Merge remote-tracking branch 'upstream/master' into enable-planner

.github/workflows/selfdrive_tests.yaml

@@ -307,6 +307,7 @@ jobs:
                         $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        ./selfdrive/ui/tests/test_translations.py && \
                         ./common/tests/test_util && \
                         ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \

common/swaglog.cc

@@ -66,8 +66,9 @@ static void log(int levelnum, const char* filename, int lineno, const char* func
   char levelnum_c = levelnum;
   zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK);
 }
+
 static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
-                            char* msg_buf, json11::Json::object msg_j={}) {
+                            char* msg_buf, const json11::Json::object &msg_j={}) {
   std::lock_guard lk(s.lock);
   if (!s.initialized) s.initialize();
 

release/files_common

@@ -60,6 +60,8 @@ release/*
 
 tools/lib/*
 tools/joystick/*
+tools/replay/*.cc
+tools/replay/*.h
 
 selfdrive/__init__.py
 selfdrive/sentry.py
@@ -287,6 +289,7 @@ selfdrive/ui/soundd/*.cc
 selfdrive/ui/soundd/*.h
 selfdrive/ui/soundd/soundd
 selfdrive/ui/soundd/.gitignore
+selfdrive/ui/translations/*
 
 selfdrive/ui/qt/*.cc
 selfdrive/ui/qt/*.h
@@ -295,10 +298,6 @@ selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml
 selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
-
-tools/replay/*.cc
-tools/replay/*.h
-
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
 

selfdrive/car/honda/carcontroller.py

@@ -241,7 +241,7 @@ class CarController:
       idx = (self.frame // 10) % 4
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud, self.frame))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed

selfdrive/car/honda/hondacan.py

@@ -101,7 +101,7 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
   return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
 
 
-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud, frame):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
@@ -141,8 +141,6 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     lkas_hud_values['LANE_LINES'] = 3
     lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
-    # TODO: understand this better, does car need to see it fall after start up?
-    lkas_hud_values['LKAS_PROBLEM'] = 0 if frame > 200 else 1
 
   if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
     lkas_hud_values['SET_ME_X48'] = 0x48

selfdrive/common/tests/.gitignore

@@ -1,2 +0,0 @@
-test_util
-test_swaglog

selfdrive/locationd/laikad.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import json
+import math
 import os
 import time
 from collections import defaultdict
@@ -29,11 +30,12 @@ CACHE_VERSION = 0.1
 
 
 class Laikad:
-  def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
+  def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
                save_ephemeris=False, last_known_position=None):
     self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True)
     self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True)
 
+    self.auto_fetch_orbits = auto_fetch_orbits
     self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
     self.orbit_fetch_future: Optional[Future] = None
 
@@ -41,6 +43,7 @@ class Laikad:
     self.last_cached_t = None
     self.save_ephemeris = save_ephemeris
     self.load_cache()
+
     self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
     self.last_pos_fix = last_known_position if last_known_position is not None else []
     self.last_pos_residual = []
@@ -85,7 +88,8 @@ class Laikad:
       report = ublox_msg.measurementReport
       if report.gpsWeek > 0:
         latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow)
-        self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
+        if self.auto_fetch_orbits:
+          self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
 
       new_meas = read_raw_ublox(report)
       processed_measurements = process_measurements(new_meas, self.astro_dog)
@@ -146,8 +150,8 @@ class Laikad:
 
   def kf_valid(self, t: float) -> List[bool]:
     filter_time = self.gnss_kf.filter.get_filter_time()
-    return [filter_time is not None,
-            filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP,
+    return [not math.isnan(filter_time),
+            abs(t - filter_time) < MAX_TIME_GAP,
             all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))]
 
   def init_gnss_localizer(self, est_pos):
@@ -275,7 +279,8 @@ def main(sm=None, pm=None):
 
   replay = "REPLAY" in os.environ
   # todo get last_known_position
-  laikad = Laikad(save_ephemeris=not replay)
+  use_internet = "LAIKAD_NO_INTERNET" not in os.environ
+  laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet)
   while True:
     sm.update()
 

selfdrive/test/process_replay/process_replay.py

@@ -27,14 +27,14 @@ TIMEOUT = 15
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config'], defaults=({},))
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name'], defaults=({}, {}, ""))
 
 
 def wait_for_event(evt):
   if not evt.wait(TIMEOUT):
     if threading.currentThread().getName() == "MainThread":
       # tested process likely died. don't let test just hang
-      raise Exception("Timeout reached. Tested process likely crashed.")
+      raise Exception(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.")
     else:
       # done testing this process, let it die
       sys.exit(0)
@@ -190,6 +190,7 @@ def get_car_params(msgs, fsm, can_sock, fingerprint):
     _, CP = get_car(can, sendcan)
   Params().put("CarParams", CP.to_bytes())
 
