diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 8b16ea90b9..3558d7eb7e 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -5,7 +5,7 @@ on: workflow_dispatch: env: - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} + DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh prebuilt jobs: @@ -29,5 +29,5 @@ jobs: submodules: true - name: Build and Push docker image run: | - $DOCKER_LOGIN + $DOCKER_GHCR_LOGIN eval "$BUILD" diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a038570c15..f7aba648a4 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -16,7 +16,8 @@ env: CL_BASE_IMAGE: openpilot-base-cl AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }} - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} + DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} + DOCKER_HUB_LOGIN: docker login -u adeebshihadeh -p ${{ secrets.DOCKER_HUB_PAT }} BUILD: selfdrive/test/docker_build.sh base RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c @@ -76,6 +77,11 @@ jobs: - uses: actions/checkout@v3 with: submodules: true + # login only on arm machines, due to buildjet rate limits + - name: Setup docker + if: contains(runner.name, 'buildjet') + run: | + $DOCKER_HUB_LOGIN - uses: ./.github/workflows/setup-with-retry with: cache_key_prefix: scons_${{ matrix.arch }} @@ -190,7 +196,12 @@ jobs: run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV" - $DOCKER_LOGIN + $DOCKER_GHCR_LOGIN + # login only on arm machines, due to buildjet rate limits + - name: Additional setup for buildjet + if: contains(runner.name, 'buildjet') + run: | + $DOCKER_HUB_LOGIN - uses: ./.github/workflows/setup-with-retry with: git-lfs: false @@ -211,7 +222,7 @@ jobs: submodules: false - name: Setup docker run: | - $DOCKER_LOGIN + $DOCKER_GHCR_LOGIN - name: Merge x64 and arm64 tags run: | export PUSH_IMAGE=true @@ -264,7 +275,6 @@ jobs: run: | ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \ $PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* && \ - selfdrive/locationd/test/_test_locationd_lib.py && \ ./selfdrive/ui/tests/create_test_translations.sh && \ QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./selfdrive/ui/tests/test_translations.py && \ diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml index c7a5f80c3b..27c362fcd6 100644 --- a/.github/workflows/tools_tests.yaml +++ b/.github/workflows/tools_tests.yaml @@ -13,7 +13,7 @@ concurrency: env: BASE_IMAGE: openpilot-base CL_BASE_IMAGE: openpilot-base-cl - DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} + DOCKER_GHCR_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }} BUILD: selfdrive/test/docker_build.sh base @@ -58,7 +58,7 @@ jobs: if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot' run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - $DOCKER_LOGIN + $DOCKER_GHCR_LOGIN - name: Build and push sim image run: | selfdrive/test/docker_build.sh sim @@ -78,7 +78,7 @@ jobs: if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' run: | echo "PUSH_IMAGE=true" >> "$GITHUB_ENV" - $DOCKER_LOGIN + $DOCKER_GHCR_LOGIN - name: Build and push docs image run: | selfdrive/test/docker_build.sh docs diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index f74692c01e..a5da03b266 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -38,7 +38,7 @@ repos: args: ['--explicit-package-bases'] exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.0.287 + rev: v0.0.288 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)' diff --git a/README.md b/README.md index 5978a0e5dd..523f459f3b 100644 --- a/README.md +++ b/README.md @@ -39,13 +39,17 @@ Running on a dedicated device in a car ------ To use openpilot in a car, you need four things -* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three. -* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software. -The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork. -* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot. -* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car. - -We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup). +1. **Supported Device:** A comma 3/3X. You can purchase these devices from (https://comma.ai/shop/comma-3x) + +2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. + To install the release version of openpilot, use the URL `openpilot.comma.ai`. + To install openpilot master (for more advanced users), use the URL `installer.comma.ai/commaai/master`. You can replace "commaai" with another GitHub username to install a fork. + +3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). openpilot supports a wide range of car makes including Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and many more. + If your car is not officially listed as supported but has adaptive cruise control and lane-keeping assist, it's likely capable of running openpilot. + +4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car. + We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Running on PC ------ diff --git a/RELEASES.md b/RELEASES.md index 0a7925200e..c4572dba19 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,7 +1,9 @@ Version 0.9.5 (202X-XX-XX) ======================== +* Hyundai Azera 2022 support thanks to sunnyhaibin! * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane! * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA! +* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin! * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin! * Lexus IS 2023 support thanks to L3R5! diff --git a/SConstruct b/SConstruct index f213a5e0bd..a086f8448a 100644 --- a/SConstruct +++ b/SConstruct @@ -244,18 +244,6 @@ def progress_function(node): if os.environ.get('SCONS_PROGRESS'): Progress(progress_function, interval=node_interval) -SHARED = False - -# TODO: this can probably be removed -def abspath(x): - if arch == 'aarch64': - pth = os.path.join("/data/pythonpath", x[0].path) - env.Depends(pth, x) - return File(pth) - else: - # rpath works elsewhere - return x[0].path.rsplit("/", 1)[1][:-3] - # Cython build environment py_include = sysconfig.get_paths()['include'] envCython = env.Clone() @@ -337,34 +325,35 @@ if GetOption("clazy"): qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0] qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks) -Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED') +Export('env', 'qt_env', 'arch', 'real_arch') +# Build common module SConscript(['common/SConscript']) Import('_common', '_gpucommon') -if SHARED: - common, gpucommon = abspath(common), abspath(gpucommon) -else: - common = [_common, 'json11'] - gpucommon = [_gpucommon] +common = [_common, 'json11'] +gpucommon = [_gpucommon] Export('common', 'gpucommon') -# cereal and messaging are shared with the system +# Build cereal and messaging SConscript(['cereal/SConscript']) -if SHARED: - cereal = abspath([File('cereal/libcereal_shared.so')]) - messaging = abspath([File('cereal/libmessaging_shared.so')]) -else: - cereal = [File('#cereal/libcereal.a')] - messaging = [File('#cereal/libmessaging.a')] - visionipc = [File('#cereal/libvisionipc.a')] + +cereal = [File('#cereal/libcereal.a')] +messaging = [File('#cereal/libmessaging.a')] +visionipc = [File('#cereal/libvisionipc.a')] messaging_python = [File('#cereal/messaging/messaging_pyx.so')] Export('cereal', 'messaging', 'messaging_python', 'visionipc') -# Build rednose library and ekf models +# Build other submodules +SConscript([ + 'body/board/SConscript', + 'opendbc/can/SConscript', + 'panda/SConscript', +]) +# Build rednose library and ekf models rednose_deps = [ "#selfdrive/locationd/models/constants.py", "#selfdrive/locationd/models/gnss_helpers.py", @@ -406,15 +395,6 @@ if arch != "Darwin": ]) # Build openpilot - -# build submodules -SConscript([ - 'body/board/SConscript', - 'cereal/SConscript', - 'opendbc/can/SConscript', - 'panda/SConscript', -]) - SConscript(['third_party/SConscript']) SConscript(['selfdrive/boardd/SConscript']) diff --git a/common/SConscript b/common/SConscript index d22aca128b..97322b248d 100644 --- a/common/SConscript +++ b/common/SConscript @@ -1,9 +1,4 @@ -Import('env', 'envCython', 'arch', 'SHARED') - -if SHARED: - fxn = env.SharedLibrary -else: - fxn = env.Library +Import('env', 'envCython', 'arch') common_libs = [ 'params.cc', @@ -18,13 +13,13 @@ common_libs = [ if arch != "Darwin": common_libs.append('gpio.cc') -_common = fxn('common', common_libs, LIBS="json11") +_common = env.Library('common', common_libs, LIBS="json11") files = [ 'clutil.cc', ] -_gpucommon = fxn('gpucommon', files) +_gpucommon = env.Library('gpucommon', files) Export('_common', '_gpucommon') if GetOption('extras'): diff --git a/docs/CARS.md b/docs/CARS.md index 775418427d..8bb318c13e 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 device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 260 Supported Cars +# 262 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -71,6 +71,7 @@ A supported vehicle is one that just works when you install a comma device. All |Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Azera 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| @@ -119,6 +120,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|K8 Hybrid (with HDA II) 2023[6](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/opendbc b/opendbc index 8d2f614ce3..4ab347baef 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 8d2f614ce3f323c65de802b2d5f29143de9c427b +Subproject commit 4ab347baefb7473771ada0723c969c50d0c28d01 diff --git a/panda b/panda index 8e8aa5acf6..f660323969 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 8e8aa5acf6ab0e45d91e72beaab74e69810448cd +Subproject commit f6603239690ccee80f19e8bc5cf3ba03123f3498 diff --git a/poetry.lock b/poetry.lock index 255f6b2acc..2c134ec32d 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. [[package]] name = "aiohttp" @@ -1595,13 +1595,13 @@ zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"] [[package]] name = "identify" -version = "2.5.27" +version = "2.5.28" description = "File identification library for Python" optional = false python-versions = ">=3.8" files = [ - {file = "identify-2.5.27-py2.py3-none-any.whl", hash = "sha256:fdb527b2dfe24602809b2201e033c2a113d7bdf716db3ca8e3243f735dcecaba"}, - {file = "identify-2.5.27.tar.gz", hash = "sha256:287b75b04a0e22d727bc9a41f0d4f3c1bcada97490fa6eabb5b28f0e9097e733"}, + {file = "identify-2.5.28-py2.py3-none-any.whl", hash = "sha256:87816de144bf46d161bd5b3e8f5596b16cade3b80be537087334b26bc5c177f3"}, + {file = "identify-2.5.28.tar.gz", hash = "sha256:94bb59643083ebd60dc996d043497479ee554381fbc5307763915cda49b0e78f"}, ] [package.extras] @@ -2144,6 +2144,16 @@ files = [ {file = "MarkupSafe-2.1.3-cp311-cp311-musllinux_1_1_x86_64.whl", hash = "sha256:5bbe06f8eeafd38e5d0a4894ffec89378b6c6a625ff57e3028921f8ff59318ac"}, 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- {file = "websocket_client-1.6.2-py3-none-any.whl", hash = "sha256:ce54f419dfae71f4bdba69ebe65bf7f0a93fe71bc009ad3a010aacc3eebad537"}, + {file = "websocket-client-1.6.3.tar.gz", hash = "sha256:3aad25d31284266bcfcfd1fd8a743f63282305a364b8d0948a43bd606acc652f"}, + {file = "websocket_client-1.6.3-py3-none-any.whl", hash = "sha256:6cfc30d051ebabb73a5fa246efdcc14c8fbebbd0330f8984ac3bb6d9edd2ad03"}, ] [package.extras] diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 8585e9f205..89c1a3596a 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -98,7 +98,7 @@ class CarState(CarStateBase): ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1 ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2 - ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1 + ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1 ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0 ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1 ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or @@ -135,7 +135,7 @@ class CarState(CarStateBase): ("PSCMStatus", 10), ("ESPStatus", 10), ("BCMDoorBeltStatus", 10), - ("VehicleIgnitionAlt", 10), + ("BCMGeneralPlatformStatus", 10), ("EBCMWheelSpdFront", 20), ("EBCMWheelSpdRear", 20), ("EBCMFrictionBrakeStatus", 20), diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index 0083974020..3b98432615 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED): + CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, + CAR.AZERA_6TH_GEN): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 9b4ae508e5..c5537993df 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -64,7 +64,11 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): + if candidate == CAR.AZERA_6TH_GEN: + ret.mass = 1540. # average + ret.wheelbase = 2.885 + ret.steerRatio = 14.5 + elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): ret.mass = 3982. * CV.LB_TO_KG ret.wheelbase = 2.766 # Values from optimizer @@ -211,6 +215,10 @@ class CarInterface(CarInterfaceBase): ret.mass = 2087. ret.wheelbase = 3.09 ret.steerRatio = 14.23 + elif candidate == CAR.KIA_K8_HEV_1ST_GEN: + ret.mass = 1630. # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid + ret.wheelbase = 2.895 + ret.steerRatio = 13.27 # guesstimate from K5 platform # Genesis elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN: diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 2b8bb763a2..8827c7bb0c 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -69,6 +69,7 @@ class HyundaiFlags(IntFlag): class CAR: # Hyundai + AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN" ELANTRA = "HYUNDAI ELANTRA 2017" ELANTRA_2021 = "HYUNDAI ELANTRA 2021" ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021" @@ -104,6 +105,7 @@ class CAR: KIA_FORTE = "KIA FORTE E 2018 & GT 2021" KIA_K5_2021 = "KIA K5 2021" KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020" + KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN" KIA_NIRO_EV = "KIA NIRO EV 2020" KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" @@ -152,6 +154,7 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { + CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.ELANTRA: [ HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), @@ -217,6 +220,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { ], CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), CAR.KIA_NIRO_EV: [ HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), @@ -523,6 +527,23 @@ FW_QUERY_CONFIG = FwQueryConfig( ) FW_VERSIONS = { + CAR.AZERA_6TH_GEN: { + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00IG__ SCC F-CU- 1.00 1.00 99110-G8100 ', + ], + (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00IG MDPS C 1.00 1.02 56310G8510\x00 4IGSC103', + ], + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00IG MFC AT MES LHD 1.00 1.04 99211-G8100 200511', + ], + (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.', + ], + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00', + ], + }, CAR.HYUNDAI_GENESIS: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00DH LKAS 1.1 -150210', @@ -1940,6 +1961,14 @@ FW_VERSIONS = { b'\xf1\x00MQhe SCC FHCUP 1.00 1.07 99110-P4000 ', ], }, + CAR.KIA_K8_HEV_1ST_GEN: { + (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00GL3HMFC AT KOR LHD 1.00 1.03 99211-L8000 210907', + ], + (Ecu.fwdRadar, 0x7d0, None): [ + b'\xf1\x00GL3_ RDR ----- 1.00 1.02 99110-L8000 ', + ], + }, } CHECKSUM = { @@ -1961,7 +1990,7 @@ CAN_GEARS = { CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, - CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN} + CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN} # The radar does SCC on these cars when HDA I, rather than the camera CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, @@ -1974,7 +2003,7 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN, - CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H} + CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_K8_HEV_1ST_GEN} EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} @@ -1990,6 +2019,7 @@ UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR. # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py DBC = { + CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None), CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), @@ -2050,4 +2080,5 @@ DBC = { CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None), CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), + CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None), } diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 4d99f594db..f7ad219f63 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -25,7 +25,6 @@ non_tested_cars = [ HONDA.ODYSSEY_CHN, VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter TOYOTA.RAV4_TSS2_2023, - TOYOTA.RAV4H_TSS2_2023, SUBARU.FORESTER_HYBRID, ] @@ -94,6 +93,7 @@ routes = [ CarTestRoute("2d5808fae0b38ac6|2021-09-01--17-14-11", HONDA.HONDA_E), CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022), + CarTestRoute("87d7f06ade479c2e|2023-09-11--23-30-11", HYUNDAI.AZERA_6TH_GEN), CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS), CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12), CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70), @@ -146,6 +146,7 @@ routes = [ CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6), CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021), CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020), + CarTestRoute("78ad5150de133637|2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN), CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN), CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV), @@ -182,6 +183,7 @@ routes = [ CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022), CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2), CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022), + CarTestRoute("49e041422a032273|2023-09-14--09-21-32", TOYOTA.RAV4H_TSS2_2023), CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES), CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2), CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3), diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 1b9e39f2f1..e6460d491e 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -9,6 +9,7 @@ from parameterized import parameterized_class from cereal import log, car from openpilot.common.basedir