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Merge remote-tracking branch 'upstream/master' into toyota-pcm-0

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pull/33449/head
Shane Smiskol 12 months ago
parent ef269e35b8 ea532c7a7c
commit aa3fe09184
11 changed files with 79 additions and 65 deletions
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  1. 2
      cereal/log.capnp
  2. 2
      opendbc_repo
  3. 2
      panda
  4. 6
      selfdrive/pandad/panda.cc
  5. 2
      selfdrive/pandad/panda.h
  6. 21
      tools/cabana/messageswidget.cc
  7. 1
      tools/cabana/messageswidget.h
  8. 1
      tools/longitudinal_maneuvers/.gitignore
  9. 18
      tools/longitudinal_maneuvers/maneuversd.py
  10. 11
      tools/replay/util.cc
  11. 78
      uv.lock

2
cereal/log.capnp
Unescape View File

@ -735,7 +735,6 @@ struct ControlsState @0x97ff69c53601abf1 {
upAccelCmd @4 :Float32;
uiAccelCmd @5 :Float32;
ufAccelCmd @33 :Float32;
aTarget @35 :Float32;
curvature @37 :Float32; # path curvature from vehicle model
desiredCurvature @61 :Float32; # lag adjusted curvatures used by lateral controllers
forceDecel @51 :Bool;
@ -881,6 +880,7 @@ struct ControlsState @0x97ff69c53601abf1 {
vCruiseClusterDEPRECATED @63 :Float32; # set speed to display in the UI
startMonoTimeDEPRECATED @48 :UInt64;
cumLagMsDEPRECATED @15 :Float32;
aTargetDEPRECATED @35 :Float32;
}
struct DrivingModelData {

2
opendbc_repo

@ -1 +1 @@
Subproject commit b43d3003c50d88f4b9d5735b48a101f77a577c54
Subproject commit 57ebdbfa0553d4002bf1fd654e4631931f2b676c

2
panda

@ -1 +1 @@
Subproject commit b8a2a8678fc201d7c02453a4fb819389d0fbf53b
Subproject commit 2526d1ee4b7b740b5f5786c25638ee1528d425be

6
selfdrive/pandad/panda.cc
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@ -47,7 +47,7 @@ std::vector<std::string> Panda::list(bool usb_only) {
#ifndef __APPLE__
if (!usb_only) {
for (auto s : PandaSpiHandle::list()) {
for (const auto &s : PandaSpiHandle::list()) {
if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
serials.push_back(s);
}
@ -169,7 +169,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
int32_t pos = 0;
uint8_t send_buf[2 * USB_TX_SOFT_LIMIT];
for (auto cmsg : can_data_list) {
for (const auto &cmsg : can_data_list) {
// check if the message is intended for this panda
uint8_t bus = cmsg.getSrc();
if (bus < bus_offset || bus >= (bus_offset + PANDA_BUS_OFFSET)) {
@ -206,7 +206,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
if (pos > 0) write_func(send_buf, pos);
}
void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
void Panda::can_send(const capnp::List<cereal::CanData>::Reader &can_data_list) {
pack_can_buffer(can_data_list, [=](uint8_t* data, size_t size) {
handle->bulk_write(3, data, size, 5);
});

2
selfdrive/pandad/panda.h
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@ -79,7 +79,7 @@ public:
void set_can_speed_kbps(uint16_t bus, uint16_t speed);
void set_data_speed_kbps(uint16_t bus, uint16_t speed);
void set_canfd_non_iso(uint16_t bus, bool non_iso);
void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
void can_send(const capnp::List<cereal::CanData>::Reader &can_data_list);
bool can_receive(std::vector<can_frame>& out_vec);
void can_reset_communications();