+
 def controlsd_rcv_callback(msg, CP, cfg, fsm):
   # no sendcan until controlsd is initialized
   socks = [s for s in cfg.pub_sub[msg.which()] if
@@ -198,6 +199,7 @@ def controlsd_rcv_callback(msg, CP, cfg, fsm):
     socks.remove("sendcan")
   return socks, len(socks) > 0
 
+
 def radar_rcv_callback(msg, CP, cfg, fsm):
   if msg.which() != "can":
     return [], False
@@ -240,7 +242,7 @@ def laika_rcv_callback(msg, CP, cfg, fsm):
   if msg.ubloxGnss.which() == "measurementReport":
     return ["gnssMeasurements"], True
   else:
-    return [], False
+    return [], True
 
 
 CONFIGS = [
@@ -345,6 +347,19 @@ CONFIGS = [
     tolerance=None,
     fake_pubsubmaster=False,
   ),
+  ProcessConfig(
+    proc_name="laikad",
+    subtest_name="Offline",
+    pub_sub={
+      "ubloxGnss": ["gnssMeasurements"],
+    },
+    ignore=["logMonoTime"],
+    init_callback=get_car_params,
+    should_recv_callback=laika_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    fake_pubsubmaster=True,
+    environ={"LAIKAD_NO_INTERNET": "1"},
+  ),
   ProcessConfig(
     proc_name="laikad",
     pub_sub={
@@ -366,7 +381,8 @@ def replay_process(cfg, lr, fingerprint=None):
     else:
       return cpp_replay_process(cfg, lr, fingerprint)
 
-def setup_env(simulation=False, CP=None):
+
+def setup_env(simulation=False, CP=None, cfg=None):
   params = Params()
   params.clear_all()
   params.put_bool("OpenpilotEnabledToggle", True)
@@ -380,6 +396,16 @@ def setup_env(simulation=False, CP=None):
   os.environ['SKIP_FW_QUERY'] = ""
   os.environ['FINGERPRINT'] = ""
 
+  if cfg is not None:
+    # Clear all custom processConfig environment variables
+    for cfg in CONFIGS:
+      for k, _ in cfg.environ.items():
+        if k in os.environ:
+          del os.environ[k]
+
+    os.environ.update(cfg.environ)
+    os.environ['PROC_NAME'] = cfg.proc_name
+
   if simulation:
     os.environ["SIMULATION"] = "1"
   elif "SIMULATION" in os.environ:
@@ -396,6 +422,7 @@ def setup_env(simulation=False, CP=None):
       os.environ['SKIP_FW_QUERY'] = "1"
       os.environ['FINGERPRINT'] = CP.carFingerprint
 
+
 def python_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
@@ -413,10 +440,10 @@ def python_replay_process(cfg, lr, fingerprint=None):
   if fingerprint is not None:
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = fingerprint
-    setup_env()
+    setup_env(cfg=cfg)
   else:
     CP = [m for m in lr if m.which() == 'carParams'][0].carParams
-    setup_env(CP=CP)
+    setup_env(CP=CP, cfg=cfg)
 
   assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
   managed_processes[cfg.proc_name].prepare()
@@ -477,7 +504,7 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
   log_msgs = []
 
   # We need to fake SubMaster alive since we can't inject a fake clock
-  setup_env(simulation=True)
+  setup_env(simulation=True, cfg=cfg)
 
   managed_processes[cfg.proc_name].prepare()
   managed_processes[cfg.proc_name].start()

