -class LongTunes(Enum): - TSS2 = 0 - TSS = 1 - -class LatTunes(Enum): - INDI_PRIUS = 0 - LQR_RAV4 = 1 - PID_A = 2 - PID_B = 3 - PID_C = 4 - PID_D = 5 - PID_E = 6 - PID_F = 7 - PID_G = 8 - PID_I = 9 - PID_H = 10 - PID_J = 11 - PID_K = 12 - PID_L = 13 - PID_M = 14 - PID_N = 15 - - -###### LONG ###### -def set_long_tune(tune, name): - # Improved longitudinal tune - if name == LongTunes.TSS2: - tune.deadzoneBP = [0., 8.05] - tune.deadzoneV = [.0, .14] - tune.kpBP = [0., 5., 20.] - tune.kpV = [1.3, 1.0, 0.7] - tune.kiBP = [0., 5., 12., 20., 27.] - tune.kiV = [.35, .23, .20, .17, .1] - # Default longitudinal tune - elif name == LongTunes.TSS: - tune.deadzoneBP = [0., 9.] - tune.deadzoneV = [.0, .15] - tune.kpBP = [0., 5., 35.] - tune.kiBP = [0., 35.] - tune.kpV = [3.6, 2.4, 1.5] - tune.kiV = [0.54, 0.36] - else: - raise NotImplementedError('This longitudinal tune does not exist') - - -###### LAT ###### -def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True): - if 'PID' in str(name): - tune.init('pid') - tune.pid.kiBP = [0.0] - tune.pid.kpBP = [0.0] - if name == LatTunes.PID_A: - tune.pid.kpV = [0.2] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00003 - elif name == LatTunes.PID_C: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.1] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_D: - tune.pid.kpV = [0.6] - tune.pid.kiV = [0.1] - tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_F: - tune.pid.kpV = [0.723] - tune.pid.kiV = [0.0428] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_G: - tune.pid.kpV = [0.18] - tune.pid.kiV = [0.015] - tune.pid.kf = 0.00012 - elif name == LatTunes.PID_H: - tune.pid.kpV = [0.17] - tune.pid.kiV = [0.03] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_I: - tune.pid.kpV = [0.15] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00004 - elif name == LatTunes.PID_J: - tune.pid.kpV = [0.19] - tune.pid.kiV = [0.02] - tune.pid.kf = 0.00007818594 - elif name == LatTunes.PID_L: - tune.pid.kpV = [0.3] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00006 - elif name == LatTunes.PID_M: - tune.pid.kpV = [0.3] - tune.pid.kiV = [0.05] - tune.pid.kf = 0.00007 - elif name == LatTunes.PID_N: - tune.pid.kpV = [0.35] - tune.pid.kiV = [0.15] - tune.pid.kf = 0.00007818594 - else: - raise NotImplementedError('This PID tune does not exist') - else: - raise NotImplementedError('This lateral tune does not exist') From dcde942d9fb05575dcc70f0b24f9c3c6b7c220ab Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Tue, 25 Oct 2022 16:53:24 -0700 Subject: [PATCH 127/137] Long control: add a_change cost in e2e mode (#26237) Add e2e cost --- selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 2aab4b71af..49eb5988e2 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -253,7 +253,8 @@ class LongitudinalMpc: cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] elif self.mode == 'blended': - cost_weights = [0., 0.1, 0.2, 5.0, 0.0, 1.0] + a_change_cost = 40.0 if prev_accel_constraint else 0 + cost_weights = [0., 0.1, 0.2, 5.0, a_change_cost, 1.0] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, 50.0] else: raise NotImplementedError(f'Planner mode {self.mode} not recognized in planner cost set') From 45b16570cfca88cef9f9cb82e6376527de786188 Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Tue, 25 Oct 2022 22:43:57 -0700 Subject: [PATCH 128/137] bump panda (#26244) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 2db69bc941..bd8d2481dd 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 2db69bc94120a3c10f39cdedc9d83315f9ba801e +Subproject commit bd8d2481dd071df62263e093b2e332a2a404dc87 From 2b7290a14261ca0a745f4cd537de7cc9d11ccb12 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 26 Oct 2022 00:20:30 -0700 Subject: [PATCH 129/137] Model trained with more long noise (#26241) * d8501d20-bb59-4193-aa82-82b2737dedd6/449 d37d320d-7d78-479a-9be2-d58c75284307/700 * Update model ref --- selfdrive/modeld/models/supercombo.onnx | 4 ++-- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 21602ea70a..49a1c3a3b8 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:9c119aa811a929b3a442dbe8e462a9d88e8bfb9f5809a4e737687fb7380d7e05 -size 45922882 +oid sha256:a41d42f92913e6cc3909e505b1220b16d31f7cfca5f8a4e82109577b4151b645 +size 45922983 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index b5fd11fee8..5843a1e174 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -46cb9c522e942d8b25deac90ffdee89efff60ce9 +d2f1711fd58d4f2c25b81bd332270da60ff9636d From b3e0a8c4e05f0c657d63d4825d50d43877b72768 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 26 Oct 2022 14:26:41 -0400 Subject: [PATCH 130/137] Hyundai: Add FW for 2022 Tucson Hybrid (#26239) * Hyundai: Add FW for 2022 Tucson Hybrid * Duplicated FW * Add cornerRadar FW (in a non-HDA too?) * Update selfdrive/car/hyundai/values.py Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 29d0cb3dce..98cb72293f 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1379,6 +1379,7 @@ FW_VERSIONS = { CAR.TUCSON_HYBRID_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q', + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', From 03ebc3bff57627843bde8b5ea758a54e8b96cb4e Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 26 Oct 2022 11:45:21 -0700 Subject: [PATCH 131/137] [torqued] Update offline values (#26243) * update offline vals * update refs --- selfdrive/car/torque_data/params.yaml | 6 +++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 160f605488..60b1662cee 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -35,7 +35,7 @@ HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.12070193418239 HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] HYUNDAI SANTA FE PlUG-IN HYBRID 2022: [1.6953050513611045, 1.5837614296206861, 0.12672855941458458] HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.14039920986586393] -HYUNDAI SONATA 2020: [3.284505627881726, 2.1259108157250735, 0.08452048323586728] +HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593] HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382] JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185] JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003] @@ -67,8 +67,8 @@ TOYOTA CAMRY 2021: [2.6922769557433055, 2.3476510120007434, 0.1450430192989234] TOYOTA CAMRY HYBRID 2018: [2.0974120828287774, 1.7996193116697359, 0.13823613467632756] TOYOTA CAMRY HYBRID 2021: [2.6426668350384457, 2.3901492458927986, 0.16103875108816076] TOYOTA COROLLA 2017: [3.117154369115421, 1.8438132575043773, 0.12289685869250652] -TOYOTA COROLLA HYBRID TSS2 2019: [2.3287672277252005, 1.8118712531729109, 0.2215868445753317] -TOYOTA COROLLA TSS2 2019: [2.4204464833010175, 1.9258612322678952, 0.20670411068012526] +TOYOTA COROLLA HYBRID TSS2 2019: [1.9079729107361805, 1.8118712531729109, 0.22251440891543514] +TOYOTA COROLLA TSS2 2019: [2.0742917676766712, 1.9258612322678952, 0.16888685704519352] TOYOTA HIGHLANDER 2017: [1.8696367437248915, 1.626293990451463, 0.17485372210240796] TOYOTA HIGHLANDER 2020: [2.022340166827233, 1.6183134804881791, 0.14592306380054457] TOYOTA HIGHLANDER HYBRID 2018: [1.9421825202382728, 1.6433903296845025, 0.16928956792275918] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 44eed18493..ba0f30e5c3 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -68457035e9223fcbd70bd40966d5a1d9fe4f1567 \ No newline at end of file +8f2919ba4d8509432e93ff0a44f951254c1ff3fe \ No newline at end of file From d549e1899dbc7f28e0f27db51d875b30caa12ab0 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 27 Oct 2022 03:59:16 +0800 Subject: [PATCH 132/137] Cabana: use QLineEdit for double value (#26247) --- tools/cabana/signaledit.cc | 22 +++++++++++++--------- tools/cabana/signaledit.h | 5 ++--- 2 files changed, 15 insertions(+), 12 deletions(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 3926cda01f..1bb5e9e533 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,6 +1,7 @@ #include "tools/cabana/signaledit.h" #include +#include #include #include #include @@ -36,13 +37,16 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { sign->setCurrentIndex(sig.is_signed ? 