Merge remote-tracking branch 'upstream/master' into toyota-lta

.github/workflows/selfdrive_tests.yaml

@@ -294,7 +294,7 @@ jobs:
     - name: Run model replay with ONNX
       timeout-minutes: 2
       run: |
-        ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+        ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                            coverage xml"
     - name: Run unit tests
       timeout-minutes: 5

Jenkinsfile

@@ -11,6 +11,7 @@ export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
+export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 
 source ~/.bash_profile
 if [ -f /TICI ]; then
@@ -47,9 +48,11 @@ pipeline {
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
     AZURE_TOKEN = credentials('azure_token')
+    MAPBOX_TOKEN = credentials('mapbox_token')
   }
   options {
-    timeout(time: 4, unit: 'HOURS')
+    timeout(time: 3, unit: 'HOURS')
+    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
   }
 
   stages {

selfdrive/car/__init__.py

@@ -1,8 +1,9 @@
 # functions common among cars
 import capnp
+from collections import namedtuple
 
 from cereal import car
-from common.numpy_fast import clip
+from common.numpy_fast import clip, interp
 from typing import Dict
 
 # kg of standard extra cargo to count for drive, gas, etc...
@@ -10,6 +11,7 @@ STD_CARGO_KG = 136.
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
 
 
 def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
@@ -111,6 +113,15 @@ def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torq
   return int(round(float(apply_torque)))
 
 
+def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
+  # pick angle rate limits based on wind up/down
+  steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
+  rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
+
+  angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
+  return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
+
+
 def crc8_pedal(data):
   crc = 0xFF    # standard init value
   poly = 0xD5   # standard crc8: x8+x7+x6+x4+x2+1

selfdrive/car/nissan/carcontroller.py

@@ -1,6 +1,6 @@
 from cereal import car
-from common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
+from selfdrive.car import apply_std_steer_angle_limits
 from selfdrive.car.nissan import nissancan
 from selfdrive.car.nissan.values import CAR, CarControllerParams
 
@@ -14,7 +14,7 @@ class CarController:
     self.frame = 0
 
     self.lkas_max_torque = 0
-    self.last_angle = 0
+    self.apply_angle_last = 0
 
     self.packer = CANPacker(dbc_name)
 
@@ -28,18 +28,11 @@ class CarController:
     ### STEER ###
     lkas_hud_msg = CS.lkas_hud_msg
     lkas_hud_info_msg = CS.lkas_hud_info_msg
-    apply_angle = actuators.steeringAngleDeg
-
     steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
     if CC.latActive:
       # windup slower
-      if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
-        angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
-      else:
-        angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_VU)
-
-      apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
+      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
 
       # Max torque from driver before EPS will give up and not apply torque
       if not bool(CS.out.steeringPressed):
@@ -57,7 +50,7 @@ class CarController:
       apply_angle = CS.out.steeringAngleDeg
       self.lkas_max_torque = 0
 
-    self.last_angle = apply_angle
+    self.apply_angle_last = apply_angle
 
     if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
       can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))

selfdrive/car/nissan/values.py

@@ -4,7 +4,7 @@ from enum import Enum
 
 from cereal import car
 from panda.python import uds
-from selfdrive.car import dbc_dict
+from selfdrive.car import AngleRateLimit, dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -12,9 +12,8 @@ Ecu = car.CarParams.Ecu
 
 
 class CarControllerParams:
-  ANGLE_DELTA_BP = [0., 5., 15.]
-  ANGLE_DELTA_V = [5., .8, .15]     # windup limit
-  ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
   LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
   STEER_THRESHOLD = 1.0
 

selfdrive/car/tesla/carcontroller.py

@@ -1,5 +1,6 @@
-from common.numpy_fast import clip, interp
+from common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
+from selfdrive.car import apply_std_steer_angle_limits
 from selfdrive.car.tesla.teslacan import TeslaCAN
 from selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
 
@@ -8,7 +9,7 @@ class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.frame = 0
-    self.last_angle = 0
+    self.apply_angle_last = 0
     self.packer = CANPacker(dbc_name)
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
@@ -24,20 +25,15 @@ class CarController:
     lkas_enabled = CC.latActive and not hands_on_fault
 
     if lkas_enabled:
-      apply_angle = actuators.steeringAngleDeg
-
       # Angular rate limit based on speed
-      steer_up = self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle)
-      rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
-      max_angle_diff = interp(CS.out.vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
-      apply_angle = clip(apply_angle, self.last_angle - max_angle_diff, self.last_angle + max_angle_diff)
+      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
 
       # To not fault the EPS
       apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
     else:
       apply_angle = CS.out.steeringAngleDeg
 
