From ddcafeb7dcac709dbd517e619fe3807cfc898198 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 8 Mar 2023 02:08:33 +0800 Subject: [PATCH 001/150] cabana: improve the performance of updating TreeView in real-time. (#27517) --- tools/cabana/signaledit.cc | 18 ++++++++++++------ tools/cabana/signaledit.h | 1 + 2 files changed, 13 insertions(+), 6 deletions(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index e425a13f82..5684edf95a 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -1,7 +1,7 @@ #include "tools/cabana/signaledit.h" +#include #include -#include #include #include #include @@ -304,11 +304,17 @@ SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(pa } QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const { - QSize size = QStyledItemDelegate::sizeHint(option, index); - if (index.column() == 0 && !index.parent().isValid()) { - size.rwidth() = std::min(option.widget->size().width() / 2, size.width() + color_label_width + 8); + int width = option.widget->size().width() / 2; + if (index.column() == 0) { + auto text = index.data(Qt::DisplayRole).toString(); + auto it = width_cache.find(text); + if (it == width_cache.end()) { + int spacing = option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + 8; + it = width_cache.insert(text, option.fontMetrics.width(text) + spacing); + } + width = std::min(width, it.value()); } - return size; + return {width, QApplication::fontMetrics().height()}; } void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -508,7 +514,7 @@ void SignalView::signalHovered(const Signal *sig) { for (int i = 0; i < children.size(); ++i) { bool highlight = children[i]->sig == sig; if (std::exchange(children[i]->highlight, highlight) != highlight) { - emit model->dataChanged(model->index(i, 0), model->index(i, 0)); + emit model->dataChanged(model->index(i, 0), model->index(i, 0), {Qt::DecorationRole}); } } } diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 73a107f5c9..da3bc36c62 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -85,6 +85,7 @@ public: QValidator *name_validator, *double_validator; QFont small_font; const int color_label_width = 18; + mutable QHash width_cache; }; class SignalView : public QFrame { From 186c48137a8cf94ec28136ca9a6f50d8512c3987 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 7 Mar 2023 13:39:36 -0500 Subject: [PATCH 002/150] =?UTF-8?q?VW=20MQB:=20=C5=A0koda=20Fabia=20Mk4=20?= =?UTF-8?q?(#27520)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * VW MQB: Škoda Fabia Mk4 * typo --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + selfdrive/car/volkswagen/interface.py | 4 ++++ selfdrive/car/volkswagen/values.py | 19 +++++++++++++++++++ 6 files changed, 28 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index f71810784a..9cfcbafea1 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.9.2 (2023-03-XX) ======================== * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. +* Škoda Fabia 2022-23 support thanks to jyoung8607! Version 0.9.1 (2023-02-28) ======================== diff --git a/docs/CARS.md b/docs/CARS.md index 20155f306b..426db94f89 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. -# 237 Supported Cars +# 238 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -161,6 +161,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|| |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| +|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 02e37492d3..4ca7c0a16c 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -206,6 +206,7 @@ routes = [ CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2), CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1), CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3), + CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4), CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1), CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1), CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 61243424f0..696d9829d1 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -56,6 +56,7 @@ CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017 HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017 +SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 521c68184d..2f8bd8661b 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -187,6 +187,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 1227 + STD_CARGO_KG ret.wheelbase = 2.64 + elif candidate == CAR.SKODA_FABIA_MK4: + ret.mass = 1266 + STD_CARGO_KG + ret.wheelbase = 2.56 + elif candidate == CAR.SKODA_KAMIQ_MK1: ret.mass = 1265 + STD_CARGO_KG ret.wheelbase = 2.66 diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 4eef1307be..c5868e16f3 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -129,6 +129,7 @@ class CAR: AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants + SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN" # Chassis PJ, Mk4 Skoda Fabia SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq @@ -239,6 +240,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"), CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"), CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"), + CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"), @@ -1009,6 +1011,23 @@ FW_VERSIONS = { b'\xf1\x875Q0907572P \xf1\x890682', ], }, + CAR.SKODA_FABIA_MK4: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906018CF\xf1\x891905', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x870CW300051M \xf1\x891936', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749', + ], + (Ecu.eps, 0x712, None): [ + b'\xf1\x872Q1909144S \xf1\x896042', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AA\xf1\x890396', + ], + }, CAR.SKODA_KAMIQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8705C906032M \xf1\x891333', From f7c15c1708ab0ab42f916162ea26ca52226ce81f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 7 Mar 2023 11:05:20 -0800 Subject: [PATCH 003/150] pandad unit tests (#27516) * pandad unit tests * only one * in bootstub * run in jenkins * phone only --- Jenkinsfile | 1 + selfdrive/boardd/tests/test_pandad.py | 48 +++++++++++++++++++++++++++ 2 files changed, 49 insertions(+) create mode 100755 selfdrive/boardd/tests/test_pandad.py diff --git a/Jenkinsfile b/Jenkinsfile index 30c045e419..0450f33175 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -161,6 +161,7 @@ pipeline { ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"], ["test manager", "python selfdrive/manager/test/test_manager.py"], + ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], ]) } } diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py new file mode 100755 index 0000000000..3b2369b39b --- /dev/null +++ b/selfdrive/boardd/tests/test_pandad.py @@ -0,0 +1,48 @@ +#!/usr/bin/env python3 +import time +import unittest + +import cereal.messaging as messaging +from panda import Panda +from selfdrive.test.helpers import phone_only +from selfdrive.manager.process_config import managed_processes +from system.hardware import HARDWARE + + +class TestPandad(unittest.TestCase): + + def tearDown(self): + managed_processes['pandad'].stop() + + def _wait_for_boardd(self): + sm = messaging.SubMaster(['peripheralState']) + for _ in range(30): + sm.update(1000) + if sm.updated['peripheralState']: + break + + if not sm.updated['peripheralState']: + raise Exception("boardd failed to start") + + @phone_only + def test_in_dfu(self): + HARDWARE.recover_internal_panda() + time.sleep(1) + + managed_processes['pandad'].start() + self._wait_for_boardd() + + @phone_only + def test_in_bootstub(self): + with Panda() as p: + p.reset(enter_bootstub=True) + assert p.bootstub + managed_processes['pandad'].start() + self._wait_for_boardd() + + #def test_out_of_date_fw(self): + # pass + + +if __name__ == "__main__": + unittest.main() From 5326c14b433371861a0014675d833a4d3e6602bc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 7 Mar 2023 16:17:23 -0800 Subject: [PATCH 004/150] bump panda (#27510) * bump panda * fix mypy * bump panda --- panda | 2 +- selfdrive/boardd/pandad.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/panda b/panda index e0e754de2c..79210e8c2b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e0e754de2c7fdbf943dd02db203b7bb40bf3e9b5 +Subproject commit 79210e8c2b8dbddda474cafd68d7ee0c8d0e4a40 diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py index f61d9ee1a6..f292b921cf 100755 --- a/selfdrive/boardd/pandad.py +++ b/selfdrive/boardd/pandad.py @@ -84,9 +84,9 @@ def main() -> NoReturn: params.remove("PandaSignatures") # Flash all Pandas in DFU mode - for p in PandaDFU.list(): - cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}") - PandaDFU(p).recover() + for serial in PandaDFU.list(): + cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}") + PandaDFU(serial).recover() time.sleep(1) panda_serials = Panda.list() From 38eea8948469bcfdb5ea376e6507bc8f0074313c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 7 Mar 2023 20:37:40 -0800 Subject: [PATCH 005/150] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 79210e8c2b..b231281c8b 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 79210e8c2b8dbddda474cafd68d7ee0c8d0e4a40 +Subproject commit b231281c8b2c79c46892576dee4c8a56d5e0b2d2 From ce900f34d08b423e9f3ebed0d028692bb9198dea Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 7 Mar 2023 20:56:39 -0800 Subject: [PATCH 006/150] Ubloxd: subframe 0 is not valid (#27528) No 0 strings --- selfdrive/locationd/ublox_msg.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index b746989466..77ca9099ed 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -183,7 +183,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); int subframe_id = subframe.how()->subframe_id(); - if (subframe_id > 3) { + if (subframe_id > 3 || subframe_id < 1) { // dont parse almanac subframes return kj::Array(); } @@ -283,7 +283,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ glonass_t gl_string(&stream); int string_number = gl_string.string_number(); - if (string_number > 5 || gl_string.idle_chip()) { + if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) { // dont parse non immediate data, idle_chip == 0 return kj::Array(); } From 6f40f0d4427f4238c3939a64d1d6baa7d77f1ecc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Mar 2023 10:56:54 -0800 Subject: [PATCH 007/150] sensord: move to system/ (#27531) * sensord: move to system/ * add gitignore to releaes files --- .gitignore | 3 --- Jenkinsfile | 6 ++--- SConstruct | 2 +- docs/c_docs.rst | 2 +- release/files_common | 13 ++++++----- release/files_tici | 2 +- selfdrive/locationd/locationd.h | 2 +- selfdrive/manager/process_config.py | 6 ++--- system/sensord/.gitignore | 1 + {selfdrive => system}/sensord/SConscript | 0 {selfdrive => system}/sensord/__init__.py | 0 {selfdrive => system}/sensord/pigeond.py | 0 .../sensord/rawgps/compare.py | 0 .../sensord/rawgps/modemdiag.py | 0 .../sensord/rawgps/rawgpsd.py | 4 ++-- .../sensord/rawgps/structs.py | 0 .../sensord/rawgps/test_rawgps.py | 0 {selfdrive => system}/sensord/sensord | 0 .../sensord/sensors/bmx055_accel.cc | 0 .../sensord/sensors/bmx055_accel.h | 2 +- .../sensord/sensors/bmx055_gyro.cc | 0 .../sensord/sensors/bmx055_gyro.h | 2 +- .../sensord/sensors/bmx055_magn.cc | 0 .../sensord/sensors/bmx055_magn.h | 2 +- .../sensord/sensors/bmx055_temp.cc | 2 +- .../sensord/sensors/bmx055_temp.h | 4 ++-- .../sensord/sensors/constants.h | 0 .../sensord/sensors/file_sensor.cc | 0 .../sensord/sensors/file_sensor.h | 2 +- .../sensord/sensors/i2c_sensor.cc | 0 .../sensord/sensors/i2c_sensor.h | 4 ++-- .../sensord/sensors/light_sensor.cc | 2 +- .../sensord/sensors/light_sensor.h | 0 .../sensord/sensors/lsm6ds3_accel.cc | 0 .../sensord/sensors/lsm6ds3_accel.h | 2 +- .../sensord/sensors/lsm6ds3_gyro.cc | 0 .../sensord/sensors/lsm6ds3_gyro.h | 2 +- .../sensord/sensors/lsm6ds3_temp.cc | 0 .../sensord/sensors/lsm6ds3_temp.h | 2 +- .../sensord/sensors/mmc5603nj_magn.cc | 0 .../sensord/sensors/mmc5603nj_magn.h | 2 +- .../sensord/sensors/sensor.h | 0 .../sensord/sensors_qcom2.cc | 22 +++++++++---------- .../sensord/tests/__init__.py | 0 .../sensord/tests/test_pigeond.py | 0 .../sensord/tests/test_sensord.py | 0 .../sensord/tests/ttff_test.py | 0 tools/gpstest/test_gps.py | 2 +- tools/gpstest/test_laikad.py | 2 +- 49 files changed, 47 insertions(+), 48 deletions(-) create mode 100644 system/sensord/.gitignore rename {selfdrive => system}/sensord/SConscript (100%) rename {selfdrive => system}/sensord/__init__.py (100%) rename {selfdrive => system}/sensord/pigeond.py (100%) rename {selfdrive => system}/sensord/rawgps/compare.py (100%) rename {selfdrive => system}/sensord/rawgps/modemdiag.py (100%) rename {selfdrive => system}/sensord/rawgps/rawgpsd.py (98%) rename {selfdrive => system}/sensord/rawgps/structs.py (100%) rename {selfdrive => system}/sensord/rawgps/test_rawgps.py (100%) rename {selfdrive => system}/sensord/sensord (100%) rename {selfdrive => system}/sensord/sensors/bmx055_accel.cc (100%) rename {selfdrive => system}/sensord/sensors/bmx055_accel.h (96%) rename {selfdrive => system}/sensord/sensors/bmx055_gyro.cc (100%) rename {selfdrive => system}/sensord/sensors/bmx055_gyro.h (95%) rename {selfdrive => system}/sensord/sensors/bmx055_magn.cc (100%) rename {selfdrive => system}/sensord/sensors/bmx055_magn.h (97%) rename {selfdrive => system}/sensord/sensors/bmx055_temp.cc (94%) rename {selfdrive => system}/sensord/sensors/bmx055_temp.h (71%) rename {selfdrive => system}/sensord/sensors/constants.h (100%) rename {selfdrive => system}/sensord/sensors/file_sensor.cc (100%) rename {selfdrive => system}/sensord/sensors/file_sensor.h (88%) rename {selfdrive => system}/sensord/sensors/i2c_sensor.cc (100%) rename {selfdrive => system}/sensord/sensors/i2c_sensor.h (93%) rename {selfdrive => system}/sensord/sensors/light_sensor.cc (92%) rename {selfdrive => system}/sensord/sensors/light_sensor.h (100%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_accel.cc (100%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_accel.h (97%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_gyro.cc (100%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_gyro.h (96%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_temp.cc (100%) rename {selfdrive => system}/sensord/sensors/lsm6ds3_temp.h (92%) rename {selfdrive => system}/sensord/sensors/mmc5603nj_magn.cc (100%) rename {selfdrive => system}/sensord/sensors/mmc5603nj_magn.h (94%) rename {selfdrive => system}/sensord/sensors/sensor.h (100%) rename {selfdrive => system}/sensord/sensors_qcom2.cc (90%) rename {selfdrive => system}/sensord/tests/__init__.py (100%) rename {selfdrive => system}/sensord/tests/test_pigeond.py (100%) rename {selfdrive => system}/sensord/tests/test_sensord.py (100%) rename {selfdrive => system}/sensord/tests/ttff_test.py (100%) diff --git a/.gitignore b/.gitignore index 2b283d3b11..be6629f212 100644 --- a/.gitignore +++ b/.gitignore @@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json system/proclogd/proclogd selfdrive/ui/_ui selfdrive/test/longitudinal_maneuvers/out -selfdrive/visiond/visiond -selfdrive/sensord/_gpsd -selfdrive/sensord/_sensord system/camerad/camerad system/camerad/test/ae_gray_test selfdrive/modeld/_modeld diff --git a/Jenkinsfile b/Jenkinsfile index 0450f33175..2067b9dac1 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -159,7 +159,7 @@ pipeline { ["test power draw", "python system/hardware/tici/test_power_draw.py"], ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], - ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"], + ["test pigeond", "python system/sensord/tests/test_pigeond.py"], ["test manager", "python selfdrive/manager/test/test_manager.py"], ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], ]) @@ -193,11 +193,11 @@ pipeline { steps { phone_steps("tici-lsmc", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], + ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], ]) phone_steps("tici-bmx-lsm", [ ["build", "cd selfdrive/manager && ./build.py"], - ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"], + ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"], ]) } } diff --git a/SConstruct b/SConstruct index 007931b7f5..27c811686c 100644 --- a/SConstruct +++ b/SConstruct @@ -427,7 +427,7 @@ SConscript(['selfdrive/boardd/SConscript']) SConscript(['selfdrive/loggerd/SConscript']) SConscript(['selfdrive/locationd/SConscript']) -SConscript(['selfdrive/sensord/SConscript']) +SConscript(['system/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) SConscript(['selfdrive/navd/SConscript']) diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 77be7e51d8..5619cc8a51 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -83,7 +83,7 @@ common sensorsd ^^^^^^^^ .. autodoxygenindex:: - :project: selfdrive_sensord_sensors + :project: system_sensord_sensors boardd ^^^^^^ diff --git a/release/files_common b/release/files_common index e0f989e9be..334e08a322 100644 --- a/release/files_common +++ b/release/files_common @@ -276,12 +276,13 @@ selfdrive/loggerd/uploader.py selfdrive/loggerd/deleter.py selfdrive/loggerd/xattr_cache.py -selfdrive/sensord/SConscript -selfdrive/sensord/sensors_qcom2.cc -selfdrive/sensord/sensors/*.cc -selfdrive/sensord/sensors/*.h -selfdrive/sensord/sensord -selfdrive/sensord/pigeond.py +system/sensord/.gitignore +system/sensord/SConscript +system/sensord/sensors_qcom2.cc +system/sensord/sensors/*.cc +system/sensord/sensors/*.h +system/sensord/sensord +system/sensord/pigeond.py selfdrive/thermald/thermald.py selfdrive/thermald/power_monitoring.py diff --git a/release/files_tici b/release/files_tici index c8abd720d5..b4e0c50516 100644 --- a/release/files_tici +++ b/release/files_tici @@ -13,7 +13,7 @@ system/camerad/cameras/camera_util.cc system/camerad/cameras/camera_util.h system/camerad/cameras/real_debayer.cl -selfdrive/sensord/rawgps/* +system/sensord/rawgps/* selfdrive/ui/qt/spinner_larch64 selfdrive/ui/qt/text_larch64 diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index a292a3c936..b7e42a9df8 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -14,7 +14,7 @@ #include "common/timing.h" #include "common/util.h" -#include "selfdrive/sensord/sensors/constants.h" +#include "system/sensord/sensors/constants.h" #define VISION_DECIMATION 2 #define SENSOR_DECIMATION 10 #include "selfdrive/locationd/models/live_kf.h" diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 8fc4d94e55..324063a68b 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -39,7 +39,7 @@ procs = [ NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False), NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), - NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC), + NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), @@ -50,12 +50,12 @@ procs = [ PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), PythonProcess("laikad", "selfdrive.locationd.laikad"), - PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI), + PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), - PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), + PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), PythonProcess("plannerd", "selfdrive.controls.plannerd"), PythonProcess("radard", "selfdrive.controls.radard"), PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), diff --git a/system/sensord/.gitignore b/system/sensord/.gitignore new file mode 100644 index 0000000000..e9b8071b4b --- /dev/null +++ b/system/sensord/.gitignore @@ -0,0 +1 @@ +_sensord diff --git a/selfdrive/sensord/SConscript b/system/sensord/SConscript similarity index 100% rename from selfdrive/sensord/SConscript rename to system/sensord/SConscript diff --git a/selfdrive/sensord/__init__.py b/system/sensord/__init__.py similarity index 100% rename from selfdrive/sensord/__init__.py rename to system/sensord/__init__.py diff --git a/selfdrive/sensord/pigeond.py b/system/sensord/pigeond.py similarity index 100% rename from selfdrive/sensord/pigeond.py rename to system/sensord/pigeond.py diff --git a/selfdrive/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py similarity index 100% rename from selfdrive/sensord/rawgps/compare.py rename to system/sensord/rawgps/compare.py diff --git a/selfdrive/sensord/rawgps/modemdiag.py b/system/sensord/rawgps/modemdiag.py similarity index 100% rename from selfdrive/sensord/rawgps/modemdiag.py rename to system/sensord/rawgps/modemdiag.py diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py similarity index 98% rename from selfdrive/sensord/rawgps/rawgpsd.py rename to system/sensord/rawgps/rawgpsd.py index 3fa5e927a2..f75ceee7ed 100755 --- a/selfdrive/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -15,8 +15,8 @@ from common.gpio import gpio_init, gpio_set from laika.gps_time import GPSTime from system.hardware.tici.pins import GPIO from system.swaglog import cloudlog -from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv -from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist, +from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv +from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist, gps_measurement_report, gps_measurement_report_sv, glonass_measurement_report, glonass_measurement_report_sv, oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report, diff --git a/selfdrive/sensord/rawgps/structs.py b/system/sensord/rawgps/structs.py similarity index 100% rename from selfdrive/sensord/rawgps/structs.py rename to system/sensord/rawgps/structs.py diff --git a/selfdrive/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py similarity index 100% rename from selfdrive/sensord/rawgps/test_rawgps.py rename to system/sensord/rawgps/test_rawgps.py diff --git a/selfdrive/sensord/sensord b/system/sensord/sensord similarity index 100% rename from selfdrive/sensord/sensord rename to system/sensord/sensord diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_accel.cc rename to system/sensord/sensors/bmx055_accel.cc diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h similarity index 96% rename from selfdrive/sensord/sensors/bmx055_accel.h rename to system/sensord/sensors/bmx055_accel.h index 8ef660a99f..2cc316e992 100644 --- a/selfdrive/sensord/sensors/bmx055_accel.h +++ b/system/sensord/sensors/bmx055_accel.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_ACCEL_I2C_ADDR 0x18 diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_gyro.cc rename to system/sensord/sensors/bmx055_gyro.cc diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h similarity index 95% rename from selfdrive/sensord/sensors/bmx055_gyro.h rename to system/sensord/sensors/bmx055_gyro.h index 80b93f128c..7be3e56563 100644 --- a/selfdrive/sensord/sensors/bmx055_gyro.h +++ b/system/sensord/sensors/bmx055_gyro.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_GYRO_I2C_ADDR 0x68 diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc similarity index 100% rename from selfdrive/sensord/sensors/bmx055_magn.cc rename to system/sensord/sensors/bmx055_magn.cc diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h similarity index 97% rename from selfdrive/sensord/sensors/bmx055_magn.h rename to system/sensord/sensors/bmx055_magn.h index e4a79bc7e0..15c4e734b9 100644 --- a/selfdrive/sensord/sensors/bmx055_magn.h +++ b/system/sensord/sensors/bmx055_magn.h @@ -1,7 +1,7 @@ #pragma once #include -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define BMX055_MAGN_I2C_ADDR 0x10 diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc similarity index 94% rename from selfdrive/sensord/sensors/bmx055_temp.cc rename to system/sensord/sensors/bmx055_temp.cc index 95b8068ac1..68ee0da1d6 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.cc +++ b/system/sensord/sensors/bmx055_temp.cc @@ -2,7 +2,7 @@ #include -#include "selfdrive/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/bmx055_accel.h" #include "common/swaglog.h" #include "common/timing.h" diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h similarity index 71% rename from selfdrive/sensord/sensors/bmx055_temp.h rename to system/sensord/sensors/bmx055_temp.h index 0b6802deaa..a2eabae395 100644 --- a/selfdrive/sensord/sensors/bmx055_temp.h +++ b/system/sensord/sensors/bmx055_temp.h @@ -1,7 +1,7 @@ #pragma once -#include "selfdrive/sensord/sensors/bmx055_accel.h" -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/i2c_sensor.h" class BMX055_Temp : public I2CSensor { uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;} diff --git a/selfdrive/sensord/sensors/constants.h b/system/sensord/sensors/constants.h similarity index 100% rename from selfdrive/sensord/sensors/constants.h rename to system/sensord/sensors/constants.h diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/system/sensord/sensors/file_sensor.cc similarity index 100% rename from selfdrive/sensord/sensors/file_sensor.cc rename to system/sensord/sensors/file_sensor.cc diff --git a/selfdrive/sensord/sensors/file_sensor.h b/system/sensord/sensors/file_sensor.h similarity index 88% rename from selfdrive/sensord/sensors/file_sensor.h rename to system/sensord/sensors/file_sensor.h index 39d695167d..07d7e8f946 100644 --- a/selfdrive/sensord/sensors/file_sensor.h +++ b/system/sensord/sensors/file_sensor.h @@ -4,7 +4,7 @@ #include #include "cereal/gen/cpp/log.capnp.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/sensor.h" class FileSensor : public Sensor { protected: diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc similarity index 100% rename from selfdrive/sensord/sensors/i2c_sensor.cc rename to system/sensord/sensors/i2c_sensor.cc diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h similarity index 93% rename from selfdrive/sensord/sensors/i2c_sensor.h rename to system/sensord/sensors/i2c_sensor.h index 08ca6f09cd..ccac526c12 100644 --- a/selfdrive/sensord/sensors/i2c_sensor.h +++ b/system/sensord/sensors/i2c_sensor.h @@ -8,8 +8,8 @@ #include "common/gpio.h" #include "common/swaglog.h" -#include "selfdrive/sensord/sensors/constants.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/constants.h" +#include "system/sensord/sensors/sensor.h" int16_t read_12_bit(uint8_t lsb, uint8_t msb); int16_t read_16_bit(uint8_t lsb, uint8_t msb); diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/system/sensord/sensors/light_sensor.cc similarity index 92% rename from selfdrive/sensord/sensors/light_sensor.cc rename to system/sensord/sensors/light_sensor.cc index 58c602ea39..99e321b47d 100644 --- a/selfdrive/sensord/sensors/light_sensor.cc +++ b/system/sensord/sensors/light_sensor.cc @@ -3,7 +3,7 @@ #include #include "common/timing.h" -#include "selfdrive/sensord/sensors/constants.h" +#include "system/sensord/sensors/constants.h" LightSensor::LightSensor(std::string filename) : FileSensor(filename) {} diff --git a/selfdrive/sensord/sensors/light_sensor.h b/system/sensord/sensors/light_sensor.h similarity index 100% rename from selfdrive/sensord/sensors/light_sensor.h rename to system/sensord/sensors/light_sensor.h diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_accel.cc rename to system/sensord/sensors/lsm6ds3_accel.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/system/sensord/sensors/lsm6ds3_accel.h similarity index 97% rename from selfdrive/sensord/sensors/lsm6ds3_accel.h rename to system/sensord/sensors/lsm6ds3_accel.h index c3f66f5803..69667cb759 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_accel.h +++ b/system/sensord/sensors/lsm6ds3_accel.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_ACCEL_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_gyro.cc rename to system/sensord/sensors/lsm6ds3_gyro.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/system/sensord/sensors/lsm6ds3_gyro.h similarity index 96% rename from selfdrive/sensord/sensors/lsm6ds3_gyro.h rename to system/sensord/sensors/lsm6ds3_gyro.h index 220e6b0cec..adaae62dd2 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h +++ b/system/sensord/sensors/lsm6ds3_gyro.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_GYRO_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc similarity index 100% rename from selfdrive/sensord/sensors/lsm6ds3_temp.cc rename to system/sensord/sensors/lsm6ds3_temp.cc diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/system/sensord/sensors/lsm6ds3_temp.h similarity index 92% rename from selfdrive/sensord/sensors/lsm6ds3_temp.h rename to system/sensord/sensors/lsm6ds3_temp.h index 1d6bcc228a..1b5b621814 100644 --- a/selfdrive/sensord/sensors/lsm6ds3_temp.h +++ b/system/sensord/sensors/lsm6ds3_temp.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define LSM6DS3_TEMP_I2C_ADDR 0x6A diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc similarity index 100% rename from selfdrive/sensord/sensors/mmc5603nj_magn.cc rename to system/sensord/sensors/mmc5603nj_magn.cc diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h similarity index 94% rename from selfdrive/sensord/sensors/mmc5603nj_magn.h rename to system/sensord/sensors/mmc5603nj_magn.h index a364c7c37a..fce3f3fecb 100644 --- a/selfdrive/sensord/sensors/mmc5603nj_magn.h +++ b/system/sensord/sensors/mmc5603nj_magn.h @@ -1,6 +1,6 @@ #pragma once -#include "selfdrive/sensord/sensors/i2c_sensor.h" +#include "system/sensord/sensors/i2c_sensor.h" // Address of the chip on the bus #define MMC5603NJ_I2C_ADDR 0x30 diff --git a/selfdrive/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h similarity index 100% rename from selfdrive/sensord/sensors/sensor.h rename to system/sensord/sensors/sensor.h diff --git a/selfdrive/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc similarity index 90% rename from selfdrive/sensord/sensors_qcom2.cc rename to system/sensord/sensors_qcom2.cc index fc8dc8620b..349c67f498 100644 --- a/selfdrive/sensord/sensors_qcom2.cc +++ b/system/sensord/sensors_qcom2.cc @@ -12,17 +12,17 @@ #include "common/swaglog.h" #include "common/timing.h" #include "common/util.h" -#include "selfdrive/sensord/sensors/bmx055_accel.h" -#include "selfdrive/sensord/sensors/bmx055_gyro.h" -#include "selfdrive/sensord/sensors/bmx055_magn.h" -#include "selfdrive/sensord/sensors/bmx055_temp.h" -#include "selfdrive/sensord/sensors/constants.h" -#include "selfdrive/sensord/sensors/light_sensor.h" -#include "selfdrive/sensord/sensors/lsm6ds3_accel.h" -#include "selfdrive/sensord/sensors/lsm6ds3_gyro.h" -#include "selfdrive/sensord/sensors/lsm6ds3_temp.h" -#include "selfdrive/sensord/sensors/mmc5603nj_magn.h" -#include "selfdrive/sensord/sensors/sensor.h" +#include "system/sensord/sensors/bmx055_accel.h" +#include "system/sensord/sensors/bmx055_gyro.h" +#include "system/sensord/sensors/bmx055_magn.h" +#include "system/sensord/sensors/bmx055_temp.h" +#include "system/sensord/sensors/constants.h" +#include "system/sensord/sensors/light_sensor.h" +#include "system/sensord/sensors/lsm6ds3_accel.h" +#include "system/sensord/sensors/lsm6ds3_gyro.h" +#include "system/sensord/sensors/lsm6ds3_temp.h" +#include "system/sensord/sensors/mmc5603nj_magn.h" +#include "system/sensord/sensors/sensor.h" #define I2C_BUS_IMU 1 diff --git a/selfdrive/sensord/tests/__init__.py b/system/sensord/tests/__init__.py similarity index 100% rename from selfdrive/sensord/tests/__init__.py rename to system/sensord/tests/__init__.py diff --git a/selfdrive/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py similarity index 100% rename from selfdrive/sensord/tests/test_pigeond.py rename to system/sensord/tests/test_pigeond.py diff --git a/selfdrive/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py similarity index 100% rename from selfdrive/sensord/tests/test_sensord.py rename to system/sensord/tests/test_sensord.py diff --git a/selfdrive/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py similarity index 100% rename from selfdrive/sensord/tests/ttff_test.py rename to system/sensord/tests/ttff_test.py diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py index 8bc5dc89a8..2c08c105a1 100644 --- a/tools/gpstest/test_gps.py +++ b/tools/gpstest/test_gps.py @@ -5,7 +5,7 @@ import struct from common.params import Params import cereal.messaging as messaging -import selfdrive.sensord.pigeond as pd +import system.sensord.pigeond as pd from system.hardware import TICI from selfdrive.test.helpers import with_processes diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py index 410a9c70d3..24ffa6c424 100644 --- a/tools/gpstest/test_laikad.py +++ b/tools/gpstest/test_laikad.py @@ -4,7 +4,7 @@ import time import unittest import cereal.messaging as messaging -import selfdrive.sensord.pigeond as pd +import system.sensord.pigeond as pd from common.params import Params from system.hardware import TICI From 94eb2159802d3dba99620db0b08731c68a7e4733 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Mar 2023 11:20:49 -0800 Subject: [PATCH 008/150] loggerd: move to system/ (#27534) --- .github/workflows/selfdrive_tests.yaml | 4 +- Jenkinsfile | 4 +- SConstruct | 2 +- docs/overview.rst | 2 +- release/files_common | 44 +++++++++---------- selfdrive/athena/athenad.py | 4 +- selfdrive/manager/manager.py | 2 +- selfdrive/manager/process_config.py | 8 ++-- selfdrive/statsd.py | 2 +- selfdrive/test/test_onroad.py | 2 +- selfdrive/thermald/thermald.py | 2 +- selfdrive/tombstoned.py | 2 +- {selfdrive => system}/loggerd/.gitignore | 0 {selfdrive => system}/loggerd/README.md | 0 {selfdrive => system}/loggerd/SConscript | 0 {selfdrive => system}/loggerd/__init__.py | 0 {selfdrive => system}/loggerd/bootlog.cc | 2 +- {selfdrive => system}/loggerd/config.py | 0 {selfdrive => system}/loggerd/deleter.py | 4 +- .../loggerd/encoder/encoder.cc | 2 +- .../loggerd/encoder/encoder.h | 2 +- .../loggerd/encoder/ffmpeg_encoder.cc | 2 +- .../loggerd/encoder/ffmpeg_encoder.h | 4 +- .../loggerd/encoder/v4l_encoder.cc | 2 +- .../loggerd/encoder/v4l_encoder.h | 2 +- {selfdrive => system}/loggerd/encoderd.cc | 2 +- {selfdrive => system}/loggerd/logger.cc | 2 +- {selfdrive => system}/loggerd/logger.h | 0 {selfdrive => system}/loggerd/loggerd.cc | 4 +- {selfdrive => system}/loggerd/loggerd.h | 8 ++-- .../loggerd/tests/__init__.py | 0 .../loggerd/tests/fill_eon.py | 4 +- .../loggerd/tests/loggerd_tests_common.py | 2 +- .../loggerd/tests/test_deleter.py | 4 +- .../loggerd/tests/test_encoder.py | 2 +- .../loggerd/tests/test_logger.cc | 2 +- .../loggerd/tests/test_loggerd.py | 4 +- .../loggerd/tests/test_runner.cc | 0 .../loggerd/tests/test_uploader.py | 4 +- .../loggerd/tools/mark_all_uploaded.py | 4 +- .../loggerd/tools/mark_unuploaded.py | 2 +- {selfdrive => system}/loggerd/uploader.py | 4 +- {selfdrive => system}/loggerd/video_writer.cc | 2 +- {selfdrive => system}/loggerd/video_writer.h | 0 {selfdrive => system}/loggerd/xattr_cache.py | 0 tools/lib/README.md | 2 +- 46 files changed, 75 insertions(+), 75 deletions(-) rename {selfdrive => system}/loggerd/.gitignore (100%) rename {selfdrive => system}/loggerd/README.md (100%) rename {selfdrive => system}/loggerd/SConscript (100%) rename {selfdrive => system}/loggerd/__init__.py (100%) rename {selfdrive => system}/loggerd/bootlog.cc (97%) rename {selfdrive => system}/loggerd/config.py (100%) rename {selfdrive => system}/loggerd/deleter.py (89%) rename {selfdrive => system}/loggerd/encoder/encoder.cc (98%) rename {selfdrive => system}/loggerd/encoder/encoder.h (97%) rename {selfdrive => system}/loggerd/encoder/ffmpeg_encoder.cc (98%) rename {selfdrive => system}/loggerd/encoder/ffmpeg_encoder.h (92%) rename {selfdrive => system}/loggerd/encoder/v4l_encoder.cc (99%) rename {selfdrive => system}/loggerd/encoder/v4l_encoder.h (95%) rename {selfdrive => system}/loggerd/encoderd.cc (99%) rename {selfdrive => system}/loggerd/logger.cc (99%) rename {selfdrive => system}/loggerd/logger.h (100%) rename {selfdrive => system}/loggerd/loggerd.cc (99%) rename {selfdrive => system}/loggerd/loggerd.h (92%) rename {selfdrive => system}/loggerd/tests/__init__.py (100%) rename {selfdrive => system}/loggerd/tests/fill_eon.py (79%) rename {selfdrive => system}/loggerd/tests/loggerd_tests_common.py (98%) rename {selfdrive => system}/loggerd/tests/test_deleter.py (96%) rename {selfdrive => system}/loggerd/tests/test_encoder.py (99%) rename {selfdrive => system}/loggerd/tests/test_logger.cc (99%) rename {selfdrive => system}/loggerd/tests/test_loggerd.py (99%) rename {selfdrive => system}/loggerd/tests/test_runner.cc (100%) rename {selfdrive => system}/loggerd/tests/test_uploader.py (97%) rename {selfdrive => system}/loggerd/tools/mark_all_uploaded.py (60%) rename {selfdrive => system}/loggerd/tools/mark_unuploaded.py (70%) rename {selfdrive => system}/loggerd/uploader.py (98%) rename {selfdrive => system}/loggerd/video_writer.cc (98%) rename {selfdrive => system}/loggerd/video_writer.h (100%) rename {selfdrive => system}/loggerd/xattr_cache.py (100%) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index efddde720d..fb85a0fbb6 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -204,7 +204,7 @@ jobs: $UNIT_TEST selfdrive/boardd && \ $UNIT_TEST selfdrive/controls && \ $UNIT_TEST selfdrive/monitoring && \ - $UNIT_TEST selfdrive/loggerd && \ + $UNIT_TEST system/loggerd && \ $UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/locationd && \ selfdrive/locationd/test/_test_locationd_lib.py && \ @@ -219,7 +219,7 @@ jobs: ./common/tests/test_util && \ ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ - ./selfdrive/loggerd/tests/test_logger &&\ + ./system/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ ./tools/replay/tests/test_replay && \ ./tools/cabana/tests/test_cabana && \ diff --git a/Jenkinsfile b/Jenkinsfile index 2067b9dac1..4e80b5fa3c 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -157,8 +157,8 @@ pipeline { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], ["test power draw", "python system/hardware/tici/test_power_draw.py"], - ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"], - ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"], + ["test loggerd", "python system/loggerd/tests/test_loggerd.py"], + ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"], ["test pigeond", "python system/sensord/tests/test_pigeond.py"], ["test manager", "python selfdrive/manager/test/test_manager.py"], ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], diff --git a/SConstruct b/SConstruct index 27c811686c..ba2b377e68 100644 --- a/SConstruct +++ b/SConstruct @@ -424,7 +424,7 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript']) SConscript(['selfdrive/boardd/SConscript']) -SConscript(['selfdrive/loggerd/SConscript']) +SConscript(['system/loggerd/SConscript']) SConscript(['selfdrive/locationd/SConscript']) SConscript(['system/sensord/SConscript']) diff --git a/docs/overview.rst b/docs/overview.rst index cc4c582155..b9a5700528 100644 --- a/docs/overview.rst +++ b/docs/overview.rst @@ -5,7 +5,7 @@ openpilot :maxdepth: 4 Debugging - selfdrive/loggerd/README.md + system/loggerd/README.md Driver Monitoring Process Replay diff --git a/release/files_common b/release/files_common index 334e08a322..42edaa9b12 100644 --- a/release/files_common +++ b/release/files_common @@ -253,28 +253,28 @@ system/proclogd/main.cc system/proclogd/proclog.cc system/proclogd/proclog.h -selfdrive/loggerd/.gitignore -selfdrive/loggerd/SConscript -selfdrive/loggerd/encoder/encoder.cc -selfdrive/loggerd/encoder/encoder.h -selfdrive/loggerd/encoder/v4l_encoder.cc -selfdrive/loggerd/encoder/v4l_encoder.h -selfdrive/loggerd/video_writer.cc -selfdrive/loggerd/video_writer.h -selfdrive/loggerd/logger.cc -selfdrive/loggerd/logger.h -selfdrive/loggerd/loggerd.cc -selfdrive/loggerd/loggerd.h -selfdrive/loggerd/encoderd.cc -selfdrive/loggerd/bootlog.cc -selfdrive/loggerd/encoder/ffmpeg_encoder.cc -selfdrive/loggerd/encoder/ffmpeg_encoder.h - -selfdrive/loggerd/__init__.py -selfdrive/loggerd/config.py -selfdrive/loggerd/uploader.py -selfdrive/loggerd/deleter.py -selfdrive/loggerd/xattr_cache.py +system/loggerd/.gitignore +system/loggerd/SConscript +system/loggerd/encoder/encoder.cc +system/loggerd/encoder/encoder.h +system/loggerd/encoder/v4l_encoder.cc +system/loggerd/encoder/v4l_encoder.h +system/loggerd/video_writer.cc +system/loggerd/video_writer.h +system/loggerd/logger.cc +system/loggerd/logger.h +system/loggerd/loggerd.cc +system/loggerd/loggerd.h +system/loggerd/encoderd.cc +system/loggerd/bootlog.cc +system/loggerd/encoder/ffmpeg_encoder.cc +system/loggerd/encoder/ffmpeg_encoder.h + +system/loggerd/__init__.py +system/loggerd/config.py +system/loggerd/uploader.py +system/loggerd/deleter.py +system/loggerd/xattr_cache.py system/sensord/.gitignore system/sensord/SConscript diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index d1cc4cea83..7cb6d5b845 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -36,8 +36,8 @@ from common.file_helpers import CallbackReader from common.params import Params from common.realtime import sec_since_boot, set_core_affinity from system.hardware import HARDWARE, PC, AGNOS -from selfdrive.loggerd.config import ROOT -from selfdrive.loggerd.xattr_cache import getxattr, setxattr +from system.loggerd.config import ROOT +from system.loggerd.xattr_cache import getxattr, setxattr from selfdrive.statsd import STATS_DIR from system.swaglog import SWAGLOG_DIR, cloudlog from system.version import get_commit, get_origin, get_short_branch, get_version diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 963d94066b..1128097251 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -29,7 +29,7 @@ def manager_init() -> None: set_time(cloudlog) # save boot log - subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd")) + subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd")) params = Params() params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 324063a68b..7b2b38af3a 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -34,8 +34,8 @@ procs = [ DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"), NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview), - NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]), - NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging), + NativeProcess("encoderd", "system/loggerd", ["./encoderd"]), + NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging), NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]), NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False), NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), @@ -47,7 +47,7 @@ procs = [ PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), PythonProcess("torqued", "selfdrive.locationd.torqued"), PythonProcess("controlsd", "selfdrive.controls.controlsd"), - PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True), + PythonProcess("deleter", "system.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), PythonProcess("laikad", "selfdrive.locationd.laikad"), PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI), @@ -61,7 +61,7 @@ procs = [ PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True), PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True), PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True), - PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True), + PythonProcess("uploader", "system.loggerd.uploader", offroad=True), PythonProcess("statsd", "selfdrive.statsd", offroad=True), # debug procs diff --git a/selfdrive/statsd.py b/selfdrive/statsd.py index 7dc002727e..e64907149c 100755 --- a/selfdrive/statsd.py +++ b/selfdrive/statsd.py @@ -13,7 +13,7 @@ from system.swaglog import cloudlog from system.hardware import HARDWARE from common.file_helpers import atomic_write_in_dir from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty -from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S +from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S class METRIC_TYPE: diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 84511771f7..07a3c61bc5 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -15,7 +15,7 @@ from common.basedir import BASEDIR from common.timeout import Timeout from common.params import Params from selfdrive.controls.lib.events import EVENTS, ET -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.test.helpers import set_params_enabled, release_only from tools.lib.logreader import LogReader diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index eedeff31f1..531e0b04d1 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -18,7 +18,7 @@ from common.params import Params from common.realtime import DT_TRML, sec_since_boot from selfdrive.controls.lib.alertmanager import set_offroad_alert from system.hardware import HARDWARE, TICI, AGNOS -from selfdrive.loggerd.config import get_available_percent +from system.loggerd.config import get_available_percent from selfdrive.statsd import statlog from system.swaglog import cloudlog from selfdrive.thermald.power_monitoring import PowerMonitoring diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py index 61a575f141..65fb45b678 100755 --- a/selfdrive/tombstoned.py +++ b/selfdrive/tombstoned.py @@ -10,7 +10,7 @@ import glob from typing import NoReturn from common.file_helpers import mkdirs_exists_ok -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT import selfdrive.sentry as sentry from system.swaglog import cloudlog from system.version import get_commit diff --git a/selfdrive/loggerd/.gitignore b/system/loggerd/.gitignore similarity index 100% rename from selfdrive/loggerd/.gitignore rename to system/loggerd/.gitignore diff --git a/selfdrive/loggerd/README.md b/system/loggerd/README.md similarity index 100% rename from selfdrive/loggerd/README.md rename to system/loggerd/README.md diff --git a/selfdrive/loggerd/SConscript b/system/loggerd/SConscript similarity index 100% rename from selfdrive/loggerd/SConscript rename to system/loggerd/SConscript diff --git a/selfdrive/loggerd/__init__.py b/system/loggerd/__init__.py similarity index 100% rename from selfdrive/loggerd/__init__.py rename to system/loggerd/__init__.py diff --git a/selfdrive/loggerd/bootlog.cc b/system/loggerd/bootlog.cc similarity index 97% rename from selfdrive/loggerd/bootlog.cc rename to system/loggerd/bootlog.cc index e882e4cf8d..4deb5b41f3 100644 --- a/selfdrive/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -3,7 +3,7 @@ #include "cereal/messaging/messaging.h" #include "common/swaglog.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" static kj::Array build_boot_log() { diff --git a/selfdrive/loggerd/config.py b/system/loggerd/config.py similarity index 100% rename from selfdrive/loggerd/config.py rename to system/loggerd/config.py diff --git a/selfdrive/loggerd/deleter.py b/system/loggerd/deleter.py similarity index 89% rename from selfdrive/loggerd/deleter.py rename to system/loggerd/deleter.py index 5606288024..5fb2b9eb41 100644 --- a/selfdrive/loggerd/deleter.py +++ b/system/loggerd/deleter.py @@ -3,8 +3,8 @@ import os import shutil import threading from system.swaglog import cloudlog -from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent -from selfdrive.loggerd.uploader import listdir_by_creation +from system.loggerd.config import ROOT, get_available_bytes, get_available_percent +from system.loggerd.uploader import listdir_by_creation MIN_BYTES = 5 * 1024 * 1024 * 1024 MIN_PERCENT = 10 diff --git a/selfdrive/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc similarity index 98% rename from selfdrive/loggerd/encoder/encoder.cc rename to system/loggerd/encoder/encoder.cc index 943f37803d..08eaf0ff01 100644 --- a/selfdrive/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -1,5 +1,5 @@ #include -#include "selfdrive/loggerd/encoder/encoder.h" +#include "system/loggerd/encoder/encoder.h" VideoEncoder::~VideoEncoder() {} diff --git a/selfdrive/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h similarity index 97% rename from selfdrive/loggerd/encoder/encoder.h rename to system/loggerd/encoder/encoder.h index 21ef65cf12..88dd5cee23 100644 --- a/selfdrive/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -7,7 +7,7 @@ #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionipc.h" #include "common/queue.h" -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/video_writer.h" #include "system/camerad/cameras/camera_common.h" #define V4L2_BUF_FLAG_KEYFRAME 8 diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc similarity index 98% rename from selfdrive/loggerd/encoder/ffmpeg_encoder.cc rename to system/loggerd/encoder/ffmpeg_encoder.cc index 5f8d140e8b..275da34f18 100644 --- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -1,6 +1,6 @@ #pragma clang diagnostic ignored "-Wdeprecated-declarations" -#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h" +#include "system/loggerd/encoder/ffmpeg_encoder.h" #include #include diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h similarity index 92% rename from selfdrive/loggerd/encoder/ffmpeg_encoder.h rename to system/loggerd/encoder/ffmpeg_encoder.h index 497a28b651..9095a6e815 100644 --- a/selfdrive/loggerd/encoder/ffmpeg_encoder.h +++ b/system/loggerd/encoder/ffmpeg_encoder.h @@ -11,8 +11,8 @@ extern "C" { #include } -#include "selfdrive/loggerd/encoder/encoder.h" -#include "selfdrive/loggerd/loggerd.h" +#include "system/loggerd/encoder/encoder.h" +#include "system/loggerd/loggerd.h" class FfmpegEncoder : public VideoEncoder { public: diff --git a/selfdrive/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc similarity index 99% rename from selfdrive/loggerd/encoder/v4l_encoder.cc rename to system/loggerd/encoder/v4l_encoder.cc index 88aeb21256..16e7246ff4 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -2,7 +2,7 @@ #include #include -#include "selfdrive/loggerd/encoder/v4l_encoder.h" +#include "system/loggerd/encoder/v4l_encoder.h" #include "common/util.h" #include "common/timing.h" diff --git a/selfdrive/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h similarity index 95% rename from selfdrive/loggerd/encoder/v4l_encoder.h rename to system/loggerd/encoder/v4l_encoder.h index c2a53dd6ef..d4b0a1211d 100644 --- a/selfdrive/loggerd/encoder/v4l_encoder.h +++ b/system/loggerd/encoder/v4l_encoder.h @@ -1,7 +1,7 @@ #pragma once #include "common/queue.h" -#include "selfdrive/loggerd/encoder/encoder.h" +#include "system/loggerd/encoder/encoder.h" #define BUF_IN_COUNT 7 #define BUF_OUT_COUNT 6 diff --git a/selfdrive/loggerd/encoderd.cc b/system/loggerd/encoderd.cc similarity index 99% rename from selfdrive/loggerd/encoderd.cc rename to system/loggerd/encoderd.cc index db5f4b61ab..12b58b6591 100644 --- a/selfdrive/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -1,4 +1,4 @@ -#include "selfdrive/loggerd/loggerd.h" +#include "system/loggerd/loggerd.h" ExitHandler do_exit; diff --git a/selfdrive/loggerd/logger.cc b/system/loggerd/logger.cc similarity index 99% rename from selfdrive/loggerd/logger.cc rename to system/loggerd/logger.cc index aaf267e523..0599aa1e54 100644 --- a/selfdrive/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -1,4 +1,4 @@ -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" #include #include diff --git a/selfdrive/loggerd/logger.h b/system/loggerd/logger.h similarity index 100% rename from selfdrive/loggerd/logger.h rename to system/loggerd/logger.h diff --git a/selfdrive/loggerd/loggerd.cc b/system/loggerd/loggerd.cc similarity index 99% rename from selfdrive/loggerd/loggerd.cc rename to system/loggerd/loggerd.cc index e09cdfaa9e..a7f7db4801 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -1,5 +1,5 @@ -#include "selfdrive/loggerd/loggerd.h" -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/loggerd.h" +#include "system/loggerd/video_writer.h" ExitHandler do_exit; diff --git a/selfdrive/loggerd/loggerd.h b/system/loggerd/loggerd.h similarity index 92% rename from selfdrive/loggerd/loggerd.h rename to system/loggerd/loggerd.h index 1fa6349828..1b8f9e0d2a 100644 --- a/selfdrive/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -23,13 +23,13 @@ #include "common/util.h" #include "system/hardware/hw.h" -#include "selfdrive/loggerd/encoder/encoder.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/encoder/encoder.h" +#include "system/loggerd/logger.h" #ifdef QCOM2 -#include "selfdrive/loggerd/encoder/v4l_encoder.h" +#include "system/loggerd/encoder/v4l_encoder.h" #define Encoder V4LEncoder #else -#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h" +#include "system/loggerd/encoder/ffmpeg_encoder.h" #define Encoder FfmpegEncoder #endif diff --git a/selfdrive/loggerd/tests/__init__.py b/system/loggerd/tests/__init__.py similarity index 100% rename from selfdrive/loggerd/tests/__init__.py rename to system/loggerd/tests/__init__.py diff --git a/selfdrive/loggerd/tests/fill_eon.py b/system/loggerd/tests/fill_eon.py similarity index 79% rename from selfdrive/loggerd/tests/fill_eon.py rename to system/loggerd/tests/fill_eon.py index b40982fa9f..e0c52ea0d7 100755 --- a/selfdrive/loggerd/tests/fill_eon.py +++ b/system/loggerd/tests/fill_eon.py @@ -3,8 +3,8 @@ import os -from selfdrive.loggerd.config import ROOT, get_available_percent -from selfdrive.loggerd.tests.loggerd_tests_common import create_random_file +from system.loggerd.config import ROOT, get_available_percent +from system.loggerd.tests.loggerd_tests_common import create_random_file if __name__ == "__main__": diff --git a/selfdrive/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py similarity index 98% rename from selfdrive/loggerd/tests/loggerd_tests_common.py rename to system/loggerd/tests/loggerd_tests_common.py index 80cfb162f1..6aca83858b 100644 --- a/selfdrive/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -5,7 +5,7 @@ import random import tempfile import unittest -import selfdrive.loggerd.uploader as uploader +import system.loggerd.uploader as uploader def create_random_file(file_path, size_mb, lock=False): try: diff --git a/selfdrive/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py similarity index 96% rename from selfdrive/loggerd/tests/test_deleter.py rename to system/loggerd/tests/test_deleter.py index 80fb5c997f..5b54a43f3b 100755 --- a/selfdrive/loggerd/tests/test_deleter.py +++ b/system/loggerd/tests/test_deleter.py @@ -6,8 +6,8 @@ import unittest from collections import namedtuple from common.timeout import Timeout, TimeoutException -import selfdrive.loggerd.deleter as deleter -from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase +import system.loggerd.deleter as deleter +from system.loggerd.tests.loggerd_tests_common import UploaderTestCase Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize']) diff --git a/selfdrive/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py similarity index 99% rename from selfdrive/loggerd/tests/test_encoder.py rename to system/loggerd/tests/test_encoder.py index 1b9bcef2d7..81f4e9fb9d 100755 --- a/selfdrive/loggerd/tests/test_encoder.py +++ b/system/loggerd/tests/test_encoder.py @@ -14,7 +14,7 @@ from tqdm import trange from common.params import Params from common.timeout import Timeout from system.hardware import TICI -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes from tools.lib.logreader import LogReader diff --git a/selfdrive/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc similarity index 99% rename from selfdrive/loggerd/tests/test_logger.cc rename to system/loggerd/tests/test_logger.cc index ba7835d632..9c82299091 100644 --- a/selfdrive/loggerd/tests/test_logger.cc +++ b/system/loggerd/tests/test_logger.cc @@ -9,7 +9,7 @@ #include "catch2/catch.hpp" #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "selfdrive/loggerd/logger.h" +#include "system/loggerd/logger.h" #include "tools/replay/util.h" typedef cereal::Sentinel::SentinelType SentinelType; diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py similarity index 99% rename from selfdrive/loggerd/tests/test_loggerd.py rename to system/loggerd/tests/test_loggerd.py index 857dc5c4e9..54098d13d0 100755 --- a/selfdrive/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -15,7 +15,7 @@ from cereal.services import service_list from common.basedir import BASEDIR from common.params import Params from common.timeout import Timeout -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT from selfdrive.manager.process_config import managed_processes from system.version import get_version from tools.lib.logreader import LogReader @@ -51,7 +51,7 @@ class TestLoggerd(unittest.TestCase): def _gen_bootlog(self): with Timeout(5): - out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"), encoding='utf-8') + out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8') log_fn = self._get_log_fn(out) diff --git a/selfdrive/loggerd/tests/test_runner.cc b/system/loggerd/tests/test_runner.cc similarity index 100% rename from selfdrive/loggerd/tests/test_runner.cc rename to system/loggerd/tests/test_runner.cc diff --git a/selfdrive/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py similarity index 97% rename from selfdrive/loggerd/tests/test_uploader.py rename to system/loggerd/tests/test_uploader.py index 6090bbe2aa..11b273cec8 100755 --- a/selfdrive/loggerd/tests/test_uploader.py +++ b/system/loggerd/tests/test_uploader.py @@ -7,9 +7,9 @@ import logging import json from system.swaglog import cloudlog -import selfdrive.loggerd.uploader as uploader +import system.loggerd.uploader as uploader -from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase +from system.loggerd.tests.loggerd_tests_common import UploaderTestCase class TestLogHandler(logging.Handler): diff --git a/selfdrive/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py similarity index 60% rename from selfdrive/loggerd/tools/mark_all_uploaded.py rename to system/loggerd/tools/mark_all_uploaded.py index e60e6cfa2c..c963014748 100644 --- a/selfdrive/loggerd/tools/mark_all_uploaded.py +++ b/system/loggerd/tools/mark_all_uploaded.py @@ -1,7 +1,7 @@ import os -from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE +from system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE -from selfdrive.loggerd.config import ROOT +from system.loggerd.config import ROOT for folder in os.walk(ROOT): for file1 in folder[2]: full_path = os.path.join(folder[0], file1) diff --git a/selfdrive/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py similarity index 70% rename from selfdrive/loggerd/tools/mark_unuploaded.py rename to system/loggerd/tools/mark_unuploaded.py index 343805d5fc..3d1d4472b0 100755 --- a/selfdrive/loggerd/tools/mark_unuploaded.py +++ b/system/loggerd/tools/mark_unuploaded.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import sys -from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME +from system.loggerd.uploader import UPLOAD_ATTR_NAME for fn in sys.argv[1:]: print(f"unmarking {fn}") diff --git a/selfdrive/loggerd/uploader.py b/system/loggerd/uploader.py similarity index 98% rename from selfdrive/loggerd/uploader.py rename to system/loggerd/uploader.py index f97bafecb9..d4ed6dca28 100644 --- a/selfdrive/loggerd/uploader.py +++ b/system/loggerd/uploader.py @@ -16,8 +16,8 @@ from common.api import Api from common.params import Params from common.realtime import set_core_affinity from system.hardware import TICI -from selfdrive.loggerd.xattr_cache import getxattr, setxattr -from selfdrive.loggerd.config import ROOT +from system.loggerd.xattr_cache import getxattr, setxattr +from system.loggerd.config import ROOT from system.swaglog import cloudlog NetworkType = log.DeviceState.NetworkType diff --git a/selfdrive/loggerd/video_writer.cc b/system/loggerd/video_writer.cc similarity index 98% rename from selfdrive/loggerd/video_writer.cc rename to system/loggerd/video_writer.cc index 4f79ccafc8..91bf09355f 100644 --- a/selfdrive/loggerd/video_writer.cc +++ b/system/loggerd/video_writer.cc @@ -2,7 +2,7 @@ #include #include -#include "selfdrive/loggerd/video_writer.h" +#include "system/loggerd/video_writer.h" #include "common/swaglog.h" #include "common/util.h" diff --git a/selfdrive/loggerd/video_writer.h b/system/loggerd/video_writer.h similarity index 100% rename from selfdrive/loggerd/video_writer.h rename to system/loggerd/video_writer.h diff --git a/selfdrive/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py similarity index 100% rename from selfdrive/loggerd/xattr_cache.py rename to system/loggerd/xattr_cache.py diff --git a/tools/lib/README.md b/tools/lib/README.md index 3cf239d2df..d77eef5ac5 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -1,6 +1,6 @@ ## LogReader -Route is a class for conveniently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. +Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos. ```python from tools.lib.route import Route From 3ff8fc110cbd29f304ed364f4f619afcdf0a729e Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Wed, 8 Mar 2023 16:06:17 -0500 Subject: [PATCH 009/150] =?UTF-8?q?VW=20MQB:=20Add=20FW=20for=202017=20?= =?UTF-8?q?