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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
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@ -20,23 +20,6 @@ env:
jobs: 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: simulator_build:
name: simulator docker build name: simulator docker build
runs-on: ubuntu-latest runs-on: ubuntu-latest
@ -76,7 +59,7 @@ jobs:
${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \ ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
source selfdrive/test/setup_xvfb.sh && \ source selfdrive/test/setup_xvfb.sh && \
source selfdrive/test/setup_vsound.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: devcontainer:
name: 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]] [[package]]
name = "aiohttp" 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 = "*"
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[package.dependencies] [package.dependencies]
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version = "4.2.1" version = "4.2.2"
description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`." description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
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python-versions = ">=3.8" python-versions = ">=3.8"
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[package.extras] [package.extras]
test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"] test = ["enum34", "ipaddress", "mock", "pywin32", "wmi"]
[[package]]
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python-versions = ">=3.8"
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{file = "pyarrow-16.1.0.tar.gz", hash = "sha256:15fbb22ea96d11f0b5768504a3f961edab25eaf4197c341720c4a387f6c60315"},
]
[package.dependencies]
numpy = ">=1.16.6"
[[package]] [[package]]
name = "pyaudio" name = "pyaudio"
version = "0.2.14" version = "0.2.14"
@ -7094,6 +7106,30 @@ urllib3 = ">=1.21.1,<3"
socks = ["PySocks (>=1.5.6,!=1.5.7)"] socks = ["PySocks (>=1.5.6,!=1.5.7)"]
use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"] use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
[[package]]
name = "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"},
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{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]] [[package]]
name = "rubicon-objc" name = "rubicon-objc"
version = "0.4.9" version = "0.4.9"
@ -7211,13 +7247,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
[[package]] [[package]]
name = "sentry-sdk" name = "sentry-sdk"
version = "2.1.1" version = "2.2.0"
description = "Python client for Sentry (https://sentry.io)" description = "Python client for Sentry (https://sentry.io)"
optional = false optional = false
python-versions = ">=3.6" python-versions = ">=3.6"
files = [ files = [
{file = "sentry_sdk-2.1.1-py2.py3-none-any.whl", hash = "sha256:99aeb78fb76771513bd3b2829d12613130152620768d00cd3e45ac00cb17950f"}, {file = "sentry_sdk-2.2.0-py2.py3-none-any.whl", hash = "sha256:674f58da37835ea7447fe0e34c57b4a4277fad558b0a7cb4a6c83bcb263086be"},
{file = "sentry_sdk-2.1.1.tar.gz", hash = "sha256:95d8c0bb41c8b0bc37ab202c2c4a295bb84398ee05f4cdce55051cd75b926ec1"}, {file = "sentry_sdk-2.2.0.tar.gz", hash = "sha256:70eca103cf4c6302365a9d7cf522e7ed7720828910eb23d43ada8e50d1ecda9d"},
] ]
[package.dependencies] [package.dependencies]
@ -7718,21 +7754,6 @@ files = [
[package.extras] [package.extras]
widechars = ["wcwidth"] 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]] [[package]]
name = "timezonefinder" name = "timezonefinder"
version = "6.5.0" version = "6.5.0"
@ -7851,13 +7872,13 @@ zstd = ["zstandard (>=0.18.0)"]
[[package]] [[package]]
name = "virtualenv" name = "virtualenv"
version = "20.26.1" version = "20.26.2"
description = "Virtual Python Environment builder" description = "Virtual Python Environment builder"
optional = false optional = false
python-versions = ">=3.7" python-versions = ">=3.7"
files = [ files = [
{file = "virtualenv-20.26.1-py3-none-any.whl", hash = "sha256:7aa9982a728ae5892558bff6a2839c00b9ed145523ece2274fad6f414690ae75"}, {file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"},
{file = "virtualenv-20.26.1.tar.gz", hash = "sha256:604bfdceaeece392802e6ae48e69cec49168b9c5f4a44e483963f9242eb0e78b"}, {file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"},
] ]
[package.dependencies] [package.dependencies]
@ -8006,20 +8027,20 @@ multidict = ">=4.0"
[[package]] [[package]]
name = "zipp" name = "zipp"
version = "3.18.1" version = "3.18.2"
description = "Backport of pathlib-compatible object wrapper for zip files" description = "Backport of pathlib-compatible object wrapper for zip files"
optional = false optional = false
python-versions = ">=3.8" python-versions = ">=3.8"
files = [ files = [
{file = "zipp-3.18.1-py3-none-any.whl", hash = "sha256:206f5a15f2af3dbaee80769fb7dc6f249695e940acca08dfb2a4769fe61e538b"}, {file = "zipp-3.18.2-py3-none-any.whl", hash = "sha256:dce197b859eb796242b0622af1b8beb0a722d52aa2f57133ead08edd5bf5374e"},
{file = "zipp-3.18.1.tar.gz", hash = "sha256:2884ed22e7d8961de1c9a05142eb69a247f120291bc0206a00a7642f09b5b715"}, {file = "zipp-3.18.2.tar.gz", hash = "sha256:6278d9ddbcfb1f1089a88fde84481528b07b0e10474e09dcfe53dad4069fa059"},
] ]
[package.extras] [package.extras]
docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"] 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] [metadata]
lock-version = "2.0" lock-version = "2.0"
python-versions = "~3.11" 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] [tool.pytest.ini_options]
minversion = "6.0" 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" 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 = "*" PyJWT = "*"
pyserial = "*" pyserial = "*"
pyzmq = "*" pyzmq = "*"
rerun-sdk = "*"
requests = "*" requests = "*"
scons = "*" scons = "*"
sentry-sdk = "*" sentry-sdk = "*"
@ -125,7 +135,6 @@ breathe = "*"
control = "*" control = "*"
coverage = "*" coverage = "*"
dictdiffer = "*" dictdiffer = "*"
ft4222 = "*"
flaky = "*" flaky = "*"
hypothesis = "~6.47" hypothesis = "~6.47"
inputs = "*" inputs = "*"
@ -161,7 +170,6 @@ sphinx = "*"
sphinx-rtd-theme = "*" sphinx-rtd-theme = "*"
sphinx-sitemap = "*" sphinx-sitemap = "*"
tabulate = "*" tabulate = "*"
tenacity = "*"
types-requests = "*" types-requests = "*"
types-tabulate = "*" types-tabulate = "*"
tqdm = "*" tqdm = "*"