-    self.last_angle = apply_angle
+    self.apply_angle_last = apply_angle
     can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame))
 
     # Longitudinal control (in sync with stock message, about 40Hz)

selfdrive/car/tesla/values.py

@@ -2,14 +2,13 @@ from collections import namedtuple
 from typing import Dict, List, Union
 
 from cereal import car
-from selfdrive.car import dbc_dict
+from selfdrive.car import AngleRateLimit, dbc_dict
 from selfdrive.car.docs_definitions import CarInfo
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
 
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
-AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
 
 
 class CAR:
@@ -104,8 +103,8 @@ BUTTONS = [
 ]
 
 class CarControllerParams:
-  RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
-  RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
   JERK_LIMIT_MAX = 8
   JERK_LIMIT_MIN = -8
   ACCEL_TO_SPEED_MULTIPLIER = 3

selfdrive/controls/controlsd.py

@@ -627,7 +627,7 @@ class Controls:
       max_torque = abs(self.last_actuators.steer) > 0.99
       if undershooting and turning and good_speed and max_torque:
         self.events.add(EventName.steerSaturated)
-    elif lac_log.active and not CS.steeringPressed and lac_log.saturated:
+    elif lac_log.active and lac_log.saturated:
       dpath_points = lat_plan.dPathPoints
       if len(dpath_points):
         # Check if we deviated from the path

selfdrive/navd/map_renderer.cc

@@ -4,10 +4,10 @@
 #include <string>
 #include <QApplication>
 #include <QBuffer>
-#include <QDebug>
 
 #include "common/util.h"
 #include "common/timing.h"
+#include "common/swaglog.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 
 const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
@@ -56,22 +56,27 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
   m_map->setFramebufferObject(fbo->handle(), fbo->size());
   gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
 
+  QObject::connect(m_map.data(), &QMapboxGL::mapLoadingFailed, [=](QMapboxGL::MapLoadingFailure err_code, const QString &reason) {
+    LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
+  });
+
   if (online) {
     vipc_server.reset(new VisionIpcServer("navd"));
     vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
     vipc_server->start_listener();
 
     pm.reset(new PubMaster({"navThumbnail"}));
-    sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}));
+    sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}, {"liveLocationKalman"}));
 
     timer = new QTimer(this);
+    timer->setSingleShot(true);
     QObject::connect(timer, SIGNAL(timeout()), this, SLOT(msgUpdate()));
-    timer->start(50);
+    timer->start(0);
   }
 }
 
 void MapRenderer::msgUpdate() {
-  sm->update(0);
+  sm->update(1000);
 
   if (sm->updated("liveLocationKalman")) {
     auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
@@ -92,6 +97,9 @@ void MapRenderer::msgUpdate() {
     }
     updateRoute(route);
   }
+
+  // schedule next update
+  timer->start(0);
 }
 
 void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {

selfdrive/navd/map_renderer.h

@@ -25,7 +25,6 @@ public:
   bool loaded();
   ~MapRenderer();
 
-
 private:
   std::unique_ptr<QOpenGLContext> ctx;
   std::unique_ptr<QOffscreenSurface> surface;

selfdrive/test/process_replay/compare_logs.py

@@ -2,6 +2,7 @@
 import bz2
 import sys
 import math
+import capnp
 import numbers
 import dictdiffer
 from collections import Counter
@@ -30,20 +31,23 @@ def remove_ignored_fields(msg, ignore):
       continue
 
     for k in keys[:-1]:
-      try:
-        attr = getattr(msg, k)
-      except AttributeError:
-        break
-    else:
-      v = getattr(attr, keys[-1])
-      if isinstance(v, bool):
-        val = False
-      elif isinstance(v, numbers.Number):
-        val = 0
+      # indexing into list
+      if k.isdigit():
+        attr = attr[int(k)]
       else:
-        raise NotImplementedError('Error ignoring field')
-      setattr(attr, keys[-1], val)
-  return msg.as_reader()
+        attr = getattr(attr, k)
+
+    v = getattr(attr, keys[-1])
+    if isinstance(v, bool):
+      val = False
+    elif isinstance(v, numbers.Number):
+      val = 0
+    elif isinstance(v, (list, capnp.lib.capnp._DynamicListBuilder)):
+      val = []
+    else:
+      raise NotImplementedError(f"Unknown type: {type(v)}")
+    setattr(attr, keys[-1], val)
+  return msg
 
 
 def get_field_tolerance(diff_field, field_tolerances):
@@ -79,12 +83,12 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
       print(msg1, msg2)
       raise Exception("msgs not aligned between logs")
 