=C5=A0koda=20Kodiaq=20(#27532)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * VW MQB: Add FW for 2017 Škoda Kodiaq * retry CI --- docs/CARS.md | 2 +- selfdrive/car/volkswagen/values.py | 6 +++++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 426db94f89..070d068cab 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -164,7 +164,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| |Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| -|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[10](#footnotes)|| diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index c5868e16f3..8e12923983 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -243,7 +243,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"), - CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"), + CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"), CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]), CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"), CAR.SKODA_OCTAVIA_MK3: [ @@ -1071,17 +1071,20 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027DD\xf1\x893123', b'\xf1\x8704L906026DE\xf1\x895418', + b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906026HT\xf1\x893617', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870D9300043 \xf1\x895202', + b'\xf1\x870DL300011N \xf1\x892014', b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211', b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', @@ -1096,6 +1099,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572Q \xf1\x890342', b'\xf1\x872Q0907572R \xf1\x890372', + b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x872Q0907572AA\xf1\x890396', ], }, From 231e9a950dc32b322602815a25486fdc50ec2091 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 8 Mar 2023 13:07:33 -0800 Subject: [PATCH 010/150] Pigeond: Request sat info msgs (#27529) request sat info msgs --- selfdrive/locationd/test/ublox.py | 1 + selfdrive/locationd/test/ubloxd.py | 1 + selfdrive/locationd/ublox_msg.cc | 3 +++ system/sensord/pigeond.py | 1 + 4 files changed, 6 insertions(+) diff --git a/selfdrive/locationd/test/ublox.py b/selfdrive/locationd/test/ublox.py index 9cffbeac40..80abc64e2c 100644 --- a/selfdrive/locationd/test/ublox.py +++ b/selfdrive/locationd/test/ublox.py @@ -54,6 +54,7 @@ MSG_NAV_DOP = 0x04 MSG_NAV_EKFSTATUS = 0x40 MSG_NAV_SBAS = 0x32 MSG_NAV_SOL = 0x06 +MSG_NAV_SAT = 0x35 # RXM messages MSG_RXM_RAW = 0x15 diff --git a/selfdrive/locationd/test/ubloxd.py b/selfdrive/locationd/test/ubloxd.py index 82aa502ceb..7c7e68b23b 100755 --- a/selfdrive/locationd/test/ubloxd.py +++ b/selfdrive/locationd/test/ubloxd.py @@ -60,6 +60,7 @@ def configure_ublox(dev): dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1) dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1) dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW2, 1) + dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_SAT, 1) # Query the backup restore status print("backup restore polling message (implement custom response handler!):") diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc index 77ca9099ed..ebd904f72f 100644 --- a/selfdrive/locationd/ublox_msg.cc +++ b/selfdrive/locationd/ublox_msg.cc @@ -126,6 +126,9 @@ std::pair> UbloxMsgParser::gen_msg() { return {"ubloxGnss", gen_mon_hw(static_cast(body))}; case 0x0a0b: return {"ubloxGnss", gen_mon_hw2(static_cast(body))}; + case 0x0135: + // TODO return {"ubloxGnss", gen_nav_sat(static_cast(body))}; + return {"ubloxGnss", kj::Array()}; default: LOGE("Unknown message type %x", ubx_message.msg_type()); return {"ubloxGnss", kj::Array()}; diff --git a/system/sensord/pigeond.py b/system/sensord/pigeond.py index 9d0a62bd3b..c9ad7ff22a 100755 --- a/system/sensord/pigeond.py +++ b/system/sensord/pigeond.py @@ -183,6 +183,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool: pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70") pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74") + pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD") cloudlog.debug("pigeon configured") # try restoring almanac backup From c97911dbad15c3cc7dc577b305ab9aed775e021f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 8 Mar 2023 16:11:18 -0800 Subject: [PATCH 011/150] ubloxd: move to system/ (#27536) * ubloxd: move to system/ * more fixes * add missing sconscript * fix valgrind tests * uncomment --- .github/workflows/selfdrive_tests.yaml | 3 ++- SConstruct | 1 + release/files_common | 13 ++++++------ selfdrive/locationd/.gitignore | 3 --- selfdrive/locationd/SConscript | 21 ++----------------- selfdrive/manager/process_config.py | 2 +- selfdrive/test/test_valgrind_replay.py | 2 +- system/ubloxd/.gitignore | 2 ++ system/ubloxd/SConscript | 20 ++++++++++++++++++ .../ubloxd}/generated/glonass.cpp | 0 .../ubloxd}/generated/glonass.h | 0 .../ubloxd}/generated/gps.cpp | 0 .../ubloxd}/generated/gps.h | 0 .../ubloxd}/generated/ubx.cpp | 0 .../ubloxd}/generated/ubx.h | 0 .../locationd => system/ubloxd}/glonass.ksy | 0 .../ubloxd}/glonass_fix.patch | 6 +++--- .../locationd => system/ubloxd}/gps.ksy | 0 .../ubloxd/tests}/print_gps_stats.py | 0 .../ubloxd/tests}/test_glonass_kaitai.cc | 2 +- .../ubloxd/tests}/test_glonass_runner.cc | 0 .../ubloxd/tests}/test_ublox_processing.py | 0 .../test => system/ubloxd/tests}/ublox.py | 0 .../test => system/ubloxd/tests}/ubloxd.py | 0 .../locationd => system/ubloxd}/ublox_msg.cc | 0 .../locationd => system/ubloxd}/ublox_msg.h | 6 +++--- .../locationd => system/ubloxd}/ubloxd.cc | 2 +- .../locationd => system/ubloxd}/ubx.ksy | 0 28 files changed, 44 insertions(+), 39 deletions(-) create mode 100644 system/ubloxd/.gitignore create mode 100644 system/ubloxd/SConscript rename {selfdrive/locationd => system/ubloxd}/generated/glonass.cpp (100%) rename {selfdrive/locationd => system/ubloxd}/generated/glonass.h (100%) rename {selfdrive/locationd => system/ubloxd}/generated/gps.cpp (100%) rename {selfdrive/locationd => system/ubloxd}/generated/gps.h (100%) rename {selfdrive/locationd => system/ubloxd}/generated/ubx.cpp (100%) rename {selfdrive/locationd => system/ubloxd}/generated/ubx.h (100%) rename {selfdrive/locationd => system/ubloxd}/glonass.ksy (100%) rename {selfdrive/locationd => system/ubloxd}/glonass_fix.patch (68%) rename {selfdrive/locationd => system/ubloxd}/gps.ksy (100%) rename {selfdrive/locationd/test => system/ubloxd/tests}/print_gps_stats.py (100%) rename {selfdrive/locationd/test => system/ubloxd/tests}/test_glonass_kaitai.cc (99%) rename {selfdrive/locationd/test => system/ubloxd/tests}/test_glonass_runner.cc (100%) rename {selfdrive/locationd/test => system/ubloxd/tests}/test_ublox_processing.py (100%) rename {selfdrive/locationd/test => system/ubloxd/tests}/ublox.py (100%) rename {selfdrive/locationd/test => system/ubloxd/tests}/ubloxd.py (100%) rename {selfdrive/locationd => system/ubloxd}/ublox_msg.cc (100%) rename {selfdrive/locationd => system/ubloxd}/ublox_msg.h (96%) rename {selfdrive/locationd => system/ubloxd}/ubloxd.cc (97%) rename {selfdrive/locationd => system/ubloxd}/ubx.ksy (100%) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fb85a0fbb6..5873e7aee6 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -207,8 +207,9 @@ jobs: $UNIT_TEST system/loggerd && \ $UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/locationd && \ + $UNIT_TEST system/ubloxd && \ selfdrive/locationd/test/_test_locationd_lib.py && \ - ./selfdrive/locationd/test/test_glonass_runner && \ + ./system/ubloxd/tests/test_glonass_runner && \ $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ $UNIT_TEST system/hardware/tici && \ diff --git a/SConstruct b/SConstruct index ba2b377e68..387d2e76f4 100644 --- a/SConstruct +++ b/SConstruct @@ -398,6 +398,7 @@ SConscript([ 'system/camerad/SConscript', 'system/clocksd/SConscript', 'system/proclogd/SConscript', + 'system/ubloxd/SConscript', ]) if arch != "Darwin": SConscript(['system/logcatd/SConscript']) diff --git a/release/files_common b/release/files_common index 42edaa9b12..a20f71018b 100644 --- a/release/files_common +++ b/release/files_common @@ -219,14 +219,15 @@ system/hardware/pc/__init__.py system/hardware/pc/hardware.h system/hardware/pc/hardware.py +system/ubloxd/.gitignore +system/ubloxd/SConscript +system/ubloxd/generated/* +system/ubloxd/*.h +system/ubloxd/*.cc + selfdrive/locationd/__init__.py -selfdrive/locationd/.gitignore selfdrive/locationd/SConscript -selfdrive/locationd/ubloxd.cc -selfdrive/locationd/ublox_msg.cc -selfdrive/locationd/ublox_msg.h -selfdrive/locationd/generated/* - +selfdrive/locationd/.gitignore selfdrive/locationd/laikad.py selfdrive/locationd/locationd.h selfdrive/locationd/locationd.cc diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore index 86a228a6ff..11b9f127b2 100644 --- a/selfdrive/locationd/.gitignore +++ b/selfdrive/locationd/.gitignore @@ -1,6 +1,3 @@ -ubloxd -ubloxd_test params_learner paramsd locationd -test/test_glonass_runner diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index 61a0ed7f42..740f827a49 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -1,20 +1,6 @@ Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations') -loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] - -if GetOption('kaitai'): - generated = Dir('generated').srcnode().abspath - cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES" - env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd) - env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd) - glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd) - - # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 - patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') - env.Depends(patch, glonass) - -glonass_obj = env.Object('generated/glonass.cpp') -env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread'] ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc") locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] @@ -25,7 +11,4 @@ lenv.Depends(locationd, libkf) if File("liblocationd.cc").exists(): liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations) - lenv.Depends(liblocationd, libkf) - -if GetOption('test'): - env.Program("test/test_glonass_runner", ['test/test_glonass_runner.cc', 'test/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file + lenv.Depends(liblocationd, libkf) \ No newline at end of file diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 7b2b38af3a..2bacd951a7 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -54,7 +54,7 @@ procs = [ PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), - NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), + NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox), PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox), PythonProcess("plannerd", "selfdrive.controls.plannerd"), PythonProcess("radard", "selfdrive.controls.radard"), diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py index 238b822ec9..46dd4901e5 100755 --- a/selfdrive/test/test_valgrind_replay.py +++ b/selfdrive/test/test_valgrind_replay.py @@ -28,7 +28,7 @@ CONFIGS = [ }, ignore=[], command="./ubloxd", - path="selfdrive/locationd/", + path="system/ubloxd", segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3", wait_for_response=True ), diff --git a/system/ubloxd/.gitignore b/system/ubloxd/.gitignore new file mode 100644 index 0000000000..05263ff67c --- /dev/null +++ b/system/ubloxd/.gitignore @@ -0,0 +1,2 @@ +ubloxd +tests/test_glonass_runner diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript new file mode 100644 index 0000000000..fff0986efd --- /dev/null +++ b/system/ubloxd/SConscript @@ -0,0 +1,20 @@ +Import('env', 'common', 'cereal', 'messaging') + +loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread'] + +if GetOption('kaitai'): + generated = Dir('generated').srcnode().abspath + cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES" + env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd) + env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd) + glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd) + + # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910 + patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES') + env.Depends(patch, glonass) + +glonass_obj = env.Object('generated/glonass.cpp') +env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs) + +if GetOption('test'): + env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs]) \ No newline at end of file diff --git a/selfdrive/locationd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp similarity index 100% rename from selfdrive/locationd/generated/glonass.cpp rename to system/ubloxd/generated/glonass.cpp diff --git a/selfdrive/locationd/generated/glonass.h b/system/ubloxd/generated/glonass.h similarity index 100% rename from selfdrive/locationd/generated/glonass.h rename to system/ubloxd/generated/glonass.h diff --git a/selfdrive/locationd/generated/gps.cpp b/system/ubloxd/generated/gps.cpp similarity index 100% rename from selfdrive/locationd/generated/gps.cpp rename to system/ubloxd/generated/gps.cpp diff --git a/selfdrive/locationd/generated/gps.h b/system/ubloxd/generated/gps.h similarity index 100% rename from selfdrive/locationd/generated/gps.h rename to system/ubloxd/generated/gps.h diff --git a/selfdrive/locationd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp similarity index 100% rename from selfdrive/locationd/generated/ubx.cpp rename to system/ubloxd/generated/ubx.cpp diff --git a/selfdrive/locationd/generated/ubx.h b/system/ubloxd/generated/ubx.h similarity index 100% rename from selfdrive/locationd/generated/ubx.h rename to system/ubloxd/generated/ubx.h diff --git a/selfdrive/locationd/glonass.ksy b/system/ubloxd/glonass.ksy similarity index 100% rename from selfdrive/locationd/glonass.ksy rename to system/ubloxd/glonass.ksy diff --git a/selfdrive/locationd/glonass_fix.patch b/system/ubloxd/glonass_fix.patch similarity index 68% rename from selfdrive/locationd/glonass_fix.patch rename to system/ubloxd/glonass_fix.patch index fa34a8ef15..7eb973a348 100644 --- a/selfdrive/locationd/glonass_fix.patch +++ b/system/ubloxd/glonass_fix.patch @@ -1,7 +1,7 @@ -diff --git a/selfdrive/locationd/generated/glonass.cpp b/selfdrive/locationd/generated/glonass.cpp +diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp index 5b17bc327..b5c6aa610 100644 ---- a/selfdrive/locationd/generated/glonass.cpp -+++ b/selfdrive/locationd/generated/glonass.cpp +--- a/system/ubloxd/generated/glonass.cpp ++++ b/system/ubloxd/generated/glonass.cpp @@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass void glonass_t::_read() { m_idle_chip = m__io->read_bits_int_be(1); diff --git a/selfdrive/locationd/gps.ksy b/system/ubloxd/gps.ksy similarity index 100% rename from selfdrive/locationd/gps.ksy rename to system/ubloxd/gps.ksy diff --git a/selfdrive/locationd/test/print_gps_stats.py b/system/ubloxd/tests/print_gps_stats.py similarity index 100% rename from selfdrive/locationd/test/print_gps_stats.py rename to system/ubloxd/tests/print_gps_stats.py diff --git a/selfdrive/locationd/test/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc similarity index 99% rename from selfdrive/locationd/test/test_glonass_kaitai.cc rename to system/ubloxd/tests/test_glonass_kaitai.cc index 22f5202a3d..5ad274142a 100644 --- a/selfdrive/locationd/test/test_glonass_kaitai.cc +++ b/system/ubloxd/tests/test_glonass_kaitai.cc @@ -6,7 +6,7 @@ #include #include "catch2/catch.hpp" -#include "selfdrive/locationd/generated/glonass.h" +#include "system/ubloxd/generated/glonass.h" typedef std::vector> string_data; diff --git a/selfdrive/locationd/test/test_glonass_runner.cc b/system/ubloxd/tests/test_glonass_runner.cc similarity index 100% rename from selfdrive/locationd/test/test_glonass_runner.cc rename to system/ubloxd/tests/test_glonass_runner.cc diff --git a/selfdrive/locationd/test/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py similarity index 100% rename from selfdrive/locationd/test/test_ublox_processing.py rename to system/ubloxd/tests/test_ublox_processing.py diff --git a/selfdrive/locationd/test/ublox.py b/system/ubloxd/tests/ublox.py similarity index 100% rename from selfdrive/locationd/test/ublox.py rename to system/ubloxd/tests/ublox.py diff --git a/selfdrive/locationd/test/ubloxd.py b/system/ubloxd/tests/ubloxd.py similarity index 100% rename from selfdrive/locationd/test/ubloxd.py rename to system/ubloxd/tests/ubloxd.py diff --git a/selfdrive/locationd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc similarity index 100% rename from selfdrive/locationd/ublox_msg.cc rename to system/ubloxd/ublox_msg.cc diff --git a/selfdrive/locationd/ublox_msg.h b/system/ubloxd/ublox_msg.h similarity index 96% rename from selfdrive/locationd/ublox_msg.h rename to system/ubloxd/ublox_msg.h index 6988f20b74..3989bbf85b 100644 --- a/selfdrive/locationd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -9,9 +9,9 @@ #include "cereal/messaging/messaging.h" #include "common/util.h" -#include "selfdrive/locationd/generated/gps.h" -#include "selfdrive/locationd/generated/glonass.h" -#include "selfdrive/locationd/generated/ubx.h" +#include "system/ubloxd/generated/gps.h" +#include "system/ubloxd/generated/glonass.h" +#include "system/ubloxd/generated/ubx.h" using namespace std::string_literals; diff --git a/selfdrive/locationd/ubloxd.cc b/system/ubloxd/ubloxd.cc similarity index 97% rename from selfdrive/locationd/ubloxd.cc rename to system/ubloxd/ubloxd.cc index d9b3e7647d..81731ac931 100644 --- a/selfdrive/locationd/ubloxd.cc +++ b/system/ubloxd/ubloxd.cc @@ -5,7 +5,7 @@ #include "cereal/messaging/messaging.h" #include "common/swaglog.h" #include "common/util.h" -#include "selfdrive/locationd/ublox_msg.h" +#include "system/ubloxd/ublox_msg.h" ExitHandler do_exit; using namespace ublox; diff --git a/selfdrive/locationd/ubx.ksy b/system/ubloxd/ubx.ksy similarity index 100% rename from selfdrive/locationd/ubx.ksy rename to system/ubloxd/ubx.ksy From 75eaca3cf360614dcc86a7028921bbf022e30fa9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 9 Mar 2023 11:12:42 -0800 Subject: [PATCH 012/150] Update amplifier config (#27443) * update tizi amplifier * Update attenuation --- system/hardware/tici/amplifier.py | 25 +++++++++++-------------- 1 file changed, 11 insertions(+), 14 deletions(-) diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index 8233834d11..840d575fdf 100644 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -24,13 +24,10 @@ BASE_CONFIG = [ AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000), AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000), AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011), - AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), - AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000), AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000), AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100), AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100), - AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000), AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000), AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111), @@ -41,7 +38,6 @@ BASE_CONFIG = [ AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000), AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000), AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001), - AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000), AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111), AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000), @@ -64,6 +60,11 @@ BASE_CONFIG = [ CONFIGS = { "tici": [ + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111), + AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010), + *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)), *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)), *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)), @@ -72,11 +73,13 @@ CONFIGS = { ], "tizi": [ AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111), + AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111), AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011), - AmpConfig("Left speaker output volume", 0x1F, 0x3D, 0, 0b00011111), - AmpConfig("Right speaker output volume", 0x1F, 0x3E, 0, 0b00011111), - AmpConfig("DAI1 attenuation (DV1)", 0x4, 0x2F, 0, 0b00001111), - AmpConfig("DAI2 attenuation (DV2)", 0x4, 0x31, 0, 0b00001111), + AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100), + AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111), + AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111), + + AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010), AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001), AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000), AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111), @@ -91,12 +94,6 @@ CONFIGS = { AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010), AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), - - *configs_from_eq_params(0x84, EQParams(0x3084, 0xC023, 0x3D60, 0x042B, 0x1222)), - *configs_from_eq_params(0x8E, EQParams(0x2FB2, 0xC05C, 0x3BD3, 0x06C5, 0x16BB)), - *configs_from_eq_params(0x98, EQParams(0x21F5, 0xDF73, 0x2DFE, 0x371A, 0x2C80)), - *configs_from_eq_params(0xA2, EQParams(0x2A5A, 0x0AD0, 0x14FA, 0x3F14, 0x3C76)), - *configs_from_eq_params(0xAC, EQParams(0x1577, 0x3FAE, 0xEE60, 0x0664, 0x3D86)), ], } From 9b28897f09112ec1dc28d7196964588989029940 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 10 Mar 2023 05:13:29 +0800 Subject: [PATCH 013/150] replay: fix incorrect format string in seekTo (#27547) --- tools/replay/replay.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 178b116a87..b68330f688 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -193,7 +193,7 @@ std::optional Replay::find(FindFlag flag) { void Replay::pause(bool pause) { updateEvents([=]() { - rWarning("%s at %d s", pause ? "paused..." : "resuming", currentSeconds()); + rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds()); paused_ = pause; return true; }); From b5d29b550c4b900d5e5e9dd9322a478e12ec9013 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 10 Mar 2023 05:13:46 +0800 Subject: [PATCH 014/150] cabana: get icon size from QStyle::PM_SmallIconSize (#27548) --- tools/cabana/util.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 1a0b9d93ef..778ffbc859 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -170,6 +170,8 @@ QToolButton *toolButton(const QString &icon, const QString &tooltip) { btn->setIcon(utils::icon(icon)); btn->setToolTip(tooltip); btn->setAutoRaise(true); + const int metric = qApp->style()->pixelMetric(QStyle::PM_SmallIconSize); + btn->setIconSize({metric, metric}); return btn; }; From b79f4594c42b4af0fc371b5d48445ce86c1cb3ff Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 9 Mar 2023 22:14:06 +0100 Subject: [PATCH 015/150] cabana: scrub by shift dragging on graph (#27545) * cabana: scrub by shift dragging on graph * not while live streaming --- tools/cabana/chartswidget.cc | 26 ++++++++++++++++++++++++++ tools/cabana/chartswidget.h | 2 ++ 2 files changed, 28 insertions(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 54966be578..8ef2ae7b4f 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -668,6 +668,16 @@ void ChartView::mousePressEvent(QMouseEvent *event) { if (dropAction == Qt::MoveAction) { return; } + } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + if (!can->liveStreaming()) { + // Save current playback state when scrubbing + resume_after_scrub = !can->isPaused(); + if (resume_after_scrub) { + can->pause(true); + } + + is_scrubbing = true; + } } else { QChartView::mousePressEvent(event); } @@ -701,9 +711,25 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } else { QGraphicsView::mouseReleaseEvent(event); } + + // Resume playback if we were scrubbing + is_scrubbing = false; + if (resume_after_scrub) { + can->pause(false); + resume_after_scrub = false; + } } void ChartView::mouseMoveEvent(QMouseEvent *ev) { + // Scrubbing + if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { + double t = chart()->mapToValue({(double)ev->x(), (double)ev->y()}).x(); + // Prevent seeking past the end of the route + t = std::clamp(t, 0., can->totalSeconds()); + can->seekTo(t); + return; + } + auto rubber = findChild(); bool is_zooming = rubber && rubber->isVisible(); const auto plot_area = chart()->plotArea(); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index c86c19a04e..22ba020b29 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -97,6 +97,8 @@ private: double cur_sec = 0; const QString mime_type = "application/x-cabanachartview"; SeriesType series_type = SeriesType::Line; + bool is_scrubbing = false; + bool resume_after_scrub = false; friend class ChartsWidget; }; From 5b3a72267c628785859e673eaecc2787e02f1220 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 9 Mar 2023 22:14:21 +0100 Subject: [PATCH 016/150] cabana: fix changing message size (#27544) * cabana: fix changing message size * fix naming signal untitled --- tools/cabana/detailwidget.cc | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 01fbccf7db..71dbf8d56b 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -194,7 +194,7 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit form_layout->addRow(tr("Size"), size_spin); btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); - btn_box->button(QDialogButtonBox::Ok)->setEnabled(false); + validateName(name_edit->text()); form_layout->addRow(btn_box); setFixedWidth(parent->width() * 0.9); @@ -204,9 +204,9 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit } void EditMessageDialog::validateName(const QString &text) { - bool valid = false; + bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0; error_label->setVisible(false); - if (!text.isEmpty() && text != original_name && text.compare(UNTITLED, Qt::CaseInsensitive) != 0) { + if (!text.isEmpty() && valid && text != original_name) { valid = std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&text](auto &m) { return m.second.name == text; }); if (!valid) { From 572eba78a675836e036456afc6e1bb2f14e9a3d6 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Thu, 9 Mar 2023 22:17:22 -0300 Subject: [PATCH 017/150] Multilanguage: update pt-BR translations (#27546) update pt-BR translations --- selfdrive/ui/translations/main_pt-BR.ts | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 5c4eab3327..8dc3a9830d 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -596,16 +596,17 @@ trabalho definido Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - + Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo. Press confirm to erase all content and settings. Press cancel to resume boot. - + Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar. Resetting device... This may take up to a minute. - + Redefinindo o dispositivo +Isso pode levar até um minuto. @@ -707,11 +708,11 @@ This may take up to a minute. No custom software found at this URL. - + Não há software personalizado nesta URL. Something went wrong. Reboot the device. - + Algo deu errado. Reinicie o dispositivo. From 7d32554fe36dd428efa45f9998b3cb0e018d9a40 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 9 Mar 2023 18:48:32 -0800 Subject: [PATCH 018/150] Parse GLONASS ephemeris from mystery satellites (#27541) parse unknown glonass --- system/ubloxd/ublox_msg.cc | 62 ++++++++++++++++++++++++++------------ system/ubloxd/ublox_msg.h | 6 ++-- system/ubloxd/ubloxd.cc | 3 +- 3 files changed, 48 insertions(+), 23 deletions(-) diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc index ebd904f72f..83e64b7ddc 100644 --- a/system/ubloxd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -81,7 +81,8 @@ inline uint16_t UbloxMsgParser::get_glonass_year(uint8_t N4, uint16_t Nt) { return year; } -bool UbloxMsgParser::add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { +bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { + last_log_time = log_time; int needed = needed_bytes(); if(needed > 0) { bytes_consumed = std::min((uint32_t)needed, incoming_data_len ); @@ -266,12 +267,8 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m } kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg) { - if (msg->sv_id() == 255) { - // data can be decoded before identifying the SV number, in this case 255 - // is returned, which means "unknown" (ublox p32) - return kj::Array(); - } - + // This parser assumes that no 2 satellites of the same frequency + // can be in view at the same time auto body = *msg->body(); assert(body.size() == 4); { @@ -284,23 +281,48 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ kaitai::kstream stream(string_data); glonass_t gl_string(&stream); - int string_number = gl_string.string_number(); if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) { // dont parse non immediate data, idle_chip == 0 return kj::Array(); } - // immediate data is the same within one superframe - if (glonass_superframes[msg->sv_id()] != gl_string.superframe_number()) { - glonass_strings[msg->sv_id()].clear(); - glonass_superframes[msg->sv_id()] = gl_string.superframe_number(); + // Check if new string either has same superframe_id or log transmission times make sense + bool superframe_unknown = false; + bool needs_clear = false; + for (int i = 1; i <= 5; i++) { + if (glonass_strings[msg->freq_id()].find(i) == glonass_strings[msg->freq_id()].end()) + continue; + if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) { + superframe_unknown = true; + } + else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) { + needs_clear = true; + } + // Check if string times add up to being from the same frame + // If superframe is known this is redundant + // Strings are sent 2s apart and frames are 30s apart + if (superframe_unknown && + std::abs((glonass_string_times[msg->freq_id()][i] - 2.0 * i) - (last_log_time - 2.0 * string_number)) > 10) + needs_clear = true; + } + if (needs_clear) { + glonass_strings[msg->freq_id()].clear(); + glonass_string_superframes[msg->freq_id()].clear(); + glonass_string_times[msg->freq_id()].clear(); } - glonass_strings[msg->sv_id()][string_number] = string_data; + glonass_strings[msg->freq_id()][string_number] = string_data; + glonass_string_superframes[msg->freq_id()][string_number] = gl_string.superframe_number(); + glonass_string_times[msg->freq_id()][string_number] = last_log_time; + } + if (msg->sv_id() == 255) { + // data can be decoded before identifying the SV number, in this case 255 + // is returned, which means "unknown" (ublox p32) + return kj::Array(); } // publish if strings 1-5 have been collected - if (glonass_strings[msg->sv_id()].size() != 5) { + if (glonass_strings[msg->freq_id()].size() != 5) { return kj::Array(); } @@ -311,7 +333,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 1 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][1]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][1]); glonass_t gl_stream(&stream); glonass_t::string_1_t* data = static_cast(gl_stream.data()); @@ -324,7 +346,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 2 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][2]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][2]); glonass_t gl_stream(&stream); glonass_t::string_2_t* data = static_cast(gl_stream.data()); @@ -338,7 +360,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 3 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][3]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][3]); glonass_t gl_stream(&stream); glonass_t::string_3_t* data = static_cast(gl_stream.data()); @@ -352,7 +374,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 4 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][4]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][4]); glonass_t gl_stream(&stream); glonass_t::string_4_t* data = static_cast(gl_stream.data()); @@ -370,7 +392,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string number 5 { - kaitai::kstream stream(glonass_strings[msg->sv_id()][5]); + kaitai::kstream stream(glonass_strings[msg->freq_id()][5]); glonass_t gl_stream(&stream); glonass_t::string_5_t* data = static_cast(gl_stream.data()); @@ -399,7 +421,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ eph.setSecond((eph.getTk() & 0x1) * 30); } - glonass_strings[msg->sv_id()].clear(); + glonass_strings[msg->freq_id()].clear(); return capnp::messageToFlatArray(msg_builder); } diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h index 3989bbf85b..06877cc50d 100644 --- a/system/ubloxd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -86,7 +86,7 @@ namespace ublox { class UbloxMsgParser { public: - bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); + bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed); inline void reset() {bytes_in_parse_buf = 0;} inline int needed_bytes(); inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);} @@ -109,6 +109,7 @@ class UbloxMsgParser { std::unordered_map> gps_subframes; + float last_log_time = 0.0; size_t bytes_in_parse_buf = 0; uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE]; @@ -119,5 +120,6 @@ class UbloxMsgParser { {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}}; std::unordered_map> glonass_strings; - std::unordered_map glonass_superframes; + std::unordered_map> glonass_string_times; + std::unordered_map> glonass_string_superframes; }; diff --git a/system/ubloxd/ubloxd.cc b/system/ubloxd/ubloxd.cc index 81731ac931..1dae6dc866 100644 --- a/system/ubloxd/ubloxd.cc +++ b/system/ubloxd/ubloxd.cc @@ -35,6 +35,7 @@ int main() { capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get())); cereal::Event::Reader event = cmsg.getRoot(); auto ubloxRaw = event.getUbloxRaw(); + float log_time = 1e-9 * event.getLogMonoTime(); const uint8_t *data = ubloxRaw.begin(); size_t len = ubloxRaw.size(); @@ -42,7 +43,7 @@ int main() { while(bytes_consumed < len && !do_exit) { size_t bytes_consumed_this_time = 0U; - if(parser.add_data(data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { + if(parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) { try { auto ublox_msg = parser.gen_msg(); From e4d591ecbfaaf12b267e3f93927a89e9b4f6a7b9 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 10 Mar 2023 20:19:37 +0100 Subject: [PATCH 019/150] cabana: refactor Msg and Signal into dbc.cc (#27552) --- tools/cabana/SConscript | 2 +- tools/cabana/binaryview.cc | 16 +-- tools/cabana/binaryview.h | 23 ++-- tools/cabana/chartswidget.cc | 14 +-- tools/cabana/chartswidget.h | 31 +++-- tools/cabana/commands.cc | 6 +- tools/cabana/commands.h | 17 ++- tools/cabana/dbc.cc | 77 ++++++++++++ tools/cabana/dbc.h | 78 ++++++++++++ tools/cabana/dbcmanager.cc | 168 +++++++------------------- tools/cabana/dbcmanager.h | 90 ++------------ tools/cabana/detailwidget.cc | 2 +- tools/cabana/historylog.h | 4 +- tools/cabana/mainwin.cc | 2 +- tools/cabana/messageswidget.h | 1 - tools/cabana/signaledit.cc | 28 ++--- tools/cabana/signaledit.h | 26 ++-- tools/cabana/tests/test_cabana.cc | 1 - tools/cabana/tools/findsimilarbits.cc | 1 - tools/cabana/tools/findsimilarbits.h | 1 - tools/cabana/util.cc | 2 +- tools/cabana/util.h | 5 +- tools/cabana/videowidget.h | 1 - 23 files changed, 295 insertions(+), 301 deletions(-) create mode 100644 tools/cabana/dbc.cc create mode 100644 tools/cabana/dbc.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index ddd6208c07..3cb5913c01 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -28,7 +28,7 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbc.cc', 'dbcmanager.cc', 'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 120a85a330..b81f7d5e79 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -75,8 +75,8 @@ void BinaryView::addShortcuts() { QShortcut *shortcut_endian = new QShortcut(QKeySequence(Qt::Key_E), this); QObject::connect(shortcut_endian, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - const Signal *hovered_sig_prev = hovered_sig; - Signal s = *hovered_sig; + const cabana::Signal *hovered_sig_prev = hovered_sig; + cabana::Signal s = *hovered_sig; s.is_little_endian = !s.is_little_endian; emit editSignal(hovered_sig, s); @@ -89,8 +89,8 @@ void BinaryView::addShortcuts() { QShortcut *shortcut_sign = new QShortcut(QKeySequence(Qt::Key_S), this); QObject::connect(shortcut_sign, &QShortcut::activated, [=]{ if (hovered_sig != nullptr) { - const Signal *hovered_sig_prev = hovered_sig; - Signal s = *hovered_sig; + const cabana::Signal *hovered_sig_prev = hovered_sig; + cabana::Signal s = *hovered_sig; s.is_signed = !s.is_signed; emit editSignal(hovered_sig, s); @@ -117,7 +117,7 @@ QSize BinaryView::minimumSizeHint() const { CELL_HEIGHT * std::min(model->rowCount(), 10) + 2}; } -void BinaryView::highlight(const Signal *sig) { +void BinaryView::highlight(const cabana::Signal *sig) { if (sig != hovered_sig) { for (int i = 0; i < model->items.size(); ++i) { auto &item_sigs = model->items[i].sigs; @@ -176,7 +176,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { void BinaryView::highlightPosition(const QPoint &pos) { if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) { auto item = (BinaryViewModel::Item *)index.internalPointer(); - const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); + const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back(); highlight(sig); } } @@ -226,8 +226,8 @@ void BinaryView::refresh() { highlightPosition(QCursor::pos()); } -QSet BinaryView::getOverlappingSignals() const { - QSet overlapping; +QSet BinaryView::getOverlappingSignals() const { + QSet overlapping; for (auto &item : model->items) { if (item.sigs.size() > 1) for (auto s : item.sigs) overlapping += s; diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 681ac1fbf3..f677d11941 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -8,7 +8,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class BinaryItemDelegate : public QStyledItemDelegate { public: @@ -44,7 +43,7 @@ public: bool is_msb = false; bool is_lsb = false; QString val = "-"; - QList sigs; + QList sigs; }; std::vector items; @@ -59,19 +58,19 @@ class BinaryView : public QTableView { public: BinaryView(QWidget *parent = nullptr); void setMessage(const MessageId &message_id); - void highlight(const Signal *sig); - QSet getOverlappingSignals() const; + void highlight(const cabana::Signal *sig); + QSet getOverlappingSignals() const; inline void updateState() { model->updateState(); } QSize minimumSizeHint() const override; signals: - void signalClicked(const Signal *sig); - void signalHovered(const Signal *sig); + void signalClicked(const cabana::Signal *sig); + void signalHovered(const cabana::Signal *sig); void addSignal(int start_bit, int size, bool little_endian); - void resizeSignal(const Signal *sig, int from, int size); - void removeSignal(const Signal *sig); - void editSignal(const Signal *origin_s, Signal &s); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); + void resizeSignal(const cabana::Signal *sig, int from, int size); + void removeSignal(const cabana::Signal *sig); + void editSignal(const cabana::Signal *origin_s, cabana::Signal &s); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); private: void addShortcuts(); @@ -87,7 +86,7 @@ private: QModelIndex anchor_index; BinaryViewModel *model; BinaryItemDelegate *delegate; - const Signal *resize_sig = nullptr; - const Signal *hovered_sig = nullptr; + const cabana::Signal *resize_sig = nullptr; + const cabana::Signal *hovered_sig = nullptr; friend class BinaryItemDelegate; }; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 8ef2ae7b4f..5bab261ba7 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -189,7 +189,7 @@ void ChartsWidget::settingChanged() { } } -ChartView *ChartsWidget::findChart(const MessageId &id, const Signal *sig) { +ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) { for (auto c : charts) if (c->hasSeries(id, sig)) return c; return nullptr; @@ -212,7 +212,7 @@ ChartView *ChartsWidget::createChart() { return chart; } -void ChartsWidget::showChart(const MessageId &id, const Signal *sig, bool show, bool merge) { +void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) { ChartView *chart = findChart(id, sig); if (show && !chart) { chart = merge && charts.size() > 0 ? charts.back() : createChart(); @@ -377,7 +377,7 @@ void ChartView::createToolButtons() { }); } -void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) { +void ChartView::addSeries(const MessageId &msg_id, const cabana::Signal *sig) { if (hasSeries(msg_id, sig)) return; QXYSeries *series = createSeries(series_type, getColor(sig)); @@ -388,7 +388,7 @@ void ChartView::addSeries(const MessageId &msg_id, const Signal *sig) { emit seriesAdded(msg_id, sig); } -bool ChartView::hasSeries(const MessageId &msg_id, const Signal *sig) const { +bool ChartView::hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const { return std::any_of(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; }); } @@ -413,7 +413,7 @@ void ChartView::removeIf(std::function predicate) { } } -void ChartView::signalUpdated(const Signal *sig) { +void ChartView::signalUpdated(const cabana::Signal *sig) { if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; })) { updateTitle(); // TODO: don't update series if only name changed. @@ -502,7 +502,7 @@ void ChartView::updateSeriesPoints() { } } -void ChartView::updateSeries(const Signal *sig, const std::vector *events, bool clear) { +void ChartView::updateSeries(const cabana::Signal *sig, const std::vector *events, bool clear) { events = events ? events : can->events(); for (auto &s : sigs) { if (!sig || s.sig == sig) { @@ -980,7 +980,7 @@ void SeriesSelector::updateAvailableList(int index) { } } -void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name) { +void SeriesSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) { QString text = QString("■ %1").arg(getColor(sig).name(), sig->name); if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id.toString()); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 22ba020b29..fdfbbc11ff 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -15,7 +15,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; using namespace QtCharts; const int CHART_MIN_WIDTH = 300; @@ -31,16 +30,16 @@ class ChartView : public QChartView { public: ChartView(QWidget *parent = nullptr); - void addSeries(const MessageId &msg_id, const Signal *sig); - bool hasSeries(const MessageId &msg_id, const Signal *sig) const; - void updateSeries(const Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); + void addSeries(const MessageId &msg_id, const cabana::Signal *sig); + bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const; + void updateSeries(const cabana::Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); void updatePlot(double cur, double min, double max); void setSeriesType(SeriesType type); void updatePlotArea(int left); struct SigItem { MessageId msg_id; - const Signal *sig = nullptr; + const cabana::Signal *sig = nullptr; QXYSeries *series = nullptr; QVector vals; QVector step_vals; @@ -50,8 +49,8 @@ public: }; signals: - void seriesRemoved(const MessageId &id, const Signal *sig); - void seriesAdded(const MessageId &id, const Signal *sig); + void seriesRemoved(const MessageId &id, const cabana::Signal *sig); + void seriesAdded(const MessageId &id, const cabana::Signal *sig); void zoomIn(double min, double max); void zoomReset(); void remove(); @@ -59,11 +58,11 @@ signals: private slots: void msgUpdated(uint32_t address); - void signalUpdated(const Signal *sig); + void signalUpdated(const cabana::Signal *sig); void manageSeries(); void handleMarkerClicked(); void msgRemoved(uint32_t address) { removeIf([=](auto &s) { return s.msg_id.address == address; }); } - void signalRemoved(const Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } + void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } private: void createToolButtons(); @@ -107,8 +106,8 @@ class ChartsWidget : public QFrame { public: ChartsWidget(QWidget *parent = nullptr); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); - inline bool hasSignal(const MessageId &id, const Signal *sig) { return findChart(id, sig) != nullptr; } + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); + inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; } public slots: void setColumnCount(int n); @@ -134,7 +133,7 @@ private: void updateLayout(); void settingChanged(); bool eventFilter(QObject *obj, QEvent *event) override; - ChartView *findChart(const MessageId &id, const Signal *sig); + ChartView *findChart(const MessageId &id, const cabana::Signal *sig); QLabel *title_label; QLabel *range_lb; @@ -160,18 +159,18 @@ private: class SeriesSelector : public QDialog { public: struct ListItem : public QListWidgetItem { - ListItem(const MessageId &msg_id, const Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} + ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {} MessageId msg_id; - const Signal *sig; + const cabana::Signal *sig; }; SeriesSelector(QString title, QWidget *parent); QList seletedItems(); - inline void addSelected(const MessageId &id, const Signal *sig) { addItemToList(selected_list, id, sig, true); } + inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); } private: void updateAvailableList(int index); - void addItemToList(QListWidget *parent, const MessageId id, const Signal *sig, bool show_msg_name = false); + void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false); void add(QListWidgetItem *item); void remove(QListWidgetItem *item); diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc index 9b9724aada..337de1c702 100644 --- a/tools/cabana/commands.cc +++ b/tools/cabana/commands.cc @@ -50,7 +50,7 @@ void RemoveMsgCommand::redo() { // AddSigCommand -AddSigCommand::AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent) +AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent) : id(id), signal(sig), QUndoCommand(parent) { setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address)); } @@ -60,7 +60,7 @@ void AddSigCommand::redo() { dbc()->addSignal(id, signal); } // RemoveSigCommand -RemoveSigCommand::RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent) +RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent) : id(id), signal(*sig), QUndoCommand(parent) { setText(QObject::tr("remove signal %1 from %2:%3").arg(signal.name).arg(msgName(id)).arg(id.address)); } @@ -70,7 +70,7 @@ void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name); } // EditSignalCommand -EditSignalCommand::EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent) +EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent) : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) { setText(QObject::tr("edit signal %1 in %2:%3").arg(old_signal.name).arg(msgName(id)).arg(id.address)); } diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index 3565211eb9..2a5f40d584 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -5,7 +5,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class EditMsgCommand : public QUndoCommand { public: @@ -27,41 +26,41 @@ public: private: const MessageId id; - Msg message; + cabana::Msg message; }; class AddSigCommand : public QUndoCommand { public: - AddSigCommand(const MessageId &id, const Signal &sig, QUndoCommand *parent = nullptr); + AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal signal = {}; + cabana::Signal signal = {}; }; class RemoveSigCommand : public QUndoCommand { public: - RemoveSigCommand(const MessageId &id, const Signal *sig, QUndoCommand *parent = nullptr); + RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal signal = {}; + cabana::Signal signal = {}; }; class EditSignalCommand : public QUndoCommand { public: - EditSignalCommand(const MessageId &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr); + EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - Signal old_signal = {}; - Signal new_signal = {}; + cabana::Signal old_signal = {}; + cabana::Signal new_signal = {}; }; namespace UndoStack { diff --git a/tools/cabana/dbc.cc b/tools/cabana/dbc.cc new file mode 100644 index 0000000000..8ffb660286 --- /dev/null +++ b/tools/cabana/dbc.cc @@ -0,0 +1,77 @@ +#include "tools/cabana/dbc.h" + +uint qHash(const MessageId &item) { + return qHash(item.source) ^ qHash(item.address); +} + +std::vector cabana::Msg::getSignals() const { + std::vector ret; + ret.reserve(sigs.size()); + for (auto &sig : sigs) ret.push_back(&sig); + std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); + return ret; +} + +// helper functions + +static QVector BIG_ENDIAN_START_BITS = []() { + QVector ret; + for (int i = 0; i < 64; i++) + for (int j = 7; j >= 0; j--) + ret.push_back(j + i * 8); + return ret; +}(); + +double get_raw_value(uint8_t *data, size_t data_size, const cabana::Signal &sig) { + int64_t val = 0; + + int i = sig.msb / 8; + int bits = sig.size; + while (i >= 0 && i < data_size && bits > 0) { + int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; + int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; + int size = msb - lsb + 1; + + uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); + val |= d << (bits - size); + + bits -= size; + i = sig.is_little_endian ? i - 1 : i + 1; + } + if (sig.is_signed) { + val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; + } + return val * sig.factor + sig.offset; +} + +bool cabana::operator==(const cabana::Signal &l, const cabana::Signal &r) { + return l.name == r.name && l.size == r.size && + l.start_bit == r.start_bit && + l.msb == r.msb && l.lsb == r.lsb && + l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && + l.factor == r.factor && l.offset == r.offset && + l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc; +} + +int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; } +int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); } + +void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size) { + s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit); + s.size = size; + if (s.is_little_endian) { + s.lsb = s.start_bit; + s.msb = s.start_bit + s.size - 1; + } else { + s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1); + s.msb = s.start_bit; + } +} + +std::pair getSignalRange(const cabana::Signal *s) { + int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit); + int to = from + s->size - 1; + return {from, to}; +} + +std::vector allDBCNames() { return get_dbc_names(); } diff --git a/tools/cabana/dbc.h b/tools/cabana/dbc.h new file mode 100644 index 0000000000..3c58e38055 --- /dev/null +++ b/tools/cabana/dbc.h @@ -0,0 +1,78 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include "opendbc/can/common_dbc.h" + +const QString UNTITLED = "untitled"; + +struct MessageId { + uint8_t source; + uint32_t address; + + QString toString() const { + return QString("%1:%2").arg(source).arg(address, 1, 16); + } + + bool operator==(const MessageId &other) const { + return source == other.source && address == other.address; + } + + bool operator!=(const MessageId &other) const { + return !(*this == other); + } + + bool operator<(const MessageId &other) const { + return std::pair{source, address} < std::pair{other.source, other.address}; + } + + bool operator>(const MessageId &other) const { + return std::pair{source, address} > std::pair{other.source, other.address}; + } +}; + +uint qHash(const MessageId &item); +Q_DECLARE_METATYPE(MessageId); + + +typedef QList> ValueDescription; + +namespace cabana { + struct Signal { + QString name; + int start_bit, msb, lsb, size; + bool is_signed; + double factor, offset; + bool is_little_endian; + QString min, max, unit; + QString comment; + ValueDescription val_desc; + }; + + struct Msg { + QString name; + uint32_t size; + QList sigs; + + std::vector getSignals() const; + const cabana::Signal *sig(const QString &sig_name) const { + auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; }); + return it != sigs.end() ? &(*it) : nullptr; + } + }; + + bool operator==(const cabana::Signal &l, const cabana::Signal &r); + inline bool operator!=(const cabana::Signal &l, const cabana::Signal &r) { return !(l == r); } +} + +// Helper functions +double get_raw_value(uint8_t *data, size_t data_size, const cabana::Signal &sig); +int bigEndianStartBitsIndex(int start_bit); +int bigEndianBitIndex(int index); +void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size); +std::pair getSignalRange(const cabana::Signal *s); +std::vector allDBCNames(); diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 32113c2f22..e9ebcd2791 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -8,8 +8,6 @@ #include #include -namespace dbcmanager { - bool DBCManager::open(const QString &dbc_file_name, QString *error) { QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, dbc_file_name); QFile file(opendbc_file_path); @@ -19,15 +17,49 @@ bool DBCManager::open(const QString &dbc_file_name, QString *error) { return false; } +bool DBCManager::open(const QString &name, const QString &content, QString *error) { + try { + std::istringstream stream(content.toStdString()); + auto dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); + msgs.clear(); + for (auto &msg : dbc->msgs) { + auto &m = msgs[msg.address]; + m.name = msg.name.c_str(); + m.size = msg.size; + for (auto &s : msg.sigs) { + m.sigs.push_back({}); + auto &sig = m.sigs.last(); + sig.name = s.name.c_str(); + sig.start_bit = s.start_bit; + sig.msb = s.msb; + sig.lsb = s.lsb; + sig.size = s.size; + sig.is_signed = s.is_signed; + sig.factor = s.factor; + sig.offset = s.offset; + sig.is_little_endian = s.is_little_endian; + } + } + parseExtraInfo(content); + name_ = name; + emit DBCFileChanged(); + delete dbc; + } catch (std::exception &e) { + if (error) *error = e.what(); + return false; + } + return true; +} + void DBCManager::parseExtraInfo(const QString &content) { static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"(.*)\";)"); static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (.*);)"); - auto get_sig = [this](uint32_t address, const QString &name) -> Signal * { - auto m = (Msg *)msg(address); - return m ? (Signal *)m->sig(name) : nullptr; + auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * { + auto m = (cabana::Msg *)msg(address); + return m ? (cabana::Signal *)m->sig(name) : nullptr; }; QTextStream stream((QString *)&content); @@ -119,17 +151,17 @@ void DBCManager::removeMsg(const MessageId &id) { emit msgRemoved(id.address); } -void DBCManager::addSignal(const MessageId &id, const Signal &sig) { - if (auto m = const_cast(msg(id.address))) { +void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id.address))) { m->sigs.push_back(sig); auto s = &m->sigs.last(); emit signalAdded(id.address, s); } } -void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig) { - if (auto m = const_cast(msg(id))) { - if (auto s = (Signal *)m->sig(sig_name)) { +void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id))) { + if (auto s = (cabana::Signal *)m->sig(sig_name)) { *s = sig; emit signalUpdated(s); } @@ -137,7 +169,7 @@ void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, cons } void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { - if (auto m = const_cast(msg(id))) { + if (auto m = const_cast(msg(id))) { auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); if (it != m->sigs.end()) { emit signalRemoved(&(*it)); @@ -151,117 +183,3 @@ DBCManager *dbc() { return &dbc_manager; } -// Msg - -std::vector Msg::getSignals() const { - std::vector ret; - ret.reserve(sigs.size()); - for (auto &sig : sigs) ret.push_back(&sig); - std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); - return ret; -} - -// helper functions - -static QVector BIG_ENDIAN_START_BITS = []() { - QVector ret; - for (int i = 0; i < 64; i++) - for (int j = 7; j >= 0; j--) - ret.push_back(j + i * 8); - return ret; -}(); - -int bigEndianStartBitsIndex(int start_bit) { return BIG_ENDIAN_START_BITS[start_bit]; } -int bigEndianBitIndex(int index) { return BIG_ENDIAN_START_BITS.indexOf(index); } - -double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) { - int64_t val = 0; - - int i = sig.msb / 8; - int bits = sig.size; - while (i >= 0 && i < data_size && bits > 0) { - int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; - int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; - int size = msb - lsb + 1; - - uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1); - val |= d << (bits - size); - - bits -= size; - i = sig.is_little_endian ? i - 1 : i + 1; - } - if (sig.is_signed) { - val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0; - } - return val * sig.factor + sig.offset; -} - -void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size) { - s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit); - s.size = size; - if (s.is_little_endian) { - s.lsb = s.start_bit; - s.msb = s.start_bit + s.size - 1; - } 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}; -} - -bool operator==(const Signal &l, const Signal &r) { - return l.name == r.name && l.size == r.size && - l.start_bit == r.start_bit && - l.msb == r.msb && l.lsb == r.lsb && - l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian && - l.factor == r.factor && l.offset == r.offset && - l.min == r.min && l.max == r.max && l.comment == r.comment && l.unit == r.unit && l.val_desc == r.val_desc; -} - -} // namespace dbcmanager - -#include "opendbc/can/common_dbc.h" -std::vector dbcmanager::DBCManager::allDBCNames() { return get_dbc_names(); } - -bool dbcmanager::DBCManager::open(const QString &name, const QString &content, QString *error) { - try { - std::istringstream stream(content.toStdString()); - auto dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); - msgs.clear(); - for (auto &msg : dbc->msgs) { - auto &m = msgs[msg.address]; - m.name = msg.name.c_str(); - m.size = msg.size; - for (auto &s : msg.sigs) { - m.sigs.push_back({}); - auto &sig = m.sigs.last(); - sig.name = s.name.c_str(); - sig.start_bit = s.start_bit; - sig.msb = s.msb; - sig.lsb = s.lsb; - sig.size = s.size; - sig.is_signed = s.is_signed; - sig.factor = s.factor; - sig.offset = s.offset; - sig.is_little_endian = s.is_little_endian; - } - } - parseExtraInfo(content); - name_ = name; - emit DBCFileChanged(); - delete dbc; - } catch (std::exception &e) { - if (error) *error = e.what(); - return false; - } - return true; -} - -uint qHash(const MessageId &item) { - return qHash(item.source) ^ qHash(item.address); -} diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index d877347796..3b222b1dcb 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -6,63 +6,7 @@ #include #include -struct MessageId { - uint8_t source; - uint32_t address; - - QString toString() const { - return QString("%1:%2").arg(source).arg(address, 1, 16); - } - - bool operator==(const MessageId &other) const { - return source == other.source && address == other.address; - } - - bool operator!=(const MessageId &other) const { - return !(*this == other); - } - - bool operator<(const MessageId &other) const { - return std::pair{source, address} < std::pair{other.source, other.address}; - } - - bool operator>(const MessageId &other) const { - return std::pair{source, address} > std::pair{other.source, other.address}; - } -}; - -uint qHash(const MessageId &item); -Q_DECLARE_METATYPE(MessageId); - -namespace dbcmanager { - -typedef QList> ValueDescription; - -struct Signal { - QString name; - int start_bit, msb, lsb, size; - bool is_signed; - double factor, offset; - bool is_little_endian; - QString min, max, unit; - QString comment; - ValueDescription val_desc; -}; - -struct Msg { - QString name; - uint32_t size; - - std::vector getSignals() const; - const Signal *sig(const QString &sig_name) const { - auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; }); - return it != sigs.end() ? &(*it) : nullptr; - } - -private: - QList sigs; - friend class DBCManager; -}; +#include "tools/cabana/dbc.h" class DBCManager : public QObject { Q_OBJECT @@ -73,49 +17,37 @@ public: bool open(const QString &dbc_file_name, QString *error = nullptr); bool open(const QString &name, const QString &content, QString *error = nullptr); QString generateDBC(); - void addSignal(const MessageId &id, const Signal &sig); - void updateSignal(const MessageId &id, const QString &sig_name, const Signal &sig); + void addSignal(const MessageId &id, const cabana::Signal &sig); + void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); void removeSignal(const MessageId &id, const QString &sig_name); - static std::vector allDBCNames(); inline QString name() const { return name_; } void updateMsg(const MessageId &id, const QString &name, uint32_t size); void removeMsg(const MessageId &id); - inline const std::map &messages() const { return msgs; } - inline const Msg *msg(const MessageId &id) const { return msg(id.address); } - inline const Msg *msg(uint32_t address) const { + inline const std::map &messages() const { return msgs; } + inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); } + inline const cabana::Msg *msg(uint32_t address) const { auto it = msgs.find(address); return it != msgs.end() ? &it->second : nullptr; } signals: - void signalAdded(uint32_t address, const Signal *sig); - void signalRemoved(const Signal *sig); - void signalUpdated(const Signal *sig); + void signalAdded(uint32_t address, const cabana::Signal *sig); + void signalRemoved(const cabana::Signal *sig); + void signalUpdated(const cabana::Signal *sig); void msgUpdated(uint32_t address); void msgRemoved(uint32_t address); void DBCFileChanged(); private: void parseExtraInfo(const QString &content); - std::map msgs; + std::map msgs; QString name_; }; -const QString UNTITLED = "untitled"; - -// TODO: Add helper function in dbc.h -double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig); -bool operator==(const Signal &l, const Signal &r); -inline bool operator!=(const Signal &l, const Signal &r) { return !(l == r); } -int bigEndianStartBitsIndex(int start_bit); -int bigEndianBitIndex(int index); -void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size); -std::pair getSignalRange(const Signal *s); DBCManager *dbc(); + inline QString msgName(const MessageId &id) { auto msg = dbc()->msg(id); return msg ? msg->name : UNTITLED; } - -} // namespace dbcmanager diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 71dbf8d56b..05a0528d0e 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -68,7 +68,7 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart QObject::connect(binary_view, &BinaryView::resizeSignal, signal_view->model, &SignalModel::resizeSignal); QObject::connect(binary_view, &BinaryView::addSignal, signal_view->model, &SignalModel::addSignal); QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered); - QObject::connect(binary_view, &BinaryView::signalClicked, [this](const Signal *s) { signal_view->selectSignal(s, true); }); + QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); }); QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal); QObject::connect(binary_view, &BinaryView::removeSignal, signal_view->model, &SignalModel::removeSignal); QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart); diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 206d53bc8d..119b61a0e8 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -11,8 +11,6 @@ #include "tools/cabana/streams/abstractstream.h" #include "tools/cabana/util.h" -using namespace dbcmanager; - class HeaderView : public QHeaderView { public: HeaderView(Qt::Orientation orientation, QWidget *parent = nullptr) : QHeaderView(orientation, parent) {} @@ -64,7 +62,7 @@ public: uint64_t last_fetch_time = 0; std::function filter_cmp = nullptr; std::deque messages; - std::vector sigs; + std::vector sigs; bool dynamic_mode = true; bool display_signals_mode = true; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index abcb4948a9..17b720bd55 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -97,7 +97,7 @@ void MainWindow::createActions() { file_menu->addSeparator(); QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc")); // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }"); - auto dbc_names = dbc()->allDBCNames(); + auto dbc_names = allDBCNames(); std::sort(dbc_names.begin(), dbc_names.end()); for (const auto &name : dbc_names) { load_opendbc_menu->addAction(QString::fromStdString(name), this, &MainWindow::openOpendbcFile); diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index ed9e241b0c..08dac0d69a 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -8,7 +8,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class MessageListModel : public QAbstractTableModel { Q_OBJECT diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 5684edf95a..8c28d92437 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -22,7 +22,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalModel::updateState); } -void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig) { +void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) { Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig}; parent_item->children.insert(pos, item); QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"}; @@ -104,7 +104,7 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const { return flags; } -int SignalModel::signalRow(const Signal *sig) const { +int SignalModel::signalRow(const cabana::Signal *sig) const { for (int i = 0; i < root->children.size(); ++i) { if (root->children[i]->sig == sig) return i; } @@ -168,7 +168,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r if (role != Qt::EditRole && role != Qt::CheckStateRole) return false; Item *item = getItem(index); - Signal s = *item->sig; + cabana::Signal s = *item->sig; switch (item->type) { case Item::Name: s.name = value.toString(); break; case Item::Size: s.size = value.toInt(); break; @@ -203,7 +203,7 @@ void SignalModel::showExtraInfo(const QModelIndex &index) { } } -bool SignalModel::saveSignal(const Signal *origin_s, Signal &s) { +bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) { auto msg = dbc()->msg(msg_id); if (s.name != origin_s->name && msg->sig(s.name) != nullptr) { QString text = tr("There is already a signal with the same name '%1'").arg(s.name); @@ -243,7 +243,7 @@ void SignalModel::addSignal(int start_bit, int size, bool little_endian) { } } - Signal sig = {.is_little_endian = little_endian, .factor = 1}; + cabana::Signal sig = {.is_little_endian = little_endian, .factor = 1}; for (int i = 1; /**/; ++i) { sig.name = QString("NEW_SIGNAL_%1").arg(i); if (msg->sig(sig.name) == nullptr) break; @@ -252,13 +252,13 @@ void SignalModel::addSignal(int start_bit, int size, bool little_endian) { UndoStack::push(new AddSigCommand(msg_id, sig)); } -void SignalModel::resizeSignal(const Signal *sig, int start_bit, int size) { - Signal s = *sig; +void SignalModel::resizeSignal(const cabana::Signal *sig, int start_bit, int size) { + cabana::Signal s = *sig; updateSigSizeParamsFromRange(s, start_bit, size); saveSignal(sig, s); } -void SignalModel::removeSignal(const Signal *sig) { +void SignalModel::removeSignal(const cabana::Signal *sig) { UndoStack::push(new RemoveSigCommand(msg_id, sig)); } @@ -268,7 +268,7 @@ void SignalModel::handleMsgChanged(uint32_t address) { } } -void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { +void SignalModel::handleSignalAdded(uint32_t address, const cabana::Signal *sig) { if (address == msg_id.address) { int i = 0; for (; i < root->children.size(); ++i) { @@ -280,13 +280,13 @@ void SignalModel::handleSignalAdded(uint32_t address, const Signal *sig) { } } -void SignalModel::handleSignalUpdated(const Signal *sig) { +void SignalModel::handleSignalUpdated(const cabana::Signal *sig) { if (int row = signalRow(sig); row != -1) { emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); } } -void SignalModel::handleSignalRemoved(const Signal *sig) { +void SignalModel::handleSignalRemoved(const cabana::Signal *sig) { if (int row = signalRow(sig); row != -1) { beginRemoveRows({}, row, row); delete root->children.takeAt(row); @@ -431,7 +431,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged); QObject::connect(model, &QAbstractItemModel::rowsInserted, this, &SignalView::rowsChanged); QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged); - QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const Signal *sig) { selectSignal(sig); }); + QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const cabana::Signal *sig) { selectSignal(sig); }); setWhatsThis(tr(R"( Signal view
@@ -485,7 +485,7 @@ void SignalView::rowClicked(const QModelIndex &index) { } } -void SignalView::selectSignal(const Signal *sig, bool expand) { +void SignalView::selectSignal(const cabana::Signal *sig, bool expand) { if (int row = model->signalRow(sig); row != -1) { auto idx = model->index(row, 0); if (expand) { @@ -509,7 +509,7 @@ void SignalView::updateChartState() { } } -void SignalView::signalHovered(const Signal *sig) { +void SignalView::signalHovered(const cabana::Signal *sig) { auto &children = model->root->children; for (int i = 0; i < children.size(); ++i) { bool highlight = children[i]->sig == sig; diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index da3bc36c62..39fe5f270f 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -21,7 +21,7 @@ public: Item *parent = nullptr; QList children; - const Signal *sig = nullptr; + const cabana::Signal *sig = nullptr; QString title; bool highlight = false; bool extra_expanded = false; @@ -39,18 +39,18 @@ public: void setMessage(const MessageId &id); void setFilter(const QString &txt); void addSignal(int start_bit, int size, bool little_endian); - bool saveSignal(const Signal *origin_s, Signal &s); - void resizeSignal(const Signal *sig, int start_bit, int size); - void removeSignal(const Signal *sig); + bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s); + void resizeSignal(const cabana::Signal *sig, int start_bit, int size); + void removeSignal(const cabana::Signal *sig); Item *getItem(const QModelIndex &index) const; - int signalRow(const Signal *sig) const; + int signalRow(const cabana::Signal *sig) const; void showExtraInfo(const QModelIndex &index); private: - void insertItem(SignalModel::Item *parent_item, int pos, const Signal *sig); - void handleSignalAdded(uint32_t address, const Signal *sig); - void handleSignalUpdated(const Signal *sig); - void handleSignalRemoved(const Signal *sig); + void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig); + void handleSignalAdded(uint32_t address, const cabana::Signal *sig); + void handleSignalUpdated(const cabana::Signal *sig); + void handleSignalRemoved(const cabana::Signal *sig); void handleMsgChanged(uint32_t address); void refresh(); void updateState(const QHash *msgs); @@ -94,15 +94,15 @@ class SignalView : public QFrame { public: SignalView(ChartsWidget *charts, QWidget *parent); void setMessage(const MessageId &id); - void signalHovered(const Signal *sig); + void signalHovered(const cabana::Signal *sig); void updateChartState(); - void selectSignal(const Signal *sig, bool expand = false); + void selectSignal(const cabana::Signal *sig, bool expand = false); void rowClicked(const QModelIndex &index); SignalModel *model = nullptr; signals: - void highlight(const Signal *sig); - void showChart(const MessageId &id, const Signal *sig, bool show, bool merge); + void highlight(const cabana::Signal *sig); + void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge); private: void rowsChanged(); diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 6f9f2d016b..124eb7428a 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -5,7 +5,6 @@ #include "tools/replay/logreader.h" #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; // demo route, first segment const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2"; diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 27cb7bced8..ffb0e54b0e 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -9,7 +9,6 @@ #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) { setWindowTitle(tr("Find similar bits")); diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h index ba9b063baf..53d7806a8f 100644 --- a/tools/cabana/tools/findsimilarbits.h +++ b/tools/cabana/tools/findsimilarbits.h @@ -7,7 +7,6 @@ #include #include "tools/cabana/dbcmanager.h" -using namespace dbcmanager; class FindSimilarBitsDlg : public QDialog { Q_OBJECT diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 778ffbc859..656c97489c 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -128,7 +128,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & } } -QColor getColor(const Signal *sig) { +QColor getColor(const cabana::Signal *sig) { float h = 19 * (float)sig->lsb / 64.0; h = fmod(h, 1.0); diff --git a/tools/cabana/util.h b/tools/cabana/util.h index cf1b5d4b20..03732ee13f 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -11,8 +11,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" -using namespace dbcmanager; +#include "tools/cabana/dbc.h" class ChangeTracker { public: @@ -59,7 +58,7 @@ public: inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } QString toHex(uint8_t byte); -QColor getColor(const dbcmanager::Signal *sig); +QColor getColor(const cabana::Signal *sig); class NameValidator : public QRegExpValidator { Q_OBJECT diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 1a7e27f1b3..d10b09fec5 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -13,7 +13,6 @@ #include "selfdrive/ui/qt/widgets/controls.h" #include "tools/cabana/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" -using namespace dbcmanager; class Slider : public QSlider { Q_OBJECT From c32a45b5b59396d7c7b90ede8db4e8ad678f39c5 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 10 Mar 2023 20:20:59 +0100 Subject: [PATCH 020/150] cabana: autocomplete signal names (#27553) --- tools/cabana/dbcmanager.cc | 13 +++++++++++++ tools/cabana/dbcmanager.h | 1 + tools/cabana/signaledit.cc | 9 +++++++++ 3 files changed, 23 insertions(+) diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index e9ebcd2791..b3a90e0b70 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -178,6 +178,19 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { } } +QStringList DBCManager::signalNames() { + // Used for autocompletion + QStringList ret; + for (auto const& [_, msg] : msgs) { + for (auto sig: msg.getSignals()) { + ret << sig->name; + } + } + ret.sort(); + ret.removeDuplicates(); + return ret; +} + DBCManager *dbc() { static DBCManager dbc_manager(nullptr); return &dbc_manager; diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 3b222b1dcb..4be7593808 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -30,6 +30,7 @@ public: auto it = msgs.find(address); return it != msgs.end() ? &it->second : nullptr; } + QStringList signalNames(); signals: void signalAdded(uint32_t address, const cabana::Signal *sig); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 8c28d92437..5fb56dc1bc 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 @@ -368,6 +369,14 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie QLineEdit *e = new QLineEdit(parent); e->setFrame(false); e->setValidator(index.row() == 0 ? name_validator : double_validator); + + if (item->type == SignalModel::Item::Name) { + QCompleter *completer = new QCompleter(dbc()->signalNames()); + completer->setCaseSensitivity(Qt::CaseInsensitive); + completer->setFilterMode(Qt::MatchContains); + e->setCompleter(completer); + } + return e; } else if (item->type == SignalModel::Item::Size) { QSpinBox *spin = new QSpinBox(parent); From ee615a30775c56be2c13a4acb4a755072000b8d6 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 10 Mar 2023 20:21:34 +0100 Subject: [PATCH 021/150] cabana: create autosave file when there are unsaved changes (#27542) --- tools/cabana/mainwin.cc | 31 ++++++++++++++++++++++++++++++- tools/cabana/mainwin.h | 4 ++++ 2 files changed, 34 insertions(+), 1 deletion(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 17b720bd55..1559700951 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -214,6 +214,7 @@ void MainWindow::undoStackIndexChanged(int index) { } prev_undostack_index = index; prev_undostack_count = count; + autoSave(); } void MainWindow::undoStackCleanChanged(bool clean) { @@ -255,7 +256,18 @@ void MainWindow::openFile() { void MainWindow::loadFile(const QString &fn) { if (!fn.isEmpty()) { - QFile file(fn); + QString dbc_fn = fn; + + // Prompt user to load auto saved file if it exists. + if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) { + auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?")); + if (ret == QMessageBox::Yes) { + dbc_fn += AUTO_SAVE_EXTENSION; + UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost + } + } + + QFile file(dbc_fn); if (file.open(QIODevice::ReadOnly)) { auto dbc_name = QFileInfo(fn).baseName(); QString error; @@ -340,7 +352,23 @@ void MainWindow::save() { } } +void MainWindow::autoSave() { + if (!current_file.isEmpty() && !UndoStack::instance()->isClean()) { + QFile file(current_file + AUTO_SAVE_EXTENSION); + if (file.open(QIODevice::WriteOnly)) { + file.write(dbc()->generateDBC().toUtf8()); + } + } +} + +void MainWindow::cleanupAutoSaveFile() { + if (!current_file.isEmpty()) { + QFile::remove(current_file + AUTO_SAVE_EXTENSION); + } +} + void MainWindow::saveFile(const QString &fn) { + cleanupAutoSaveFile(); QFile file(fn); if (file.open(QIODevice::WriteOnly)) { file.write(dbc()->generateDBC().toUtf8()); @@ -445,6 +473,7 @@ void MainWindow::dockCharts(bool dock) { } void MainWindow::closeEvent(QCloseEvent *event) { + cleanupAutoSaveFile(); remindSaveChanges(); main_win = nullptr; diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 1c21d69370..3258b95cde 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -13,6 +13,8 @@ #include "tools/cabana/videowidget.h" #include "tools/cabana/tools/findsimilarbits.h" +const QString AUTO_SAVE_EXTENSION = ".tmp"; + class MainWindow : public QMainWindow { Q_OBJECT @@ -42,6 +44,8 @@ signals: protected: void remindSaveChanges(); void saveFile(const QString &fn); + void autoSave(); + void cleanupAutoSaveFile(); void setCurrentFile(const QString &fn); void updateRecentFileActions(); void createActions(); From 0fb8e974801b3a9fc664076830a8595a752d5c87 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 10 Mar 2023 22:29:11 +0100 Subject: [PATCH 022/150] cabana: use ID as NEW_MSG_ suffix (#27554) * cabana: use ID as NEW_MSG_ suffix * start suffix at _1 --- tools/cabana/signaledit.cc | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 5fb56dc1bc..ced7cd7d24 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -236,8 +236,9 @@ bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) void SignalModel::addSignal(int start_bit, int size, bool little_endian) { auto msg = dbc()->msg(msg_id); - for (int i = 1; !msg; ++i) { - QString name = QString("NEW_MSG_%1").arg(i); + for (int i = 0; !msg; ++i) { + QString name = QString("NEW_MSG_") + QString::number(msg_id.address, 16).toUpper(); + if (i > 0) name += QString("_%1").arg(i); if (std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; })) { UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); msg = dbc()->msg(msg_id); From dc5a65049ef93cd0c342d32cc5eecef32e0bb145 Mon Sep 17 00:00:00 2001 From: protonchang <2095341+protonchang@users.noreply.github.com> Date: Sat, 11 Mar 2023 07:39:16 +0800 Subject: [PATCH 023/150] Update CHT translation (#27530) * Update zh-CHT translation * Update zh-CHT translation * Update zh-CHT Translation * Update to resolve translation consistency issue * Update zh-CHT translation --- selfdrive/ui/translations/main_zh-CHT.ts | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index e4058ee0db..83db0b7301 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -200,7 +200,7 @@ openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required. - openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 + openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。 