0 : 1); form_layout->addRow(tr("sign"), sign); - factor = new QDoubleSpinBox(); - factor->setDecimals(3); - factor->setValue(sig.factor); + auto double_validator = new QDoubleValidator(this); + + factor = new QLineEdit(); + factor->setValidator(double_validator); + factor->setText(QString::number(sig.factor)); form_layout->addRow(tr("Factor"), factor); - offset = new QSpinBox(); - offset->setValue(sig.offset); + offset = new QLineEdit(); + offset->setValidator(double_validator); + offset->setText(QString::number(sig.offset)); form_layout->addRow(tr("Offset"), offset); // TODO: parse the following parameters in opendbc @@ -50,11 +54,11 @@ SignalForm::SignalForm(const Signal &sig, QWidget *parent) : QWidget(parent) { form_layout->addRow(tr("Unit"), unit); comment = new QLineEdit(); form_layout->addRow(tr("Comment"), comment); - min_val = new QDoubleSpinBox(); - factor->setDecimals(3); + min_val = new QLineEdit(); + min_val->setValidator(double_validator); form_layout->addRow(tr("Minimum value"), min_val); - max_val = new QDoubleSpinBox(); - factor->setDecimals(3); + max_val = new QLineEdit(); + max_val->setValidator(double_validator); form_layout->addRow(tr("Maximum value"), max_val); val_desc = new QLineEdit(); form_layout->addRow(tr("Value descriptions"), val_desc); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 472453d4b1..71719852f1 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -16,9 +16,8 @@ class SignalForm : public QWidget { public: SignalForm(const Signal &sig, QWidget *parent); - QLineEdit *name, *unit, *comment, *val_desc; - QSpinBox *size, *offset; - QDoubleSpinBox *factor, *min_val, *max_val; + QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val; + QSpinBox *size; QComboBox *sign, *endianness; }; From 728d96924924dd8d4e899ccaba0ed6bcc4a23417 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 27 Oct 2022 03:59:37 +0800 Subject: [PATCH 133/137] Cabana: limit X-axis range from settings (#26213) * limit X-axis range from settings * continue * update range if events merged * update line series by range * cleanup removeChart * cleanup updateAxisy --- tools/cabana/canmessages.cc | 83 ++++-------- tools/cabana/canmessages.h | 33 ++--- tools/cabana/chartswidget.cc | 256 +++++++++++++++++++---------------- tools/cabana/chartswidget.h | 28 +++- tools/cabana/historylog.cc | 5 +- tools/cabana/historylog.h | 1 + tools/cabana/mainwin.cc | 1 + tools/cabana/settings.cc | 15 +- tools/cabana/settings.h | 2 + tools/cabana/videowidget.cc | 5 +- tools/cabana/videowidget.h | 2 +- 11 files changed, 217 insertions(+), 214 deletions(-) diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc index 1b46bd9da7..3ffc29916f 100644 --- a/tools/cabana/canmessages.cc +++ b/tools/cabana/canmessages.cc @@ -28,7 +28,7 @@ bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this); replay->setSegmentCacheLimit(settings.cached_segment_limit); replay->installEventFilter(event_filter, this); - QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::segmentsMerged); + QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged); if (replay->load()) { replay->start(); return true; @@ -63,41 +63,26 @@ QList CANMessages::findSignalValues(const QString &id, const Signal *si return ret; } -void CANMessages::process(QHash> *messages) { +void CANMessages::process(QHash *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { - auto &msgs = can_msgs[it.key()]; - const auto &new_msgs = it.value(); - if (new_msgs.size() == settings.can_msg_log_size || msgs.empty()) { - msgs = std::move(new_msgs); - } else { - msgs.insert(msgs.begin(), std::make_move_iterator(new_msgs.begin()), std::make_move_iterator(new_msgs.end())); - if (msgs.size() > settings.can_msg_log_size) { - msgs.resize(settings.can_msg_log_size); - } - } + can_msgs[it.key()] = it.value(); } delete messages; - - if (current_sec < begin_sec || current_sec > end_sec) { - // loop replay in selected range. - seekTo(begin_sec); - } else { - emit updated(); - } + emit updated(); } bool CANMessages::eventFilter(const Event *event) { + static std::unique_ptr> new_msgs; static double prev_update_ts = 0; - // drop packets when the GUI thread is calling seekTo. to make sure the current_sec is accurate. - if (!seeking && event->which == cereal::Event::Which::CAN) { - if (!received_msgs) { - received_msgs.reset(new QHash>); - received_msgs->reserve(1000); + + if (event->which == cereal::Event::Which::CAN) { + if (!new_msgs) { + new_msgs.reset(new QHash); + new_msgs->reserve(1000); } - current_sec = (event->mono_time - replay->routeStartTime()) / (double)1e9; - if (counters_begin_sec > current_sec) { - // clear counters + double current_sec = replay->currentSeconds(); + if (counters_begin_sec == 0) { counters.clear(); counters_begin_sec = current_sec; } @@ -105,8 +90,10 @@ bool CANMessages::eventFilter(const Event *event) { auto can_events = event->event.getCan(); for (const auto &c : can_events) { QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16); - auto &list = (*received_msgs)[id]; - while (list.size() >= settings.can_msg_log_size) { + + std::lock_guard lk(lock); + auto &list = received_msgs[id]; + while (list.size() > settings.can_msg_log_size) { list.pop_back(); } CanData &data = list.emplace_front(); @@ -119,49 +106,27 @@ bool CANMessages::eventFilter(const Event *event) { if (double delta = (current_sec - counters_begin_sec); delta > 0) { data.freq = count / delta; } + (*new_msgs)[id] = data; } double ts = millis_since_boot(); if ((ts - prev_update_ts) > (1000.0 / settings.fps)) { prev_update_ts = ts; // use pointer to avoid data copy in queued connection. - emit received(received_msgs.release()); + emit received(new_msgs.release()); } } return true; } -void CANMessages::seekTo(double ts) { - seeking = true; - replay->seekTo(ts, false); - seeking = false; +const std::deque CANMessages::messages(const QString &id) { + std::lock_guard lk(lock); + return received_msgs[id]; } -void CANMessages::setRange(double min, double max) { - if (begin_sec != min || end_sec != max) { - begin_sec = min; - end_sec = max; - is_zoomed = begin_sec != event_begin_sec || end_sec != event_end_sec; - emit rangeChanged(min, max); - } -} - -void CANMessages::segmentsMerged() { - auto events = replay->events(); - if (!events || events->empty()) return; - - auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; }); - event_begin_sec = it == events->end() ? 0 : ((*it)->mono_time - replay->routeStartTime()) / (double)1e9; - event_end_sec = double(events->back()->mono_time - replay->routeStartTime()) / 1e9; - if (!is_zoomed) { - begin_sec = event_begin_sec; - end_sec = event_end_sec; - } - emit eventsMerged(); -} - -void CANMessages::resetRange() { - setRange(event_begin_sec, event_end_sec); +void CANMessages::seekTo(double ts) { + replay->seekTo(ts, false); + counters_begin_sec = 0; } void CANMessages::settingChanged() { diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h index d1bb1b73b6..5fbccdbe12 100644 --- a/tools/cabana/canmessages.h +++ b/tools/cabana/canmessages.h @@ -2,7 +2,7 @@ #include #include -#include +#include #include #include @@ -29,20 +29,16 @@ public: ~CANMessages(); bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam); void seekTo(double ts); - void resetRange(); - void setRange(double min, double max); QList findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count); bool eventFilter(const Event *event); - inline std::pair range() const { return {begin_sec, end_sec}; } inline QString route() const { return routeName; } inline QString carFingerprint() const { return replay->carFingerprint().c_str(); } inline double totalSeconds() const { return replay->totalSeconds(); } inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; } - inline double currentSec() const { return current_sec; } - inline bool isZoomed() const { return