21
tools/cabana/messageswidget.cc
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@ -14,16 +14,18 @@
#include "tools/cabana/commands.h"
static bool isMessageActive(const MessageId &id) {
if (auto dummy_stream = dynamic_cast<DummyStream *>(can)) {
return true;
}
if (id.source == INVALID_SOURCE) {
return false;
}
// Check if the message is active based on time difference and frequency
const auto &m = can->lastMessage(id);
float delta = can->currentSec() - m.ts;
return (m.freq == 0 && delta < 1.5) || (m.freq > 0 && ((delta - 1.0 / settings.fps) < (5.0 / m.freq)));
if (m.freq < std::numeric_limits<double>::epsilon()) {
return delta < 1.5;
}
return delta < (5.0 / m.freq) + (1.0 / settings.fps);
}
MessagesWidget::MessagesWidget(QWidget *parent) : menu(new QMenu(this)), QWidget(parent) {
@ -215,8 +217,8 @@ QVariant MessageListModel::data(const QModelIndex &index, int role) const {
return QVariant::fromValue((void*)(&can->lastMessage(item.id).colors));
} else if (role == BytesRole && index.column() == Column::DATA && item.id.source != INVALID_SOURCE) {
return QVariant::fromValue((void*)(&can->lastMessage(item.id).dat));
} else if (role == Qt::ForegroundRole && !item.active) {
return settings.theme == DARK_THEME ? QApplication::palette().color(QPalette::Text).darker(150) : QColor(Qt::gray);
} else if (role == Qt::ForegroundRole && !isMessageActive(item.id)) {
return QApplication::palette().color(QPalette::Disabled, QPalette::Text);
} else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
auto msg = dbc()->msg(item.id);
auto tooltip = item.name;
@ -335,11 +337,9 @@ bool MessageListModel::filterAndSort() {
std::vector<Item> items;
items.reserve(all_messages.size());
for (const auto &id : all_messages) {
bool active = isMessageActive(id);
if (active || show_inactive_messages) {
if (show_inactive_messages || isMessageActive(id)) {
auto msg = dbc()->msg(id);
Item item = {.id = id,
.active = active,
.name = msg ? msg->name : UNTITLED,
.node = msg ? msg->transmitter : QString()};
if (match(item))
@ -364,9 +364,6 @@ void MessageListModel::msgsReceived(const std::set<MessageId> *new_msgs, bool ha
if (filterAndSort()) return;
}
for (auto &item : items_) {
item.active = isMessageActive(item.id);
}
// Update viewport
emit dataChanged(index(0, 0), index(rowCount() - 1, columnCount() - 1));
}

1
tools/cabana/messageswidget.h
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@ -45,7 +45,6 @@ public:
MessageId id;
QString name;
QString node;
bool active;
bool operator==(const Item &other) const {
return id == other.id && name == other.name && node == other.node;
}

1
tools/longitudinal_maneuvers/.gitignore vendored
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@ -0,0 +1 @@
/longitudinal_reports/

18
tools/longitudinal_maneuvers/maneuversd.py
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@ -28,8 +28,10 @@ class Maneuver:
_ready_cnt: int = 0
_repeated: int = 0
def get_accel(self, v_ego: float, long_active: bool, standstill: bool) -> float:
ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not standstill
def get_accel(self, v_ego: float, long_active: bool, standstill: bool, cruise_standstill: bool) -> float:
ready = abs(v_ego - self.initial_speed) < 0.3 and long_active and not cruise_standstill
if self.initial_speed < 0.01:
ready = v_ego < 0.1 and standstill
self._ready_cnt = (self._ready_cnt + 1) if ready else 0
if self._ready_cnt > (3. / DT_MDL):
@ -70,6 +72,12 @@ class Maneuver:
MANEUVERS = [
Maneuver(
"start from stop",
[Action(1.5, 3)],
repeat=3,
initial_speed=0.,
),
Maneuver(
"creep: alternate between +1m/s^2 and -1m/s^2",
[
@ -112,7 +120,7 @@ def main():
cloudlog.info("joystickd is waiting for CarParams")
CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
sm = messaging.SubMaster(['carState', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug'])
maneuvers = iter(MANEUVERS)
@ -135,12 +143,12 @@ def main():
v_ego = max(sm['carState'].vEgo, 0)
if maneuver is not None:
accel = maneuver.get_accel(v_ego, sm['carControl'].longActive, sm['carState'].cruiseState.standstill)
accel = maneuver.get_accel(v_ego, sm['carControl'].longActive, sm['carState'].standstill, sm['carState'].cruiseState.standstill)
if maneuver.active:
alert_msg.alertDebug.alertText1 = f'Maneuver Active: {accel:0.2f} m/s^2'
else:
alert_msg.alertDebug.alertText1 = f'Reaching Speed: {maneuver.initial_speed * CV.MS_TO_MPH:0.2f} mph'
alert_msg.alertDebug.alertText1 = f'Setting up to {maneuver.initial_speed * CV.MS_TO_MPH:0.2f} mph'
alert_msg.alertDebug.alertText2 = f'{maneuver.description}'
else:
alert_msg.alertDebug.alertText1 = 'Maneuvers Finished'

11
tools/replay/util.cc
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@ -329,8 +329,17 @@ std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool>
// Initialize input and output buffers
ZSTD_inBuffer input = {in, in_size, 0};
// Estimate and reserve memory for decompressed data
size_t estimatedDecompressedSize = ZSTD_getFrameContentSize(in, in_size);
if (estimatedDecompressedSize == ZSTD_CONTENTSIZE_ERROR || estimatedDecompressedSize == ZSTD_CONTENTSIZE_UNKNOWN) {
estimatedDecompressedSize = in_size * 2; // Use a fallback size
}
std::string decompressedData;
const size_t bufferSize = ZSTD_DStreamOutSize(); // recommended output buffer size
decompressedData.reserve(estimatedDecompressedSize);
const size_t bufferSize = ZSTD_DStreamOutSize(); // Recommended output buffer size
std::string outputBuffer(bufferSize, '\0');
while (input.pos < input.size && !(abort && *abort)) {

78
uv.lock
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@ -773,11 +773,11 @@ wheels = [
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