Your device is pointed %1° %2 and %3° %4. @@ -592,16 +592,16 @@ location set Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device. - + 無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定 Press confirm to erase all content and settings. Press cancel to resume boot. - + 按下確認以刪除所有內容及設定 按下取消來繼續開機 Resetting device... This may take up to a minute. - + 設備重置中 此過程可能需要幾分鐘 @@ -703,11 +703,11 @@ This may take up to a minute. No custom software found at this URL. - + 無法在此URL找到定制的軟體 Something went wrong. Reboot the device. - + 發生了一些錯誤 請重新啟動您的設備 @@ -1028,11 +1028,11 @@ This may take up to a minute. openpilot longitudinal control may come in a future update. - + 未來可能會推出openpilot縱向控制 An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches. - + 在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本 Enable experimental longitudinal control to allow Experimental mode. From eb67deef92be8af17596c08e9f98c240fc7d23e3 Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Fri, 10 Mar 2023 17:43:18 -0600 Subject: [PATCH 024/150] Add missing LEXUS_ESH_TSS2 engine f/w (#27506) `awesome-fu#6174` 2019 Lexus ES300h DongleID/route e5fc06c3b27fb519|2023-03-05--17-21-28 https://github.com/commaai/openpilot/issues/27501 --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 35e2db8b1e..a8e143e80a 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1637,6 +1637,7 @@ FW_VERSIONS = { b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', + b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00', b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00', b'\x01896633T38000\x00\x00\x00\x00', b'\x01896633T58000\x00\x00\x00\x00', From dc31c50aa7bda8d5aab43b0382342ae5162ed37d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 12 Mar 2023 04:47:34 +0800 Subject: [PATCH 025/150] cabana: split events into chunks and processed concurrently (#27562) --- tools/cabana/streams/abstractstream.cc | 56 ++++++++++++++++++-------- 1 file changed, 39 insertions(+), 17 deletions(-) diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 3e631d3709..6af831a1d0 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,5 +1,7 @@ #include "tools/cabana/streams/abstractstream.h" +#include + AbstractStream *can = nullptr; AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_live_streaming(is_live_streaming), QObject(parent) { @@ -59,39 +61,59 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) { return it != can_msgs.end() ? it.value() : empty_data; } -void AbstractStream::updateLastMsgsTo(double sec) { - QHash last_msgs; - last_msgs.reserve(can_msgs.size()); - double route_start_time = routeStartTime(); - uint64_t last_ts = (sec + route_start_time) * 1e9; - auto evs = events(); - auto last = std::upper_bound(evs->rbegin(), evs->rend(), last_ts, [](uint64_t ts, auto &e) { return e->mono_time < ts; }); - for (auto it = last; it != evs->rend(); ++it) { +static QHash parseEvents(std::vector::const_reverse_iterator first, + std::vector::const_reverse_iterator last, double route_start_time) { + QHash msgs; + msgs.reserve(500); + for (auto it = first; it != last; ++it) { if ((*it)->which == cereal::Event::Which::CAN) { for (const auto &c : (*it)->event.getCan()) { - auto &m = last_msgs[{.source = c.getSrc(), .address = c.getAddress()}]; + auto &m = msgs[{.source = c.getSrc(), .address = c.getAddress()}]; if (++m.count == 1) { m.ts = ((*it)->mono_time / 1e9) - route_start_time; m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); m.colors = QVector(m.dat.size(), QColor(0, 0, 0, 0)); m.last_change_t = QVector(m.dat.size(), m.ts); m.bit_change_counts.resize(m.dat.size()); - } else { - m.freq = m.count / std::max(1.0, m.ts); } } } } + return msgs; +}; + +// it is thread safe to update data in updateLastMsgsTo. +// updateEvent will not be called before replayStream::seekedTo return. +void AbstractStream::updateLastMsgsTo(double sec) { + uint64_t ts = (sec + routeStartTime()) * 1e9; + const uint64_t delta = std::max(std::ceil(sec / std::thread::hardware_concurrency()), 30.0) * 1e9; + const auto evs = events(); + auto first = std::upper_bound(evs->crbegin(), evs->crend(), ts, [](uint64_t ts, auto &e) { return ts > e->mono_time; }); + QFutureSynchronizer> synchronizer; + while(first != evs->crend()) { + ts = (*first)->mono_time > delta ? (*first)->mono_time - delta : 0; + auto last = std::lower_bound(first, evs->crend(), ts, [](auto &e, uint64_t ts) { return e->mono_time > ts; }); + synchronizer.addFuture(QtConcurrent::run(parseEvents, first, last, routeStartTime())); + first = last; + } + synchronizer.waitForFinished(); - // it is thread safe to update data here. - // updateEvent will not be called before replayStream::seekedTo return. new_msgs->clear(); change_trackers.clear(); - counters.clear(); can_msgs.clear(); - for (auto it = last_msgs.cbegin(); it != last_msgs.cend(); ++it) { - can_msgs[it.key()] = it.value(); - counters[it.key()] = it.value().count; + counters.clear(); + for (const auto &f : synchronizer.futures()) { + auto msgs = f.result(); + for (auto it = msgs.cbegin(); it != msgs.cend(); ++it) { + counters[it.key()] += it.value().count; + auto m = can_msgs.find(it.key()); + if (m == can_msgs.end()) { + m = can_msgs.insert(it.key(), it.value()); + } else { + m.value().count += it.value().count; + } + m.value().freq = m.value().count / std::max(1.0, m.value().ts); + } } emit updated(); emit msgsReceived(&can_msgs); From fc44ed63d78c3b45020db1130dae41f597c91e18 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Sat, 11 Mar 2023 21:47:53 +0100 Subject: [PATCH 026/150] cabana: extend max chart range to 30 minutes (#27555) --- tools/cabana/chartswidget.cc | 4 ++-- tools/cabana/chartswidget.h | 2 +- tools/cabana/settings.cc | 2 +- tools/cabana/settings.h | 2 +- tools/cabana/util.h | 18 ++++++++++++++++++ 5 files changed, 23 insertions(+), 5 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 5bab261ba7..c0432d0c09 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -45,7 +45,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { toolbar->addWidget(stretch_label); range_lb_action = toolbar->addWidget(range_lb = new QLabel(this)); - range_slider = new QSlider(Qt::Horizontal, this); + range_slider = new LogSlider(1000, Qt::Horizontal, this); range_slider->setMaximumWidth(200); range_slider->setToolTip(tr("Set the chart range")); range_slider->setRange(1, settings.max_cached_minutes * 60); @@ -163,7 +163,7 @@ void ChartsWidget::updateState() { } void ChartsWidget::setMaxChartRange(int value) { - max_chart_range = settings.chart_range = value; + max_chart_range = settings.chart_range = range_slider->value(); updateToolBar(); updateState(); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index fdfbbc11ff..adce1e0f4d 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -137,7 +137,7 @@ private: QLabel *title_label; QLabel *range_lb; - QSlider *range_slider; + LogSlider *range_slider; QAction *range_lb_action; QAction *range_slider_action; bool docking = true; diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 23f001efff..00bbb94de5 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -32,7 +32,7 @@ void Settings::save() { void Settings::load() { QSettings s("settings", QSettings::IniFormat); fps = s.value("fps", 10).toInt(); - max_cached_minutes = s.value("max_cached_minutes", 5).toInt(); + max_cached_minutes = s.value("max_cached_minutes", 30).toInt(); chart_height = s.value("chart_height", 200).toInt(); chart_range = s.value("chart_range", 3 * 60).toInt(); chart_column_count = s.value("chart_column_count", 1).toInt(); diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index a302d20077..c3ba906576 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -14,7 +14,7 @@ public: void load(); int fps = 10; - int max_cached_minutes = 5; + int max_cached_minutes = 30; int chart_height = 200; int chart_column_count = 1; int chart_range = 3 * 60; // e minutes diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 03732ee13f..b1acdd8c6e 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,6 +1,7 @@ #pragma once #include +#include #include #include @@ -29,6 +30,23 @@ private: QByteArray prev_dat; }; +class LogSlider : public QSlider { + Q_OBJECT + +public: + LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}; + + void setRange(double min, double max) { QSlider::setRange(logScale(min), logScale(max)); } + int value() const { return invLogScale(QSlider::value()); } + void setValue(int value) { QSlider::setValue(logScale(value)); } + +private: + double factor; + int logScale(int value) const { return factor * std::log10(value); } + int invLogScale(int value) const { return std::pow(10, value / factor); } +}; + + enum { ColorsRole = Qt::UserRole + 1, BytesRole = Qt::UserRole + 2 From e146bb1a96e98e2dc3d9b777a259044e73a9a633 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Sat, 11 Mar 2023 16:26:39 -0800 Subject: [PATCH 027/150] update modeld/models readme (#27564) * update readme with new model design * typo * space --- selfdrive/modeld/models/README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md index 6b704cbfa8..1bfca8e95a 100644 --- a/selfdrive/modeld/models/README.md +++ b/selfdrive/modeld/models/README.md @@ -2,7 +2,7 @@ To view the architecture of the ONNX networks, you can use [netron](https://netron.app/) ## Supercombo -### Supercombo input format (Full size: 393738 x float32) +### Supercombo input format (Full size: 799906 x float32) * **image stream** * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256 * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256 @@ -16,11 +16,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr * Channel 4 represents the half-res U channel * Channel 5 represents the half-res V channel * **desire** - * one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8 + * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8 * **traffic convention** * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2 -* **recurrent state** - * The recurrent state vector that is fed back into the GRU for temporal context : 512 +* **feature buffer** + * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128 ### Supercombo output format (Full size: XXX x float32) From 3eb74d805a1d81722bb2b00105d584a11f8d5c9b Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Mon, 13 Mar 2023 14:24:30 -0300 Subject: [PATCH 028/150] Update Directory Structure (#27569) * Update Directory Structure Update directory structure to the latest commits [ sensord: move to system/ (#27531) , loggerd: move to system/ (#27534) , ubloxd: move to system/ (#27536) ]. * Update README.md --------- Co-authored-by: Adeeb Shihadeh --- README.md | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index 4896d9ff72..a71a9e671e 100755 --- a/README.md +++ b/README.md @@ -108,7 +108,10 @@ Directory Structure ├── clocksd # Broadcasts current time ├── hardware # Hardware abstraction classes ├── logcatd # systemd journal as a service - └── proclogd # Logs information from /proc + ├── loggerd # Logger and uploader of car data + ├── proclogd # Logs information from /proc + ├── sensord # IMU interface code + └── ubloxd # u-blox GNSS module interface code └── selfdrive # Code needed to drive the car ├── assets # Fonts, images, and sounds for UI ├── athena # Allows communication with the app @@ -117,12 +120,10 @@ Directory Structure ├── controls # Planning and controls ├── debug # Tools to help you debug and do car ports ├── locationd # Precise localization and vehicle parameter estimation - ├── loggerd # Logger and uploader of car data ├── manager # Daemon that starts/stops all other daemons as needed ├── modeld # Driving and monitoring model runners ├── monitoring # Daemon to determine driver attention ├── navd # Turn-by-turn navigation - ├── sensord # IMU interface code ├── test # Unit tests, system tests, and a car simulator └── ui # The UI From d09a9a08fc21edc03edeb40e1080d8495a7d2915 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 14 Mar 2023 01:25:16 +0800 Subject: [PATCH 029/150] cabana: fix hang on scrubbing in zommed chart (#27568) --- tools/cabana/chartswidget.cc | 10 ++++++---- tools/cabana/streams/abstractstream.cc | 8 +++++--- 2 files changed, 11 insertions(+), 7 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index c0432d0c09..f9661046c8 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -723,10 +723,12 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { void ChartView::mouseMoveEvent(QMouseEvent *ev) { // Scrubbing if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { - double t = chart()->mapToValue({(double)ev->x(), (double)ev->y()}).x(); - // Prevent seeking past the end of the route - t = std::clamp(t, 0., can->totalSeconds()); - can->seekTo(t); + if (chart()->plotArea().contains(ev->pos())) { + double t = chart()->mapToValue(ev->pos()).x(); + // Prevent seeking past the end of the route + t = std::clamp(t, 0., can->totalSeconds()); + can->seekTo(t); + } return; } diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 6af831a1d0..40e9cbc8a5 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,5 +1,5 @@ #include "tools/cabana/streams/abstractstream.h" - +#include #include AbstractStream *can = nullptr; @@ -115,6 +115,8 @@ void AbstractStream::updateLastMsgsTo(double sec) { m.value().freq = m.value().count / std::max(1.0, m.value().ts); } } - emit updated(); - emit msgsReceived(&can_msgs); + QTimer::singleShot(0, [this]() { + emit updated(); + emit msgsReceived(&can_msgs); + }); } From 9ecf3e7c327e616fcdc65db73606f838f55bdaa5 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Mon, 13 Mar 2023 17:28:45 -0400 Subject: [PATCH 030/150] VW PQ: Message corrections for ACC_GRA_Anzeige (#27572) * VW PQ: Correct message name for ACC_GRA_Anzeige * bump opendbc --- opendbc | 2 +- selfdrive/car/volkswagen/carstate.py | 10 +++++----- selfdrive/car/volkswagen/pqcan.py | 2 +- selfdrive/car/volkswagen/values.py | 2 +- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/opendbc b/opendbc index 510bfc0695..b7d4a6e271 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 510bfc06954e31257f8d8de17adf92f9a68a1b71 +Subproject commit b7d4a6e2718d9ec3cf436441696528bedb1d44cf diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 64d1246880..f3cd2808a8 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -228,13 +228,13 @@ class CarState(CarStateBase): ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"]) ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2) if self.CP.pcmCruise: - ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7) + ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7) else: ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3 # Update ACC setpoint. When the setpoint reads as 255, the driver has not # yet established an ACC setpoint, so treat it as zero. - ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS + ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint ret.cruiseState.speed = 0 @@ -516,12 +516,12 @@ class PqExtraSignals: # Additional signal and message lists for optional or bus-portable controllers fwd_radar_signals = [ ("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ) - ("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status - ("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed + ("ACA_StaACC", "ACC_GRA_Anzeige"), # ACC drivetrain coordinator status + ("ACA_V_Wunsch", "ACC_GRA_Anzeige"), # ACC set speed ] fwd_radar_checks = [ ("ACC_System", 50), # From J428 ACC radar control module - ("ACC_GRA_Anziege", 25), # From J428 ACC radar control module + ("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module ] bsm_radar_signals = [ ("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py index 130f107950..84200c2921 100644 --- a/selfdrive/car/volkswagen/pqcan.py +++ b/selfdrive/car/volkswagen/pqcan.py @@ -88,4 +88,4 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint } - return packer.make_can_msg("ACC_GRA_Anziege", bus, values) + return packer.make_can_msg("ACC_GRA_Anzeige", bus, values) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 8e12923983..694b4006f8 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -36,7 +36,7 @@ class CarControllerParams: if CP.carFingerprint in PQ_CARS: self.LDW_STEP = 5 # LDW_1 message frequency 20Hz - self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz + self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00)) self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60)) From 17b71b477e596529d36dc7f95e3fa42697adfadc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 13 Mar 2023 15:30:38 -0700 Subject: [PATCH 031/150] plannerd: add frameId to uiPlan (#27573) * plannerd: add frameId to uiPlan * update refs --- cereal | 2 +- selfdrive/controls/plannerd.py | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/cereal b/cereal index 42f84fd85d..9888e0476c 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e +Subproject commit 9888e0476c05069d46f273569467e4371b2d8690 diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py index d8cf9386d1..14934254af 100755 --- a/selfdrive/controls/plannerd.py +++ b/selfdrive/controls/plannerd.py @@ -19,6 +19,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner): ui_send = messaging.new_message('uiPlan') ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2']) uiPlan = ui_send.uiPlan + uiPlan.frameId = sm['modelV2'].frameId uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist() uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist() uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 79769e14b6..a8896884e1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -f9c7e05b836c4bff364978752e82d64b90f9d6e6 +3c5ebb007f76ba0de710ff7a8cf5910ad2edf22f \ No newline at end of file From 4692cf7d1ccc9d76f9c0189ca86c84d784ea85de Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 13 Mar 2023 17:07:42 -0700 Subject: [PATCH 032/150] Chrysler Pacifica 2018: add missing CAN fp (#27576) new pacifica FPs --- selfdrive/car/chrysler/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 2af5246b88..9f00484f34 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -99,7 +99,7 @@ FINGERPRINTS = { 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 }, { - 55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 + 55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8 }], CAR.PACIFICA_2020: [{ 55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8 From d75ee19defc279837f64fd62a0dbe2db4acd1a2d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Tue, 14 Mar 2023 09:25:09 -0700 Subject: [PATCH 033/150] Only trust locationd for nav (#27579) * Only trust locationd for nav * unused var --- selfdrive/ui/qt/maps/map.cc | 38 ------------------------------------- selfdrive/ui/ui.cc | 3 +-- 2 files changed, 1 insertion(+), 40 deletions(-) diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc index dd30b5feff..abbf434d69 100644 --- a/selfdrive/ui/qt/maps/map.cc +++ b/selfdrive/ui/qt/maps/map.cc @@ -24,8 +24,6 @@ const float MAX_PITCH = 50; const float MIN_PITCH = 0; const float MAP_SCALE = 2; -const float VALID_POS_STD = 50.0; // m - const QString ICON_SUFFIX = ".png"; MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) { @@ -125,42 +123,6 @@ void MapWindow::updateState(const UIState &s) { } } - // TODO should check a valid/status flag - if (sm.updated("gnssMeasurements") && sm["gnssMeasurements"].getGnssMeasurements().getGpsWeek() > 0){ - auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements(); - auto laikad_pos = laikad_location.getPositionECEF(); - auto laikad_pos_ecef = laikad_pos.getValue(); - auto laikad_pos_std = laikad_pos.getStd(); - auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue(); - - laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD; - - if (laikad_valid && !locationd_valid) { - ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]}; - Geodetic laikad_pos_geodetic = ecef2geodetic(ecef); - last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon); - - // Compute NED velocity - LocalCoord converter(ecef); - ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]}; - Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector(); - - float velocity = ned_vel.norm(); - velocity_filter.update(velocity); - - // Convert NED velocity to angle - if (velocity > 1.0) { - float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0); - if (last_bearing) { - float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading - last_bearing = fmod(*last_bearing + delta + 360.0, 360.0); - } else { - last_bearing = new_bearing; - } - } - } - } - if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) { qWarning() << "Got new navRoute from navd. Opening map:" << allow_open; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 50843de68e..c9e8c4e2d6 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -252,8 +252,7 @@ UIState::UIState(QObject *parent) : QObject(parent) { sm = std::make_unique>({ "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState", "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2", - "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements", - "uiPlan", + "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan", }); Params params; From b591b0c764b3ba025ec31b083143fcab4ffcb0d8 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 14 Mar 2023 19:29:00 +0100 Subject: [PATCH 034/150] cabana: show signal values with consistent number of digits (#27556) --- tools/cabana/dbc.cc | 5 +++++ tools/cabana/dbc.h | 2 ++ tools/cabana/dbcmanager.cc | 1 + tools/cabana/historylog.cc | 7 +++++-- tools/cabana/signaledit.cc | 3 ++- tools/cabana/util.cc | 10 ++++++++++ tools/cabana/util.h | 1 + 7 files changed, 26 insertions(+), 3 deletions(-) diff --git a/tools/cabana/dbc.cc b/tools/cabana/dbc.cc index 8ffb660286..ff100e01f7 100644 --- a/tools/cabana/dbc.cc +++ b/tools/cabana/dbc.cc @@ -1,4 +1,5 @@ #include "tools/cabana/dbc.h" +#include "tools/cabana/util.h" uint qHash(const MessageId &item) { return qHash(item.source) ^ qHash(item.address); @@ -12,6 +13,10 @@ std::vector cabana::Msg::getSignals() const { return ret; } +void cabana::Signal::updatePrecision() { + precision = std::max(num_decimals(factor), num_decimals(offset)); +} + // helper functions static QVector BIG_ENDIAN_START_BITS = []() { diff --git a/tools/cabana/dbc.h b/tools/cabana/dbc.h index 3c58e38055..a2ebbc16cc 100644 --- a/tools/cabana/dbc.h +++ b/tools/cabana/dbc.h @@ -51,6 +51,8 @@ namespace cabana { QString min, max, unit; QString comment; ValueDescription val_desc; + int precision = 0; + void updatePrecision(); }; struct Msg { diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index b3a90e0b70..edf0007ed2 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -38,6 +38,7 @@ bool DBCManager::open(const QString &name, const QString &content, QString *erro sig.factor = s.factor; sig.offset = s.offset; sig.is_little_endian = s.is_little_endian; + sig.updatePrecision(); } } parseExtraInfo(content); diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 57f65b97d8..830fd30d49 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -14,11 +14,14 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { if (index.column() == 0) { return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2); } - return show_signals ? QString::number(m.sig_values[index.column() - 1]) : toHex(m.data); + int i = index.column() - 1; + return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : toHex(m.data); } else if (role == ColorsRole) { return QVariant::fromValue(m.colors); } else if (role == BytesRole) { return m.data; + } else if (role == Qt::TextAlignmentRole) { + return Qt::AlignRight; } return {}; } @@ -235,7 +238,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { delegate = new MessageBytesDelegate(this); logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this)); logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this)); - logs->horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap); + logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap); logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents); logs->verticalHeader()->setVisible(false); logs->setFrameShape(QFrame::NoFrame); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index ced7cd7d24..fd04a75f81 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -62,7 +62,7 @@ void SignalModel::updateState(const QHash *msgs) { auto &dat = can->lastMessage(msg_id).dat; int row = 0; for (auto item : root->children) { - QString value = QString::number(get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig)); + QString value = QString::number(get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig), 'f', item->sig->precision); if (!item->sig->unit.isEmpty()){ value += " " + item->sig->unit; } @@ -184,6 +184,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r case Item::Desc: s.val_desc = value.value(); break; default: return false; } + s.updatePrecision(); bool ret = saveSignal(item->sig, s); emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); return ret; diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 656c97489c..b37b7911ed 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -184,3 +184,13 @@ QString toHex(uint8_t byte) { }(); return hex[byte]; } + +int num_decimals(double num) { + const QString string = QString::number(num); + const QStringList split = string.split('.'); + if (split.size() == 1) { + return 0; + } else { + return split[1].size(); + } + } diff --git a/tools/cabana/util.h b/tools/cabana/util.h index b1acdd8c6e..3cf14982a9 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -91,3 +91,4 @@ QPixmap icon(const QString &id); } QToolButton *toolButton(const QString &icon, const QString &tooltip); +int num_decimals(double num); From 0afd3bab34432e0ba83818c264f17e3ef16005df Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 14 Mar 2023 19:31:04 +0100 Subject: [PATCH 035/150] cabana: DBCManager only expose methods/signals through MessageId (#27540) --- tools/cabana/chartswidget.cc | 4 +-- tools/cabana/chartswidget.h | 4 +-- tools/cabana/dbcmanager.cc | 22 +++++++++++++-- tools/cabana/dbcmanager.h | 38 +++++++++++++++++++++----- tools/cabana/detailwidget.cc | 5 ++-- tools/cabana/detailwidget.h | 1 + tools/cabana/mainwin.cc | 4 ++- tools/cabana/signaledit.cc | 13 ++++----- tools/cabana/signaledit.h | 4 +-- tools/cabana/streams/abstractstream.cc | 5 ++++ tools/cabana/streams/abstractstream.h | 2 ++ tools/cabana/tests/test_cabana.cc | 12 ++++---- tools/cabana/tools/findsimilarbits.cc | 5 ++-- 13 files changed, 84 insertions(+), 35 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index f9661046c8..184d41ca0b 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -421,8 +421,8 @@ void ChartView::signalUpdated(const cabana::Signal *sig) { } } -void ChartView::msgUpdated(uint32_t address) { - if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id.address == address; })) +void ChartView::msgUpdated(MessageId id) { + if (std::any_of(sigs.begin(), sigs.end(), [=](auto &s) { return s.msg_id == id; })) updateTitle(); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index adce1e0f4d..bdc924ff83 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -57,11 +57,11 @@ signals: void axisYLabelWidthChanged(int w); private slots: - void msgUpdated(uint32_t address); void signalUpdated(const cabana::Signal *sig); void manageSeries(); void handleMarkerClicked(); - void msgRemoved(uint32_t address) { removeIf([=](auto &s) { return s.msg_id.address == address; }); } + void msgUpdated(MessageId id); + void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); } void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } private: diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index edf0007ed2..651367ba57 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -144,19 +144,31 @@ void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t si auto &m = msgs[id.address]; m.name = name; m.size = size; - emit msgUpdated(id.address); + + // This DBC applies to all active sources, emit for every source + for (uint8_t source : sources) { + emit msgUpdated({.source = source, .address = id.address}); + } } void DBCManager::removeMsg(const MessageId &id) { msgs.erase(id.address); - emit msgRemoved(id.address); + + // This DBC applies to all active sources, emit for every source + for (uint8_t source : sources) { + emit msgRemoved({.source = source, .address = id.address}); + } } void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { if (auto m = const_cast(msg(id.address))) { m->sigs.push_back(sig); auto s = &m->sigs.last(); - emit signalAdded(id.address, s); + + // This DBC applies to all active sources, emit for every source + for (uint8_t source : sources) { + emit signalAdded({.source = source, .address = id.address}, s); + } } } @@ -192,6 +204,10 @@ QStringList DBCManager::signalNames() { return ret; } +void DBCManager::updateSources(const QSet &s) { + sources = s; +} + DBCManager *dbc() { static DBCManager dbc_manager(nullptr); return &dbc_manager; diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index 4be7593808..dd3d9811c7 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -5,6 +5,8 @@ #include #include #include +#include +#include #include "tools/cabana/dbc.h" @@ -20,30 +22,52 @@ public: void addSignal(const MessageId &id, const cabana::Signal &sig); void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); void removeSignal(const MessageId &id, const QString &sig_name); + inline int msgCount() const { return msgs.size(); } inline QString name() const { return name_; } void updateMsg(const MessageId &id, const QString &name, uint32_t size); void removeMsg(const MessageId &id); - inline const std::map &messages() const { return msgs; } + inline std::map getMessages(uint8_t source) { + std::map ret; + for (auto &[address, msg] : msgs) { + MessageId id = {.source = source, .address = address}; + ret[id] = msg; + } + return ret; + } inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); } - inline const cabana::Msg *msg(uint32_t address) const { - auto it = msgs.find(address); - return it != msgs.end() ? &it->second : nullptr; + inline const cabana::Msg* msg(uint8_t source, const QString &name) { + for (auto &[_, msg] : msgs) { + if (msg.name == name) { + return &msg; + } + } + + return nullptr; } QStringList signalNames(); +public slots: + void updateSources(const QSet &s); + signals: - void signalAdded(uint32_t address, const cabana::Signal *sig); + void signalAdded(MessageId id, const cabana::Signal *sig); void signalRemoved(const cabana::Signal *sig); void signalUpdated(const cabana::Signal *sig); - void msgUpdated(uint32_t address); - void msgRemoved(uint32_t address); + void msgUpdated(MessageId id); + void msgRemoved(MessageId id); void DBCFileChanged(); private: void parseExtraInfo(const QString &content); std::map msgs; QString name_; + QSet sources; + + inline const cabana::Msg *msg(uint32_t address) const { + auto it = msgs.find(address); + return it != msgs.end() ? &it->second : nullptr; + } }; DBCManager *dbc(); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 05a0528d0e..ab723fa0e2 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -177,7 +177,7 @@ void DetailWidget::removeMsg() { // EditMessageDialog EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent) - : original_name(title), QDialog(parent) { + : original_name(title), msg_id(msg_id), QDialog(parent) { setWindowTitle(tr("Edit message: %1").arg(msg_id.toString())); QFormLayout *form_layout = new QFormLayout(this); @@ -207,8 +207,7 @@ void EditMessageDialog::validateName(const QString &text) { bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0; error_label->setVisible(false); if (!text.isEmpty() && valid && text != original_name) { - valid = std::none_of(dbc()->messages().begin(), dbc()->messages().end(), - [&text](auto &m) { return m.second.name == text; }); + valid = dbc()->msg(msg_id.source, text) == nullptr; if (!valid) { error_label->setText(tr("Name already exists")); error_label->setVisible(true); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 0bfd8a74af..cc5bffd534 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -15,6 +15,7 @@ public: EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent); void validateName(const QString &text); + MessageId msg_id; QString original_name; QDialogButtonBox *btn_box; QLineEdit *name_edit; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 1559700951..56ffe872d6 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -42,6 +42,7 @@ MainWindow::MainWindow() : QMainWindow() { messages_widget->restoreHeaderState(settings.message_header_state); qRegisterMetaType("uint64_t"); + qRegisterMetaType>("QSet"); qRegisterMetaType("ReplyMsgType"); installMessageHandler([this](ReplyMsgType type, const std::string msg) { // use queued connection to recv the log messages from replay. @@ -70,6 +71,7 @@ MainWindow::MainWindow() : QMainWindow() { QObject::connect(can, &AbstractStream::streamStarted, this, &MainWindow::loadDBCFromFingerprint); QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::updateStatus); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); + QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources); QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged); QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged); QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus); @@ -310,7 +312,7 @@ void MainWindow::loadDBCFromClipboard() { QString dbc_str = QGuiApplication::clipboard()->text(); QString error; bool ret = dbc()->open("clipboard", dbc_str, &error); - if (ret && dbc()->messages().size() > 0) { + if (ret && dbc()->msgCount() > 0) { QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } else { QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format.")); diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index fd04a75f81..673a68a50b 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -239,8 +239,7 @@ void SignalModel::addSignal(int start_bit, int size, bool little_endian) { auto msg = dbc()->msg(msg_id); for (int i = 0; !msg; ++i) { QString name = QString("NEW_MSG_") + QString::number(msg_id.address, 16).toUpper(); - if (i > 0) name += QString("_%1").arg(i); - if (std::none_of(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; })) { + if (!dbc()->msg(msg_id.source, name)) { UndoStack::push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size())); msg = dbc()->msg(msg_id); } @@ -265,14 +264,14 @@ void SignalModel::removeSignal(const cabana::Signal *sig) { UndoStack::push(new RemoveSigCommand(msg_id, sig)); } -void SignalModel::handleMsgChanged(uint32_t address) { - if (address == msg_id.address) { +void SignalModel::handleMsgChanged(MessageId id) { + if (id == msg_id) { refresh(); } } -void SignalModel::handleSignalAdded(uint32_t address, const cabana::Signal *sig) { - if (address == msg_id.address) { +void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) { + if (id == msg_id) { int i = 0; for (; i < root->children.size(); ++i) { if (sig->start_bit < root->children[i]->sig->start_bit) break; @@ -442,7 +441,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged); QObject::connect(model, &QAbstractItemModel::rowsInserted, this, &SignalView::rowsChanged); QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged); - QObject::connect(dbc(), &DBCManager::signalAdded, [this](uint32_t address, const cabana::Signal *sig) { selectSignal(sig); }); + QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); }); setWhatsThis(tr(R"( Signal view
diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index 39fe5f270f..ae73a7b3bc 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -48,10 +48,10 @@ public: private: void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig); - void handleSignalAdded(uint32_t address, const cabana::Signal *sig); + void handleSignalAdded(MessageId id, const cabana::Signal *sig); void handleSignalUpdated(const cabana::Signal *sig); void handleSignalRemoved(const cabana::Signal *sig); - void handleMsgChanged(uint32_t address); + void handleMsgChanged(MessageId id); void refresh(); void updateState(const QHash *msgs); diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index 40e9cbc8a5..c8ff449098 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -39,6 +39,11 @@ bool AbstractStream::updateEvent(const Event *event) { data.colors = tracker.colors; data.last_change_t = tracker.last_change_t; data.bit_change_counts = tracker.bit_change_counts; + + if (!sources.contains(id.source)) { + sources.insert(id.source); + emit sourcesUpdated(sources); + } } double ts = millis_since_boot(); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index e582682971..de7c394303 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -52,9 +52,11 @@ signals: void updated(); void msgsReceived(const QHash *); void received(QHash *); + void sourcesUpdated(const QSet &s); public: QHash can_msgs; + QSet sources; protected: void process(QHash *); diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 124eb7428a..8445867acb 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -15,11 +15,11 @@ TEST_CASE("DBCManager::generateDBC") { DBCManager dbc_from_generated(nullptr); dbc_from_generated.open("", dbc_origin.generateDBC()); - auto &msgs = dbc_origin.messages(); - auto &new_msgs = dbc_from_generated.messages(); - REQUIRE(msgs.size() == new_msgs.size()); - for (auto &[address, m] : msgs) { - auto &new_m = new_msgs.at(address); + REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount()); + auto msgs = dbc_origin.getMessages(0); + auto new_msgs = dbc_from_generated.getMessages(0); + for (auto &[id, m] : msgs) { + auto &new_m = new_msgs.at(id); REQUIRE(m.name == new_m.name); REQUIRE(m.size == new_m.size); REQUIRE(m.getSignals().size() == new_m.getSignals().size()); @@ -43,7 +43,7 @@ TEST_CASE("Parse can messages") { if (e->which == cereal::Event::Which::CAN) { std::map, std::vector> values_1; for (const auto &c : e->event.getCan()) { - const auto msg = dbc.msg(c.getAddress()); + const auto msg = dbc.msg({.source = c.getSrc(), .address = c.getAddress()}); if (c.getSrc() == 0 && msg) { for (auto sig : msg->getSignals()) { double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig); diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index ffb0e54b0e..7768359df4 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -29,8 +29,9 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi bus_combo->setCurrentIndex(0); msg_cb = new QComboBox(this); - for (auto &[address, msg] : dbc()->messages()) { - msg_cb->addItem(msg.name, address); + // TODO: update when bus_combo changes + for (auto &[id, msg] : dbc()->getMessages(0)) { + msg_cb->addItem(msg.name, id.address); } msg_cb->model()->sort(0); msg_cb->setCurrentIndex(0); From 696cbb3e242a0613d4a8183df1eafd2fbcaf755b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 15 Mar 2023 02:31:57 +0800 Subject: [PATCH 036/150] cabana: fix incorrect current ts in live stream mode (#27578) --- tools/cabana/streams/livestream.cc | 21 ++++++++++----------- tools/cabana/streams/livestream.h | 1 - 2 files changed, 10 insertions(+), 12 deletions(-) diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 8f63d3baec..592d883c4c 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -45,12 +45,11 @@ void LiveStream::streamThread() { } void LiveStream::handleEvent(Event *evt) { - current_ts = evt->mono_time; - if (start_ts == 0 || current_ts < start_ts) { - if (current_ts < start_ts) { + if (start_ts == 0 || evt->mono_time < start_ts) { + if (evt->mono_time < start_ts) { qDebug() << "stream is looping back to old time stamp"; } - start_ts = current_ts.load(); + start_ts = current_ts = evt->mono_time; emit streamStarted(); } @@ -58,19 +57,19 @@ void LiveStream::handleEvent(Event *evt) { can_events.push_back(evt); if (!pause_) { if (speed_ < 1 && last_update_ts > 0) { - auto it = std::upper_bound(can_events.begin(), can_events.end(), last_update_event_ts, [](uint64_t ts, auto &e) { + auto it = std::upper_bound(can_events.cbegin(), can_events.cend(), current_ts, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); + if (it != can_events.cend()) { + bool skip = (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - current_ts) / speed_; + if (skip) return; - if (it != can_events.end() && - (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - last_update_event_ts) / speed_) { - return; + evt = *it; } - evt = (*it); } - updateEvent(evt); - last_update_event_ts = evt->mono_time; + current_ts = evt->mono_time; last_update_ts = nanos_since_boot(); + updateEvent(evt); } } diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index ba20032b67..43f67ae95f 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -32,7 +32,6 @@ protected: std::atomic current_ts = 0; std::atomic speed_ = 1; std::atomic pause_ = false; - uint64_t last_update_event_ts = 0; uint64_t last_update_ts = 0; const QString zmq_address; From 39cf8c6694731e43a45462be8c645b732059f324 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 14 Mar 2023 13:31:49 -0700 Subject: [PATCH 037/150] only run rawgpsd without a ublox (#27577) --- selfdrive/manager/process_config.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 2bacd951a7..57c42aaaaa 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -17,11 +17,17 @@ def logging(started, params, CP: car.CarParams) -> bool: run = (not CP.notCar) or not params.get_bool("DisableLogging") return started and run +def ublox_available() -> bool: + return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') + def ublox(started, params, CP: car.CarParams) -> bool: - use_ublox = os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps') + use_ublox = ublox_available() params.put_bool("UbloxAvailable", use_ublox) return started and use_ublox +def qcomgps(started, params, CP: car.CarParams) -> bool: + return started and not ublox_available() + procs = [ # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview), @@ -50,7 +56,7 @@ procs = [ PythonProcess("deleter", "system.loggerd.deleter", offroad=True), PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview), PythonProcess("laikad", "selfdrive.locationd.laikad"), - PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI), + PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps), PythonProcess("navd", "selfdrive.navd.navd"), PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True), PythonProcess("paramsd", "selfdrive.locationd.paramsd"), From d5375af2f5c9f74cb88ffa1ab52feb9fef77a43c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 15 Mar 2023 04:59:22 +0800 Subject: [PATCH 038/150] ui: auto detect available streams (#27470) * auto detect available streams * no switch if wide cam not available * clear frames before getAvailableStreams * warning * clear at same time --------- Co-authored-by: Adeeb Shihadeh --- selfdrive/ui/qt/onroad.cc | 20 +++++++++++--------- selfdrive/ui/qt/widgets/cameraview.cc | 15 +++++++++++++++ selfdrive/ui/qt/widgets/cameraview.h | 5 +++++ selfdrive/ui/ui.cc | 2 -- selfdrive/ui/ui.h | 1 - 5 files changed, 31 insertions(+), 12 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index dc2f1368ac..009798a569 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -648,16 +648,18 @@ void AnnotatedCameraWidget::paintGL() { } // Wide or narrow cam dependent on speed - float v_ego = sm["carState"].getCarState().getVEgo(); - if ((v_ego < 10) || s->wide_cam_only) { - wide_cam_requested = true; - } else if (v_ego > 15) { - wide_cam_requested = false; + bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); + if (has_wide_cam) { + float v_ego = sm["carState"].getCarState().getVEgo(); + if ((v_ego < 10) || available_streams.size() == 1) { + wide_cam_requested = true; + } else if (v_ego > 15) { + wide_cam_requested = false; + } + wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode(); + // for replay of old routes, never go to widecam + wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; } - wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode(); - // TODO: also detect when ecam vision stream isn't available - // for replay of old routes, never go to widecam - wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid; CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 8c7a7072e2..10300da55c 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -96,8 +96,10 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { setAttribute(Qt::WA_OpaquePaintEvent); + qRegisterMetaType>("availableStreams"); QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); + QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); } CameraWidget::~CameraWidget() { @@ -181,6 +183,10 @@ void CameraWidget::stopVipcThread() { } } +void CameraWidget::availableStreamsUpdated(std::set streams) { + available_streams = streams; +} + void CameraWidget::updateFrameMat() { int w = width(), h = height(); @@ -366,6 +372,14 @@ void CameraWidget::vipcThread() { if (!vipc_client->connected) { clearFrames(); + auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); + if (streams.empty()) { + qWarning() << "VisionIPC connected, but no streams available"; + QThread::msleep(100); + continue; + } + emit vipcAvailableStreamsUpdated(streams); + if (!vipc_client->connect(false)) { QThread::msleep(100); continue; @@ -400,4 +414,5 @@ void CameraWidget::vipcThread() { void CameraWidget::clearFrames() { std::lock_guard lk(frame_lock); frames.clear(); + available_streams.clear(); } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index f8b97be03e..9135620d35 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -41,6 +41,7 @@ signals: void clicked(); void vipcThreadConnected(VisionIpcClient *); void vipcThreadFrameReceived(); + void vipcAvailableStreamsUpdated(std::set); protected: void paintGL() override; @@ -71,6 +72,7 @@ protected: int stream_stride = 0; std::atomic active_stream_type; std::atomic requested_stream_type; + std::set available_streams; QThread *vipc_thread = nullptr; // Calibration @@ -88,4 +90,7 @@ protected: protected slots: void vipcConnected(VisionIpcClient *vipc_client); void vipcFrameReceived(); + void availableStreamsUpdated(std::set streams); }; + +Q_DECLARE_METATYPE(std::set); diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index c9e8c4e2d6..50ffc84f4f 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -234,7 +234,6 @@ void UIState::updateStatus() { if (scene.started) { status = STATUS_DISENGAGED; scene.started_frame = sm->frame; - wide_cam_only = Params().getBool("WideCameraOnly"); } started_prev = scene.started; emit offroadTransition(!scene.started); @@ -256,7 +255,6 @@ UIState::UIState(QObject *parent) : QObject(parent) { }); Params params; - wide_cam_only = params.getBool("WideCameraOnly"); prime_type = std::atoi(params.get("PrimeType").c_str()); language = QString::fromStdString(params.get("LanguageSetting")); diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index ad2a1fe1f4..4c4bd462e7 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -150,7 +150,6 @@ public: QString language; QTransform car_space_transform; - bool wide_cam_only; signals: void uiUpdate(const UIState &s); From e2f4a82c03543651eab1e7e51c411f79b5684a5a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 14 Mar 2023 14:00:39 -0700 Subject: [PATCH 039/150] Add CAN fingerprint to qlog (#27574) --- selfdrive/car/car_helpers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 370772c902..dc82f56197 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -180,7 +180,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, 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) + cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True) candidate = "mock" CarInterface, CarController, CarState = interfaces[candidate] From 2749205b4a8d87b18051d3fa8c680b2e9a849a33 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 14 Mar 2023 20:55:41 -0700 Subject: [PATCH 040/150] allow running amp config script standalone (#27587) Co-authored-by: Comma Device --- system/hardware/tici/amplifier.py | 9 +++++++++ 1 file changed, 9 insertions(+) mode change 100644 => 100755 system/hardware/tici/amplifier.py diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py old mode 100644 new mode 100755 index 840d575fdf..9725cd689c --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -129,3 +129,12 @@ class Amplifier: self.set_config(config) self.set_global_shutdown(amp_disabled=False) + + +if __name__ == "__main__": + with open("/sys/firmware/devicetree/base/model") as f: + model = f.read().strip('\x00') + model = model.split('comma ')[-1] + + amp = Amplifier() + amp.initialize_configuration(model) From 5c704827619e774c9877b4598af06d1c6bca80d2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 15 Mar 2023 00:02:56 -0700 Subject: [PATCH 041/150] Use structs in laika (#27585) * doesnt crash * New cacher * unused import * help linter * Annotate list * print error * fix caching bugs * wrong name * small fixes * fix sum * wrong brackets * fix tests * update ref * bump submodules --- cereal | 2 +- laika_repo | 2 +- selfdrive/locationd/laikad.py | 84 ++++++++++-------------- selfdrive/locationd/test/test_laikad.py | 57 ++++++++++++---- selfdrive/test/process_replay/ref_commit | 2 +- system/ubloxd/ublox_msg.cc | 66 ++++++++----------- system/ubloxd/ublox_msg.h | 6 +- 7 files changed, 116 insertions(+), 103 deletions(-) diff --git a/cereal b/cereal index 9888e0476c..c579889f39 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 9888e0476c05069d46f273569467e4371b2d8690 +Subproject commit c579889f396cd754048c7b1a51c6f33b1988762a diff --git a/laika_repo b/laika_repo index b740b71c82..b896cdbbd1 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit b740b71c82a748e3520b1599487d9a7aaf728670 +Subproject commit b896cdbbd1e8f85df25a1afa0c9a2ec150b72f92 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 2b18dcf152..53fbf36066 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import json import math import os import time @@ -17,7 +16,7 @@ from common.params import Params, put_nonblocking from laika import AstroDog from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed -from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_gps_ephem, convert_ublox_glonass_ephem, parse_qcom_ephem +from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom @@ -51,10 +50,11 @@ class Laikad: self.auto_fetch_navs = auto_fetch_navs self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None - - self.last_fetch_navs_t = None self.got_first_gnss_msg = False - self.last_cached_t = None + + self.last_report_time = GPSTime(0, 0) + self.last_fetch_navs_t = GPSTime(0, 0) + self.last_cached_t = GPSTime(0, 0) self.save_ephemeris = save_ephemeris self.load_cache() @@ -69,31 +69,34 @@ class Laikad: if not self.save_ephemeris: return - cache = Params().get(EPHEMERIS_CACHE) - if not cache: + cache_bytes = Params().get(EPHEMERIS_CACHE) + if not cache_bytes: return + nav_dict = {} try: - cache = json.loads(cache, object_hook=deserialize_hook) - if cache['version'] == CACHE_VERSION: - self.astro_dog.add_navs(cache['navs']) - self.last_fetch_navs_t = cache['last_fetch_navs_t'] - else: - cache['navs'] = {} - except json.decoder.JSONDecodeError: + ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) + glonass_navs = [GLONASSEphemeris(data_struct) for data_struct in ephem_cache.glonassEphemerides] + gps_navs = [GPSEphemeris(data_struct) for data_struct in ephem_cache.gpsEphemerides] + for e in sum([glonass_navs, gps_navs], []): + if e.prn not in nav_dict: + nav_dict[e.prn] = [] + nav_dict[e.prn].append(e) + self.astro_dog.add_navs(nav_dict) + except Exception: cloudlog.exception("Error parsing cache") - timestamp = self.last_fetch_navs_t.as_datetime() if self.last_fetch_navs_t is not None else 'Nan' cloudlog.debug( - f"Loaded navs ({sum([len(v) for v in cache['navs']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['navs'].keys())} " + - f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.navs_fetched_times._ranges]}") - - def cache_ephemeris(self, t: GPSTime): - if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN): - put_nonblocking(EPHEMERIS_CACHE, json.dumps( - {'version': CACHE_VERSION, 'last_fetch_navs_t': self.last_fetch_navs_t, 'navs': self.astro_dog.navs}, - cls=CacheSerializer)) + f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ") + + def cache_ephemeris(self): + + if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN): + nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'], + 'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']}) + put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) cloudlog.debug("Cache saved") - self.last_cached_t = t + self.last_cached_t = self.last_report_time def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: @@ -139,6 +142,7 @@ class Laikad: week = report.gpsWeek tow = report.rcvTow new_meas = read_raw_ublox(report) + self.last_report_time = GPSTime(week, tow) return week, tow, new_meas def is_ephemeris(self, gnss_msg): @@ -155,14 +159,16 @@ class Laikad: ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) else: if gnss_msg.which() == 'ephemeris': - ephem = convert_ublox_gps_ephem(gnss_msg.ephemeris) + data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) + ephem = GPSEphemeris(data_struct) elif gnss_msg.which() == 'glonassEphemeris': - ephem = convert_ublox_glonass_ephem(gnss_msg.glonassEphemeris) + data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) + ephem = GLONASSEphemeris(data_struct) else: cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") return self.astro_dog.add_navs({ephem.prn: [ephem]}) - self.cache_ephemeris(t=ephem.epoch) + self.cache_ephemeris() def process_report(self, new_meas, t): # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites @@ -272,7 +278,7 @@ class Laikad: def fetch_navs(self, t: GPSTime, block): # Download new navs if 1 hour of navs data left - if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (self.last_fetch_navs_t is None or abs(t - self.last_fetch_navs_t) > SECS_IN_MIN): + if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir ret = None @@ -290,7 +296,7 @@ class Laikad: self.last_fetch_navs_t = ret[2] else: self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret - self.cache_ephemeris(t=t) + self.cache_ephemeris() def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir): @@ -360,26 +366,6 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe gnss_kf.predict_and_observe(t, kind, data) -class CacheSerializer(json.JSONEncoder): - - def default(self, o): - if isinstance(o, Ephemeris): - return o.to_json() - if isinstance(o, GPSTime): - return o.__dict__ - if isinstance(o, np.ndarray): - return o.tolist() - return json.JSONEncoder.default(self, o) - - -def deserialize_hook(dct): - if 'ephemeris' in dct: - return Ephemeris.from_json(dct) - if 'week' in dct: - return GPSTime(dct['week'], dct['tow']) - return dct - - class EphemerisSourceType(IntEnum): nav = 0 nasaUltraRapid = 1 diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 10ac7790b6..be79ff16bc 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -1,21 +1,51 @@ #!/usr/bin/env python3 import time import unittest -from collections import defaultdict +from cereal import log +import cereal.messaging as messaging +from common.params import Params from datetime import datetime from unittest import mock from unittest.mock import patch +from tqdm import tqdm + -from common.params import Params from laika.constants import SECS_IN_DAY from laika.downloader import DownloadFailed -from laika.ephemeris import EphemerisType, GPSEphemeris +from laika.ephemeris import EphemerisType, GPSEphemeris, ephemeris_structs from laika.gps_time import GPSTime from laika.helpers import ConstellationId, TimeRangeHolder from laika.raw_gnss import GNSSMeasurement, read_raw_ublox from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader +from selfdrive.manager.process_config import managed_processes + +from selfdrive.test.process_replay.helpers import OpenpilotPrefix + + +def get_ublox_gnss(ubloxraw): + with OpenpilotPrefix(): + managed_processes['ubloxd'].start() + timeout_ms = 30 + pm = messaging.PubMaster(['ubloxRaw']) + sock = messaging.sub_sock('ubloxGnss', timeout=timeout_ms) + + log_msgs = [] + log_t = [] + for x in tqdm(ubloxraw): + pm.send(x.which(), x.as_builder()) + ret = messaging.recv_one(sock) + if ret is not None: + msg = log.Event.new_message(ubloxGnss=ret.ubloxGnss.to_dict()) + msg.logMonoTime = x.logMonoTime + log_msgs.append(msg) + log_t.append(1e-9 * x.logMonoTime) + assert managed_processes['ubloxd'].get_process_state_msg().running + assert len(log_msgs) > 1 or len(ubloxraw) == 0 + managed_processes['ubloxd'].stop() + return log_t, log_msgs + def get_log(segs=range(0)): @@ -23,7 +53,8 @@ def get_log(segs=range(0)): for i in segs: logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i))) - all_logs = [m for m in logs if m.which() == 'ubloxGnss'] + raw_logs = [m for m in logs if m.which() == 'ubloxRaw'] + all_logs = get_ublox_gnss(raw_logs)[1] low_gnss = [] for m in all_logs: if m.ubloxGnss.which() != 'measurementReport': @@ -31,7 +62,8 @@ def get_log(segs=range(0)): MAX_MEAS = 7 if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS: - mb = m.as_builder() + mb = log.Event.new_message(ubloxGnss=m.ubloxGnss.to_dict()) + mb.logMonoTime = m.logMonoTime mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS] mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000 @@ -128,8 +160,8 @@ class TestLaikad(unittest.TestCase): self.assertEqual(laikad.last_fetch_navs_t, real_current_time) def test_ephemeris_source_in_msg(self): - data_mock = defaultdict(str) - data_mock['sv_id'] = 1 + dicto = {'svId': 1} + data_mock = ephemeris_structs.Ephemeris.new_message(**dicto) gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC laikad = Laikad() @@ -151,7 +183,7 @@ class TestLaikad(unittest.TestCase): self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) # Test nav source type - ephem = GPSEphemeris(data_mock, gpstime) + ephem = GPSEphemeris(data_mock) meas = get_measurement_mock(gpstime, ephem) msg = create_measurement_msg(meas) self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) @@ -195,8 +227,8 @@ class TestLaikad(unittest.TestCase): downloader_mock.side_effect = DownloadFailed laikad = Laikad(auto_update=False) correct_msgs = verify_messages(self.logs, laikad) - self.assertEqual(255, len(correct_msgs)) - self.assertEqual(255, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + self.assertEqual(375, len(correct_msgs)) + self.assertEqual(375, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) def test_laika_get_orbits(self): laikad = Laikad(auto_update=False) @@ -241,11 +273,13 @@ class TestLaikad(unittest.TestCase): self.fail("Cache has not been written after 2 seconds") # Test cache with no ephemeris - laikad.cache_ephemeris(t=GPSTime(0, 0)) + laikad.last_report_time = GPSTime(1,0) + laikad.cache_ephemeris() wait_for_cache() Params().remove(EPHEMERIS_CACHE) #laikad.astro_dog.get_navs(self.first_gps_time) + laikad.last_report_time = GPSTime(2,0) laikad.fetch_navs(self.first_gps_time, block=True) # Wait for cache to save @@ -272,6 +306,7 @@ class TestLaikad(unittest.TestCase): # Verify orbit data is not downloaded mock_method.assert_not_called() + def test_low_gnss_meas(self): cnt = 0 laikad = Laikad() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index a8896884e1..dae7ceab1a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3c5ebb007f76ba0de710ff7a8cf5910ad2edf22f \ No newline at end of file +b79fa775682401c25aa9ce38b5542b4206d0c56b diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc index 83e64b7ddc..811492ba9b 100644 --- a/system/ubloxd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -65,22 +65,6 @@ inline bool UbloxMsgParser::valid_so_far() { return true; } -inline uint16_t UbloxMsgParser::get_glonass_year(uint8_t N4, uint16_t Nt) { - // convert time to year (conversion from A3.1.3) - int J = 0; - if (1 <= Nt && Nt <= 366) { - J = 1; - } else if (367 <= Nt && Nt <= 731) { - J = 2; - } else if (732 <= Nt && Nt <= 1096) { - J = 3; - } else if (1097 <= Nt && Nt <= 1461) { - J = 4; - } - uint16_t year = 1996 + 4*(N4 -1) + (J - 1); - return year; -} - bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) { last_log_time = log_time; int needed = needed_bytes(); @@ -203,6 +187,7 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m int iode_s2 = 0; int iode_s3 = 0; int iodc_lsb = 0; + int week; // Subframe 1 { @@ -210,7 +195,14 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); gps_t::subframe_1_t* subframe_1 = static_cast(subframe.body()); - eph.setGpsWeek(subframe_1->week_no()); + // Each message is incremented to be greater or equal than week 1877 (2015-12-27). + // To skip this use the current_time argument + week = subframe_1->week_no(); + week += 1024; + if (week < 1877) { + week += 1024; + } + //eph.setGpsWeek(subframe_1->week_no()); eph.setTgd(subframe_1->t_gd() * pow(2, -31)); eph.setToc(subframe_1->t_oc() * pow(2, 4)); eph.setAf2(subframe_1->af_2() * pow(2, -55)); @@ -227,6 +219,12 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m gps_t subframe(&stream); gps_t::subframe_2_t* subframe_2 = static_cast(subframe.body()); + // GPS week refers to current week, the ephemeris can be valid for the next + // if toe equals 0, this can be verified by the TOW count if it is within the + // last 2 hours of the week (gps ephemeris valid for 4hours) + if (subframe_2->t_oe() == 0 and subframe.how()->tow_count()*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR)){ + week += 1; + } eph.setCrs(subframe_2->c_rs() * pow(2, -5)); eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi); eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi); @@ -256,6 +254,9 @@ kj::Array UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *m iode_s3 = subframe_3->iode(); } + eph.setToeWeek(week); + eph.setTocWeek(week); + gps_subframes[msg->sv_id()].clear(); if (iodc_lsb != iode_s2 || iodc_lsb != iode_s3) { // data set cutover, reject ephemeris @@ -329,7 +330,10 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ MessageBuilder msg_builder; auto eph = msg_builder.initEvent().initUbloxGnss().initGlonassEphemeris(); eph.setSvId(msg->sv_id()); + eph.setFreqNum(msg->freq_id() - 7); + uint16_t current_day = 0; + uint16_t tk = 0; // string number 1 { @@ -338,7 +342,8 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ glonass_t::string_1_t* data = static_cast(gl_stream.data()); eph.setP1(data->p1()); - eph.setTk(data->t_k()); + tk = data->t_k(); + eph.setTkDEPRECATED(tk); eph.setXVel(data->x_vel() * pow(2, -20)); eph.setXAccel(data->x_accel() * pow(2, -30)); eph.setX(data->x() * pow(2, -11)); @@ -379,6 +384,7 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ glonass_t::string_4_t* data = static_cast(gl_stream.data()); current_day = data->n_t(); + eph.setNt(current_day); eph.setTauN(data->tau_n() * pow(2, -30)); eph.setDeltaTauN(data->delta_tau_n() * pow(2, -30)); eph.setAge(data->e_n()); @@ -398,27 +404,9 @@ kj::Array UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_ // string5 parsing is only needed to get the year, this can be removed and // the year can be fetched later in laika (note rollovers and leap year) - uint8_t n_4 = data->n_4(); - uint16_t year = get_glonass_year(n_4, current_day); - if (current_day > 1461) { - // impossible day within last 4 year, reject ephemeris - // TODO: check if this can be detected via hamming code - LOGE("INVALID DATA: current day out of range: %d, %d", current_day, n_4); - glonass_strings[msg->sv_id()].clear(); - return kj::Array(); - } - - uint16_t last_leap_year = 1996 + 4*(n_4-1); - uint16_t days_till_this_year = (year - last_leap_year)*365; - if (days_till_this_year != 0) { - days_till_this_year++; - } - - eph.setYear(year); - eph.setDayInYear(current_day - days_till_this_year); - eph.setHour((eph.getTk()>>7) & 0x1F); - eph.setMinute((eph.getTk()>>1) & 0x3F); - eph.setSecond((eph.getTk() & 0x1) * 30); + eph.setN4(data->n_4()); + int tk_seconds = SECS_IN_HR * ((tk>>7) & 0x1F) + SECS_IN_MIN * ((tk>>1) & 0x3F) + (tk & 0x1) * 30; + eph.setTkSeconds(tk_seconds); } glonass_strings[msg->freq_id()].clear(); diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h index 06877cc50d..a6e0623aa0 100644 --- a/system/ubloxd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -15,6 +15,11 @@ using namespace std::string_literals; +const int SECS_IN_MIN = 60; +const int SECS_IN_HR = 60 * SECS_IN_MIN; +const int SECS_IN_DAY = 24 * SECS_IN_HR; +const int SECS_IN_WEEK = 7 * SECS_IN_DAY; + // protocol constants namespace ublox { const uint8_t PREAMBLE1 = 0xb5; @@ -102,7 +107,6 @@ class UbloxMsgParser { inline bool valid_cheksum(); inline bool valid(); inline bool valid_so_far(); - inline uint16_t get_glonass_year(uint8_t N4, uint16_t Nt); kj::Array parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg); kj::Array parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg); From 153ffa3f68bc316d17b46a94327bdc5777f39b4f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 15 Mar 2023 01:21:18 -0700 Subject: [PATCH 042/150] Sat info from ublox (#27526) * squashed * bump cereal --- cereal | 2 +- system/ubloxd/generated/ubx.cpp | 136 ++++++++++++++++++++++++++------ system/ubloxd/generated/ubx.h | 94 +++++++++++++++++++--- system/ubloxd/tests/ublox.py | 1 + system/ubloxd/ublox_msg.cc | 18 ++++- system/ubloxd/ublox_msg.h | 1 + system/ubloxd/ubx.ksy | 40 +++++++++- 7 files changed, 253 insertions(+), 39 deletions(-) diff --git a/cereal b/cereal index c579889f39..80a8eb8459 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit c579889f396cd754048c7b1a51c6f33b1988762a +Subproject commit 80a8eb84593feb08dfc0bd47e5c04e586ea4b7a6 diff --git a/system/ubloxd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp index 34fe1e52ca..81b82ccafc 100644 --- a/system/ubloxd/generated/ubx.cpp +++ b/system/ubloxd/generated/ubx.cpp @@ -40,6 +40,11 @@ void ubx_t::_read() { m_body = new rxm_sfrbx_t(m__io, this, m__root); break; } + case 309: { + n_body = false; + m_body = new nav_sat_t(m__io, this, m__root); + break; + } case 2571: { n_body = false; m_body = new mon_hw2_t(m__io, this, m__root); @@ -70,9 +75,9 @@ void ubx_t::_clean_up() { ubx_t::rxm_rawx_t::rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; - m_measurements = 0; - m__raw_measurements = 0; - m__io__raw_measurements = 0; + m_meas = 0; + m__raw_meas = 0; + m__io__raw_meas = 0; try { _read(); @@ -89,15 +94,15 @@ void ubx_t::rxm_rawx_t::_read() { m_num_meas = m__io->read_u1(); m_rec_stat = m__io->read_u1(); m_reserved1 = m__io->read_bytes(3); - m__raw_measurements = new std::vector(); - m__io__raw_measurements = new std::vector(); - m_measurements = new std::vector(); - const int l_measurements = num_meas(); - for (int i = 0; i < l_measurements; i++) { - m__raw_measurements->push_back(m__io->read_bytes(32)); - kaitai::kstream* io__raw_measurements = new kaitai::kstream(m__raw_measurements->at(m__raw_measurements->size() - 1)); - m__io__raw_measurements->push_back(io__raw_measurements); - m_measurements->push_back(new meas_t(io__raw_measurements, this, m__root)); + m__raw_meas = new std::vector(); + m__io__raw_meas = new std::vector(); + m_meas = new std::vector(); + const int l_meas = num_meas(); + for (int i = 0; i < l_meas; i++) { + m__raw_meas->push_back(m__io->read_bytes(32)); + kaitai::kstream* io__raw_meas = new kaitai::kstream(m__raw_meas->at(m__raw_meas->size() - 1)); + m__io__raw_meas->push_back(io__raw_meas); + m_meas->push_back(new measurement_t(io__raw_meas, this, m__root)); } } @@ -106,24 +111,24 @@ ubx_t::rxm_rawx_t::~rxm_rawx_t() { } void ubx_t::rxm_rawx_t::_clean_up() { - if (m__raw_measurements) { - delete m__raw_measurements; m__raw_measurements = 0; + if (m__raw_meas) { + delete m__raw_meas; m__raw_meas = 0; } - if (m__io__raw_measurements) { - for (std::vector::iterator it = m__io__raw_measurements->begin(); it != m__io__raw_measurements->end(); ++it) { + if (m__io__raw_meas) { + for (std::vector::iterator it = m__io__raw_meas->begin(); it != m__io__raw_meas->end(); ++it) { delete *it; } - delete m__io__raw_measurements; m__io__raw_measurements = 0; + delete m__io__raw_meas; m__io__raw_meas = 0; } - if (m_measurements) { - for (std::vector::iterator it = m_measurements->begin(); it != m_measurements->end(); ++it) { + if (m_meas) { + for (std::vector::iterator it = m_meas->begin(); it != m_meas->end(); ++it) { delete *it; } - delete m_measurements; m_measurements = 0; + delete m_meas; m_meas = 0; } } -ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { +ubx_t::rxm_rawx_t::measurement_t::measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; @@ -135,7 +140,7 @@ ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__ } } -void ubx_t::rxm_rawx_t::meas_t::_read() { +void ubx_t::rxm_rawx_t::measurement_t::_read() { m_pr_mes = m__io->read_f8le(); m_cp_mes = m__io->read_f8le(); m_do_mes = m__io->read_f4le(); @@ -152,11 +157,11 @@ void ubx_t::rxm_rawx_t::meas_t::_read() { m_reserved3 = m__io->read_bytes(1); } -ubx_t::rxm_rawx_t::meas_t::~meas_t() { +ubx_t::rxm_rawx_t::measurement_t::~measurement_t() { _clean_up(); } -void ubx_t::rxm_rawx_t::meas_t::_clean_up() { +void ubx_t::rxm_rawx_t::measurement_t::_clean_up() { } ubx_t::rxm_sfrbx_t::rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { @@ -198,6 +203,89 @@ void ubx_t::rxm_sfrbx_t::_clean_up() { } } +ubx_t::nav_sat_t::nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + m_svs = 0; + m__raw_svs = 0; + m__io__raw_svs = 0; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_sat_t::_read() { + m_itow = m__io->read_u4le(); + m_version = m__io->read_u1(); + m_num_svs = m__io->read_u1(); + m_reserved = m__io->read_bytes(2); + m__raw_svs = new std::vector(); + m__io__raw_svs = new std::vector(); + m_svs = new std::vector(); + const int l_svs = num_svs(); + for (int i = 0; i < l_svs; i++) { + m__raw_svs->push_back(m__io->read_bytes(12)); + kaitai::kstream* io__raw_svs = new kaitai::kstream(m__raw_svs->at(m__raw_svs->size() - 1)); + m__io__raw_svs->push_back(io__raw_svs); + m_svs->push_back(new nav_t(io__raw_svs, this, m__root)); + } +} + +ubx_t::nav_sat_t::~nav_sat_t() { + _clean_up(); +} + +void ubx_t::nav_sat_t::_clean_up() { + if (m__raw_svs) { + delete m__raw_svs; m__raw_svs = 0; + } + if (m__io__raw_svs) { + for (std::vector::iterator it = m__io__raw_svs->begin(); it != m__io__raw_svs->end(); ++it) { + delete *it; + } + delete m__io__raw_svs; m__io__raw_svs = 0; + } + if (m_svs) { + for (std::vector::iterator it = m_svs->begin(); it != m_svs->end(); ++it) { + delete *it; + } + delete m_svs; m_svs = 0; + } +} + +ubx_t::nav_sat_t::nav_t::nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { + m__parent = p__parent; + m__root = p__root; + + try { + _read(); + } catch(...) { + _clean_up(); + throw; + } +} + +void ubx_t::nav_sat_t::nav_t::_read() { + m_gnss_id = static_cast(m__io->read_u1()); + m_sv_id = m__io->read_u1(); + m_cno = m__io->read_u1(); + m_elev = m__io->read_s1(); + m_azim = m__io->read_s2le(); + m_pr_res = m__io->read_s2le(); + m_flags = m__io->read_u4le(); +} + +ubx_t::nav_sat_t::nav_t::~nav_t() { + _clean_up(); +} + +void ubx_t::nav_sat_t::nav_t::_clean_up() { +} + ubx_t::nav_pvt_t::nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) { m__parent = p__parent; m__root = p__root; diff --git a/system/ubloxd/generated/ubx.h b/system/ubloxd/generated/ubx.h index 6be4ce8c4b..022108489f 100644 --- a/system/ubloxd/generated/ubx.h +++ b/system/ubloxd/generated/ubx.h @@ -16,6 +16,7 @@ class ubx_t : public kaitai::kstruct { public: class rxm_rawx_t; class rxm_sfrbx_t; + class nav_sat_t; class nav_pvt_t; class mon_hw2_t; class mon_hw_t; @@ -42,7 +43,7 @@ public: class rxm_rawx_t : public kaitai::kstruct { public: - class meas_t; + class measurement_t; rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); @@ -53,18 +54,18 @@ public: public: ~rxm_rawx_t(); - class meas_t : public kaitai::kstruct { + class measurement_t : public kaitai::kstruct { public: - meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); + measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0); private: void _read(); void _clean_up(); public: - ~meas_t(); + ~measurement_t(); private: double m_pr_mes; @@ -110,11 +111,11 @@ public: uint8_t m_num_meas; uint8_t m_rec_stat; std::string m_reserved1; - std::vector* m_measurements; + std::vector* m_meas; ubx_t* m__root; ubx_t* m__parent; - std::vector* m__raw_measurements; - std::vector* m__io__raw_measurements; + std::vector* m__raw_meas; + std::vector* m__io__raw_meas; public: double rcv_tow() const { return m_rcv_tow; } @@ -123,11 +124,11 @@ public: uint8_t num_meas() const { return m_num_meas; } uint8_t rec_stat() const { return m_rec_stat; } std::string reserved1() const { return m_reserved1; } - std::vector* measurements() const { return m_measurements; } + std::vector* meas() const { return m_meas; } ubx_t* _root() const { return m__root; } ubx_t* _parent() const { return m__parent; } - std::vector* _raw_measurements() const { return m__raw_measurements; } - std::vector* _io__raw_measurements() const { return m__io__raw_measurements; } + std::vector* _raw_meas() const { return m__raw_meas; } + std::vector* _io__raw_meas() const { return m__io__raw_meas; } }; class rxm_sfrbx_t : public kaitai::kstruct { @@ -170,6 +171,79 @@ public: ubx_t* _parent() const { return m__parent; } }; + class nav_sat_t : public kaitai::kstruct { + + public: + class nav_t; + + nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_sat_t(); + + class nav_t : public kaitai::kstruct { + + public: + + nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent = 0, ubx_t* p__root = 0); + + private: + void _read(); + void _clean_up(); + + public: + ~nav_t(); + + private: + gnss_type_t m_gnss_id; + uint8_t m_sv_id; + uint8_t m_cno; + int8_t m_elev; + int16_t m_azim; + int16_t m_pr_res; + uint32_t m_flags; + ubx_t* m__root; + ubx_t::nav_sat_t* m__parent; + + public: + gnss_type_t gnss_id() const { return m_gnss_id; } + uint8_t sv_id() const { return m_sv_id; } + uint8_t cno() const { return m_cno; } + int8_t elev() const { return m_elev; } + int16_t azim() const { return m_azim; } + int16_t pr_res() const { return m_pr_res; } + uint32_t flags() const { return m_flags; } + ubx_t* _root() const { return m__root; } + ubx_t::nav_sat_t* _parent() const { return m__parent; } + }; + + private: + uint32_t m_itow; + uint8_t m_version; + uint8_t m_num_svs; + std::string m_reserved; + std::vector* m_svs; + ubx_t* m__root; + ubx_t* m__parent; + std::vector* m__raw_svs; + std::vector* m__io__raw_svs; + + public: + uint32_t itow() const { return m_itow; } + uint8_t version() const { return m_version; } + uint8_t num_svs() const { return m_num_svs; } + std::string reserved() const { return m_reserved; } + std::vector* svs() const { return m_svs; } + ubx_t* _root() const { return m__root; } + ubx_t* _parent() const { return m__parent; } + std::vector* _raw_svs() const { return m__raw_svs; } + std::vector* _io__raw_svs() const { return m__io__raw_svs; } + }; + class nav_pvt_t : public kaitai::kstruct { public: diff --git a/system/ubloxd/tests/ublox.py b/system/ubloxd/tests/ublox.py index 80abc64e2c..0d271ad785 100644 --- a/system/ubloxd/tests/ublox.py +++ b/system/ubloxd/tests/ublox.py @@ -48,6 +48,7 @@ MSG_NAV_TIMEGPS = 0x20 MSG_NAV_TIMEUTC = 0x21 MSG_NAV_CLOCK = 0x22 MSG_NAV_SVINFO = 0x30 +MSG_NAV_SAT = 0x35 MSG_NAV_AOPSTATUS = 0x60 MSG_NAV_DGPS = 0x31 MSG_NAV_DOP = 0x04 diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc index 811492ba9b..a01187d560 100644 --- a/system/ubloxd/ublox_msg.cc +++ b/system/ubloxd/ublox_msg.cc @@ -434,7 +434,7 @@ kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { mr.setGpsWeek(msg->week()); auto mb = mr.initMeasurements(msg->num_meas()); - auto measurements = *msg->measurements(); + auto measurements = *msg->meas(); for(int8_t i = 0; i < msg->num_meas(); i++) { mb[i].setSvId(measurements[i]->sv_id()); mb[i].setPseudorange(measurements[i]->pr_mes()); @@ -463,6 +463,22 @@ kj::Array UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) { return capnp::messageToFlatArray(msg_builder); } +kj::Array UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) { + MessageBuilder msg_builder; + auto sr = msg_builder.initEvent().initUbloxGnss().initSatReport(); + sr.setITow(msg->itow()); + + auto svs = sr.initSvs(msg->num_svs()); + auto svs_data = *msg->svs(); + for(int8_t i = 0; i < msg->num_svs(); i++) { + svs[i].setSvId(svs_data[i]->sv_id()); + svs[i].setGnssId(svs_data[i]->gnss_id()); + svs[i].setFlagsBitfield(svs_data[i]->flags()); + } + + return capnp::messageToFlatArray(msg_builder); +} + kj::Array UbloxMsgParser::gen_mon_hw(ubx_t::mon_hw_t *msg) { MessageBuilder msg_builder; auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus(); diff --git a/system/ubloxd/ublox_msg.h b/system/ubloxd/ublox_msg.h index a6e0623aa0..a52a7db3e5 100644 --- a/system/ubloxd/ublox_msg.h +++ b/system/ubloxd/ublox_msg.h @@ -102,6 +102,7 @@ class UbloxMsgParser { kj::Array gen_rxm_rawx(ubx_t::rxm_rawx_t *msg); kj::Array gen_mon_hw(ubx_t::mon_hw_t *msg); kj::Array gen_mon_hw2(ubx_t::mon_hw2_t *msg); + kj::Array gen_nav_sat(ubx_t::nav_sat_t *msg); private: inline bool valid_cheksum(); diff --git a/system/ubloxd/ubx.ksy b/system/ubloxd/ubx.ksy index 6945680d32..02c757fe71 100644 --- a/system/ubloxd/ubx.ksy +++ b/system/ubloxd/ubx.ksy @@ -17,6 +17,7 @@ seq: 0x0215: rxm_rawx 0x0a09: mon_hw 0x0a0b: mon_hw2 + 0x0135: nav_sat instances: checksum: pos: length + 6 @@ -142,13 +143,13 @@ types: type: u1 - id: reserved1 size: 3 - - id: measurements - type: meas + - id: meas + type: measurement size: 32 repeat: expr repeat-expr: num_meas types: - meas: + measurement: seq: - id: pr_mes type: f8 @@ -179,6 +180,39 @@ types: type: u1 - id: reserved3 size: 1 + nav_sat: + seq: + - id: itow + type: u4 + - id: version + type: u1 + - id: num_svs + type: u1 + - id: reserved + size: 2 + - id: svs + type: nav + size: 12 + repeat: expr + repeat-expr: num_svs + types: + nav: + seq: + - id: gnss_id + type: u1 + enum: gnss_type + - id: sv_id + type: u1 + - id: cno + type: u1 + - id: elev + type: s1 + - id: azim + type: s2 + - id: pr_res + type: s2 + - id: flags + type: u4 nav_pvt: seq: From f00c108acb49bb633167dfdfcbdf84461cf59025 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 16 Mar 2023 01:54:22 +0800 Subject: [PATCH 043/150] cabana: eliminate deep copy of events in live stream mode (#27588) --- tools/cabana/chartswidget.cc | 23 +++++------- tools/cabana/chartswidget.h | 2 +- tools/cabana/streams/abstractstream.h | 2 +- tools/cabana/streams/livestream.cc | 51 ++++++++++----------------- tools/cabana/streams/livestream.h | 24 +++++++++---- 5 files changed, 45 insertions(+), 57 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 184d41ca0b..61afb871ae 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -108,14 +108,14 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { void ChartsWidget::eventsMerged() { { - assert(!can->liveStreaming()); QFutureSynchronizer future_synchronizer; - const auto events = can->events(); for (auto c : charts) { - future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, events, true)); + future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr)); } } - updateState(); + if (can->isPaused()) { + updateState(); + } } void ChartsWidget::zoomIn(double min, double max) { @@ -133,20 +133,13 @@ void ChartsWidget::zoomReset() { void ChartsWidget::updateState() { if (charts.isEmpty()) return; - const auto events = can->events(); - if (can->liveStreaming()) { - // appends incoming events to the end of series - for (auto c : charts) { - c->updateSeries(nullptr, events, false); - } - } - const double cur_sec = can->currentSec(); if (!is_zoomed) { double pos = (cur_sec - display_range.first) / std::max(1.0, (display_range.second - display_range.first)); if (pos < 0 || pos > 0.8) { display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1); } + auto events = can->events(); double max_event_sec = events->empty() ? 