is_zoomed; } - inline const std::deque &messages(const QString &id) { return can_msgs[id]; } - inline const CanData &lastMessage(const QString &id) { return can_msgs[id].front(); } + inline double currentSec() const { return replay->currentSeconds(); } + const std::deque messages(const QString &id); + inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; } inline const std::vector *events() const { return replay->events(); } inline void setSpeed(float speed) { replay->setSpeed(speed); } @@ -52,32 +48,23 @@ public: signals: void eventsMerged(); - void rangeChanged(double min, double max); void updated(); - void received(QHash> *); + void received(QHash *); public: - QMap> can_msgs; - std::unique_ptr>> received_msgs = nullptr; + QMap can_msgs; protected: - void process(QHash> *); - void segmentsMerged(); + void process(QHash *); void settingChanged(); - std::atomic current_sec = 0.; - std::atomic seeking = false; - - double begin_sec = 0; - double end_sec = 0; - double event_begin_sec = 0; - double event_end_sec = 0; - bool is_zoomed = false; QString routeName; Replay *replay = nullptr; - double counters_begin_sec = std::numeric_limits::max(); + std::mutex lock; + std::atomic counters_begin_sec = 0; QHash counters; + QHash> received_msgs; }; inline QString toHex(const QByteArray &dat) { diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index f0bef36f4a..ea44a4033c 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -1,6 +1,7 @@ #include "tools/cabana/chartswidget.h" #include +#include #include #include #include @@ -57,47 +58,85 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) { QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { removeAll(nullptr); }); QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartsWidget::removeAll); - QObject::connect(dbc(), &DBCManager::signalUpdated, [this](const Signal *sig) { - for (auto chart : charts) { - if (chart->signal == sig) { - chart->chart_view->updateSeries(); - } - } - }); - QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &id) { - for (auto chart : charts) { - if (chart->id == id) - chart->updateTitle(); + QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartsWidget::signalUpdated); + QObject::connect(dbc(), &DBCManager::msgUpdated, [this](const QString &msg_id) { + for (auto c : charts) { + if (c->id == msg_id) c->updateTitle(); } }); - - QObject::connect(can, &CANMessages::rangeChanged, [this]() { updateTitleBar(); }); - QObject::connect(reset_zoom_btn, &QPushButton::clicked, can, &CANMessages::resetRange); + QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged); + QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState); QObject::connect(remove_all_btn, &QPushButton::clicked, [this]() { removeAll(); }); + QObject::connect(reset_zoom_btn, &QPushButton::clicked, this, &ChartsWidget::zoomReset); QObject::connect(dock_btn, &QPushButton::clicked, [this]() { emit dock(!docking); docking = !docking; updateTitleBar(); }); - QObject::connect(&settings, &Settings::changed, [this]() { - for (auto chart : charts) { - chart->setHeight(settings.chart_height); +} + +void ChartsWidget::eventsMerged() { + if (auto events = can->events(); events && !events->empty()) { + auto it = std::find_if(events->begin(), events->end(), [=](const Event *e) { return e->which == cereal::Event::Which::CAN; }); + event_range.first = it == events->end() ? 0 : (*it)->mono_time / (double)1e9 - can->routeStartTime(); + event_range.second = it == events->end() ? 0 : events->back()->mono_time / (double)1e9 - can->routeStartTime(); + if (display_range.first == 0 && event_range.second == 0) { + display_range.first = event_range.first; + display_range.second = std::min(event_range.first + settings.max_chart_x_range, event_range.second); } - }); + } +} + +void ChartsWidget::zoomIn(double min, double max) { + zoomed_range = {min, max}; + is_zoomed = zoomed_range != display_range; + updateTitleBar(); + emit rangeChanged(min, max, is_zoomed); + updateState(); +} + +void ChartsWidget::zoomReset() { + zoomIn(display_range.first, display_range.second); +} + +void ChartsWidget::updateState() { + if (charts.isEmpty()) return; + + const double current_sec = can->currentSec(); + if (is_zoomed) { + if (current_sec < zoomed_range.first || current_sec >= zoomed_range.second) { + can->seekTo(zoomed_range.first); + } + } else { + auto prev_range = display_range; + if (current_sec < display_range.first || current_sec >= (display_range.second - 5)) { + // line marker reached the end, or seeked to a timestamp out of range. + display_range.first = current_sec - 5; + } + display_range.first = std::max(display_range.first, event_range.first); + display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second); + if (prev_range != display_range) { + for (auto c : charts) + c->chart_view->updateSeries(display_range); + } + } + + const auto &range = is_zoomed ? zoomed_range : display_range; + for (auto c : charts) { + c->chart_view->setRange(range.first, range.second); + c->chart_view->updateLineMarker(current_sec); + } } void ChartsWidget::updateTitleBar() { title_bar->setVisible(!charts.isEmpty()); if (charts.isEmpty()) return; - // show select range - range_label->setVisible(can->isZoomed()); - reset_zoom_btn->setEnabled(can->isZoomed()); - if (can->isZoomed()) { - auto [min, max] = can->range(); - range_label->setText(tr("%1 - %2").arg(min, 0, 'f', 2).arg(max, 0, 'f', 2)); + range_label->setVisible(is_zoomed); + reset_zoom_btn->setEnabled(is_zoomed); + if (is_zoomed) { + range_label->setText(tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2)); } - title_label->setText(tr("Charts (%1)").arg(charts.size())); dock_btn->setText(docking ? "⬈" : "⬋"); dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts")); @@ -107,23 +146,19 @@ void ChartsWidget::addChart(const QString &id, const Signal *sig) { auto it = std::find_if(charts.begin(), charts.end(), [=](auto c) { return c->id == id && c->signal == sig; }); if (it == charts.end()) { auto chart = new ChartWidget(id, sig, this); - QObject::connect(chart, &ChartWidget::remove, this, &ChartsWidget::removeChart); + chart->chart_view->updateSeries(display_range); + QObject::connect(chart, &ChartWidget::remove, [=]() { removeChart(chart); });; + QObject::connect(chart->chart_view, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); + QObject::connect(chart->chart_view, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); charts_layout->insertWidget(0, chart); charts.push_back(chart); } updateTitleBar(); } -void ChartsWidget::removeChart(const QString &msg_id, const Signal *sig) { - QMutableListIterator it(charts); - while (it.hasNext()) { - auto c = it.next(); - if (c->id == msg_id && c->signal == sig) { - c->deleteLater(); - it.remove(); - break; - } - } +void ChartsWidget::removeChart(ChartWidget *chart) { + charts.removeOne(chart); + chart->deleteLater(); updateTitleBar(); } @@ -139,6 +174,17 @@ void ChartsWidget::removeAll(const Signal *sig) { updateTitleBar(); } +void ChartsWidget::signalUpdated(const Signal *sig) { + for (auto c : charts) { + if (c->signal == sig) { + c->updateTitle(); + c->chart_view->updateSeries(display_range); + c->chart_view->setRange(display_range.first, display_range.second, true); + } + } +} + + bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { if (obj != this && event->type() == QEvent::Close) { emit dock_btn->clicked(); @@ -156,17 +202,19 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) QWidget *header = new QWidget(this); header->setStyleSheet("background-color:white"); - QHBoxLayout *header_layout = new QHBoxLayout(header); + QGridLayout *header_layout = new QGridLayout(header); header_layout->setContentsMargins(11, 11, 11, 0); - title = new QLabel(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); - header_layout->addWidget(title); - header_layout->addStretch(); + msg_name_label = new QLabel(this); + msg_name_label->setTextFormat(Qt::RichText); + header_layout->addWidget(msg_name_label, 