-    msg1_bytes = remove_ignored_fields(msg1, ignore_fields).as_builder().to_bytes()
-    msg2_bytes = remove_ignored_fields(msg2, ignore_fields).as_builder().to_bytes()
+    msg1 = remove_ignored_fields(msg1, ignore_fields)
+    msg2 = remove_ignored_fields(msg2, ignore_fields)
 
-    if msg1_bytes != msg2_bytes:
-      msg1_dict = msg1.to_dict(verbose=True)
-      msg2_dict = msg2.to_dict(verbose=True)
+    if msg1.to_bytes() != msg2.to_bytes():
+      msg1_dict = msg1.as_reader().to_dict(verbose=True)
+      msg2_dict = msg2.as_reader().to_dict(verbose=True)
 
       dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields)
 

selfdrive/test/process_replay/model_replay.py

@@ -20,14 +20,17 @@ from system.version import get_commit
 from tools.lib.framereader import FrameReader
 from tools.lib.logreader import LogReader
 
-TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
-SEGMENT = 0
+TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
+SEGMENT = 6
 MAX_FRAMES = 100 if PC else 600
+NAV_FRAMES = 20
 
+NO_NAV = "NO_NAV" in os.environ  # TODO: make map renderer work in CI
 SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
 
 VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
                "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
+
 def get_log_fn(ref_commit, test_route):
   return f"{test_route}_model_tici_{ref_commit}.bz2"
 
@@ -39,6 +42,47 @@ def replace_calib(msg, calib):
   return msg
 
 
+def nav_model_replay(lr):
+  pm = messaging.PubMaster(['liveLocationKalman', 'navRoute'])
+  sock = messaging.sub_sock('navModel', conflate=False, timeout=1000)
+
+  log_msgs = []
+  try:
+    managed_processes['mapsd'].start()
+    managed_processes['navmodeld'].start()
+
+    # setup position and route
+    nav = [m for m in lr if m.which() == 'navRoute']
+    llk = [m for m in lr if m.which() == 'liveLocationKalman']
+    assert len(nav) > 0 and len(llk) > 0
+
+    for _ in range(30):
+      for s in (llk, nav):
+        msg = s[0]
+        pm.send(msg.which(), msg.as_builder().to_bytes())
+      if messaging.recv_one(sock) is not None:
+        break
+    else:
+      raise Exception("no navmodeld outputs")
+
+    time.sleep(2)
+    messaging.drain_sock_raw(sock)
+
+    # run replay
+    for _ in range(NAV_FRAMES):
+      # 2Hz decimation
+      for _ in range(10):
+        pm.send(llk[0].which(), llk[0].as_builder().to_bytes())
+        time.sleep(0.1)
+      with Timeout(5, "timed out waiting for nav model outputs"):
+        log_msgs.append(messaging.recv_one_retry(sock))
+  finally:
+    managed_processes['mapsd'].stop()
+    managed_processes['navmodeld'].stop()
+
+  return log_msgs
+
+
 def model_replay(lr, frs):
   if not PC:
     spinner = Spinner()
@@ -154,8 +198,10 @@ if __name__ == "__main__":
     'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
   }
 
-  # run replay
+  # run replays
   log_msgs = model_replay(lr, frs)
+  if not NO_NAV:
+    log_msgs += nav_model_replay(lr)
 
   # get diff
   failed = False
@@ -164,15 +210,29 @@ if __name__ == "__main__":
       ref_commit = f.read().strip()
     log_fn = get_log_fn(ref_commit, TEST_ROUTE)
     try:
-      cmp_log = list(LogReader(BASE_URL + log_fn))[:2*MAX_FRAMES]
+      expected_msgs = 2*MAX_FRAMES
+      if not NO_NAV:
+        expected_msgs += NAV_FRAMES
+      cmp_log = list(LogReader(BASE_URL + log_fn))[:expected_msgs]
 
       ignore = [
         'logMonoTime',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',
-        'driverStateV2.dspExecutionTime'
+        'driverStateV2.dspExecutionTime',
+        'navModel.dspExecutionTime',
+        'navModel.modelExecutionTime',
       ]
+      if PC:
+        ignore += [
+          'modelV2.laneLines.0.t',
+          'modelV2.laneLines.1.t',
+          'modelV2.laneLines.2.t',
+          'modelV2.laneLines.3.t',
+          'modelV2.roadEdges.0.t',
+          'modelV2.roadEdges.1.t',
+        ]
       # TODO this tolerance is absurdly large
       tolerance = 2.0 if PC else None
       results: Any = {TEST_ROUTE: {}}