0 : (events->back()->mono_time / 1e9 - can->routeStartTime()); double max_sec = std::min(std::floor(display_range.first + max_chart_range), max_event_sec); display_range.first = std::max(0.0, max_sec - max_chart_range); @@ -502,11 +495,11 @@ void ChartView::updateSeriesPoints() { } } -void ChartView::updateSeries(const cabana::Signal *sig, const std::vector *events, bool clear) { - events = events ? events : can->events(); +void ChartView::updateSeries(const cabana::Signal *sig) { + const auto events = can->events(); for (auto &s : sigs) { if (!sig || s.sig == sig) { - if (clear) { + if (!can->liveStreaming()) { s.vals.clear(); s.step_vals.clear(); s.vals.reserve(settings.max_cached_minutes * 60 * 100); // [n]seconds * 100hz diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index bdc924ff83..c7470a6f12 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -32,7 +32,7 @@ public: ChartView(QWidget *parent = nullptr); void addSeries(const MessageId &msg_id, const cabana::Signal *sig); bool hasSeries(const MessageId &msg_id, const cabana::Signal *sig) const; - void updateSeries(const cabana::Signal *sig = nullptr, const std::vector *events = nullptr, bool clear = true); + void updateSeries(const cabana::Signal *sig = nullptr); void updatePlot(double cur, double min, double max); void setSeriesType(SeriesType type); void updatePlotArea(int left); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index de7c394303..d1cf9d8037 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -59,7 +59,7 @@ public: QSet sources; protected: - void process(QHash *); + virtual void process(QHash *); bool updateEvent(const Event *event); void updateLastMsgsTo(double sec); diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 592d883c4c..256cfc5a3e 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -1,10 +1,8 @@ #include "tools/cabana/streams/livestream.h" -LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) { - timer = new QTimer(this); - timer->callOnTimeout(this, &LiveStream::removeExpiredEvents); - timer->start(3 * 1000); +#include +LiveStream::LiveStream(QObject *parent, QString address) : zmq_address(address), AbstractStream(parent, true) { stream_thread = new QThread(this); QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); }); QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater); @@ -15,8 +13,6 @@ LiveStream::~LiveStream() { stream_thread->requestInterruption(); stream_thread->quit(); stream_thread->wait(); - for (Event *e : can_events) ::delete e; - for (auto m : messages) delete m; } void LiveStream::streamThread() { @@ -35,11 +31,8 @@ void LiveStream::streamThread() { QThread::msleep(50); continue; } - AlignedBuffer *buf = messages.emplace_back(new AlignedBuffer()); - Event *evt = ::new Event(buf->align(msg)); - delete msg; - - handleEvent(evt); + std::lock_guard lk(lock); + handleEvent(messages.emplace_back(msg).event); // TODO: write stream to log file to replay it with cabana --data_dir flag. } } @@ -53,11 +46,10 @@ void LiveStream::handleEvent(Event *evt) { emit streamStarted(); } - std::lock_guard lk(lock); - can_events.push_back(evt); + received.push_back(evt); if (!pause_) { if (speed_ < 1 && last_update_ts > 0) { - auto it = std::upper_bound(can_events.cbegin(), can_events.cend(), current_ts, [](uint64_t ts, auto &e) { + auto it = std::upper_bound(received.cbegin(), received.cend(), current_ts, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); if (it != can_events.cend()) { @@ -73,27 +65,20 @@ void LiveStream::handleEvent(Event *evt) { } } -void LiveStream::removeExpiredEvents() { - std::lock_guard lk(lock); - if (can_events.size() > 0) { - const uint64_t max_ns = settings.max_cached_minutes * 60 * 1e9; - const uint64_t last_ns = can_events.back()->mono_time; - while (!can_events.empty() && (last_ns - can_events.front()->mono_time) > max_ns) { - ::delete can_events.front(); - delete messages.front(); - can_events.pop_front(); - messages.pop_front(); +void LiveStream::process(QHash *last_messages) { + { + std::lock_guard lk(lock); + uint64_t last_ts = can_events.empty() ? 0 : can_events.back()->mono_time; + auto first = std::upper_bound(received.cbegin(), received.cend(), last_ts, [](uint64_t ts, auto &e) { + return ts < e->mono_time; + }); + can_events.insert(can_events.end(), first, received.cend()); + if (speed_ == 1) { + received.clear(); } } -} - -const std::vector *LiveStream::events() const { - std::lock_guard lk(lock); - if (events_vector.capacity() <= can_events.size()) { - events_vector.reserve(can_events.size() * 2); - } - events_vector.assign(can_events.begin(), can_events.end()); - return &events_vector; + emit eventsMerged(); + AbstractStream::process(last_messages); } void LiveStream::pause(bool pause) { diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 43f67ae95f..657d7e407f 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -1,6 +1,5 @@ #pragma once -#include #include "tools/cabana/streams/abstractstream.h" class LiveStream : public AbstractStream { @@ -17,17 +16,29 @@ public: void setSpeed(float speed) override { speed_ = std::min(1.0, speed); } bool isPaused() const override { return pause_; } void pause(bool pause) override; - const std::vector *events() const override; + const std::vector *events() const override { return &can_events; } protected: + void process(QHash *) override; virtual void handleEvent(Event *evt); virtual void streamThread(); - virtual void removeExpiredEvents(); + + struct Msg { + Msg(Message *m) { + event = ::new Event(aligned_buf.align(m)); + delete m; + } + ~Msg() { + ::delete event; + } + Event *event; + AlignedBuffer aligned_buf; + }; mutable std::mutex lock; - mutable std::vector events_vector; - std::deque can_events; - std::deque messages; + std::vector can_events; + std::vector received; + std::deque messages; std::atomic start_ts = 0; std::atomic current_ts = 0; std::atomic speed_ = 1; @@ -36,5 +47,4 @@ protected: const QString zmq_address; QThread *stream_thread; - QTimer *timer; }; From 9a6bcba7416b9e3f4dcf527131f4ca7250bb0f35 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 15 Mar 2023 14:34:33 -0700 Subject: [PATCH 044/150] UI: remove spammy CameraView log --- selfdrive/ui/qt/widgets/cameraview.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 10300da55c..de3b64cffd 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -374,7 +374,6 @@ void CameraWidget::vipcThread() { clearFrames(); auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); if (streams.empty()) { - qWarning() << "VisionIPC connected, but no streams available"; QThread::msleep(100); continue; } From 629e5f6bf21460f1f50d0a56c131440e0ab4f0b5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 15 Mar 2023 15:16:47 -0700 Subject: [PATCH 045/150] Fix qcom laika caching and test (#27594) --- selfdrive/locationd/laikad.py | 6 +- selfdrive/locationd/test/test_laikad.py | 162 ++++++++++++++---------- 2 files changed, 97 insertions(+), 71 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 53fbf36066..5b12c7a16a 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -94,6 +94,7 @@ class Laikad: nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'], 'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']}) + put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes()) cloudlog.debug("Cache saved") self.last_cached_t = self.last_report_time @@ -157,6 +158,8 @@ class Laikad: if self.gps_week is None: return ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) + self.astro_dog.add_orbits({ephem.prn: [ephem]}) + else: if gnss_msg.which() == 'ephemeris': data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) @@ -167,7 +170,7 @@ class Laikad: else: cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") return - self.astro_dog.add_navs({ephem.prn: [ephem]}) + self.astro_dog.add_navs({ephem.prn: [ephem]}) self.cache_ephemeris() def process_report(self, new_meas, t): @@ -421,7 +424,6 @@ def main(sm=None, pm=None, qc=None): if sm.updated[raw_gnss_socket]: gnss_msg = sm[raw_gnss_socket] - msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay) if msg is None: # TODO: beautify this, locationd needs a valid message diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index be79ff16bc..b22c9994b7 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -15,7 +15,7 @@ from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris, ephemeris_structs from laika.gps_time import GPSTime from laika.helpers import ConstellationId, TimeRangeHolder -from laika.raw_gnss import GNSSMeasurement, read_raw_ublox +from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader @@ -70,14 +70,23 @@ def get_log(segs=range(0)): low_gnss.append(mb.as_reader()) else: low_gnss.append(m) - return all_logs, low_gnss +def get_log_qcom(segs=range(0)): + logs = [] + for i in segs: + logs.extend(LogReader(get_url("b0b3cba7abf862d1|2023-03-11--09-40-33", i))) + all_logs = [m for m in logs if m.which() == 'qcomGnss'] + return all_logs def verify_messages(lr, laikad, return_one_success=False): good_msgs = [] for m in lr: - msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True) + if m.which() == 'ubloxGnss': + gnss_msg = m.ubloxGnss + else: + gnss_msg = m.qcomGnss + msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True) if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0: good_msgs.append(msg) if return_one_success: @@ -87,10 +96,16 @@ def verify_messages(lr, laikad, return_one_success=False): def get_first_gps_time(logs): for m in logs: - if m.ubloxGnss.which == 'measurementReport': - new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) - if len(new_meas) > 0: - return new_meas[0].recv_time + if m.which() == 'ubloxGnss': + if m.ubloxGnss.which == 'measurementReport': + new_meas = read_raw_ublox(m.ubloxGnss.measurementReport) + if len(new_meas) > 0: + return new_meas[0].recv_time + else: + if m.qcomGnss.which == 'measurementReport': + new_meas = read_raw_qcom(m.qcomGnss.measurementReport) + if len(new_meas) > 0: + return new_meas[0].recv_time def get_measurement_mock(gpstime, sat_ephemeris): @@ -111,6 +126,7 @@ class TestLaikad(unittest.TestCase): logs, low_gnss = get_log(range(1)) cls.logs = logs cls.low_gnss = low_gnss + cls.logs_qcom = get_log_qcom(range(1)) first_gps_time = get_first_gps_time(logs) cls.first_gps_time = first_gps_time @@ -209,12 +225,13 @@ class TestLaikad(unittest.TestCase): self.assertTrue(kf_valid) def test_laika_online_nav_only(self): - laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV) - # Disable fetch_orbits to test NAV only - correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 559 - self.assertEqual(correct_msgs_expected, len(correct_msgs)) - self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) + # Disable fetch_orbits to test NAV only + correct_msgs = verify_messages(logs, laikad) + correct_msgs_expected = 42 if use_qcom else 559 + self.assertEqual(correct_msgs_expected, len(correct_msgs)) + self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @mock.patch('laika.downloader.download_and_cache_file') def test_laika_offline(self, downloader_mock): @@ -247,65 +264,73 @@ class TestLaikad(unittest.TestCase): print(min(laikad.astro_dog.navs[prn], key=lambda e: e.epoch).epoch.as_datetime()) def test_get_navs_in_process(self): - laikad = Laikad(auto_update=False) - has_navs = False - for m in self.logs: - laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False) - if laikad.orbit_fetch_future is not None: - laikad.orbit_fetch_future.result() - vals = laikad.astro_dog.navs.values() - has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 - if has_navs: - break - self.assertTrue(has_navs) - self.assertGreater(len(laikad.astro_dog.navs_fetched_times._ranges), 0) - self.assertEqual(None, laikad.orbit_fetch_future) + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=False, use_qcom=use_qcom) + has_navs = False + has_fix = False + for m in logs: + gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss + out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) + if laikad.orbit_fetch_future is not None: + laikad.orbit_fetch_future.result() + vals = laikad.astro_dog.navs.values() + has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 + vals = laikad.astro_dog.orbits.values() + has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 + if out_msg is not None: + has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid + + self.assertTrue(has_navs or has_polys) + self.assertTrue(has_fix) + self.assertGreater(len(laikad.astro_dog.navs_fetched_times._ranges), 0) + self.assertEqual(None, laikad.orbit_fetch_future) def test_cache(self): - laikad = Laikad(auto_update=True, save_ephemeris=True) - - def wait_for_cache(): - max_time = 2 - while Params().get(EPHEMERIS_CACHE) is None: - time.sleep(0.1) - max_time -= 0.1 - if max_time < 0: - self.fail("Cache has not been written after 2 seconds") - - # Test cache with no ephemeris - laikad.last_report_time = GPSTime(1,0) - laikad.cache_ephemeris() - wait_for_cache() - Params().remove(EPHEMERIS_CACHE) - - #laikad.astro_dog.get_navs(self.first_gps_time) - laikad.last_report_time = GPSTime(2,0) - laikad.fetch_navs(self.first_gps_time, block=True) - - # Wait for cache to save - wait_for_cache() - - # Check both nav and orbits separate - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True) - # Verify navs are loaded from cache - self.dict_has_values(laikad.astro_dog.navs) - # Verify cache is working for only nav by running a segment - msg = verify_messages(self.logs, laikad, return_one_success=True) - self.assertIsNotNone(msg) - - with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: - # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently - laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() - laikad.fetch_navs(self.first_gps_time, block=False) - mock_method.assert_not_called() - - # Verify cache is working for only orbits by running a segment - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) - msg = verify_messages(self.logs, laikad, return_one_success=True) + use_qcom = True + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom) + def wait_for_cache(): + max_time = 2 + while Params().get(EPHEMERIS_CACHE) is None: + time.sleep(0.1) + max_time -= 0.1 + if max_time < 0: + self.fail("Cache has not been written after 2 seconds") + + # Test cache with no ephemeris + laikad.last_report_time = GPSTime(1,0) + laikad.cache_ephemeris() + wait_for_cache() + Params().remove(EPHEMERIS_CACHE) + + #laikad.astro_dog.get_navs(self.first_gps_time) + laikad.last_report_time = GPSTime(2,0) + laikad.fetch_navs(self.first_gps_time, block=True) + + # Wait for cache to save + wait_for_cache() + + # Check both nav and orbits separate + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True, use_qcom=use_qcom) + # Verify navs are loaded from cache + self.dict_has_values(laikad.astro_dog.navs) + # Verify cache is working for only nav by running a segment + msg = verify_messages(logs, laikad, return_one_success=True) self.assertIsNotNone(msg) - # Verify orbit data is not downloaded - mock_method.assert_not_called() + with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: + # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently + laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() + laikad.fetch_navs(self.first_gps_time, block=False) + mock_method.assert_not_called() + + # Verify cache is working for only orbits by running a segment + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) + msg = verify_messages(self.logs, laikad, return_one_success=True) + self.assertIsNotNone(msg) + # Verify orbit data is not downloaded + mock_method.assert_not_called() + break def test_low_gnss_meas(self): cnt = 0 @@ -323,6 +348,5 @@ class TestLaikad(unittest.TestCase): self.assertGreater(len(dct), 0) self.assertGreater(min([len(v) for v in dct.values()]), 0) - if __name__ == "__main__": unittest.main() From 896fa029f93501af7871e7e5edced2bc0885d53f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 15 Mar 2023 20:06:29 -0700 Subject: [PATCH 046/150] Laikad: cleanup time range holder (#27595) * cleanup time range holder * update * unused import * unused import * unused import * bump laika --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 4 +-- selfdrive/locationd/test/test_laikad.py | 41 +++++++++++++------------ 3 files changed, 25 insertions(+), 22 deletions(-) diff --git a/laika_repo b/laika_repo index b896cdbbd1..354afd63f7 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit b896cdbbd1e8f85df25a1afa0c9a2ec150b72f92 +Subproject commit 354afd63f74cac63669637e3d5e33d416405c428 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 5b12c7a16a..3f96e4d9f3 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -35,7 +35,7 @@ POS_FIX_RESIDUAL_THRESHOLD = 100.0 class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False, - valid_ephem_types=(EphemerisType.NAV,), + valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY), save_ephemeris=False, use_qcom=False): """ valid_const: GNSS constellation which can be used @@ -158,7 +158,7 @@ class Laikad: if self.gps_week is None: return ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) - self.astro_dog.add_orbits({ephem.prn: [ephem]}) + self.astro_dog.add_qcom_polys({ephem.prn: [ephem]}) else: if gnss_msg.which() == 'ephemeris': diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index b22c9994b7..2e03551f6e 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -6,7 +6,7 @@ import cereal.messaging as messaging from common.params import Params from datetime import datetime from unittest import mock -from unittest.mock import patch +#from unittest.mock import patch from tqdm import tqdm @@ -14,7 +14,7 @@ from laika.constants import SECS_IN_DAY from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris, ephemeris_structs from laika.gps_time import GPSTime -from laika.helpers import ConstellationId, TimeRangeHolder +from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg from selfdrive.test.openpilotci import get_url @@ -261,11 +261,10 @@ class TestLaikad(unittest.TestCase): self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) prn = "R01" self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) - print(min(laikad.astro_dog.navs[prn], key=lambda e: e.epoch).epoch.as_datetime()) def test_get_navs_in_process(self): for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): - laikad = Laikad(auto_update=False, use_qcom=use_qcom) + laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=False) has_navs = False has_fix = False for m in logs: @@ -275,14 +274,14 @@ class TestLaikad(unittest.TestCase): laikad.orbit_fetch_future.result() vals = laikad.astro_dog.navs.values() has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 - vals = laikad.astro_dog.orbits.values() + vals = laikad.astro_dog.qcom_polys.values() has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 if out_msg is not None: has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid - + self.assertTrue(has_navs or has_polys) self.assertTrue(has_fix) - self.assertGreater(len(laikad.astro_dog.navs_fetched_times._ranges), 0) + self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0) self.assertEqual(None, laikad.orbit_fetch_future) def test_cache(self): @@ -318,19 +317,22 @@ class TestLaikad(unittest.TestCase): msg = verify_messages(logs, laikad, return_one_success=True) self.assertIsNotNone(msg) - with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: - # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently - laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() - laikad.fetch_navs(self.first_gps_time, block=False) - mock_method.assert_not_called() - # Verify cache is working for only orbits by running a segment - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) - msg = verify_messages(self.logs, laikad, return_one_success=True) - self.assertIsNotNone(msg) - # Verify orbit data is not downloaded - mock_method.assert_not_called() - break + + #TODO test cache with only orbits + #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method: + # # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently + # laikad.astro_dog.orbit_fetched_times = TimeRangeHolder() + # laikad.fetch_navs(self.first_gps_time, block=False) + # mock_method.assert_not_called() + + # # Verify cache is working for only orbits by running a segment + # laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) + # msg = verify_messages(self.logs, laikad, return_one_success=True) + # self.assertIsNotNone(msg) + # # Verify orbit data is not downloaded + # mock_method.assert_not_called() + #break def test_low_gnss_meas(self): cnt = 0 @@ -348,5 +350,6 @@ class TestLaikad(unittest.TestCase): self.assertGreater(len(dct), 0) self.assertGreater(min([len(v) for v in dct.values()]), 0) + if __name__ == "__main__": unittest.main() From 38cb42f76aa9fe21b0e71569934864d578499c8e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 15 Mar 2023 20:26:19 -0700 Subject: [PATCH 047/150] LaikaD new cache version (#27596) --- common/params.cc | 2 +- selfdrive/locationd/laikad.py | 2 +- system/loggerd/tests/test_loggerd.py | 8 ++++---- tools/gpstest/rpc_server.py | 2 +- tools/gpstest/test_laikad.py | 2 +- 5 files changed, 8 insertions(+), 8 deletions(-) diff --git a/common/params.cc b/common/params.cc index e74c63bf6a..e71f802d61 100644 --- a/common/params.cc +++ b/common/params.cc @@ -137,7 +137,7 @@ std::unordered_map keys = { {"IsReleaseBranch", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, - {"LaikadEphemerisV2", PERSISTENT | DONT_LOG}, + {"LaikadEphemerisV3", PERSISTENT | DONT_LOG}, {"LanguageSetting", PERSISTENT}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 3f96e4d9f3..f43e68ceba 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -27,7 +27,7 @@ from selfdrive.locationd.models.gnss_kf import States as GStates from system.swaglog import cloudlog MAX_TIME_GAP = 10 -EPHEMERIS_CACHE = 'LaikadEphemerisV2' +EPHEMERIS_CACHE = 'LaikadEphemerisV3' DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/" CACHE_VERSION = 0.2 POS_FIX_RESIDUAL_THRESHOLD = 100.0 diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py index 54098d13d0..f39b8bb9d6 100755 --- a/system/loggerd/tests/test_loggerd.py +++ b/system/loggerd/tests/test_loggerd.py @@ -86,7 +86,7 @@ class TestLoggerd(unittest.TestCase): params.clear_all() for k, _, v in fake_params: params.put(k, v) - params.put("LaikadEphemerisV2", "abc") + params.put("LaikadEphemerisV3", "abc") lr = list(LogReader(str(self._gen_bootlog()))) initData = lr[0].initData @@ -103,14 +103,14 @@ class TestLoggerd(unittest.TestCase): # check params logged_params = {entry.key: entry.value for entry in initData.params.entries} - expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemerisV2'} + expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemerisV3'} assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params - assert logged_params['LaikadEphemerisV2'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV2'])}" + assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}" for param_key, initData_key, v in fake_params: self.assertEqual(getattr(initData, initData_key), v) self.assertEqual(logged_params[param_key].decode(), v) - params.put("LaikadEphemerisV2", "") + params.put("LaikadEphemerisV3", "") def test_rotation(self): os.environ["LOGGERD_TEST"] = "1" diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py index a368566982..178e8b2c3c 100644 --- a/tools/gpstest/rpc_server.py +++ b/tools/gpstest/rpc_server.py @@ -17,7 +17,7 @@ ALT_DELTA = 30 MATCH_NUM = 10 REPORT_STATS = 10 -EPHEM_CACHE = "/data/params/d/LaikadEphemerisV2" +EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3" DOWNLOAD_CACHE = "/tmp/comma_download_cache" SERVER_LOG_FILE = "/tmp/fuzzy_server.log" diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py index 24ffa6c424..689b0f0b9f 100644 --- a/tools/gpstest/test_laikad.py +++ b/tools/gpstest/test_laikad.py @@ -39,7 +39,7 @@ class TestLaikad(unittest.TestCase): def setUp(self): # ensure laikad cold start - Params().remove("LaikadEphemerisV2") + Params().remove("LaikadEphemerisV3") os.environ["LAIKAD_NO_INTERNET"] = "1" managed_processes['laikad'].start() From 57d10a26e7f60e96134c7741716b5c6892f78fda Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 16 Mar 2023 03:58:08 +0000 Subject: [PATCH 048/150] fix tabulate types (#27598) fix types for tabulate --- poetry.lock | 11 +++++------ pyproject.toml | 2 +- 2 files changed, 6 insertions(+), 7 deletions(-) diff --git a/poetry.lock b/poetry.lock index ec4022c81f..521bf3c0c3 100644 --- a/poetry.lock +++ b/poetry.lock @@ -4357,9 +4357,9 @@ types-urllib3 = "<1.27" [[package]] name = "types-tabulate" -version = "0.9.0.1" +version = "0.8.11" description = "Typing stubs for tabulate" -category = "main" +category = "dev" optional = false python-versions = "*" @@ -4575,7 +4575,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "669485055bf8d77336509cb7a3878e06aa32431c520825948914d76b57347fde" +content-hash = "043d4bffddfddc2a5d6d20f51662a9992754831b387eb7e318c2420f3240049e" [metadata.files] adal = [ @@ -5618,7 +5618,6 @@ gevent = [ {file = "gevent-22.10.1-cp310-cp310-win_amd64.whl", hash = "sha256:d2ea4ce36c09355379bc038be2bd50118f97d2eb6381b7096de4d05aa4c3e241"}, {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:3e73c9f71aa2a6795ecbec9b57282b002375e863e283558feb87b62840c8c1ac"}, {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:5bc3758f0dc95007c1780d28a9fd2150416a79c50f308f62a674d78a845ea1b9"}, - {file = "gevent-22.10.1-cp311-cp311-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:03c10ca0beeab0c6be516030471ea630447ddd1f649d3335e5b162097cd4130a"}, {file = "gevent-22.10.1-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:fe2c0ff095171c49f78f1d4e6dc89fa58253783c7b6dccab9f1d76e2ee391f10"}, {file = "gevent-22.10.1-cp36-cp36m-manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:d18fcc324f39a3b21795022eb47c7752d6e4f4ed89d8cca41f1cc604553265b3"}, {file = "gevent-22.10.1-cp36-cp36m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:06ea39c70ce166c4a1d4386c7fae96cb8d84ad799527b3378406051104d15443"}, @@ -8059,8 +8058,8 @@ types-requests = [ {file = "types_requests-2.28.11.2-py3-none-any.whl", hash = "sha256:14941f8023a80b16441b3b46caffcbfce5265fd14555844d6029697824b5a2ef"}, ] types-tabulate = [ - {file = "types-tabulate-0.9.0.1.tar.gz", hash = "sha256:e486292c279f19247865bdabe802419740a0e74b53444e7f7a8009e08129da5d"}, - {file = "types_tabulate-0.9.0.1-py3-none-any.whl", hash = "sha256:be2ea0de05f615ccfcbadf6206aa720e265955eb1de23e343aec9d8bf3fa9aaa"}, + {file = "types-tabulate-0.8.11.tar.gz", hash = "sha256:17a5fa3b5ca453815778fc9865e8ecd0118b07b2b9faff3e2b06fe448174dd5e"}, + {file = "types_tabulate-0.8.11-py3-none-any.whl", hash = "sha256:af811268241e8fb87b63c052c87d1e329898a93191309d5d42111372232b2e0e"}, ] types-urllib3 = [ {file = "types-urllib3-1.26.25.1.tar.gz", hash = "sha256:a948584944b2412c9a74b9cf64f6c48caf8652cb88b38361316f6d15d8a184cd"}, diff --git a/pyproject.toml b/pyproject.toml index b1ad273cd7..c53dcb5381 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -59,7 +59,6 @@ urllib3 = "^1.26.10" utm = "^0.7.0" websocket_client = "^1.3.3" polyline = "^1.4.0" -types-tabulate = "^0.9.0.1" [tool.poetry.group.dev.dependencies] @@ -108,6 +107,7 @@ types-certifi = "^2021.10.8" types-pycurl = "^7.45.1" types-PyYAML = "^6.0" types-requests = "^2.28.11" +types-tabulate = "^0.8.10" [tool.poetry.group.xx] From d26d8b3ba9787dc02b9c116d7e750a3b36dd0846 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Thu, 16 Mar 2023 10:59:27 +0100 Subject: [PATCH 049/150] Improve OX frame timing jitter (#27582) * frame timing script * enable vsync output and improve fsin tracking * increase measurement time * fix python linting --------- Co-authored-by: Comma Device --- .../debug/internal/check_frame_frequencies.py | 43 +++++++++++++++++++ system/camerad/cameras/sensor2_i2c.h | 9 ++-- 2 files changed, 49 insertions(+), 3 deletions(-) create mode 100755 selfdrive/debug/internal/check_frame_frequencies.py diff --git a/selfdrive/debug/internal/check_frame_frequencies.py b/selfdrive/debug/internal/check_frame_frequencies.py new file mode 100755 index 0000000000..9ac8bfc80e --- /dev/null +++ b/selfdrive/debug/internal/check_frame_frequencies.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python3 + +import time +import statistics +import cereal.messaging as messaging + +from typing import Dict + +camera_states = [ + 'roadCameraState', + 'wideRoadCameraState', + 'driverCameraState' +] + +def fmt(val): + ref = 0.05 + return f"{val:.6f} ({100 * val / ref:.2f}%)" + +if __name__ == "__main__": + sm = messaging.SubMaster(camera_states) + + prev_sof = {state: None for state in camera_states} + diffs: Dict[str, list] = {state: [] for state in camera_states} + + st = time.monotonic() + while True: + sm.update() + + for state in camera_states: + if sm.updated[state]: + if prev_sof[state] is not None: + diffs[state].append((sm[state].timestampSof - prev_sof[state]) / 1e9) + prev_sof[state] = sm[state].timestampSof + + if time.monotonic() - st > 10: + for state in camera_states: + values = diffs[state] + ref = 0.05 + print(f"{state} \tMean: {fmt(statistics.mean(values))} \t Min: {fmt(min(values))} \t Max: {fmt(max(values))} \t Std: {statistics.stdev(values):.6f} \t Num frames: {len(values)}") + diffs[state] = [] + + print() + st = time.monotonic() diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h index 83fcb8f7a9..4db4bfd4d8 100644 --- a/system/camerad/cameras/sensor2_i2c.h +++ b/system/camerad/cameras/sensor2_i2c.h @@ -58,7 +58,7 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { // SC ctrl {0x3001, 0x03}, // io_pad_oen - {0x3002, 0xf8}, // io_pad_oen + {0x3002, 0xfc}, // io_pad_oen {0x3005, 0x80}, // io_pad_out {0x3007, 0x01}, // io_pad_sel {0x3008, 0x80}, // io_pad_sel @@ -85,6 +85,9 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3882, 0x8}, {0x3883, 0x0D}, {0x3836, 0x1F}, {0x3837, 0x40}, + {0x3892, 0x44}, + {0x3823, 0x48}, + {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI {0x3020, 0x05}, // SC_CTRL_20 @@ -179,8 +182,8 @@ struct i2c_random_wr_payload init_array_ox03c10[] = { {0x3820, 0x04}, {0x3821, 0x19}, - {0x3832, 0x00}, - {0x3834, 0x00}, + {0x3832, 0xF0}, + {0x3834, 0xF0}, {0x384c, 0x02}, {0x384d, 0x0d}, {0x3850, 0x00}, From c2ec18cb715766a7d83276f13cf26f1a86283f78 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 Mar 2023 10:43:22 -0700 Subject: [PATCH 050/150] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index b231281c8b..c0aea3273a 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit b231281c8b2c79c46892576dee4c8a56d5e0b2d2 +Subproject commit c0aea3273a82a91f10554b1b3317727da99f4564 From 719901b57c1b21183c6208fa8142c56c7a18c61d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 16 Mar 2023 13:06:30 -0700 Subject: [PATCH 051/150] Bump laika (#27605) * bump laika * Update ref_commit --- laika_repo | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/laika_repo b/laika_repo index 354afd63f7..8463fe8fed 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 354afd63f74cac63669637e3d5e33d416405c428 +Subproject commit 8463fe8fed272f58093406a990532084bc060359 diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index dae7ceab1a..50288bfd03 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b79fa775682401c25aa9ce38b5542b4206d0c56b +c8ba9450af16f9efc70eb76a5edc205aed53e779 From e6c514eb72f0c87186c637c8bbd9f19eabcaa140 Mon Sep 17 00:00:00 2001 From: kevinsdev <37430136+kevinsdev@users.noreply.github.com> Date: Thu, 16 Mar 2023 13:24:22 -0700 Subject: [PATCH 052/150] Added firmware for 2021 Lexus NX Base (#27604) * Update values.py Added my 2021 Lexus NX 300 Base * Update values.py Added 2021 Lexus NX Base --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index a8e143e80a..bd2228c3df 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1729,6 +1729,7 @@ FW_VERSIONS = { b'\x018966378B2100\x00\x00\x00\x00', b'\x018966378B3000\x00\x00\x00\x00', b'\x018966378B4100\x00\x00\x00\x00', + b'\x018966378G2000\x00\x00\x00\x00', b'\x018966378G3000\x00\x00\x00\x00', b'\x018966378B2000\x00\x00\x00\x00', ], From 5c383927859a20feccdccaf0102f8d0924d28134 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 16 Mar 2023 13:29:02 -0700 Subject: [PATCH 053/150] Laikad: always return msg (#27599) * always return msg * always return msg * Not all qcom constellations are understood * call error error --- selfdrive/locationd/laikad.py | 38 +++++++++++++++-------------------- 1 file changed, 16 insertions(+), 22 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index f43e68ceba..fe5126522c 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -125,8 +125,15 @@ class Laikad: def is_good_report(self, gnss_msg): if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) - # TODO support GLONASS - return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] + # TODO: Understand and use remaining unknown constellations + try: + good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS] + except NotImplementedError: + good_constellation = False + # gpsWeek 65535 is received rarely from quectel, this cannot be + # passed to GnssMeasurements's gpsWeek (Int16) + good_week = not getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max + return good_constellation and good_week elif gnss_msg.which() == 'measurementReport' and not self.use_qcom: return True else: @@ -196,15 +203,15 @@ class Laikad: return position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, processed_measurements def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): + out_msg = messaging.new_message("gnssMeasurements") if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) - return None + return out_msg elif self.is_good_report(gnss_msg): - week, tow, new_meas = self.read_report(gnss_msg) self.gps_week = week if len(new_meas) == 0: - return None + return out_msg t = gnss_mono_time * 1e-9 if week > 0: @@ -215,17 +222,16 @@ class Laikad: output = self.process_report(new_meas, t) if output is None: - return None + return out_msg position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output self.update_localizer(position_estimate, t, corrected_measurements) meas_msgs = [create_measurement_msg(m) for m in corrected_measurements] - msg = messaging.new_message("gnssMeasurements") measurement_msg = log.LiveLocationKalman.Measurement.new_message P_diag = self.gnss_kf.P.diagonal() kf_valid = all(self.kf_valid(t)) - msg.gnssMeasurements = { + out_msg.gnssMeasurements = { "gpsWeek": week, "gpsTimeOfWeek": tow, "kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), @@ -240,7 +246,7 @@ class Laikad: "measTime": gnss_mono_time, "correctedMeasurements": meas_msgs } - return msg + return out_msg #elif gnss_msg.which() == 'ionoData': # TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them. @@ -377,15 +383,6 @@ class EphemerisSourceType(IntEnum): def process_msg(laikad, gnss_msg, mono_time, block=False): - # TODO: Understand and use remaining unknown constellations - if gnss_msg.which() == "drMeasurementReport": - if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']: - return None - - if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max: - # gpsWeek 65535 is received rarely from quectel, this cannot be - # passed to GnssMeasurements's gpsWeek (Int16) - return None return laikad.process_gnss_msg(gnss_msg, mono_time, block=block) @@ -424,10 +421,7 @@ def main(sm=None, pm=None, qc=None): if sm.updated[raw_gnss_socket]: gnss_msg = sm[raw_gnss_socket] - msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay) - if msg is None: - # TODO: beautify this, locationd needs a valid message - msg = messaging.new_message("gnssMeasurements") + msg = laikad.process_gnss_msg(gnss_msg, sm.logMonoTime[raw_gnss_socket], replay) pm.send('gnssMeasurements', msg) if not laikad.got_first_gnss_msg and sm.updated['clocks']: From a11a5d6231c5d7e677dbd5d13a1ad3b0c21608bc Mon Sep 17 00:00:00 2001 From: freddiebd Date: Thu, 16 Mar 2023 20:34:52 +0000 Subject: [PATCH 054/150] VW MQB: Add FW for 2016 Golf Mk7 (#27581) --- selfdrive/car/volkswagen/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 694b4006f8..2b853f9d7d 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -394,6 +394,7 @@ FW_VERSIONS = { b'\xf1\x8704L906021DT\xf1\x895520', b'\xf1\x8704L906021DT\xf1\x898127', b'\xf1\x8704L906021N \xf1\x895518', + b'\xf1\x8704L906026BN\xf1\x891197', b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026NF\xf1\x899528', b'\xf1\x8704L906056CL\xf1\x893823', @@ -514,6 +515,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1', b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1', From d5dfd3f1a69772c68a24a9069c50cc7fdb7b793c Mon Sep 17 00:00:00 2001 From: klaw73 <127580531+klaw73@users.noreply.github.com> Date: Thu, 16 Mar 2023 16:38:02 -0400 Subject: [PATCH 055/150] Add missing FW for 2020 Lexus NX Hybrid (#27565) * Added fw for 2020LexusNXH * Added fw for 2020LexusNXH * Add fw to 2020Lexus NXH --- selfdrive/car/toyota/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index bd2228c3df..326b07075b 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1752,6 +1752,7 @@ FW_VERSIONS = { CAR.LEXUS_NXH_TSS2: { (Ecu.engine, 0x7e0, None): [ b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', + b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'F152678210\x00\x00\x00\x00\x00\x00', @@ -1761,6 +1762,7 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F3301400\x00\x00\x00\x00', + b'\x018821F3301300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00', From cb5573cbfd4b674d431be1fef04afe9928b58b83 Mon Sep 17 00:00:00 2001 From: Saber422 <81108166+Saber422@users.noreply.github.com> Date: Fri, 17 Mar 2023 05:25:31 +0800 Subject: [PATCH 056/150] VW MQB: Add FW for 2022 Skoda Kodiaq 1.5TSI (#27489) * VW MQB: Add FW for 2022 Skoda Kodiaq 1.5TSI carVin': 'TMBJB9NS3N8051692' * alphabetical order * add to docs --------- Co-authored-by: Cameron Clough Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 2b853f9d7d..5d8c6e13c5 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1075,6 +1075,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026DE\xf1\x895418', b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906026HT\xf1\x893617', + b'\xf1\x8705E906018DJ\xf1\x890915', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', ], @@ -1084,6 +1085,7 @@ FW_VERSIONS = { b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', + b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211', @@ -1091,11 +1093,13 @@ FW_VERSIONS = { b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', + b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', ], (Ecu.fwdRadar, 0x757, None): [ From fe358102f2df380c070b3cfaed28cd3c9d2ea91b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 Mar 2023 14:31:55 -0700 Subject: [PATCH 057/150] test: fix Honda and Hyundai tests (#27606) test honda and hyundai --- selfdrive/car/honda/tests/__init__.py | 0 selfdrive/car/hyundai/tests/__init__.py | 0 2 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 selfdrive/car/honda/tests/__init__.py create mode 100644 selfdrive/car/hyundai/tests/__init__.py diff --git a/selfdrive/car/honda/tests/__init__.py b/selfdrive/car/honda/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/hyundai/tests/__init__.py b/selfdrive/car/hyundai/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 From 0d1e272b917b8c1a98453bbe78337a42cd8451fe Mon Sep 17 00:00:00 2001 From: martinl Date: Thu, 16 Mar 2023 23:32:22 +0200 Subject: [PATCH 058/150] Subaru: Add 2019 Forester FPv2 (#27500) * Subaru: Add 2019 Forester FPv2 * Update selfdrive/car/subaru/values.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/subaru/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 5c7d3f5e4d..9c4447631d 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -273,9 +273,11 @@ FW_VERSIONS = { b'\xa3 \031\024\000', b'\xa3 \x14\x01', b'\xf1\x00\xbb\r\x05', + b'\xa3 \x18&\x00', ], (Ecu.eps, 0x746, None): [ b'\x8d\xc0\x04\x00', + b'\x8d\xc0\x00\x00', ], (Ecu.fwdCamera, 0x787, None): [ b'\x00\x00e!\x1f@ \x11', @@ -292,6 +294,7 @@ FW_VERSIONS = { b'\xcb\"`p\a', b'\xf1\x00\xa2\x10\n', b'\xcf"`p\x07', + b'\xb6\xa2`A\x07', ], (Ecu.transmission, 0x7e1, None): [ b'\032\xf6B0\000', @@ -299,6 +302,7 @@ FW_VERSIONS = { b'\032\xf6b`\000', b'\x1a\xf6B`\x00', b'\x1a\xf6b0\x00', + b'\x1a\xe6B1\x00', ], }, CAR.FORESTER_PREGLOBAL: { From 61f25b5b958ec5f9d420fdd1c607d6665e9b48b1 Mon Sep 17 00:00:00 2001 From: Oxygen Date: Fri, 17 Mar 2023 05:48:29 +0800 Subject: [PATCH 059/150] Firmware version for TOYOTA Camry 2.0G, China built 2022.07 (#27558) Update values.py Firmware version for Carmy 2.0G, China Build 2022.07 Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/values.py | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 326b07075b..43f0593325 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -527,14 +527,17 @@ FW_VERSIONS = { CAR.CAMRY_TSS2: { (Ecu.eps, 0x7a1, None): [ b'8965B33630\x00\x00\x00\x00\x00\x00', + b'8965B33640\x00\x00\x00\x00\x00\x00', ], (Ecu.abs, 0x7b0, None): [ b'\x01F152606370\x00\x00\x00\x00\x00\x00', b'\x01F152606390\x00\x00\x00\x00\x00\x00', b'\x01F152606400\x00\x00\x00\x00\x00\x00', + b'\x01F152606431\x00\x00\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ b'\x018966306Q5000\x00\x00\x00\x00', + b'\x018966306Q9000\x00\x00\x00\x00', b'\x018966306T3100\x00\x00\x00\x00', b'\x018966306T3200\x00\x00\x00\x00', b'\x018966306T4000\x00\x00\x00\x00', @@ -542,11 +545,13 @@ FW_VERSIONS = { ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F6201200\x00\x00\x00\x00', + b'\x018821F6201300\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', ], }, From 87f3a658a7f3a52877136f141ef528d0864bf04b Mon Sep 17 00:00:00 2001 From: Saber422 <81108166+Saber422@users.noreply.github.com> Date: Fri, 17 Mar 2023 06:03:22 +0800 Subject: [PATCH 060/150] =?UTF-8?q?VW=20MQB:=20Add=20FW=20for=202022=20?= =?UTF-8?q?=C5=A0koda=20Kodiaq=20(#27602)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit @jyoung8607 I try to do this joy better I setup my C3 on this car to get information to merge this FPV2 The route name is 0bbe367c98fa1538|2023-03-16--11-41-19--2 Co-authored-by: Shane Smiskol --- 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 5d8c6e13c5..e63975b0c0 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1075,6 +1075,7 @@ FW_VERSIONS = { b'\xf1\x8704L906026DE\xf1\x895418', b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906026HT\xf1\x893617', + b'\xf1\x8783A907115E \xf1\x890001', b'\xf1\x8705E906018DJ\xf1\x890915', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', @@ -1085,6 +1086,7 @@ FW_VERSIONS = { b'\xf1\x870DL300012M \xf1\x892107', b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', + b'\xf1\x870GC300014N \xf1\x892801', b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ @@ -1107,6 +1109,7 @@ FW_VERSIONS = { b'\xf1\x872Q0907572R \xf1\x890372', b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x872Q0907572AA\xf1\x890396', + b'\xf1\x872Q0907572AB\xf1\x890397', ], }, CAR.SKODA_OCTAVIA_MK3: { From 95216de5910c62bf81a7bf6053b5917de98dc825 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Thu, 16 Mar 2023 17:00:54 -0700 Subject: [PATCH 061/150] LAIKAD: TTFF, and ephemeris statuses in logs (#27591) * ttff in logs * More meta info * cleanup * passess tests * unused import * fix linting * ttff of 0 is invalid * ref commit * bump cereal --- cereal | 2 +- laika_repo | 2 +- selfdrive/locationd/laikad.py | 116 ++++++++++++++--------- selfdrive/locationd/test/test_laikad.py | 95 ++++++++----------- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 111 insertions(+), 106 deletions(-) diff --git a/cereal b/cereal index 80a8eb8459..7492dc3f45 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 80a8eb84593feb08dfc0bd47e5c04e586ea4b7a6 +Subproject commit 7492dc3f45702dfdbe0f353f38844e7fbf39ca71 diff --git a/laika_repo b/laika_repo index 8463fe8fed..719c79a156 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 8463fe8fed272f58093406a990532084bc060359 +Subproject commit 719c79a156cd254fa8ebde101c2f48583f91afed diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index fe5126522c..695e9adc03 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -18,7 +18,7 @@ from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime -from laika.helpers import ConstellationId +from laika.helpers import ConstellationId, get_sv_id from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind @@ -33,6 +33,44 @@ CACHE_VERSION = 0.2 POS_FIX_RESIDUAL_THRESHOLD = 100.0 +class LogEphemerisType(IntEnum): + nav = 0 + nasaUltraRapid = 1 + glonassIacUltraRapid = 2 + qcom = 3 + +class EphemerisSource(IntEnum): + gnssChip = 0 + internet = 1 + cache = 2 + unknown = 3 + +def get_log_eph_type(ephem): + if ephem.eph_type == EphemerisType.NAV: + source_type = LogEphemerisType.nav + elif ephem.eph_type == EphemerisType.QCOM_POLY: + source_type = LogEphemerisType.qcom + else: + assert ephem.file_epoch is not None + file_src = ephem.file_source + if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' + source_type = LogEphemerisType.nasaUltraRapid + elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' + source_type = LogEphemerisType.glonassIacUltraRapid + else: + raise Exception(f"Didn't expect file source {file_src}") + return source_type + +def get_log_eph_source(ephem): + if ephem.file_name == 'qcom' or ephem.file_name == 'ublox': + source = EphemerisSource.gnssChip + elif ephem.file_name == EPHEMERIS_CACHE: + source = EphemerisSource.cache + else: + source = EphemerisSource.internet + return source + + class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False, valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY), @@ -64,6 +102,8 @@ class Laikad: self.last_fix_t = None self.gps_week = None self.use_qcom = use_qcom + self.first_log_time = None + self.ttff = -1 def load_cache(self): if not self.save_ephemeris: @@ -76,8 +116,8 @@ class Laikad: nav_dict = {} try: ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) - glonass_navs = [GLONASSEphemeris(data_struct) for data_struct in ephem_cache.glonassEphemerides] - gps_navs = [GPSEphemeris(data_struct) for data_struct in ephem_cache.gpsEphemerides] + glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] + gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides] for e in sum([glonass_navs, gps_navs], []): if e.prn not in nav_dict: nav_dict[e.prn] = [] @@ -99,6 +139,21 @@ class Laikad: cloudlog.debug("Cache saved") self.last_cached_t = self.last_report_time + def create_ephem_statuses(self): + ephemeris_statuses = [] + prns_to_check = self.astro_dog.get_all_ephem_prns() + for prn in prns_to_check: + eph = self.astro_dog.get_eph(prn, self.last_report_time) + if eph is not None: + status = log.GnssMeasurements.EphemerisStatus.new_message() + status.constellationId = ConstellationId.from_rinex_char(prn[0]).value + status.svId = get_sv_id(prn) + status.type = get_log_eph_type(eph).value + status.source = get_log_eph_source(eph).value + ephemeris_statuses.append(status) + return ephemeris_statuses + + def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 @@ -170,10 +225,10 @@ class Laikad: else: if gnss_msg.which() == 'ephemeris': data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) - ephem = GPSEphemeris(data_struct) + ephem = GPSEphemeris(data_struct, file_name='ublox') elif gnss_msg.which() == 'glonassEphemeris': data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) - ephem = GLONASSEphemeris(data_struct) + ephem = GLONASSEphemeris(data_struct, file_name='ublox') else: cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") return @@ -204,6 +259,12 @@ class Laikad: def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): out_msg = messaging.new_message("gnssMeasurements") + out_msg.gnssMeasurements = { + "timeToFirstFix": self.ttff, + "ephemerisStatuses" : self.create_ephem_statuses(), + } + if self.first_log_time is None: + self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) return out_msg @@ -223,6 +284,8 @@ class Laikad: output = self.process_report(new_meas, t) if output is None: return out_msg + if self.ttff <= 0: + self.ttff = max(1e-3, t - self.first_log_time) position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output self.update_localizer(position_estimate, t, corrected_measurements) @@ -244,14 +307,12 @@ class Laikad: "velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)), "measTime": gnss_mono_time, - "correctedMeasurements": meas_msgs + "correctedMeasurements": meas_msgs, + "timeToFirstFix": self.ttff, + "ephemerisStatuses" : self.create_ephem_statuses(), } return out_msg - #elif gnss_msg.which() == 'ionoData': - # TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them. - - def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): # Check time and outputs are valid valid = self.kf_valid(t) @@ -335,31 +396,8 @@ def create_measurement_msg(meas: GNSSMeasurement): c.satPos = meas.sat_pos_final.tolist() c.satVel = meas.sat_vel.tolist() c.satVel = meas.sat_vel.tolist() - ephem = meas.sat_ephemeris - assert ephem is not None - week, time_of_week = -1, -1 - if ephem.eph_type == EphemerisType.NAV: - source_type = EphemerisSourceType.nav - elif ephem.eph_type == EphemerisType.QCOM_POLY: - source_type = EphemerisSourceType.qcom - else: - assert ephem.file_epoch is not None - week = ephem.file_epoch.week - time_of_week = ephem.file_epoch.tow - file_src = ephem.file_source - if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' - source_type = EphemerisSourceType.nasaUltraRapid - elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' - source_type = EphemerisSourceType.glonassIacUltraRapid - else: - raise Exception(f"Didn't expect file source {file_src}") - - c.ephemerisSource.type = source_type.value - c.ephemerisSource.gpsWeek = week - c.ephemerisSource.gpsTimeOfWeek = int(time_of_week) return c - def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]): ekf_data = defaultdict(list) for m in measurements: @@ -375,18 +413,6 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe gnss_kf.predict_and_observe(t, kind, data) -class EphemerisSourceType(IntEnum): - nav = 0 - nasaUltraRapid = 1 - glonassIacUltraRapid = 2 - qcom = 3 - - -def process_msg(laikad, gnss_msg, mono_time, block=False): - - return laikad.process_gnss_msg(gnss_msg, mono_time, block=block) - - def clear_tmp_cache(): if os.path.exists(DOWNLOADS_CACHE_FOLDER): shutil.rmtree(DOWNLOADS_CACHE_FOLDER) diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 2e03551f6e..265db50c6d 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -12,11 +12,11 @@ from tqdm import tqdm from laika.constants import SECS_IN_DAY from laika.downloader import DownloadFailed -from laika.ephemeris import EphemerisType, GPSEphemeris, ephemeris_structs +from laika.ephemeris import EphemerisType from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom -from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg +from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader from selfdrive.manager.process_config import managed_processes @@ -138,9 +138,9 @@ class TestLaikad(unittest.TestCase): laikad = Laikad() laikad.fetch_navs(gpstime, block=False) laikad.orbit_fetch_future.result(30) + # Get results and save orbits to laikad: laikad.fetch_navs(gpstime, block=False) - ephem = laikad.astro_dog.navs['G01'][0] self.assertIsNotNone(ephem) @@ -153,6 +153,7 @@ class TestLaikad(unittest.TestCase): self.assertIsNotNone(ephem) self.assertNotEqual(ephem, ephem2) + def test_fetch_navs_with_wrong_clocks(self): laikad = Laikad() @@ -175,35 +176,6 @@ class TestLaikad(unittest.TestCase): check_has_navs() self.assertEqual(laikad.last_fetch_navs_t, real_current_time) - def test_ephemeris_source_in_msg(self): - dicto = {'svId': 1} - data_mock = ephemeris_structs.Ephemeris.new_message(**dicto) - - gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC - laikad = Laikad() - laikad.fetch_navs(gpstime, block=True) - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - # Verify gps satellite returns same source - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - - # Test nasa source by using older date - gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) - laikad = Laikad() - laikad.fetch_navs(gpstime, block=True) - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['G01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - - # Test nav source type - ephem = GPSEphemeris(data_mock) - meas = get_measurement_mock(gpstime, ephem) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - def test_laika_online(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) correct_msgs = verify_messages(self.logs, laikad) @@ -263,26 +235,34 @@ class TestLaikad(unittest.TestCase): self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) def test_get_navs_in_process(self): - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): - laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=False) - has_navs = False - has_fix = False - for m in logs: - gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss - out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) - if laikad.orbit_fetch_future is not None: - laikad.orbit_fetch_future.result() - vals = laikad.astro_dog.navs.values() - has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 - vals = laikad.astro_dog.qcom_polys.values() - has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 - if out_msg is not None: + for auto_fetch_navs in [True, False]: + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs) + has_navs = False + has_fix = False + seen_chip_eph = False + seen_internet_eph = False + + for m in logs: + gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss + out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) + if laikad.orbit_fetch_future is not None: + laikad.orbit_fetch_future.result() + vals = laikad.astro_dog.navs.values() + has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 + vals = laikad.astro_dog.qcom_polys.values() + has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid - - self.assertTrue(has_navs or has_polys) - self.assertTrue(has_fix) - self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0) - self.assertEqual(None, laikad.orbit_fetch_future) + if len(out_msg.gnssMeasurements.ephemerisStatuses): + seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses]) + seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses]) + + self.assertTrue(has_navs or has_polys) + self.assertTrue(has_fix) + self.assertTrue(seen_chip_eph or auto_fetch_navs) + self.assertTrue(seen_internet_eph or not auto_fetch_navs) + self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0) + self.assertEqual(None, laikad.orbit_fetch_future) def test_cache(self): use_qcom = True @@ -303,18 +283,19 @@ class TestLaikad(unittest.TestCase): Params().remove(EPHEMERIS_CACHE) #laikad.astro_dog.get_navs(self.first_gps_time) - laikad.last_report_time = GPSTime(2,0) - laikad.fetch_navs(self.first_gps_time, block=True) - - # Wait for cache to save + msg = verify_messages(logs, laikad, return_one_success=True) + laikad.cache_ephemeris() wait_for_cache() # Check both nav and orbits separate - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True, use_qcom=use_qcom) + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, + save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False) # Verify navs are loaded from cache self.dict_has_values(laikad.astro_dog.navs) # Verify cache is working for only nav by running a segment msg = verify_messages(logs, laikad, return_one_success=True) + self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses)) + self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses])) self.assertIsNotNone(msg) @@ -349,7 +330,5 @@ class TestLaikad(unittest.TestCase): def dict_has_values(self, dct): self.assertGreater(len(dct), 0) self.assertGreater(min([len(v) for v in dct.values()]), 0) - - if __name__ == "__main__": unittest.main() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 50288bfd03..fbe02bda3a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c8ba9450af16f9efc70eb76a5edc205aed53e779 +3b127e8aa63d3e5d260e130631ebc2dd67347556 From 4cff94366f751e53363c811a129f0d2dd93b4655 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 16 Mar 2023 19:01:45 -0700 Subject: [PATCH 062/150] Revert "LAIKAD: TTFF, and ephemeris statuses in logs (#27591)" This reverts commit 95216de5910c62bf81a7bf6053b5917de98dc825. --- cereal | 2 +- laika_repo | 2 +- selfdrive/locationd/laikad.py | 116 +++++++++-------------- selfdrive/locationd/test/test_laikad.py | 95 +++++++++++-------- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 106 insertions(+), 111 deletions(-) diff --git a/cereal b/cereal index 7492dc3f45..80a8eb8459 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 7492dc3f45702dfdbe0f353f38844e7fbf39ca71 +Subproject commit 80a8eb84593feb08dfc0bd47e5c04e586ea4b7a6 diff --git a/laika_repo b/laika_repo index 719c79a156..8463fe8fed 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 719c79a156cd254fa8ebde101c2f48583f91afed +Subproject commit 8463fe8fed272f58093406a990532084bc060359 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 695e9adc03..fe5126522c 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -18,7 +18,7 @@ from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime -from laika.helpers import ConstellationId, get_sv_id +from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind @@ -33,44 +33,6 @@ CACHE_VERSION = 0.2 POS_FIX_RESIDUAL_THRESHOLD = 100.0 -class LogEphemerisType(IntEnum): - nav = 0 - nasaUltraRapid = 1 - glonassIacUltraRapid = 2 - qcom = 3 - -class EphemerisSource(IntEnum): - gnssChip = 0 - internet = 1 - cache = 2 - unknown = 3 - -def get_log_eph_type(ephem): - if ephem.eph_type == EphemerisType.NAV: - source_type = LogEphemerisType.nav - elif ephem.eph_type == EphemerisType.QCOM_POLY: - source_type = LogEphemerisType.qcom - else: - assert ephem.file_epoch is not None - file_src = ephem.file_source - if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' - source_type = LogEphemerisType.nasaUltraRapid - elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' - source_type = LogEphemerisType.glonassIacUltraRapid - else: - raise Exception(f"Didn't expect file source {file_src}") - return source_type - -def get_log_eph_source(ephem): - if ephem.file_name == 'qcom' or ephem.file_name == 'ublox': - source = EphemerisSource.gnssChip - elif ephem.file_name == EPHEMERIS_CACHE: - source = EphemerisSource.cache - else: - source = EphemerisSource.internet - return source - - class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False, valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY), @@ -102,8 +64,6 @@ class Laikad: self.last_fix_t = None self.gps_week = None self.use_qcom = use_qcom - self.first_log_time = None - self.ttff = -1 def load_cache(self): if not self.save_ephemeris: @@ -116,8 +76,8 @@ class Laikad: nav_dict = {} try: ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) - glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] - gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides] + glonass_navs = [GLONASSEphemeris(data_struct) for data_struct in ephem_cache.glonassEphemerides] + gps_navs = [GPSEphemeris(data_struct) for data_struct in ephem_cache.gpsEphemerides] for e in sum([glonass_navs, gps_navs], []): if e.prn not in nav_dict: nav_dict[e.prn] = [] @@ -139,21 +99,6 @@ class Laikad: cloudlog.debug("Cache saved") self.last_cached_t = self.last_report_time - def create_ephem_statuses(self): - ephemeris_statuses = [] - prns_to_check = self.astro_dog.get_all_ephem_prns() - for prn in prns_to_check: - eph = self.astro_dog.get_eph(prn, self.last_report_time) - if eph is not None: - status = log.GnssMeasurements.EphemerisStatus.new_message() - status.constellationId = ConstellationId.from_rinex_char(prn[0]).value - status.svId = get_sv_id(prn) - status.type = get_log_eph_type(eph).value - status.source = get_log_eph_source(eph).value - ephemeris_statuses.append(status) - return ephemeris_statuses - - def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 @@ -225,10 +170,10 @@ class Laikad: else: if gnss_msg.which() == 'ephemeris': data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) - ephem = GPSEphemeris(data_struct, file_name='ublox') + ephem = GPSEphemeris(data_struct) elif gnss_msg.which() == 'glonassEphemeris': data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) - ephem = GLONASSEphemeris(data_struct, file_name='ublox') + ephem = GLONASSEphemeris(data_struct) else: cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") return @@ -259,12 +204,6 @@ class Laikad: def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): out_msg = messaging.new_message("gnssMeasurements") - out_msg.gnssMeasurements = { - "timeToFirstFix": self.ttff, - "ephemerisStatuses" : self.create_ephem_statuses(), - } - if self.first_log_time is None: - self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) return out_msg @@ -284,8 +223,6 @@ class Laikad: output = self.process_report(new_meas, t) if output is None: return out_msg - if self.ttff <= 0: - self.ttff = max(1e-3, t - self.first_log_time) position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output self.update_localizer(position_estimate, t, corrected_measurements) @@ -307,12 +244,14 @@ class Laikad: "velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)), "measTime": gnss_mono_time, - "correctedMeasurements": meas_msgs, - "timeToFirstFix": self.ttff, - "ephemerisStatuses" : self.create_ephem_statuses(), + "correctedMeasurements": meas_msgs } return out_msg + #elif gnss_msg.which() == 'ionoData': + # TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them. + + def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): # Check time and outputs are valid valid = self.kf_valid(t) @@ -396,8 +335,31 @@ def create_measurement_msg(meas: GNSSMeasurement): c.satPos = meas.sat_pos_final.tolist() c.satVel = meas.sat_vel.tolist() c.satVel = meas.sat_vel.tolist() + ephem = meas.sat_ephemeris + assert ephem is not None + week, time_of_week = -1, -1 + if ephem.eph_type == EphemerisType.NAV: + source_type = EphemerisSourceType.nav + elif ephem.eph_type == EphemerisType.QCOM_POLY: + source_type = EphemerisSourceType.qcom + else: + assert ephem.file_epoch is not None + week = ephem.file_epoch.week + time_of_week = ephem.file_epoch.tow + file_src = ephem.file_source + if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' + source_type = EphemerisSourceType.nasaUltraRapid + elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' + source_type = EphemerisSourceType.glonassIacUltraRapid + else: + raise Exception(f"Didn't expect file source {file_src}") + + c.ephemerisSource.type = source_type.value + c.ephemerisSource.gpsWeek = week + c.ephemerisSource.gpsTimeOfWeek = int(time_of_week) return c + def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]): ekf_data = defaultdict(list) for m in measurements: @@ -413,6 +375,18 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe gnss_kf.predict_and_observe(t, kind, data) +class EphemerisSourceType(IntEnum): + nav = 0 + nasaUltraRapid = 1 + glonassIacUltraRapid = 2 + qcom = 3 + + +def process_msg(laikad, gnss_msg, mono_time, block=False): + + return laikad.process_gnss_msg(gnss_msg, mono_time, block=block) + + def clear_tmp_cache(): if os.path.exists(DOWNLOADS_CACHE_FOLDER): shutil.rmtree(DOWNLOADS_CACHE_FOLDER) diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 265db50c6d..2e03551f6e 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -12,11 +12,11 @@ from tqdm import tqdm from laika.constants import SECS_IN_DAY from laika.downloader import DownloadFailed -from laika.ephemeris import EphemerisType +from laika.ephemeris import EphemerisType, GPSEphemeris, ephemeris_structs from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom -from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad +from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader from selfdrive.manager.process_config import managed_processes @@ -138,9 +138,9 @@ class TestLaikad(unittest.TestCase): laikad = Laikad() laikad.fetch_navs(gpstime, block=False) laikad.orbit_fetch_future.result(30) - # Get results and save orbits to laikad: laikad.fetch_navs(gpstime, block=False) + ephem = laikad.astro_dog.navs['G01'][0] self.assertIsNotNone(ephem) @@ -153,7 +153,6 @@ class TestLaikad(unittest.TestCase): self.assertIsNotNone(ephem) self.assertNotEqual(ephem, ephem2) - def test_fetch_navs_with_wrong_clocks(self): laikad = Laikad() @@ -176,6 +175,35 @@ class TestLaikad(unittest.TestCase): check_has_navs() self.assertEqual(laikad.last_fetch_navs_t, real_current_time) + def test_ephemeris_source_in_msg(self): + dicto = {'svId': 1} + data_mock = ephemeris_structs.Ephemeris.new_message(**dicto) + + gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC + laikad = Laikad() + laikad.fetch_navs(gpstime, block=True) + meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0]) + msg = create_measurement_msg(meas) + self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) + # Verify gps satellite returns same source + meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0]) + msg = create_measurement_msg(meas) + self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) + + # Test nasa source by using older date + gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) + laikad = Laikad() + laikad.fetch_navs(gpstime, block=True) + meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['G01'][0]) + msg = create_measurement_msg(meas) + self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) + + # Test nav source type + ephem = GPSEphemeris(data_mock) + meas = get_measurement_mock(gpstime, ephem) + msg = create_measurement_msg(meas) + self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) + def test_laika_online(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) correct_msgs = verify_messages(self.logs, laikad) @@ -235,34 +263,26 @@ class TestLaikad(unittest.TestCase): self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) def test_get_navs_in_process(self): - for auto_fetch_navs in [True, False]: - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): - laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs) - has_navs = False - has_fix = False - seen_chip_eph = False - seen_internet_eph = False - - for m in logs: - gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss - out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) - if laikad.orbit_fetch_future is not None: - laikad.orbit_fetch_future.result() - vals = laikad.astro_dog.navs.values() - has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 - vals = laikad.astro_dog.qcom_polys.values() - has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=False) + has_navs = False + has_fix = False + for m in logs: + gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss + out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) + if laikad.orbit_fetch_future is not None: + laikad.orbit_fetch_future.result() + vals = laikad.astro_dog.navs.values() + has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 + vals = laikad.astro_dog.qcom_polys.values() + has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 + if out_msg is not None: has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid - if len(out_msg.gnssMeasurements.ephemerisStatuses): - seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses]) - seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses]) - - self.assertTrue(has_navs or has_polys) - self.assertTrue(has_fix) - self.assertTrue(seen_chip_eph or auto_fetch_navs) - self.assertTrue(seen_internet_eph or not auto_fetch_navs) - self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0) - self.assertEqual(None, laikad.orbit_fetch_future) + + self.assertTrue(has_navs or has_polys) + self.assertTrue(has_fix) + self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0) + self.assertEqual(None, laikad.orbit_fetch_future) def test_cache(self): use_qcom = True @@ -283,19 +303,18 @@ class TestLaikad(unittest.TestCase): Params().remove(EPHEMERIS_CACHE) #laikad.astro_dog.get_navs(self.first_gps_time) - msg = verify_messages(logs, laikad, return_one_success=True) - laikad.cache_ephemeris() + laikad.last_report_time = GPSTime(2,0) + laikad.fetch_navs(self.first_gps_time, block=True) + + # Wait for cache to save wait_for_cache() # Check both nav and orbits separate - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, - save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False) + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True, use_qcom=use_qcom) # Verify navs are loaded from cache self.dict_has_values(laikad.astro_dog.navs) # Verify cache is working for only nav by running a segment msg = verify_messages(logs, laikad, return_one_success=True) - self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses)) - self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses])) self.assertIsNotNone(msg) @@ -330,5 +349,7 @@ class TestLaikad(unittest.TestCase): def dict_has_values(self, dct): self.assertGreater(len(dct), 0) self.assertGreater(min([len(v) for v in dct.values()]), 0) + + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index fbe02bda3a..50288bfd03 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -3b127e8aa63d3e5d260e130631ebc2dd67347556 +c8ba9450af16f9efc70eb76a5edc205aed53e779 From 4208b74ed8dbabe884646f9de69caefb666b6b44 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Thu, 16 Mar 2023 19:04:04 -0700 Subject: [PATCH 063/150] update to torch 2.0 and cuda 11.8 (#27608) * wip: update to torch 2.0 * update opencv --- pyproject.toml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/pyproject.toml b/pyproject.toml index c53dcb5381..7506ee552d 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -83,7 +83,7 @@ mypy = "^0.961" myst-parser = "^0.18.0" natsort = "^8.1.0" numpy = "^1.23.0" -opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" } +opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" } pandas = "^1.4.3" parameterized = "^0.8.1" paramiko = "^2.11.0" @@ -117,7 +117,7 @@ optional = true 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" } +apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/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" @@ -127,7 +127,7 @@ azure-storage-nspkg = "~3.1" blosc = "==1.9.2" cloudpickle = "^2.1.0" configargparse = "^1.5.3" -cupy-cuda113 = "^10.6.0" +cupy-cuda11x = "^11.6.0" datadog = "^0.44.0" dotmap = "^1.3.30" einops = "^0.5.0" @@ -166,10 +166,10 @@ 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" } +torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-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" +torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" } +triton = "^2.0.0" Werkzeug = "^2.1.2" zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" } omegaconf = "^2.3.0" From b0ba79451e63d376dec436545f98f648b3a933db Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Thu, 16 Mar 2023 21:09:21 -0700 Subject: [PATCH 064/150] upgrade to torch 2.0 cuda 11.8 (#27611) forgot to lock --- poetry.lock | 133 ++++++++++++++++++++++++++++++++++++++-------------- 1 file changed, 98 insertions(+), 35 deletions(-) diff --git a/poetry.lock b/poetry.lock index 521bf3c0c3..4abd6777ba 100644 --- a/poetry.lock +++ b/poetry.lock @@ -113,10 +113,12 @@ category = "dev" optional = false python-versions = "*" +[package.dependencies] +packaging = ">20.6" + [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" - +url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" [[package]] name = "appdirs" version = "1.4.4" @@ -600,6 +602,17 @@ category = "dev" optional = false python-versions = ">=3.6" +[[package]] +name = "cmake" +version = "3.26.0" +description = "CMake is an open-source, cross-platform family of tools designed to build, test and package software" +category = "dev" +optional = false +python-versions = "*" + +[package.extras] +test = ["codecov (>=2.0.5)", "coverage (>=4.2)", "flake8 (>=3.0.4)", "path.py (>=11.5.0)", "pytest (>=3.0.3)", "pytest-cov (>=2.4.0)", "pytest-runner (>=2.9)", "pytest-virtualenv (>=1.7.0)", "scikit-build (>=0.10.0)", "setuptools (>=28.0.0)", "virtualenv (>=15.0.3)", "wheel"] + [[package]] name = "colorama" version = "0.4.5" @@ -716,8 +729,8 @@ ssh = 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selfdrive/locationd/test/test_laikad.py | 95 +++++++----------- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 112 insertions(+), 106 deletions(-) diff --git a/cereal b/cereal index 80a8eb8459..7492dc3f45 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 80a8eb84593feb08dfc0bd47e5c04e586ea4b7a6 +Subproject commit 7492dc3f45702dfdbe0f353f38844e7fbf39ca71 diff --git a/laika_repo b/laika_repo index 8463fe8fed..719c79a156 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 8463fe8fed272f58093406a990532084bc060359 +Subproject commit 719c79a156cd254fa8ebde101c2f48583f91afed diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index fe5126522c..3698867ec9 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -18,7 +18,7 @@ from laika.constants import SECS_IN_HR, SECS_IN_MIN from laika.downloader import DownloadFailed from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem from laika.gps_time import GPSTime -from laika.helpers import ConstellationId +from laika.helpers import ConstellationId, get_sv_id from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind @@ -33,6 +33,44 @@ CACHE_VERSION = 0.2 POS_FIX_RESIDUAL_THRESHOLD = 100.0 +class LogEphemerisType(IntEnum): + nav = 0 + nasaUltraRapid = 1 + glonassIacUltraRapid = 2 + qcom = 3 + +class EphemerisSource(IntEnum): + gnssChip = 0 + internet = 1 + cache = 2 + unknown = 3 + +def get_log_eph_type(ephem): + if ephem.eph_type == EphemerisType.NAV: + source_type = LogEphemerisType.nav + elif ephem.eph_type == EphemerisType.QCOM_POLY: + source_type = LogEphemerisType.qcom + else: + assert ephem.file_epoch is not None + file_src = ephem.file_source + if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' + source_type = LogEphemerisType.nasaUltraRapid + elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' + source_type = LogEphemerisType.glonassIacUltraRapid + else: + raise Exception(f"Didn't expect file source {file_src}") + return source_type + +def get_log_eph_source(ephem): + if ephem.file_name == 'qcom' or ephem.file_name == 'ublox': + source = EphemerisSource.gnssChip + elif ephem.file_name == EPHEMERIS_CACHE: + source = EphemerisSource.cache + else: + source = EphemerisSource.internet + return source + + class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False, valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY), @@ -64,6 +102,8 @@ class Laikad: self.last_fix_t = None self.gps_week = None self.use_qcom = use_qcom + self.first_log_time = None + self.ttff = -1 def load_cache(self): if not self.save_ephemeris: @@ -76,8 +116,8 @@ class Laikad: nav_dict = {} try: ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) - glonass_navs = [GLONASSEphemeris(data_struct) for data_struct in ephem_cache.glonassEphemerides] - gps_navs = [GPSEphemeris(data_struct) for data_struct in ephem_cache.gpsEphemerides] + glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] + gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides] for e in sum([glonass_navs, gps_navs], []): if e.prn not in nav_dict: nav_dict[e.prn] = [] @@ -99,6 +139,22 @@ class Laikad: cloudlog.debug("Cache saved") self.last_cached_t = self.last_report_time + def create_ephem_statuses(self): + ephemeris_statuses = [] + prns_to_check = list(self.astro_dog.get_all_ephem_prns()) + prns_to_check.sort() + for prn in prns_to_check: + eph = self.astro_dog.get_eph(prn, self.last_report_time) + if eph is not None: + status = log.GnssMeasurements.EphemerisStatus.new_message() + status.constellationId = ConstellationId.from_rinex_char(prn[0]).value + status.svId = get_sv_id(prn) + status.type = get_log_eph_type(eph).value + status.source = get_log_eph_source(eph).value + ephemeris_statuses.append(status) + return ephemeris_statuses + + def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 @@ -170,10 +226,10 @@ class Laikad: else: if gnss_msg.which() == 'ephemeris': data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) - ephem = GPSEphemeris(data_struct) + ephem = GPSEphemeris(data_struct, file_name='ublox') elif gnss_msg.which() == 'glonassEphemeris': data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) - ephem = GLONASSEphemeris(data_struct) + ephem = GLONASSEphemeris(data_struct, file_name='ublox') else: cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") return @@ -204,6 +260,12 @@ class Laikad: def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): out_msg = messaging.new_message("gnssMeasurements") + out_msg.gnssMeasurements = { + "timeToFirstFix": self.ttff, + "ephemerisStatuses" : self.create_ephem_statuses(), + } + if self.first_log_time is None: + self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) return out_msg @@ -223,6 +285,8 @@ class Laikad: output = self.process_report(new_meas, t) if output is None: return out_msg + if self.ttff <= 0: + self.ttff = max(1e-3, t - self.first_log_time) position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output self.update_localizer(position_estimate, t, corrected_measurements) @@ -244,14 +308,12 @@ class Laikad: "velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)), "measTime": gnss_mono_time, - "correctedMeasurements": meas_msgs + "correctedMeasurements": meas_msgs, + "timeToFirstFix": self.ttff, + "ephemerisStatuses" : self.create_ephem_statuses(), } return out_msg - #elif gnss_msg.which() == 'ionoData': - # TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them. - - def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): # Check time and outputs are valid valid = self.kf_valid(t) @@ -335,31 +397,8 @@ def create_measurement_msg(meas: GNSSMeasurement): c.satPos = meas.sat_pos_final.tolist() c.satVel = meas.sat_vel.tolist() c.satVel = meas.sat_vel.tolist() - ephem = meas.sat_ephemeris - assert ephem is not None - week, time_of_week = -1, -1 - if ephem.eph_type == EphemerisType.NAV: - source_type = EphemerisSourceType.nav - elif ephem.eph_type == EphemerisType.QCOM_POLY: - source_type = EphemerisSourceType.qcom - else: - assert ephem.file_epoch is not None - week = ephem.file_epoch.week - time_of_week = ephem.file_epoch.tow - file_src = ephem.file_source - if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z' - source_type = EphemerisSourceType.nasaUltraRapid - elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3' - source_type = EphemerisSourceType.glonassIacUltraRapid - else: - raise Exception(f"Didn't expect file source {file_src}") - - c.ephemerisSource.type = source_type.value - c.ephemerisSource.gpsWeek = week - c.ephemerisSource.gpsTimeOfWeek = int(time_of_week) return c - def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]): ekf_data = defaultdict(list) for m in measurements: @@ -375,18 +414,6 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe gnss_kf.predict_and_observe(t, kind, data) -class EphemerisSourceType(IntEnum): - nav = 0 - nasaUltraRapid = 1 - glonassIacUltraRapid = 2 - qcom = 3 - - -def process_msg(laikad, gnss_msg, mono_time, block=False): - - return laikad.process_gnss_msg(gnss_msg, mono_time, block=block) - - def clear_tmp_cache(): if os.path.exists(DOWNLOADS_CACHE_FOLDER): shutil.rmtree(DOWNLOADS_CACHE_FOLDER) diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 2e03551f6e..265db50c6d 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -12,11 +12,11 @@ from tqdm import tqdm from laika.constants import SECS_IN_DAY from laika.downloader import DownloadFailed -from laika.ephemeris import EphemerisType, GPSEphemeris, ephemeris_structs +from laika.ephemeris import EphemerisType from laika.gps_time import GPSTime from laika.helpers import ConstellationId from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom -from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg +from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader from selfdrive.manager.process_config import managed_processes @@ -138,9 +138,9 @@ class TestLaikad(unittest.TestCase): laikad = Laikad() laikad.fetch_navs(gpstime, block=False) laikad.orbit_fetch_future.result(30) + # Get results and save orbits to laikad: laikad.fetch_navs(gpstime, block=False) - ephem = laikad.astro_dog.navs['G01'][0] self.assertIsNotNone(ephem) @@ -153,6 +153,7 @@ class TestLaikad(unittest.TestCase): self.assertIsNotNone(ephem) self.assertNotEqual(ephem, ephem2) + def test_fetch_navs_with_wrong_clocks(self): laikad = Laikad() @@ -175,35 +176,6 @@ class TestLaikad(unittest.TestCase): check_has_navs() self.assertEqual(laikad.last_fetch_navs_t, real_current_time) - def test_ephemeris_source_in_msg(self): - dicto = {'svId': 1} - data_mock = ephemeris_structs.Ephemeris.new_message(**dicto) - - gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC - laikad = Laikad() - laikad.fetch_navs(gpstime, block=True) - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - # Verify gps satellite returns same source - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - - # Test nasa source by using older date - gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) - laikad = Laikad() - laikad.fetch_navs(gpstime, block=True) - meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['G01'][0]) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - - # Test nav source type - ephem = GPSEphemeris(data_mock) - meas = get_measurement_mock(gpstime, ephem) - msg = create_measurement_msg(meas) - self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav) - def test_laika_online(self): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) correct_msgs = verify_messages(self.logs, laikad) @@ -263,26 +235,34 @@ class TestLaikad(unittest.TestCase): self.assertGreater(len(laikad.astro_dog.navs[prn]), 0) def test_get_navs_in_process(self): - for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): - laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=False) - has_navs = False - has_fix = False - for m in logs: - gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss - out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) - if laikad.orbit_fetch_future is not None: - laikad.orbit_fetch_future.result() - vals = laikad.astro_dog.navs.values() - has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 - vals = laikad.astro_dog.qcom_polys.values() - has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 - if out_msg is not None: + for auto_fetch_navs in [True, False]: + for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]): + laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs) + has_navs = False + has_fix = False + seen_chip_eph = False + seen_internet_eph = False + + for m in logs: + gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss + out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False) + if laikad.orbit_fetch_future is not None: + laikad.orbit_fetch_future.result() + vals = laikad.astro_dog.navs.values() + has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0 + vals = laikad.astro_dog.qcom_polys.values() + has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0 has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid - - self.assertTrue(has_navs or has_polys) - self.assertTrue(has_fix) - self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0) - self.assertEqual(None, laikad.orbit_fetch_future) + if len(out_msg.gnssMeasurements.ephemerisStatuses): + seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses]) + seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses]) + + self.assertTrue(has_navs or has_polys) + self.assertTrue(has_fix) + self.assertTrue(seen_chip_eph or auto_fetch_navs) + self.assertTrue(seen_internet_eph or not auto_fetch_navs) + self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0) + self.assertEqual(None, laikad.orbit_fetch_future) def test_cache(self): use_qcom = True @@ -303,18 +283,19 @@ class TestLaikad(unittest.TestCase): Params().remove(EPHEMERIS_CACHE) #laikad.astro_dog.get_navs(self.first_gps_time) - laikad.last_report_time = GPSTime(2,0) - laikad.fetch_navs(self.first_gps_time, block=True) - - # Wait for cache to save + msg = verify_messages(logs, laikad, return_one_success=True) + laikad.cache_ephemeris() wait_for_cache() # Check both nav and orbits separate - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True, use_qcom=use_qcom) + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, + save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False) # Verify navs are loaded from cache self.dict_has_values(laikad.astro_dog.navs) # Verify cache is working for only nav by running a segment msg = verify_messages(logs, laikad, return_one_success=True) + self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses)) + self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses])) self.assertIsNotNone(msg) @@ -349,7 +330,5 @@ class TestLaikad(unittest.TestCase): def dict_has_values(self, dct): self.assertGreater(len(dct), 0) self.assertGreater(min([len(v) for v in dct.values()]), 0) - - if __name__ == "__main__": unittest.main() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 50288bfd03..cbe2a016ce 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -c8ba9450af16f9efc70eb76a5edc205aed53e779 +5775220ec2e62dcdedb92d96270f1380bbd88c39 From b5198f99ea66c68aab87f4d9e525d306ebe97b72 Mon Sep 17 00:00:00 2001 From: Kay Oh Date: Fri, 17 Mar 2023 15:08:51 +0900 Subject: [PATCH 066/150] Add missing FW for 2022 (2023MY) Hyundai IONIQ 5 (#27590) Update values.py Korean Ver. --- 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 cf0143543a..f7cedf550e 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1562,6 +1562,7 @@ FW_VERSIONS = { b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206', b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614', + b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', From 2f95148a67bce42dc8ba9954d7bc87197e5adbd2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 16 Mar 2023 23:16:11 -0700 Subject: [PATCH 067/150] bump panda (#27612) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index c0aea3273a..e4cc97d882 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit c0aea3273a82a91f10554b1b3317727da99f4564 +Subproject commit e4cc97d8826dc95a7833b859c36948302445a499 From 57c4d78869ad197189427ab68c45ac8cc7bbd9d0 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 17 Mar 2023 00:03:21 -0700 Subject: [PATCH 068/150] Toyota: add 2023 RAV4/RAV4 Hybrid as dashcam (#27609) * test out lta message * correctly send * percentage is percentage driver isn't overriding * closer to stock system * should be able to send LTA at 100hz, counter is the same as LKA * small amount of torque towards desired * Offset commanded torque correctly * Too little torque * use car's SETME's * Revert "use car's SETME's" This reverts commit c88856969995f97cc5ec4e2b24a5cc4e3ef4721a. * try cutting steer every second * Didn't seem to matter This reverts commit 6923498b2a9eed8beb3998f441899f1df4948f6f. * steer to 0 * let packer set counter * add for camry * log steer faults * comments * bump opendbc * add opParams * add lta safety * set safety param * fix torque control bug * bump panda * fix missing signal * [experiment] apply some rate limiting and anti-windup * no faults, clip to 90 deg, decent torque blending * clean up blending * toyota angle rate limits * use std angle limits * assert we only add angle control to TSS2 cars * clean up carcontroller a bit * space space * bump opendbc * clean up toyotacan from opendbc change * bump panda * will tests run? * steer at zero * refactor angle to use LatControlPID with zero gains * stop some faults and tuning * possibly fix integral wind up at max torque * Add 2023 rav4 * limit torque inside EPS when overriding (no huge windup in edge cases when overriding) * fix wind up issue after turns (or prolonged saturation) * this doesn't work that well * try these limits * try this * log the angle! * global variable * Apply suggestions from code review * clip angle to 3 m/s/s * some tolerance for roll * raise limits a bit * bumppanda * fix faults * still not good * offsetting causing hugging? * Revert "offsetting causing hugging?" This reverts commit a42ec0b772ed74a1fd54b7fef2e7c275a3e8333b. * reduce kp * class var not needed * limit up angle delta * fix saturation check * feedforward includes offset * some threshold for roll * bump panda * surely we don't need this * test stuff * Toyota: Add FW for 2023 RAV4 Hybrid (#27494) * Toyota: Add FW for 2023 RAV4 Hybrid * Set RAVH_TSS2_2022 to use angle SteerControlType * bump panda * remove extras * Revert "remove extras" This reverts commit 87378e734915c107f57f99a5feef4dcb2b2a9a37. * no max angle limit for now * add as separate platforms * remove debug scripts * revert to master * remove these FW versions from 2022 * dashcam these cars :( * fix test * interface * add to untested routes * never send torque with LTA cars * fix values * clean up controlsd * reset lat control files * use the car param * add to params * bump panda to master * Update selfdrive/car/toyota/carcontroller.py * don't set torque params if angle control (fixes controlsd bug) * reset controlsd * keyword * in another pr * simplify test * rm line * Update selfdrive/car/toyota/tests/test_toyota.py --------- Co-authored-by: crispbee <84819466+crispbee@users.noreply.github.com> --- selfdrive/car/tests/routes.py | 2 + selfdrive/car/torque_data/override.yaml | 4 ++ selfdrive/car/toyota/carcontroller.py | 5 +++ selfdrive/car/toyota/interface.py | 18 +++++--- selfdrive/car/toyota/tests/__init__.py | 0 selfdrive/car/toyota/tests/test_toyota.py | 13 ++++++ selfdrive/car/toyota/values.py | 51 +++++++++++++++++++++-- 7 files changed, 83 insertions(+), 10 deletions(-) create mode 100644 selfdrive/car/toyota/tests/__init__.py create mode 100755 selfdrive/car/toyota/tests/test_toyota.py diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 4ca7c0a16c..2c4ec84e86 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -27,6 +27,8 @@ non_tested_cars = [ HYUNDAI.KIA_OPTIMA_H, HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter + TOYOTA.RAV4_TSS2_2023, + TOYOTA.RAV4H_TSS2_2023, ] CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,)) diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index cc1681bce1..75051316fa 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] NISSAN LEAF 2018: [.nan, 1.5, .nan] NISSAN ROGUE 2019: [.nan, 1.5, .nan] +# Toyota LTA also has torque +TOYOTA RAV4 2023: [.nan, 3.0, .nan] +TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan] + # Tesla has high torque TESLA AP1 MODEL S: [.nan, 2.5, .nan] TESLA AP2 MODEL S: [.nan, 2.5, .nan] diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 8004ea9dca..66a7b57f01 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -76,6 +76,11 @@ class CarController: apply_steer_req = 0 self.steer_rate_counter = 0 + # Never actuate with LKA on cars that only support LTA + if self.CP.steerControlType == car.CarParams.SteerControlType.angle: + apply_steer = 0 + apply_steer_req = 0 + # TODO: probably can delete this. CS.pcm_acc_status uses a different signal # than CS.cruiseState.enabled. confirm they're not meaningfully different if not CC.enabled and CS.pcm_acc_status: diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 8b3fd048d9..e6476863c3 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,8 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda -from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR +from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ + MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -23,13 +24,18 @@ class CarInterface(CarInterfaceBase): if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH): ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE + if candidate in ANGLE_CONTROL_CAR: + ret.dashcamOnly = True + ret.steerControlType = car.CarParams.SteerControlType.angle + ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA + else: + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay ret.steerLimitTimer = 0.4 ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop stop_and_go = False - steering_angle_deadzone_deg = 0.0 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) if candidate == CAR.PRIUS: stop_and_go = True @@ -40,9 +46,8 @@ class CarInterface(CarInterfaceBase): # Only give steer angle deadzone to for bad angle sensor prius for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': - steering_angle_deadzone_deg = 0.2 ret.steerActuatorDelay = 0.25 - CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) elif candidate == CAR.PRIUS_V: stop_and_go = True @@ -102,7 +107,8 @@ class CarInterface(CarInterfaceBase): tire_stiffness_factor = 0.7983 ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid - elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022): + elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023): stop_and_go = True ret.wheelbase = 2.68986 ret.steerRatio = 14.3 diff --git a/selfdrive/car/toyota/tests/__init__.py b/selfdrive/car/toyota/tests/__init__.py new file mode 100644 index 0000000000..e69de29bb2 diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py new file mode 100755 index 0000000000..5648f75fe7 --- /dev/null +++ b/selfdrive/car/toyota/tests/test_toyota.py @@ -0,0 +1,13 @@ +#!/usr/bin/env python3 +import unittest + +from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR + + +class TestToyotaInterfaces(unittest.TestCase): + def test_angle_car_set(self): + self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 43f0593325..965a9e6506 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -67,8 +67,10 @@ class CAR: RAV4H = "TOYOTA RAV4 HYBRID 2017" RAV4_TSS2 = "TOYOTA RAV4 2019" RAV4_TSS2_2022 = "TOYOTA RAV4 2022" + RAV4_TSS2_2023 = "TOYOTA RAV4 2023" RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019" RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022" + RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023" MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5 SIENNA = "TOYOTA SIENNA 2018" @@ -157,8 +159,10 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ], CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"), + CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"), CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), + CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"), CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), @@ -1459,6 +1463,23 @@ FW_VERSIONS = { b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', ], }, + CAR.RAV4_TSS2_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F15260R450\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896634AJ2000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F0R03100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', + ], + }, CAR.RAV4H_TSS2: { (Ecu.engine, 0x700, None): [ b'\x01896634A15000\x00\x00\x00\x00', @@ -1546,6 +1567,23 @@ FW_VERSIONS = { b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00', ], }, + CAR.RAV4H_TSS2_2023: { + (Ecu.abs, 0x7b0, None): [ + b'\x01F15264283200\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7a1, None): [ + b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x01896634AE1001\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 0xf): [ + b'\x018821F0R03100\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 0x6d): [ + b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00', + ], + }, CAR.SIENNA: { (Ecu.engine, 0x700, None): [ b'\x01896630832100\x00\x00\x00\x00', @@ -2104,6 +2142,7 @@ DBC = { CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), + CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2114,6 +2153,7 @@ DBC = { CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), + CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), @@ -2128,8 +2168,8 @@ DBC = { EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) # Toyota/Lexus Safety Sense 2.0 and 2.5 -TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, - CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, +TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, + CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2} NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} @@ -2138,10 +2178,13 @@ NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH} UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC} # these cars have a radar which sends ACC messages instead of the camera -RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.CHR_TSS2, CAR.CHRH_TSS2} +RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2} + +# these cars use the Lane Tracing Assist (LTA) message for lateral control +ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023} EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, - CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, + CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH, CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2} # no resume button press required From 74db5a4b421c822065677b12c4493c4e20aa2a9b Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 18 Mar 2023 01:16:14 +0800 Subject: [PATCH 069/150] cabana: group CAN events by message id to reduce the time complex from O(N) to O(1) (#27601) * refactor streams * helper function xLessThan * fix fill gaps --- tools/cabana/binaryview.cc | 2 +- tools/cabana/chartswidget.cc | 84 +++++++------------- tools/cabana/dbc.cc | 2 +- tools/cabana/dbc.h | 6 +- tools/cabana/dbcmanager.cc | 1 - tools/cabana/historylog.cc | 43 ++++------- tools/cabana/mainwin.cc | 10 +-- tools/cabana/messageswidget.cc | 6 +- tools/cabana/streams/abstractstream.cc | 103 +++++++++++++------------ tools/cabana/streams/abstractstream.h | 20 ++++- tools/cabana/streams/livestream.cc | 9 +-- tools/cabana/streams/livestream.h | 8 +- tools/cabana/streams/replaystream.cc | 13 +++- tools/cabana/streams/replaystream.h | 3 +- tools/cabana/tools/findsimilarbits.cc | 39 ++++------ tools/replay/replay.h | 1 + 16 files changed, 162 insertions(+), 188 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index b81f7d5e79..0a4f6fc999 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -422,7 +422,7 @@ void BinaryItemDelegate::drawBorder(QPainter* painter, const QStyleOptionViewIte painter->setClipRegion(QRegion(rc).subtracted(subtract)); if (!subtract.isEmpty()) { // fill gaps inside corners. - painter->setPen(QPen(border_color, 2)); + painter->setPen(QPen(border_color, 2, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin)); for (auto &r : subtract) { painter->drawRect(r); } diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 61afb871ae..04734e6749 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -16,6 +16,8 @@ #include const int MAX_COLUMN_COUNT = 4; +static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } + // ChartsWidget ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { @@ -135,13 +137,11 @@ void ChartsWidget::updateState() { const double cur_sec = can->currentSec(); if (!is_zoomed) { - double pos = (cur_sec - display_range.first) / std::max(1.0, (display_range.second - display_range.first)); + double pos = (cur_sec - display_range.first) / std::max(1.0, max_chart_range); if (pos < 0 || pos > 0.8) { display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1); } - auto events = can->events(); - double max_event_sec = events->empty() ? 0 : (events->back()->mono_time / 1e9 - can->routeStartTime()); - double max_sec = std::min(std::floor(display_range.first + max_chart_range), max_event_sec); + double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->lastEventSecond()); display_range.first = std::max(0.0, max_sec - max_chart_range); display_range.second = display_range.first + max_chart_range; } else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) { @@ -326,6 +326,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { setRenderHint(QPainter::Antialiasing); // TODO: enable zoomIn/seekTo in live streaming mode. setRubberBand(can->liveStreaming() ? QChartView::NoRubberBand : QChartView::HorizontalRubberBand); + setMouseTracking(true); QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved); QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); @@ -481,8 +482,8 @@ void ChartView::updatePlot(double cur, double min, double max) { void ChartView::updateSeriesPoints() { // Show points when zoomed in enough for (auto &s : sigs) { - auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); + auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); + auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), xLessThan); int num_points = std::max(end - begin, 1); int pixels_per_point = width() / num_points; @@ -496,64 +497,33 @@ void ChartView::updateSeriesPoints() { } void ChartView::updateSeries(const cabana::Signal *sig) { - const auto events = can->events(); for (auto &s : sigs) { if (!sig || s.sig == sig) { if (!can->liveStreaming()) { s.vals.clear(); s.step_vals.clear(); - s.vals.reserve(settings.max_cached_minutes * 60 * 100); // [n]seconds * 100hz - s.step_vals.reserve(settings.max_cached_minutes * 60 * 100 * 2); s.last_value_mono_time = 0; } s.series->setColor(getColor(s.sig)); - struct Chunk { - std::vector::const_iterator first, second; - QVector vals; - QVector step_vals; - }; - // split into one minitue chunks - QVector chunks; - Event begin_event(cereal::Event::Which::INIT_DATA, s.last_value_mono_time); - auto begin = std::upper_bound(events->begin(), events->end(), &begin_event, Event::lessThan()); - for (auto it = begin, second = begin; it != events->end(); it = second) { - second = std::lower_bound(it, events->end(), (*it)->mono_time + 1e9 * 60, [](auto &e, uint64_t ts) { return e->mono_time < ts; }); - chunks.push_back({it, second}); + auto msgs = can->events().at(s.msg_id); + auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time=s.last_value_mono_time}); + int new_size = std::max(s.vals.size() + std::distance(first, msgs.cend()), settings.max_cached_minutes * 60 * 100); + if (s.vals.capacity() <= new_size) { + s.vals.reserve(new_size * 2); + s.step_vals.reserve(new_size * 4); } - QtConcurrent::blockingMap(chunks, [&](Chunk &chunk) { - chunk.vals.reserve(60 * 100); // 100 hz - chunk.step_vals.reserve(60 * 100 * 2); // 100 hz - double route_start_time = can->routeStartTime(); - for (auto it = chunk.first; it != chunk.second; ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - if (s.msg_id.address == c.getAddress() && s.msg_id.source == c.getSrc()) { - auto dat = c.getDat(); - double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig); - double ts = ((*it)->mono_time / (double)1e9) - route_start_time; // seconds - chunk.vals.push_back({ts, value}); - if (!chunk.step_vals.empty()) { - chunk.step_vals.push_back({ts, chunk.step_vals.back().y()}); - } - chunk.step_vals.push_back({ts,value}); - } - } - } - } - }); - for (auto &c : chunks) { - s.vals.append(c.vals); - if (!c.step_vals.empty()) { - if (!s.step_vals.empty()) { - s.step_vals.append({c.step_vals.first().x(), s.step_vals.back().y()}); - } - s.step_vals.append(c.step_vals); + const double route_start_time = can->routeStartTime(); + for (auto end = msgs.cend(); first != end; ++first) { + double value = get_raw_value(first->dat, first->size, *s.sig); + double ts = first->mono_time / 1e9 - route_start_time; // seconds + s.vals.append({ts, value}); + if (!s.step_vals.empty()) { + s.step_vals.append({ts, s.step_vals.back().y()}); } - } - if (events->size()) { - s.last_value_mono_time = events->back()->mono_time; + s.step_vals.append({ts, value}); + s.last_value_mono_time = first->mono_time; } if (!can->liveStreaming()) { s.segment_tree.build(s.vals); @@ -580,8 +550,8 @@ void ChartView::updateAxisY() { unit.clear(); } - auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); + auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); + auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan); if (can->liveStreaming()) { for (auto it = first; it != last; ++it) { if (it->y() < min) min = it->y(); @@ -826,8 +796,8 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { painter->setPen(Qt::NoPen); for (auto &s : sigs) { if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) { - auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; }); - auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), [](auto &p, double x) { return p.x() < x; }); + auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); + auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan); for (auto it = first; it != last; ++it) { painter->setBrush(s.series->color()); painter->drawEllipse(chart()->mapToPosition(*it), 4, 4); @@ -929,7 +899,7 @@ SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent) auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); main_layout->addWidget(buttonBox, 3, 2); - for (auto it = can->can_msgs.cbegin(); it != can->can_msgs.cend(); ++it) { + for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) { if (auto m = dbc()->msg(it.key())) { msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key())); } diff --git a/tools/cabana/dbc.cc b/tools/cabana/dbc.cc index ff100e01f7..38002af06c 100644 --- a/tools/cabana/dbc.cc +++ b/tools/cabana/dbc.cc @@ -27,7 +27,7 @@ static QVector BIG_ENDIAN_START_BITS = []() { return ret; }(); -double get_raw_value(uint8_t *data, size_t data_size, const cabana::Signal &sig) { +double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) { int64_t val = 0; int i = sig.msb / 8; diff --git a/tools/cabana/dbc.h b/tools/cabana/dbc.h index a2ebbc16cc..701908112f 100644 --- a/tools/cabana/dbc.h +++ b/tools/cabana/dbc.h @@ -38,6 +38,10 @@ struct MessageId { uint qHash(const MessageId &item); Q_DECLARE_METATYPE(MessageId); +template <> +struct std::hash { + std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); } +}; typedef QList> ValueDescription; @@ -72,7 +76,7 @@ namespace cabana { } // Helper functions -double get_raw_value(uint8_t *data, size_t data_size, const cabana::Signal &sig); +double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig); int bigEndianStartBitsIndex(int start_bit); int bigEndianBitIndex(int index); void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size); diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 651367ba57..49aac5c18b 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -212,4 +212,3 @@ DBCManager *dbc() { static DBCManager dbc_manager(nullptr); return &dbc_manager; } - diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 830fd30d49..3e80a6a697 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -119,40 +119,31 @@ template std::deque HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) { std::deque msgs; QVector values(sigs.size()); - for (auto it = first; it != last && (*it)->mono_time > min_time; ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - if (msg_id.address == c.getAddress() && msg_id.source == c.getSrc()) { - const auto dat = c.getDat(); - for (int i = 0; i < sigs.size(); ++i) { - values[i] = get_raw_value((uint8_t *)dat.begin(), dat.size(), *sigs[i]); - } - if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { - auto &m = msgs.emplace_back(); - m.mono_time = (*it)->mono_time; - m.data = QByteArray((char *)dat.begin(), dat.size()); - m.sig_values = values; - if (msgs.size() >= batch_size && min_time == 0) - return msgs; - } - } + for (; first != last && first->mono_time > min_time; ++first) { + for (int i = 0; i < sigs.size(); ++i) { + values[i] = get_raw_value(first->dat, first->size, *sigs[i]); + } + if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) { + auto &m = msgs.emplace_back(); + m.mono_time = first->mono_time; + m.data = QByteArray((const char *)first->dat, first->size); + m.sig_values = values; + if (msgs.size() >= batch_size && min_time == 0) { + return msgs; } } } return msgs; } -template std::deque HistoryLogModel::fetchData<>(std::vector::iterator first, std::vector::iterator last, uint64_t min_time); -template std::deque HistoryLogModel::fetchData<>(std::vector::reverse_iterator first, std::vector::reverse_iterator last, uint64_t min_time); - std::deque HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) { - auto events = can->events(); + const auto &events = can->events().at(msg_id); const auto freq = can->lastMessage(msg_id).freq; const bool update_colors = !display_signals_mode || sigs.empty(); if (dynamic_mode) { - auto first = std::upper_bound(events->rbegin(), events->rend(), from_time, [=](uint64_t ts, auto &e) { return e->mono_time < ts; }); - auto msgs = fetchData(first, events->rend(), min_time); + auto first = std::upper_bound(events.rbegin(), events.rend(), CanEvent{.mono_time=from_time}, std::greater()); + auto msgs = fetchData(first, events.rend(), min_time); if (update_colors && (min_time > 0 || messages.empty())) { for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); @@ -162,10 +153,10 @@ std::deque HistoryLogModel::fetchData(uint64_t from_ti return msgs; } else { assert(min_time == 0); - auto first = std::upper_bound(events->begin(), events->end(), from_time, [=](uint64_t ts, auto &e) { return ts < e->mono_time; }); - auto msgs = fetchData(first, events->end(), 0); + auto first = std::upper_bound(events.begin(), events.end(), CanEvent{.mono_time=from_time}); + auto msgs = fetchData(first, events.end(), 0); if (update_colors) { - for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) { + for (auto it = msgs.begin(); it != msgs.end(); ++it) { hex_colors.compute(it->data, it->mono_time / (double)1e9, freq); it->colors = hex_colors.colors; } diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 56ffe872d6..befbf270c6 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -446,15 +446,7 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe } void MainWindow::updateStatus() { - float cached_minutes = 0; - if (!can->liveStreaming()) { - if (auto events = can->events(); !events->empty()) { - cached_minutes = (events->back()->mono_time - events->front()->mono_time) / (1e9 * 60); - } - } else { - settings.max_cached_minutes = settings.max_cached_minutes; - } - status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(cached_minutes, 0, 'f', 1).arg(settings.fps)); + status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps)); } void MainWindow::dockCharts(bool dock) { diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index b4a7ed7b34..8dd0bac820 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -160,7 +160,7 @@ void MessageListModel::setFilterString(const QString &string) { filter_str = string; msgs.clear(); - for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { + for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) { if (filter_str.isEmpty() || contains(it.key(), filter_str)) { msgs.push_back(it.key()); } @@ -206,8 +206,8 @@ void MessageListModel::sortMessages() { void MessageListModel::msgsReceived(const QHash *new_msgs) { int prev_row_count = msgs.size(); - if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) { - msgs = can->can_msgs.keys(); + if (filter_str.isEmpty() && msgs.size() != can->last_msgs.size()) { + msgs = can->last_msgs.keys(); } if (msgs.size() != prev_row_count) { sortMessages(); diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc index c8ff449098..d60beed0c8 100644 --- a/tools/cabana/streams/abstractstream.cc +++ b/tools/cabana/streams/abstractstream.cc @@ -1,6 +1,5 @@ #include "tools/cabana/streams/abstractstream.h" #include -#include AbstractStream *can = nullptr; @@ -13,7 +12,7 @@ AbstractStream::AbstractStream(QObject *parent, bool is_live_streaming) : is_liv void AbstractStream::process(QHash *messages) { for (auto it = messages->begin(); it != messages->end(); ++it) { - can_msgs[it.key()] = it.value(); + last_msgs[it.key()] = it.value(); } emit updated(); emit msgsReceived(messages); @@ -62,66 +61,68 @@ bool AbstractStream::updateEvent(const Event *event) { const CanData &AbstractStream::lastMessage(const MessageId &id) { static CanData empty_data; - auto it = can_msgs.find(id); - return it != can_msgs.end() ? it.value() : empty_data; + auto it = last_msgs.find(id); + return it != last_msgs.end() ? it.value() : empty_data; } -static QHash parseEvents(std::vector::const_reverse_iterator first, - std::vector::const_reverse_iterator last, double route_start_time) { - QHash msgs; - msgs.reserve(500); - for (auto it = first; it != last; ++it) { - if ((*it)->which == cereal::Event::Which::CAN) { - for (const auto &c : (*it)->event.getCan()) { - auto &m = msgs[{.source = c.getSrc(), .address = c.getAddress()}]; - if (++m.count == 1) { - m.ts = ((*it)->mono_time / 1e9) - route_start_time; - m.dat = QByteArray((char *)c.getDat().begin(), c.getDat().size()); - m.colors = QVector(m.dat.size(), QColor(0, 0, 0, 0)); - m.last_change_t = QVector(m.dat.size(), m.ts); - m.bit_change_counts.resize(m.dat.size()); - } - } - } - } - return msgs; -}; - // it is thread safe to update data in updateLastMsgsTo. // updateEvent will not be called before replayStream::seekedTo return. void AbstractStream::updateLastMsgsTo(double sec) { - uint64_t ts = (sec + routeStartTime()) * 1e9; - const uint64_t delta = std::max(std::ceil(sec / std::thread::hardware_concurrency()), 30.0) * 1e9; - const auto evs = events(); - auto first = std::upper_bound(evs->crbegin(), evs->crend(), ts, [](uint64_t ts, auto &e) { return ts > e->mono_time; }); - QFutureSynchronizer> synchronizer; - while(first != evs->crend()) { - ts = (*first)->mono_time > delta ? (*first)->mono_time - delta : 0; - auto last = std::lower_bound(first, evs->crend(), ts, [](auto &e, uint64_t ts) { return e->mono_time > ts; }); - synchronizer.addFuture(QtConcurrent::run(parseEvents, first, last, routeStartTime())); - first = last; - } - synchronizer.waitForFinished(); - new_msgs->clear(); change_trackers.clear(); - can_msgs.clear(); + last_msgs.clear(); counters.clear(); - for (const auto &f : synchronizer.futures()) { - auto msgs = f.result(); - for (auto it = msgs.cbegin(); it != msgs.cend(); ++it) { - counters[it.key()] += it.value().count; - auto m = can_msgs.find(it.key()); - if (m == can_msgs.end()) { - m = can_msgs.insert(it.key(), it.value()); - } else { - m.value().count += it.value().count; - } - m.value().freq = m.value().count / std::max(1.0, m.value().ts); + + CanEvent last_event = {.mono_time = uint64_t((sec + routeStartTime()) * 1e9)}; + for (auto &[id, e] : events_) { + auto it = std::lower_bound(e.crbegin(), e.crend(), last_event, std::greater()); + if (it != e.crend()) { + auto &m = last_msgs[id]; + m.dat = QByteArray((const char *)it->dat, it->size); + m.ts = it->mono_time / 1e9 - routeStartTime(); + m.count = std::distance(it, e.crend()); + m.freq = m.count / std::max(1.0, m.ts); + m.last_change_t = QVector(m.dat.size(), m.ts); + m.colors = QVector(m.dat.size(), QColor(0, 0, 0, 0)); + m.bit_change_counts = QVector>(m.dat.size()); + counters[id] = m.count; } } QTimer::singleShot(0, [this]() { emit updated(); - emit msgsReceived(&can_msgs); + emit msgsReceived(&last_msgs); }); } + +void AbstractStream::parseEvents(std::unordered_map> &msgs, + std::vector::const_iterator first, std::vector::const_iterator last) { + for (; first != last; ++first) { + if ((*first)->which == cereal::Event::Which::CAN) { + for (const auto &c : (*first)->event.getCan()) { + auto dat = c.getDat(); + auto &m = msgs[{.source = c.getSrc(), .address = c.getAddress()}].emplace_back(); + m.size = std::min(dat.size(), std::size(m.dat)); + memcpy(m.dat, (uint8_t *)dat.begin(), m.size); + m.mono_time = (*first)->mono_time; + } + last_event_ts = std::max(last_event_ts, (*first)->mono_time); + } + } +} + +void AbstractStream::mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last, bool append) { + if (first == last) return; + + if (append) { + parseEvents(events_, first, last); + } else { + std::unordered_map> new_events; + parseEvents(new_events, first, last); + for (auto &[id, new_e] : new_events) { + auto &e = events_[id]; + auto it = std::upper_bound(e.cbegin(), e.cend(), new_e.front()); + e.insert(it, new_e.cbegin(), new_e.cend()); + } + } + emit eventsMerged(); +} diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index d1cf9d8037..3c7bdd6132 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -1,7 +1,8 @@ #pragma once #include - +#include +#include #include #include @@ -20,6 +21,14 @@ struct CanData { QVector> bit_change_counts; }; +struct CanEvent { + uint64_t mono_time; + uint8_t size; + uint8_t dat[64]; + inline bool operator<(const CanEvent &r) const { return mono_time < r.mono_time; } + inline bool operator>(const CanEvent &r) const { return mono_time > r.mono_time; } +}; + class AbstractStream : public QObject { Q_OBJECT @@ -27,6 +36,7 @@ public: AbstractStream(QObject *parent, bool is_live_streaming); virtual ~AbstractStream() {}; inline bool liveStreaming() const { return is_live_streaming; } + inline double lastEventSecond() const { return last_event_ts / 1e9 - routeStartTime(); } virtual void seekTo(double ts) {} virtual QString routeName() const = 0; virtual QString carFingerprint() const { return ""; } @@ -37,11 +47,12 @@ public: virtual const CanData &lastMessage(const MessageId &id); virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; } virtual const Route *route() const { return nullptr; } - virtual const std::vector *events() const = 0; virtual void setSpeed(float speed) {} virtual bool isPaused() const { return false; } virtual void pause(bool pause) {} + const std::unordered_map> &events() const { return events_; } virtual const std::vector> getTimeline() { return {}; } + void mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last, bool append); signals: void paused(); @@ -55,19 +66,22 @@ signals: void sourcesUpdated(const QSet &s); public: - QHash can_msgs; + QHash last_msgs; QSet sources; protected: virtual void process(QHash *); bool updateEvent(const Event *event); void updateLastMsgsTo(double sec); + void parseEvents(std::unordered_map> &msgs, std::vector::const_iterator first, std::vector::const_iterator last); bool is_live_streaming = false; std::atomic processing = false; QHash counters; std::unique_ptr> new_msgs; QHash change_trackers; + std::unordered_map> events_; + uint64_t last_event_ts = 0; }; // A global pointer referring to the unique AbstractStream object diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 256cfc5a3e..62ad635152 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -52,7 +52,7 @@ void LiveStream::handleEvent(Event *evt) { auto it = std::upper_bound(received.cbegin(), received.cend(), current_ts, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); - if (it != can_events.cend()) { + if (it != received.cend()) { bool skip = (nanos_since_boot() - last_update_ts) < ((*it)->mono_time - current_ts) / speed_; if (skip) return; @@ -68,16 +68,15 @@ void LiveStream::handleEvent(Event *evt) { void LiveStream::process(QHash *last_messages) { { std::lock_guard lk(lock); - uint64_t last_ts = can_events.empty() ? 0 : can_events.back()->mono_time; - auto first = std::upper_bound(received.cbegin(), received.cend(), last_ts, [](uint64_t ts, auto &e) { + auto first = std::upper_bound(received.cbegin(), received.cend(), last_event_ts, [](uint64_t ts, auto &e) { return ts < e->mono_time; }); - can_events.insert(can_events.end(), first, received.cend()); + mergeEvents(first, received.cend(), true); if (speed_ == 1) { received.clear(); + messages.clear(); } } - emit eventsMerged(); AbstractStream::process(last_messages); } diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 657d7e407f..598c0b9365 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -16,27 +16,23 @@ public: void setSpeed(float speed) override { speed_ = std::min(1.0, speed); } bool isPaused() const override { return pause_; } void pause(bool pause) override; - const std::vector *events() const override { return &can_events; } protected: - void process(QHash *) override; virtual void handleEvent(Event *evt); virtual void streamThread(); + void process(QHash *) override; struct Msg { Msg(Message *m) { event = ::new Event(aligned_buf.align(m)); delete m; } - ~Msg() { - ::delete event; - } + ~Msg() { ::delete event; } Event *event; AlignedBuffer aligned_buf; }; mutable std::mutex lock; - std::vector can_events; std::vector received; std::deque messages; std::atomic start_ts = 0; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index ebd969be61..140a795d3a 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -14,13 +14,24 @@ static bool event_filter(const Event *e, void *opaque) { return ((ReplayStream *)opaque)->eventFilter(e); } +void ReplayStream::mergeSegments() { + for (auto &[n, seg] : replay->segments()) { + if (seg && seg->isLoaded() && !processed_segments.count(n)) { + const auto &events = seg->log->events; + bool append = processed_segments.empty() || *processed_segments.rbegin() < n; + processed_segments.insert(n); + mergeEvents(events.cbegin(), events.cend(), append); + } + } +} + bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) { replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo); - QObject::connect(replay.get(), &Replay::segmentsMerged, this, &AbstractStream::eventsMerged); QObject::connect(replay.get(), &Replay::streamStarted, this, &AbstractStream::streamStarted); + QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments); if (replay->load()) { const auto &segments = replay->route()->segments(); if (std::none_of(segments.begin(), segments.end(), [](auto &s) { return s.second.rlog.length() > 0; })) { diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 3505f6abf4..6fc61f7f36 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -20,13 +20,14 @@ public: inline double currentSec() const override { return replay->currentSeconds(); } inline QDateTime currentDateTime() const override { return replay->currentDateTime(); } inline const Route *route() const override { return replay->route(); } - inline const std::vector *events() const override { return replay->events(); } inline void setSpeed(float speed) override { replay->setSpeed(speed); } inline bool isPaused() const override { return replay->isPaused(); } void pause(bool pause) override; inline const std::vector> getTimeline() override { return replay->getTimeline(); } private: + void mergeSegments(); std::unique_ptr replay = nullptr; uint32_t replay_flags = REPLAY_FLAG_NONE; + std::set processed_segments; }; diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index 7768359df4..ffd0df0501 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -19,7 +19,7 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi QHBoxLayout *form_layout = new QHBoxLayout(); bus_combo = new QComboBox(this); QSet bus_set; - for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) { + for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) { bus_set << it.key().source; } for (uint8_t bus : bus_set) { @@ -102,29 +102,24 @@ void FindSimilarBitsDlg::find() { QList FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt) { QHash> mismatches; QHash msg_count; - auto events = can->events(); int bit_to_find = -1; - for (auto e : *events) { - if (e->which == cereal::Event::Which::CAN) { - for (const auto &c : e->event.getCan()) { - if (c.getSrc() == bus) { - const auto dat = c.getDat(); - uint32_t address = c.getAddress(); - if (address == selected_address && dat.size() > byte_idx) { - bit_to_find = ((dat[byte_idx] >> (7 - bit_idx)) & 1) != 0; - } - ++msg_count[address]; - if (bit_to_find == -1) continue; + for (const auto &[id, msg] : can->events()) { + if (id.source == bus) { + for (const auto &c : msg) { + if (id.address == selected_address && c.size > byte_idx) { + bit_to_find = ((c.dat[byte_idx] >> (7 - bit_idx)) & 1) != 0; + } + ++msg_count[id.address]; + if (bit_to_find == -1) continue; - auto &mismatched = mismatches[address]; - if (mismatched.size() < dat.size() * 8) { - mismatched.resize(dat.size() * 8); - } - for (int i = 0; i < dat.size(); ++i) { - for (int j = 0; j < 8; ++j) { - int bit = ((dat[i] >> (7 - j)) & 1) != 0; - mismatched[i * 8 + j] += (bit != bit_to_find); - } + auto &mismatched = mismatches[id.address]; + if (mismatched.size() < c.size * 8) { + mismatched.resize(c.size * 8); + } + for (int i = 0; i < c.size; ++i) { + for (int j = 0; j < 8; ++j) { + int bit = ((c.dat[i] >> (7 - j)) & 1) != 0; + mismatched[i * 8 + j] += (bit != bit_to_find); } } } diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 6788a97d03..2bb426361b 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -71,6 +71,7 @@ public: inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } inline const std::vector *events() const { return events_.get(); } + inline const std::map> &segments() const { return segments_; }; inline const std::string &carFingerprint() const { return car_fingerprint_; } inline const std::vector> getTimeline() { std::lock_guard lk(timeline_lock); From d8a55de1669704e7a847c346f715d0659d54e9ca Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 18 Mar 2023 07:14:43 +0800 Subject: [PATCH 070/150] ui: remove lupdate warnings: "Qualifying with unknown namespace" (#27616) --- selfdrive/ui/update_translations.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index e15d4c3433..5964eb49dc 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -19,7 +19,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA for file in translation_files.values(): tr_file = os.path.join(translations_dir, f"{file}.ts") - args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file}" + args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" if file in plural_only: From 455d76cdb6d06d85171bc252a06517d5432b6c68 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 17 Mar 2023 16:17:42 -0700 Subject: [PATCH 071/150] manager: log time with exit param (#27615) * manager: log time with exit param * fix double brackets --- selfdrive/manager/manager.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 1128097251..1b10cee806 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -153,7 +153,7 @@ def manager_thread() -> None: for param in ("DoUninstall", "DoShutdown", "DoReboot"): if params.get_bool(param): shutdown = True - params.put("LastManagerExitReason", param) + params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}") cloudlog.warning(f"Shutting down manager - {param} set") if shutdown: From 741d26b0255b806fce545b987b52e7a21c5a5d14 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 18 Mar 2023 07:18:38 +0800 Subject: [PATCH 072/150] cabana: set min-max values from size when creating a new signal. (#27589) --- tools/cabana/signaledit.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 673a68a50b..d91f6c1401 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -245,7 +245,7 @@ void SignalModel::addSignal(int start_bit, int size, bool little_endian) { } } - cabana::Signal sig = {.is_little_endian = little_endian, .factor = 1}; + cabana::Signal sig = {.is_little_endian = little_endian, .factor = 1, .min = "0", .max = QString::number(std::pow(2, size) - 1)}; for (int i = 1; /**/; ++i) { sig.name = QString("NEW_SIGNAL_%1").arg(i); if (msg->sig(sig.name) == nullptr) break; From 4718fa574813b966557e453f25ab65a56fbce8fa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Fri, 17 Mar 2023 16:39:44 -0700 Subject: [PATCH 073/150] Bump laika (#27618) * Laika on master * use constellation id --- laika_repo | 2 +- selfdrive/locationd/laikad.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/laika_repo b/laika_repo index 719c79a156..6fadabd860 160000 --- a/laika_repo +++ b/laika_repo @@ -1 +1 @@ -Subproject commit 719c79a156cd254fa8ebde101c2f48583f91afed +Subproject commit 6fadabd86043ee19e06c6ed59aa4e688c14fa8e4 diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 3698867ec9..87b0cf9291 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -72,7 +72,7 @@ def get_log_eph_source(ephem): class Laikad: - def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False, + def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False, valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY), save_ephemeris=False, use_qcom=False): """ From 529ba41825c3d47ee6f322ddecc8471d8e0cdd3a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 19 Mar 2023 05:34:11 +0800 Subject: [PATCH 074/150] cabana: display zoom range while dragging rubber-band selection (#27620) --- tools/cabana/chartswidget.cc | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 04734e6749..09fcbf2ee2 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -666,6 +666,8 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } else if ((max_rounded - min_rounded) >= 0.5) { // zoom in if selected range is greater than 0.5s emit zoomIn(min_rounded, max_rounded); + } else { + scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } event->accept(); } else if (!can->liveStreaming() && event->button() == Qt::RightButton) { @@ -738,6 +740,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { if (rubber_rect != rubber->geometry()) { rubber->setGeometry(rubber_rect); } + scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } } @@ -804,6 +807,21 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { } } } + + // paint zoom range + auto rubber = findChild(); + if (rubber && rubber->isVisible() && rubber->width() > 1) { + painter->setPen(Qt::white); + auto rubber_rect = rubber->geometry().normalized(); + for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) { + QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 1); + // ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html) + auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -4, 6, 4); + pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2}); + painter->fillRect(r, Qt::gray); + painter->drawText(r, Qt::AlignCenter, sec); + } + } } QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { From 5e269b25c470b73cd4a413d10d89c1f74584b41f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 18 Mar 2023 20:03:00 -0700 Subject: [PATCH 075/150] plotjuggler: update controls mismatch layout --- .../layouts/controls_mismatch_debug.xml | 43 +++++++++++-------- 1 file changed, 25 insertions(+), 18 deletions(-) diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/tools/plotjuggler/layouts/controls_mismatch_debug.xml index adca3eed29..54586d6e7b 100644 --- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml +++ b/tools/plotjuggler/layouts/controls_mismatch_debug.xml @@ -1,37 +1,44 @@ - + - + - - + + - - + + - - + + - + - - + + - + - - + + - - + + + + + + + + + @@ -46,8 +53,8 @@ - - + + From ae423a68686ca258c40fa679b931011e99f5f780 Mon Sep 17 00:00:00 2001 From: koch-cf <62287055+koch-cf@users.noreply.github.com> Date: Mon, 20 Mar 2023 16:10:19 -0400 Subject: [PATCH 076/150] GM: Buick LaCrosse 2017-19 support (#27332) * Added Buick LaCrosse 2017 * Added Buick LaCrosse as candidate * Added Buick LaCrosse CAR_INFO and Fingerprint * Added Buick LaCrosse to non_tested_cars * Added Buick LaCrosse * Updated number of supported cars to 237 * Added ACC and LKAS description to Buick LaCrosse * Updated CAR_INFO for Buick LaCrosse * Added the Escalade which was recently updated * Update selfdrive/car/gm/values.py Suggested fingerprint by @sshane Co-authored-by: Shane Smiskol * Premium is a trim with ACC. Use package name instead * lacrosse custom FF; fit info: describe(steer_offsets) = DescribeResult(nobs=1649402, minmax=(-0.7127894163131714, 5.3997602462768555), mean=3.3090523060153645, variance=0.3130325564084465, skewness=-1.5986155151533736, kurtosis=8.18810418298873) Samples: 1357787 Regularizing... Regularized samples: 1140 speed: DescribeResult(nobs=1140, minmax=(8.478170424241286, 35.837870224662446), mean=27.888804767013475, variance=34.16742353763829, skewness=-1.068587303119431, kurtosis=0.6193071765927134) angle: DescribeResult(nobs=1140, minmax=(-21.057768565637094, 28.516874490999708), mean=-0.4328602593886506, variance=43.19046813273241, skewness=0.001966426701503317, kurtosis=0.20547357649038434) steer: DescribeResult(nobs=1140, minmax=(-0.8432471203007578, 0.9634959333674695), mean=-0.021981142946747863, variance=0.20152217060233915, skewness=0.03202313890158864, kurtosis=-1.2318826088567174) Performing fit... Fit: [5.85397825e-01 3.27650818e-01 4.60531117e-03 1.32307599e+01 1.37194709e-01 1.33099557e-01 6.14782304e-02] ANGLE_COEF = 0.58539783 ANGLE_COEF2 = 0.32765082 ANGLE_OFFSET = 0.00460531 SPEED_OFFSET = 13.23075991 SIGMOID_COEF_RIGHT = 0.13719471 SIGMOID_COEF_LEFT = 0.13309956 SPEED_COEF = 0.06147823 MAE old 0.2098, new 0.0309 STD old 0.1021, new 0.0273 deg 00-03:457, deg 03-06:258, deg 06-09:218, deg 09-12:132, deg 12-15:62 deg 15-18:6, deg 18-21:4, deg 21-24:1, deg 24-27:0, deg 27-30:2 deg 30-33:0, deg 33-36:0, deg 36-39:0, deg 39-42:0, deg 42-45:0 mph 10-15:0, mph 15-20:1, mph 20-25:18, mph 25-30:12, mph 30-35:30 mph 35-40:26, mph 40-45:52, mph 45-50:54, mph 50-55:73, mph 55-60:86 mph 60-65:204, mph 65-70:228, mph 70-75:179, mph 75-80:176, mph 80-85:1 mph 85-90:0, * Update routes.py * remove from non tested routes * use torque controller * update docs * update releases --------- Co-authored-by: Shane Smiskol Co-authored-by: Tim Wilson --- RELEASES.md | 1 + docs/CARS.md | 3 ++- selfdrive/car/gm/interface.py | 7 +++++++ selfdrive/car/gm/values.py | 7 +++++++ selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/substitute.yaml | 1 + 6 files changed, 19 insertions(+), 1 deletion(-) diff --git a/RELEASES.md b/RELEASES.md index 9cfcbafea1..55b0dbad7e 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,7 @@ Version 0.9.2 (2023-03-XX) ======================== * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. +* Buick LaCrosse 2017-19 support thanks to koch-cf! * Škoda Fabia 2022-23 support thanks to jyoung8607! Version 0.9.1 (2023-02-28) diff --git a/docs/CARS.md b/docs/CARS.md index 070d068cab..c4a3cedfe0 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. -# 238 Supported Cars +# 239 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -17,6 +17,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| +|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|| |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|| diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 7e6e71c642..602d7e31b6 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -150,6 +150,13 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking + elif candidate == CAR.BUICK_LACROSSE: + ret.mass = 1712. + STD_CARGO_KG + ret.wheelbase = 2.91 + ret.steerRatio = 15.8 + ret.centerToFront = ret.wheelbase * 0.4 # wild guess + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + elif candidate == CAR.BUICK_REGAL: ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2 ret.wheelbase = 2.83 # 111.4 inches in meters diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 2ac418b629..0d13cb9827 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -66,6 +66,7 @@ class CAR: CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018" MALIBU = "CHEVROLET MALIBU PREMIER 2017" ACADIA = "GMC ACADIA DENALI 2018" + BUICK_LACROSSE = "BUICK LACROSSE 2017" BUICK_REGAL = "BUICK REGAL ESSENCE 2018" ESCALADE = "CADILLAC ESCALADE 2017" ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016" @@ -99,6 +100,7 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = { CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"), CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"), CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), + CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"), CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"), CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), @@ -156,6 +158,11 @@ FINGERPRINTS = { { 170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7 }], + CAR.BUICK_LACROSSE: [ + # LaCrosse Premium AWD 2017 + { + 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8 + }], CAR.BUICK_REGAL : [ # Regal TourX Essence w/ ACC 2018 { diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 2c4ec84e86..4dd19d24e3 100644 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -52,6 +52,7 @@ routes = [ CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA), CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL), + CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE), CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE), CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV), CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT), diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml index 696d9829d1..5feef12206 100644 --- a/selfdrive/car/torque_data/substitute.yaml +++ b/selfdrive/car/torque_data/substitute.yaml @@ -50,6 +50,7 @@ HONDA CIVIC SEDAN 1.6 DIESEL 2019: HONDA CIVIC (BOSCH) 2019 HONDA E 2020: HONDA CIVIC (BOSCH) 2019 HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018 +BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017 BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017 CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017 CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017 From bfbfdb28519a6da890569d30dfa325df53a7ef22 Mon Sep 17 00:00:00 2001 From: tonzy74 <69013596+tonzy74@users.noreply.github.com> Date: Mon, 20 Mar 2023 16:18:07 -0400 Subject: [PATCH 077/150] Kia: Sorento 2021 support (#27623) * Update values.py * Update selfdrive/car/hyundai/values.py * update docs --------- Co-authored-by: Shane Smiskol --- docs/CARS.md | 2 +- selfdrive/car/hyundai/values.py | 4 +++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index c4a3cedfe0..a7b6764f0c 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -117,7 +117,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|| |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|| -|Kia|Sorento 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| +|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|| |Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|| |Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| |Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|| diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index f7cedf550e..09114512b0 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -224,7 +224,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e), ], - CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2022-23", harness=Harness.hyundai_k), + CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k), CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a), CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n), CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c), @@ -1637,9 +1637,11 @@ FW_VERSIONS = { CAR.KIA_SORENTO_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623', + b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ', + b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ', ], }, CAR.KIA_NIRO_HEV_2ND_GEN: { From e5069058f0291c1a285ae530d57f4cf0a9813b84 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Tue, 21 Mar 2023 05:21:59 +0900 Subject: [PATCH 078/150] Kia: add missing Korean EV6 fwdCamera FW (#27621) * add EV6 kor camera fw * 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 09114512b0..06f2e27876 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1552,6 +1552,7 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328', b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', ], }, CAR.IONIQ_5: { From 744f1e4f5764146927b830c34cd11ef9b67ecc2c Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Mon, 20 Mar 2023 15:22:50 -0500 Subject: [PATCH 079/150] Add missing CAMRY_TSS2 engine & fwdCamera f/w (#27619) `ChromeNinja#0001` 2023 Camry ICE DongleID/route a9c072de54f9194d|2023-03-17--17-24-56 --- selfdrive/car/toyota/values.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 965a9e6506..4edafc0c28 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -542,6 +542,7 @@ FW_VERSIONS = { (Ecu.engine, 0x700, None): [ b'\x018966306Q5000\x00\x00\x00\x00', b'\x018966306Q9000\x00\x00\x00\x00', + b'\x018966306R3000\x00\x00\x00\x00', b'\x018966306T3100\x00\x00\x00\x00', b'\x018966306T3200\x00\x00\x00\x00', b'\x018966306T4000\x00\x00\x00\x00', @@ -557,6 +558,7 @@ FW_VERSIONS = { b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', + b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00', ], }, CAR.CAMRYH_TSS2: { From fa01a8e6b37aa76636fa314670657b7258f272d7 Mon Sep 17 00:00:00 2001 From: Luqi Pan Date: Mon, 20 Mar 2023 13:24:41 -0700 Subject: [PATCH 080/150] Add fwd camera value for 2023 GV60 Advanced (#27617) --- 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 06f2e27876..88e952567c 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1630,6 +1630,7 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215', b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215', + b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.03 99211-CU000 221118', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ', From 285204c5d1e83944d69dc7126c7c1d7e7921f9a2 Mon Sep 17 00:00:00 2001 From: cpaioletti <65311022+cpaioletti@users.noreply.github.com> Date: Mon, 20 Mar 2023 16:28:52 -0400 Subject: [PATCH 081/150] Kia: add missing fwdCamera for Niro HEV 2023 (#27557) * Update values.py for 2023 Kia Niro HEV {'carParams': {'alternativeExperience': 0, 'autoResumeSng': True, 'carFingerprint': 'mock', 'carFw': [{'address': 2004, 'brand': 'hyundai', 'bus': 1, 'ecu': 'eps', 'fwVersion': b'\xf1\x00SG2 MDPS C 1.00 1.06 56310AT050\x00 4SG2C106', 'logging': False, 'request': [b'"\xf1\x00'], 'responseAddress': 2012, 'subAddress': 0}, {'address': 2000, 'brand': 'hyundai', 'bus': 1, 'ecu': 'fwdRadar', 'fwVersion': b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', 'logging': False, 'request': [b'"\xf1\x00'], 'responseAddress': 2008, 'subAddress': 0}, {'address': 2017, 'brand': 'hyundai', 'bus': 1, 'ecu': 'transmission', 'fwVersion': b'\xf1\x00PSBG2552 D121049\x00\x00\x00DSG2G16XXH049NS6MC\xe3x', 'logging': False, 'request': [b'"\xf1\x00'], 'responseAddress': 2025, 'subAddress': 0}, {'address': 1988, 'brand': 'hyundai', 'bus': 1, 'ecu': 'fwdCamera', 'fwVersion': b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', 'logging': False, 'request': [b'"\xf1\x00'], 'responseAddress': 1996, 'subAddress': 0}, {'address': 2016, 'brand': 'hyundai', 'bus': 1, 'ecu': 'engine', 'fwVersion': b'\xf1\x87391S3-08AF0\xf1\x81HM6M7_0a0_D00', 'logging': False, 'request': [b'"\xf1\x87\xf1\x81\xf1\x00'], 'responseAddress': 2024, 'subAddress': 0}, {'address': 2000, 'brand': 'hyundai', 'bus': 1, 'ecu': 'fwdRadar', 'fwVersion': b'\xf1\x8799110AT000\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', 'logging': False, 'request': [b'"\xf1\x87\xf1\x81\xf1\x00'], 'responseAddress': 2008, 'subAddress': 0}, {'address': 2004, 'brand': 'hyundai', 'bus': 1, 'ecu': 'eps', 'fwVersion': b'\xf1\x8756310AT050\x00\xf1\x00SG2 MDPS C 1.00 1.06 56310AT050\x00 4SG2C106', 'logging': False, 'request': [b'"\xf1\x87\xf1\x81\xf1\x00'], 'responseAddress': 2012, 'subAddress': 0}, {'address': 2017, 'brand': 'hyundai', 'bus': 1, 'ecu': 'transmission', 'fwVersion': b'\xf1\x8795441-2BGJ0\x00\xf1\x81D121049\x00\x00\x00\xf1\x00PSBG2552 D121049\x00\x00\x00DSG2G16XXH049NS6' b'MC\xe3x', 'logging': False, 'request': [b'"\xf1\x87\xf1\x81\xf1\x00'], 'responseAddress': 2025, 'subAddress': 0}, {'address': 2000, 'brand': 'hyundai', 'bus': 4, 'ecu': 'fwdRadar', 'fwVersion': b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', 'logging': False, 'request': [b'"\xf1\x00'], 'responseAddress': 2008, 'subAddress': 0}, {'address': 1975, 'brand': 'hyundai', 'bus': 4, 'ecu': 'cornerRadar', 'fwVersion': b'\xf1\x00SG2 BCW RR 1.01 , 1.04 (wQ\x83"\x02\x01\x03@', 'logging': True, 'request': [b'"\xf1\x00'], 'responseAddress': 1983, 'subAddress': 0}, {'address': 1988, 'brand': 'hyundai', 'bus': 4, 'ecu': 'fwdCamera', 'fwVersion': b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', 'logging': False, 'request': [b'"\xf1\x00'], 'responseAddress': 1996, 'subAddress': 0}, {'address': 2017, 'brand': 'mazda', 'bus': 1, 'ecu': 'transmission', 'fwVersion': b'D121049\x00\x00\x00', 'logging': False, 'request': [b'"\xf1\x88'], 'responseAddress': 2025, 'subAddress': 0}, {'address': 2016, 'brand': 'subaru', 'bus': 1, 'ecu': 'engine', 'fwVersion': b'0TD23N6HGXD00\x00', 'logging': False, 'request': [b'>\x00', b'"\xf1\x82'], 'responseAddress': 2024, 'subAddress': 0}, {'address': 2017, 'brand': 'subaru', 'bus': 1, 'ecu': 'transmission', 'fwVersion': b'DSG2G16XXH049NS6', 'logging': False, 'request': [b'>\x00', b'"\xf1\x82'], 'responseAddress': 2025, 'subAddress': 0}, {'address': 2016, 'brand': 'volkswagen', 'bus': 1, 'ecu': 'engine', 'fwVersion': b'\xf1\x87391S3-08AF0\xf1\x820TD23N6HGXD00\x00', 'logging': False, 'request': [b'"\xf1\x87\xf1\x89\xf1\x82'], 'responseAddress': 2024, 'subAddress': 0}, {'address': 2017, 'brand': 'volkswagen', 'bus': 1, 'ecu': 'transmission', 'fwVersion': b'\xf1\x8795441-2BGJ0\x00\xf1\x89D121049\x00\x00\x00\xf1\x82DSG2G16XXH049NS6', 'logging': False, 'request': [b'"\xf1\x87\xf1\x89\xf1\x82'], 'responseAddress': 2025, 'subAddress': 0}], * Update values.py to add missing comma Added missing comma to Line 1659 to fix previous new firmware additions for 2023 Kia Niro Hybrid * 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 88e952567c..49e4ce033d 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1649,6 +1649,7 @@ FW_VERSIONS = { CAR.KIA_NIRO_HEV_2ND_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531', + b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ', From f9c112e9b87530c463e2b10cac7bf7440d7c32d9 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Mon, 20 Mar 2023 16:31:50 -0400 Subject: [PATCH 082/150] Hyundai: add Sonata FW version to enable radar tracks (#27463) --- selfdrive/debug/hyundai_enable_radar_points.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 07ce5ebddb..3a0ff33cb6 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -32,6 +32,9 @@ SUPPORTED_FW_VERSIONS = { b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), + b"DN8_ SCC F-CUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), # 2021 SONATA HYBRID b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", From aa0421ffd7dd73976b45635cb62182d66c4f1613 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 20 Mar 2023 21:20:35 -0700 Subject: [PATCH 083/150] Chrysler: add FW for 2023 Ram 1500 (#27634) add FW for 2023 Ram 1500 --- docs/CARS.md | 2 +- selfdrive/car/chrysler/values.py | 8 +++++++- 2 files changed, 8 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index a7b6764f0c..1f668dbe8b 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -149,7 +149,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|| -|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|| +|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|| |SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|| |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|| diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 9f00484f34..951e5d7347 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -73,7 +73,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { ], CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram), CAR.RAM_HD: [ ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram), ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram), @@ -187,12 +187,14 @@ FW_VERSIONS = { b'68434860AC', b'68527375AD', b'68453503AC', + b'68510283AG', ], (Ecu.srs, 0x744, None): [ b'68441329AB', b'68490898AA', b'68428609AB', b'68500728AA', + b'68615033AA', ], (Ecu.abs, 0x747, None): [ b'68432418AD', @@ -202,6 +204,7 @@ FW_VERSIONS = { b'68436004AD', b'68535469AB', b'68438454AC', + b'68586307AB', ], (Ecu.fwdRadar, 0x753, None): [ b'68320950AL', @@ -210,17 +213,20 @@ FW_VERSIONS = { b'68475160AG', b'04672892AB', b'68475160AE', + b'04672932AB', ], (Ecu.eps, 0x75A, None): [ b'68273275AG', b'68469901AA', b'68552788AA', + b'68585112AB', ], (Ecu.engine, 0x7e0, None): [ b'68448163AJ', b'68500630AD', b'68539650AD', b'68378758AM ', + b'05036066AE ', ], (Ecu.transmission, 0x7e1, None): [ b'68360078AL', From 4a844078cd675ca2c75d822f5d776ca8b0b71dbf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 20 Mar 2023 21:39:06 -0700 Subject: [PATCH 084/150] Chrysler: add FW for 2019 Ram 3500 (#27636) * Add 2019 Ram 3500 * wrong ones * missing EPS --- selfdrive/car/chrysler/values.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 951e5d7347..b2fb1e83bc 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -76,7 +76,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram), CAR.RAM_HD: [ ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram), - ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram), + ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram), ], } @@ -260,6 +260,7 @@ FW_VERSIONS = { b'04672895AB', b'56029827AG', b'68484694AE', + b'56029827AH', ], (Ecu.eps, 0x761, None): [ b'68421036AC', From aa4286153a2fb2a003307a15fbcb91ffd05d6ec2 Mon Sep 17 00:00:00 2001 From: realfast Date: Tue, 21 Mar 2023 00:54:55 -0500 Subject: [PATCH 085/150] Ram: FW version dump (#27083) * Add extra firmwares and sort for rams * Added another ECU * Update selfdrive/car/chrysler/values.py Co-authored-by: Shane Smiskol * Apply suggestions from code review * sort * formatting --------- Co-authored-by: Shane Smiskol --- selfdrive/car/chrysler/values.py | 87 +++++++++++++++++++++++++------- 1 file changed, 69 insertions(+), 18 deletions(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index b2fb1e83bc..984f92b5aa 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -50,6 +50,7 @@ class CarControllerParams: self.STEER_DELTA_DOWN = 3 self.STEER_MAX = 261 # higher than this faults the EPS + STEER_THRESHOLD = 120 RAM_DT = {CAR.RAM_1500, } @@ -62,6 +63,7 @@ class ChryslerCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC)" harness: Enum = Harness.fca + CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"), CAR.PACIFICA_2018_HYBRID: None, # same platforms @@ -182,92 +184,141 @@ FW_QUERY_CONFIG = FwQueryConfig( FW_VERSIONS = { CAR.RAM_1500: { (Ecu.combinationMeter, 0x742, None): [ - b'68294063AH', + b'68294051AG', + b'68294051AI', + b'68294052AG', b'68294063AG', + b'68294063AH', + b'68294063AI', + b'68434846AC', + b'68434858AC', b'68434860AC', - b'68527375AD', b'68453503AC', + b'68453505AC', + b'68453511AC', + b'68453513AD', + b'68453514AD', b'68510283AG', + b'68527375AD', ], (Ecu.srs, 0x744, None): [ + b'68428609AB', b'68441329AB', + b'68473844AB', b'68490898AA', - b'68428609AB', b'68500728AA', b'68615033AA', ], (Ecu.abs, 0x747, None): [ - b'68432418AD', + b'68292406AH', b'68432418AB', + b'68432418AD', + b'68436004AD', b'68436004AE', + b'68438454AC', b'68438454AD', - b'68436004AD', + b'68438456AE', + b'68438456AF', b'68535469AB', - b'68438454AC', + b'68535470AC', b'68586307AB', ], (Ecu.fwdRadar, 0x753, None): [ - b'68320950AL', + b'04672892AB', + b'04672932AB', + b'68320950AH', + b'68320950AI', b'68320950AJ', + b'68320950AL', + b'68320950AM', b'68454268AB', - b'68475160AG', - b'04672892AB', b'68475160AE', - b'04672932AB', + b'68475160AF', + b'68475160AG', ], (Ecu.eps, 0x75A, None): [ + b'68273275AF', b'68273275AG', + b'68312176AE', + b'68312176AG', + b'68440789AC', + b'68466110AB', b'68469901AA', + b'68522583AB', + b'68522585AB', b'68552788AA', + b'68552790AA', b'68585112AB', ], (Ecu.engine, 0x7e0, None): [ + b'05036065AE ', + b'05036066AE ', + b'68378701AI ', + b'68378758AM ', b'68448163AJ', + b'68448165AK', b'68500630AD', + b'68500630AE', b'68539650AD', - b'68378758AM ', - b'05036066AE ', ], (Ecu.transmission, 0x7e1, None): [ b'68360078AL', - b'68384328AD', - b'68360085AL', + b'68360080AM', b'68360081AM', - b'68502994AD', + b'68360085AL', + b'68384328AD', + b'68384332AD', b'68445533AB', - b'68540431AB', b'68484467AC', + b'68502994AD', + b'68540431AB', ], }, CAR.RAM_HD: { (Ecu.combinationMeter, 0x742, None): [ b'68361606AH', + b'68437735AC', b'68492693AD', + b'68525485AB', + b'68525487AB', + b'68525498AB', ], (Ecu.srs, 0x744, None): [ b'68399794AC', b'68428503AA', b'68428505AA', + b'68428507AA', ], (Ecu.abs, 0x747, None): [ b'68334977AH', + b'68455481AC', + b'68504022AA', b'68504022AB', - b'68530686AB', b'68504022AC', + b'68530686AB', + b'68530686AC', ], (Ecu.fwdRadar, 0x753, None): [ b'04672895AB', b'56029827AG', - b'68484694AE', b'56029827AH', + b'68462657AE', + b'68484694AD', + b'68484694AE', ], (Ecu.eps, 0x761, None): [ b'68421036AC', b'68507906AB', ], (Ecu.engine, 0x7e0, None): [ + b'52370131AF', + b'52370231AF', + b'52370231AG', + b'52370931CT', + b'52401032AE', b'52421132AF', + b'68527616AD ', b'M2370131MB', b'M2421132MB', ], From e0ac5a940e8a57d140478d11e66b3485cddee3ab Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 21 Mar 2023 11:25:36 -0700 Subject: [PATCH 086/150] bump panda --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index e4cc97d882..d70fa4e120 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit e4cc97d8826dc95a7833b859c36948302445a499 +Subproject commit d70fa4e1200ad47c66587c78fd90030a3be1cc43 From ee36c106af73b34819764ac7d23721981d387d88 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 21 Mar 2023 16:14:22 -0700 Subject: [PATCH 087/150] process replay: update after laika publish policy change (#27647) * laika pubs all * lr for locationd * fix locationd qcom * update refs --- .../test/process_replay/process_replay.py | 30 ++++++++----------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 13 insertions(+), 19 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 971ddb3fe2..f547fce0bc 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -248,15 +248,6 @@ def ublox_rcv_callback(msg): return [] -def laika_rcv_callback(msg, CP, cfg, fsm): - if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport": - return ["gnssMeasurements"], True - elif msg.which() == 'qcomGnss' and msg.qcomGnss.which() == "drMeasurementReport": - return ["gnssMeasurements"], True - else: - return [], False - - CONFIGS = [ ProcessConfig( proc_name="controlsd", @@ -331,7 +322,7 @@ CONFIGS = [ pub_sub={ "cameraOdometry": ["liveLocationKalman"], "accelerometer": [], "gyroscope": [], - "gpsLocationExternal": [], "liveCalibration": [], "carState": [], + "gpsLocationExternal": [], "liveCalibration": [], "carState": [], "gpsLocation": [], }, ignore=["logMonoTime", "valid"], init_callback=get_car_params, @@ -371,7 +362,7 @@ CONFIGS = [ }, ignore=["logMonoTime"], init_callback=get_car_params, - should_recv_callback=laika_rcv_callback, + should_recv_callback=None, tolerance=NUMPY_TOLERANCE, fake_pubsubmaster=True, ), @@ -398,7 +389,7 @@ def replay_process(cfg, lr, fingerprint=None): return cpp_replay_process(cfg, lr, fingerprint) -def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): +def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None): params = Params() params.clear_all() params.put_bool("OpenpilotEnabledToggle", True) @@ -406,7 +397,6 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): params.put_bool("DisengageOnAccelerator", True) params.put_bool("WideCameraOnly", False) params.put_bool("DisableLogging", False) - params.put_bool("UbloxAvailable", True) params.put_bool("ObdMultiplexingDisabled", True) os.environ["NO_RADAR_SLEEP"] = "1" @@ -414,6 +404,10 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None): os.environ['SKIP_FW_QUERY'] = "" os.environ['FINGERPRINT'] = "" + if lr is not None: + services = {m.which() for m in lr} + params.put_bool("UbloxAvailable", "ubloxGnss" in services) + if cfg is not None: # Clear all custom processConfig environment variables for config in CONFIGS: @@ -485,10 +479,10 @@ def python_replay_process(cfg, lr, fingerprint=None): if fingerprint is not None: os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = fingerprint - setup_env(cfg=cfg, controlsState=controlsState) + setup_env(cfg=cfg, controlsState=controlsState, lr=lr) else: CP = [m for m in lr if m.which() == 'carParams'][0].carParams - setup_env(CP=CP, cfg=cfg, controlsState=controlsState) + setup_env(CP=CP, cfg=cfg, controlsState=controlsState, lr=lr) assert(type(managed_processes[cfg.proc_name]) is PythonProcess) managed_processes[cfg.proc_name].prepare() @@ -517,7 +511,7 @@ def python_replay_process(cfg, lr, fingerprint=None): recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm) else: recv_socks = [s for s in cfg.pub_sub[msg.which()] if - (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0] + (fsm.frame + 1) % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0] should_recv = bool(len(recv_socks)) if msg.which() == 'can': @@ -549,14 +543,14 @@ def cpp_replay_process(cfg, lr, fingerprint=None): log_msgs = [] # We need to fake SubMaster alive since we can't inject a fake clock - setup_env(simulation=True, cfg=cfg) + setup_env(simulation=True, cfg=cfg, lr=lr) managed_processes[cfg.proc_name].prepare() managed_processes[cfg.proc_name].start() try: with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}"): - while not all(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()): + while not any(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()): time.sleep(0) # Make sure all subscribers are connected diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index cbe2a016ce..cf19e9cb07 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -5775220ec2e62dcdedb92d96270f1380bbd88c39 +30128f043985c8a793cdca2ad9ea1039c5086d72 \ No newline at end of file From 7319afbd516ea1b32736d67d8c5be7663dce9ae3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 21 Mar 2023 16:43:40 -0700 Subject: [PATCH 088/150] process replay: prep for laikad subsock + QCOM GPS (#27632) * process replay: prep for laikad subsock * cleanup * fix for qcomGnss * detect ublox * more debug info in err * wip * cleanup --- selfdrive/locationd/laikad.py | 4 +- .../test/process_replay/process_replay.py | 78 ++++++++++--------- .../test/process_replay/test_processes.py | 11 ++- 3 files changed, 49 insertions(+), 44 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 87b0cf9291..be272f1774 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -420,11 +420,11 @@ def clear_tmp_cache(): os.mkdir(DOWNLOADS_CACHE_FOLDER) -def main(sm=None, pm=None, qc=None): +def main(sm=None, pm=None): #clear_tmp_cache() use_qcom = not Params().get_bool("UbloxAvailable", block=True) - if use_qcom or (qc is not None and qc): + if use_qcom: raw_gnss_socket = "qcomGnss" else: raw_gnss_socket = "ubloxGnss" diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index f547fce0bc..9c0225796d 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -238,14 +238,14 @@ def torqued_rcv_callback(msg, CP, cfg, fsm): return recv_socks, fsm.frame == 0 or msg.which() == 'liveLocationKalman' -def ublox_rcv_callback(msg): +def ublox_rcv_callback(msg, CP, cfg, fsm): msg_class, msg_id = msg.ubloxRaw[2:4] if (msg_class, msg_id) in {(1, 7 * 16)}: - return ["gpsLocationExternal"] + return ["gpsLocationExternal"], True elif (msg_class, msg_id) in {(2, 1 * 16 + 5), (10, 9)}: - return ["ubloxGnss"] + return ["ubloxGnss"], True else: - return [] + return [], False CONFIGS = [ @@ -364,7 +364,7 @@ CONFIGS = [ init_callback=get_car_params, should_recv_callback=None, tolerance=NUMPY_TOLERANCE, - fake_pubsubmaster=True, + fake_pubsubmaster=False, ), ProcessConfig( proc_name="torqued", @@ -386,7 +386,7 @@ def replay_process(cfg, lr, fingerprint=None): if cfg.fake_pubsubmaster: return python_replay_process(cfg, lr, fingerprint) else: - return cpp_replay_process(cfg, lr, fingerprint) + return replay_process_with_sockets(cfg, lr, fingerprint) def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None): @@ -401,8 +401,12 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None): os.environ["NO_RADAR_SLEEP"] = "1" os.environ["REPLAY"] = "1" - os.environ['SKIP_FW_QUERY'] = "" - os.environ['FINGERPRINT'] = "" + os.environ["SKIP_FW_QUERY"] = "" + os.environ["FINGERPRINT"] = "" + + if lr is not None: + services = {m.which() for m in lr} + params.put_bool("UbloxAvailable", "ubloxGnss" in services) if lr is not None: services = {m.which() for m in lr} @@ -458,12 +462,6 @@ def python_replay_process(cfg, lr, fingerprint=None): all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] - # laikad needs decision between submaster ubloxGnss and qcomGnss, prio given to ubloxGnss - if cfg.proc_name == "laikad": - args = (*args, not any(m.which() == "ubloxGnss" for m in pub_msgs)) - service = "qcomGnss" if args[2] else "ubloxGnss" - pub_msgs = [m for m in pub_msgs if m.which() == service or m.which() == 'clocks'] - controlsState = None initialized = False for msg in lr: @@ -534,49 +532,53 @@ def python_replay_process(cfg, lr, fingerprint=None): return log_msgs -def cpp_replay_process(cfg, lr, fingerprint=None): - sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] # We get responses here +def replay_process_with_sockets(cfg, lr, fingerprint=None): + sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] pm = messaging.PubMaster(cfg.pub_sub.keys()) all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] - log_msgs = [] # We need to fake SubMaster alive since we can't inject a fake clock setup_env(simulation=True, cfg=cfg, lr=lr) + if cfg.proc_name == "laikad": + ublox = Params().get_bool("UbloxAvailable") + keys = set(cfg.pub_sub.keys()) - ({"qcomGnss", } if ublox else {"ubloxGnss", }) + pub_msgs = [msg for msg in pub_msgs if msg.which() in keys] + managed_processes[cfg.proc_name].prepare() managed_processes[cfg.proc_name].start() + log_msgs = [] try: - with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}"): + # Wait for process to startup + with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(cfg.proc_name)}"): while not any(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()): time.sleep(0) - # Make sure all subscribers are connected - sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets} - for s in sub_sockets: - messaging.recv_one_or_none(sockets[s]) + # Make sure all subscribers are connected + sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets} + for s in sub_sockets: + messaging.recv_one_or_none(sockets[s]) - for i, msg in enumerate(pub_msgs): + # Do the replay + cnt = 0 + for msg in pub_msgs: + with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"): pm.send(msg.which(), msg.as_builder()) + while not pm.all_readers_updated(msg.which()): + time.sleep(0) - resp_sockets = cfg.pub_sub[msg.which()] if cfg.should_recv_callback is None else cfg.should_recv_callback(msg) + resp_sockets = cfg.pub_sub[msg.which()] + if cfg.should_recv_callback is not None: + resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None) for s in resp_sockets: - response = messaging.recv_one_retry(sockets[s]) - - if response is None: - print(f"Warning, no response received {i}") - else: - - response = response.as_builder() - response.logMonoTime = msg.logMonoTime - response = response.as_reader() - log_msgs.append(response) - - if not len(resp_sockets): # We only need to wait if we didn't already wait for a response - while not pm.all_readers_updated(msg.which()): - time.sleep(0) + m = messaging.recv_one_retry(sockets[s]) + m = m.as_builder() + m.logMonoTime = msg.logMonoTime + log_msgs.append(m.as_reader()) + cnt += 1 finally: managed_processes[cfg.proc_name].signal(signal.SIGKILL) managed_processes[cfg.proc_name].stop() diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 07117c2e7f..a2dd938e2f 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA - ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 + ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 (+ QCOM GPS) ("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 @@ -70,7 +70,7 @@ def run_test_process(data): res = None if not args.upload_only: lr = LogReader.from_bytes(lr_dat) - res, log_msgs = test_process(cfg, lr, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) + res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs) # save logs so we can upload when updating refs save_log(cur_log_fn, log_msgs) @@ -88,7 +88,7 @@ def get_log_data(segment): return (segment, f.read()) -def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None): +def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None): if ignore_fields is None: ignore_fields = [] if ignore_msgs is None: @@ -96,7 +96,10 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore ref_log_msgs = list(LogReader(ref_log_path)) - log_msgs = replay_process(cfg, lr) + try: + log_msgs = replay_process(cfg, lr) + except Exception as e: + raise Exception("failed on segment: " + segment) from e # check to make sure openpilot is engaged in the route if cfg.proc_name == "controlsd": From a86730a2c601188c480285c45999efa00c3b3d4a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 22 Mar 2023 07:55:06 +0800 Subject: [PATCH 089/150] camerad: remove deprecated focus parameters from FrameMetadata (#27638) --- system/camerad/cameras/camera_common.cc | 3 --- system/camerad/cameras/camera_common.h | 5 ----- 2 files changed, 8 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 7ee3738057..9ef5d89a4e 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -157,9 +157,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr framed.setHighConversionGain(frame_data.high_conversion_gain); framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction); framed.setTargetGreyFraction(frame_data.target_grey_fraction); - framed.setLensPos(frame_data.lens_pos); - framed.setLensErr(frame_data.lens_err); - framed.setLensTruePos(frame_data.lens_true_pos); framed.setProcessingTime(frame_data.processing_time); const float ev = c->cur_ev[frame_data.frame_id % 3]; diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 088b9f7939..07d1291a2a 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -66,11 +66,6 @@ typedef struct FrameMetadata { float measured_grey_fraction; float target_grey_fraction; - // Focus - unsigned int lens_pos; - float lens_err; - float lens_true_pos; - float processing_time; } FrameMetadata; From fc5a575ba3aef8fd4b3b7bac93bbc557c3bee11a Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Wed, 22 Mar 2023 01:07:19 +0100 Subject: [PATCH 090/150] laikad: use non-conflating socket for gnss msgs (#24888) * Use subsock * wait for one * wrong name * try cpp proc replay * fix recv pattern --------- Co-authored-by: Bruce Wayne Co-authored-by: Adeeb Shihadeh --- selfdrive/locationd/laikad.py | 28 ++++++++++++++-------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index be272f1774..2e3ee1b7f0 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -116,7 +116,7 @@ class Laikad: nav_dict = {} try: ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) - glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] + glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides] gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides] for e in sum([glonass_navs, gps_navs], []): if e.prn not in nav_dict: @@ -154,7 +154,7 @@ class Laikad: ephemeris_statuses.append(status) return ephemeris_statuses - + def get_lsq_fix(self, t, measurements): if self.last_fix_t is None or abs(self.last_fix_t - t) > 0: min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4 @@ -262,7 +262,7 @@ class Laikad: out_msg = messaging.new_message("gnssMeasurements") out_msg.gnssMeasurements = { "timeToFirstFix": self.ttff, - "ephemerisStatuses" : self.create_ephem_statuses(), + "ephemerisStatuses": self.create_ephem_statuses(), } if self.first_log_time is None: self.first_log_time = 1e-9 * gnss_mono_time @@ -310,7 +310,7 @@ class Laikad: "measTime": gnss_mono_time, "correctedMeasurements": meas_msgs, "timeToFirstFix": self.ttff, - "ephemerisStatuses" : self.create_ephem_statuses(), + "ephemerisStatuses": self.create_ephem_statuses(), } return out_msg @@ -425,17 +425,18 @@ def main(sm=None, pm=None): use_qcom = not Params().get_bool("UbloxAvailable", block=True) if use_qcom: - raw_gnss_socket = "qcomGnss" + raw_name = "qcomGnss" else: - raw_gnss_socket = "ubloxGnss" + raw_name = "ubloxGnss" + raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False, timeout=1000) if sm is None: - sm = messaging.SubMaster([raw_gnss_socket, 'clocks']) + sm = messaging.SubMaster(['clocks',]) if pm is None: pm = messaging.PubMaster(['gnssMeasurements']) # disable until set as main gps source, to better analyze startup time - use_internet = False #"LAIKAD_NO_INTERNET" not in os.environ + use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ replay = "REPLAY" in os.environ if replay or "CI" in os.environ: @@ -444,18 +445,17 @@ def main(sm=None, pm=None): laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom) while True: - sm.update() - - if sm.updated[raw_gnss_socket]: - gnss_msg = sm[raw_gnss_socket] - msg = laikad.process_gnss_msg(gnss_msg, sm.logMonoTime[raw_gnss_socket], replay) - pm.send('gnssMeasurements', msg) + for in_msg in messaging.drain_sock(raw_gnss_sock): + out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay) + pm.send('gnssMeasurements', out_msg) + sm.update(0) if not laikad.got_first_gnss_msg and sm.updated['clocks']: clocks_msg = sm['clocks'] t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9)) if laikad.auto_fetch_navs: laikad.fetch_navs(t, block=replay) + if __name__ == "__main__": main() From be659c976c633876a58ee282550f9ccf52a1e504 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 21 Mar 2023 17:28:38 -0700 Subject: [PATCH 091/150] log current bootlog (#27645) * log current bootlog * rm path * mv that --------- Co-authored-by: Comma Device --- common/params.cc | 1 + system/loggerd/bootlog.cc | 7 ++++++- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/common/params.cc b/common/params.cc index e71f802d61..c084e03d38 100644 --- a/common/params.cc +++ b/common/params.cc @@ -98,6 +98,7 @@ std::unordered_map keys = { {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"CompletedTrainingVersion", PERSISTENT}, {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"CurrentBootlog", PERSISTENT}, {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"DisablePowerDown", PERSISTENT}, diff --git a/system/loggerd/bootlog.cc b/system/loggerd/bootlog.cc index 4deb5b41f3..becd293c02 100644 --- a/system/loggerd/bootlog.cc +++ b/system/loggerd/bootlog.cc @@ -2,6 +2,7 @@ #include #include "cereal/messaging/messaging.h" +#include "common/params.h" #include "common/swaglog.h" #include "system/loggerd/logger.h" @@ -48,7 +49,8 @@ static kj::Array build_boot_log() { } int main(int argc, char** argv) { - const std::string path = LOG_ROOT + "/boot/" + logger_get_route_name(); + const std::string timestr = logger_get_route_name(); + const std::string path = LOG_ROOT + "/boot/" + timestr; LOGW("bootlog to %s", path.c_str()); // Open bootlog @@ -61,5 +63,8 @@ int main(int argc, char** argv) { // Write bootlog file.write(build_boot_log().asBytes()); + // Write out bootlog param to match routes with bootlog + Params().put("CurrentBootlog", timestr.c_str()); + return 0; } From 114b1e4a143acd1d20c2513035873c15228cef8c Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Wed, 22 Mar 2023 10:41:31 +0900 Subject: [PATCH 092/150] Kia: add missing Korean EV6 fwdCamera FW (#27641) * Kia: add missing Korean EV6 fwdCamera FW * Apply suggestions from code review * 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 49e4ce033d..fc0469ffed 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1553,6 +1553,7 @@ FW_VERSIONS = { b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630', b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823', + b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328', ], }, CAR.IONIQ_5: { From 660b9e9718129d80afc0cb3d235fcefb22ba0fc6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 Mar 2023 19:16:05 -0700 Subject: [PATCH 093/150] Chrysler: add FW versions for 2019 Jeep Grand Cherokee (#27649) add FW versions for Jeep 2019 --- selfdrive/car/chrysler/values.py | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 984f92b5aa..8799f073c9 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -182,6 +182,30 @@ FW_QUERY_CONFIG = FwQueryConfig( ) FW_VERSIONS = { + CAR.JEEP_CHEROKEE_2019: { + (Ecu.combinationMeter, 0x742, None): [ + b'68402971AD', + ], + (Ecu.srs, 0x744, None): [ + b'68355363AB', + ], + (Ecu.abs, 0x747, None): [ + b'68408639AD', + ], + (Ecu.fwdRadar, 0x753, None): [ + b'68456722AC', + ], + (Ecu.eps, 0x75A, None): [ + b'68453431AA', + ], + (Ecu.engine, 0x7e0, None): [ + b'05035674AB ', + ], + (Ecu.transmission, 0x7e1, None): [ + b'05035707AA', + ], + }, + CAR.RAM_1500: { (Ecu.combinationMeter, 0x742, None): [ b'68294051AG', From aeb905a2bf64475d3d33b70da6e8a60e4b0985c9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 21 Mar 2023 19:21:11 -0700 Subject: [PATCH 094/150] Toyota LTA: allow no torque (#27646) * no torque * Update ref_commit * Update ref_commit --- selfdrive/car/toyota/toyotacan.py | 2 +- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py index 7e360cc4e1..a78b70608c 100644 --- a/selfdrive/car/toyota/toyotacan.py +++ b/selfdrive/car/toyota/toyotacan.py @@ -17,7 +17,7 @@ def create_lta_steer_command(packer, steer, steer_req, raw_cnt): "SETME_X1": 1, "SETME_X3": 3, "PERCENTAGE": 100, - "SETME_X64": 0x64, + "SETME_X64": 0, "ANGLE": 0, "STEER_ANGLE_CMD": steer, "STEER_REQUEST": steer_req, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index cf19e9cb07..5f3db2fa88 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -30128f043985c8a793cdca2ad9ea1039c5086d72 \ No newline at end of file +ad3192c5ab1743bc1671c5c29816b360747cc3e0 From aefe636cc1b415f4ebf63f71ae9ae298461e37ac Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 22 Mar 2023 00:23:51 -0700 Subject: [PATCH 095/150] GM: common longitudinal actuator delay (#27357) * common longitudinal actuator delay * comment * remove dup * move * clean up * Update ref_commit --- selfdrive/car/gm/interface.py | 4 +--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 602d7e31b6..f501c8c7dd 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -78,7 +78,6 @@ class CarInterface(CarInterfaceBase): ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling ret.vEgoStopping = 0.25 ret.vEgoStarting = 0.25 - ret.longitudinalActuatorDelayUpperBound = 0.5 if experimental_long: ret.pcmCruise = False @@ -113,6 +112,7 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz + ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking if candidate == CAR.VOLT: ret.mass = 1607. + STD_CARGO_KG @@ -148,7 +148,6 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.4 # end to end is 13.46 ret.centerToFront = ret.wheelbase * 0.4 ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia() - ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking elif candidate == CAR.BUICK_LACROSSE: ret.mass = 1712. + STD_CARGO_KG @@ -175,7 +174,6 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.95 # 116 inches in meters ret.steerRatio = 17.3 ret.centerToFront = ret.wheelbase * 0.5 - ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ESCALADE_ESV: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 5f3db2fa88..d20b7f5d7a 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ad3192c5ab1743bc1671c5c29816b360747cc3e0 +a4ee2bfc9a9518a23a4f0fac4df124d1f12deb79 From dcbadc554d009c0e8d5c9a034cf748391c5015a8 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 23 Mar 2023 01:27:23 +0800 Subject: [PATCH 096/150] cabana: sets the line width with floating point precision. (#27653) --- tools/cabana/chartswidget.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 09fcbf2ee2..c98ca3bc69 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -843,7 +843,7 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { series->setUseOpenGL(true); // Qt doesn't properly apply device pixel ratio in OpenGL mode QPen pen = series->pen(); - pen.setWidth(2.0 * qApp->devicePixelRatio()); + pen.setWidthF(2.0 * devicePixelRatioF()); series->setPen(pen); #endif chart()->addSeries(series); From 89d767da49a32bd78024ac224236f82bf2b2fff5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 23 Mar 2023 02:02:34 +0800 Subject: [PATCH 097/150] cabana: improve find similar bits (#27651) * improve find similar bits * 2 precision --- tools/cabana/mainwin.cc | 6 +- tools/cabana/streams/abstractstream.h | 1 + tools/cabana/streams/replaystream.h | 1 + tools/cabana/tools/findsimilarbits.cc | 110 ++++++++++++++++---------- tools/cabana/tools/findsimilarbits.h | 5 +- 5 files changed, 78 insertions(+), 45 deletions(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index befbf270c6..b7cfd9dc2a 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -133,8 +133,10 @@ void MainWindow::createActions() { commands_act->setDefaultWidget(undo_view); commands_menu->addAction(commands_act); - QMenu *tools_menu = menuBar()->addMenu(tr("&Tools")); - tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits); + if (!can->liveStreaming()) { + QMenu *tools_menu = menuBar()->addMenu(tr("&Tools")); + tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits); + } QMenu *help_menu = menuBar()->addMenu(tr("&Help")); help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents); diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 3c7bdd6132..8e19f69d2a 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -50,6 +50,7 @@ public: virtual void setSpeed(float speed) {} virtual bool isPaused() const { return false; } virtual void pause(bool pause) {} + virtual const std::vector *rawEvents() const { return nullptr; } const std::unordered_map> &events() const { return events_; } virtual const std::vector> getTimeline() { return {}; } void mergeEvents(std::vector::const_iterator first, std::vector::const_iterator last, bool append); diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h index 6fc61f7f36..10dc804716 100644 --- a/tools/cabana/streams/replaystream.h +++ b/tools/cabana/streams/replaystream.h @@ -23,6 +23,7 @@ public: inline void setSpeed(float speed) override { replay->setSpeed(speed); } inline bool isPaused() const override { return replay->isPaused(); } void pause(bool pause) override; + const std::vector *rawEvents() const override { return replay->events(); } inline const std::vector> getTimeline() override { return replay->getTimeline(); } private: diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index ffd0df0501..a44ac76059 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -1,5 +1,6 @@ #include "tools/cabana/tools/findsimilarbits.h" +#include #include #include #include @@ -16,20 +17,23 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi QVBoxLayout *main_layout = new QVBoxLayout(this); - QHBoxLayout *form_layout = new QHBoxLayout(); - bus_combo = new QComboBox(this); + QHBoxLayout *src_layout = new QHBoxLayout(); + src_bus_combo = new QComboBox(this); + find_bus_combo = new QComboBox(this); QSet bus_set; for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) { bus_set << it.key().source; } - for (uint8_t bus : bus_set) { - bus_combo->addItem(QString::number(bus), bus); + for (auto cb : {src_bus_combo, find_bus_combo}) { + for (uint8_t bus : bus_set) { + cb->addItem(QString::number(bus), bus); + } + cb->model()->sort(0); + cb->setCurrentIndex(0); } - bus_combo->model()->sort(0); - bus_combo->setCurrentIndex(0); msg_cb = new QComboBox(this); - // TODO: update when bus_combo changes + // TODO: update when src_bus_combo changes for (auto &[id, msg] : dbc()->getMessages(0)) { msg_cb->addItem(msg.name, id.address); } @@ -37,29 +41,44 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi msg_cb->setCurrentIndex(0); byte_idx_sb = new QSpinBox(this); + byte_idx_sb->setFixedWidth(50); byte_idx_sb->setRange(0, 63); bit_idx_sb = new QSpinBox(this); + bit_idx_sb->setFixedWidth(50); bit_idx_sb->setRange(0, 7); - form_layout->addWidget(new QLabel("Bus")); - form_layout->addWidget(bus_combo); - form_layout->addWidget(msg_cb); - form_layout->addWidget(new QLabel("Byte Index")); - form_layout->addWidget(byte_idx_sb); - form_layout->addWidget(new QLabel("Bit Index")); - form_layout->addWidget(bit_idx_sb); - - + src_layout->addWidget(new QLabel(tr("Bus"))); + src_layout->addWidget(src_bus_combo); + src_layout->addWidget(msg_cb); + src_layout->addWidget(new QLabel(tr("Byte Index"))); + src_layout->addWidget(byte_idx_sb); + src_layout->addWidget(new QLabel(tr("Bit Index"))); + src_layout->addWidget(bit_idx_sb); + src_layout->addStretch(0); + + QHBoxLayout *find_layout = new QHBoxLayout(); + find_layout->addWidget(new QLabel(tr("Bus"))); + find_layout->addWidget(find_bus_combo); + find_layout->addWidget(new QLabel(tr("Equal"))); + equal_combo = new QComboBox(this); + equal_combo->addItems({"Yes", "No"}); + find_layout->addWidget(equal_combo); min_msgs = new QLineEdit(this); min_msgs->setValidator(new QIntValidator(this)); min_msgs->setText("100"); - form_layout->addWidget(new QLabel("Min msg count")); - form_layout->addWidget(min_msgs); + find_layout->addWidget(new QLabel(tr("Min msg count"))); + find_layout->addWidget(min_msgs); search_btn = new QPushButton(tr("&Find"), this); - form_layout->addWidget(search_btn); - form_layout->addStretch(1); - main_layout->addLayout(form_layout); + find_layout->addWidget(search_btn); + find_layout->addStretch(0); + + QGridLayout *grid_layout = new QGridLayout(); + grid_layout->addWidget(new QLabel("Find From:"), 0, 0); + grid_layout->addLayout(src_layout, 0, 1); + grid_layout->addWidget(new QLabel("Find In:"), 1, 0); + grid_layout->addLayout(find_layout, 1, 1); + main_layout->addLayout(grid_layout); table = new QTableWidget(this); table->setSelectionBehavior(QAbstractItemView::SelectRows); @@ -70,10 +89,9 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi setMinimumSize({700, 500}); QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find); - QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) { if (index.isValid()) { - MessageId msg_id = {.source = (uint8_t)bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)}; + MessageId msg_id = {.source = (uint8_t)find_bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)}; emit openMessage(msg_id); } }); @@ -83,7 +101,8 @@ void FindSimilarBitsDlg::find() { search_btn->setEnabled(false); table->clear(); uint32_t selected_address = msg_cb->currentData().toUInt(); - auto msg_mismatched = calcBits(bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(), min_msgs->text().toInt()); + auto msg_mismatched = calcBits(src_bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(), + find_bus_combo->currentText().toUInt(), equal_combo->currentIndex() == 0, min_msgs->text().toInt()); table->setRowCount(msg_mismatched.size()); table->setColumnCount(6); table->setHorizontalHeaderLabels({"address", "byte idx", "bit idx", "mismatches", "total msgs", "% mismatched"}); @@ -94,32 +113,41 @@ void FindSimilarBitsDlg::find() { table->setItem(i, 2, new QTableWidgetItem(QString::number(m.bit_idx))); table->setItem(i, 3, new QTableWidgetItem(QString::number(m.mismatches))); table->setItem(i, 4, new QTableWidgetItem(QString::number(m.total))); - table->setItem(i, 5, new QTableWidgetItem(QString::number(m.perc))); + table->setItem(i, 5, new QTableWidgetItem(QString::number(m.perc, 'f', 2))); } search_btn->setEnabled(true); } -QList FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt) { +QList FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, + int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) { QHash> mismatches; QHash msg_count; + auto events = can->rawEvents(); int bit_to_find = -1; - for (const auto &[id, msg] : can->events()) { - if (id.source == bus) { - for (const auto &c : msg) { - if (id.address == selected_address && c.size > byte_idx) { - bit_to_find = ((c.dat[byte_idx] >> (7 - bit_idx)) & 1) != 0; + for (auto e : *events) { + if (e->which == cereal::Event::Which::CAN) { + for (const auto &c : e->event.getCan()) { + uint8_t src = c.getSrc(); + uint32_t address = c.getAddress(); + const auto dat = c.getDat(); + if (src == bus) { + if (address == selected_address && dat.size() > byte_idx) { + bit_to_find = ((dat[byte_idx] >> (7 - bit_idx)) & 1) != 0; + } } - ++msg_count[id.address]; - if (bit_to_find == -1) continue; + if (src == find_bus) { + ++msg_count[address]; + if (bit_to_find == -1) continue; - auto &mismatched = mismatches[id.address]; - if (mismatched.size() < c.size * 8) { - mismatched.resize(c.size * 8); - } - for (int i = 0; i < c.size; ++i) { - for (int j = 0; j < 8; ++j) { - int bit = ((c.dat[i] >> (7 - j)) & 1) != 0; - mismatched[i * 8 + j] += (bit != bit_to_find); + auto &mismatched = mismatches[address]; + if (mismatched.size() < dat.size() * 8) { + mismatched.resize(dat.size() * 8); + } + for (int i = 0; i < dat.size(); ++i) { + for (int j = 0; j < 8; ++j) { + int bit = ((dat[i] >> (7 - j)) & 1) != 0; + mismatched[i * 8 + j] += equal ? (bit != bit_to_find) : (bit == bit_to_find); + } } } } diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h index 53d7806a8f..a40e2cd8df 100644 --- a/tools/cabana/tools/findsimilarbits.h +++ b/tools/cabana/tools/findsimilarbits.h @@ -22,11 +22,12 @@ private: uint32_t address, byte_idx, bit_idx, mismatches, total; float perc; }; - QList calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, int min_msgs_cnt); + QList calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus, + bool equal, int min_msgs_cnt); void find(); QTableWidget *table; - QComboBox *bus_combo, *msg_cb; + QComboBox *src_bus_combo, *find_bus_combo, *msg_cb, *equal_combo; QSpinBox *byte_idx_sb, *bit_idx_sb; QPushButton *search_btn; QLineEdit *min_msgs; From 8b8c4d810f84ae980f0a99c48e7fccc5888dc091 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 22 Mar 2023 13:37:09 -0700 Subject: [PATCH 098/150] test lateral limits: remove Konas from blacklist (#27424) * remove konas from blacklist * update measured accel * remove * no longer needed --- selfdrive/car/tests/test_lateral_limits.py | 12 ------------ selfdrive/car/torque_data/params.yaml | 2 +- 2 files changed, 1 insertion(+), 13 deletions(-) diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 3efdd7404e..d3e4de1798 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -10,7 +10,6 @@ from common.realtime import DT_CTRL from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.interfaces import get_torque_params -from selfdrive.car.hyundai.values import CAR as HYUNDAI CAR_MODELS = all_known_cars() @@ -22,14 +21,6 @@ MAX_LAT_ACCEL = 3.0 # m/s^2 # jerk is measured over half a second JERK_MEAS_FRAMES = 0.5 / DT_CTRL -# TODO: update the max measured lateral accel for these cars -ABOVE_LIMITS_CARS = [ - HYUNDAI.KONA_EV, - HYUNDAI.KONA_HEV, - HYUNDAI.KONA, - HYUNDAI.KONA_EV_2022, -] - car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict) @@ -52,9 +43,6 @@ class TestLateralLimits(unittest.TestCase): if CP.notCar: raise unittest.SkipTest - if CP.carFingerprint in ABOVE_LIMITS_CARS: - raise unittest.SkipTest - CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams cls.control_params = CarControllerParams(CP) cls.torque_params = get_torque_params(cls.car_model) diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml index 6f8cfe0ce6..cb423e1d87 100644 --- a/selfdrive/car/torque_data/params.yaml +++ b/selfdrive/car/torque_data/params.yaml @@ -30,7 +30,7 @@ HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019] HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276] HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778] HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482] -HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548] +HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548] HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651] HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945] HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963] From 25a7f87b424b2a4fd116aff5a5a83ecd1fd87f07 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Wed, 22 Mar 2023 13:44:29 -0700 Subject: [PATCH 099/150] camerad: reduce daytime HDR blur (#27644) * 60hz * be dynamic * cast --------- Co-authored-by: Comma Device --- system/camerad/cameras/camera_qcom2.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 92b3bde413..94116b11cd 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -1175,7 +1175,7 @@ void CameraState::set_camera_exposure(float grey_frac) { // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD uint32_t hcg_time = exposure_time; uint32_t lcg_time = hcg_time; - uint32_t spd_time = exposure_time_max + VS_TIME_MAX_OX03C10; + uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10); uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10); uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g]; From e05e7850e176c4a229608c3972c665b11510d9e3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 22 Mar 2023 19:10:19 -0700 Subject: [PATCH 100/150] Laika cleaner flow (#27633) * laika flow * test fixes * unexpected type * unexpected type * explicit type * ref commit * back to prev val * ref 2 --- selfdrive/locationd/laikad.py | 76 ++++++++++-------------- selfdrive/locationd/test/test_laikad.py | 15 +++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 43 insertions(+), 50 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 2e3ee1b7f0..59176c586b 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -7,7 +7,7 @@ from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor from datetime import datetime from enum import IntEnum -from typing import List, Optional +from typing import List, Optional, Dict, Any import numpy as np @@ -241,12 +241,14 @@ class Laikad: new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7] processed_measurements = process_measurements(new_meas, self.astro_dog) if self.last_fix_pos is not None: - corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog) - instant_fix = self.get_lsq_fix(t, corrected_measurements) - #instant_fix = self.get_lsq_fix(t, processed_measurements) + est_pos = self.last_fix_pos else: - corrected_measurements = [] - instant_fix = self.get_lsq_fix(t, processed_measurements) + est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() + corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) + return corrected_measurements + + def calc_fix(self, t, measurements): + instant_fix = self.get_lsq_fix(t, measurements) if instant_fix is None: return None else: @@ -254,64 +256,52 @@ class Laikad: self.last_fix_t = t self.last_fix_pos = position_estimate self.lat_fix_pos_std = position_std - if (t*1e9) % 10 == 0: - cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}") - return position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, processed_measurements + return position_estimate, position_std, velocity_estimate, velocity_std def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False): out_msg = messaging.new_message("gnssMeasurements") - out_msg.gnssMeasurements = { - "timeToFirstFix": self.ttff, - "ephemerisStatuses": self.create_ephem_statuses(), - } + t = gnss_mono_time * 1e-9 + msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time} if self.first_log_time is None: self.first_log_time = 1e-9 * gnss_mono_time if self.is_ephemeris(gnss_msg): self.read_ephemeris(gnss_msg) - return out_msg elif self.is_good_report(gnss_msg): week, tow, new_meas = self.read_report(gnss_msg) self.gps_week = week - if len(new_meas) == 0: - return out_msg - - t = gnss_mono_time * 1e-9 if week > 0: self.got_first_gnss_msg = True latest_msg_t = GPSTime(week, tow) if self.auto_fetch_navs: self.fetch_navs(latest_msg_t, block) - output = self.process_report(new_meas, t) - if output is None: - return out_msg - if self.ttff <= 0: - self.ttff = max(1e-3, t - self.first_log_time) - position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output + corrected_measurements = self.process_report(new_meas, t) + msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements] - self.update_localizer(position_estimate, t, corrected_measurements) - meas_msgs = [create_measurement_msg(m) for m in corrected_measurements] + fix = self.calc_fix(t, corrected_measurements) measurement_msg = log.LiveLocationKalman.Measurement.new_message - + if fix is not None: + position_estimate, position_std, velocity_estimate, velocity_std = fix + if self.ttff <= 0: + self.ttff = max(1e-3, t - self.first_log_time) + msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)) + msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)) + + self.update_localizer(self.last_fix_pos, t, corrected_measurements) P_diag = self.gnss_kf.P.diagonal() kf_valid = all(self.kf_valid(t)) - out_msg.gnssMeasurements = { - "gpsWeek": week, - "gpsTimeOfWeek": tow, - "kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), + msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(), std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(), - valid=kf_valid), - "kalmanVelocityECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), + valid=kf_valid) + msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(), std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(), - valid=kf_valid), - "positionECEF": measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)), - "velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)), - - "measTime": gnss_mono_time, - "correctedMeasurements": meas_msgs, - "timeToFirstFix": self.ttff, - "ephemerisStatuses": self.create_ephem_statuses(), - } + valid=kf_valid) + + msg_dict['gpsWeek'] = self.last_report_time.week + msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow + msg_dict['timeToFirstFix'] = self.ttff + msg_dict['ephemerisStatuses'] = self.create_ephem_statuses() + out_msg.gnssMeasurements = msg_dict return out_msg def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]): @@ -324,7 +314,7 @@ class Laikad: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: cloudlog.error("Gnss kalman filter state is nan") - if len(est_pos) > 0: + if est_pos is not None and len(est_pos) > 0: cloudlog.info(f"Reset kalman filter with {est_pos}") self.init_gnss_localizer(est_pos) else: diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 265db50c6d..e184dc3ec4 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -180,7 +180,7 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) correct_msgs = verify_messages(self.logs, laikad) - correct_msgs_expected = 559 + correct_msgs_expected = 560 self.assertEqual(correct_msgs_expected, len(correct_msgs)) self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @@ -201,9 +201,11 @@ class TestLaikad(unittest.TestCase): laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom) # Disable fetch_orbits to test NAV only correct_msgs = verify_messages(logs, laikad) - correct_msgs_expected = 42 if use_qcom else 559 + correct_msgs_expected = 44 if use_qcom else 560 + valid_fix_expected = 43 if use_qcom else 560 + self.assertEqual(correct_msgs_expected, len(correct_msgs)) - self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) @mock.patch('laika.downloader.download_and_cache_file') def test_laika_offline(self, downloader_mock): @@ -216,8 +218,9 @@ class TestLaikad(unittest.TestCase): downloader_mock.side_effect = DownloadFailed laikad = Laikad(auto_update=False) correct_msgs = verify_messages(self.logs, laikad) - self.assertEqual(375, len(correct_msgs)) - self.assertEqual(375, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) + expected_msgs = 376 + self.assertEqual(expected_msgs, len(correct_msgs)) + self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid])) def test_laika_get_orbits(self): laikad = Laikad(auto_update=False) @@ -325,7 +328,7 @@ class TestLaikad(unittest.TestCase): gm = msg.gnssMeasurements if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid: cnt += 1 - self.assertEqual(cnt, 559) + self.assertEqual(cnt, 560) def dict_has_values(self, dct): self.assertGreater(len(dct), 0) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d20b7f5d7a..556781738d 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a4ee2bfc9a9518a23a4f0fac4df124d1f12deb79 +50f1e873095fe2462d2aadb9c401bda76759c01c From 26541d9e7aa30b1705873e8360b806b52712fde7 Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Wed, 22 Mar 2023 20:19:46 -0700 Subject: [PATCH 101/150] new model: trained on new dataset (#27637) * df733db3-fad2-4485-abe9-59a6a47f2233/449 946c0f55-247d-4790-a407-c07e4364b340/700 * fix reducel2 df733db3-fad2-4485-abe9-59a6a47f2233/449 946c0f55-247d-4790-a407-c07e4364b340/700 * update ref commit --- 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 a483fa4db4..13759c62f8 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 sha256:736ddc08497d7596bae4d9515a8efb996676be80e67a6d34d632bb8af2ed3fa9 -size 45962515 +oid sha256:5121deb0d5c683b0fbee4c1cad7bc625953bf127b1383fb7599a6b644efd0aea +size 46011200 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index ad09668a46..bd026f5710 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -ab64afd1abd1059c14f50c67b51e5ef89029f216 +82db08d52b155336e9a1dadd11485d5acdf2eba0 From 727a94cc7837e8556a243170111294440722a233 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 22 Mar 2023 21:58:04 -0700 Subject: [PATCH 102/150] fw_versions: cleanup common types (#27658) * use common type * use it in fw_versions * add typing to queries --- selfdrive/car/ecu_addrs.py | 12 +++++++----- selfdrive/car/fw_versions.py | 10 +++++----- 2 files changed, 12 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py index e5d550fac8..86bae91b06 100755 --- a/selfdrive/car/ecu_addrs.py +++ b/selfdrive/car/ecu_addrs.py @@ -9,6 +9,8 @@ from selfdrive.car import make_can_msg from selfdrive.boardd.boardd import can_list_to_can_capnp from system.swaglog import cloudlog +EcuAddrBusType = Tuple[int, Optional[int], int] + def make_tester_present_msg(addr, bus, subaddr=None): dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0] @@ -33,16 +35,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd return False -def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]: +def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]: addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)] - queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list} + queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list} responses = queries return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug) -def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]], - responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]: - ecu_responses: Set[Tuple[int, Optional[int], int]] = set() # set((addr, subaddr, bus),) +def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType], + responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]: + ecu_responses: Set[EcuAddrBusType] = set() # set((addr, subaddr, bus),) try: msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries] diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 8092ac0b76..344d734038 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,12 +1,12 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, Optional, Set, Tuple +from typing import Any, List, Optional, Set from tqdm import tqdm import panda.python.uds as uds from cereal import car from common.params import Params -from selfdrive.car.ecu_addrs import get_ecu_addrs +from selfdrive.car.ecu_addrs import EcuAddrBusType, get_ecu_addrs from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import FW_VERSIONS from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery @@ -146,9 +146,9 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): return True, set() -def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]: - queries = list() - parallel_queries = list() +def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: + queries: List[List[EcuAddrBusType]] = list() + parallel_queries: List[EcuAddrBusType] = list() responses = set() for brand, r in REQUESTS: From 42449b482d46565242341ca2d7e3a7255572f6a2 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 23 Mar 2023 00:14:31 -0700 Subject: [PATCH 103/150] boardd: ability to switch between ELM safety params (#27656) * indecisive * rename to generic FW query * remove code and update comment * we need this to start off, unless we set multiplexing immediately * draft * draft 2 * try that * can't do this either, boardd might read Enabled after removing, but before setting new Request param * this should work * use one less param * fix params * match behavior (set all pandas to safety param of 1, disabling multiplexing for fingerprinting * clean up (some tests may temp break) * fix param name and sort * time it * yes it does matter * add to hyundai's bus 5 query * remove hyundai for now * this should work * clean up * clean up * flip argument around, clean up * fix test_startup * some clean up * rm line * comment makes more sense * required typing * clean up common type * comments * Update selfdrive/car/car_helpers.py * line * whoops, need to set before vin! * fix debug * annoying * more debugging * bug fix (needs both keys always) * debuGG debuGG * Revert "debuGG" This reverts commit 55b2f429324c0b92d5cfb2cabf8b20db1e166248. * Revert "more debugging" This reverts commit 02934c3403ad5270f03093508b704c151d1ccb2a. * Revert "annoying" This reverts commit 8b4e5e09989f9a0217e3ec1c0ba68735929b7366. * clean that up * bumpback * bumpback * every second write param * flip * stuff * move up? * fix timing out in CI * rm --- common/params.cc | 5 +- selfdrive/boardd/boardd.cc | 29 +++++----- .../boardd/tests/test_boardd_loopback.py | 2 +- selfdrive/car/car_helpers.py | 13 +++-- selfdrive/car/fw_query_definitions.py | 4 +- selfdrive/car/fw_versions.py | 57 +++++++++---------- selfdrive/car/honda/values.py | 2 +- selfdrive/controls/tests/test_startup.py | 5 +- .../test/process_replay/process_replay.py | 1 - 9 files changed, 62 insertions(+), 56 deletions(-) diff --git a/common/params.cc b/common/params.cc index c084e03d38..428830a112 100644 --- a/common/params.cc +++ b/common/params.cc @@ -111,7 +111,7 @@ std::unordered_map keys = { {"DoReboot", CLEAR_ON_MANAGER_START}, {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, - {"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"ForcePowerDown", CLEAR_ON_MANAGER_START}, {"GitBranch", PERSISTENT}, {"GitCommit", PERSISTENT}, @@ -155,7 +155,8 @@ std::unordered_map keys = { {"NavSettingTime24h", PERSISTENT}, {"NavSettingLeftSide", PERSISTENT}, {"NavdRender", PERSISTENT}, - {"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, + {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON}, {"OpenpilotEnabledToggle", PERSISTENT}, {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, {"PandaSignatures", CLEAR_ON_MANAGER_START}, diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 5d885c2c79..3dc54b856a 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -113,32 +113,35 @@ bool safety_setter_thread(std::vector pandas) { return false; } - // set to ELM327 for fingerprinting + // initialize to ELM327 without OBD multiplexing for fingerprinting + bool obd_multiplexing_enabled = false; for (int i = 0; i < pandas.size(); i++) { - const uint16_t safety_param = (i > 0) ? 1U : 0U; - pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); + pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); } - // wait for FW query at OBD port to finish + // openpilot can switch between multiplexing modes for different FW queries while (true) { if (do_exit || !check_all_connected(pandas) || !ignition) { return false; } - if (p.getBool("FirmwareObdQueryDone")) { - LOGW("finished FW query at OBD port"); + bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled"); + if (obd_multiplexing_requested != obd_multiplexing_enabled) { + const uint16_t safety_param = obd_multiplexing_requested ? 