0, 0, Qt::AlignLeft); + sig_name_label = new QLabel(this); + sig_name_label->setStyleSheet("font-weight:bold"); + header_layout->addWidget(sig_name_label, 0, 1, Qt::AlignCenter); //, 0, Qt::AlignCenter); QPushButton *remove_btn = new QPushButton("✖", this); - remove_btn->setFixedSize(30, 30); + remove_btn->setFixedSize(20, 20); remove_btn->setToolTip(tr("Remove chart")); - QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); - header_layout->addWidget(remove_btn); + header_layout->addWidget(remove_btn, 0, 2, Qt::AlignRight); main_layout->addWidget(header); chart_view = new ChartView(id, sig, this); @@ -175,10 +223,15 @@ ChartWidget::ChartWidget(const QString &id, const Signal *sig, QWidget *parent) main_layout->addStretch(); setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed); + updateTitle(); + + QObject::connect(remove_btn, &QPushButton::clicked, [=]() { emit remove(id, sig); }); + QObject::connect(&settings, &Settings::changed, [this]() { chart_view->setFixedHeight(settings.chart_height); }); } void ChartWidget::updateTitle() { - title->setText(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); + msg_name_label->setText(tr("%1 %2").arg(dbc()->msg(id)->name.c_str()).arg(id)); + sig_name_label->setText(signal->name.c_str()); } // ChartView @@ -186,15 +239,10 @@ void ChartWidget::updateTitle() { ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) : id(id), signal(sig), QChartView(nullptr, parent) { QLineSeries *series = new QLineSeries(); - series->setUseOpenGL(true); QChart *chart = new QChart(); - chart->setTitle(sig->name.c_str()); chart->addSeries(series); chart->createDefaultAxes(); chart->legend()->hide(); - QFont font; - font.setBold(true); - chart->setTitleFont(font); chart->setMargins({0, 0, 0, 0}); chart->layout()->setContentsMargins(0, 0, 0, 0); @@ -220,16 +268,18 @@ ChartView::ChartView(const QString &id, const Signal *sig, QWidget *parent) timer->setSingleShot(true); timer->callOnTimeout(this, &ChartView::adjustChartMargins); - QObject::connect(can, &CANMessages::updated, this, &ChartView::updateState); - QObject::connect(can, &CANMessages::rangeChanged, this, &ChartView::rangeChanged); - QObject::connect(can, &CANMessages::eventsMerged, this, &ChartView::updateSeries); - QObject::connect(dynamic_cast(chart->axisX()), &QValueAxis::rangeChanged, can, &CANMessages::setRange); QObject::connect(chart, &QChart::plotAreaChanged, [=](const QRectF &plotArea) { // use a singleshot timer to avoid recursion call. timer->start(); }); +} - updateSeries(); +void ChartView::setRange(double min, double max, bool force_update) { + auto axis_x = dynamic_cast(chart()->axisX()); + if (force_update || (min != axis_x->min() || max != axis_x->max())) { + axis_x->setRange(min, max); + updateAxisY(); + } } void ChartView::adjustChartMargins() { @@ -241,18 +291,17 @@ void ChartView::adjustChartMargins() { } } -void ChartWidget::setHeight(int height) { - chart_view->setFixedHeight(height); -} - -void ChartView::updateState() { +void ChartView::updateLineMarker(double current_sec) { auto axis_x = dynamic_cast(chart()->axisX()); - int x = chart()->plotArea().left() + chart()->plotArea().width() * (can->currentSec() - axis_x->min()) / (axis_x->max() - axis_x->min()); - line_marker->setLine(x, 0, x, height()); + int x = chart()->plotArea().left() + + chart()->plotArea().width() * (current_sec - axis_x->min()) / (axis_x->max() - axis_x->min()); + if (int(line_marker->line().x1()) != x) { + line_marker->setLine(x, 0, x, height()); + chart()->update(); + } } -void ChartView::updateSeries() { - chart()->setTitle(signal->name.c_str()); +void ChartView::updateSeries(const std::pair &range) { auto events = can->events(); if (!events) return; @@ -261,15 +310,18 @@ void ChartView::updateSeries() { uint32_t address = l[1].toUInt(nullptr, 16); vals.clear(); - vals.reserve(3 * 60 * 100); - uint64_t route_start_time = can->routeStartTime(); - for (auto &evt : *events) { - if (evt->which == cereal::Event::Which::CAN) { - for (auto c : evt->event.getCan()) { + vals.reserve((range.second - range.first) * 100); // [n]minutes * 100hz + double route_start_time = can->routeStartTime(); + Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + range.first) * 1e9); + auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); + double end_ns = (route_start_time + range.second) * 1e9; + for (auto it = begin; it != events->end() && (*it)->mono_time <= end_ns; ++it) { + if ((*it)->which == cereal::Event::Which::CAN) { + for (auto c : (*it)->event.getCan()) { if (bus == c.getSrc() && address == c.getAddress()) { auto dat = c.getDat(); double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *signal); - double ts = (evt->mono_time / (double)1e9) - route_start_time; // seconds + double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds vals.push_back({ts, value}); } } @@ -277,40 +329,20 @@ void ChartView::updateSeries() { } QLineSeries *series = (QLineSeries *)chart()->series()[0]; series->replace(vals); - series->setPointLabelsColor(Qt::black); - auto [begin, end] = can->range(); - chart()->axisX()->setRange(begin, end); - updateAxisY(); -} - -void ChartView::rangeChanged(qreal min, qreal max) { - auto axis_x = dynamic_cast(chart()->axisX()); - if (axis_x->min() != min || axis_x->max() != max) { - axis_x->setRange(min, max); - } - updateAxisY(); } // auto zoom on yaxis void ChartView::updateAxisY() { const auto axis_x = dynamic_cast(chart()->axisX()); const auto axis_y = dynamic_cast(chart()->axisY()); - // vals is a sorted list auto begin = std::lower_bound(vals.begin(), vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); if (begin == vals.end()) return; auto end = std::upper_bound(vals.begin(), vals.end(), axis_x->max(), [](double x, auto &p) { return x < p.x(); }); const auto [min, max] = std::minmax_element(begin, end, [](auto &p1, auto &p2) { return p1.y() < p2.y(); }); - if (min->y() == max->y()) { - if (max->y() < 0) { - axis_y->setRange(max->y(), 0); - } else { - axis_y->setRange(0, max->y() == 0 ? 1 : max->y()); - } - } else { - axis_y->setRange(min->y(), max->y()); - } + (min->y() == max->y()) ? axis_y->setRange(min->y() - 1, max->y() + 1) + : axis_y->setRange(min->y(), max->y()); } void ChartView::enterEvent(QEvent *event) { @@ -328,39 +360,35 @@ void ChartView::leaveEvent(QEvent *event) { void ChartView::mouseReleaseEvent(QMouseEvent *event) { auto rubber = findChild(); if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) { - auto [begin, end] = can->range(); + rubber->hide(); + QRectF rect = rubber->geometry().normalized(); + rect.translate(-chart()->plotArea().topLeft()); + const auto axis_x = dynamic_cast(chart()->axisX()); + double min = axis_x->min() + (rect.left() / chart()->plotArea().width()) * (axis_x->max() - axis_x->min()); + double max = axis_x->min() + (rect.right() / chart()->plotArea().width()) * (axis_x->max() - axis_x->min()); if (rubber->width() <= 0) { - double seek_to = begin + ((event->pos().x() - chart()->plotArea().x()) / chart()->plotArea().width()) * (end - begin); - can->seekTo(seek_to); - } else if (((double)rubber->width() / chart()->plotArea().width()) * (end - begin) < 0.5) { - // don't zoom if selected range is less than 0.5s - rubber->hide(); - event->accept(); - return; + // no rubber dragged, seek to mouse position + can->seekTo(min); + } else if ((max - min) >= 0.5) { + // zoom in if selected range is greater than 0.5s + emit zoomIn(min, max); } } else if (event->button() == Qt::RightButton) { - // reset zoom - if (can->isZoomed()) { - can->resetRange(); - event->accept(); - return; - } + emit zoomReset(); } - QChartView::mouseReleaseEvent(event); - line_marker->setVisible(true); + event->accept(); } void ChartView::mouseMoveEvent(QMouseEvent *ev) { auto rubber = findChild(); - bool show = !