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-30efb4238327d723e17a3bda7e7c19c18f8a3b18
+4b2c6516cd460ee443b9006f01233168edf3d170

selfdrive/ui/qt/widgets/cameraview.cc

@@ -359,7 +359,7 @@ void CameraWidget::vipcThread() {
     if (!vipc_client || cur_stream != requested_stream_type) {
       clearFrames();
       qDebug() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
-      cur_stream = requested_stream_type;;
+      cur_stream = requested_stream_type;
       vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
     }
     active_stream_type = cur_stream;

selfdrive/ui/soundd/sound.cc

@@ -48,7 +48,7 @@ void Sound::update() {
 
   // scale volume using ambient noise level
   if (sm.updated("microphone")) {
-    float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 52.f, 0.f, 1.f);
+    float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 54.f, 0.f, 1.f);
     volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale);
     Hardware::set_volume(volume);
   }

tools/cabana/binaryview.cc

@@ -202,7 +202,7 @@ void BinaryViewModel::updateState() {
     }
   }
 
-  for (int i = 0; i < row_count; ++i) {
+  for (int i = 0; i < row_count * column_count; ++i) {
     if (i >= prev_items.size() || prev_items[i].val != items[i].val) {
       auto idx = index(i / column_count, i % column_count);
       emit dataChanged(idx, idx);

tools/cabana/cabana

@@ -1,4 +1,4 @@
 #!/bin/sh
 cd "$(dirname "$0")"
 export LD_LIBRARY_PATH="../../opendbc/can:$LD_LIBRARY_PATH"
-exec ./_cabana "$1"
+exec ./_cabana "$@"

tools/cabana/cabana.cc

@@ -15,6 +15,7 @@ int main(int argc, char *argv[]) {
   cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
   cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
   cmd_parser.addOption({"qcam", "load qcamera"});
+  cmd_parser.addOption({"ecam", "load wide road camera"});
   cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
   cmd_parser.process(app);
   const QStringList args = cmd_parser.positionalArguments();
@@ -29,10 +30,17 @@ int main(int argc, char *argv[]) {
   dir.mkdir(msgq_path);
   setenv("OPENPILOT_PREFIX", qPrintable(uuid), 1);
 
-  int ret = 0;
   const QString route = args.empty() ? DEMO_ROUTE : args.first();
+  uint32_t replay_flags = REPLAY_FLAG_NONE;
+  if (cmd_parser.isSet("ecam")) {
+    replay_flags |= REPLAY_FLAG_ECAM;
+  } else if (cmd_parser.isSet("qcam")) {
+    replay_flags |= REPLAY_FLAG_QCAMERA;
+  }
+
   CANMessages p(&app);
-  if (p.loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) {
+  int ret = 0;
+  if (p.loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
     MainWindow w;
     w.showMaximized();
     ret = app.exec();

tools/cabana/canmessages.cc

@@ -21,8 +21,8 @@ static bool event_filter(const Event *e, void *opaque) {
   return c->eventFilter(e);
 }
 
-bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
-  replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
+bool CANMessages::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
+  replay = new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this);
   replay->setSegmentCacheLimit(settings.cached_segment_limit);
   replay->installEventFilter(event_filter, this);
   QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged);

tools/cabana/canmessages.h

@@ -26,13 +26,14 @@ public:
   enum FindFlags{ EQ, LT, GT };
   CANMessages(QObject *parent);
   ~CANMessages();
-  bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam);
+  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   void seekTo(double ts);
   QList<QPointF> findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count);
   bool eventFilter(const Event *event);
 
   inline QString routeName() const { return replay->route()->name(); }
   inline QString carFingerprint() const { return replay->carFingerprint().c_str(); }
+  inline VisionStreamType visionStreamType() const { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; }
   inline double totalSeconds() const { return replay->totalSeconds(); }
   inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; }
   inline double currentSec() const { return replay->currentSeconds(); }

tools/cabana/dbcmanager.cc

@@ -111,7 +111,7 @@ DBCManager *dbc() {
 
 std::vector<const Signal*> DBCMsg::getSignals() const {
   std::vector<const Signal*> ret;
-  for (auto &[name, sig] : sigs) ret.push_back(&sig);
+  for (auto &[_, sig] : sigs) ret.push_back(&sig);
   std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; });
   return ret;
 }

tools/cabana/videowidget.cc

@@ -21,7 +21,7 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
 
-  cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this);
+  cam_widget = new CameraWidget("camerad", can->visionStreamType(), false, this);
   cam_widget->setFixedSize(parent->width(), parent->width() / 1.596);
   main_layout->addWidget(cam_widget);