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

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

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

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

1
selfdrive/controls/lib/events.py
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@ -331,6 +331,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
# ********** events with no alerts ********** # ********** events with no alerts **********
EventName.stockFcw: {}, EventName.stockFcw: {},
EventName.actuatorsApiUnavailable: {},
# ********** events only containing alerts displayed in all states ********** # ********** events only containing alerts displayed in all states **********

9
selfdrive/monitoring/dmonitoringd.py
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@ -19,7 +19,6 @@ def dmonitoringd_thread():
driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM")) driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
v_cruise_last = 0
driver_engaged = False driver_engaged = False
# 20Hz <- dmonitoringmodeld # 20Hz <- dmonitoringmodeld
@ -30,12 +29,8 @@ def dmonitoringd_thread():
# Get interaction # Get interaction
if sm.updated['carState']: if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed driver_engaged = sm['carState'].steeringPressed or \
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \ sm['carState'].gasPressed
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed
v_cruise_last = v_cruise
if sm.updated['modelV2']: if sm.updated['modelV2']:
driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo) driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
482cf1d2947ce8506fb1e805565c28e9ce0264f1 f1ecdf9048fb12e289baf4933cb3ef12e486252c

13
selfdrive/ui/qt/offroad/driverview.cc
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@ -7,7 +7,7 @@
const int FACE_IMG_SIZE = 130; 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}); 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(this, &CameraWidget::clicked, this, &DriverViewWindow::done);
QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { QObject::connect(device(), &Device::interactiveTimeout, this, [this]() {
@ -20,20 +20,22 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISI
void DriverViewWindow::showEvent(QShowEvent* event) { void DriverViewWindow::showEvent(QShowEvent* event) {
params.putBool("IsDriverViewEnabled", true); params.putBool("IsDriverViewEnabled", true);
device()->resetInteractiveTimeout(60); device()->resetInteractiveTimeout(60);
CameraView::showEvent(event); CameraWidget::showEvent(event);
} }
void DriverViewWindow::hideEvent(QHideEvent* event) { void DriverViewWindow::hideEvent(QHideEvent* event) {
params.putBool("IsDriverViewEnabled", false); params.putBool("IsDriverViewEnabled", false);
CameraView::hideEvent(event); stopVipcThread();
CameraWidget::hideEvent(event);
} }
void DriverViewWindow::paintGL() { void DriverViewWindow::paintGL() {
CameraView::paintGL(); CameraWidget::paintGL();
std::lock_guard lk(frame_lock);
QPainter p(this); QPainter p(this);
// startup msg // startup msg
if (recent_frames.empty()) { if (frames.empty()) {
p.setPen(Qt::white); p.setPen(Qt::white);
p.setRenderHint(QPainter::TextAntialiasing); p.setRenderHint(QPainter::TextAntialiasing);
p.setFont(InterFont(100, QFont::Bold)); p.setFont(InterFont(100, QFont::Bold));
@ -45,6 +47,7 @@ void DriverViewWindow::paintGL() {
cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; bool is_rhd = driver_state.getWheelOnRightProb() > 0.5;
auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
bool face_detected = driver_data.getFaceProb() > 0.7; bool face_detected = driver_data.getFaceProb() > 0.7;
if (face_detected) { if (face_detected) {
auto fxy_list = driver_data.getFacePosition(); auto fxy_list = driver_data.getFacePosition();