import BASEDIR +from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces @@ -16,6 +17,7 @@ from openpilot.selfdrive.car.gm.values import CAR as GM from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute +from openpilot.selfdrive.controls.controlsd import Controls from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentName, RouteName @@ -23,6 +25,7 @@ from openpilot.tools.lib.route import Route, SegmentName, RouteName from panda.tests.libpanda import libpanda_py from openpilot.selfdrive.test.helpers import SKIP_ENV_VAR +EventName = car.CarEvent.EventName PandaType = log.PandaState.PandaType SafetyModel = car.CarParams.SafetyModel @@ -163,9 +166,11 @@ class TestCarModelBase(unittest.TestCase): del cls.can_msgs def setUp(self): - self.CI = self.CarInterface(self.CP, self.CarController, self.CarState) + self.CI = self.CarInterface(self.CP.copy(), self.CarController, self.CarState) assert self.CI + Params().put_bool("OpenpilotEnabledToggle", self.openpilot_enabled) + # TODO: check safetyModel is in release panda build self.safety = libpanda_py.libpanda @@ -315,6 +320,8 @@ class TestCarModelBase(unittest.TestCase): controls_allowed_prev = False CS_prev = car.CarState.new_message() checks = defaultdict(lambda: 0) + controlsd = Controls(CI=self.CI) + controlsd.initialized = True for idx, can in enumerate(self.can_msgs): CS = self.CI.update(CC, (can.as_builder().to_bytes(), )) for msg in filter(lambda m: m.src in range(64), can.can): @@ -359,7 +366,10 @@ class TestCarModelBase(unittest.TestCase): checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev() else: # Check for enable events on rising edge of controls allowed - button_enable = any(evt.enable for evt in CS.events) + controlsd.update_events(CS) + controlsd.CS_prev = CS + button_enable = (any(evt.enable for evt in CS.events) and + not any(evt == EventName.pedalPressed for evt in controlsd.events.names)) mismatch = button_enable != (self.safety.get_controls_allowed() and not controls_allowed_prev) checks['controlsAllowed'] += mismatch controls_allowed_prev = self.safety.get_controls_allowed() diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index d332f7fc3d..61ed8a5a77 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -12,10 +12,6 @@ SUBARU FORESTER 2022: [.nan, 3.0, .nan] SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan] SUBARU ASCENT 2023: [.nan, 3.0, .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] @@ -59,6 +55,10 @@ LEXUS IS 2023: [2.0, 2.0, 0.1] KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1] HYUNDAI KONA ELECTRIC 2ND GEN: [2.5, 2.5, 0.1] HYUNDAI IONIQ 6 2023: [2.5, 2.5, 0.1] +HYUNDAI AZERA 6TH GEN: [1.8, 1.8, 0.1] +KIA K8 HYBRID 1ST GEN: [2.5, 2.5, 0.1] +TOYOTA RAV4 2023: [2.5, 2.5, 0.1] +TOYOTA RAV4 HYBRID 2023: [2.5, 2.5, 0.1] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index d6f428ab1d..d51026b547 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -27,7 +27,15 @@ class CarInterface(CarInterfaceBase): if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated": ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE - if candidate in ANGLE_CONTROL_CAR: + # Allow angle control cars with whitelisted EPSs to use torque control (made in Japan) + # So far only hybrid RAV4 2023 has been seen with this FW version + angle_car_torque_fw = any(fw.ecu == "eps" and fw.fwVersion == b'8965B42371\x00\x00\x00\x00\x00\x00' for fw in car_fw) + if candidate not in ANGLE_CONTROL_CAR or (angle_car_torque_fw and candidate == CAR.RAV4H_TSS2_2023): + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) + + ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay + ret.steerLimitTimer = 0.4 + else: ret.dashcamOnly = True ret.steerControlType = SteerControlType.angle ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA @@ -35,11 +43,6 @@ class CarInterface(CarInterfaceBase): # LTA control can be more delayed and winds up more often ret.steerActuatorDelay = 0.25 ret.steerLimitTimer = 0.8 - 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 @@ -121,21 +124,25 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 14.3 ret.tireStiffnessFactor = 0.7933 ret.mass = 3585. * CV.LB_TO_KG # Average between ICE and Hybrid - ret.lateralTuning.init('pid') - ret.lateralTuning.pid.kiBP = [0.0] - ret.lateralTuning.pid.kpBP = [0.0] - ret.lateralTuning.pid.kpV = [0.6] - ret.lateralTuning.pid.kiV = [0.1] - ret.lateralTuning.pid.kf = 0.00007818594 - - # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. - # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 - for fw in car_fw: - if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): - ret.lateralTuning.pid.kpV = [0.15] - ret.lateralTuning.pid.kiV = [0.05] - ret.lateralTuning.pid.kf = 0.00004 - break + + # Only specific EPS FW accept torque on 2023 RAV4, so they likely are all the same + # TODO: revisit this disparity if there is a divide for 2023 + if candidate not in (CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023): + ret.lateralTuning.init('pid') + ret.lateralTuning.pid.kiBP = [0.0] + ret.lateralTuning.pid.kpBP = [0.0] + ret.lateralTuning.pid.kpV = [0.6] + ret.lateralTuning.pid.kiV = [0.1] + ret.lateralTuning.pid.kf = 0.00007818594 + + # 2019+ RAV4 TSS2 uses two different steering racks and specific tuning seems to be necessary. + # See https://github.com/commaai/openpilot/pull/21429#issuecomment-873652891 + for fw in car_fw: + if fw.ecu == "eps" and (fw.fwVersion.startswith(b'\x02') or fw.fwVersion in [b'8965B42181\x00\x00\x00\x00\x00\x00']): + ret.lateralTuning.pid.kpV = [0.15] + ret.lateralTuning.pid.kiV = [0.05] + ret.lateralTuning.pid.kf = 0.00004 + break elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2): ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index bb9672fb0e..fd0a54b349 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -2389,7 +2389,8 @@ 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.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 +# these cars manufactured in U.S., Canada have EPSs that reject Lane Keep Assist (LKA, torque) messages and require +# Lane Tracing Assist (LTA, angle) to steer properly. cars manufactured in Japan still work with the older LKA messages which is detected 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, diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript index 740f827a49..a6febe0170 100644 --- a/selfdrive/locationd/SConscript +++ b/selfdrive/locationd/SConscript @@ -7,8 +7,4 @@ locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc] lenv = env.Clone() lenv["_LIBFLAGS"] += f' {libkf[0].get_labspath()}' locationd = lenv.Program("locationd", locationd_sources, LIBS=loc_libs + transformations) -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) \ No newline at end of file +lenv.Depends(locationd, libkf) \ No newline at end of file diff --git a/selfdrive/locationd/liblocationd.cc b/selfdrive/locationd/liblocationd.cc deleted file mode 100644 index e2b85d93a1..0000000000 --- a/selfdrive/locationd/liblocationd.cc +++ /dev/null @@ -1,41 +0,0 @@ -#include "selfdrive/locationd/locationd.h" - -extern "C" { - typedef Localizer* Localizer_t; - - Localizer *localizer_init(bool has_ublox) { - return new Localizer(has_ublox ? LocalizerGnssSource::UBLOX : LocalizerGnssSource::QCOM); - } - - void localizer_get_message_bytes(Localizer *localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, - char *buff, size_t buff_size) { - MessageBuilder msg_builder; - kj::ArrayPtr arr = localizer->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, msgValid).asChars(); - assert(buff_size >= arr.size()); - memcpy(buff, arr.begin(), arr.size()); - } - - void localizer_handle_msg_bytes(Localizer *localizer, const char *data, size_t size) { - localizer->handle_msg_bytes(data, size); - } - - void get_filter_internals(Localizer *localizer, double *state_buff, double *std_buff){ - Eigen::VectorXd state = localizer->get_state(); - memcpy(state_buff, state.data(), sizeof(double) * state.size()); - Eigen::VectorXd stdev = localizer->get_stdev(); - memcpy(std_buff, stdev.data(), sizeof(double) * stdev.size()); - } - - bool is_gps_ok(Localizer *localizer){ - return localizer->is_gps_ok(); - } - - bool are_inputs_ok(Localizer *localizer){ - return localizer->are_inputs_ok(); - } - - void observation_timings_invalid_reset(Localizer *localizer){ - localizer->observation_timings_invalid_reset(); - } - -} diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py deleted file mode 100755 index bf4fcbdbe9..0000000000 --- a/selfdrive/locationd/test/_test_locationd_lib.py +++ /dev/null @@ -1,109 +0,0 @@ -#!/usr/bin/env python3 -"""This test can't be run together with other locationd tests. -cffi.dlopen breaks the list of registered filters.""" -import os -import random -import unittest - -from cffi import FFI - -import cereal.messaging as messaging -from cereal import log - -from openpilot.common.ffi_wrapper import suffix - -SENSOR_DECIMATION = 1 -VISION_DECIMATION = 1 - -LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix())) - - -class TestLocationdLib(unittest.TestCase): - def setUp(self): - header = '''typedef ...* Localizer_t; -Localizer_t localizer_init(bool has_ublox); -void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size); -void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);''' - - self.ffi = FFI() - self.ffi.cdef(header) - self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH) - - self.localizer = self.lib.localizer_init(True) # default to ublox - - self.buff_size = 2048 - self.msg_buff = self.ffi.new(f'char[{self.buff_size}]') - - def localizer_handle_msg(self, msg_builder): - bytstr = msg_builder.to_bytes() - self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr)) - - def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True): - self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size) - with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt: - return log_evt - - def test_liblocalizer(self): - msg = messaging.new_message('liveCalibration') - msg.liveCalibration.validBlocks = random.randint(1, 10) - msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)] - - self.localizer_handle_msg(msg) - liveloc = self.localizer_get_msg() - self.assertTrue(liveloc is not None) - - @unittest.skip("temporarily disabled due to false positives") - def test_device_fell(self): - msg = messaging.new_message('accelerometer') - msg.accelerometer.sensor = 1 - msg.accelerometer.timestamp = msg.logMonoTime - msg.accelerometer.type = 1 - msg.accelerometer.init('acceleration') - msg.accelerometer.acceleration.v = [10.0, 0.0, 0.0] # zero with gravity - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertTrue(ret.liveLocationKalman.deviceStable) - - msg = messaging.new_message('accelerometer') - msg.accelerometer.sensor = 1 - msg.accelerometer.timestamp = msg.logMonoTime - msg.accelerometer.type = 1 - msg.accelerometer.init('acceleration') - msg.accelerometer.acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2 - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertFalse(ret.liveLocationKalman.deviceStable) - - def test_posenet_spike(self): - for _ in range(SENSOR_DECIMATION): - msg = messaging.new_message('carState') - msg.carState.vEgo = 6.0 # more than 5 m/s - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertTrue(ret.liveLocationKalman.posenetOK) - - for _ in range(20 * VISION_DECIMATION): # size of hist_old - msg = messaging.new_message('cameraOdometry') - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [2.0, 0.1, 0.1] - self.localizer_handle_msg(msg) - - for _ in range(20 * VISION_DECIMATION): # size of hist_new - msg = messaging.new_message('cameraOdometry') - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertFalse(ret.liveLocationKalman.posenetOK) - -if __name__ == "__main__": - unittest.main() - diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py new file mode 100755 index 0000000000..f08fe72ff1 --- /dev/null +++ b/selfdrive/locationd/test/test_locationd_scenarios.py @@ -0,0 +1,223 @@ +#!/usr/bin/env python3 +import unittest +import numpy as np +from collections import defaultdict +from enum import Enum + + +from openpilot.selfdrive.test.openpilotci import get_url +from openpilot.tools.lib.logreader import LogReader +from openpilot.selfdrive.test.process_replay.process_replay import replay_process_with_name + +TEST_ROUTE, TEST_SEG_NUM = "ff2bd20623fcaeaa|2023-09-05--10-14-54", 4 +GPS_MESSAGES = ['gpsLocationExternal', 'gpsLocation'] +SELECT_COMPARE_FIELDS = { + 'yaw_rate': ['angularVelocityCalibrated', 'value', 2], + 'roll': ['orientationNED', 'value', 0], + 'gps_flag': ['gpsOK'], + 'inputs_flag': ['inputsOK'], + 'sensors_flag': ['sensorsOK'], +} +JUNK_IDX = 100 + + +class Scenario(Enum): + BASE = 'base' + GPS_OFF = 'gps_off' + GPS_OFF_MIDWAY = 'gps_off_midway' + GPS_ON_MIDWAY = 'gps_on_midway' + GPS_TUNNEL = 'gps_tunnel' + GYRO_OFF = 'gyro_off' + GYRO_SPIKE_MIDWAY = 'gyro_spike_midway' + ACCEL_OFF = 'accel_off' + ACCEL_SPIKE_MIDWAY = 'accel_spike_midway' + + +def get_select_fields_data(logs): + def get_nested_keys(msg, keys): + val = None + for key in keys: + val = getattr(msg if val is None else val, key) if isinstance(key, str) else val[key] + return val + llk = [x.liveLocationKalman for x in logs if x.which() == 'liveLocationKalman'] + data = defaultdict(list) + for msg in llk: + for key, fields in SELECT_COMPARE_FIELDS.items(): + data[key].append(get_nested_keys(msg, fields)) + for key in data: + data[key] = np.array(data[key][JUNK_IDX:], dtype=float) + return data + + +def run_scenarios(scenario): + logs = list(LogReader(get_url(TEST_ROUTE, TEST_SEG_NUM))) + if scenario == Scenario.BASE: + pass + + elif scenario == Scenario.GPS_OFF: + logs = sorted([x for x in logs if x.which() not in GPS_MESSAGES], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.GPS_OFF_MIDWAY: + non_gps = [x for x in logs if x.which() not in GPS_MESSAGES] + gps = [x for x in logs if x.which() in GPS_MESSAGES] + logs = sorted(non_gps + gps[: len(gps) // 2], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.GPS_ON_MIDWAY: + non_gps = [x for x in logs if x.which() not in GPS_MESSAGES] + gps = [x for x in logs if x.which() in GPS_MESSAGES] + logs = sorted(non_gps + gps[len(gps) // 2:], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.GPS_TUNNEL: + non_gps = [x for x in logs if x.which() not in GPS_MESSAGES] + gps = [x for x in logs if x.which() in GPS_MESSAGES] + logs = sorted(non_gps + gps[:len(gps) // 4] + gps[-len(gps) // 4:], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.GYRO_OFF: + logs = sorted([x for x in logs if x.which() != 'gyroscope'], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.GYRO_SPIKE_MIDWAY: + non_gyro = [x for x in logs if x.which() not in 'gyroscope'] + gyro = [x for x in logs if x.which() in 'gyroscope'] + temp = gyro[len(gyro) // 2].as_builder() + temp.gyroscope.gyroUncalibrated.v[0] += 3.0 + gyro[len(gyro) // 2] = temp.as_reader() + logs = sorted(non_gyro + gyro, key=lambda x: x.logMonoTime) + + elif scenario == Scenario.ACCEL_OFF: + logs = sorted([x for x in logs if x.which() != 'accelerometer'], key=lambda x: x.logMonoTime) + + elif scenario == Scenario.ACCEL_SPIKE_MIDWAY: + non_accel = [x for x in logs if x.which() not in 'accelerometer'] + accel = [x for x in logs if x.which() in 'accelerometer'] + temp = accel[len(accel) // 2].as_builder() + temp.accelerometer.acceleration.v[0] += 10.0 + accel[len(accel) // 2] = temp.as_reader() + logs = sorted(non_accel + accel, key=lambda x: x.logMonoTime) + + replayed_logs = replay_process_with_name(name='locationd', lr=logs) + return get_select_fields_data(logs), get_select_fields_data(replayed_logs) + + +class TestLocationdScenarios(unittest.TestCase): + """ + Test locationd with different scenarios. In all these scenarios, we expect the following: + - locationd kalman filter should never go unstable (we care mostly about yaw_rate, roll, gpsOK, inputsOK, sensorsOK) + - faulty values should be ignored, with appropriate flags set + """ + def test_base(self): + """ + Test: unchanged log + Expected Result: + - yaw_rate: unchanged + - roll: unchanged + """ + orig_data, replayed_data = run_scenarios(Scenario.BASE) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + + def test_gps_off(self): + """ + Test: no GPS message for the entire segment + Expected Result: + - yaw_rate: unchanged + - roll: + - gpsOK: False + """ + orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + self.assertTrue(np.all(replayed_data['gps_flag'] == 0.0)) + + def test_gps_off_midway(self): + """ + Test: no GPS message for the second half of the segment + Expected Result: + - yaw_rate: unchanged + - roll: + - gpsOK: True for the first half, False for the second half + """ + orig_data, replayed_data = run_scenarios(Scenario.GPS_OFF_MIDWAY) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + self.assertTrue(np.diff(replayed_data['gps_flag'])[512] == -1.0) + + def test_gps_on_midway(self): + """ + Test: no GPS message for the first half of the segment + Expected Result: + - yaw_rate: unchanged + - roll: + - gpsOK: False for the first half, True for the second half + """ + orig_data, replayed_data = run_scenarios(Scenario.GPS_ON_MIDWAY) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(1.5))) + self.assertTrue(np.diff(replayed_data['gps_flag'])[505] == 1.0) + + def test_gps_tunnel(self): + """ + Test: no GPS message for the middle section of the segment + Expected Result: + - yaw_rate: unchanged + - roll: + - gpsOK: False for the middle section, True for the rest + """ + orig_data, replayed_data = run_scenarios(Scenario.GPS_TUNNEL) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + self.assertTrue(np.diff(replayed_data['gps_flag'])[213] == -1.0) + self.assertTrue(np.diff(replayed_data['gps_flag'])[805] == 1.0) + + def test_gyro_off(self): + """ + Test: no gyroscope message for the entire segment + Expected Result: + - yaw_rate: 0 + - roll: 0 + - sensorsOK: False + """ + _, replayed_data = run_scenarios(Scenario.GYRO_OFF) + self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0)) + self.assertTrue(np.allclose(replayed_data['roll'], 0.0)) + self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0)) + + def test_gyro_spikes(self): + """ + Test: a gyroscope spike in the middle of the segment + Expected Result: + - yaw_rate: unchanged + - roll: unchanged + - inputsOK: False for some time after the spike, True for the rest + """ + orig_data, replayed_data = run_scenarios(Scenario.GYRO_SPIKE_MIDWAY) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + self.assertTrue(np.diff(replayed_data['inputs_flag'])[500] == -1.0) + self.assertTrue(np.diff(replayed_data['inputs_flag'])[694] == 1.0) + + def test_accel_off(self): + """ + Test: no accelerometer message for the entire segment + Expected Result: + - yaw_rate: 0 + - roll: 0 + - sensorsOK: False + """ + _, replayed_data = run_scenarios(Scenario.ACCEL_OFF) + self.assertTrue(np.allclose(replayed_data['yaw_rate'], 0.0)) + self.assertTrue(np.allclose(replayed_data['roll'], 0.0)) + self.assertTrue(np.all(replayed_data['sensors_flag'] == 0.0)) + + def test_accel_spikes(self): + """ + ToDo: + Test: an accelerometer spike in the middle of the segment + Expected Result: Right now, the kalman filter is not robust to small spikes like it is to gyroscope spikes. + """ + orig_data, replayed_data = run_scenarios(Scenario.ACCEL_SPIKE_MIDWAY) + self.assertTrue(np.allclose(orig_data['yaw_rate'], replayed_data['yaw_rate'], atol=np.radians(0.2))) + self.assertTrue(np.allclose(orig_data['roll'], replayed_data['roll'], atol=np.radians(0.5))) + + +if __name__ == "__main__": + unittest.main() diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index bd43c337bd..e7edc0ecb9 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -280,7 +280,7 @@ void BinaryViewModel::refresh() { updateState(); } -void BinaryViewModel::updateItem(int row, int col, const QString &val, const QColor &color) { +void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) { auto &item = items[row * column_count + col]; if (item.val != val || item.bg_color != color) { item.val = val; @@ -307,7 +307,7 @@ void BinaryViewModel::updateState() { for (int i = 0; i < binary.size(); ++i) { for (int j = 0; j < 8; ++j) { auto &item = items[i * column_count + j]; - QString val = ((binary[i] >> (7 - j)) & 1) != 0 ? "1" : "0"; + int val = ((binary[i] >> (7 - j)) & 1) != 0 ? 1 : 0; // Bit update frequency based highlighting double offset = !item.sigs.empty() ? 50 : 0; auto n = last_msg.bit_change_counts[i][7 - j]; @@ -317,7 +317,7 @@ void BinaryViewModel::updateState() { color.setAlpha(alpha); updateItem(i, j, val, color); } - updateItem(i, 8, toHex(binary[i]), last_msg.colors[i]); + updateItem(i, 8, binary[i], last_msg.colors[i]); } } @@ -348,6 +348,13 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa small_font.setPixelSize(8); hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); hex_font.setBold(true); + + bin_text_table[0].setText("0"); + bin_text_table[1].setText("1"); + for (int i = 0; i < 256; ++i) { + hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper()); + hex_text_table[i].prepare({}, hex_font); + } } bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const { @@ -392,7 +399,9 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op } else if (!item->valid) { painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern)); } - painter->drawText(option.rect, Qt::AlignCenter, item->val); + if (item->valid) { + utils::drawStaticText(painter, option.rect, index.column() == 8 ? hex_text_table[item->val] : bin_text_table[item->val]); + } if (item->is_msb || item->is_lsb) { painter->setFont(small_font); painter->drawText(option.rect.adjusted(8, 0, -8, -3), Qt::AlignRight | Qt::AlignBottom, item->is_msb ? "M" : "L"); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 04e1d5b2af..584910dc83 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -19,6 +19,8 @@ public: void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const; QFont small_font, hex_font; + std::array hex_text_table; + std::array bin_text_table; }; class BinaryViewModel : public QAbstractTableModel { @@ -26,7 +28,7 @@ public: BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {} void refresh(); void updateState(); - void updateItem(int row, int col, const QString &val, const QColor &color); + void updateItem(int row, int col, uint8_t val, const QColor &color); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } @@ -42,7 +44,7 @@ public: QColor bg_color = QColor(102, 86, 169, 255); bool is_msb = false; bool is_lsb = false; - QString val; + uint8_t val; QList sigs; bool valid = false; }; diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index 3ee47ae0c6..93fbbaeae3 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -14,6 +14,7 @@ #include #include #include +#include #include #include #include @@ -25,7 +26,8 @@ const int AXIS_X_TOP_MARGIN = 4; static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; } -ChartView::ChartView(const std::pair &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) { +ChartView::ChartView(const std::pair &x_range, ChartsWidget *parent) + : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) { series_type = (SeriesType)settings.chart_series_type; QChart *chart = new QChart(); chart->setBackgroundVisible(false); @@ -150,6 +152,11 @@ void ChartView::removeIf(std::function predicate) { void ChartView::signalUpdated(const cabana::Signal *sig) { if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) { + for (const auto &s : sigs) { + if (s.sig == sig && s.series->color() != sig->color) { + setSeriesColor(s.series, sig->color); + } + } updateTitle(); updateSeries(sig); } @@ -280,7 +287,6 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) { s.step_vals.clear(); s.last_value_mono_time = 0; } - s.series->setColor(s.sig->color); const auto &msgs = can->events(s.msg_id); s.vals.reserve(msgs.capacity()); @@ -668,6 +674,7 @@ void ChartView::drawBackground(QPainter *painter, const QRectF &rect) { void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { drawTimeline(painter); + drawSignalValue(painter); // draw track points painter->setPen(Qt::NoPen); qreal track_line_x = -1; @@ -718,23 +725,24 @@ void ChartView::drawRubberBandTimeRange(QPainter *painter) { void ChartView::drawTimeline(QPainter *painter) { const auto plot_area = chart()->plotArea(); - // draw line + // draw vertical time line qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right()); painter->setPen(QPen(chart()->titleBrush().color(), 2)); painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1}); - // draw current time + // draw current time under the axis-x QString time_str = QString::number(cur_sec, 'f', 2); QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2); - QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size); + QRectF time_str_rect(QPointF(x - time_str_size.width() / 2.0, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size); QPainterPath path; path.addRoundedRect(time_str_rect, 3, 3); painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray); painter->setPen(palette().color(QPalette::BrightText)); painter->setFont(axis_x->labelsFont()); painter->drawText(time_str_rect, Qt::AlignCenter, time_str); +} - // draw signal value +void ChartView::drawSignalValue(QPainter *painter) { auto item_group = qgraphicsitem_cast(chart()->legend()->childItems()[0]); assert(item_group != nullptr); auto legend_markers = item_group->childItems(); @@ -786,6 +794,7 @@ QXYSeries *ChartView::createSeries(SeriesType type, QColor color) { } void ChartView::addSeries(QXYSeries *series) { + setSeriesColor(series, series->color()); chart()->addSeries(series); series->attachAxis(axis_x); series->attachAxis(axis_y); @@ -798,6 +807,21 @@ void ChartView::addSeries(QXYSeries *series) { } } +void ChartView::setSeriesColor(QXYSeries *series, QColor color) { + auto existing_series = chart()->series(); + for (auto s : existing_series) { + if (s != series && std::abs(color.hueF() - qobject_cast(s)->color().hueF()) < 0.1) { + // use different color to distinguish it from others. + auto last_color = qobject_cast(existing_series.back())->color(); + color.setHsvF(std::fmod(last_color.hueF() + 60 / 360.0, 1.0), + QRandomGenerator::global()->bounded(35, 100) / 100.0, + QRandomGenerator::global()->bounded(85, 100) / 100.0); + break; + } + } + series->setColor(color); +} + void ChartView::setSeriesType(SeriesType type) { if (type != series_type) { series_type = type; diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index 71cf7058ab..de2a1b4510 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -83,11 +83,13 @@ private: void drawForeground(QPainter *painter, const QRectF &rect) override; void drawBackground(QPainter *painter, const QRectF &rect) override; void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); } + void drawSignalValue(QPainter *painter); void drawTimeline(QPainter *painter); void drawRubberBandTimeRange(QPainter *painter); std::tuple getNiceAxisNumbers(qreal min, qreal max, int tick_count); qreal niceNumber(qreal x, bool ceiling); QXYSeries *createSeries(SeriesType type, QColor color); + void setSeriesColor(QXYSeries *, QColor color); void updateSeriesPoints(); void removeIf(std::function predicate); inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; } diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc index d4ad9d48ad..83991d914f 100644 --- a/tools/cabana/chart/chartswidget.cc +++ b/tools/cabana/chart/chartswidget.cc @@ -277,6 +277,10 @@ void ChartsWidget::splitChart(ChartView *src_chart) { for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) { auto c = createChart(); src_chart->chart()->removeSeries(it->series); + + // Restore to the original color + it->series->setColor(it->sig->color); + c->addSeries(it->series); c->sigs.push_back(*it); c->updateAxisY(); @@ -285,6 +289,7 @@ void ChartsWidget::splitChart(ChartView *src_chart) { } src_chart->updateAxisY(); src_chart->updateTitle(); + QTimer::singleShot(0, src_chart, &ChartView::resetChartCache); } } diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc index cf48abb4c9..52861723f4 100644 --- a/tools/cabana/commands.cc +++ b/tools/cabana/commands.cc @@ -4,11 +4,13 @@ // EditMsgCommand -EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent) - : id(id), new_name(name), new_size(size), new_comment(comment), QUndoCommand(parent) { +EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, + const QString &node, const QString &comment, QUndoCommand *parent) + : id(id), new_name(name), new_size(size), new_node(node), new_comment(comment), QUndoCommand(parent) { if (auto msg = dbc()->msg(id)) { old_name = msg->name; old_size = msg->size; + old_node = msg->transmitter; old_comment = msg->comment; setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address)); } else { @@ -20,11 +22,11 @@ void EditMsgCommand::undo() { if (old_name.isEmpty()) dbc()->removeMsg(id); else - dbc()->updateMsg(id, old_name, old_size, old_comment); + dbc()->updateMsg(id, old_name, old_size, old_node, old_comment); } void EditMsgCommand::redo() { - dbc()->updateMsg(id, new_name, new_size, new_comment); + dbc()->updateMsg(id, new_name, new_size, new_node, new_comment); } // RemoveMsgCommand @@ -38,7 +40,7 @@ RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : void RemoveMsgCommand::undo() { if (!message.name.isEmpty()) { - dbc()->updateMsg(id, message.name, message.size, message.comment); + dbc()->updateMsg(id, message.name, message.size, message.transmitter, message.comment); for (auto s : message.getSignals()) dbc()->addSignal(id, *s); } @@ -64,7 +66,7 @@ void AddSigCommand::undo() { void AddSigCommand::redo() { if (auto msg = dbc()->msg(id); !msg) { msg_created = true; - dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), ""); + dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "", ""); } signal.name = dbc()->newSignalName(id); signal.max = std::pow(2, signal.size) - 1; diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h index c7f59c4c7f..0736d9b83f 100644 --- a/tools/cabana/commands.h +++ b/tools/cabana/commands.h @@ -10,13 +10,14 @@ class EditMsgCommand : public QUndoCommand { public: - EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent = nullptr); + EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &node, + const QString &comment, QUndoCommand *parent = nullptr); void undo() override; void redo() override; private: const MessageId id; - QString old_name, new_name, old_comment, new_comment; + QString old_name, new_name, old_comment, new_comment, old_node, new_node; int old_size = 0, new_size = 0; }; diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index 537749e48d..a0e523d666 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -78,6 +78,9 @@ QString cabana::Msg::newSignalName() { } void cabana::Msg::update() { + if (transmitter.isEmpty()) { + transmitter = DEFAULT_NODE_NAME; + } mask.assign(size, 0x00); multiplexor = nullptr; @@ -125,6 +128,9 @@ void cabana::Msg::update() { void cabana::Signal::update() { updateMsbLsb(*this); + if (receiver_name.isEmpty()) { + receiver_name = DEFAULT_NODE_NAME; + } float h = 19 * (float)lsb / 64.0; h = fmod(h, 1.0); diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index e44bc41abf..bfb26c2842 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -13,6 +13,7 @@ #include "opendbc/can/common_dbc.h" const QString UNTITLED = "untitled"; +const QString DEFAULT_NODE_NAME = "XXX"; struct MessageId { uint8_t source = 0; diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index 2f93c1543e..063f516ead 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -60,11 +60,12 @@ bool DBCFile::writeContents(const QString &fn) { return false; } -void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) { +void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) { auto &m = msgs[id.address]; m.address = id.address; m.name = name; m.size = size; + m.transmitter = node.isEmpty() ? DEFAULT_NODE_NAME : node; m.comment = comment; } @@ -198,7 +199,8 @@ void DBCFile::parse(const QString &content) { QString DBCFile::generateDBC() { QString dbc_string, signal_comment, message_comment, val_desc; for (const auto &[address, m] : msgs) { - dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(m.transmitter.isEmpty() ? "XXX" : m.transmitter); + const QString transmitter = m.transmitter.isEmpty() ? DEFAULT_NODE_NAME : m.transmitter; + dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(transmitter); if (!m.comment.isEmpty()) { message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment); } @@ -221,7 +223,7 @@ QString DBCFile::generateDBC() { .arg(doubleToString(sig->min)) .arg(doubleToString(sig->max)) .arg(sig->unit) - .arg(sig->receiver_name.isEmpty() ? "XXX" : sig->receiver_name); + .arg(sig->receiver_name.isEmpty() ? DEFAULT_NODE_NAME : sig->receiver_name); if (!sig->comment.isEmpty()) { signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment); } diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h index 78a73d58e4..a3ab1cebe4 100644 --- a/tools/cabana/dbc/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -22,7 +22,7 @@ public: void cleanupAutoSaveFile(); QString generateDBC(); - void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment); + void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment); inline void removeMsg(const MessageId &id) { msgs.erase(id.address); } inline const std::map &getMessages() const { return msgs; } diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc index 5736ac1e89..459ca0111d 100644 --- a/tools/cabana/dbc/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -82,10 +82,10 @@ void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { } } -void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) { +void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment) { auto dbc_file = findDBCFile(id); assert(dbc_file); // This should be impossible - dbc_file->updateMsg(id, name, size, comment); + dbc_file->updateMsg(id, name, size, node, comment); emit msgUpdated(id); } diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index 3ac0829487..5f782fc930 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -28,7 +28,7 @@ public: void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); void removeSignal(const MessageId &id, const QString &sig_name); - void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment); + void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment); void removeMsg(const MessageId &id); QString newMsgName(const MessageId &id); diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index 2f6e9cbfe8..d70aeff0c8 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -2,7 +2,6 @@ #include #include -#include #include "tools/cabana/commands.h" #include "tools/cabana/mainwin.h" @@ -135,11 +134,12 @@ void DetailWidget::refresh() { for (auto s : binary_view->getOverlappingSignals()) { warnings.push_back(tr("%1 has overlapping bits.").arg(s->name)); } + name_label->setText(QString("%1 (%2)").arg(msgName(msg_id), msg->transmitter)); } else { warnings.push_back(tr("Drag-Select in binary view to create new signal.")); + name_label->setText(msgName(msg_id)); } remove_btn->setEnabled(msg != nullptr); - name_label->setText(msgName(msg_id)); if (!warnings.isEmpty()) { warning_label->setText(warnings.join('\n')); @@ -164,8 +164,8 @@ void DetailWidget::editMsg() { int size = msg ? msg->size : can->lastMessage(msg_id).dat.size(); EditMessageDialog dlg(msg_id, msgName(msg_id), size, this); if (dlg.exec()) { - UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), - dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed())); + UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(), dlg.size_spin->value(), + dlg.node->text().trimmed(), dlg.comment_edit->toPlainText().trimmed())); } } @@ -182,25 +182,24 @@ EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &tit form_layout->addRow("", error_label = new QLabel); error_label->setVisible(false); - name_edit = new QLineEdit(title, this); + form_layout->addRow(tr("Name"), name_edit = new QLineEdit(title, this)); name_edit->setValidator(new NameValidator(name_edit)); - form_layout->addRow(tr("Name"), name_edit); - size_spin = new QSpinBox(this); + form_layout->addRow(tr("Size"), size_spin = new QSpinBox(this)); // TODO: limit the maximum? size_spin->setMinimum(1); size_spin->setValue(size); - form_layout->addRow(tr("Size"), size_spin); + form_layout->addRow(tr("Node"), node = new QLineEdit(this)); + node->setValidator(new NameValidator(name_edit)); form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this)); + form_layout->addRow(btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel)); + if (auto msg = dbc()->msg(msg_id)) { + node->setText(msg->transmitter); comment_edit->setText(msg->comment); } - - btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel); validateName(name_edit->text()); - form_layout->addRow(btn_box); - setFixedWidth(parent->width() * 0.9); connect(name_edit, &QLineEdit::textEdited, this, &EditMessageDialog::validateName); connect(btn_box, &QDialogButtonBox::accepted, this, &QDialog::accept); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index 10c6a6c46e..ed6a865f53 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -21,6 +21,7 @@ public: QString original_name; QDialogButtonBox *btn_box; QLineEdit *name_edit; + QLineEdit *node; QTextEdit *comment_edit; QLabel *error_label; QSpinBox *size_spin; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d3caf492a6..5cd5e70267 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -439,11 +439,11 @@ void MainWindow::saveFile(DBCFile *dbc_file) { if (!dbc_file->filename.isEmpty()) { dbc_file->save(); updateLoadSaveMenus(); + UndoStack::instance()->setClean(); + statusBar()->showMessage(tr("File saved"), 2000); } else if (!dbc_file->isEmpty()) { saveFileAs(dbc_file); } - UndoStack::instance()->setClean(); - statusBar()->showMessage(tr("File saved"), 2000); } void MainWindow::saveFileAs(DBCFile *dbc_file) { @@ -451,6 +451,8 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) { QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); if (!fn.isEmpty()) { dbc_file->saveAs(fn); + UndoStack::instance()->setClean(); + statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000); updateRecentFiles(fn); updateLoadSaveMenus(); } @@ -606,7 +608,13 @@ void MainWindow::closeEvent(QCloseEvent *event) { settings.video_splitter_state = video_splitter->saveState(); } settings.message_header_state = messages_widget->saveHeaderState(); - settings.save(); + + auto status = settings.save(); + if (status == QSettings::AccessError) { + QString error = tr("Failed to write settings to [%1]: access denied").arg(Settings::filePath()); + qDebug() << error; + QMessageBox::warning(this, tr("Failed to write settings"), error); + } QWidget::closeEvent(event); } diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 027dcb903f..ee345c490c 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -6,14 +6,13 @@ #include #include #include -#include #include #include "tools/cabana/util.h" Settings settings; -void Settings::save() { +QSettings::Status Settings::save() { QSettings s(filePath(), QSettings::IniFormat); s.setValue("fps", fps); s.setValue("max_cached_minutes", max_cached_minutes); @@ -35,6 +34,8 @@ void Settings::save() { s.setValue("log_path", log_path); s.setValue("drag_direction", drag_direction); s.setValue("suppress_defined_signals", suppress_defined_signals); + s.sync(); + return s.status(); } void Settings::load() { diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index f9eaa8ffad..42073a72de 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -7,6 +7,7 @@ #include #include #include +#include #include #define LIGHT_THEME 1 @@ -24,7 +25,7 @@ public: }; Settings() {} - void save(); + QSettings::Status save(); void load(); inline static QString filePath() { return QApplication::applicationDirPath() + "/settings"; } diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 1b1c8dac22..b2798e9f3b 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -36,7 +36,7 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p 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", "Type", "Multiplex Value", "Extra Info", + QString titles[]{"Name", "Size", "Node", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"}; for (int i = 0; i < std::size(titles); ++i) { item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)}); @@ -134,6 +134,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const { case Item::Sig: return item->sig_val; case Item::Name: return item->sig->name; case Item::Size: return item->sig->size; + case Item::Node: return item->sig->receiver_name; case Item::SignalType: return signalTypeToString(item->sig->type); case Item::MultiplexValue: return item->sig->multiplex_value; case Item::Offset: return doubleToString(item->sig->offset); @@ -172,6 +173,7 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r switch (item->type) { case Item::Name: s.name = value.toString(); break; case Item::Size: s.size = value.toInt(); break; + case Item::Node: s.receiver_name = value.toString().trimmed(); break; case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break; case Item::MultiplexValue: s.multiplex_value = value.toInt(); break; case Item::Endian: s.is_little_endian = value.toBool(); break; @@ -195,11 +197,11 @@ void SignalModel::showExtraInfo(const QModelIndex &index) { if (item->type == Item::ExtraInfo) { if (!item->parent->extra_expanded) { item->parent->extra_expanded = true; - beginInsertRows(index.parent(), 7, 13); + beginInsertRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2); endInsertRows(); } else { item->parent->extra_expanded = false; - beginRemoveRows(index.parent(), 7, 13); + beginRemoveRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2); endRemoveRows(); } } @@ -267,6 +269,7 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) { SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { name_validator = new NameValidator(this); + node_validator = new QRegExpValidator(QRegExp("^\\w+(,\\w+)*$"), this); double_validator = new DoubleValidator(this); label_font.setPointSize(8); @@ -382,12 +385,14 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op 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 || + if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Node || item->type == SignalModel::Item::Offset || item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::MultiplexValue || item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) { QLineEdit *e = new QLineEdit(parent); e->setFrame(false); - e->setValidator(item->type == SignalModel::Item::Name ? name_validator : double_validator); + if (item->type == SignalModel::Item::Name) e->setValidator(name_validator); + else if (item->type == SignalModel::Item::Node) e->setValidator(node_validator); + else e->setValidator(double_validator); if (item->type == SignalModel::Item::Name) { QCompleter *completer = new QCompleter(dbc()->signalNames()); @@ -395,7 +400,6 @@ QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionVie completer->setFilterMode(Qt::MatchContains); e->setCompleter(completer); } - return e; } else if (item->type == SignalModel::Item::Size) { QSpinBox *spin = new QSpinBox(parent); diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 9d8571d0b8..bcf0019bc4 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -17,7 +17,7 @@ class SignalModel : public QAbstractItemModel { Q_OBJECT public: struct Item { - enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc }; + enum Type {Root, Sig, Name, Size, Node, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc }; ~Item() { qDeleteAll(children); } inline int row() { return parent->children.indexOf(this); } @@ -87,7 +87,7 @@ public: void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override; void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override; - QValidator *name_validator, *double_validator; + QValidator *name_validator, *double_validator, *node_validator; QFont label_font, minmax_font; const int color_label_width = 18; mutable QSize button_size; diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h index eae34e2cc4..3a89d4e57d 100644 --- a/tools/cabana/streams/abstractstream.h +++ b/tools/cabana/streams/abstractstream.h @@ -30,7 +30,7 @@ struct CanData { std::vector> bit_change_counts; std::vector last_delta; std::vector same_delta_counter; - double last_freq_update_ts = seconds_since_boot(); + double last_freq_update_ts = 0; }; struct CanEvent { diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index 951856e32d..4c21530774 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -1,7 +1,6 @@ #include "tools/cabana/util.h" #include -#include #include #include #include @@ -56,6 +55,10 @@ std::pair SegmentTree::get_minmax(int n, int left, int right, in MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) { fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont); byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2); + for (int i = 0; i < 256; ++i) { + hex_text_table[i].setText(QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper()); + hex_text_table[i].prepare({}, fixed_font); + } } int MessageBytesDelegate::widthForBytes(int n) const { @@ -107,7 +110,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & } else if (option.state & QStyle::State_Selected) { painter->setPen(option.palette.color(QPalette::HighlightedText)); } - painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i])); + utils::drawStaticText(painter, r, hex_text_table[(uint8_t)(byte_list[i])]); } painter->setFont(old_font); painter->setPen(old_pen); diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 9e93e74833..2c1bc5cf7b 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -10,8 +11,10 @@ #include #include #include +#include #include #include +#include #include #include #include @@ -75,6 +78,7 @@ public: int widthForBytes(int n) const; private: + std::array hex_text_table; QFont fixed_font; QSize byte_size = {}; bool multiple_lines = false; @@ -102,6 +106,10 @@ void setTheme(int theme); inline QString formatSeconds(int seconds) { return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); } +inline void drawStaticText(QPainter *p, const QRect &r, const QStaticText &text) { + auto size = (r.size() - text.size()) / 2; + p->drawStaticText(r.left() + size.width(), r.top() + size.height(), text); +} } class ToolButton : public QToolButton { diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py index 8863dd57a2..bd76761043 100644 --- a/tools/lib/auth_config.py +++ b/tools/lib/auth_config.py @@ -13,9 +13,6 @@ if PC: else: CONFIG_DIR = "/tmp/.comma" -mkdirs_exists_ok(CONFIG_DIR) - - def get_token(): try: with open(os.path.join(CONFIG_DIR, 'auth.json')) as f: @@ -26,9 +23,13 @@ def get_token(): def set_token(token): + mkdirs_exists_ok(CONFIG_DIR) with open(os.path.join(CONFIG_DIR, 'auth.json'), 'w') as f: json.dump({'access_token': token}, f) def clear_token(): - os.unlink(os.path.join(CONFIG_DIR, 'auth.json')) + try: + os.unlink(os.path.join(CONFIG_DIR, 'auth.json')) + except FileNotFoundError: + pass diff --git a/tools/lib/cache.py b/tools/lib/cache.py index d142955e59..fd214f6bb5 100644 --- a/tools/lib/cache.py +++ b/tools/lib/cache.py @@ -2,10 +2,10 @@ import os import urllib.parse from openpilot.common.file_helpers import mkdirs_exists_ok -DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache") +DEFAULT_CACHE_DIR = os.getenv("CACHE_ROOT", os.path.expanduser("~/.commacache")) -def cache_path_for_file_path(fn, cache_prefix=None): - dir_ = os.path.join(DEFAULT_CACHE_DIR, "local") +def cache_path_for_file_path(fn, cache_dir=DEFAULT_CACHE_DIR): + dir_ = os.path.join(cache_dir, "local") mkdirs_exists_ok(dir_) fn_parsed = urllib.parse.urlparse(fn) if fn_parsed.scheme == '': diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py index cbc9310790..06fee6857d 100644 --- a/tools/lib/framereader.py +++ b/tools/lib/framereader.py @@ -12,7 +12,7 @@ import numpy as np from lru import LRU import _io -from openpilot.tools.lib.cache import cache_path_for_file_path +from openpilot.tools.lib.cache import cache_path_for_file_path, DEFAULT_CACHE_DIR from openpilot.tools.lib.exceptions import DataUnreadableError from openpilot.common.file_helpers import atomic_write_in_dir @@ -106,8 +106,8 @@ def cache_fn(func): if kwargs.pop('no_cache', None): cache_path = None else: - cache_prefix = kwargs.pop('cache_prefix', None) - cache_path = cache_path_for_file_path(fn, cache_prefix) + cache_dir = kwargs.pop('cache_dir', DEFAULT_CACHE_DIR) + cache_path = cache_path_for_file_path(fn, cache_dir) if cache_path and os.path.exists(cache_path): with open(cache_path, "rb") as cache_file: @@ -140,18 +140,18 @@ def index_stream(fn, typ): } -def index_videos(camera_paths, cache_prefix=None): +def index_videos(camera_paths, cache_dir=DEFAULT_CACHE_DIR): """Requires that paths in camera_paths are contiguous and of the same type.""" if len(camera_paths) < 1: raise ValueError("must provide at least one video to index") frame_type = fingerprint_video(camera_paths[0]) for fn in camera_paths: - index_video(fn, frame_type, cache_prefix) + index_video(fn, frame_type, cache_dir) -def index_video(fn, frame_type=None, cache_prefix=None): - cache_path = cache_path_for_file_path(fn, cache_prefix) +def index_video(fn, frame_type=None, cache_dir=DEFAULT_CACHE_DIR): + cache_path = cache_path_for_file_path(fn, cache_dir) if os.path.exists(cache_path): return @@ -160,16 +160,16 @@ def index_video(fn, frame_type=None, cache_prefix=None): frame_type = fingerprint_video(fn[0]) if frame_type == FrameType.h265_stream: - index_stream(fn, "hevc", cache_prefix=cache_prefix) + index_stream(fn, "hevc", cache_dir=cache_dir) else: raise NotImplementedError("Only h265 supported") -def get_video_index(fn, frame_type, cache_prefix=None): - cache_path = cache_path_for_file_path(fn, cache_prefix) +def get_video_index(fn, frame_type, cache_dir=DEFAULT_CACHE_DIR): + cache_path = cache_path_for_file_path(fn, cache_dir) if not os.path.exists(cache_path): - index_video(fn, frame_type, cache_prefix) + index_video(fn, frame_type, cache_dir) if not os.path.exists(cache_path): return None @@ -284,13 +284,13 @@ class BaseFrameReader: raise NotImplementedError -def FrameReader(fn, cache_prefix=None, readahead=False, readbehind=False, index_data=None): +def FrameReader(fn, cache_dir=DEFAULT_CACHE_DIR, readahead=False, readbehind=False, index_data=None): frame_type = fingerprint_video(fn) if frame_type == FrameType.raw: return RawFrameReader(fn) elif frame_type in (FrameType.h265_stream,): if not index_data: - index_data = get_video_index(fn, frame_type, cache_prefix) + index_data = get_video_index(fn, frame_type, cache_dir) return StreamFrameReader(fn, frame_type, index_data, readahead=readahead, readbehind=readbehind) else: raise NotImplementedError(frame_type) diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 393a561c0f..05c0ca8ac4 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -12,7 +12,7 @@ const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; const std::string TEST_RLOG_CHECKSUM = "5b966d4bb21a100a8c4e59195faeb741b975ccbe268211765efd1763d892bfb3"; -bool donload_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) { +bool download_to_file(const std::string &url, const std::string &local_file, int chunk_size = 5 * 1024 * 1024, int retries = 3) { do { if (httpDownload(url, local_file, chunk_size)) { return true; @@ -29,7 +29,7 @@ TEST_CASE("httpMultiPartDownload") { const size_t chunk_size = 5 * 1024 * 1024; std::string content; SECTION("download to file") { - REQUIRE(donload_to_file(TEST_RLOG_URL, filename, chunk_size)); + REQUIRE(download_to_file(TEST_RLOG_URL, filename, chunk_size)); content = util::read_file(filename); } SECTION("download to buffer") { @@ -110,23 +110,36 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) { loop.exec(); } -TEST_CASE("Route") { - // Create a local route from remote for testing - Route remote_route(DEMO_ROUTE); - REQUIRE(remote_route.load()); - char tmp_path[] = "/tmp/root_XXXXXX"; - const std::string data_dir = mkdtemp(tmp_path); - const std::string route_name = DEMO_ROUTE.mid(17).toStdString(); - for (int i = 0; i < 2; ++i) { - std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i); - util::create_directories(log_path, 0755); - REQUIRE(donload_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2")); - REQUIRE(donload_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc")); - REQUIRE(donload_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc")); - REQUIRE(donload_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc")); - REQUIRE(donload_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts")); +std::string download_demo_route() { + static std::string data_dir; + + if (data_dir == "") { + char tmp_path[] = "/tmp/root_XXXXXX"; + data_dir = mkdtemp(tmp_path); + + Route remote_route(DEMO_ROUTE); + assert(remote_route.load()); + + // Create a local route from remote for testing + const std::string route_name = DEMO_ROUTE.mid(17).toStdString(); + for (int i = 0; i < 2; ++i) { + std::string log_path = util::string_format("%s/%s--%d/", data_dir.c_str(), route_name.c_str(), i); + util::create_directories(log_path, 0755); + REQUIRE(download_to_file(remote_route.at(i).rlog.toStdString(), log_path + "rlog.bz2")); + REQUIRE(download_to_file(remote_route.at(i).road_cam.toStdString(), log_path + "fcamera.hevc")); + REQUIRE(download_to_file(remote_route.at(i).driver_cam.toStdString(), log_path + "dcamera.hevc")); + REQUIRE(download_to_file(remote_route.at(i).wide_road_cam.toStdString(), log_path + "ecamera.hevc")); + REQUIRE(download_to_file(remote_route.at(i).qcamera.toStdString(), log_path + "qcamera.ts")); + } } + return data_dir; +} + + +TEST_CASE("Route") { + std::string data_dir = download_demo_route(); + SECTION("Local route") { auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA); Route route(DEMO_ROUTE, QString::fromStdString(data_dir)); diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh index d5922a4819..361f7b18ea 100755 --- a/tools/sim/launch_openpilot.sh +++ b/tools/sim/launch_openpilot.sh @@ -12,5 +12,8 @@ if [[ "$CI" ]]; then export BLOCK="${BLOCK},ui" fi +SCRIPT_DIR=$(dirname "$0") +OPENPILOT_DIR=$SCRIPT_DIR/../../ + DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" -cd ../../selfdrive/manager && exec ./manager.py +cd $OPENPILOT_DIR/selfdrive/manager && exec ./manager.py