(rubber && rubber->isVisible()); - - if (show) { + bool dragging = rubber && rubber->isVisible(); + if (!dragging) { const auto plot_area = chart()->plotArea(); float x = std::clamp((float)ev->pos().x(), (float)plot_area.left(), (float)plot_area.right()); track_line->setLine(x, plot_area.top(), x, plot_area.bottom()); - auto [begin, end] = can->range(); - double sec = begin + ((x - plot_area.x()) / plot_area.width()) * (end - begin); + auto axis_x = dynamic_cast(chart()->axisX()); + double sec = axis_x->min() + ((x - plot_area.x()) / plot_area.width()) * (axis_x->max() - axis_x->min()); auto value = std::lower_bound(vals.begin(), vals.end(), sec, [](auto &p, double x) { return p.x() < x; }); value_text->setPos(x + 6, plot_area.bottom() - 25); if (value != vals.end()) { @@ -369,9 +397,5 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { value_text->setText("(--, --)"); } } - - value_text->setVisible(show); - track_line->setVisible(show); - line_marker->setVisible(show); QChartView::mouseMoveEvent(ev); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 5adbdfcd04..a7c6f4bbd3 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -20,7 +20,13 @@ class ChartView : public QChartView { public: ChartView(const QString &id, const Signal *sig, QWidget *parent = nullptr); - void updateSeries(); + void updateSeries(const std::pair &range); + void setRange(double min, double max, bool force_update = false); + void updateLineMarker(double current_sec); + +signals: + void zoomIn(double min, double max); + void zoomReset(); private: void mouseReleaseEvent(QMouseEvent *event) override; @@ -29,9 +35,7 @@ private: void leaveEvent(QEvent *event) override; void adjustChartMargins(); - void rangeChanged(qreal min, qreal max); void updateAxisY(); - void updateState(); QGraphicsLineItem *track_line; QGraphicsSimpleTextItem *value_text; @@ -47,7 +51,6 @@ Q_OBJECT public: ChartWidget(const QString &id, const Signal *sig, QWidget *parent); void updateTitle(); - void setHeight(int height); signals: void remove(const QString &msg_id, const Signal *sig); @@ -55,7 +58,8 @@ signals: public: QString id; const Signal *signal; - QLabel *title; + QLabel *msg_name_label; + QLabel *sig_name_label; ChartView *chart_view = nullptr; }; @@ -65,16 +69,21 @@ class ChartsWidget : public QWidget { public: ChartsWidget(QWidget *parent = nullptr); void addChart(const QString &id, const Signal *sig); - void removeChart(const QString &id, const Signal *sig); + void removeChart(ChartWidget *chart); signals: void dock(bool floating); + void rangeChanged(double min, double max, bool is_zommed); private: + void eventsMerged(); void updateState(); + void zoomIn(double min, double max); + void zoomReset(); + void signalUpdated(const Signal *sig); void updateTitleBar(); void removeAll(const Signal *sig = nullptr); - bool eventFilter(QObject *obj, QEvent *event); + bool eventFilter(QObject *obj, QEvent *event) override; QWidget *title_bar; QLabel *title_label; @@ -85,4 +94,9 @@ private: QPushButton *remove_all_btn; QVBoxLayout *charts_layout; QList charts; + + bool is_zoomed = false; + std::pair event_range; + std::pair display_range; + std::pair zoomed_range; }; diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index a20845f15f..8136d0577c 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -7,7 +7,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { bool has_signal = dbc_msg && !dbc_msg->sigs.empty(); if (role == Qt::DisplayRole) { - const auto &m = can->messages(msg_id)[index.row()]; + const auto &m = messages[index.row()]; if (index.column() == 0) { return QString::number(m.ts, 'f', 2); } @@ -49,7 +49,8 @@ void HistoryLogModel::updateState() { if (msg_id.isEmpty()) return; int prev_row_count = row_count; - row_count = can->messages(msg_id).size(); + messages = can->messages(msg_id); + row_count = messages.size(); int delta = row_count - prev_row_count; if (delta > 0) { beginInsertRows({}, prev_row_count, row_count - 1); diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index bc6d1f9376..d39bcf9f1d 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -22,6 +22,7 @@ private: int row_count = 0; int column_count = 2; const Msg *dbc_msg = nullptr; + std::deque messages; }; class HistoryLog : public QWidget { diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 65e7bb1af8..30c7e5e0a2 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -83,6 +83,7 @@ MainWindow::MainWindow() : QWidget() { QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage); QObject::connect(detail_widget, &DetailWidget::showChart, charts_widget, &ChartsWidget::addChart); QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts); + QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged); QObject::connect(settings_btn, &QPushButton::clicked, this, &MainWindow::setOption); QObject::connect(can, &CANMessages::eventsMerged, [=]() { fingerprint_label->setText(can->carFingerprint() ); }); diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 0b36f25fbc..6e9d7f17cc 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -17,6 +17,7 @@ void Settings::save() { s.setValue("log_size", can_msg_log_size); s.setValue("cached_segment", cached_segment_limit); s.setValue("chart_height", chart_height); + s.setValue("max_chart_x_range", max_chart_x_range); emit changed(); } @@ -26,6 +27,7 @@ void Settings::load() { can_msg_log_size = s.value("log_size", 100).toInt(); cached_segment_limit = s.value("cached_segment", 3).toInt(); chart_height = s.value("chart_height", 200).toInt(); + max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt(); } // SettingsDlg @@ -45,19 +47,25 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) { log_size->setRange(50, 500); log_size->setSingleStep(10); log_size->setValue(settings.can_msg_log_size); - form_layout->addRow(tr("Log size"), log_size); + form_layout->addRow(tr("Signal history log size"), log_size); cached_segment = new QSpinBox(this); cached_segment->setRange(3, 60); cached_segment->setSingleStep(1); cached_segment->setValue(settings.cached_segment_limit); - form_layout->addRow(tr("Cached segments limit"), cached_segment); + form_layout->addRow(tr("Cached segments limit(minute)"), cached_segment); + + max_chart_x_range = new QSpinBox(this); + max_chart_x_range->setRange(1, 60); + max_chart_x_range->setSingleStep(1); + max_chart_x_range->setValue(settings.max_chart_x_range / 60); + form_layout->addRow(tr("Chart's max X-axis range(minute)"), max_chart_x_range); chart_height = new QSpinBox(this); chart_height->setRange(100, 500); chart_height->setSingleStep(10); chart_height->setValue(settings.chart_height); - form_layout->addRow(tr("Chart height"), chart_height); + form_layout->addRow(tr("Chart's height"), chart_height); main_layout->addLayout(form_layout); @@ -74,6 +82,7 @@ void SettingsDlg::save() { settings.can_msg_log_size = log_size->value(); settings.cached_segment_limit = cached_segment->value(); settings.chart_height = chart_height->value(); + settings.max_chart_x_range = max_chart_x_range->value() * 60; settings.save(); accept(); } diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index 22542fc04c..fa97c49140 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -15,6 +15,7 @@ public: int can_msg_log_size = 100; int cached_segment_limit = 3; int chart_height = 200; + int max_chart_x_range = 3 * 60; // 3 minutes signals: void changed(); @@ -30,6 +31,7 @@ public: QSpinBox *log_size ; QSpinBox *cached_segment; QSpinBox *chart_height; + QSpinBox *max_chart_x_range; }; extern Settings settings; diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 78965e3e8c..7180d5ac0f 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -57,7 +57,6 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed); - QObject::connect(can, &CANMessages::rangeChanged, this, &VideoWidget::rangeChanged); QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); @@ -70,8 +69,8 @@ void VideoWidget::pause(bool pause) { can->pause(pause); } -void VideoWidget::rangeChanged(double min, double max) { - if (!can->isZoomed()) { +void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { + if (!is_zoomed) { min = 0; max = can->totalSeconds(); } diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index d6d036c461..51dae4c76f 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -26,9 +26,9 @@ class VideoWidget : public QWidget { public: VideoWidget(QWidget *parnet = nullptr); + void rangeChanged(double min, double max, bool is_zommed); protected: - void rangeChanged(double min, double max); void updateState(); void pause(bool pause); From 16b7d726b3ff404e4c8df8a3045ff75bbaf63719 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 13:33:12 -0700 Subject: [PATCH 134/137] quectel no sim GPS support (#26227) * add no sim gps support * address comments * remove xtra assistance enabling Co-authored-by: Kurt Nistelberger --- selfdrive/sensord/rawgps/rawgpsd.py | 29 ++++++++++++++++++++++------- 1 file changed, 22 insertions(+), 7 deletions(-) diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py index 5a6827a759..fa23a161c4 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/selfdrive/sensord/rawgps/rawgpsd.py @@ -87,16 +87,24 @@ def try_setup_logs(diag, log_types): else: raise Exception(f"setup logs failed, {log_types=}") -def mmcli(cmd: str) -> None: +def at_cmd(cmd: str) -> None: for _ in range(5): try: - subprocess.check_call(f"mmcli -m any --timeout 30 {cmd}", shell=True) + subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True) break except subprocess.CalledProcessError: cloudlog.exception("rawgps.mmcli_command_failed") else: raise Exception(f"failed to execute mmcli command {cmd=}") + +def gps_enabled() -> bool: + try: + p = subprocess.check_output("mmcli -m any --command=\"AT+QGPS?\"", shell=True) + return b"QGPS: 1" in p + except subprocess.CalledProcessError as exc: + raise Exception("failed to execute QGPS mmcli command") from exc + def setup_quectel(diag: ModemDiag): # enable OEMDRE in the NV # TODO: it has to reboot for this to take effect @@ -108,11 +116,16 @@ def setup_quectel(diag: ModemDiag): setup_logs(diag, LOG_TYPES) + if gps_enabled(): + at_cmd("AT+QGPSEND") + # disable DPO power savings for more accuracy - mmcli("--command='AT+QGPSCFG=\"dpoenable\",0'") + at_cmd("AT+QGPSCFG=\"dpoenable\",0") # don't automatically turn on GNSS on powerup - mmcli("--command='AT+QGPSCFG=\"autogps\",0'") - mmcli("--location-enable-gps-raw --location-enable-gps-nmea") + at_cmd("AT+QGPSCFG=\"autogps\",0") + + at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"") + at_cmd("AT+QGPS=1") # enable OEMDRE mode DIAG_SUBSYS_CMD_F = 75 @@ -134,7 +147,9 @@ def setup_quectel(diag: ModemDiag): )) def teardown_quectel(diag): - mmcli("--location-disable-gps-raw --location-disable-gps-nmea") + at_cmd("AT+QGPSCFG=\"outport\",\"none\"") + if gps_enabled(): + at_cmd("AT+QGPSEND") try_setup_logs(diag, []) @@ -156,7 +171,7 @@ def main() -> NoReturn: # wait for ModemManager to come up cloudlog.warning("waiting for modem to come up") while True: - ret = subprocess.call("mmcli -m any --timeout 10 --location-status", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True) + ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True) if ret == 0: break time.sleep(0.1) From 9c9281458510f4e34ee5434138086075cf0c8838 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 13:37:11 -0700 Subject: [PATCH 135/137] Improve GPS tests, add qcom tests (#26060) * first ignore * init gps test * make LimeGPS git clone * gps test v1 * add static signal gen script * remove LD_PRELOAD by using rpath, update values after testing * cleanUp * update fuzzy tests * finalize qcom gps tests * add downloader * finalize unit tests * inc limeGPS startup time * loosen init time * add ublox warmstart test * improve location tests Co-authored-by: Kurt Nistelberger --- tools/gpstest/fuzzy_testing.py | 19 +++-- tools/gpstest/remote_checker.py | 18 ++-- tools/gpstest/run_static_gps_signal.py | 83 ------------------- tools/gpstest/run_unittest.sh | 16 ++++ tools/gpstest/simulate_gps_signal.py | 102 +++++++++++++++++++++++ tools/gpstest/test_gps.py | 101 +++++++++++++++++------ tools/gpstest/test_gps_qcom.py | 109 +++++++++++++++++++++++++ 7 files changed, 327 insertions(+), 121 deletions(-) delete mode 100755 tools/gpstest/run_static_gps_signal.py create mode 100755 tools/gpstest/run_unittest.sh create mode 100755 tools/gpstest/simulate_gps_signal.py create mode 100644 tools/gpstest/test_gps_qcom.py diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py index 216e7d0dde..df6691c558 100755 --- a/tools/gpstest/fuzzy_testing.py +++ b/tools/gpstest/fuzzy_testing.py @@ -66,7 +66,7 @@ def get_continuous_coords(lat, lon) -> Tuple[int, int]: return round(lat, 5), round(lon, 5) rc_p: Any = None -def exec_remote_checker(lat, lon, duration): +def exec_remote_checker(lat, lon, duration, ip_addr): global rc_p # TODO: good enough for testing remote_cmd = "export PYTHONPATH=/data/pythonpath:/data/pythonpath/pyextra && " @@ -74,8 +74,8 @@ def exec_remote_checker(lat, lon, duration): remote_cmd += f"timeout {duration} /usr/local/pyenv/shims/python tools/gpstest/remote_checker.py " remote_cmd += f"{lat} {lon}" - ssh_cmd = ['ssh', '-i', '/home/batman/openpilot/xx/phone/key/id_rsa', - 'comma@192.168.60.130'] + ssh_cmd = ["ssh", "-i", "/home/batman/openpilot/xx/phone/key/id_rsa", + f"comma@{ip_addr}"] ssh_cmd += [remote_cmd] rc_p = sp.Popen(ssh_cmd, stdout=sp.PIPE) @@ -84,8 +84,9 @@ def exec_remote_checker(lat, lon, duration): print(f"Checker Result: {rc_output.strip().decode('utf-8')}") -def run_remote_checker(spoof_proc, lat, lon, duration) -> bool: - checker_thread = threading.Thread(target=exec_remote_checker, args=(lat, lon, duration)) +def run_remote_checker(spoof_proc, lat, lon, duration, ip_addr) -> bool: + checker_thread = threading.Thread(target=exec_remote_checker, + args=(lat, lon, duration, ip_addr)) checker_thread.start() tcnt = 0 @@ -107,8 +108,12 @@ def run_remote_checker(spoof_proc, lat, lon, duration) -> bool: def main(): + if len(sys.argv) < 2: + print(f"usage: {sys.argv[0]} [-c]") + ip_addr = sys.argv[1] + continuous_mode = False - if len(sys.argv) == 2 and sys.argv[1] == '-c': + if len(sys.argv) == 3 and sys.argv[2] == '-c': print("Continuous Mode!") continuous_mode = True @@ -123,7 +128,7 @@ def main(): start_time = time.monotonic() # remote checker runs blocking - if not run_remote_checker(spoof_proc, lat, lon, duration): + if not run_remote_checker(spoof_proc, lat, lon, duration, ip_addr): # location could not be matched by ublox module pass diff --git a/tools/gpstest/remote_checker.py b/tools/gpstest/remote_checker.py index 84f6c0c3d9..a649a105c3 100644 --- a/tools/gpstest/remote_checker.py +++ b/tools/gpstest/remote_checker.py @@ -3,6 +3,7 @@ import sys import time from typing import List +from common.params import Params import cereal.messaging as messaging from selfdrive.manager.process_config import managed_processes @@ -12,30 +13,35 @@ procs: List[str] = []#"ubloxd", "pigeond"] def main(): - if len(sys.argv) < 3: + if len(sys.argv) != 4: print("args: ") return - sol_lat = float(sys.argv[1]) - sol_lon = float(sys.argv[2]) + quectel_mod = Params().get_bool("UbloxAvailable") + sol_lat = float(sys.argv[2]) + sol_lon = float(sys.argv[3]) for p in procs: managed_processes[p].start() time.sleep(0.5) # give time to startup - gps_sock = messaging.sub_sock('gpsLocationExternal', timeout=0.1) + socket = 'gpsLocation' if quectel_mod else 'gpsLocationExternal' + gps_sock = messaging.sub_sock(socket, timeout=0.1) # analyze until the location changed while True: events = messaging.drain_sock(gps_sock) for e in events: - lat = e.gpsLocationExternal.latitude - lon = e.gpsLocationExternal.longitude + loc = e.gpsLocation if quectel_mod else e.gpsLocationExternal + lat = loc.latitude + lon = loc.longitude if abs(lat - sol_lat) < DELTA and abs(lon - sol_lon) < DELTA: print("MATCH") return + time.sleep(0.1) + for p in procs: if not managed_processes[p].proc.is_alive(): print(f"ERROR: '{p}' died") diff --git a/tools/gpstest/run_static_gps_signal.py b/tools/gpstest/run_static_gps_signal.py deleted file mode 100755 index 3787038f13..0000000000 --- a/tools/gpstest/run_static_gps_signal.py +++ /dev/null @@ -1,83 +0,0 @@ -#!