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

30
selfdrive/ui/qt/onroad/annotated_camera.cc
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@ -6,11 +6,11 @@
#include <cmath> #include <cmath>
#include "common/swaglog.h" #include "common/swaglog.h"
#include "selfdrive/ui/qt/onroad/buttons.h"
#include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/util.h"
// Window that shows camera view and variety of info drawn on top // Window that shows camera view and variety of info drawn on top
AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget *parent) AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, 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"}); pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
main_layout = new QVBoxLayout(this); main_layout = new QVBoxLayout(this);
@ -76,8 +76,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
map_settings_btn->setVisible(!hideBottomIcons); map_settings_btn->setVisible(!hideBottomIcons);
main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom); main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
} }
update();
} }
void AnnotatedCameraWidget::drawHud(QPainter &p) { void AnnotatedCameraWidget::drawHud(QPainter &p) {
@ -355,8 +353,25 @@ void AnnotatedCameraWidget::paintGL() {
UIState *s = uiState(); UIState *s = uiState();
SubMaster &sm = *(s->sm); SubMaster &sm = *(s->sm);
const double start_draw_t = millis_since_boot(); 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 // Wide or narrow cam dependent on speed
bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
if (has_wide_cam) { if (has_wide_cam) {
@ -372,16 +387,14 @@ void AnnotatedCameraWidget::paintGL() {
} }
CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); 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) { if (s->scene.calibration_valid) {
auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib; auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib;
CameraWidget::updateCalibration(calib); CameraWidget::updateCalibration(calib);
} else { } else {
CameraWidget::updateCalibration(DEFAULT_CALIBRATION); CameraWidget::updateCalibration(DEFAULT_CALIBRATION);
} }
CameraWidget::setFrameId(model.getFrameId());
// Draw the frame based on the UI plan's frame ID
CameraWidget::setFrameId(sm["uiPlan"].getUiPlan().getFrameId());
CameraWidget::paintGL(); CameraWidget::paintGL();
} }
@ -390,7 +403,6 @@ void AnnotatedCameraWidget::paintGL() {
painter.setPen(Qt::NoPen); painter.setPen(Qt::NoPen);
if (s->scene.world_objects_visible) { if (s->scene.world_objects_visible) {
const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
update_model(s, model, sm["uiPlan"].getUiPlan()); update_model(s, model, sm["uiPlan"].getUiPlan());
drawLaneLines(painter, s); drawLaneLines(painter, s);

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

@ -37,6 +37,7 @@ private:
int status = STATUS_DISENGAGED; int status = STATUS_DISENGAGED;
std::unique_ptr<PubMaster> pm; std::unique_ptr<PubMaster> pm;
int skip_frame_count = 0;
bool wide_cam_requested = false; bool wide_cam_requested = false;
protected: 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 } // namespace
CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget *parent) CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
: stream_name(stream_name), stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { 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() { CameraWidget::~CameraWidget() {
makeCurrent(); makeCurrent();
stopVipcThread();
if (isValid()) { if (isValid()) {
glDeleteVertexArrays(1, &frame_vao); glDeleteVertexArrays(1, &frame_vao);
glDeleteBuffers(1, &frame_vbo); glDeleteBuffers(1, &frame_vbo);
glDeleteBuffers(1, &frame_ibo); glDeleteBuffers(1, &frame_ibo);
glDeleteBuffers(2, textures); glDeleteBuffers(2, textures);
} }
clearEGLImages();
doneCurrent(); 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() { void CameraWidget::initializeGL() {
initializeOpenGLFunctions(); initializeOpenGLFunctions();
@ -126,7 +141,7 @@ void CameraWidget::initializeGL() {
GLint frame_pos_loc = program->attributeLocation("aPosition"); GLint frame_pos_loc = program->attributeLocation("aPosition");
GLint frame_texcoord_loc = program->attributeLocation("aTexCoord"); 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 uint8_t frame_indicies[] = {0, 1, 2, 0, 2, 3};
const float frame_coords[4][4] = { const float frame_coords[4][4] = {
{-1.0, -1.0, x2, y1}, // bl {-1.0, -1.0, x2, y1}, // bl
@ -163,11 +178,45 @@ void CameraWidget::initializeGL() {
#endif #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() { void CameraWidget::updateFrameMat() {
int w = glWidth(), h = glHeight(); int w = glWidth(), h = glHeight();
if (zoomed_view) { if (zoomed_view) {
if (streamType() == VISION_STREAM_DRIVER) { if (active_stream_type == VISION_STREAM_DRIVER) {
if (stream_width > 0 && stream_height > 0) { if (stream_width > 0 && stream_height > 0) {
frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); 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 // to ensure this ends up in the middle of the screen
// for narrow come and a little lower for wide cam. // for narrow come and a little lower for wide cam.
// TODO: use proper perspective transform? // TODO: use proper perspective transform?
if (streamType() == VISION_STREAM_WIDE_ROAD) { if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
intrinsic_matrix = ECAM_INTRINSIC_MATRIX; intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
zoom = 2.0; zoom = 2.0;
} else { } else {
@ -198,12 +247,13 @@ void CameraWidget::updateFrameMat() {
float zx = zoom * 2 * intrinsic_matrix.v[2] / w; float zx = zoom * 2 * intrinsic_matrix.v[2] / w;
float zy = zoom * 2 * intrinsic_matrix.v[5] / h; float zy = zoom * 2 * intrinsic_matrix.v[5] / h;
frame_mat = {{ const mat4 frame_transform = {{
zx, 0.0, 0.0, -x_offset / w * 2, zx, 0.0, 0.0, -x_offset / w * 2,
0.0, zy, 0.0, y_offset / h * 2, 0.0, zy, 0.0, y_offset / h * 2,
0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0,
0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0,
}}; }};
frame_mat = frame_transform;
} }
} else if (stream_width > 0 && stream_height > 0) { } else if (stream_width > 0 && stream_height > 0) {
// fit frame to widget size // fit frame to widget size
@ -221,15 +271,25 @@ void CameraWidget::paintGL() {
glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
VisionBuf *frame = receiveFrame(draw_frame_id); std::lock_guard lk(frame_lock);
if (!frame) return; 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 // Log duplicate/dropped frames
uint32_t frame_id = frame->get_frame_id(); if (frames[frame_idx].first == prev_frame_id) {
if (prev_frame_id != INVALID_FRAME_ID && frame_id != prev_frame_id + 1) { qDebug() << "Drawing same frame twice" << frames[frame_idx].first;
qDebug() << (frame_id == prev_frame_id ? "Drawing same frame twice" : "Skip frame") << frame_id; } 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(); updateFrameMat();
@ -269,14 +329,20 @@ void CameraWidget::paintGL() {
glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); glPixelStorei(GL_UNPACK_ROW_LENGTH, 0);
} }
void CameraWidget::vipcConnected() { void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) {
makeCurrent();
stream_width = vipc_client->buffers[0].width; stream_width = vipc_client->buffers[0].width;
stream_height = vipc_client->buffers[0].height; stream_height = vipc_client->buffers[0].height;
stream_stride = vipc_client->buffers[0].stride; stream_stride = vipc_client->buffers[0].stride;
#ifdef QCOM2 #ifdef QCOM2
clearEGLImages();
EGLDisplay egl_display = eglGetCurrentDisplay(); 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 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 int fd = dup(vipc_client->buffers[i].fd); // eglDestroyImageKHR will close, so duplicate
EGLint img_attrs[] = { EGLint img_attrs[] = {
@ -313,78 +379,59 @@ void CameraWidget::vipcConnected() {
#endif #endif
} }
VisionBuf *CameraWidget::receiveFrame(uint64_t request_frame_id) { void CameraWidget::vipcFrameReceived() {
if (!ensureConnection()) { update();
return nullptr; }
}
// Receive frames and store them in recent_frames void CameraWidget::vipcThread() {
while (auto buf = vipc_client->recv(nullptr, 0)) { VisionStreamType cur_stream = requested_stream_type;
recent_frames.emplace_back(buf); std::unique_ptr<VisionIpcClient> vipc_client;
if (recent_frames.size() > FRAME_BUFFER_SIZE) { VisionIpcBufExtra meta_main = {0};
recent_frames.pop_front();
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));
} }
} active_stream_type = cur_stream;
if (!vipc_client->connected || recent_frames.empty()) {
return nullptr; if (!vipc_client->connected) {
} clearFrames();
auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
// Find the requested frame if (streams.empty()) {
auto it = std::find_if(recent_frames.rbegin(), recent_frames.rend(), QThread::msleep(100);
[request_frame_id](VisionBuf *buf) { return buf->get_frame_id() == request_frame_id; }); continue;
return it != recent_frames.rend() ? *it : recent_frames.back(); }
} emit vipcAvailableStreamsUpdated(streams);
bool CameraWidget::ensureConnection() { if (!vipc_client->connect(false)) {
// Reconnect if the client is not initialized or the stream type has changed QThread::msleep(100);
if (!vipc_client || vipc_client->type != stream_type) { continue;
qDebug() << "connecting to stream" << stream_type; }
vipc_client.reset(new VisionIpcClient(stream_name, stream_type, false)); emit vipcThreadConnected(vipc_client.get());
} }
// Re-establish connection if not connected if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) {
if (!vipc_client->connected) { {
clearFrames(); std::lock_guard lk(frame_lock);
available_streams = VisionIpcClient::getAvailableStreams(stream_name, false); frames.push_back(std::make_pair(meta_main.frame_id, buf));
if (available_streams.empty() || !vipc_client->connect(false)) { while (frames.size() > FRAME_BUFFER_SIZE) {
return false; frames.pop_front();
}
}
emit vipcThreadFrameReceived();
} else {
if (!isVisible()) {
vipc_client->connected = false;
}
} }
emit vipcAvailableStreamsUpdated();
vipcConnected();
} }
return true;
} }
void CameraWidget::clearFrames() { void CameraWidget::clearFrames() {
recent_frames.clear(); std::lock_guard lk(frame_lock);
draw_frame_id = INVALID_FRAME_ID; frames.clear();
prev_frame_id = INVALID_FRAME_ID; available_streams.clear();
}
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();
} }

60
selfdrive/ui/qt/widgets/cameraview.h
Unescape View File

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

20
system/loggerd/encoder/encoder.cc
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@ -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_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; 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, 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)); kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>(e->msg_cache.data(), bytes_size));
capnp::writeMessage(output_stream, msg); capnp::writeMessage(output_stream, msg);
e->pm->send(e->encoder_info.publish_name, e->msg_cache.data(), bytes_size); 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
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@ -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); 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: protected:
void publish_thumbnail(uint32_t frame_id, uint64_t timestamp_eof, kj::ArrayPtr<capnp::byte> dat);
int in_width, in_height; int in_width, in_height;
int out_width, out_height; int out_width, out_height;
const EncoderInfo encoder_info; const EncoderInfo encoder_info;

2
system/loggerd/loggerd.h
Unescape View File

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

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

4
tools/cabana/videowidget.h
Unescape View File

@ -73,9 +73,9 @@ protected:
QWidget *createCameraWidget(); QWidget *createCameraWidget();
QHBoxLayout *createPlaybackController(); QHBoxLayout *createPlaybackController();
void loopPlaybackClicked(); void loopPlaybackClicked();
void vipcAvailableStreamsUpdated(); void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
CameraView *cam_widget; CameraWidget *cam_widget;
double maximum_time = 0; double maximum_time = 0;
QToolButton *time_btn = nullptr; QToolButton *time_btn = nullptr;
ToolButton *seek_backward_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 \ libncurses5-dev \
libncursesw5-dev \ libncursesw5-dev \
libomp-dev \ libomp-dev \
libopencv-dev \
libpng16-16 \ libpng16-16 \
libportaudio2 \ libportaudio2 \
libssl-dev \ libssl-dev \

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

3
tools/sim/tests/test_metadrive_bridge.py
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@ -1,5 +1,8 @@
#!/usr/bin/env python3 #!/usr/bin/env python3
import pytest 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.bridge.metadrive.metadrive_bridge import MetaDriveBridge
from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase from openpilot.tools.sim.tests.test_sim_bridge import TestSimBridgeBase

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