diff --git a/panda b/panda index 5847d7dbc0..bf2c007103 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 5847d7dbc05df3bc76243b6704b9d98544eb53df +Subproject commit bf2c0071036bae4e0c00c37ae43237fce6063e31 diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index bd7c3acc36..b1390bee0b 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -227,6 +227,7 @@ FW_VERSIONS = { b'68510283AG', b'68527346AE', b'68527375AD', + b'68527382AE', ], (Ecu.srs, 0x744, None): [ b'68428609AB', @@ -254,6 +255,7 @@ FW_VERSIONS = { (Ecu.fwdRadar, 0x753, None): [ b'04672892AB', b'04672932AB', + b'22DTRHD_AA', b'68320950AH', b'68320950AI', b'68320950AJ', @@ -265,8 +267,10 @@ FW_VERSIONS = { b'68475160AG', ], (Ecu.eps, 0x75A, None): [ + b'21590101AA', b'68273275AF', b'68273275AG', + b'68273275AH', b'68312176AE', b'68312176AG', b'68440789AC', @@ -283,7 +287,9 @@ FW_VERSIONS = { b'05036065AE ', b'05036066AE ', b'05149846AA ', + b'05149848AA ', b'68378701AI ', + b'68378748AL ', b'68378758AM ', b'68448163AJ', b'68448165AK', diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index edc40f629c..9b7b6ad83e 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -213,8 +213,6 @@ FW_VERSIONS = { (Ecu.engine, 0x7E0, None): [ b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - ], }, CAR.MAVERICK_MK1: { (Ecu.eps, 0x730, None): [ diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index cd3ef7977c..ca75ed62e5 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -15,6 +15,7 @@ from system.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] +FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) @@ -28,11 +29,16 @@ def chunks(l, n=128): yield l[i:i + n] +def is_brand(brand: str, filter_brand: Optional[str]) -> bool: + """Returns if brand matches filter_brand or no brand filter is specified""" + return filter_brand is None or brand == filter_brand + + def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder], filter_brand: Optional[str] = None) -> Dict[Tuple[int, Optional[int]], Set[bytes]]: fw_versions_dict = defaultdict(set) for fw in fw_versions: - if (filter_brand is None or fw.brand == filter_brand) and not fw.logging: + if is_brand(fw.brand, filter_brand) and not fw.logging: sub_addr = fw.subAddress if fw.subAddress != 0 else None fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion) return dict(fw_versions_dict) @@ -53,12 +59,6 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars the match is rejected.""" - # These ECUs are known to be shared between models (EPS only between hybrid/ICE version) - # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost - # impossible to get 3 matching versions, even if two models with shared parts are released at the same - # time and only one is in our database. - exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] - # Build lookup table from (addr, sub_addr, fw) to list of candidate cars all_fw_versions = defaultdict(list) for candidate, fw_by_addr in FW_VERSIONS.items(): @@ -66,35 +66,40 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): continue for addr, fws in fw_by_addr.items(): - if addr[0] in exclude_types: + # These ECUs are known to be shared between models (EPS only between hybrid/ICE version) + # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost + # impossible to get 3 matching versions, even if two models with shared parts are released at the same + # time and only one is in our database. + if addr[0] in FUZZY_EXCLUDE_ECUS: continue for f in fws: all_fw_versions[(addr[1], addr[2], f)].append(candidate) - match_count = 0 + matched_ecus = set() candidate = None for addr, versions in fw_versions_dict.items(): + ecu_key = (addr[0], addr[1]) for version in versions: # All cars that have this FW response on the specified address - candidates = all_fw_versions[(addr[0], addr[1], version)] + candidates = all_fw_versions[(*ecu_key, version)] if len(candidates) == 1: - match_count += 1 + matched_ecus.add(ecu_key) if candidate is None: candidate = candidates[0] # We uniquely matched two different cars. No fuzzy match possible elif candidate != candidates[0]: return set() - if match_count >= 2: + if len(matched_ecus) >= 2: if log: - cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs") + cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs") return {candidate} else: return set() -def match_fw_to_car_exact(fw_versions_dict) -> Set[str]: +def match_fw_to_car_exact(fw_versions_dict, log=True) -> Set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it @@ -129,7 +134,7 @@ def match_fw_to_car_exact(fw_versions_dict) -> Set[str]: return set(candidates.keys()) - set(invalid) -def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): +def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): # Try exact matching first exact_matches = [] if allow_exact: @@ -142,7 +147,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): matches = set() for brand in VERSIONS.keys(): fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) - matches |= match_func(fw_versions_dict) + matches |= match_func(fw_versions_dict, log=log) if len(matches): return exact_match, matches @@ -277,7 +282,7 @@ 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, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand] + requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): for brand, config, r in requests: diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index c069280d11..b90120a1e2 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -10,7 +10,7 @@ from cereal import car from common.params import Params from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions +from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, match_fw_to_car, get_fw_versions CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu @@ -33,27 +33,51 @@ class TestFwFingerprint(unittest.TestCase): self.assertEqual(candidates[0], expected) @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) - def test_fw_fingerprint(self, brand, car_model, ecus): + def test_exact_match(self, brand, car_model, ecus): CP = car.CarParams.new_message() for _ in range(200): fw = [] for ecu, fw_versions in ecus.items(): - if not len(fw_versions): - raise unittest.SkipTest("Car model has no FW versions") ecu_name, addr, sub_addr = ecu fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) CP.carFw = fw - _, matches = match_fw_to_car(CP.carFw) + _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False) self.assertFingerprints(matches, car_model) - def test_no_duplicate_fw_versions(self): + @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) + def test_fuzzy_match_ecu_count(self, brand, car_model, ecus): + # Asserts that fuzzy matching does not count matching FW, but ECU address keys + valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS] + if not len(valid_ecus): + raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching") + + fw = [] + for ecu in valid_ecus: + ecu_name, addr, sub_addr = ecu + for _ in range(5): + # Add multiple FW versions to simulate ECU returning to multiple queries in a brand + fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand, + "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) + CP = car.CarParams.new_message(carFw=fw) + _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False) + + # Assert no match if there are not enough unique ECUs + unique_ecus = {(f['address'], f['subAddress']) for f in fw} + if len(unique_ecus) < 2: + self.assertEqual(len(matches), 0, car_model) + # There won't always be a match due to shared FW, but if there is it should be correct + elif len(matches): + self.assertFingerprints(matches, car_model) + + def test_fw_version_lists(self): for car_model, ecus in FW_VERSIONS.items(): with self.subTest(car_model=car_model): for ecu, ecu_fw in ecus.items(): with self.subTest(ecu): duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} - self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") + self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}') + self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}') def test_all_addrs_map_to_one_ecu(self): for brand, cars in VERSIONS.items(): diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 88fd31bc03..1529f4742c 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -923,6 +923,7 @@ FW_VERSIONS = { b'\xf1\x8704E906027CJ\xf1\x897798', b'\xf1\x8704L997022N \xf1\x899459', b'\xf1\x875G0906259A \xf1\x890004', + b'\xf1\x875G0906259D \xf1\x890002', b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002', b'\xf1\x878V0906259F \xf1\x890002', @@ -932,7 +933,7 @@ FW_VERSIONS = { b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0907115B \xf1\x890007', b'\xf1\x878V0907404A \xf1\x890005', - b'\xf1\x875G0906259D \xf1\x890002', + b'\xf1\x878V0907404G \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300044T \xf1\x895245', @@ -949,6 +950,7 @@ FW_VERSIONS = { b'\xf1\x870DD300046F \xf1\x891602', b'\xf1\x870DD300046G \xf1\x891601', b'\xf1\x870DL300012E \xf1\x892012', + b'\xf1\x870DL300012H \xf1\x892112', b'\xf1\x870GC300011 \xf1\x890403', b'\xf1\x870GC300013M \xf1\x892402', b'\xf1\x870GC300042J \xf1\x891402', @@ -961,9 +963,9 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114', ], @@ -972,6 +974,7 @@ FW_VERSIONS = { b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1', + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0', @@ -1163,6 +1166,7 @@ FW_VERSIONS = { b'\xf1\x8705E906018DJ\xf1\x891903', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', + b'\xf1\x875NA906259E \xf1\x890003', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870D9300043 \xf1\x895202', @@ -1171,6 +1175,7 @@ FW_VERSIONS = { b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870GC300014N \xf1\x892801', + b'\xf1\x870GC300019H \xf1\x892806', b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ @@ -1180,6 +1185,7 @@ FW_VERSIONS = { b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', @@ -1187,6 +1193,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', + b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572Q \xf1\x890342', diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index c7ac4885cb..2dd6acbd85 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -202,7 +202,7 @@ class ButtonParamControl : public AbstractControl { Q_OBJECT public: ButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, - const std::vector &button_texts) : AbstractControl(title, desc, icon) { + const std::vector &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) { const QString style = R"( QPushButton { border-radius: 50px; @@ -233,6 +233,7 @@ public: button->setCheckable(true); button->setChecked(i == value); button->setStyleSheet(style); + button->setMinimumWidth(minimum_button_width); hlayout->addWidget(button); button_group->addButton(button, i); } diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 954991c705..c6e2d22f5a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -856,23 +856,23 @@ This may take up to a minute. failed to check for update - + 檢查更新失敗 up to date, last checked %1 - + 已經是最新版本，上次檢查時間為 %1 DOWNLOAD - + 下載 update available - + 有可用的更新 never - + 從未更新 @@ -1040,35 +1040,35 @@ This may take up to a minute. openpilot Longitudinal Control (Alpha) - + openpilot 縱向控制 (Alpha 版) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - + 警告：此車輛的 Openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - + 在這輛車上，Openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 Openpilot 的縱向控制。啟用此項功能可切換至 Openpilot 的縱向控制。當啟用 Openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 Aggressive - + 積極 Standard - + 標準 Relaxed - + 舒適 Driving Personality - + 駕駛風格 Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. - + 推薦使用標準模式。在積極模式中，openpilot 會更靠近前車並在加速和剎車方面更積極。在舒適模式中，openpilot 會與前車保持較遠的距離。 @@ -1110,23 +1110,23 @@ This may take up to a minute. WiFiPromptWidget Setup Wi-Fi - + 設置 Wi-Fi 連接 Connect to Wi-Fi to upload driving data and help improve openpilot - + 請連接至 Wi-Fi 以上傳駕駛數據，並協助改進 openpilot。 Open Settings - + 開啟設置 Uploading training data - + 正在上傳訓練數據 Your data is used to train driving models and help improve openpilot - + 您的數據將用於訓練駕駛模型並協助改進 openpilot diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 50f66e5182..13cd76af3a 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -437,9 +437,11 @@ void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionVie auto sig_color = getColor(sig); QColor color = sig_color; color.setAlpha(item->bg_color.alpha()); - painter->fillRect(rc, Qt::white); + // Mixing the signal colour with the Base background color to fade it + painter->fillRect(rc, QApplication::palette().color(QPalette::Base)); painter->fillRect(rc, color); + // Draw edges color = sig_color.darker(125); painter->setPen(QPen(color, 1)); if (draw_left) painter->drawLine(rc.topLeft(), rc.bottomLeft()); diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index a7f700f3c2..353bb3fab3 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -213,9 +213,19 @@ void ChartView::updateTitle() { for (QLegendMarker *marker : chart()->legend()->markers()) { QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection); } + + // Use CSS to draw titles in the WindowText color + auto tmp = palette().color(QPalette::WindowText); + auto titleColorCss = tmp.name(QColor::HexArgb); + // Draw message details in similar color, but slightly fade it to the background + tmp.setAlpha(180); + auto msgColorCss = tmp.name(QColor::HexArgb); + for (auto &s : sigs) { auto decoration = s.series->isVisible() ? "none" : "line-through"; - s.series->setName(QString("%2 %3 %4").arg(decoration, s.sig->name, msgName(s.msg_id), s.msg_id.toString())); + s.series->setName(QString("%3 %5 %6") + .arg(decoration, titleColorCss, s.sig->name, + msgColorCss, msgName(s.msg_id), s.msg_id.toString())); } split_chart_act->setEnabled(sigs.size() > 1); resetChartCache(); diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 51abc3d50f..01c1f31645 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -63,7 +63,10 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i return "Data"; } } else if (role == Qt::BackgroundRole && section > 0 && show_signals) { - return QBrush(getColor(sigs[section - 1])); + // Alpha-blend the signal color with the background to ensure contrast + QColor sigColor = getColor(sigs[section - 1]); + sigColor.setAlpha(128); + return QBrush(sigColor); } } return {}; diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 762b494f35..98cd08a690 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -459,7 +459,10 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), tree->header()->setSectionResizeMode(0, QHeaderView::ResizeToContents); tree->header()->setStretchLastSection(true); tree->setMinimumHeight(300); - tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}"); + + // Use a distinctive background for the whole row containing a QSpinBox or QLineEdit + QString nodeBgColor = palette().color(QPalette::AlternateBase).name(QColor::HexArgb); + tree->setStyleSheet(QString("QSpinBox{background-color:%1;border:none;} QLineEdit{background-color:%1;}").arg(nodeBgColor)); QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0);