0U : 1U; + for (int i = 0; i < pandas.size(); i++) { + pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); + } + obd_multiplexing_enabled = obd_multiplexing_requested; + p.putBool("ObdMultiplexingChanged", true); + } + + if (p.getBool("FirmwareQueryDone")) { + LOGW("finished FW query"); break; } util::sleep_for(20); } - // set to ELM327 to finish fingerprinting and for potential ECU knockouts - for (Panda *panda : pandas) { - panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U); - } - - p.putBool("ObdMultiplexingDisabled", true); - std::string params; LOGW("waiting for params to set safety model"); while (true) { diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py index b8ebbd88a3..d614f0b126 100755 --- a/selfdrive/boardd/tests/test_boardd_loopback.py +++ b/selfdrive/boardd/tests/test_boardd_loopback.py @@ -51,7 +51,7 @@ class TestBoardd(unittest.TestCase): cp.safetyConfigs = [safety_config]*num_pandas params = Params() - params.put_bool("FirmwareObdQueryDone", True) + params.put_bool("FirmwareQueryDone", True) params.put_bool("ControlsReady", True) params.put("CarParams", cp.to_bytes()) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index dc82f56197..6a131c77de 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch from selfdrive.car.interfaces import get_interface_attr from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN -from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus +from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing from system.swaglog import cloudlog import cereal.messaging as messaging from selfdrive.car import gen_empty_fingerprint @@ -80,12 +80,13 @@ 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() + params = Params() if not skip_fw_query: # Vin query only reliably works through OBDII bus = 1 - cached_params = Params().get("CarParamsCache") + cached_params = params.get("CarParamsCache") if cached_params is not None: cached_params = car.CarParams.from_bytes(cached_params) if cached_params.carName == "mock": @@ -98,6 +99,7 @@ def fingerprint(logcan, sendcan, num_pandas): cached = True else: cloudlog.warning("Getting VIN & FW versions") + set_obd_multiplexing(params, True) vin_rx_addr, vin = get_vin(logcan, sendcan, bus) ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas) car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas) @@ -113,10 +115,11 @@ def fingerprint(logcan, sendcan, num_pandas): cloudlog.event("Malformed VIN", vin=vin, error=True) vin = VIN_UNKNOWN cloudlog.warning("VIN %s", vin) - - params = Params() params.put("CarVin", vin) - disable_obd_multiplexing(params) + + # disable OBD multiplexing for potential ECU knockouts + set_obd_multiplexing(params, False) + params.put_bool("FirmwareQueryDone", True) finger = gen_empty_fingerprint() candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1 diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index dd3b19f6de..4c2baa58d7 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -59,8 +59,8 @@ class Request: bus: int = 1 # FW responses from these queries will not be used for fingerprinting logging: bool = False - # These requests are done once OBD multiplexing is disabled, after all others - non_obd: bool = False + # boardd toggles OBD multiplexing on/off as needed + obd_multiplexing: bool = True @dataclass diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 344d734038..51bf99ebf4 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,6 +1,6 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, List, Optional, Set +from typing import Any, Dict, List, Set from tqdm import tqdm import panda.python.uds as uds @@ -147,8 +147,10 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: - queries: List[List[EcuAddrBusType]] = list() - parallel_queries: List[EcuAddrBusType] = list() + params = Params() + # queries are split by OBD multiplexing mode + queries: Dict[bool, List[List[EcuAddrBusType]]] = {True: [], False: []} + parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []} responses = set() for brand, r in REQUESTS: @@ -163,21 +165,24 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: a = (addr, sub_addr, r.bus) # Build set of queries if sub_addr is None: - if a not in parallel_queries: - parallel_queries.append(a) + if a not in parallel_queries[r.obd_multiplexing]: + parallel_queries[r.obd_multiplexing].append(a) else: # subaddresses must be queried one by one - if [a] not in queries: - queries.append([a]) + if [a] not in queries[r.obd_multiplexing]: + queries[r.obd_multiplexing].append([a]) # Build set of expected responses to filter response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset) responses.add((response_addr, sub_addr, r.bus)) - queries.insert(0, parallel_queries) + for obd_multiplexing in queries: + queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing]) ecu_responses = set() - for query in queries: - ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) + for obd_multiplexing in queries: + set_obd_multiplexing(params, obd_multiplexing) + for query in queries[obd_multiplexing]: + ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1)) return ecu_responses @@ -198,13 +203,13 @@ def get_brand_ecu_matches(ecu_rx_addrs): return brand_matches -def disable_obd_multiplexing(params): - if not params.get_bool("ObdMultiplexingDisabled"): - params.put_bool("FirmwareObdQueryDone", True) - - cloudlog.warning("Waiting for OBD multiplexing to be disabled") - params.get_bool("ObdMultiplexingDisabled", block=True) - cloudlog.warning("OBD multiplexing disabled") +def set_obd_multiplexing(params: Params, obd_multiplexing: bool): + if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing: + cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}") + params.remove("ObdMultiplexingChanged") + params.put_bool("ObdMultiplexingEnabled", obd_multiplexing) + params.get_bool("ObdMultiplexingChanged", block=True) + cloudlog.warning("OBD multiplexing set successfully") def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False): @@ -212,7 +217,6 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand all_car_fw = [] brand_matches = get_brand_ecu_matches(ecu_rx_addrs) - matched_brand: Optional[str] = None 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, num_pandas=num_pandas, debug=debug, progress=progress) @@ -220,21 +224,14 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand # Try to match using FW returned from this brand only matches = match_fw_to_car_exact(build_fw_dict(car_fw)) if len(matches) == 1: - matched_brand = brand break - disable_obd_multiplexing(Params()) - - # Do non-OBD queries for matched brand, or all if no match is found - for brand in FW_QUERY_CONFIGS.keys(): - if brand == matched_brand or matched_brand is None: - all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress)) - return all_car_fw -def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, 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() + params = Params() # Each brand can define extra ECUs to query for data collection for brand, config in FW_QUERY_CONFIGS.items(): @@ -281,9 +278,9 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # Skip query if no panda available if r.bus > num_pandas * 4 - 1: continue - # Or if request is not designated for current multiplexing mode - elif r.non_obd == obd_multiplexed: - continue + + # Toggle OBD multiplexing for each request + set_obd_multiplexing(params, r.obd_multiplexing) try: addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 0737bea147..009a549afd 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -186,7 +186,7 @@ FW_QUERY_CONFIG = FwQueryConfig( [StdQueries.UDS_VERSION_RESPONSE], bus=1, logging=True, - non_obd=True, + obd_multiplexing=False, ), ], extra_ecus=[ diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py index 92fc2468bb..18c8e79026 100755 --- a/selfdrive/controls/tests/test_startup.py +++ b/selfdrive/controls/tests/test_startup.py @@ -72,7 +72,6 @@ class TestStartup(unittest.TestCase): params.clear_all() params.put_bool("Passive", False) params.put_bool("OpenpilotEnabledToggle", True) - params.put_bool("ObdMultiplexingDisabled", True) # Build capnn version of FW array if fw_versions is not None: @@ -109,6 +108,10 @@ class TestStartup(unittest.TestCase): finger = _FINGERPRINTS[car_model][0] for _ in range(1000): + # controlsd waits for boardd to echo back that it has changed the multiplexing mode + if not params.get_bool("ObdMultiplexingChanged"): + params.put_bool("ObdMultiplexingChanged", True) + msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()] pm.send('can', can_list_to_can_capnp(msgs)) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 9c0225796d..2b9096b423 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -397,7 +397,6 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None): params.put_bool("DisengageOnAccelerator", True) params.put_bool("WideCameraOnly", False) params.put_bool("DisableLogging", False) - params.put_bool("ObdMultiplexingDisabled", True) os.environ["NO_RADAR_SLEEP"] = "1" os.environ["REPLAY"] = "1" From 1a560a1a6c114352b85959f96190d97f49f48010 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 24 Mar 2023 01:19:39 +0800 Subject: [PATCH 104/150] cabana: fix button geometries (#27659) --- tools/cabana/signaledit.cc | 3 +-- tools/cabana/signaledit.h | 11 ++++++++++- 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index d91f6c1401..4cd06e8a7d 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -415,7 +415,7 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), hl->addWidget(collapse_btn); // tree view - tree = new QTreeView(this); + tree = new TreeView(this); tree->setModel(model = new SignalModel(this)); tree->setItemDelegate(new SignalItemDelegate(this)); tree->setFrameShape(QFrame::NoFrame); @@ -439,7 +439,6 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QObject::connect(tree, &QTreeView::viewportEntered, [this]() { emit highlight(nullptr); }); QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); }); QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged); - QObject::connect(model, &QAbstractItemModel::rowsInserted, this, &SignalView::rowsChanged); QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged); QObject::connect(dbc(), &DBCManager::signalAdded, [this](MessageId id, const cabana::Signal *sig) { selectSignal(sig); }); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index ae73a7b3bc..d6bad6d88c 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -108,8 +108,17 @@ private: void rowsChanged(); void leaveEvent(QEvent *event); + struct TreeView : public QTreeView { + TreeView(QWidget *parent) : QTreeView(parent) {} + void rowsInserted(const QModelIndex &parent, int start, int end) override { + ((SignalView *)parentWidget())->rowsChanged(); + // update widget geometries in QTreeView::rowsInserted + QTreeView::rowsInserted(parent, start, end); + } + }; + MessageId msg_id; - QTreeView *tree; + TreeView *tree; QLineEdit *filter_edit; ChartsWidget *charts; QLabel *signal_count_lb; From a0e225e4afe971f92fa0980c3f89b1d9818f53a5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 23 Mar 2023 21:14:57 -0700 Subject: [PATCH 105/150] FPv2: don't multiplex second panda (#27663) * fix this way * or can fix this way * simplify * fix --- selfdrive/boardd/boardd.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 3dc54b856a..4faa08d536 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -127,8 +127,8 @@ bool safety_setter_thread(std::vector pandas) { bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled"); if (obd_multiplexing_requested != obd_multiplexing_enabled) { - const uint16_t safety_param = obd_multiplexing_requested ? 0U : 1U; for (int i = 0; i < pandas.size(); i++) { + const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U; pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param); } obd_multiplexing_enabled = obd_multiplexing_requested; From 049fffb39f875152b2e03df13566fddbd0249a4f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 23 Mar 2023 23:07:27 -0700 Subject: [PATCH 106/150] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 7492dc3f45..494cd28f3b 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 7492dc3f45702dfdbe0f353f38844e7fbf39ca71 +Subproject commit 494cd28f3ba2eaf8e27180b357858f8441b6d90c From 5ab45890aa28e4d97044bb80564de1fb1c2b5492 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 23 Mar 2023 23:31:38 -0700 Subject: [PATCH 107/150] Hyundai CAN FD: log hvac FW version (#27668) * add parking and hvac ecus * needs a new query sadly * move space * temp * comment * fix * mid-solution stash * pretty cleannnnnnn * everything seems to be working * bump cereal * this is a smaller diff, easier to merge * bump cereal * just hvac * bump to master --- cereal | 2 +- selfdrive/car/hyundai/values.py | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index 494cd28f3b..d0ca2639d0 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 494cd28f3ba2eaf8e27180b357858f8441b6d90c +Subproject commit d0ca2639d057acda9ce56766f60658417ab6834a diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index fc0469ffed..55645f2050 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -359,18 +359,19 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar], + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac], bus=4, ), Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar], + whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac], bus=5, ), ], extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms + (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.cornerRadar, 0x7b7, None), ], ) From ecbd7150eb68ca79737c43914e91dbc7c633c812 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 23 Mar 2023 23:47:15 -0700 Subject: [PATCH 108/150] FwQueryConfig: auxiliary field to add requests for first aux panda (#27666) * mid-solution stash * pretty cleannnnnnn * everything seems to be working * rename * space * reduce obd multiplexing transitions from 3 to 1 (0.3s to 0.1s) --- selfdrive/car/fw_query_definitions.py | 10 ++++++++++ selfdrive/car/hyundai/values.py | 12 +++++++++--- 2 files changed, 19 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 4c2baa58d7..7ae9bee404 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import capnp +import copy from dataclasses import dataclass, field import struct from typing import Dict, List, Optional, Tuple @@ -57,6 +58,8 @@ class Request: whitelist_ecus: List[int] = field(default_factory=list) rx_offset: int = 0x8 bus: int = 1 + # Whether this query should be run on the first auxiliary panda (CAN FD cars for example) + auxiliary: bool = False # FW responses from these queries will not be used for fingerprinting logging: bool = False # boardd toggles OBD multiplexing on/off as needed @@ -71,3 +74,10 @@ class FwQueryConfig: non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict) # Ecus added for data collection, not to be fingerprinted on extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) + + def __post_init__(self): + for i in range(len(self.requests)): + if self.requests[i].auxiliary: + new_request = copy.deepcopy(self.requests[i]) + new_request.bus += 4 + self.requests.append(new_request) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 55645f2050..5c677951b7 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -355,18 +355,24 @@ FW_QUERY_CONFIG = FwQueryConfig( [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar], ), - # CAN-FD queries (camera) + + # CAN-FD queries (from camera) + # TODO: combine shared whitelists with CAN requests Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac], - bus=4, + bus=0, + auxiliary=True, + obd_multiplexing=False, ), Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac], - bus=5, + bus=1, + auxiliary=True, + obd_multiplexing=False, ), ], extra_ecus=[ From 021661b316f488682c9e4c1b586c9fb51384cdf6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Mar 2023 00:12:25 -0700 Subject: [PATCH 109/150] Hyundai CAN FD: log ADAS parking ECU FW version (#27662) * add parking and hvac ecus * needs a new query sadly * move space * temp * comment * fix * mid-solution stash * pretty cleannnnnnn * everything seems to be working * bump cereal * bump to master * bump to master * don't multiplex when we don't need it --- cereal | 2 +- selfdrive/car/hyundai/values.py | 24 ++++++++++++++++++++++++ 2 files changed, 25 insertions(+), 1 deletion(-) diff --git a/cereal b/cereal index d0ca2639d0..3c5ff1c6d0 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit d0ca2639d057acda9ce56766f60658417ab6834a +Subproject commit 3c5ff1c6d069be21b32e2ac202115f4ea5d21bc7 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 5c677951b7..57d306496b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -335,10 +335,15 @@ FINGERPRINTS = { HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf100) # Long description + +HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(0xf110) # Alt long description + HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \ p16(0xf100) + HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) FW_QUERY_CONFIG = FwQueryConfig( @@ -374,9 +379,28 @@ FW_QUERY_CONFIG = FwQueryConfig( auxiliary=True, obd_multiplexing=False, ), + + # CAN-FD debugging queries + Request( + [HYUNDAI_VERSION_REQUEST_ALT], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.parking], + bus=0, + auxiliary=True, + obd_multiplexing=False, + ), + Request( + [HYUNDAI_VERSION_REQUEST_ALT], + [HYUNDAI_VERSION_RESPONSE], + whitelist_ecus=[Ecu.parking], + bus=1, + auxiliary=True, + obd_multiplexing=False, + ), ], extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms + (Ecu.parking, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.cornerRadar, 0x7b7, None), ], From 2ad9eec882e6be5aff4ae6a55e3ffb6f76a3d85b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Mar 2023 00:25:37 -0700 Subject: [PATCH 110/150] FPv2: log OBD multiplexed requests (#27667) * log multiplexed requests * bump cereal * bump cereal to master --- cereal | 2 +- selfdrive/car/fw_versions.py | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/cereal b/cereal index 3c5ff1c6d0..c516d5e985 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3c5ff1c6d069be21b32e2ac202115f4ea5d21bc7 +Subproject commit c516d5e9856fdb1f5ca856e430ac69aebb2ff017 diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 51bf99ebf4..e71d161f7f 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -300,6 +300,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, f.brand = brand f.bus = r.bus f.logging = r.logging or ecu_key in logging_addrs + f.obdMultiplexing = r.obd_multiplexing if sub_addr is not None: f.subAddress = sub_addr From 9e023b3eadcf4d8ed0b59fd5fbe4041342be322f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Mar 2023 00:29:48 -0700 Subject: [PATCH 111/150] FPv2: only set multiplexing when needed (#27669) * only set multiplexing if bus matters * these don't matter anymore --- selfdrive/car/fw_versions.py | 3 ++- selfdrive/car/hyundai/values.py | 2 -- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index e71d161f7f..9bb04ee821 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -280,7 +280,8 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, continue # Toggle OBD multiplexing for each request - set_obd_multiplexing(params, r.obd_multiplexing) + if r.bus % 4 == 1: + set_obd_multiplexing(params, r.obd_multiplexing) try: addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 57d306496b..bb26d68329 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -369,7 +369,6 @@ FW_QUERY_CONFIG = FwQueryConfig( whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac], bus=0, auxiliary=True, - obd_multiplexing=False, ), Request( [HYUNDAI_VERSION_REQUEST_LONG], @@ -387,7 +386,6 @@ FW_QUERY_CONFIG = FwQueryConfig( whitelist_ecus=[Ecu.parking], bus=0, auxiliary=True, - obd_multiplexing=False, ), Request( [HYUNDAI_VERSION_REQUEST_ALT], From f08132475dc94214c6deda42add8bb4360220ea6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 25 Mar 2023 02:01:03 +0800 Subject: [PATCH 112/150] cabana: align signal value vcenter (#27675) --- 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 3e80a6a697..4ebe8e0473 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -21,7 +21,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const { } else if (role == BytesRole) { return m.data; } else if (role == Qt::TextAlignmentRole) { - return Qt::AlignRight; + return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter); } return {}; } From 9c84af296c325f310bad23657bc35e725be45541 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 25 Mar 2023 02:01:26 +0800 Subject: [PATCH 113/150] cabana: clear the old timeline after opening a new route from menu (#27672) --- tools/cabana/videowidget.cc | 24 ++++++++++++++---------- tools/cabana/videowidget.h | 3 +++ 2 files changed, 17 insertions(+), 10 deletions(-) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 536ae7ba97..e36e62131f 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -8,11 +8,12 @@ #include #include #include -#include #include #include #include +const int MIN_VIDEO_HEIGHT = 100; + static const QColor timeline_colors[] = { [(int)TimelineType::None] = QColor(111, 143, 175), [(int)TimelineType::Engaged] = QColor(0, 163, 108), @@ -22,7 +23,7 @@ static const QColor timeline_colors[] = { [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), }; -inline QString formatTime(int seconds) { +static inline QString formatTime(int seconds) { return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } @@ -106,7 +107,7 @@ QWidget *VideoWidget::createCameraWidget() { slider_layout->addWidget(end_time_label); l->addLayout(slider_layout); - cam_widget->setMinimumHeight(100); + cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); @@ -164,16 +165,12 @@ void VideoWidget::updatePlayBtnState() { } // Slider -Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) { - QTimer *timer = new QTimer(this); - timer->setInterval(2000); - timer->callOnTimeout([this]() { +Slider::Slider(QWidget *parent) : timer(this), QSlider(Qt::Horizontal, parent) { + timer.callOnTimeout([this]() { timeline = can->getTimeline(); update(); }); setMouseTracking(true); - - QObject::connect(can, SIGNAL(streamStarted()), timer, SLOT(start())); QObject::connect(can, &AbstractStream::streamStarted, this, &Slider::streamStarted); } @@ -187,11 +184,13 @@ void Slider::streamStarted() { thumnail_future.waitForFinished(); abort_load_thumbnail = false; thumbnails.clear(); + timeline.clear(); + timer.start(2000); thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails); } void Slider::loadThumbnails() { - const auto segments = can->route()->segments(); + const auto &segments = can->route()->segments(); for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) { std::string qlog = it->second.qlog.toStdString(); if (!qlog.empty()) { @@ -280,3 +279,8 @@ void Slider::mouseMoveEvent(QMouseEvent *e) { QToolTip::showText(pt, thumb, this, rect()); QSlider::mouseMoveEvent(e); } + +void Slider::leaveEvent(QEvent *event) { + QToolTip::hideText(); + QSlider::leaveEvent(event); +} diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index d10b09fec5..a5ce8c345f 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -8,6 +8,7 @@ #include #include #include +#include #include "selfdrive/ui/qt/widgets/cameraview.h" #include "selfdrive/ui/qt/widgets/controls.h" @@ -24,6 +25,7 @@ public: private: void mousePressEvent(QMouseEvent *e) override; void mouseMoveEvent(QMouseEvent *e) override; + void leaveEvent(QEvent *event) override; void sliderChange(QAbstractSlider::SliderChange change) override; void paintEvent(QPaintEvent *ev) override; void streamStarted(); @@ -37,6 +39,7 @@ private: QMap thumbnails; QFuture thumnail_future; QSize thumbnail_size = {}; + QTimer timer; }; class VideoWidget : public QWidget { From 76319d02d843b9809a6d7bedec64db523fa12d68 Mon Sep 17 00:00:00 2001 From: mitchellgoffpc Date: Fri, 24 Mar 2023 16:16:38 -0700 Subject: [PATCH 114/150] Added tritonclient to xx deps --- poetry.lock | 303 ++++++++++++++++++++++++++++++++++++++++++++++++- pyproject.toml | 1 + 2 files changed, 303 insertions(+), 1 deletion(-) diff --git a/poetry.lock b/poetry.lock index 4abd6777ba..b7554ac03a 100644 --- a/poetry.lock +++ b/poetry.lock @@ -119,6 +119,7 @@ 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100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -174,6 +174,7 @@ Werkzeug = "^2.1.2" zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" } omegaconf = "^2.3.0" osmnx = "==1.2.2" +tritonclient = {version = "2.28.0", extras = ["http"]} [build-system] From c25ce02639a86f6627314ecd3b3c101d82d7498f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 24 Mar 2023 16:48:07 -0700 Subject: [PATCH 115/150] tici: turn off fan after boot (#27680) * tici: turn off fan after boot * tmp if --------- Co-authored-by: Comma Device --- system/hardware/tici/hardware.py | 6 ++++++ system/hardware/tici/pins.py | 2 ++ 2 files changed, 8 insertions(+) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 9c1cc930c1..46db097da1 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -452,6 +452,12 @@ class Tici(HardwareBase): # Allow thermald to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") + # TODO: remove the if once agnos 7 ships + # Turn off fan, turned on by the ABL + if os.path.exists('/sys/class/gpio/gpio49/'): + gpio_init(GPIO.SOM_ST_IO, True) + gpio_set(GPIO.SOM_ST_IO, 0) + # *** IRQ config *** # move these off the default core diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py index fe31b9311d..082a402f15 100644 --- a/system/hardware/tici/pins.py +++ b/system/hardware/tici/pins.py @@ -10,6 +10,8 @@ class GPIO: STM_RST_N = 124 STM_BOOT0 = 134 + SOM_ST_IO = 49 + LTE_RST_N = 50 LTE_PWRKEY = 116 LTE_BOOT = 52 From b2beb3792ec34dd1cc3bf554b845f5f496812343 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Mar 2023 17:44:49 -0700 Subject: [PATCH 116/150] Lexus: LSS is standard on ES (#27684) * standard on 17 and 18 https://dealerinspire-brochure.s3.amazonaws.com/834.pdf & https://www.lexus.com/content/dam/lexus/documents/brochures/models/2018/MY18-Lexus-ES-and-ES-Hybrid-Brochure.pdf * update docs --- docs/CARS.md | 2 +- selfdrive/car/toyota/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 1f668dbe8b..d9eef56215 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -126,7 +126,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|| |Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 4edafc0c28..190f7faa61 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -168,7 +168,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { # Lexus CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), - CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"), + CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"), CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"), CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"), CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), From c2bdbaa3462808bbe274d0adcb4f08ba9609dd90 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Mar 2023 17:48:31 -0700 Subject: [PATCH 117/150] Lexus: 2017 RC is not supported (#27678) we don't support 2017 --- docs/CARS.md | 2 +- selfdrive/car/toyota/values.py | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index d9eef56215..3e23316bd8 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -133,7 +133,7 @@ A supported vehicle is one that just works when you install a comma three. All s |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| |Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| -|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|| |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|| diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 190f7faa61..2398e012d6 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -176,7 +176,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"), CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"), CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"), - CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"), + CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"), CAR.LEXUS_RX: [ ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX 2017-19"), From d443d8f5e30e2d9110893c181d433fe9af2d91e9 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Mar 2023 19:11:50 -0700 Subject: [PATCH 118/150] VW: add missing Arteon 2019 FW (#27671) * add missing arteon 2019 fw * duplicate --- selfdrive/car/volkswagen/values.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index e63975b0c0..bdd82088a1 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -293,6 +293,7 @@ FW_VERSIONS = { b'\xf1\x873G0906259N \xf1\x890004', b'\xf1\x873G0906259P \xf1\x890001', b'\xf1\x875NA907115H \xf1\x890002', + b'\xf1\x873G0906259G \xf1\x890004', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x8709G927158L \xf1\x893611', @@ -304,17 +305,19 @@ FW_VERSIONS = { b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', + b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', ], (Ecu.eps, 0x712, None): [ b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572T \xf1\x890383', b'\xf1\x875Q0907572J \xf1\x890654', + b'\xf1\x875Q0907572R \xf1\x890771', ], }, CAR.ATLAS_MK1: { From b61a0b785af911d12816d405edc8e904416a6271 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Mar 2023 20:07:11 -0700 Subject: [PATCH 119/150] Toyota: use DBC for alt brake safety param (#27686) * use DBC * use DBC --- selfdrive/car/toyota/interface.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index e6476863c3..33a87451e9 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,7 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda -from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ +from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase @@ -21,7 +21,8 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)] ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate] - if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH): + # BRAKE_MODULE is on a different address for these cars + if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated": ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE if candidate in ANGLE_CONTROL_CAR: From 33afefd346e4348aacb122a486066741731b7d05 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 25 Mar 2023 12:54:41 +0800 Subject: [PATCH 120/150] cabana: enables user to select the zoom area when the mouse press on the data point (#27679) zoom anywhere --- tools/cabana/chartswidget.cc | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index c98ca3bc69..72c9e1ba91 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -9,8 +9,9 @@ #include #include #include -#include +#include #include +#include #include #include #include @@ -849,6 +850,13 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { chart()->addSeries(series); series->attachAxis(axis_x); series->attachAxis(axis_y); + + // disables the delivery of mouse events to the opengl widget. + // this enables the user to select the zoom area when the mouse press on the data point. + auto glwidget = findChild(); + if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) { + glwidget->setAttribute(Qt::WA_TransparentForMouseEvents); + } return series; } From 084e83cda1415189539755343e74e9342e7ec42d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 25 Mar 2023 01:02:11 -0700 Subject: [PATCH 121/150] FPv2: replace temporary variable with config (#27692) * query extra ecus (still need to match) * match against extra ecus * clean p * clean p * switch that around * can clean that up * values * rm * not used --- selfdrive/car/fw_versions.py | 23 +++++++++-------------- 1 file changed, 9 insertions(+), 14 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 9bb04ee821..6918913f80 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -19,7 +19,7 @@ FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e} -REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] +REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests] def chunks(l, n=128): @@ -153,7 +153,7 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []} responses = set() - for brand, r in REQUESTS: + for brand, _, r in REQUESTS: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: continue @@ -190,9 +190,9 @@ def get_brand_ecu_matches(ecu_rx_addrs): """Returns dictionary of brands and matches with ECUs in their FW versions""" brand_addrs = get_brand_addrs() - brand_matches = {brand: set() for brand, _ in REQUESTS} + brand_matches = {brand: set() for brand, _, _ in REQUESTS} - brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS) + brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS) for addr, sub_addr, _ in ecu_rx_addrs: # Since we can't know what request an ecu responded to, add matches for all possible rx offsets for brand, rx_offset in brand_rx_offsets: @@ -247,19 +247,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # ECUs using a subaddress need be queried one by one, the rest can be done in parallel addrs = [] parallel_addrs = [] - logging_addrs = [] ecu_types = {} for brand, brand_versions in versions.items(): - for candidate, ecu in brand_versions.items(): + for ecu in brand_versions.values(): for ecu_type, addr, sub_addr in ecu.keys(): a = (brand, addr, sub_addr) if a not in ecu_types: ecu_types[a] = ecu_type - if a not in logging_addrs and candidate == "debug": - logging_addrs.append(a) - if sub_addr is None: if a not in parallel_addrs: parallel_addrs.append(a) @@ -271,10 +267,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # Get versions and build capnp list to put into CarParams car_fw = [] - requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand] + requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): - for brand, r in requests: + for brand, config, r in requests: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: continue @@ -292,15 +288,14 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, for (tx_addr, sub_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() - ecu_key = (brand, tx_addr, sub_addr) - f.ecu = ecu_types.get(ecu_key, Ecu.unknown) + f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown) f.fwVersion = version f.address = tx_addr f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset) f.request = r.request f.brand = brand f.bus = r.bus - f.logging = r.logging or ecu_key in logging_addrs + f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus f.obdMultiplexing = r.obd_multiplexing if sub_addr is not None: From 6f35d23c062ab000af90f5a0d7704eab8682479d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 25 Mar 2023 01:07:58 -0700 Subject: [PATCH 122/150] FPv2: match brand against extra ecus (#27688) * query extra ecus (still need to match) * match against extra ecus * clean p * clean p * switch that around * can clean that up * values --- selfdrive/car/fw_versions.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 6918913f80..f85b7f6b7d 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -39,6 +39,8 @@ def build_fw_dict(fw_versions, filter_brand=None): def get_brand_addrs(): brand_addrs = defaultdict(set) for brand, cars in VERSIONS.items(): + # Add ecus in database + extra ecus to match against + brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} for fw in cars.values(): brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} return brand_addrs @@ -153,13 +155,13 @@ def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]: parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []} responses = set() - for brand, _, r in REQUESTS: + for brand, config, r in REQUESTS: # Skip query if no panda available if r.bus > num_pandas * 4 - 1: continue for brand_versions in VERSIONS[brand].values(): - for ecu_type, addr, sub_addr in brand_versions: + for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus: # Only query ecus in whitelist if whitelist is not empty if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus: a = (addr, sub_addr, r.bus) From c77a0feab4e8474f73e47d7f111f3f41f0d68ff3 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 26 Mar 2023 06:38:41 +0800 Subject: [PATCH 123/150] cabana: fix high DPI issues in chart (#27694) --- tools/cabana/chartswidget.cc | 79 +++++++++++++++++++----------------- tools/cabana/chartswidget.h | 6 +-- 2 files changed, 45 insertions(+), 40 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 72c9e1ba91..a6eabfd1ae 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -21,7 +21,7 @@ static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } // ChartsWidget -ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { +ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent) { setFrameStyle(QFrame::StyledPanel | QFrame::Plain); QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); @@ -89,6 +89,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) { range_slider->setValue(max_chart_range); updateToolBar(); + align_timer.setSingleShot(true); + QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll); QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged); QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState); @@ -200,7 +202,7 @@ ChartView *ChartsWidget::createChart() { QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged); QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged); - QObject::connect(chart, &ChartView::axisYLabelWidthChanged, this, &ChartsWidget::alignCharts); + QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start)); charts.push_back(chart); updateLayout(); return chart; @@ -312,7 +314,7 @@ ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { axis_y = new QValueAxis(this); chart->addAxis(axis_x, Qt::AlignBottom); chart->addAxis(axis_y, Qt::AlignLeft); - chart->legend()->layout()->setContentsMargins(16, 0, 40, 0); + chart->legend()->layout()->setContentsMargins(0, 0, 0, 0); chart->legend()->setShowToolTips(true); chart->setMargins({0, 0, 0, 0}); @@ -438,24 +440,34 @@ void ChartView::manageSeries() { } void ChartView::resizeEvent(QResizeEvent *event) { - updatePlotArea(align_to); - int top_margin = style()->pixelMetric(QStyle::PM_LayoutTopMargin); - int spacing = style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing); - int x = event->size().width() - close_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutRightMargin); - close_btn_proxy->setPos(x, top_margin); - manage_btn_proxy->setPos(x - manage_btn_proxy->size().width() - spacing, top_margin); - move_icon->setPos(style()->pixelMetric(QStyle::PM_LayoutLeftMargin), top_margin); + qreal left, top, right, bottom; + chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); + move_icon->setPos(left, top); + close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top); + int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing); + manage_btn_proxy->setPos(x, top); + chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), manage_btn_proxy->sceneBoundingRect().bottomLeft()}); + if (align_to > 0) { + updatePlotArea(align_to); + } QChartView::resizeEvent(event); } -void ChartView::updatePlotArea(int left) { - QRect r = rect(); - if (align_to != left || r != background->rect()) { - align_to = left; - background->setRect(r); - chart()->legend()->setGeometry(QRect(r.left(), r.top(), r.width(), 45)); - chart()->setPlotArea(QRect(align_to, r.top() + 45, r.width() - align_to - 36, r.height() - 80)); +void ChartView::updatePlotArea(int left_pos) { + if (align_to != left_pos || rect() != background->rect()) { + align_to = left_pos; + background->setRect(rect()); + + qreal left, top, right, bottom; + chart()->layout()->getContentsMargins(&left, &top, &right, &bottom); + QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2)); + x_label_size += QSizeF{5 * devicePixelRatioF(), 5 * devicePixelRatioF()}; + int adjust_top = chart()->legend()->geometry().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin); + chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom)); chart()->layout()->invalidate(); + if (can->isPaused()) { + update(); + } } } @@ -476,7 +488,6 @@ void ChartView::updatePlot(double cur, double min, double max) { updateAxisY(); updateSeriesPoints(); } - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } @@ -490,7 +501,7 @@ void ChartView::updateSeriesPoints() { int pixels_per_point = width() / num_points; if (series_type == SeriesType::Scatter) { - ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8)); + ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8) * devicePixelRatioF()); } else { s.series->setPointsVisible(pixels_per_point > 20); } @@ -508,7 +519,7 @@ void ChartView::updateSeries(const cabana::Signal *sig) { s.series->setColor(getColor(s.sig)); auto msgs = can->events().at(s.msg_id); - auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time=s.last_value_mono_time}); + auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = s.last_value_mono_time}); int new_size = std::max(s.vals.size() + std::distance(first, msgs.cend()), settings.max_cached_minutes * 60 * 100); if (s.vals.capacity() <= new_size) { s.vals.reserve(new_size * 2); @@ -569,7 +580,7 @@ void ChartView::updateAxisY() { if (axis_y->titleText() != unit) { axis_y->setTitleText(unit); - y_label_width = 0;// recalc width + y_label_width = 0; // recalc width } double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05; @@ -578,10 +589,10 @@ void ChartView::updateAxisY() { axis_y->setRange(min_y, max_y); axis_y->setTickCount(tick_count); + int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height(); QFontMetrics fm(axis_y->labelsFont()); int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1; - int title_spacing = axis_y->titleText().isEmpty() ? 0 : 20; - y_label_width = title_spacing + qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 15; // left margin 15 + y_label_width = title_spacing + qMax(fm.width(QString::number(min_y, 'f', n)), fm.width(QString::number(max_y, 'f', n))) + 15; axis_y->setLabelFormat(QString("%.%1f").arg(n)); emit axisYLabelWidthChanged(y_label_width); } @@ -628,10 +639,7 @@ void ChartView::mousePressEvent(QMouseEvent *event) { drag->setMimeData(mimeData); drag->setPixmap(grab()); drag->setHotSpot(event->pos()); - Qt::DropAction dropAction = drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction); - if (dropAction == Qt::MoveAction) { - return; - } + drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction); } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { if (!can->liveStreaming()) { // Save current playback state when scrubbing @@ -639,7 +647,6 @@ void ChartView::mousePressEvent(QMouseEvent *event) { if (resume_after_scrub) { can->pause(true); } - is_scrubbing = true; } } else { @@ -687,20 +694,18 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } void ChartView::mouseMoveEvent(QMouseEvent *ev) { + const auto plot_area = chart()->plotArea(); // Scrubbing if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) { - if (chart()->plotArea().contains(ev->pos())) { - double t = chart()->mapToValue(ev->pos()).x(); - // Prevent seeking past the end of the route - t = std::clamp(t, 0., can->totalSeconds()); - can->seekTo(t); + if (plot_area.contains(ev->pos())) { + can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds())); } return; } auto rubber = findChild(); bool is_zooming = rubber && rubber->isVisible(); - const auto plot_area = chart()->plotArea(); + is_scrubbing = false; clearTrackPoints(); if (!is_zooming && plot_area.contains(ev->pos())) { @@ -838,8 +843,8 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle); } series->setColor(color); - // TODO: Due to a bug in CameraWidget the camera frames - // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed + // TODO: Due to a bug in CameraWidget the camera frames + // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed #ifndef __APPLE__ series->setUseOpenGL(true); // Qt doesn't properly apply device pixel ratio in OpenGL mode @@ -939,7 +944,7 @@ SeriesSelector::SeriesSelector(QString title, QWidget *parent) : QDialog(parent) QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::add); QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::remove); QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); }); - QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item);}); + QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); }); QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept); QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject); } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index c7470a6f12..731be47d06 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -1,12 +1,11 @@ #pragma once -#include #include #include #include #include #include -#include +#include #include #include #include @@ -122,7 +121,7 @@ private: void resizeEvent(QResizeEvent *event) override; void alignCharts(); void newChart(); - ChartView * createChart(); + ChartView *createChart(); void removeChart(ChartView *chart); void eventsMerged(); void updateState(); @@ -154,6 +153,7 @@ private: QAction *columns_action; int column_count = 1; int current_column_count = 0; + QTimer align_timer; }; class SeriesSelector : public QDialog { From 8150e4a4b864e266bac4a0f4cc95816424f0d463 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 26 Mar 2023 06:38:55 +0800 Subject: [PATCH 124/150] cabana: support qlogs (#27689) --- tools/cabana/streams/replaystream.cc | 5 ----- 1 file changed, 5 deletions(-) diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index 140a795d3a..8bc9af8ab2 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -33,11 +33,6 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) { QObject::connect(replay.get(), &Replay::streamStarted, this, &AbstractStream::streamStarted); QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments); if (replay->load()) { - const auto &segments = replay->route()->segments(); - if (std::none_of(segments.begin(), segments.end(), [](auto &s) { return s.second.rlog.length() > 0; })) { - qWarning() << "no rlogs in route" << route; - return false; - } replay->start(); return true; } From 8bd4c0f5103d09ef90313ba4b6a55d51ff27744d Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 26 Mar 2023 06:39:21 +0800 Subject: [PATCH 125/150] cabana: update state after creating new signal (#27690) --- tools/cabana/signaledit.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 4cd06e8a7d..99ec09195b 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -279,6 +279,7 @@ void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) { beginInsertRows({}, i, i); insertItem(root.get(), i, sig); endInsertRows(); + updateState(nullptr); } } From 583c4a031f433fb4b48c5dc0a522b71cdbd6f23c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sun, 26 Mar 2023 07:03:16 +0800 Subject: [PATCH 126/150] cabana: improve LogSlider (#27673) * improve logslider * fix code indentation --- tools/cabana/util.cc | 28 ++++++++++++---------------- tools/cabana/util.h | 23 ++++++++++++++++------- 2 files changed, 28 insertions(+), 23 deletions(-) diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index b37b7911ed..e5a9749103 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -4,10 +4,8 @@ #include #include #include -#include - -#include #include +#include #include "selfdrive/ui/qt/util.h" @@ -42,7 +40,7 @@ void ChangeTracker::compute(const QByteArray &dat, double ts, uint32_t freq) { } // Track bit level changes - for (int bit = 0; bit < 8; bit++){ + for (int bit = 0; bit < 8; bit++) { if ((cur ^ last) & (1 << bit)) { bit_change_counts[i][bit] += 1; } @@ -67,7 +65,6 @@ void ChangeTracker::clear() { colors.clear(); } - // SegmentTree void SegmentTree::build(const QVector &arr) { @@ -116,7 +113,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin); QRect rc{option.rect.left() + h_margin, option.rect.top() + v_margin, byte_width, option.rect.height() - 2 * v_margin}; - auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText: QPalette::Text; + auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text; painter->setPen(option.palette.color(color_role)); painter->setFont(fixed_font); for (int i = 0; i < byte_list.size(); ++i) { @@ -139,7 +136,7 @@ QColor getColor(const cabana::Signal *sig) { return QColor::fromHsvF(h, s, v); } -NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) { } +NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {} QValidator::State NameValidator::validate(QString &input, int &pos) const { input.replace(' ', '_'); @@ -175,7 +172,6 @@ QToolButton *toolButton(const QString &icon, const QString &tooltip) { return btn; }; - QString toHex(uint8_t byte) { static std::array hex = []() { std::array ret; @@ -186,11 +182,11 @@ QString toHex(uint8_t byte) { } int num_decimals(double num) { - const QString string = QString::number(num); - const QStringList split = string.split('.'); - if (split.size() == 1) { - return 0; - } else { - return split[1].size(); - } - } + const QString string = QString::number(num); + const QStringList split = string.split('.'); + if (split.size() == 1) { + return 0; + } else { + return split[1].size(); + } +} diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 3cf14982a9..330da77179 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -36,17 +36,26 @@ class LogSlider : public QSlider { public: LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}; - void setRange(double min, double max) { QSlider::setRange(logScale(min), logScale(max)); } - int value() const { return invLogScale(QSlider::value()); } - void setValue(int value) { QSlider::setValue(logScale(value)); } + void setRange(double min, double max) { + log_min = factor * std::log10(min); + log_max = factor * std::log10(max); + QSlider::setRange(min, max); + setValue(QSlider::value()); + } + int value() const { + double v = log_min + (log_max - log_min) * ((QSlider::value() - minimum()) / double(maximum() - minimum())); + return std::lround(std::pow(10, v / factor)); + } + void setValue(int v) { + double log_v = std::clamp(factor * std::log10(v), log_min, log_max); + v = minimum() + (maximum() - minimum()) * ((log_v - log_min) / (log_max - log_min)); + QSlider::setValue(v); + } private: - double factor; - int logScale(int value) const { return factor * std::log10(value); } - int invLogScale(int value) const { return std::pow(10, value / factor); } + double factor, log_min = 0, log_max = 1; }; - enum { ColorsRole = Qt::UserRole + 1, BytesRole = Qt::UserRole + 2 From 083f008d94a037174f27417c6e2d1698f7ee897f Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Sun, 26 Mar 2023 21:06:33 -0300 Subject: [PATCH 127/150] caban: fix typo (#27700) --- tools/cabana/mainwin.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index b7cfd9dc2a..c739e26744 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -336,7 +336,7 @@ void MainWindow::loadDBCFromFingerprint() { if (can->liveStreaming()) { video_dock->setWindowTitle(can->routeName()); } else { - video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint)); + video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPRINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint)); } if (!fingerprint.isEmpty()) { auto dbc_name = fingerprint_to_dbc[fingerprint]; From b418cbcbcfd5d51fd802477345255645941c0d5f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sun, 26 Mar 2023 22:17:30 -0700 Subject: [PATCH 128/150] Laikad: catch and log ephemerides parsing errors (#27698) * Laikad: catch and log ephemerides parsing errors * exception instead of error --- selfdrive/locationd/laikad.py | 22 +++++++++++++++++----- 1 file changed, 17 insertions(+), 5 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 59176c586b..098b79d2e2 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -220,18 +220,30 @@ class Laikad: # TODO this is not robust to gps week rollover if self.gps_week is None: return - ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) - self.astro_dog.add_qcom_polys({ephem.prn: [ephem]}) + try: + ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) + self.astro_dog.add_qcom_polys({ephem.prn: [ephem]}) + except Exception as e: + cloudlog.exception(f"Error parsing qcom svPoly ephemeris from qcom module: {e}") + return else: if gnss_msg.which() == 'ephemeris': data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) - ephem = GPSEphemeris(data_struct, file_name='ublox') + try: + ephem = GPSEphemeris(data_struct, file_name='ublox') + except Exception as e: + cloudlog.exception(f"Error parsing GPS ephemeris from ublox: {e}") + return elif gnss_msg.which() == 'glonassEphemeris': data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) - ephem = GLONASSEphemeris(data_struct, file_name='ublox') + try: + ephem = GLONASSEphemeris(data_struct, file_name='ublox') + except Exception as e: + cloudlog.exception(f"Error parsing GLONASS ephemeris from ublox: {e}") + return else: - cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") + cloudlog.exception(f"Unsupported ephemeris type: {gnss_msg.which()}") return self.astro_dog.add_navs({ephem.prn: [ephem]}) self.cache_ephemeris() From 28cd8fc402bf47b119f960bd2bb511468f43d230 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 26 Mar 2023 23:06:09 -0700 Subject: [PATCH 129/150] laikad: clean up cloudlog usage (#27701) make an error, no need to pass e --- selfdrive/locationd/laikad.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 098b79d2e2..0c0bcbf7ef 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -223,8 +223,8 @@ class Laikad: try: ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week) self.astro_dog.add_qcom_polys({ephem.prn: [ephem]}) - except Exception as e: - cloudlog.exception(f"Error parsing qcom svPoly ephemeris from qcom module: {e}") + except Exception: + cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module") return else: @@ -232,18 +232,18 @@ class Laikad: data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict()) try: ephem = GPSEphemeris(data_struct, file_name='ublox') - except Exception as e: - cloudlog.exception(f"Error parsing GPS ephemeris from ublox: {e}") + except Exception: + cloudlog.exception("Error parsing GPS ephemeris from ublox") return elif gnss_msg.which() == 'glonassEphemeris': data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict()) try: ephem = GLONASSEphemeris(data_struct, file_name='ublox') - except Exception as e: - cloudlog.exception(f"Error parsing GLONASS ephemeris from ublox: {e}") + except Exception: + cloudlog.exception("Error parsing GLONASS ephemeris from ublox") return else: - cloudlog.exception(f"Unsupported ephemeris type: {gnss_msg.which()}") + cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}") return self.astro_dog.add_navs({ephem.prn: [ephem]}) self.cache_ephemeris() From 4ab2131ec9e21d9784f2f423bd6b21c9914cd661 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Mar 2023 19:29:44 +0200 Subject: [PATCH 130/150] cabana: add support for multiple DBC files (#27435) * split out dbc file logic into separate file * emit dbc file changed * change to list of dbc files * handle missing DBC file * dbcmanager emits signal * close existing files before loading new one * add placeholder open for bus menu * implement open dbc for bus * emit signals relevant for current dbc * move logic into findDBC * fix use after free * show currently loaded names in load dialog * enable/disable load save menus * handle saving * add save as to recents * handle file already open * do not assert * fix return and throw on file open error * fix test maybe * remove todo * typo * fix new dbc * fix loading fingerprint on macos * handle replacing a currently open dbc * fix reference and handle exception * fix indendation --- tools/cabana/SConscript | 2 +- tools/cabana/dbcfile.cc | 283 ++++++++++++++++++++++++ tools/cabana/dbcfile.h | 55 +++++ tools/cabana/dbcmanager.cc | 305 +++++++++++++------------- tools/cabana/dbcmanager.h | 61 +++--- tools/cabana/mainwin.cc | 200 ++++++++++++----- tools/cabana/mainwin.h | 18 +- tools/cabana/streams/abstractstream.h | 4 +- tools/cabana/tests/test_cabana.cc | 15 +- tools/cabana/tools/findsimilarbits.cc | 2 +- 10 files changed, 686 insertions(+), 259 deletions(-) create mode 100644 tools/cabana/dbcfile.cc create mode 100644 tools/cabana/dbcfile.h diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 3cb5913c01..5f4f7fc524 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -28,7 +28,7 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbc.cc', 'dbcmanager.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbc.cc', 'dbcfile.cc', 'dbcmanager.cc', 'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/dbcfile.cc b/tools/cabana/dbcfile.cc new file mode 100644 index 0000000000..14a98347e2 --- /dev/null +++ b/tools/cabana/dbcfile.cc @@ -0,0 +1,283 @@ +#include "tools/cabana/dbcfile.h" + +#include + +#include +#include +#include +#include +#include +#include +#include + + +DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) { + QFile file(dbc_file_name); + if (file.open(QIODevice::ReadOnly)) { + name_ = QFileInfo(dbc_file_name).baseName(); + + // Remove auto save file extension + if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) { + filename = dbc_file_name.left(dbc_file_name.length() - AUTO_SAVE_EXTENSION.length()); + } else { + filename = dbc_file_name; + } + open(file.readAll()); + } else { + throw std::runtime_error("Failed to open file."); + } +} + +DBCFile::DBCFile(const QString &name, const QString &content, QObject *parent) : QObject(parent), name_(name), filename("") { + // Open from clipboard + open(content); +} + +void DBCFile::open(const QString &content) { + std::istringstream stream(content.toStdString()); + auto dbc = const_cast(dbc_parse_from_stream(name_.toStdString(), stream)); + msgs.clear(); + for (auto &msg : dbc->msgs) { + auto &m = msgs[msg.address]; + m.name = msg.name.c_str(); + m.size = msg.size; + for (auto &s : msg.sigs) { + m.sigs.push_back({}); + auto &sig = m.sigs.last(); + sig.name = s.name.c_str(); + sig.start_bit = s.start_bit; + sig.msb = s.msb; + sig.lsb = s.lsb; + sig.size = s.size; + sig.is_signed = s.is_signed; + sig.factor = s.factor; + sig.offset = s.offset; + sig.is_little_endian = s.is_little_endian; + sig.updatePrecision(); + } + } + parseExtraInfo(content); + + delete dbc; +} + +bool DBCFile::save() { + assert (!filename.isEmpty()); + if (writeContents(filename)) { + cleanupAutoSaveFile(); + return true; + } else { + return false; + } +} + +bool DBCFile::saveAs(const QString &new_filename) { + filename = new_filename; + return save(); +} + +bool DBCFile::autoSave() { + if (!filename.isEmpty()) { + return writeContents(filename + AUTO_SAVE_EXTENSION); + } else { + return false; + } +} + +void DBCFile::cleanupAutoSaveFile() { + if (!filename.isEmpty()) { + QFile::remove(filename + AUTO_SAVE_EXTENSION); + } +} + +bool DBCFile::writeContents(const QString &fn) { + QFile file(fn); + if (file.open(QIODevice::WriteOnly)) { + file.write(generateDBC().toUtf8()); + return true; + } else { + return false; + } +} + +cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id.address))) { + m->sigs.push_back(sig); + return &m->sigs.last(); + } + + return nullptr; +} + + cabana::Signal *DBCFile::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { + if (auto m = const_cast(msg(id))) { + if (auto s = (cabana::Signal *)m->sig(sig_name)) { + *s = sig; + return s; + } + } + + return nullptr; +} + +cabana::Signal *DBCFile::getSignal(const MessageId &id, const QString &sig_name) { + if (auto m = const_cast(msg(id))) { + auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); + if (it != m->sigs.end()) { + return &(*it); + } + } + return nullptr; + } + +void DBCFile::removeSignal(const MessageId &id, const QString &sig_name) { + if (auto m = const_cast(msg(id))) { + auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); + if (it != m->sigs.end()) { + m->sigs.erase(it); + } + } +} + +void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size) { + auto &m = msgs[id.address]; + m.name = name; + m.size = size; +} + +void DBCFile::removeMsg(const MessageId &id) { + msgs.erase(id.address); +} + +std::map DBCFile::getMessages() { + return msgs; +} + +const cabana::Msg *DBCFile::msg(const MessageId &id) const { + return msg(id.address); +} + +const cabana::Msg *DBCFile::msg(uint32_t address) const { + auto it = msgs.find(address); + return it != msgs.end() ? &it->second : nullptr; +} + +const cabana::Msg* DBCFile::msg(const QString &name) { + for (auto &[_, msg] : msgs) { + if (msg.name == name) { + return &msg; + } + } + + return nullptr; +} + + +QStringList DBCFile::signalNames() const { + // Used for autocompletion + QStringList ret; + for (auto const& [_, msg] : msgs) { + for (auto sig: msg.getSignals()) { + ret << sig->name; + } + } + ret.sort(); + ret.removeDuplicates(); + return ret; +} + +int DBCFile::msgCount() const { + return msgs.size(); +} + +QString DBCFile::name() const { + return name_; +} + +void DBCFile::parseExtraInfo(const QString &content) { + static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); + static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); + static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); + static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"(.*)\";)"); + static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (.*);)"); + auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * { + auto m = (cabana::Msg *)msg(address); + return m ? (cabana::Signal *)m->sig(name) : nullptr; + }; + + QTextStream stream((QString *)&content); + uint32_t address = 0; + while (!stream.atEnd()) { + QString line = stream.readLine().trimmed(); + if (line.startsWith("BO_ ")) { + if (auto match = bo_regexp.match(line); match.hasMatch()) { + address = match.captured(1).toUInt(); + } + } else if (line.startsWith("SG_ ")) { + int offset = 0; + auto match = sg_regexp.match(line); + if (!match.hasMatch()) { + match = sgm_regexp.match(line); + offset = 1; + } + if (match.hasMatch()) { + if (auto s = get_sig(address, match.captured(1))) { + s->min = match.captured(8 + offset); + s->max = match.captured(9 + offset); + s->unit = match.captured(10 + offset); + } + } + } else if (line.startsWith("VAL_ ")) { + if (auto match = val_regexp.match(line); match.hasMatch()) { + if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { + QStringList desc_list = match.captured(3).trimmed().split('"'); + for (int i = 0; i < desc_list.size(); i += 2) { + auto val = desc_list[i].trimmed(); + if (!val.isEmpty() && (i + 1) < desc_list.size()) { + auto desc = desc_list[i+1].trimmed(); + s->val_desc.push_back({val, desc}); + } + } + } + } + } else if (line.startsWith("CM_ SG_ ")) { + if (auto match = sg_comment_regexp.match(line); match.hasMatch()) { + if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { + s->comment = match.captured(3).trimmed(); + } + } + } + } +} + +QString DBCFile::generateDBC() { + QString dbc_string, signal_comment, val_desc; + for (auto &[address, m] : msgs) { + dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size); + for (auto sig : m.getSignals()) { + dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [%8|%9] \"%10\" XXX\n") + .arg(sig->name) + .arg(sig->start_bit) + .arg(sig->size) + .arg(sig->is_little_endian ? '1' : '0') + .arg(sig->is_signed ? '-' : '+') + .arg(sig->factor, 0, 'g', std::numeric_limits::digits10) + .arg(sig->offset, 0, 'g', std::numeric_limits::digits10) + .arg(sig->min) + .arg(sig->max) + .arg(sig->unit); + if (!sig->comment.isEmpty()) { + signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment); + } + if (!sig->val_desc.isEmpty()) { + QStringList text; + for (auto &[val, desc] : sig->val_desc) { + text << QString("%1 \"%2\"").arg(val, desc); + } + val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" ")); + } + } + dbc_string += "\n"; + } + return dbc_string + signal_comment + val_desc; +} diff --git a/tools/cabana/dbcfile.h b/tools/cabana/dbcfile.h new file mode 100644 index 0000000000..b8fa3ea41b --- /dev/null +++ b/tools/cabana/dbcfile.h @@ -0,0 +1,55 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +#include "tools/cabana/dbc.h" + +const QString AUTO_SAVE_EXTENSION = ".tmp"; + + +class DBCFile : public QObject { + Q_OBJECT + +public: + DBCFile(const QString &dbc_file_name, QObject *parent=nullptr); + DBCFile(const QString &name, const QString &content, QObject *parent=nullptr); + ~DBCFile() {} + + void open(const QString &content); + + bool save(); + bool saveAs(const QString &new_filename); + bool autoSave(); + bool writeContents(const QString &fn); + void cleanupAutoSaveFile(); + QString generateDBC(); + + cabana::Signal *addSignal(const MessageId &id, const cabana::Signal &sig); + cabana::Signal *updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); + cabana::Signal *getSignal(const MessageId &id, const QString &sig_name); + void removeSignal(const MessageId &id, const QString &sig_name); + + void updateMsg(const MessageId &id, const QString &name, uint32_t size); + void removeMsg(const MessageId &id); + + std::map getMessages(); + const cabana::Msg *msg(const MessageId &id) const; + const cabana::Msg *msg(uint32_t address) const; + const cabana::Msg* msg(const QString &name); + QStringList signalNames() const; + int msgCount() const; + QString name() const; + + QString filename; + +private: + void parseExtraInfo(const QString &content); + std::map msgs; + QString name_; +}; diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc index 49aac5c18b..26c9105b43 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbcmanager.cc @@ -1,5 +1,4 @@ #include "tools/cabana/dbcmanager.h" -#include #include #include @@ -8,206 +7,210 @@ #include #include -bool DBCManager::open(const QString &dbc_file_name, QString *error) { - QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, dbc_file_name); - QFile file(opendbc_file_path); - if (file.open(QIODevice::ReadOnly)) { - return open(dbc_file_name, file.readAll(), error); + +bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error) { + for (int i = 0; i < dbc_files.size(); i++) { + auto [ss, dbc_file] = dbc_files[i]; + + // Check if file is already open, and merge sources + if (dbc_file->filename == dbc_file_name) { + ss |= s; + emit DBCFileChanged(); + return true; + } + + // Check if there is already a file for this sourceset, then replace it + if (ss == s) { + try { + dbc_files[i] = {s, new DBCFile(dbc_file_name, this)}; + delete dbc_file; + + emit DBCFileChanged(); + return true; + } catch (std::exception &e) { + if (error) *error = e.what(); + return false; + } + } } - return false; + + try { + dbc_files.push_back({s, new DBCFile(dbc_file_name, this)}); + } catch (std::exception &e) { + if (error) *error = e.what(); + return false; + } + + emit DBCFileChanged(); + return true; } -bool DBCManager::open(const QString &name, const QString &content, QString *error) { +bool DBCManager::open(SourceSet s, const QString &name, const QString &content, QString *error) { try { - std::istringstream stream(content.toStdString()); - auto dbc = const_cast(dbc_parse_from_stream(name.toStdString(), stream)); - msgs.clear(); - for (auto &msg : dbc->msgs) { - auto &m = msgs[msg.address]; - m.name = msg.name.c_str(); - m.size = msg.size; - for (auto &s : msg.sigs) { - m.sigs.push_back({}); - auto &sig = m.sigs.last(); - sig.name = s.name.c_str(); - sig.start_bit = s.start_bit; - sig.msb = s.msb; - sig.lsb = s.lsb; - sig.size = s.size; - sig.is_signed = s.is_signed; - sig.factor = s.factor; - sig.offset = s.offset; - sig.is_little_endian = s.is_little_endian; - sig.updatePrecision(); - } - } - parseExtraInfo(content); - name_ = name; - emit DBCFileChanged(); - delete dbc; + dbc_files.push_back({s, new DBCFile(name, content, this)}); } catch (std::exception &e) { if (error) *error = e.what(); return false; } + + emit DBCFileChanged(); return true; } -void DBCManager::parseExtraInfo(const QString &content) { - static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); - static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); - static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); - static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"(.*)\";)"); - static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (.*);)"); - auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * { - auto m = (cabana::Msg *)msg(address); - return m ? (cabana::Signal *)m->sig(name) : nullptr; - }; - - QTextStream stream((QString *)&content); - uint32_t address = 0; - while (!stream.atEnd()) { - QString line = stream.readLine().trimmed(); - if (line.startsWith("BO_ ")) { - if (auto match = bo_regexp.match(line); match.hasMatch()) { - address = match.captured(1).toUInt(); - } - } else if (line.startsWith("SG_ ")) { - int offset = 0; - auto match = sg_regexp.match(line); - if (!match.hasMatch()) { - match = sgm_regexp.match(line); - offset = 1; - } - if (match.hasMatch()) { - if (auto s = get_sig(address, match.captured(1))) { - s->min = match.captured(8 + offset); - s->max = match.captured(9 + offset); - s->unit = match.captured(10 + offset); - } - } - } else if (line.startsWith("VAL_ ")) { - if (auto match = val_regexp.match(line); match.hasMatch()) { - if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { - QStringList desc_list = match.captured(3).trimmed().split('"'); - for (int i = 0; i < desc_list.size(); i += 2) { - auto val = desc_list[i].trimmed(); - if (!val.isEmpty() && (i + 1) < desc_list.size()) { - auto desc = desc_list[i+1].trimmed(); - s->val_desc.push_back({val, desc}); - } - } - } - } - } else if (line.startsWith("CM_ SG_ ")) { - if (auto match = sg_comment_regexp.match(line); match.hasMatch()) { - if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { - s->comment = match.captured(3).trimmed(); - } - } - } +void DBCManager::closeAll() { + while (dbc_files.size()) { + DBCFile *dbc_file = dbc_files.back().second; + dbc_files.pop_back(); + delete dbc_file; } + emit DBCFileChanged(); } -QString DBCManager::generateDBC() { - QString dbc_string, signal_comment, val_desc; - for (auto &[address, m] : msgs) { - dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size); - for (auto sig : m.getSignals()) { - dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [%8|%9] \"%10\" XXX\n") - .arg(sig->name) - .arg(sig->start_bit) - .arg(sig->size) - .arg(sig->is_little_endian ? '1' : '0') - .arg(sig->is_signed ? '-' : '+') - .arg(sig->factor, 0, 'g', std::numeric_limits::digits10) - .arg(sig->offset, 0, 'g', std::numeric_limits::digits10) - .arg(sig->min) - .arg(sig->max) - .arg(sig->unit); - if (!sig->comment.isEmpty()) { - signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment); - } - if (!sig->val_desc.isEmpty()) { - QStringList text; - for (auto &[val, desc] : sig->val_desc) { - text << QString("%1 \"%2\"").arg(val, desc); - } - val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" ")); - } + +void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // Create new DBC? + auto [dbc_sources, dbc_file] = *sources_dbc_file; + + cabana::Signal *s = dbc_file->addSignal(id, sig); + + if (s != nullptr) { + for (uint8_t source : dbc_sources) { + emit signalAdded({.source = source, .address = id.address}, s); } - dbc_string += "\n"; } - return dbc_string + signal_comment + val_desc; +} + +void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [_, dbc_file] = *sources_dbc_file; + + cabana::Signal *s = dbc_file->updateSignal(id, sig_name, sig); + + if (s != nullptr) { + emit signalUpdated(s); + } +} + +void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [_, dbc_file] = *sources_dbc_file; + + cabana::Signal *s = dbc_file->getSignal(id, sig_name); + + if (s != nullptr) { + emit signalRemoved(s); + dbc_file->removeSignal(id, sig_name); + } } void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size) { - auto &m = msgs[id.address]; - m.name = name; - m.size = size; + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [dbc_sources, dbc_file] = *sources_dbc_file; - // This DBC applies to all active sources, emit for every source - for (uint8_t source : sources) { + dbc_file->updateMsg(id, name, size); + + for (uint8_t source : dbc_sources) { emit msgUpdated({.source = source, .address = id.address}); } } void DBCManager::removeMsg(const MessageId &id) { - msgs.erase(id.address); + auto sources_dbc_file = findDBCFile(id); + assert(sources_dbc_file); // This should be impossible + auto [dbc_sources, dbc_file] = *sources_dbc_file; + + dbc_file->removeMsg(id); - // This DBC applies to all active sources, emit for every source - for (uint8_t source : sources) { + for (uint8_t source : dbc_sources) { emit msgRemoved({.source = source, .address = id.address}); } } -void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { - if (auto m = const_cast(msg(id.address))) { - m->sigs.push_back(sig); - auto s = &m->sigs.last(); +std::map DBCManager::getMessages(uint8_t source) { + std::map ret; - // This DBC applies to all active sources, emit for every source - for (uint8_t source : sources) { - emit signalAdded({.source = source, .address = id.address}, s); - } + auto sources_dbc_file = findDBCFile({.source = source, .address = 0}); + if (!sources_dbc_file) { + return ret; } + + auto [_, dbc_file] = *sources_dbc_file; + + for (auto &[address, msg] : dbc_file->getMessages()) { + MessageId id = {.source = source, .address = address}; + ret[id] = msg; + } + return ret; } -void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { - if (auto m = const_cast(msg(id))) { - if (auto s = (cabana::Signal *)m->sig(sig_name)) { - *s = sig; - emit signalUpdated(s); - } +const cabana::Msg *DBCManager::msg(const MessageId &id) const { + auto sources_dbc_file = findDBCFile(id); + if (!sources_dbc_file) { + return nullptr; } + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->msg(id); } -void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { - if (auto m = const_cast(msg(id))) { - auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); - if (it != m->sigs.end()) { - emit signalRemoved(&(*it)); - m->sigs.erase(it); - } +const cabana::Msg* DBCManager::msg(uint8_t source, const QString &name) { + auto sources_dbc_file = findDBCFile({.source = source, .address = 0}); + if (!sources_dbc_file) { + return nullptr; } + auto [_, dbc_file] = *sources_dbc_file; + return dbc_file->msg(name); } -QStringList DBCManager::signalNames() { - // Used for autocompletion +QStringList DBCManager::signalNames() const { QStringList ret; - for (auto const& [_, msg] : msgs) { - for (auto sig: msg.getSignals()) { - ret << sig->name; - } + + for (auto &[_, dbc_file] : dbc_files) { + ret << dbc_file->signalNames(); } + ret.sort(); ret.removeDuplicates(); return ret; } -void DBCManager::updateSources(const QSet &s) { +int DBCManager::msgCount() const { + int ret = 0; + + for (auto &[_, dbc_file] : dbc_files) { + ret += dbc_file->msgCount(); + } + + return ret; +} + +int DBCManager::dbcCount() const { + return dbc_files.size(); +} + +void DBCManager::updateSources(const SourceSet &s) { sources = s; } +std::optional> DBCManager::findDBCFile(const uint8_t source) const { + // Find DBC file that matches id.source, fall back to SOURCE_ALL if no specific DBC is found + + for (auto &[source_set, dbc_file] : dbc_files) { + if (source_set.contains(source)) return {{source_set, dbc_file}}; + } + for (auto &[source_set, dbc_file] : dbc_files) { + if (source_set == SOURCE_ALL) return {{sources, dbc_file}}; + } + return {}; +} + +std::optional> DBCManager::findDBCFile(const MessageId &id) const { + return findDBCFile(id.source); +} + DBCManager *dbc() { static DBCManager dbc_manager(nullptr); return &dbc_manager; diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h index dd3d9811c7..2a5aa6da25 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbcmanager.h @@ -9,6 +9,10 @@ #include #include "tools/cabana/dbc.h" +#include "tools/cabana/dbcfile.h" + +typedef QSet SourceSet; +const SourceSet SOURCE_ALL = {}; class DBCManager : public QObject { Q_OBJECT @@ -16,39 +20,35 @@ class DBCManager : public QObject { public: DBCManager(QObject *parent) {} ~DBCManager() {} - bool open(const QString &dbc_file_name, QString *error = nullptr); - bool open(const QString &name, const QString &content, QString *error = nullptr); - QString generateDBC(); + bool open(SourceSet s, const QString &dbc_file_name, QString *error = nullptr); + bool open(SourceSet s, const QString &name, const QString &content, QString *error = nullptr); + void closeAll(); + void addSignal(const MessageId &id, const cabana::Signal &sig); void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); void removeSignal(const MessageId &id, const QString &sig_name); - inline int msgCount() const { return msgs.size(); } - inline QString name() const { return name_; } void updateMsg(const MessageId &id, const QString &name, uint32_t size); void removeMsg(const MessageId &id); - inline std::map getMessages(uint8_t source) { - std::map ret; - for (auto &[address, msg] : msgs) { - MessageId id = {.source = source, .address = address}; - ret[id] = msg; - } - return ret; - } - inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); } - inline const cabana::Msg* msg(uint8_t source, const QString &name) { - for (auto &[_, msg] : msgs) { - if (msg.name == name) { - return &msg; - } - } - - return nullptr; - } - QStringList signalNames(); + + std::map getMessages(uint8_t source); + const cabana::Msg *msg(const MessageId &id) const; + const cabana::Msg* msg(uint8_t source, const QString &name); + + QStringList signalNames() const; + int msgCount() const; + int dbcCount() const; + + std::optional> findDBCFile(const uint8_t source) const; + std::optional> findDBCFile(const MessageId &id) const; + + QList> dbc_files; + +private: + SourceSet sources; public slots: - void updateSources(const QSet &s); + void updateSources(const SourceSet &s); signals: void signalAdded(MessageId id, const cabana::Signal *sig); @@ -57,17 +57,6 @@ signals: void msgUpdated(MessageId id); void msgRemoved(MessageId id); void DBCFileChanged(); - -private: - void parseExtraInfo(const QString &content); - std::map msgs; - QString name_; - QSet sources; - - inline const cabana::Msg *msg(uint32_t address) const { - auto it = msgs.find(address); - return it != msgs.end() ? &it->second : nullptr; - } }; DBCManager *dbc(); diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index c739e26744..3b1edce236 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -42,7 +42,7 @@ MainWindow::MainWindow() : QMainWindow() { messages_widget->restoreHeaderState(settings.message_header_state); qRegisterMetaType("uint64_t"); - qRegisterMetaType>("QSet"); + qRegisterMetaType("SourceSet"); qRegisterMetaType("ReplyMsgType"); installMessageHandler([this](ReplyMsgType type, const std::string msg) { // use queued connection to recv the log messages from replay. @@ -54,9 +54,13 @@ MainWindow::MainWindow() : QMainWindow() { main_win = this; qInstallMessageHandler(qLogMessageHandler); - QFile json_file("./car_fingerprint_to_dbc.json"); - if (json_file.open(QIODevice::ReadOnly)) { - fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); + + for (const QString &fn : {"./car_fingerprint_to_dbc.json", "./tools/cabana/car_fingerprint_to_dbc.json"}) { + QFile json_file(fn); + if (json_file.open(QIODevice::ReadOnly)) { + fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); + break; + } } setStyleSheet(QString(R"(QMainWindow::separator { @@ -72,6 +76,7 @@ MainWindow::MainWindow() : QMainWindow() { QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::updateStatus); QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged); QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources); + QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateSources); QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged); QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged); QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus); @@ -87,6 +92,9 @@ void MainWindow::createActions() { file_menu->addAction(tr("New DBC File"), this, &MainWindow::newFile)->setShortcuts(QKeySequence::New); file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::openFile)->setShortcuts(QKeySequence::Open); + open_dbc_for_source = file_menu->addMenu(tr("Open &DBC File for Bus")); + open_dbc_for_source->setEnabled(false); + open_recent_menu = file_menu->addMenu(tr("Open &Recent")); for (int i = 0; i < MAX_RECENT_FILES; ++i) { recent_files_acts[i] = new QAction(this); @@ -108,9 +116,14 @@ void MainWindow::createActions() { file_menu->addAction(tr("Load DBC From Clipboard"), this, &MainWindow::loadDBCFromClipboard); file_menu->addSeparator(); - file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save)->setShortcuts(QKeySequence::Save); - file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs)->setShortcuts(QKeySequence::SaveAs); - file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard); + save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save); + save_dbc->setShortcuts(QKeySequence::Save); + + save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs); + save_dbc_as->setShortcuts(QKeySequence::SaveAs); + + copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard); + file_menu->addSeparator(); file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences); @@ -231,7 +244,7 @@ void MainWindow::undoStackCleanChanged(bool clean) { void MainWindow::DBCFileChanged() { UndoStack::instance()->clear(); - setWindowFilePath(QString("%1").arg(dbc()->name())); + updateLoadSaveMenus(); } void MainWindow::openRoute() { @@ -247,7 +260,9 @@ void MainWindow::openRoute() { void MainWindow::newFile() { remindSaveChanges(); - dbc()->open("untitled.dbc", ""); + dbc()->closeAll(); + dbc()->open(SOURCE_ALL, "", ""); + updateLoadSaveMenus(); } void MainWindow::openFile() { @@ -258,7 +273,19 @@ void MainWindow::openFile() { } } -void MainWindow::loadFile(const QString &fn) { +void MainWindow::openFileForSource() { + if (auto action = qobject_cast(sender())) { + uint8_t source = action->data().value(); + assert(source < 64); + + QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)"); + if (!fn.isEmpty()) { + loadFile(fn, {source, uint8_t(source + 128), uint8_t(source + 192)}, false); + } + } +} + +void MainWindow::loadFile(const QString &fn, SourceSet s, bool close_all) { if (!fn.isEmpty()) { QString dbc_fn = fn; @@ -271,20 +298,24 @@ void MainWindow::loadFile(const QString &fn) { } } - QFile file(dbc_fn); - if (file.open(QIODevice::ReadOnly)) { - auto dbc_name = QFileInfo(fn).baseName(); - QString error; - bool ret = dbc()->open(dbc_name, file.readAll(), &error); - if (ret) { - setCurrentFile(fn); - statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000); - } else { - QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC file"), tr("Failed to parse DBC file %1").arg(fn)); - msg_box.setDetailedText(error); - msg_box.exec(); - } + auto dbc_name = QFileInfo(fn).baseName(); + QString error; + + if (close_all) { + dbc()->closeAll(); } + + bool ret = dbc()->open(s, dbc_fn, &error); + if (ret) { + updateRecentFiles(fn); + statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000); + } else { + QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC file"), tr("Failed to parse DBC file %1").arg(fn)); + msg_box.setDetailedText(error); + msg_box.exec(); + } + + updateLoadSaveMenus(); } } @@ -303,17 +334,23 @@ void MainWindow::openRecentFile() { } void MainWindow::loadDBCFromOpendbc(const QString &name) { - if (name != dbc()->name()) { - remindSaveChanges(); - dbc()->open(name); - } + remindSaveChanges(); + + QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name); + + dbc()->closeAll(); + dbc()->open(SOURCE_ALL, opendbc_file_path); + + updateLoadSaveMenus(); } void MainWindow::loadDBCFromClipboard() { remindSaveChanges(); QString dbc_str = QGuiApplication::clipboard()->text(); QString error; - bool ret = dbc()->open("clipboard", dbc_str, &error); + + dbc()->closeAll(); + bool ret = dbc()->open(SOURCE_ALL, "", dbc_str, &error); if (ret && dbc()->msgCount() > 0) { QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!")); } else { @@ -327,7 +364,7 @@ void MainWindow::loadDBCFromClipboard() { void MainWindow::loadDBCFromFingerprint() { // Don't overwrite already loaded DBC - if (!dbc()->name().isEmpty()) { + if (dbc()->msgCount()) { return; } @@ -349,54 +386,110 @@ void MainWindow::loadDBCFromFingerprint() { } void MainWindow::save() { - if (current_file.isEmpty()) { - saveAs(); - } else { - saveFile(current_file); - } + saveFile(); } void MainWindow::autoSave() { - if (!current_file.isEmpty() && !UndoStack::instance()->isClean()) { - QFile file(current_file + AUTO_SAVE_EXTENSION); - if (file.open(QIODevice::WriteOnly)) { - file.write(dbc()->generateDBC().toUtf8()); + if (!UndoStack::instance()->isClean()) { + for (auto &[_, dbc_file] : dbc()->dbc_files) { + if (!dbc_file->filename.isEmpty()) { + dbc_file->autoSave(); + } } } } void MainWindow::cleanupAutoSaveFile() { - if (!current_file.isEmpty()) { - QFile::remove(current_file + AUTO_SAVE_EXTENSION); + for (auto &[_, dbc_file] : dbc()->dbc_files) { + dbc_file->cleanupAutoSaveFile(); } } -void MainWindow::saveFile(const QString &fn) { - cleanupAutoSaveFile(); - QFile file(fn); - if (file.open(QIODevice::WriteOnly)) { - file.write(dbc()->generateDBC().toUtf8()); - UndoStack::instance()->setClean(); - setCurrentFile(fn); - statusBar()->showMessage(tr("File saved"), 2000); +void MainWindow::saveFile() { + // Save all open DBC files + for (auto &[s, dbc_file] : dbc()->dbc_files) { + if (!dbc_file->filename.isEmpty()) { + dbc_file->save(); + updateRecentFiles(dbc_file->filename); + } else { + QString fn = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); + if (!fn.isEmpty()) { + dbc_file->saveAs(fn); + updateRecentFiles(fn); + } + } } + + UndoStack::instance()->setClean(); + statusBar()->showMessage(tr("File saved"), 2000); } void MainWindow::saveAs() { + // Assume only one file is open + assert(dbc()->dbcCount() > 0); + auto &[_, dbc_file] = dbc()->dbc_files.first(); + QString fn = QFileDialog::getSaveFileName(this, tr("Save File"), QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); if (!fn.isEmpty()) { - saveFile(fn); + dbc_file->saveAs(fn); } } void MainWindow::saveDBCToClipboard() { - QGuiApplication::clipboard()->setText(dbc()->generateDBC()); + // Assume only one file is open + assert(dbc()->dbcCount() > 0); + + auto &[_, dbc_file] = dbc()->dbc_files.first(); + QGuiApplication::clipboard()->setText(dbc_file->generateDBC()); QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!")); } -void MainWindow::setCurrentFile(const QString &fn) { - current_file = fn; - setWindowFilePath(QString("%1").arg(fn)); +void MainWindow::updateSources(const SourceSet &s) { + sources = s; + updateLoadSaveMenus(); +} + +void MainWindow::updateLoadSaveMenus() { + if (dbc()->dbcCount() > 1) { + save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount())); + } else { + save_dbc->setText(tr("Save DBC...")); + } + + // TODO: Support save as for multiple files + save_dbc_as->setEnabled(dbc()->dbcCount() == 1); + + // TODO: Support clipboard for multiple files + copy_dbc_to_clipboard->setEnabled(dbc()->dbcCount() == 1); + + + QList sources_sorted = sources.toList(); + std::sort(sources_sorted.begin(), sources_sorted.end()); + + open_dbc_for_source->setEnabled(sources.size() > 0); + open_dbc_for_source->clear(); + + for (uint8_t source : sources_sorted) { + if (source >= 64) continue; // Sent and blocked buses are handled implicitly + QAction *action = new QAction(this); + + auto d = dbc()->findDBCFile(source); + QString name = tr("no DBC"); + if (d && !d->second->name().isEmpty()) { + name = tr("%1").arg(d->second->name()); + } else if (d) { + name = "untitled"; + } + + action->setText(tr("Bus %1 (current: %2)").arg(source).arg(name)); + action->setData(source); + + QObject::connect(action, &QAction::triggered, this, &MainWindow::openFileForSource); + open_dbc_for_source->addAction(action); + } +} + +void MainWindow::updateRecentFiles(const QString &fn) { settings.recent_files.removeAll(fn); settings.recent_files.prepend(fn); while (settings.recent_files.size() > MAX_RECENT_FILES) { @@ -434,7 +527,6 @@ void MainWindow::remindSaveChanges() { } } UndoStack::instance()->clear(); - current_file = ""; } void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) { diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 3258b95cde..349fa3b28d 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -8,13 +8,12 @@ #include #include "tools/cabana/chartswidget.h" +#include "tools/cabana/dbcmanager.h" #include "tools/cabana/detailwidget.h" #include "tools/cabana/messageswidget.h" #include "tools/cabana/videowidget.h" #include "tools/cabana/tools/findsimilarbits.h" -const QString AUTO_SAVE_EXTENSION = ".tmp"; - class MainWindow : public QMainWindow { Q_OBJECT @@ -22,12 +21,13 @@ public: MainWindow(); void dockCharts(bool dock); void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); } - void loadFile(const QString &fn); + void loadFile(const QString &fn, SourceSet s = SOURCE_ALL, bool close_all = true); public slots: void openRoute(); void newFile(); void openFile(); + void openFileForSource(); void openRecentFile(); void openOpendbcFile(); void loadDBCFromOpendbc(const QString &name); @@ -36,6 +36,7 @@ public slots: void save(); void saveAs(); void saveDBCToClipboard(); + void updateSources(const SourceSet &s); signals: void showMessage(const QString &msg, int timeout); @@ -43,10 +44,10 @@ signals: protected: void remindSaveChanges(); - void saveFile(const QString &fn); + void saveFile(); void autoSave(); void cleanupAutoSaveFile(); - void setCurrentFile(const QString &fn); + void updateRecentFiles(const QString &fn); void updateRecentFileActions(); void createActions(); void createDockWindows(); @@ -62,6 +63,7 @@ protected: void onlineHelp(); void toggleFullScreen(); void updateStatus(); + void updateLoadSaveMenus(); VideoWidget *video_widget = nullptr; QDockWidget *video_dock; @@ -74,12 +76,16 @@ protected: QLabel *status_label; QJsonDocument fingerprint_to_dbc; QSplitter *video_splitter;; - QString current_file = ""; enum { MAX_RECENT_FILES = 15 }; QAction *recent_files_acts[MAX_RECENT_FILES] = {}; QMenu *open_recent_menu = nullptr; + QMenu *open_dbc_for_source = nullptr; + QAction *save_dbc = nullptr; + QAction *save_dbc_as = nullptr; + QAction *copy_dbc_to_clipboard = nullptr; int prev_undostack_index = 0; int prev_undostack_count = 0; + SourceSet sources; friend class OnlineHelp; }; diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 8e19f69d2a..37490d0ec6 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -64,11 +64,11 @@ signals: void updated(); void msgsReceived(const QHash *); void received(QHash *); - void sourcesUpdated(const QSet &s); + void sourcesUpdated(const SourceSet &s); public: QHash last_msgs; - QSet sources; + SourceSet sources; protected: virtual void process(QHash *); diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 8445867acb..3a5d64f0a5 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -9,15 +9,14 @@ // demo route, first segment const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2"; -TEST_CASE("DBCManager::generateDBC") { - DBCManager dbc_origin(nullptr); - dbc_origin.open("toyota_new_mc_pt_generated"); - DBCManager dbc_from_generated(nullptr); - dbc_from_generated.open("", dbc_origin.generateDBC()); +TEST_CASE("DBCFile::generateDBC") { + QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "toyota_new_mc_pt_generated"); + DBCFile dbc_origin(fn); + DBCFile dbc_from_generated("", dbc_origin.generateDBC()); REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount()); - auto msgs = dbc_origin.getMessages(0); - auto new_msgs = dbc_from_generated.getMessages(0); + auto msgs = dbc_origin.getMessages(); + auto new_msgs = dbc_from_generated.getMessages(); for (auto &[id, m] : msgs) { auto &new_m = new_msgs.at(id); REQUIRE(m.name == new_m.name); @@ -33,7 +32,7 @@ TEST_CASE("DBCManager::generateDBC") { TEST_CASE("Parse can messages") { DBCManager dbc(nullptr); - dbc.open("toyota_new_mc_pt_generated"); + dbc.open({0}, "toyota_new_mc_pt_generated"); CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {}); LogReader log; diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index a44ac76059..e40498f045 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -20,7 +20,7 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi QHBoxLayout *src_layout = new QHBoxLayout(); src_bus_combo = new QComboBox(this); find_bus_combo = new QComboBox(this); - QSet bus_set; + SourceSet bus_set; for (auto it = can->last_msgs.begin(); it != can->last_msgs.end(); ++it) { bus_set << it.key().source; } From daeb502031fc5c261c56dad530e63661530e4a8a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 27 Mar 2023 11:53:40 -0700 Subject: [PATCH 131/150] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index c516d5e985..e276226dbe 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit c516d5e9856fdb1f5ca856e430ac69aebb2ff017 +Subproject commit e276226dbe38c811a4c1f3a9b689cd3ecbd05a20 From 4439e285db115b7e03192af47f45e07efa1ba4f1 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 27 Mar 2023 12:45:13 -0700 Subject: [PATCH 132/150] Revert "bump cereal" This reverts commit daeb502031fc5c261c56dad530e63661530e4a8a. --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index e276226dbe..c516d5e985 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e276226dbe38c811a4c1f3a9b689cd3ecbd05a20 +Subproject commit c516d5e9856fdb1f5ca856e430ac69aebb2ff017 From e4348dc45d383c5ef0622b3bbf5dcd659081e5bb Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Mar 2023 21:45:55 +0200 Subject: [PATCH 133/150] cabana: go to previous zoom window (#27702) * cabana: go to previous zoom level * zoom undo on right click * catch mousepress event on linux --- tools/cabana/chartswidget.cc | 49 ++++++++++++++++++++++++++++++++---- tools/cabana/chartswidget.h | 8 +++++- 2 files changed, 51 insertions(+), 6 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index a6eabfd1ae..303b873faa 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -56,6 +56,9 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent) range_slider->setPageStep(60); // 1 min range_slider_action = toolbar->addWidget(range_slider); + undo_zoom_action = toolbar->addAction(utils::icon("arrow-counterclockwise"), tr("Previous zoom")); + qobject_cast(toolbar->widgetForAction(undo_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); + reset_zoom_action = toolbar->addAction(utils::icon("zoom-out"), tr("Reset Zoom")); qobject_cast(toolbar->widgetForAction(reset_zoom_action))->setToolButtonStyle(Qt::ToolButtonTextBesideIcon); @@ -97,6 +100,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), QFrame(parent) QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange); QObject::connect(new_plot_btn, &QAction::triggered, this, &ChartsWidget::newChart); QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll); + QObject::connect(undo_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomUndo); QObject::connect(reset_zoom_action, &QAction::triggered, this, &ChartsWidget::zoomReset); QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged); QObject::connect(dock_btn, &QAction::triggered, [this]() { @@ -123,7 +127,7 @@ void ChartsWidget::eventsMerged() { } } -void ChartsWidget::zoomIn(double min, double max) { +void ChartsWidget::setZoom(double min, double max) { zoomed_range = {min, max}; is_zoomed = zoomed_range != display_range; updateToolBar(); @@ -131,8 +135,25 @@ void ChartsWidget::zoomIn(double min, double max) { emit rangeChanged(min, max, is_zoomed); } +void ChartsWidget::zoomIn(double min, double max) { + // Save previous zoom on undo stack + if (is_zoomed) { + zoom_stack.push({zoomed_range.first, zoomed_range.second}); + } + setZoom(min, max); +} + void ChartsWidget::zoomReset() { - zoomIn(display_range.first, display_range.second); + setZoom(display_range.first, display_range.second); +} + +void ChartsWidget::zoomUndo() { + if (!zoom_stack.isEmpty()) { + auto r = zoom_stack.pop(); + setZoom(r.first, r.second); + } else { + zoomReset(); + } } void ChartsWidget::updateState() { @@ -148,7 +169,7 @@ void ChartsWidget::updateState() { display_range.first = std::max(0.0, max_sec - max_chart_range); display_range.second = display_range.first + max_chart_range; } else if (cur_sec < zoomed_range.first || cur_sec >= zoomed_range.second) { - // loop in zoommed range + // loop in zoomed range can->seekTo(zoomed_range.first); } @@ -170,6 +191,7 @@ void ChartsWidget::updateToolBar() { range_lb->setText(QString("Range: %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0'))); range_lb_action->setVisible(!is_zoomed); range_slider_action->setVisible(!is_zoomed); + undo_zoom_action->setVisible(is_zoomed); reset_zoom_action->setVisible(is_zoomed); reset_zoom_action->setText(is_zoomed ? tr("Zoomin: %1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : ""); remove_all_btn->setEnabled(!charts.isEmpty()); @@ -199,7 +221,7 @@ ChartView *ChartsWidget::createChart() { chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); }); QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn); - QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset); + QObject::connect(chart, &ChartView::zoomUndo, this, &ChartsWidget::zoomUndo); QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::seriesChanged); QObject::connect(chart, &ChartView::seriesAdded, this, &ChartsWidget::seriesChanged); QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start)); @@ -304,6 +326,23 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) { return false; } +bool ChartsWidget::event(QEvent *event) { + bool back_button = false; + if (event->type() == QEvent::MouseButtonPress) { + QMouseEvent *ev = static_cast(event); + back_button = ev->button() == Qt::BackButton; + } else if (event->type() == QEvent::NativeGesture) { // MacOS emulates a back swipe on pressing the mouse back button + QNativeGestureEvent *ev = static_cast(event); + back_button = (ev->value() == 180); + } + + if (back_button) { + zoomUndo(); + return true; + } + return QFrame::event(event); +} + // ChartView ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) { @@ -679,7 +718,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } event->accept(); } else if (!can->liveStreaming() && event->button() == Qt::RightButton) { - emit zoomReset(); + emit zoomUndo(); event->accept(); } else { QGraphicsView::mouseReleaseEvent(event); diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 731be47d06..de6cfc56b1 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -5,6 +5,7 @@ #include #include #include +#include #include #include #include @@ -51,7 +52,7 @@ signals: void seriesRemoved(const MessageId &id, const cabana::Signal *sig); void seriesAdded(const MessageId &id, const cabana::Signal *sig); void zoomIn(double min, double max); - void zoomReset(); + void zoomUndo(); void remove(); void axisYLabelWidthChanged(int w); @@ -119,6 +120,7 @@ signals: private: void resizeEvent(QResizeEvent *event) override; + bool event(QEvent *event) override; void alignCharts(); void newChart(); ChartView *createChart(); @@ -127,6 +129,8 @@ private: void updateState(); void zoomIn(double min, double max); void zoomReset(); + void zoomUndo(); + void setZoom(double min, double max); void updateToolBar(); void setMaxChartRange(int value); void updateLayout(); @@ -141,6 +145,7 @@ private: QAction *range_slider_action; bool docking = true; QAction *dock_btn; + QAction *undo_zoom_action; QAction *reset_zoom_action; QAction *remove_all_btn; QGridLayout *charts_layout; @@ -149,6 +154,7 @@ private: bool is_zoomed = false; std::pair display_range; std::pair zoomed_range; + QStack> zoom_stack; bool use_dark_theme = false; QAction *columns_action; int column_count = 1; From d9487ab901763f310192bfeb0b8116daaa1cf540 Mon Sep 17 00:00:00 2001 From: Igor Biletskyy Date: Mon, 27 Mar 2023 13:24:56 -0700 Subject: [PATCH 134/150] boardd: fix uninitialized can_header (#27685) --- selfdrive/boardd/panda.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 647a0d9c78..4ad4b5e652 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -203,7 +203,7 @@ void Panda::pack_can_buffer(const capnp::List::Reader &can_data assert(can_data.size() <= 64); assert(can_data.size() == dlc_to_len[data_len_code]); - can_header header; + can_header header = {}; header.addr = cmsg.getAddress(); header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0; header.data_len_code = data_len_code; From 86f6c315bc3712c924ef709a4de59dade6d05070 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 27 Mar 2023 13:30:22 -0700 Subject: [PATCH 135/150] bump cereal (#27704) --- cereal | 2 +- selfdrive/car/hyundai/values.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/cereal b/cereal index c516d5e985..e276226dbe 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit c516d5e9856fdb1f5ca856e430ac69aebb2ff017 +Subproject commit e276226dbe38c811a4c1f3a9b689cd3ecbd05a20 diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index bb26d68329..24ee7321f4 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -383,14 +383,14 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.parking], + whitelist_ecus=[Ecu.parkingAdas], bus=0, auxiliary=True, ), Request( [HYUNDAI_VERSION_REQUEST_ALT], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.parking], + whitelist_ecus=[Ecu.parkingAdas], bus=1, auxiliary=True, obd_multiplexing=False, @@ -398,7 +398,7 @@ FW_QUERY_CONFIG = FwQueryConfig( ], extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms - (Ecu.parking, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) + (Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.cornerRadar, 0x7b7, None), ], From 8a36887dfbef0da9a754d7b9a8decb564ce277ab Mon Sep 17 00:00:00 2001 From: pugdaddys <50273961+pugdaddys@users.noreply.github.com> Date: Mon, 27 Mar 2023 16:58:30 -0400 Subject: [PATCH 136/150] VW: add missing Audi A3 2016 FW (#27699) * Update values.py * Update values.py * Update values.py * missing radar * convert to hex --------- Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/values.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index bdd82088a1..9873b628cd 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -866,6 +866,7 @@ FW_VERSIONS = { b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0907115B \xf1\x890007', b'\xf1\x878V0907404A \xf1\x890005', + b'\xf1\x875G0906259D \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300044T \xf1\x895245', @@ -873,6 +874,7 @@ FW_VERSIONS = { b'\xf1\x870D9300012 \xf1\x894912', b'\xf1\x870D9300012 \xf1\x894931', b'\xf1\x870D9300012K \xf1\x894513', + b'\xf1\x870D9300013B \xf1\x894902', b'\xf1\x870D9300013B \xf1\x894931', b'\xf1\x870D9300041N \xf1\x894512', b'\xf1\x870D9300043T \xf1\x899699', @@ -910,11 +912,13 @@ FW_VERSIONS = { b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0', b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516G00804A1', + b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516G00804A1', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1', ], (Ecu.fwdRadar, 0x757, None): [ - b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\00101', - b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101', + b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101', + b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101', b'\xf1\x875Q0907572G \xf1\x890571', b'\xf1\x875Q0907572H \xf1\x890620', b'\xf1\x875Q0907572P \xf1\x890682', From 12e46e5d4abd8d2a00af6370c275ad4c8462a15a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 27 Mar 2023 14:22:25 -0700 Subject: [PATCH 137/150] Toyota: add missing FW versions for C-HR Hybrid 2021 (#27687) add another 2021 CHR H --- selfdrive/car/toyota/values.py | 36 +++++++++++++++++++--------------- 1 file changed, 20 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 2398e012d6..38fb8dfbd1 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -727,22 +727,26 @@ FW_VERSIONS = { ], }, CAR.CHRH_TSS2: { - (Ecu.eps, 0x7a1, None): [ - b'8965B10092\x00\x00\x00\x00\x00\x00', - ], - (Ecu.abs, 0x7b0, None): [ - b'F152610041\x00\x00\x00\x00\x00\x00', - ], - (Ecu.engine, 0x700, None): [ - b'\x0189663F438000\x00\x00\x00\x00', - ], - (Ecu.fwdRadar, 0x750, 15): [ - b'\x018821FF410500\x00\x00\x00\x00', - ], - (Ecu.fwdCamera, 0x750, 109): [ - b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00', - ], - }, + (Ecu.eps, 0x7a1, None): [ + b'8965B10092\x00\x00\x00\x00\x00\x00', + b'8965B10091\x00\x00\x00\x00\x00\x00', + ], + (Ecu.abs, 0x7b0, None): [ + b'F152610041\x00\x00\x00\x00\x00\x00', + ], + (Ecu.engine, 0x700, None): [ + b'\x0189663F438000\x00\x00\x00\x00', + b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00', + ], + (Ecu.fwdRadar, 0x750, 15): [ + b'\x018821FF410500\x00\x00\x00\x00', + b'\x018821FF410300\x00\x00\x00\x00', + ], + (Ecu.fwdCamera, 0x750, 109): [ + b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00', + b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00', + ], + }, CAR.COROLLA: { (Ecu.engine, 0x7e0, None): [ b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00', From 7284969eb8c098efce07bdd6937b2a1a3f50f0ad Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Mon, 27 Mar 2023 17:06:47 -0500 Subject: [PATCH 138/150] Add missing TUCSON_4TH_GEN fwdCamera/fwdRadar f/w (#27708) `chodochodo#7177` 2022 Hyundai Tucson 2.4L ICE DongleID/route c5ba26f7af98e5d1|2023-03-27--14-33-34 --- 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 24ee7321f4..3c31bfb1e6 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1602,9 +1602,11 @@ FW_VERSIONS = { }, CAR.TUCSON_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T', ], (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ', b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ', ], }, From c0b2e15a60f5c5592a5097ab79c309bc2b0fb2f6 Mon Sep 17 00:00:00 2001 From: erotisch <128647582+erotisch@users.noreply.github.com> Date: Mon, 27 Mar 2023 18:37:54 -0400 Subject: [PATCH 139/150] HKG: add missing 2019 Genesis G70 FW (#27676) * Update values.py * Update values.py * Update values.py * fix FW --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 22 +++++++++++++++++----- 1 file changed, 17 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 3c31bfb1e6..dcc3a0fc0f 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1054,11 +1054,23 @@ FW_VERSIONS = { ], }, CAR.GENESIS_G70: { - (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', ], - (Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', ], - (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', ], - (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', + b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', + ], }, CAR.GENESIS_G70_2020: { (Ecu.eps, 0x7d4, None): [ From 3555a08c17af6c1ef22d75345a78ff6f670b1d66 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 27 Mar 2023 16:11:59 -0700 Subject: [PATCH 140/150] Nissan: add missing FW for 2020 Leaf (IC) (#27670) add nissan leaf ic fp --- selfdrive/car/nissan/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index e9af828e2b..358cf0d0cd 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -126,18 +126,22 @@ FW_VERSIONS = { (Ecu.fwdCamera, 0x707, None): [ b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80', + b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80', ], (Ecu.abs, 0x740, None): [ b'476605SH1D', b'476605SK2A', + b'476605SD2E', ], (Ecu.eps, 0x742, None): [ b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80', b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80', + b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80', ], (Ecu.gateway, 0x18dad0f1, None): [ b'284U25SH3A', b'284U25SK2D', + b'284U25SF0C', ], }, CAR.XTRAIL: { From e65bd1a7039d885e016cbc6ca5a5d2dd31d6979c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Mar 2023 00:21:08 -0700 Subject: [PATCH 141/150] bump panda (#27713) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index d70fa4e120..db6c50cd09 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit d70fa4e1200ad47c66587c78fd90030a3be1cc43 +Subproject commit db6c50cd09f773c231f962fc0e31b4612c572b08 From fb03e225fd5b815f1600ec71848e94ddb55eb597 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Mar 2023 15:25:20 +0800 Subject: [PATCH 142/150] isotp_parallel_query: use drain_sock_raw (#27714) use drain_sock_raw --- selfdrive/car/isotp_parallel_query.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index d9c658a14c..70f8b5f50d 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -60,7 +60,7 @@ class IsoTpParallelQuery: return msgs def _drain_rx(self): - messaging.drain_sock(self.logcan) + messaging.drain_sock_raw(self.logcan) self.msg_buffer = defaultdict(list) def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr): From 1853d6f40edc07a49a910f6fb8cedab96e9f3521 Mon Sep 17 00:00:00 2001 From: royjr Date: Tue, 28 Mar 2023 04:53:48 -0400 Subject: [PATCH 143/150] Honda Bosch Radarless: experimental longitudinal support (#25364) * civic22_long * Stock requests -4 * add standstill bit * bump * fix standstill * bump * bump * bump panda * Update hondacan.py * bump panda * add docs * bump panda * bump panda * fix control_on value * set control_off * fix cars.md * Update panda * Update opendbc * Update panda * Update panda * allow more braking * Revert "allow more braking" This reverts commit ecd2493a436a095b621d815e8b0c7591fa6b93a9. * Update panda * fix speed mismatch * Revert "fix speed mismatch" This reverts commit ca795dc5bd9d6e841225e1ac1ff93a1f78618513. * Update panda * fix speed mismatch and standstill * delay stopped message to match stock behavior * green cruise only when enabled * Update panda * Revert "green cruise only when enabled" This reverts commit d21aa5b541a42fa6d1c87e3b065f720af28ff38b. * lesser nester * simplify * simplify control_on * simplify common signals * simplify CONTROL_ON * lessest nester * hide speed on gas_override to match stock behavior * tiny simplification, lesser nester * flip common acc control values around * move magic number to global variable * Revert "move magic number to global variable" This reverts commit 160be0e0872dc08a8786d97fc2125b2eb131362d. * remove stopped logic * remove unused variable * looks ok * looks better * simplify override * clarify CONTROL_OFF signal comment * civic22_long_bettercontroloff shorten delay init selfless whoops move to carcontroller selfmore lower time, currently take 5s to kick in just right deline * Rename CONTROL_OFF -> IDLESTOP_ALLOW This tells the car its ready to turn off the engine, which does so when the car is standstill. * Update panda * Update opendbc * Update panda * fix docs * Update panda * Update panda * Update opendbc * Update panda * Update panda * Update panda * Update panda * bump panda * idlestop in another PR * radarless doesn't need tester present * simplify that * helper * one line is fine * test bump * bumpback * disallow * reduce diff --------- Co-authored-by: sshane --- docs/CARS.md | 4 +-- selfdrive/car/honda/carcontroller.py | 6 ++-- selfdrive/car/honda/carstate.py | 5 ++- selfdrive/car/honda/hondacan.py | 48 ++++++++++++++++++---------- selfdrive/car/honda/interface.py | 14 ++++---- 5 files changed, 45 insertions(+), 32 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 3e23316bd8..7c8170c275 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -44,9 +44,9 @@ A supported vehicle is one that just works when you install a comma three. All s |Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| +|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| -|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| +|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|| |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|| |Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| |Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|| diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index 4dc1dc8131..f6d328131b 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -1,7 +1,6 @@ from collections import namedtuple from cereal import car -from common.conversions import Conversions as CV from common.numpy_fast import clip, interp from common.realtime import DT_CTRL from opendbc.can.packer import CANPacker @@ -127,7 +126,8 @@ class CarController: def update(self, CC, CS, now_nanos): actuators = CC.actuators hud_control = CC.hudControl - hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255 + conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric) + hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255 pcm_cancel_cmd = CC.cruiseControl.cancel if CC.longActive: @@ -161,7 +161,7 @@ class CarController: can_sends = [] # tester present - w/ no response (keeps radar disabled) - if self.CP.carFingerprint in HONDA_BOSCH and self.CP.openpilotLongitudinalControl: + if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl: if self.frame % 10 == 0: can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1)) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index 16880d1b1f..8189800368 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -5,7 +5,7 @@ from common.conversions import Conversions as CV from common.numpy_fast import interp from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from selfdrive.car.honda.hondacan import get_pt_bus +from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS from selfdrive.car.interfaces import CarStateBase @@ -246,8 +246,7 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0 ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252. - # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting - conversion = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS + conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric) # On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this. ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion self.v_cruise_pcm_prev = ret.cruiseState.speed diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index 17681444af..b7c448d1d3 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -21,6 +21,11 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False): return 0 +def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float: + # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting + return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS + + def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake): # TODO: do we loose pressure if we keep pump off for long? brakelights = apply_brake > 0 @@ -58,27 +63,36 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge standstill = 1 if active and stopping else 0 standstill_release = 1 if active and not stopping else 0 + # common ACC_CONTROL values acc_control_values = { - # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1 - "CONTROL_ON": control_on, - "GAS_COMMAND": gas_command, # used for gas - "ACCEL_COMMAND": accel_command, # used for brakes - "BRAKE_LIGHTS": braking, - "BRAKE_REQUEST": braking, - "STANDSTILL": standstill, - "STANDSTILL_RELEASE": standstill_release, + 'ACCEL_COMMAND': accel_command, + 'STANDSTILL': standstill, } - commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values)) - acc_control_on_values = { - "SET_TO_3": 0x03, - "CONTROL_ON": enabled, - "SET_TO_FF": 0xff, - "SET_TO_75": 0x75, - "SET_TO_30": 0x30, - } - commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values)) + if car_fingerprint in HONDA_BOSCH_RADARLESS: + acc_control_values.update({ + "CONTROL_ON": enabled, + "IDLESTOP_ALLOW": 0, # disallows idle stop + }) + else: + acc_control_values.update({ + # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1 + "CONTROL_ON": control_on, + "GAS_COMMAND": gas_command, # used for gas + "BRAKE_LIGHTS": braking, + "BRAKE_REQUEST": braking, + "STANDSTILL_RELEASE": standstill_release, + }) + acc_control_on_values = { + "SET_TO_3": 0x03, + "CONTROL_ON": enabled, + "SET_TO_FF": 0xff, + "SET_TO_75": 0x75, + "SET_TO_30": 0x30, + } + commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values)) + commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values)) return commands diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index d3cf9fa891..7314afd50a 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -37,13 +37,11 @@ class CarInterface(CarInterfaceBase): if candidate in HONDA_BOSCH: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)] ret.radarUnavailable = True - - if candidate not in HONDA_BOSCH_RADARLESS: - # Disable the radar and let openpilot control longitudinal - # WARNING: THIS DISABLES AEB! - ret.experimentalLongitudinalAvailable = True - ret.openpilotLongitudinalControl = experimental_long - + # Disable the radar and let openpilot control longitudinal + # WARNING: THIS DISABLES AEB! + # If Bosch radarless, this blocks ACC messages from the camera + ret.experimentalLongitudinalAvailable = True + ret.openpilotLongitudinalControl = experimental_long ret.pcmCruise = not ret.openpilotLongitudinalControl else: ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)] @@ -75,6 +73,8 @@ class CarInterface(CarInterfaceBase): ret.longitudinalTuning.kpV = [0.25] ret.longitudinalTuning.kiV = [0.05] ret.longitudinalActuatorDelayUpperBound = 0.5 # s + if candidate in HONDA_BOSCH_RADARLESS: + ret.stopAccel = -4.0 else: # default longitudinal tuning for all hondas ret.longitudinalTuning.kpBP = [0., 5., 35.] From 2f954a50e3b34b8a38878bf8dbd37e359c0c6d3f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 29 Mar 2023 02:50:19 +0800 Subject: [PATCH 144/150] cabana: clear zoom stack after reset zoom (#27716) --- tools/cabana/chartswidget.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 303b873faa..63a18094fc 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -145,6 +145,7 @@ void ChartsWidget::zoomIn(double min, double max) { void ChartsWidget::zoomReset() { setZoom(display_range.first, display_range.second); + zoom_stack.clear(); } void ChartsWidget::zoomUndo() { From 8903e03c8844df03783ae78d97e1294d0869ffea Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 29 Mar 2023 02:52:28 +0800 Subject: [PATCH 145/150] cabana: move dbc related files to dbc/ (#27712) * move dbc related files to dbc/ * move generate_dbc_json.py to dbc/ --- tools/cabana/.gitignore | 2 +- tools/cabana/SConscript | 5 +++-- tools/cabana/binaryview.h | 2 +- tools/cabana/chartswidget.h | 2 +- tools/cabana/commands.h | 2 +- tools/cabana/{ => dbc}/dbc.cc | 2 +- tools/cabana/{ => dbc}/dbc.h | 0 tools/cabana/{ => dbc}/dbcfile.cc | 2 +- tools/cabana/{ => dbc}/dbcfile.h | 2 +- tools/cabana/{ => dbc}/dbcmanager.cc | 2 +- tools/cabana/{ => dbc}/dbcmanager.h | 4 ++-- tools/cabana/{ => dbc}/generate_dbc_json.py | 0 tools/cabana/historylog.h | 2 +- tools/cabana/mainwin.cc | 2 +- tools/cabana/mainwin.h | 2 +- tools/cabana/messageswidget.h | 2 +- tools/cabana/streams/abstractstream.h | 2 +- tools/cabana/tests/test_cabana.cc | 2 +- tools/cabana/tools/findsimilarbits.cc | 2 +- tools/cabana/tools/findsimilarbits.h | 2 +- tools/cabana/util.h | 2 +- tools/cabana/videowidget.h | 2 +- 22 files changed, 23 insertions(+), 22 deletions(-) rename tools/cabana/{ => dbc}/dbc.cc (98%) rename tools/cabana/{ => dbc}/dbc.h (100%) rename tools/cabana/{ => dbc}/dbcfile.cc (99%) rename tools/cabana/{ => dbc}/dbcfile.h (97%) rename tools/cabana/{ => dbc}/dbcmanager.cc (99%) rename tools/cabana/{ => dbc}/dbcmanager.h (96%) rename tools/cabana/{ => dbc}/generate_dbc_json.py (100%) diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore index 73879ab05d..c74ab7483c 100644 --- a/tools/cabana/.gitignore +++ b/tools/cabana/.gitignore @@ -3,5 +3,5 @@ moc_* _cabana settings -car_fingerprint_to_dbc.json +dbc/car_fingerprint_to_dbc.json tests/_test_cabana diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index 5f4f7fc524..d9156f229a 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -28,7 +28,8 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbc.cc', 'dbcfile.cc', 'dbcmanager.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', + 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) @@ -39,5 +40,5 @@ if GetOption('test'): cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs]) def generate_dbc_json(target, source, env): - env.Execute('tools/cabana/generate_dbc_json.py --out tools/cabana/car_fingerprint_to_dbc.json') + env.Execute('tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json') cabana_env.Command('generate_dbc_json', [], generate_dbc_json) diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index f677d11941..8598fe490b 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -6,7 +6,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" class BinaryItemDelegate : public QStyledItemDelegate { diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index de6cfc56b1..7f757f0211 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -13,7 +13,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" using namespace QtCharts; diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index 2a5f40d584..84d1a6e2a1 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -3,7 +3,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" class EditMsgCommand : public QUndoCommand { diff --git a/tools/cabana/dbc.cc b/tools/cabana/dbc/dbc.cc similarity index 98% rename from tools/cabana/dbc.cc rename to tools/cabana/dbc/dbc.cc index 38002af06c..46302ad789 100644 --- a/tools/cabana/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -1,4 +1,4 @@ -#include "tools/cabana/dbc.h" +#include "tools/cabana/dbc/dbc.h" #include "tools/cabana/util.h" uint qHash(const MessageId &item) { diff --git a/tools/cabana/dbc.h b/tools/cabana/dbc/dbc.h similarity index 100% rename from tools/cabana/dbc.h rename to tools/cabana/dbc/dbc.h diff --git a/tools/cabana/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc similarity index 99% rename from tools/cabana/dbcfile.cc rename to tools/cabana/dbc/dbcfile.cc index 14a98347e2..8b4f98508c 100644 --- a/tools/cabana/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -1,4 +1,4 @@ -#include "tools/cabana/dbcfile.h" +#include "tools/cabana/dbc/dbcfile.h" #include diff --git a/tools/cabana/dbcfile.h b/tools/cabana/dbc/dbcfile.h similarity index 97% rename from tools/cabana/dbcfile.h rename to tools/cabana/dbc/dbcfile.h index b8fa3ea41b..082ee773b1 100644 --- a/tools/cabana/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -8,7 +8,7 @@ #include #include -#include "tools/cabana/dbc.h" +#include "tools/cabana/dbc/dbc.h" const QString AUTO_SAVE_EXTENSION = ".tmp"; diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc similarity index 99% rename from tools/cabana/dbcmanager.cc rename to tools/cabana/dbc/dbcmanager.cc index 26c9105b43..0cc51989cd 100644 --- a/tools/cabana/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -1,4 +1,4 @@ -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include #include diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h similarity index 96% rename from tools/cabana/dbcmanager.h rename to tools/cabana/dbc/dbcmanager.h index 2a5aa6da25..31183e8199 100644 --- a/tools/cabana/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -8,8 +8,8 @@ #include #include -#include "tools/cabana/dbc.h" -#include "tools/cabana/dbcfile.h" +#include "tools/cabana/dbc/dbc.h" +#include "tools/cabana/dbc/dbcfile.h" typedef QSet SourceSet; const SourceSet SOURCE_ALL = {}; diff --git a/tools/cabana/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py similarity index 100% rename from tools/cabana/generate_dbc_json.py rename to tools/cabana/dbc/generate_dbc_json.py diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 119b61a0e8..8b8d1b06d2 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -7,7 +7,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" #include "tools/cabana/util.h" diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index 3b1edce236..c979a20f16 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -55,7 +55,7 @@ MainWindow::MainWindow() : QMainWindow() { main_win = this; qInstallMessageHandler(qLogMessageHandler); - for (const QString &fn : {"./car_fingerprint_to_dbc.json", "./tools/cabana/car_fingerprint_to_dbc.json"}) { + for (const QString &fn : {"./dbc/car_fingerprint_to_dbc.json", "./tools/cabana/dbc/car_fingerprint_to_dbc.json"}) { QFile json_file(fn); if (json_file.open(QIODevice::ReadOnly)) { fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll()); diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index 349fa3b28d..991a34931d 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -8,7 +8,7 @@ #include #include "tools/cabana/chartswidget.h" -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/detailwidget.h" #include "tools/cabana/messageswidget.h" #include "tools/cabana/videowidget.h" diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h index 08dac0d69a..d4ef896519 100644 --- a/tools/cabana/messageswidget.h +++ b/tools/cabana/messageswidget.h @@ -6,7 +6,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" class MessageListModel : public QAbstractTableModel { diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index 37490d0ec6..0515f7c7e8 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -6,7 +6,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/settings.h" #include "tools/cabana/util.h" #include "tools/replay/replay.h" diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index 3a5d64f0a5..4bc01a6a81 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -3,7 +3,7 @@ #undef INFO #include "catch2/catch.hpp" #include "tools/replay/logreader.h" -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" // demo route, first segment diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index e40498f045..7fe5b26671 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -8,7 +8,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) { diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h index a40e2cd8df..77bfac19ca 100644 --- a/tools/cabana/tools/findsimilarbits.h +++ b/tools/cabana/tools/findsimilarbits.h @@ -6,7 +6,7 @@ #include #include -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" class FindSimilarBitsDlg : public QDialog { Q_OBJECT diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 330da77179..7f40c42352 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -12,7 +12,7 @@ #include #include -#include "tools/cabana/dbc.h" +#include "tools/cabana/dbc/dbc.h" class ChangeTracker { public: diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index a5ce8c345f..40a85662b6 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -12,7 +12,7 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" #include "selfdrive/ui/qt/widgets/controls.h" -#include "tools/cabana/dbcmanager.h" +#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" class Slider : public QSlider { From a1fb8d248022e7c47010fe7a91d84f12adc12114 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 29 Mar 2023 04:24:54 +0800 Subject: [PATCH 146/150] cabana: improve video thumbnail (#27711) --- tools/cabana/videowidget.cc | 119 +++++++++++++++--------------------- tools/cabana/videowidget.h | 21 ++++--- 2 files changed, 62 insertions(+), 78 deletions(-) diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index e36e62131f..0e9714994e 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -1,18 +1,15 @@ #include "tools/cabana/videowidget.h" -#include #include #include #include #include -#include #include -#include -#include #include #include const int MIN_VIDEO_HEIGHT = 100; +const int THUMBNAIL_MARGIN = 3; static const QColor timeline_colors[] = { [(int)TimelineType::None] = QColor(111, 143, 175), @@ -27,16 +24,11 @@ static inline QString formatTime(int seconds) { return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } -VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { - QVBoxLayout *main_layout = new QVBoxLayout(this); - main_layout->setContentsMargins(0, 0, 0, 0); - QFrame *frame = new QFrame(this); - frame->setFrameStyle(QFrame::StyledPanel | QFrame::Plain); - main_layout->addWidget(frame); - - QVBoxLayout *frame_layout = new QVBoxLayout(frame); +VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { + setFrameStyle(QFrame::StyledPanel | QFrame::Plain); + auto main_layout = new QVBoxLayout(this); if (!can->liveStreaming()) { - frame_layout->addWidget(createCameraWidget()); + main_layout->addWidget(createCameraWidget()); } // btn controls @@ -57,7 +49,8 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) { group->addButton(btn); if (speed == 1.0) btn->setChecked(true); } - frame_layout->addLayout(control_layout); + main_layout->addLayout(control_layout); + setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState); @@ -91,12 +84,13 @@ QWidget *VideoWidget::createCameraWidget() { QVBoxLayout *l = new QVBoxLayout(w); l->setContentsMargins(0, 0, 0, 0); cam_widget = new CameraWidget("camerad", can->visionStreamType(), false); + cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); + cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); l->addWidget(cam_widget); // slider controls slider_layout = new QHBoxLayout(); - time_label = new ElidedLabel("00:00"); - time_label->setToolTip(tr("Click to set current time")); + time_label = new QLabel("00:00"); slider_layout->addWidget(time_label); slider = new Slider(this); @@ -106,12 +100,6 @@ QWidget *VideoWidget::createCameraWidget() { end_time_label = new QLabel(this); slider_layout->addWidget(end_time_label); l->addLayout(slider_layout); - - cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); - cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); - setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum); - - QObject::connect(time_label, &ElidedLabel::clicked, this, &VideoWidget::timeLabelClicked); 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, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); @@ -123,29 +111,7 @@ QWidget *VideoWidget::createCameraWidget() { return w; } -void VideoWidget::timeLabelClicked() { - auto time_edit = new QTimeEdit(this); - auto init_date_time = can->currentDateTime(); - time_edit->setDateTime(init_date_time); - time_edit->setDisplayFormat("hh:mm:ss"); - time_label->setVisible(false); - slider_layout->insertWidget(0, time_edit); - QTimer::singleShot(0, [=]() { time_edit->setFocus(); }); - - QObject::connect(time_edit, &QTimeEdit::editingFinished, [=]() { - if (time_edit->dateTime() != init_date_time) { - int seconds = can->route()->datetime().secsTo(time_edit->dateTime()); - can->seekTo(seconds); - } - time_edit->setVisible(false); - time_label->setVisible(true); - time_edit->deleteLater(); - }); -} - void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { - if (can->liveStreaming()) return; - if (!is_zoomed) { min = 0; max = can->totalSeconds(); @@ -165,7 +131,7 @@ void VideoWidget::updatePlayBtnState() { } // Slider -Slider::Slider(QWidget *parent) : timer(this), QSlider(Qt::Horizontal, parent) { +Slider::Slider(QWidget *parent) : timer(this), thumbnail_label(this), QSlider(Qt::Horizontal, parent) { timer.callOnTimeout([this]() { timeline = can->getTimeline(); update(); @@ -198,29 +164,18 @@ void Slider::loadThumbnails() { if (log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL}, true, 0, 3)) { for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) { auto thumb = (*ev)->event.getThumbnail(); - QString str = getThumbnailString(thumb.getThumbnail()); - std::lock_guard lk(thumbnail_lock); - thumbnails[thumb.getTimestampEof()] = str; + auto data = thumb.getThumbnail(); + if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) { + pm = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation); + std::lock_guard lk(thumbnail_lock); + thumbnails[thumb.getTimestampEof()] = pm; + } } } } } } -QString Slider::getThumbnailString(const capnp::Data::Reader &data) { - QPixmap thumb; - if (thumb.loadFromData(data.begin(), data.size(), "jpeg")) { - thumb = thumb.scaled({thumb.width()/3, thumb.height()/3}, Qt::KeepAspectRatio); - thumbnail_size = thumb.size(); - QByteArray bytes; - QBuffer buffer(&bytes); - buffer.open(QIODevice::WriteOnly); - thumb.save(&buffer, "png"); - return QString("").arg(QString(bytes.toBase64())); - } - return {}; -} - void Slider::sliderChange(QAbstractSlider::SliderChange change) { if (change == QAbstractSlider::SliderValueChange) { int x = width() * ((value() - minimum()) / double(maximum() - minimum())); @@ -266,21 +221,45 @@ void Slider::mousePressEvent(QMouseEvent *e) { } void Slider::mouseMoveEvent(QMouseEvent *e) { - QString thumb; + QPixmap thumb; + double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0; { - double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0; std::lock_guard lk(thumbnail_lock); auto it = thumbnails.lowerBound((seconds + can->routeStartTime()) * 1e9); - if (it != thumbnails.end()) { - thumb = it.value(); - } + if (it != thumbnails.end()) thumb = it.value(); } - QPoint pt = mapToGlobal({e->pos().x() - thumbnail_size.width() / 2, -thumbnail_size.height() - 30}); - QToolTip::showText(pt, thumb, this, rect()); + int x = std::clamp(e->pos().x() - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN); + int y = -thumb.height() - THUMBNAIL_MARGIN - style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing); + thumbnail_label.showPixmap(mapToGlobal({x, y}), formatTime(seconds), thumb); QSlider::mouseMoveEvent(e); } void Slider::leaveEvent(QEvent *event) { - QToolTip::hideText(); + thumbnail_label.hide(); QSlider::leaveEvent(event); } + +// ThumbnailLabel + +ThumbnailLabel::ThumbnailLabel(QWidget *parent) : QWidget(parent, Qt::Tool | Qt::FramelessWindowHint) { + setAttribute(Qt::WA_ShowWithoutActivating); + setVisible(false); +} + +void ThumbnailLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm) { + pixmap = pm; + second = sec; + setVisible(!pm.isNull()); + if (isVisible()) { + setGeometry({pt, pm.size()}); + update(); + } +} + +void ThumbnailLabel::paintEvent(QPaintEvent *event) { + QPainter p(this); + p.drawPixmap(0, 0, pixmap); + p.setPen(QPen(Qt::white, 2)); + p.drawRect(rect()); + p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom); +} diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 40a85662b6..00b059428d 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -11,10 +11,17 @@ #include #include "selfdrive/ui/qt/widgets/cameraview.h" -#include "selfdrive/ui/qt/widgets/controls.h" -#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/streams/abstractstream.h" +class ThumbnailLabel : public QWidget { +public: + ThumbnailLabel(QWidget *parent); + void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm); + void paintEvent(QPaintEvent *event) override; + QPixmap pixmap; + QString second; +}; + class Slider : public QSlider { Q_OBJECT @@ -30,19 +37,18 @@ private: void paintEvent(QPaintEvent *ev) override; void streamStarted(); void loadThumbnails(); - QString getThumbnailString(const capnp::Data::Reader &data); int slider_x = -1; std::vector> timeline; std::mutex thumbnail_lock; std::atomic abort_load_thumbnail = false; - QMap thumbnails; + QMap thumbnails; QFuture thumnail_future; - QSize thumbnail_size = {}; + ThumbnailLabel thumbnail_label; QTimer timer; }; -class VideoWidget : public QWidget { +class VideoWidget : public QFrame { Q_OBJECT public: @@ -52,12 +58,11 @@ public: protected: void updateState(); void updatePlayBtnState(); - void timeLabelClicked(); QWidget *createCameraWidget(); CameraWidget *cam_widget; QLabel *end_time_label; - ElidedLabel *time_label; + QLabel *time_label; QHBoxLayout *slider_layout; QPushButton *play_btn; Slider *slider; From eee3c8ee6007918d8a5ebf80ab236659a4738356 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 29 Mar 2023 04:25:13 +0800 Subject: [PATCH 147/150] cabana: add sparkline to signal view (#27717) * display small line chart beside signal * TODO * 1 px width * auto stretch * static lines * use std::vector * cleanup * use ts from last message * remove hardcorded size --- tools/cabana/chartswidget.cc | 2 +- tools/cabana/signaledit.cc | 64 +++++++++++++++++++++++++++++------- tools/cabana/signaledit.h | 4 ++- 3 files changed, 56 insertions(+), 14 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 63a18094fc..ef8524be37 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -558,7 +558,7 @@ void ChartView::updateSeries(const cabana::Signal *sig) { } s.series->setColor(getColor(s.sig)); - auto msgs = can->events().at(s.msg_id); + const auto &msgs = can->events().at(s.msg_id); auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = s.last_value_mono_time}); int new_size = std::max(s.vals.size() + std::distance(first, msgs.cend()), settings.max_cached_minutes * 60 * 100); if (s.vals.capacity() <= new_size) { diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc index 99ec09195b..a2455a0317 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signaledit.cc @@ -62,14 +62,11 @@ void SignalModel::updateState(const QHash *msgs) { auto &dat = can->lastMessage(msg_id).dat; int row = 0; for (auto item : root->children) { - QString value = QString::number(get_raw_value((uint8_t *)dat.begin(), dat.size(), *item->sig), 'f', item->sig->precision); - if (!item->sig->unit.isEmpty()){ - value += " " + item->sig->unit; - } - if (value != item->sig_val) { - item->sig_val = value; - emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole}); + item->sig_val = QString::number(get_raw_value((uint8_t *)dat.constData(), dat.size(), *item->sig), 'f', item->sig->precision); + if (!item->sig->unit.isEmpty()) { + item->sig_val += " " + item->sig->unit; } + emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole}); ++row; } } @@ -321,6 +318,8 @@ QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo } void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { + int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; + int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); auto item = (SignalModel::Item *)index.internalPointer(); if (index.column() == 0 && item && item->type == SignalModel::Item::Sig) { painter->save(); @@ -331,8 +330,6 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op // color label auto bg_color = getColor(item->sig); - int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; - int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); QRect rc{option.rect.left() + h_margin, option.rect.top(), color_label_width, option.rect.height()}; painter->setPen(Qt::NoPen); painter->setBrush(item->highlight ? bg_color.darker(125) : bg_color); @@ -351,19 +348,62 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->drawText(text_rect, option.displayAlignment, text); painter->restore(); } else if (index.column() == 1 && item && item->type == SignalModel::Item::Sig) { - // draw signal value if (option.state & QStyle::State_Selected) { painter->fillRect(option.rect, option.palette.highlight()); } - painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); - QRect rc = option.rect.adjusted(0, 0, -70, 0); + + drawSparkline(painter, option, index); + // draw signal value + int right_offset = ((SignalView *)parent())->tree->indexWidget(index)->sizeHint().width() + 2 * h_margin; + QRect rc = option.rect.adjusted(0, 0, -right_offset, 0); auto text = painter->fontMetrics().elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rc.width()); + painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); painter->drawText(rc, Qt::AlignRight | Qt::AlignVCenter, text); } else { QStyledItemDelegate::paint(painter, option, index); } } +void SignalItemDelegate::drawSparkline(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { + static std::vector points; + // TODO: get seconds from settings. + const uint64_t chart_seconds = 15; // seconds + const auto &msg_id = ((SignalView *)parent())->msg_id; + const auto &msgs = can->events().at(msg_id); + uint64_t ts = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9; + auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = (uint64_t)std::max(ts - chart_seconds * 1e9, 0)}); + if (first != msgs.cend()) { + double min = std::numeric_limits::max(); + double max = std::numeric_limits::lowest(); + const auto sig = ((SignalModel::Item *)index.internalPointer())->sig; + auto last = std::lower_bound(first, msgs.cend(), CanEvent{.mono_time = ts}); + points.clear(); + for (auto it = first; it != last; ++it) { + double value = get_raw_value(it->dat, it->size, *sig); + points.emplace_back((it->mono_time - first->mono_time) / 1e9, value); + min = std::min(min, value); + max = std::max(max, value); + } + if (min == max) { + min -= 1; + max += 1; + } + + int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin); + int v_margin = std::max(option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 2, 4); + const double xscale = (option.rect.width() - 175.0 * option.widget->devicePixelRatioF() - h_margin * 2) / chart_seconds; + const double yscale = (option.rect.height() - v_margin * 2) / (max - min); + const int left = option.rect.left(); + const int top = option.rect.top() + v_margin; + for (auto &pt : points) { + pt.rx() = left + pt.x() * xscale; + pt.ry() = top + std::abs(pt.y() - max) * yscale; + } + painter->setPen(getColor(sig)); + painter->drawPolyline(points.data(), points.size()); + } +} + QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const { auto item = (SignalModel::Item *)index.internalPointer(); if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset || diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h index d6bad6d88c..163edcad69 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signaledit.h @@ -82,6 +82,7 @@ public: void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const; QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override; + void drawSparkline(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const; QValidator *name_validator, *double_validator; QFont small_font; const int color_label_width = 18; @@ -99,6 +100,7 @@ public: void selectSignal(const cabana::Signal *sig, bool expand = false); void rowClicked(const QModelIndex &index); SignalModel *model = nullptr; + MessageId msg_id; signals: void highlight(const cabana::Signal *sig); @@ -117,9 +119,9 @@ private: } }; - MessageId msg_id; TreeView *tree; QLineEdit *filter_edit; ChartsWidget *charts; QLabel *signal_count_lb; + friend SignalItemDelegate; }; From 32da60c551594247bb04b179d95357a15370519a Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 28 Mar 2023 13:26:01 -0700 Subject: [PATCH 148/150] Update RELEASES.md --- RELEASES.md | 1 + 1 file changed, 1 insertion(+) diff --git a/RELEASES.md b/RELEASES.md index 55b0dbad7e..55edc47c27 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,5 +1,6 @@ Version 0.9.2 (2023-03-XX) ======================== +* New driving model, trained on a new dataset * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do. * Buick LaCrosse 2017-19 support thanks to koch-cf! * Škoda Fabia 2022-23 support thanks to jyoung8607! From 267974e00200324805c76ef2e8ae279efa7757a1 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Tue, 28 Mar 2023 19:04:14 -0400 Subject: [PATCH 149/150] remove accFaultedTemp, add steerTimeLimit (#27720) * remove accFaultedTemp * retry CI * bump cereal * grab the new steerTimeLimit Event * bump cereal to updated master --- cereal | 2 +- selfdrive/controls/lib/events.py | 9 +++++---- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/cereal b/cereal index e276226dbe..1f0d21df73 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e276226dbe38c811a4c1f3a9b689cd3ecbd05a20 +Subproject commit 1f0d21df7307228218a4b874a3fdcd819b1558af diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index e4ddfb5326..67a4735e14 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -658,6 +658,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"), }, + EventName.steerTimeLimit: { + ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"), + ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"), + }, + EventName.outOfSpace: { ET.PERMANENT: out_of_space_alert, ET.NO_ENTRY: NoEntryAlert("Out of Storage"), @@ -811,10 +816,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), }, - EventName.accFaultedTemp: { - ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"), - }, - EventName.controlsMismatch: { ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"), ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"), From 85908f7e2bd96cb52ad7a52e3b9a1cf94b5b197b Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 28 Mar 2023 17:48:16 -0700 Subject: [PATCH 150/150] process replay: fix socket-ful replay flakiness (#27721) * process replay: fix socket-ful replay flakiness * bump up laikad timeout * bump * bump again * revert that --- .../test/process_replay/process_replay.py | 42 ++++++++++++++----- 1 file changed, 31 insertions(+), 11 deletions(-) diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 2b9096b423..43b329e916 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -5,7 +5,8 @@ import sys import threading import time import signal -from collections import namedtuple +from dataclasses import dataclass, field +from typing import Dict, List, Optional, Callable import capnp @@ -28,7 +29,20 @@ TIMEOUT = 15 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__)) FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/") -ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {})) +@dataclass +class ProcessConfig: + proc_name: str + pub_sub: Dict[str, List[str]] + ignore: List[str] + init_callback: Optional[Callable] + should_recv_callback: Optional[Callable] + tolerance: Optional[float] + fake_pubsubmaster: bool + submaster_config: Dict[str, List[str]] = field(default_factory=dict) + environ: Dict[str, str] = field(default_factory=dict) + subtest_name: str = "" + field_tolerances: Dict[str, float] = field(default_factory=dict) + timeout: int = 30 def wait_for_event(evt): @@ -365,6 +379,7 @@ CONFIGS = [ should_recv_callback=None, tolerance=NUMPY_TOLERANCE, fake_pubsubmaster=False, + timeout=60*10, # first messages are blocked on internet assistance ), ProcessConfig( proc_name="torqued", @@ -532,8 +547,9 @@ def python_replay_process(cfg, lr, fingerprint=None): def replay_process_with_sockets(cfg, lr, fingerprint=None): - sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] pm = messaging.PubMaster(cfg.pub_sub.keys()) + sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] + sockets = {s: messaging.sub_sock(s, timeout=100) for s in sub_sockets} all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime) pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())] @@ -556,22 +572,26 @@ def replay_process_with_sockets(cfg, lr, fingerprint=None): while not any(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()): time.sleep(0) - # Make sure all subscribers are connected - sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets} - for s in sub_sockets: - messaging.recv_one_or_none(sockets[s]) + for s in sockets.values(): + messaging.recv_one_or_none(s) # Do the replay cnt = 0 for msg in pub_msgs: - with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"): + with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"): + resp_sockets = cfg.pub_sub[msg.which()] + if cfg.should_recv_callback is not None: + resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None) + + # Make sure all subscribers are connected + if len(log_msgs) == 0 and len(resp_sockets) > 0: + for s in sockets.values(): + messaging.recv_one_or_none(s) + pm.send(msg.which(), msg.as_builder()) while not pm.all_readers_updated(msg.which()): time.sleep(0) - resp_sockets = cfg.pub_sub[msg.which()] - if cfg.should_recv_callback is not None: - resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None) for s in resp_sockets: m = messaging.recv_one_retry(sockets[s]) m = m.as_builder()