/usr/bin/env python3 -import os -import sys -import random -import datetime as dt -import subprocess as sp -from typing import Tuple - -from laika.downloader import download_nav -from laika.gps_time import GPSTime -from laika.helpers import ConstellationId - -cache_dir = '/tmp/gpstest/' - - -def download_rinex(): - # TODO: check if there is a better way to get the full brdc file for LimeGPS - gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) - utc_time = dt.datetime.utcnow() - dt.timedelta(1) - gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) - return download_nav(gps_time, cache_dir, ConstellationId.GPS) - - -def get_random_coords(lat, lon) -> Tuple[int, int]: - # jump around the world - # max values, lat: -90 to 90, lon: -180 to 180 - - lat_add = random.random()*20 + 10 - lon_add = random.random()*20 + 20 - - lat = ((lat + lat_add + 90) % 180) - 90 - lon = ((lon + lon_add + 180) % 360) - 180 - return round(lat, 5), round(lon, 5) - - -def check_availability() -> bool: - cmd = ["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"] - output = sp.check_output(cmd) - - if output.strip() == b"": - return False - - print(f"Device: {output.strip().decode('utf-8')}") - return True - - -def main(): - if not os.path.exists('LimeGPS'): - print("LimeGPS not found run 'setup.sh' first") - return - - if not os.path.exists('LimeSuite'): - print("LimeSuite not found run 'setup.sh' first") - return - - if not check_availability(): - print("No limeSDR device found!") - return - - rinex_file = download_rinex() - lat, lon = get_random_coords(47.2020, 15.7403) - - if len(sys.argv) == 3: - lat = float(sys.argv[1]) - lon = float(sys.argv[2]) - - try: - print(f"starting LimeGPS, Location: {lat},{lon}") - cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},100"] - sp.check_output(cmd, stderr=sp.PIPE) - except KeyboardInterrupt: - print("stopping LimeGPS") - except Exception as e: - out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member - if "Device is busy." in out_stderr: - print("GPS simulation is already running, Device is busy!") - return - - print(f"LimeGPS crashed: {str(e)}") - print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member - -if __name__ == "__main__": - main() diff --git a/tools/gpstest/run_unittest.sh b/tools/gpstest/run_unittest.sh new file mode 100755 index 0000000000..d284fa74e5 --- /dev/null +++ b/tools/gpstest/run_unittest.sh @@ -0,0 +1,16 @@ +#!/bin/bash + +# NOTE: can only run inside limeGPS test box! + +# run limeGPS with random static location +timeout 300 ./simulate_gps_signal.py & +gps_PID=$? + +echo "starting limeGPS..." +sleep 10 + +# run unit tests (skipped when module not present) +python -m unittest test_gps.py +python -m unittest test_gps_qcom.py + +kill $gps_PID diff --git a/tools/gpstest/simulate_gps_signal.py b/tools/gpstest/simulate_gps_signal.py new file mode 100755 index 0000000000..f1e5ad2028 --- /dev/null +++ b/tools/gpstest/simulate_gps_signal.py @@ -0,0 +1,102 @@ +#!/usr/bin/env python3 +import os +import random +import argparse +import datetime as dt +import subprocess as sp +from typing import Tuple + +from laika.downloader import download_nav +from laika.gps_time import GPSTime +from laika.helpers import ConstellationId + +cache_dir = '/tmp/gpstest/' + + +def download_rinex(): + # TODO: check if there is a better way to get the full brdc file for LimeGPS + gps_time = GPSTime.from_datetime(dt.datetime.utcnow()) + utc_time = dt.datetime.utcnow() - dt.timedelta(1) + gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day)) + return download_nav(gps_time, cache_dir, ConstellationId.GPS) + +def get_coords(lat, lon, s1, s2, o1=0, o2=0) -> Tuple[int, int]: + lat_add = random.random()*s1 + o1 + lon_add = random.random()*s2 + o2 + + lat = ((lat + lat_add + 90) % 180) - 90 + lon = ((lon + lon_add + 180) % 360) - 180 + return round(lat, 5), round(lon, 5) + +def get_continuous_coords(lat, lon) -> Tuple[int, int]: + # continuously move around the world + return get_coords(lat, lon, 0.01, 0.01) + +def get_random_coords(lat, lon) -> Tuple[int, int]: + # jump around the world + return get_coords(lat, lon, 20, 20, 10, 20) + +def check_availability() -> bool: + cmd = ["LimeSuite/builddir/LimeUtil/LimeUtil", "--find"] + output = sp.check_output(cmd) + + if output.strip() == b"": + return False + + print(f"Device: {output.strip().decode('utf-8')}") + return True + +def main(lat, lon, jump_sim, contin_sim): + if not os.path.exists('LimeGPS'): + print("LimeGPS not found run 'setup.sh' first") + return + + if not os.path.exists('LimeSuite'): + print("LimeSuite not found run 'setup.sh' first") + return + + if not check_availability(): + print("No limeSDR device found!") + return + + rinex_file = download_rinex() + + if lat == 0 and lon == 0: + lat, lon = get_random_coords(47.2020, 15.7403) + + timeout = None + if jump_sim: + timeout = 30 + + while True: + try: + print(f"starting LimeGPS, Location: {lat},{lon}") + cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},100"] + sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout) + except KeyboardInterrupt: + print("stopping LimeGPS") + return + except sp.TimeoutExpired: + print("LimeGPS timeout reached!") + except Exception as e: + out_stderr = e.stderr.decode('utf-8')# pylint:disable=no-member + if "Device is busy." in out_stderr: + print("GPS simulation is already running, Device is busy!") + return + + print(f"LimeGPS crashed: {str(e)}") + print(f"stderr:\n{e.stderr.decode('utf-8')}")# pylint:disable=no-member + + if contin_sim: + lat, lon = get_continuous_coords(lat, lon) + else: + lat, lon = get_random_coords(lat, lon) + +if __name__ == "__main__": + parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.") + parser.add_argument("lat", type=float, nargs='?', default=0) + parser.add_argument("lon", type=float, nargs='?', default=0) + parser.add_argument("--jump", action="store_true", help="signal that jumps around the world") + parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world") + args = parser.parse_args() + main(args.lat, args.lon, args.jump, args.contin) diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index f5e19372f7..b5d0cdd254 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -2,8 +2,8 @@ import time import unittest import struct -import numpy as np +from common.params import Params import cereal.messaging as messaging import selfdrive.sensord.pigeond as pd from system.hardware import TICI @@ -22,7 +22,20 @@ def read_events(service, duration_sec): return events -def verify_ubloxgnss_data(socket: messaging.SubSocket): +def create_backup(pigeon): + # controlled GNSS stop + pigeon.send(b"\xB5\x62\x06\x04\x04\x00\x00\x00\x08\x00\x16\x74") + + # store almanac in flash + pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC") + try: + if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK): + assert False, "Could not store almanac" + except TimeoutError: + pass + + +def verify_ubloxgnss_data(socket: messaging.SubSocket, max_time: int): start_time = 0 end_time = 0 events = messaging.drain_sock(socket) @@ -42,7 +55,7 @@ def verify_ubloxgnss_data(socket: messaging.SubSocket): assert end_time != 0, "no ublox measurements received!" ttfm = (end_time - start_time)/1e9 - assert ttfm < 35, f"Time to first measurement > 35s, {ttfm}" + assert ttfm < max_time, f"Time to first measurement > {max_time}s, {ttfm}" # check for satellite count in measurements sat_count = [] @@ -52,42 +65,31 @@ def verify_ubloxgnss_data(socket: messaging.SubSocket): sat_count.append(event.ubloxGnss.measurementReport.numMeas) num_sat = int(sum(sat_count)/len(sat_count)) - assert num_sat > 8, f"Not enough satellites {num_sat} (TestBox setup!)" + assert num_sat > 5, f"Not enough satellites {num_sat} (TestBox setup!)" -def verify_gps_location(socket: messaging.SubSocket): - buf_lon = [0]*10 - buf_lat = [0]*10 - buf_i = 0 +def verify_gps_location(socket: messaging.SubSocket, max_time: int): events = messaging.drain_sock(socket) assert len(events) != 0, "no gpsLocationExternal measurements" start_time = events[0].logMonoTime end_time = 0 for event in events: - buf_lon[buf_i % 10] = event.gpsLocationExternal.longitude - buf_lat[buf_i % 10] = event.gpsLocationExternal.latitude - buf_i += 1 - - if buf_i < 9: - continue + gps_valid = event.gpsLocationExternal.flags % 2 - if any([lat == 0 or lon == 0 for lat,lon in zip(buf_lat, buf_lon)]): - continue - - if np.std(buf_lon) < 1e-5 and np.std(buf_lat) < 1e-5: + if gps_valid: end_time = event.logMonoTime break assert end_time != 0, "GPS location never converged!" ttfl = (end_time - start_time)/1e9 - assert ttfl < 40, f"Time to first location > 40s, {ttfl}" + assert ttfl < max_time, f"Time to first location > {max_time}s, {ttfl}" hacc = events[-1].gpsLocationExternal.accuracy vacc = events[-1].gpsLocationExternal.verticalAccuracy - assert hacc < 15, f"Horizontal accuracy too high, {hacc}" - assert vacc < 43, f"Vertical accuracy too high, {vacc}" + assert hacc < 20, f"Horizontal accuracy too high, {hacc}" + assert vacc < 45, f"Vertical accuracy too high, {vacc}" def verify_time_to_first_fix(pigeon): @@ -111,11 +113,16 @@ class TestGPS(unittest.TestCase): if not TICI: raise unittest.SkipTest + ublox_available = Params().get_bool("UbloxAvailable") + if not ublox_available: + raise unittest.SkipTest + + def tearDown(self): pd.set_power(False) @with_processes(['ubloxd']) - def test_ublox_reset(self): + def test_a_ublox_reset(self): pigeon, pm = pd.create_pigeon() pd.init_baudrate(pigeon) @@ -127,14 +134,58 @@ class TestGPS(unittest.TestCase): gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) # receive some messages (restart after cold start takes up to 30seconds) - pd.run_receiving(pigeon, pm, 40) + pd.run_receiving(pigeon, pm, 60) + + # store almanac for next test + create_backup(pigeon) - verify_ubloxgnss_data(ugs) - verify_gps_location(gle) + verify_ubloxgnss_data(ugs, 60) + verify_gps_location(gle, 60) # skip for now, this might hang for a while #verify_time_to_first_fix(pigeon) + @with_processes(['ubloxd']) + def test_b_ublox_almanac(self): + pigeon, pm = pd.create_pigeon() + pd.init_baudrate(pigeon) + + # device cold start + pigeon.send(b"\xb5\x62\x06\x04\x04\x00\xff\xff\x00\x00\x0c\x5d") + time.sleep(1) # wait for cold start + pd.init_baudrate(pigeon) + + # clear configuration + pigeon.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x00\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\x5b") + + # restoring almanac backup + pigeon.send(b"\xB5\x62\x09\x14\x00\x00\x1D\x60") + status = pigeon.wait_for_backup_restore_status() + assert status == 2, "Could not restore almanac backup" + + pd.initialize_pigeon(pigeon) + + ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) + gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) + + pd.run_receiving(pigeon, pm, 15) + verify_ubloxgnss_data(ugs, 15) + verify_gps_location(gle, 20) + + + @with_processes(['ubloxd']) + def test_c_ublox_startup(self): + pigeon, pm = pd.create_pigeon() + pd.init_baudrate(pigeon) + pd.initialize_pigeon(pigeon) + + ugs = messaging.sub_sock("ubloxGnss", timeout=0.1) + gle = messaging.sub_sock("gpsLocationExternal", timeout=0.1) + pd.run_receiving(pigeon, pm, 10) + verify_ubloxgnss_data(ugs, 10) + verify_gps_location(gle, 10) + + if __name__ == "__main__": unittest.main() \ No newline at end of file diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py new file mode 100644 index 0000000000..0909316c5e --- /dev/null +++ b/tools/gpstest/test_gps_qcom.py @@ -0,0 +1,109 @@ +#!/usr/bin/env python3 +import time +import unittest +import subprocess as sp + +from common.params import Params +from system.hardware import TICI +import cereal.messaging as messaging +from selfdrive.manager.process_config import managed_processes + + +def exec_mmcli(cmd): + cmd = "mmcli -m 0 " + cmd + p = sp.Popen(cmd, shell=True, stdout=sp.PIPE, stderr=sp.PIPE) + return p.communicate() + + +def wait_for_location(socket, timeout): + while True: + events = messaging.drain_sock(socket) + for event in events: + if event.gpsLocation.flags % 2: + return False + + timeout -= 1 + if timeout <= 0: + return True + + time.sleep(0.1) + continue + + +class TestGPS(unittest.TestCase): + @classmethod + def setUpClass(cls): + if not TICI: + raise unittest.SkipTest + + ublox_available = Params().get_bool("UbloxAvailable") + if ublox_available: + raise unittest.SkipTest + + @unittest.skip("Skip cold start test due to time") + def test_quectel_cold_start(self): + # delete assistance data to enforce cold start for GNSS + # testing shows that this takes up to 20min + + # invalidate supl setting, cannot be reset + _, err = exec_mmcli("--location-set-supl-server=unittest:1") + + _, err = exec_mmcli("--command='AT+QGPSDEL=0'") + assert len(err) == 0, f"GPSDEL failed: {err}" + + managed_processes['rawgpsd'].start() + start_time = time.monotonic() + glo = messaging.sub_sock("gpsLocation", timeout=0.1) + + timeout = 10*60*25 # 25 minute + timedout = wait_for_location(glo, timeout) + managed_processes['rawgpsd'].stop() + + assert timedout is False, "Waiting for location timed out (25min)!" + + duration = time.monotonic() - start_time + assert duration < 50, f"Received GPS location {duration}!" + + + def test_a_quectel_cold_start_AGPS(self): + _, err = exec_mmcli("--command='AT+QGPSDEL=0'") + assert len(err) == 0, f"GPSDEL failed: {err}" + + # setup AGPS + exec_mmcli("--location-set-supl-server=supl.google.com:7276") + + managed_processes['rawgpsd'].start() + start_time = time.monotonic() + glo = messaging.sub_sock("gpsLocation", timeout=0.1) + + timeout = 10*60*3 # 3 minute + timedout = wait_for_location(glo, timeout) + managed_processes['rawgpsd'].stop() + + assert timedout is False, "Waiting for location timed out (3min)!" + + duration = time.monotonic() - start_time + assert duration < 60, f"Received GPS location {duration}!" + + + def test_b_quectel_startup(self): + + # setup AGPS + exec_mmcli("--location-set-supl-server=supl.google.com:7276") + + managed_processes['rawgpsd'].start() + start_time = time.monotonic() + glo = messaging.sub_sock("gpsLocation", timeout=0.1) + + timeout = 10*60*3 # 3 minute + timedout = wait_for_location(glo, timeout) + managed_processes['rawgpsd'].stop() + + assert timedout is False, "Waiting for location timed out (3min)!" + + duration = time.monotonic() - start_time + assert duration < 60, f"Received GPS location {duration}!" + + +if __name__ == "__main__": + unittest.main() From b80f2efdf29fb5095ea2fa258ec7695730467515 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Wed, 26 Oct 2022 14:53:01 -0700 Subject: [PATCH 136/137] No fcw when standstill (#26252) --- selfdrive/controls/lib/longitudinal_planner.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 018136e6f2..457065d3b5 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -133,7 +133,7 @@ class LongitudinalPlanner: # TODO counter is only needed because radar is glitchy, remove once radar is gone # TODO write fcw in e2e_long mode - self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 + self.fcw = self.mpc.mode == 'acc' and self.mpc.crash_cnt > 5 and not sm['carState'].standstill if self.fcw: cloudlog.info("FCW triggered") From 9e3e49a81f265eefbee32e7d96dbbae3f4b393f1 Mon Sep 17 00:00:00 2001 From: Kurt Nistelberger Date: Wed, 26 Oct 2022 15:11:45 -0700 Subject: [PATCH 137/137] readd camerad tests --- Jenkinsfile | 2 -- 1 file changed, 2 deletions(-) diff --git a/Jenkinsfile b/Jenkinsfile index 85b4880463..b9b9eda667 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -137,7 +137,6 @@ pipeline { } } - /* stage('camerad') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } } steps { @@ -148,7 +147,6 @@ pipeline { ]) } } - */ stage('replay') { agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }