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Merge remote-tracking branch 'upstream/master' into recent-regen-routes

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pull/32464/head
Shane Smiskol 1 year ago
parent 1ad59fca21 075176f869
commit 941ed51b5e
24 changed files with 391 additions and 322 deletions
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  1. 19
      .github/workflows/tools_tests.yaml
  2. 2
      cereal
  3. 281
      poetry.lock
  4. 12
      pyproject.toml
  5. 1
      selfdrive/car/chrysler/fingerprints.py
  6. 2
      selfdrive/car/hyundai/fingerprints.py
  7. 1
      selfdrive/controls/lib/events.py
  8. 9
      selfdrive/monitoring/dmonitoringd.py
  9. 2
      selfdrive/test/process_replay/ref_commit
  10. 13
      selfdrive/ui/qt/offroad/driverview.cc
  11. 2
      selfdrive/ui/qt/offroad/driverview.h
  12. 30
      selfdrive/ui/qt/onroad/annotated_camera.cc
  13. 1
      selfdrive/ui/qt/onroad/annotated_camera.h
  14. 207
      selfdrive/ui/qt/widgets/cameraview.cc
  15. 60
      selfdrive/ui/qt/widgets/cameraview.h
  16. 8
      selfdrive/ui/watch3.cc
  17. 20
      system/loggerd/encoder/encoder.cc
  18. 2
      system/loggerd/encoder/encoder.h
  19. 2
      system/loggerd/loggerd.h
  20. 5
      tools/cabana/videowidget.cc
  21. 4
      tools/cabana/videowidget.h
  22. 1
      tools/install_ubuntu_dependencies.sh
  23. 26
      tools/rerun/run.py
  24. 3
      tools/sim/tests/test_metadrive_bridge.py

19
.github/workflows/tools_tests.yaml
Unescape View File

@ -20,23 +20,6 @@ env:
jobs:
plotjuggler:
name: plotjuggler
runs-on: ubuntu-latest
timeout-minutes: 45
steps:
- uses: actions/checkout@v4
with:
submodules: true
- uses: ./.github/workflows/setup-with-retry
- name: Build openpilot
timeout-minutes: 5
run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ opendbc/ --minimal"
- name: Test PlotJuggler
timeout-minutes: 2
run: |
${{ env.RUN }} "pytest tools/plotjuggler/"
simulator_build:
name: simulator docker build
runs-on: ubuntu-latest
@ -76,7 +59,7 @@ jobs:
${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
source selfdrive/test/setup_xvfb.sh && \
source selfdrive/test/setup_vsound.sh && \
CI=1 tools/sim/tests/test_metadrive_bridge.py"
CI=1 pytest tools/sim/tests/test_metadrive_bridge.py -W ignore::pyopencl.CompilerWarning"
devcontainer:
name: devcontainer

2
cereal

@ -1 +1 @@
Subproject commit 591e389bf8e31f6f6ab921ec6598cafa53c19d36
Subproject commit 0a9b426e55653daea6cc9d3c40c3f7600ec0db49

281
poetry.lock generated
Unescape View File

@ -1,4 +1,4 @@
# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
[[package]]
name = "aiohttp"
@ -1301,50 +1301,6 @@ files = [
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]
[[package]]
name = "ft4222"
version = "1.10.0"
description = "Python wrapper around libFT4222."
optional = false
python-versions = "*"
files = [
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{file = "pyarrow-16.1.0.tar.gz", hash = "sha256:15fbb22ea96d11f0b5768504a3f961edab25eaf4197c341720c4a387f6c60315"},
]
[package.dependencies]
numpy = ">=1.16.6"
[[package]]
name = "pyaudio"
version = "0.2.14"
@ -7094,6 +7106,30 @@ urllib3 = ">=1.21.1,<3"
socks = ["PySocks (>=1.5.6,!=1.5.7)"]
use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
[[package]]
name = "rerun-sdk"
version = "0.16.0"
description = "The Rerun Logging SDK"
optional = false
python-versions = "<3.13,>=3.8"
files = [
{file = "rerun_sdk-0.16.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:1cc6dc66d089e296f945dc238301889efb61dd6d338b5d00f76981cf7aed0a74"},
{file = "rerun_sdk-0.16.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:faf231897655e46eb975695df2b0ace07db362d697e697f9a3dff52f81c0dc5d"},
{file = "rerun_sdk-0.16.0-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:860a6394380d3e9b9e48bf34423bd56dda54d5b0158d2ae0e433698659b34198"},
{file = "rerun_sdk-0.16.0-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:5b8d1476f73a3ad1a5d3f21b61c633f3ab62aa80fa0b049f5ad10bf1227681ab"},
{file = "rerun_sdk-0.16.0-cp38-abi3-win_amd64.whl", hash = "sha256:aff0051a263b8c3067243c0126d319845baf4fe640899f04aeef7daf151f35e4"},
]
[package.dependencies]
attrs = ">=23.1.0"
numpy = ">=1.23,<2"
pillow = ">=8.0.0"
pyarrow = ">=14.0.2"
typing-extensions = ">=4.5"
[package.extras]
tests = ["pytest (==7.1.2)"]
[[package]]
name = "rubicon-objc"
version = "0.4.9"
@ -7211,13 +7247,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
[[package]]
name = "sentry-sdk"
version = "2.1.1"
version = "2.2.0"
description = "Python client for Sentry (https://sentry.io)"
optional = false
python-versions = ">=3.6"
files = [
{file = "sentry_sdk-2.1.1-py2.py3-none-any.whl", hash = "sha256:99aeb78fb76771513bd3b2829d12613130152620768d00cd3e45ac00cb17950f"},
{file = "sentry_sdk-2.1.1.tar.gz", hash = "sha256:95d8c0bb41c8b0bc37ab202c2c4a295bb84398ee05f4cdce55051cd75b926ec1"},
{file = "sentry_sdk-2.2.0-py2.py3-none-any.whl", hash = "sha256:674f58da37835ea7447fe0e34c57b4a4277fad558b0a7cb4a6c83bcb263086be"},
{file = "sentry_sdk-2.2.0.tar.gz", hash = "sha256:70eca103cf4c6302365a9d7cf522e7ed7720828910eb23d43ada8e50d1ecda9d"},
]
[package.dependencies]
@ -7718,21 +7754,6 @@ files = [
[package.extras]
widechars = ["wcwidth"]
[[package]]
name = "tenacity"
version = "8.3.0"
description = "Retry code until it succeeds"
optional = false
python-versions = ">=3.8"
files = [
{file = "tenacity-8.3.0-py3-none-any.whl", hash = "sha256:3649f6443dbc0d9b01b9d8020a9c4ec7a1ff5f6f3c6c8a036ef371f573fe9185"},
{file = "tenacity-8.3.0.tar.gz", hash = "sha256:953d4e6ad24357bceffbc9707bc74349aca9d245f68eb65419cf0c249a1949a2"},
]
[package.extras]
doc = ["reno", "sphinx"]
test = ["pytest", "tornado (>=4.5)", "typeguard"]
[[package]]
name = "timezonefinder"
version = "6.5.0"
@ -7851,13 +7872,13 @@ zstd = ["zstandard (>=0.18.0)"]
[[package]]
name = "virtualenv"
version = "20.26.1"
version = "20.26.2"
description = "Virtual Python Environment builder"
optional = false
python-versions = ">=3.7"
files = [
{file = "virtualenv-20.26.1-py3-none-any.whl", hash = "sha256:7aa9982a728ae5892558bff6a2839c00b9ed145523ece2274fad6f414690ae75"},
{file = "virtualenv-20.26.1.tar.gz", hash = "sha256:604bfdceaeece392802e6ae48e69cec49168b9c5f4a44e483963f9242eb0e78b"},
{file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"},
{file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"},
]
[package.dependencies]
@ -8006,20 +8027,20 @@ multidict = ">=4.0"
[[package]]
name = "zipp"
version = "3.18.1"
version = "3.18.2"
description = "Backport of pathlib-compatible object wrapper for zip files"
optional = false
python-versions = ">=3.8"
files = [
{file = "zipp-3.18.1-py3-none-any.whl", hash = "sha256:206f5a15f2af3dbaee80769fb7dc6f249695e940acca08dfb2a4769fe61e538b"},
{file = "zipp-3.18.1.tar.gz", hash = "sha256:2884ed22e7d8961de1c9a05142eb69a247f120291bc0206a00a7642f09b5b715"},
{file = "zipp-3.18.2-py3-none-any.whl", hash = "sha256:dce197b859eb796242b0622af1b8beb0a722d52aa2f57133ead08edd5bf5374e"},
{file = "zipp-3.18.2.tar.gz", hash = "sha256:6278d9ddbcfb1f1089a88fde84481528b07b0e10474e09dcfe53dad4069fa059"},
]
[package.extras]
docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
[metadata]
lock-version = "2.0"
python-versions = "~3.11"
content-hash = "9f69dc7862f33f61e94e960f0ead2cbcd306b4502163d1934381d476143344f4"
content-hash = "debffdd8b49091d256508f53c11e9d79fb4164995678d7e02d1720175cf265ec"

12
pyproject.toml
Unescape View File

@ -1,3 +1,12 @@
[project]
name = "openpilot"
requires-python = ">= 3.11"
readme = "README.md"
license = {text = "MIT License"}
[project.urls]
Homepage = "https://comma.ai"
[tool.pytest.ini_options]
minversion = "6.0"
addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
@ -99,6 +108,7 @@ pycryptodome = "*"
PyJWT = "*"
pyserial = "*"
pyzmq = "*"
rerun-sdk = "*"
requests = "*"
scons = "*"
sentry-sdk = "*"
@ -125,7 +135,6 @@ breathe = "*"
control = "*"
coverage = "*"
dictdiffer = "*"
ft4222 = "*"
flaky = "*"
hypothesis = "~6.47"
inputs = "*"
@ -161,7 +170,6 @@ sphinx = "*"
sphinx-rtd-theme = "*"
sphinx-sitemap = "*"
tabulate = "*"
tenacity = "*"
types-requests = "*"
types-tabulate = "*"
tqdm = "*"

1
selfdrive/car/chrysler/fingerprints.py
Unescape View File

@ -425,6 +425,7 @@ FW_VERSIONS = {
b'68631938AA',
b'68631939AA',
b'68631940AA',
b'68631940AB',
b'68631942AA',
b'68631943AB',
],

2
selfdrive/car/hyundai/fingerprints.py
Unescape View File

@ -1002,8 +1002,8 @@ FW_VERSIONS = {
},
CAR.HYUNDAI_TUCSON_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y',
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',

1
selfdrive/controls/lib/events.py
Unescape View File

@ -331,6 +331,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# ********** events with no alerts **********
EventName.stockFcw: {},
EventName.actuatorsApiUnavailable: {},
# ********** events only containing alerts displayed in all states **********

9
selfdrive/monitoring/dmonitoringd.py
Unescape View File

@ -19,7 +19,6 @@ def dmonitoringd_thread():
driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
v_cruise_last = 0
driver_engaged = False
# 20Hz <- dmonitoringmodeld
@ -30,12 +29,8 @@ def dmonitoringd_thread():
# Get interaction
if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed
v_cruise_last = v_cruise
driver_engaged = sm['carState'].steeringPressed or \
sm['carState'].gasPressed
if sm.updated['modelV2']:
driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
482cf1d2947ce8506fb1e805565c28e9ce0264f1
f1ecdf9048fb12e289baf4933cb3ef12e486252c

13
selfdrive/ui/qt/offroad/driverview.cc
Unescape View File

@ -7,7 +7,7 @@
const int FACE_IMG_SIZE = 130;
DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISION_STREAM_DRIVER, true, parent) {
DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) {
face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
@ -20,20 +20,22 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISI
void DriverViewWindow::showEvent(QShowEvent* event) {
params.putBool("IsDriverViewEnabled", true);
device()->resetInteractiveTimeout(60);
CameraView::showEvent(event);
CameraWidget::showEvent(event);
}
void DriverViewWindow::hideEvent(QHideEvent* event) {
params.putBool("IsDriverViewEnabled", false);
CameraView::hideEvent(event);
stopVipcThread();
CameraWidget::hideEvent(event);
}
void DriverViewWindow::paintGL() {
CameraView::paintGL();
CameraWidget::paintGL();
std::lock_guard lk(frame_lock);
QPainter p(this);
// startup msg
if (recent_frames.empty()) {
if (frames.empty()) {
p.setPen(Qt::white);
p.setRenderHint(QPainter::TextAntialiasing);
p.setFont(InterFont(100, QFont::Bold));
@ -45,6 +47,7 @@ void DriverViewWindow::paintGL() {
cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
bool is_rhd = driver_state.getWheelOnRightProb() > 0.5;
auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
bool face_detected = driver_data.getFaceProb() > 0.7;
if (face_detected) {
auto fxy_list = driver_data.getFacePosition();

2
selfdrive/ui/qt/offroad/driverview.h
Unescape View File

@ -2,7 +2,7 @@
#include "selfdrive/ui/qt/widgets/cameraview.h"
class DriverViewWindow : public CameraView {
class DriverViewWindow : public CameraWidget {
Q_OBJECT
public:

30
selfdrive/ui/qt/onroad/annotated_camera.cc
Unescape View File

@ -6,11 +6,11 @@
#include <cmath>
#include "common/swaglog.h"
#include "selfdrive/ui/qt/onroad/buttons.h"
#include "selfdrive/ui/qt/util.h"
// Window that shows camera view and variety of info drawn on top
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent)
: fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
main_layout = new QVBoxLayout(this);
@ -76,8 +76,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
map_settings_btn->setVisible(!hideBottomIcons);
main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
}
update();
}
void AnnotatedCameraWidget::drawHud(QPainter &p) {
@ -355,8 +353,25 @@ void AnnotatedCameraWidget::paintGL() {
UIState *s = uiState();
SubMaster &sm = *(s->sm);
const double start_draw_t = millis_since_boot();
const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
// draw camera frame
{
std::lock_guard lk(frame_lock);
if (frames.empty()) {
if (skip_frame_count > 0) {
skip_frame_count--;
qDebug() << "skipping frame, not ready";
return;
}
} else {
// skip drawing up to this many frames if we're
// missing camera frames. this smooths out the
// transitions from the narrow and wide cameras
skip_frame_count = 5;
}
// Wide or narrow cam dependent on speed
bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
if (has_wide_cam) {
@ -372,16 +387,14 @@ void AnnotatedCameraWidget::paintGL() {
}
CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
s->scene.wide_cam = CameraWidget::streamType() == VISION_STREAM_WIDE_ROAD;
s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
if (s->scene.calibration_valid) {
auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
CameraWidget::updateCalibration(calib);
} else {
CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
}
// Draw the frame based on the UI plan's frame ID
CameraWidget::setFrameId(sm["uiPlan"].getUiPlan().getFrameId());
CameraWidget::setFrameId(model.getFrameId());
CameraWidget::paintGL();
}
@ -390,7 +403,6 @@ void AnnotatedCameraWidget::paintGL() {
painter.setPen(Qt::NoPen);
if (s->scene.world_objects_visible) {
const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
update_model(s, model, sm["uiPlan"].getUiPlan());
drawLaneLines(painter, s);

1
selfdrive/ui/qt/onroad/annotated_camera.h
Unescape View File

@ -37,6 +37,7 @@ private:
int status = STATUS_DISENGAGED;
std::unique_ptr<PubMaster> pm;
int skip_frame_count = 0;
bool wide_cam_requested = false;
protected:

207
selfdrive/ui/qt/widgets/cameraview.cc
Unescape View File

@ -97,22 +97,37 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
} // namespace
CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget *parent)
: stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
stream_name(stream_name), active_stream_type(type), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
setAttribute(Qt::WA_OpaquePaintEvent);
qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
}
CameraWidget::~CameraWidget() {
makeCurrent();
stopVipcThread();
if (isValid()) {
glDeleteVertexArrays(1, &frame_vao);
glDeleteBuffers(1, &frame_vbo);
glDeleteBuffers(1, &frame_ibo);
glDeleteBuffers(2, textures);
}
clearEGLImages();
doneCurrent();
}
// Qt uses device-independent pixels, depending on platform this may be
// different to what OpenGL uses
int CameraWidget::glWidth() {
return width() * devicePixelRatio();
}
int CameraWidget::glHeight() {
return height() * devicePixelRatio();
}
void CameraWidget::initializeGL() {
initializeOpenGLFunctions();
@ -126,7 +141,7 @@ void CameraWidget::initializeGL() {
GLint frame_pos_loc = program->attributeLocation("aPosition");
GLint frame_texcoord_loc = program->attributeLocation("aTexCoord");
auto [x1, x2, y1, y2] = stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
auto [x1, x2, y1, y2] = requested_stream_type == VISION_STREAM_DRIVER ? std::tuple(0.f, 1.f, 1.f, 0.f) : std::tuple(1.f, 0.f, 1.f, 0.f);
const uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
const float frame_coords[4][4] = {
{-1.0, -1.0, x2, y1}, // bl
@ -163,11 +178,45 @@ void CameraWidget::initializeGL() {
#endif
}
void CameraWidget::showEvent(QShowEvent *event) {
if (!vipc_thread) {
clearFrames();
vipc_thread = new QThread();
connect(vipc_thread, &QThread::started, [=]() { vipcThread(); });
connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater);
vipc_thread->start();
}
}
void CameraWidget::stopVipcThread() {
makeCurrent();
if (vipc_thread) {
vipc_thread->requestInterruption();
vipc_thread->quit();
vipc_thread->wait();
vipc_thread = nullptr;
}
#ifdef QCOM2
EGLDisplay egl_display = eglGetCurrentDisplay();
assert(egl_display != EGL_NO_DISPLAY);
for (auto &pair : egl_images) {
eglDestroyImageKHR(egl_display, pair.second);
assert(eglGetError() == EGL_SUCCESS);
}
egl_images.clear();
#endif
}
void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
available_streams = streams;
}
void CameraWidget::updateFrameMat() {
int w = glWidth(), h = glHeight();
if (zoomed_view) {
if (streamType() == VISION_STREAM_DRIVER) {
if (active_stream_type == VISION_STREAM_DRIVER) {
if (stream_width > 0 && stream_height > 0) {
frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
}
@ -176,7 +225,7 @@ void CameraWidget::updateFrameMat() {
// to ensure this ends up in the middle of the screen
// for narrow come and a little lower for wide cam.
// TODO: use proper perspective transform?
if (streamType() == VISION_STREAM_WIDE_ROAD) {
if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
zoom = 2.0;
} else {
@ -198,12 +247,13 @@ void CameraWidget::updateFrameMat() {
float zx = zoom * 2 * intrinsic_matrix.v[2] / w;
float zy = zoom * 2 * intrinsic_matrix.v[5] / h;
frame_mat = {{
const mat4 frame_transform = {{
zx, 0.0, 0.0, -x_offset / w * 2,
0.0, zy, 0.0, y_offset / h * 2,
0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0,
}};
frame_mat = frame_transform;
}
} else if (stream_width > 0 && stream_height > 0) {
// fit frame to widget size
@ -221,15 +271,25 @@ void CameraWidget::paintGL() {
glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
VisionBuf *frame = receiveFrame(draw_frame_id);
if (!frame) return;
std::lock_guard lk(frame_lock);
if (frames.empty()) return;
int frame_idx = frames.size() - 1;
// Always draw latest frame until sync logic is more stable
// for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
// if (frames[frame_idx].first == draw_frame_id) break;
// }
// Log duplicate/dropped frames
uint32_t frame_id = frame->get_frame_id();
if (prev_frame_id != INVALID_FRAME_ID && frame_id != prev_frame_id + 1) {
qDebug() << (frame_id == prev_frame_id ? "Drawing same frame twice" : "Skip frame") << frame_id;
if (frames[frame_idx].first == prev_frame_id) {
qDebug() << "Drawing same frame twice" << frames[frame_idx].first;
} else if (frames[frame_idx].first != prev_frame_id + 1) {
qDebug() << "Skipped frame" << frames[frame_idx].first;
}
prev_frame_id = frame_id;
prev_frame_id = frames[frame_idx].first;
VisionBuf *frame = frames[frame_idx].second;
assert(frame != nullptr);
updateFrameMat();
@ -269,14 +329,20 @@ void CameraWidget::paintGL() {
glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
}
void CameraWidget::vipcConnected() {
void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
makeCurrent();
stream_width = vipc_client->buffers[0].width;
stream_height = vipc_client->buffers[0].height;
stream_stride = vipc_client->buffers[0].stride;
#ifdef QCOM2
clearEGLImages();
EGLDisplay egl_display = eglGetCurrentDisplay();
assert(egl_display != EGL_NO_DISPLAY);
for (auto &pair : egl_images) {
eglDestroyImageKHR(egl_display, pair.second);
}
egl_images.clear();
for (int i = 0; i < vipc_client->num_buffers; i++) { // import buffers into OpenGL
int fd = dup(vipc_client->buffers[i].fd); // eglDestroyImageKHR will close, so duplicate
EGLint img_attrs[] = {
@ -313,78 +379,59 @@ void CameraWidget::vipcConnected() {
#endif
}
VisionBuf *CameraWidget::receiveFrame(uint64_t request_frame_id) {
if (!ensureConnection()) {
return nullptr;
}
void CameraWidget::vipcFrameReceived() {
update();
}
// Receive frames and store them in recent_frames
while (auto buf = vipc_client->recv(nullptr, 0)) {
recent_frames.emplace_back(buf);
if (recent_frames.size() > FRAME_BUFFER_SIZE) {
recent_frames.pop_front();
void CameraWidget::vipcThread() {
VisionStreamType cur_stream = requested_stream_type;
std::unique_ptr<VisionIpcClient> vipc_client;
VisionIpcBufExtra meta_main = {0};
while (!QThread::currentThread()->isInterruptionRequested()) {
if (!vipc_client || cur_stream != requested_stream_type) {
clearFrames();
qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
cur_stream = requested_stream_type;
vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
}
}
if (!vipc_client->connected || recent_frames.empty()) {
return nullptr;
}
// Find the requested frame
auto it = std::find_if(recent_frames.rbegin(), recent_frames.rend(),
[request_frame_id](VisionBuf *buf) { return buf->get_frame_id() == request_frame_id; });
return it != recent_frames.rend() ? *it : recent_frames.back();
}
active_stream_type = cur_stream;
if (!vipc_client->connected) {
clearFrames();
auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
if (streams.empty()) {
QThread::msleep(100);
continue;
}
emit vipcAvailableStreamsUpdated(streams);
bool CameraWidget::ensureConnection() {
// Reconnect if the client is not initialized or the stream type has changed
if (!vipc_client || vipc_client->type != stream_type) {
qDebug() << "connecting to stream" << stream_type;
vipc_client.reset(new VisionIpcClient(stream_name, stream_type, false));
}
if (!vipc_client->connect(false)) {
QThread::msleep(100);
continue;
}
emit vipcThreadConnected(vipc_client.get());
}
// Re-establish connection if not connected
if (!vipc_client->connected) {
clearFrames();
available_streams = VisionIpcClient::getAvailableStreams(stream_name, false);
if (available_streams.empty() || !vipc_client->connect(false)) {
return false;
if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) {
{
std::lock_guard lk(frame_lock);
frames.push_back(std::make_pair(meta_main.frame_id, buf));
while (frames.size() > FRAME_BUFFER_SIZE) {
frames.pop_front();
}
}
emit vipcThreadFrameReceived();
} else {
if (!isVisible()) {
vipc_client->connected = false;
}
}
emit vipcAvailableStreamsUpdated();
vipcConnected();
}
return true;
}
void CameraWidget::clearFrames() {
recent_frames.clear();
draw_frame_id = INVALID_FRAME_ID;
prev_frame_id = INVALID_FRAME_ID;
}
void CameraWidget::clearEGLImages() {
#ifdef QCOM2
EGLDisplay egl_display = eglGetCurrentDisplay();
assert(egl_display != EGL_NO_DISPLAY);
for (auto &pair : egl_images) {
eglDestroyImageKHR(egl_display, pair.second);
}
egl_images.clear();
#endif
}
// Cameraview
CameraView::CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent)
: CameraWidget(name, stream_type, zoom, parent) {
timer = new QTimer(this);
timer->setInterval(1000.0 / UI_FREQ);
timer->callOnTimeout(this, [this]() { update(); });
}
void CameraView::showEvent(QShowEvent *event) {
timer->start();
}
void CameraView::hideEvent(QHideEvent *event) {
timer->stop();
std::lock_guard lk(frame_lock);
frames.clear();
available_streams.clear();
}

60
selfdrive/ui/qt/widgets/cameraview.h
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@ -3,6 +3,7 @@
#include <deque>
#include <map>
#include <memory>
#include <mutex>
#include <set>
#include <string>
#include <utility>
@ -10,7 +11,7 @@
#include <QOpenGLFunctions>
#include <QOpenGLShaderProgram>
#include <QOpenGLWidget>
#include <QTimer>
#include <QThread>
#ifdef QCOM2
#define EGL_EGLEXT_PROTOTYPES
@ -26,40 +27,40 @@
#include "selfdrive/ui/ui.h"
const int FRAME_BUFFER_SIZE = 5;
const uint32_t INVALID_FRAME_ID = -1;
static_assert(FRAME_BUFFER_SIZE <= YUV_BUFFER_COUNT);
class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions {
Q_OBJECT
public:
using QOpenGLWidget::QOpenGLWidget;
explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr);
~CameraWidget();
void setBackgroundColor(const QColor &color) { bg = color; }
void setFrameId(int frame_id) { draw_frame_id = frame_id; }
void setStreamType(VisionStreamType type) { stream_type = type; }
inline VisionStreamType streamType() const { return stream_type; }
inline const std::set<VisionStreamType> &availableStreams() const { return available_streams; }
VisionBuf *receiveFrame(uint64_t request_frame_id = INVALID_FRAME_ID);
void setStreamType(VisionStreamType type) { requested_stream_type = type; }
VisionStreamType getStreamType() { return active_stream_type; }
void stopVipcThread();
signals:
void vipcAvailableStreamsUpdated();
void clicked();
void vipcThreadConnected(VisionIpcClient *);
void vipcThreadFrameReceived();
void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
protected:
bool ensureConnection();
void paintGL() override;
void initializeGL() override;
void vipcConnected();
void clearFrames();
void clearEGLImages();
void resizeGL(int w, int h) override { updateFrameMat(); }
void showEvent(QShowEvent *event) override;
void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
virtual void updateFrameMat();
void updateCalibration(const mat3 &calib);
int glWidth() const { return width() * devicePixelRatio(); }
int glHeight() const { return height() * devicePixelRatio(); }
void vipcThread();
void clearFrames();
int glWidth();
int glHeight();
bool zoomed_view;
GLuint frame_vao, frame_vbo, frame_ibo;
@ -76,7 +77,10 @@ protected:
int stream_width = 0;
int stream_height = 0;
int stream_stride = 0;
VisionStreamType stream_type;
std::atomic<VisionStreamType> active_stream_type;
std::atomic<VisionStreamType> requested_stream_type;
std::set<VisionStreamType> available_streams;
QThread *vipc_thread = nullptr;
// Calibration
float x_offset = 0;
@ -85,21 +89,15 @@ protected:
mat3 calibration = DEFAULT_CALIBRATION;
mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
std::set<VisionStreamType> available_streams;
std::unique_ptr<VisionIpcClient> vipc_client;
std::deque<VisionBuf*> recent_frames;
uint32_t draw_frame_id = INVALID_FRAME_ID;
uint32_t prev_frame_id = INVALID_FRAME_ID;
};
// update frames based on timer
class CameraView : public CameraWidget {
Q_OBJECT
public:
CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr);
void showEvent(QShowEvent *event) override;
void hideEvent(QHideEvent *event) override;
std::recursive_mutex frame_lock;
std::deque<std::pair<uint32_t, VisionBuf*>> frames;
uint32_t draw_frame_id = 0;
uint32_t prev_frame_id = 0;
private:
QTimer *timer;
protected slots:
void vipcConnected(VisionIpcClient *vipc_client);
void vipcFrameReceived();
void availableStreamsUpdated(std::set<VisionStreamType> streams);
};
Q_DECLARE_METATYPE(std::set<VisionStreamType>);

8
selfdrive/ui/watch3.cc
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@ -19,15 +19,15 @@ int main(int argc, char *argv[]) {
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraView("navd", VISION_STREAM_MAP, false));
hlayout->addWidget(new CameraView("camerad", VISION_STREAM_ROAD, false));
hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false));
hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
}
{
QHBoxLayout *hlayout = new QHBoxLayout();
layout->addLayout(hlayout);
hlayout->addWidget(new CameraView("camerad", VISION_STREAM_DRIVER, false));
hlayout->addWidget(new CameraView("camerad", VISION_STREAM_WIDE_ROAD, false));
hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false));
hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false));
}
return a.exec();

20
system/loggerd/encoder/encoder.cc
Unescape View File

@ -6,7 +6,12 @@ VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in
out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
pm.reset(new PubMaster({encoder_info.publish_name}));
std::vector pubs = {encoder_info.publish_name};
if (encoder_info.thumbnail_name != NULL) {
pubs.push_back(encoder_info.thumbnail_name);
}
pm.reset(new PubMaster(pubs));
}
void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
@ -40,4 +45,15 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(e->msg_cache.data(), bytes_size));
capnp::writeMessage(output_stream, msg);
e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size);
}
// Publish keyframe thumbnail
if ((flags & V4L2_BUF_FLAG_KEYFRAME) && e->encoder_info.thumbnail_name != NULL) {
MessageBuilder tm;
auto thumbnail = tm.initEvent().initThumbnail();
thumbnail.setFrameId(extra.frame_id);
thumbnail.setTimestampEof(extra.timestamp_eof);
thumbnail.setThumbnail(dat);
thumbnail.setEncoding(cereal::Thumbnail::Encoding::KEYFRAME);
pm->send(e->encoder_info.thumbnail_name, tm);
}
}

2
system/loggerd/encoder/encoder.h
Unescape View File

@ -25,6 +25,8 @@ public:
void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
protected:
void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr<capnp::byte> dat);
int in_width, in_height;
int out_width, out_height;
const EncoderInfo encoder_info;

2
system/loggerd/loggerd.h
Unescape View File

@ -33,6 +33,7 @@ constexpr char PRESERVE_ATTR_VALUE = '1';
class EncoderInfo {
public:
const char *publish_name;
const char *thumbnail_name = NULL;
const char *filename = NULL;
bool record = true;
int frame_width = -1;
@ -76,6 +77,7 @@ const EncoderInfo main_driver_encoder_info = {
const EncoderInfo stream_road_encoder_info = {
.publish_name = "livestreamRoadEncodeData",
//.thumbnail_name = "thumbnail",
.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
.record = false,
.bitrate = LIVESTREAM_BITRATE,

5
tools/cabana/videowidget.cc
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@ -139,7 +139,7 @@ QWidget *VideoWidget::createCameraWidget() {
QStackedLayout *stacked = new QStackedLayout();
stacked->setStackingMode(QStackedLayout::StackAll);
stacked->addWidget(cam_widget = new CameraView("camerad", VISION_STREAM_ROAD, false));
stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false));
cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
stacked->addWidget(alert_label = new InfoLabel(this));
@ -161,13 +161,12 @@ QWidget *VideoWidget::createCameraWidget() {
return w;
}
void VideoWidget::vipcAvailableStreamsUpdated() {
void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams) {
static const QString stream_names[] = {
[VISION_STREAM_ROAD] = "Road camera",
[VISION_STREAM_WIDE_ROAD] = "Wide road camera",
[VISION_STREAM_DRIVER] = "Driver camera"};
const auto &streams = cam_widget->availableStreams();
for (int i = 0; i < streams.size(); ++i) {
if (camera_tab->count() <= i) {
camera_tab->addTab(QString());

4
tools/cabana/videowidget.h
Unescape View File

@ -73,9 +73,9 @@ protected:
QWidget *createCameraWidget();
QHBoxLayout *createPlaybackController();
void loopPlaybackClicked();
void vipcAvailableStreamsUpdated();
void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
CameraView *cam_widget;
CameraWidget *cam_widget;
double maximum_time = 0;
QToolButton *time_btn = nullptr;
ToolButton *seek_backward_btn = nullptr;

1
tools/install_ubuntu_dependencies.sh
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@ -51,7 +51,6 @@ function install_ubuntu_common_requirements() {
libncurses5-dev \
libncursesw5-dev \
libomp-dev \
libopencv-dev \
libpng16-16 \
libportaudio2 \
libssl-dev \

26
tools/rerun/run.py
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@ -1,8 +1,9 @@
#!/usr/bin/env python3
import subprocess
import sys
import argparse
import multiprocessing
import rerun as rr
import rerun.blueprint as rrb
from functools import partial
from openpilot.tools.lib.logreader import LogReader
@ -11,14 +12,6 @@ from cereal.services import SERVICE_LIST
NUM_CPUS = multiprocessing.cpu_count()
DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
WHEEL_URL = "https://build.rerun.io/commit/660463d/wheels"
def install():
# currently requires a preview release build
subprocess.run([sys.executable, "-m", "pip", "install", "--pre", "-f", WHEEL_URL, "--upgrade", "rerun-sdk"], check=True)
print("Rerun installed")
def log_msg(msg, parent_key=''):
stack = [(msg, parent_key)]
@ -45,7 +38,6 @@ def log_msg(msg, parent_key=''):
else:
pass # Not a plottable value
def createBlueprint():
timeSeriesViews = []
for topic in sorted(SERVICE_LIST.keys()):
@ -55,12 +47,10 @@ def createBlueprint():
rrb.Spatial2DView(name="thumbnail", origin="/thumbnail")))
return blueprint
def log_thumbnail(thumbnailMsg):
bytesImgData = thumbnailMsg.get('thumbnail')
rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData))
def process(blueprint, lr):
ret = []
rr.init("rerun_test", spawn=True, default_blueprint=blueprint)
@ -73,12 +63,10 @@ def process(blueprint, lr):
log_thumbnail(msg.to_dict()[msg.which()])
return ret
if __name__ == '__main__':
parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
parser.add_argument("--install", action="store_true", help="Install or update rerun")
parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
if len(sys.argv) == 1:
@ -86,16 +74,6 @@ if __name__ == '__main__':
sys.exit()
args = parser.parse_args()
if args.install:
install()
sys.exit()
try:
import rerun as rr
import rerun.blueprint as rrb
except ImportError:
print("Rerun is not installed, run with --install first")
sys.exit()
route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
blueprint = createBlueprint()

3
tools/sim/tests/test_metadrive_bridge.py
Unescape View File

@ -1,5 +1,8 @@
#!/usr/bin/env python3
import pytest
import warnings
# Since metadrive depends on pkg_resources, and pkg_resources is deprecated as an API
warnings.filterwarnings("ignore", category=DeprecationWarning)
from openpilot.tools.sim.bridge.metadrive.metadrive_bridge import MetaDriveBridge
from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase

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