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-a0b5ce7b2e0b9c073e51ac8908402d53e1d99722
+a9adebff7ce27d6233d443217a30337b761898ee

selfdrive/test/process_replay/test_processes.py

@@ -200,11 +200,11 @@ if __name__ == "__main__":
         if cfg.proc_name not in tested_procs:
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{cur_commit}.bz2")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
           ref_log_path = get_url(*segment.rsplit("--", 1))
         else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{ref_commit}.bz2")
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
         dat = None if args.upload_only else log_data[segment]

selfdrive/test/test_onroad.py

@@ -24,7 +24,7 @@ PROCS = {
   "selfdrive.controls.controlsd": 35.0,
   "./loggerd": 10.0,
   "./encoderd": 12.5,
-  "./camerad": 16.5,
+  "./camerad": 14.5,
   "./locationd": 9.1,
   "selfdrive.controls.plannerd": 11.7,
   "./_ui": 19.2,

selfdrive/ui/qt/offroad/onboarding.cc

@@ -151,7 +151,7 @@ void DeclinePage::showEvent(QShowEvent *event) {
 
   QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack);
 
-  QPushButton *uninstall_btn = new QPushButton(QString(tr("Decline, uninstall %1")).arg(getBrand()));
+  QPushButton *uninstall_btn = new QPushButton(tr("Decline, uninstall %1").arg(getBrand()));
   uninstall_btn->setStyleSheet("background-color: #B73D3D");
   buttons->addWidget(uninstall_btn);
   QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() {

selfdrive/ui/qt/offroad/settings.cc

@@ -179,7 +179,7 @@ void DevicePanel::updateCalibDescription() {
       if (calib.getCalStatus() != 0) {
         double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
         double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
-        desc += QString(tr(" Your device is pointed %1° %2 and %3° %4."))
+        desc += tr(" Your device is pointed %1° %2 and %3° %4.")
                     .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"),
                          QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right"));
       }

selfdrive/ui/qt/onroad.cc

@@ -430,13 +430,13 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt);
+    painter.drawPolygon(scene.lane_line_vertices[i]);
   }
 
   // road edges
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt);
+    painter.drawPolygon(scene.road_edge_vertices[i]);
   }
 
   // paint path
@@ -455,7 +455,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
   bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
   painter.setBrush(bg);
-  painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);
+  painter.drawPolygon(scene.track_vertices);
 
   painter.restore();
 }

selfdrive/ui/qt/util.cc

@@ -63,13 +63,13 @@ QString timeAgo(const QDateTime &date) {
     s = "now";
   } else if (diff < 60 * 60) {
     int minutes = diff / 60;
-    s = QString(QObject::tr("%1 minute%2 ago")).arg(minutes).arg(minutes > 1 ? "s" : "");
+    s = QObject::tr("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : "");
   } else if (diff < 60 * 60 * 24) {
     int hours = diff / (60 * 60);
-    s = QString(QObject::tr("%1 hour%2 ago")).arg(hours).arg(hours > 1 ? "s" : "");
+    s = QObject::tr("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : "");
   } else if (diff < 3600 * 24 * 7) {
     int days = diff / (60 * 60 * 24);
-    s = QString(QObject::tr("%1 day%2 ago")).arg(days).arg(days > 1 ? "s" : "");
+    s = QObject::tr("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : "");
   } else {
     s = date.date().toString();
   }

selfdrive/ui/qt/widgets/cameraview.cc

@@ -243,13 +243,12 @@ void CameraViewWidget::paintGL() {
   // }
 
   // Log duplicate/dropped frames
-  static int prev_id = 0;
-  if (frames[frame_idx].first == prev_id) {
-    qInfo() << "Drawing same frame twice" << frames[frame_idx].first;
-  } else if (frames[frame_idx].first != prev_id + 1) {
-    qInfo() << "Skipped frame" << frames[frame_idx].first;
+  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_id = frames[frame_idx].first;
+  prev_frame_id = frames[frame_idx].first;
 
   glViewport(0, 0, width(), height());
   glBindVertexArray(frame_vao);

selfdrive/ui/qt/widgets/cameraview.h

@@ -78,6 +78,7 @@ protected:
 
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;
+  int prev_frame_id = 0;
 
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);

selfdrive/ui/qt/widgets/ssh_keys.cc

@@ -47,13 +47,13 @@ void SshControl::getUserKeys(const QString &username) {
         params.put("GithubUsername", username.toStdString());
         params.put("GithubSshKeys", resp.toStdString());
       } else {
-        ConfirmationDialog::alert(QString(tr("Username '%1' has no keys on GitHub")).arg(username), this);
+        ConfirmationDialog::alert(tr("Username '%1' has no keys on GitHub").arg(username), this);
       }
     } else {
       if (request->timeout()) {
         ConfirmationDialog::alert(tr("Request timed out"), this);
       } else {
-        ConfirmationDialog::alert(QString(tr("Username '%1' doesn't exist on GitHub")).arg(username), this);
+        ConfirmationDialog::alert(tr("Username '%1' doesn't exist on GitHub").arg(username), this);
       }
     }
 

selfdrive/ui/tests/test_translations.py

@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+import json
+import os
+import unittest
+
+from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
+
+
+class TestTranslations(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    with open(LANGUAGES_FILE, "r") as f:
+      cls.translation_files = json.load(f)
+
+  def test_missing_translation_files(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        if not len(file):
+          self.skipTest(f"{name} translation has no file")
+
+        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")),
+                        f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
+        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.qm")),
+                        f"{name} has no compiled QM translation file, run selfdrive/ui/update_translations.py --release")
+
+  def test_translations_updated(self):
+    suffix = "_test"
+    update_translations(suffix=suffix)
+
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        cur_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}.ts")
+        new_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts")
+
+        if not len(file):
+          self.skipTest(f"{name} translation has no file")
+        elif not os.path.exists(cur_tr_file):
+          self.skipTest(f"{name} missing translation file")  # caught by test_missing_translation_files
+
+        with open(cur_tr_file, "r") as f:
+          cur_translations = f.read()
+        with open(new_tr_file, "r") as f:
+          new_translations = f.read()
+
+        self.assertEqual(cur_translations, new_translations,
+                         f"{name} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/ui/translations/languages.json

@@ -0,0 +1,3 @@
+{
+  "English": ""
+}

selfdrive/ui/ui.cc

@@ -55,10 +55,13 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta
 }
 
 static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
-                             float y_off, float z_off, line_vertices_data *pvd, int max_idx, bool allow_invert=true) {
+                             float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
   const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
 
-  std::vector<QPointF> left_points, right_points;
+  QPolygonF left_points, right_points;
+  left_points.reserve(max_idx + 1);
+  right_points.reserve(max_idx + 1);
+
   for (int i = 0; i <= max_idx; i++) {
     QPointF left, right;
     bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
@@ -69,19 +72,10 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa
         continue;
       }
       left_points.push_back(left);
-      right_points.push_back(right);
+      right_points.push_front(right);
     }
   }
-
-  pvd->cnt = 2 * left_points.size();
-  assert(left_points.size() == right_points.size());
-  assert(pvd->cnt <= std::size(pvd->v));
-
-  for (int left_idx = 0; left_idx < left_points.size(); left_idx++){
-    int right_idx = 2 * left_points.size() - left_idx - 1;
-    pvd->v[left_idx] = left_points[left_idx];
-    pvd->v[right_idx] = right_points[left_idx];
-  }
+  *pvd = left_points + right_points;
 }
 
 static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {

selfdrive/ui/ui.h

@@ -8,6 +8,7 @@
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
+#include <QPolygonF>
 #include <QTransform>
 
 #include "cereal/messaging/messaging.h"
@@ -84,11 +85,6 @@ const QColor bg_colors [] = {
   [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),
 };
 
-typedef struct {
-  QPointF v[TRAJECTORY_SIZE * 2];
-  int cnt;
-} line_vertices_data;
-
 typedef struct UIScene {
   bool calibration_valid = false;
   mat3 view_from_calib = DEFAULT_CALIBRATION;
@@ -97,9 +93,9 @@ typedef struct UIScene {
   // modelV2
   float lane_line_probs[4];
   float road_edge_stds[2];
-  line_vertices_data track_vertices;
-  line_vertices_data lane_line_vertices[4];
-  line_vertices_data road_edge_vertices[2];
+  QPolygonF track_vertices;
+  QPolygonF lane_line_vertices[4];
+  QPolygonF road_edge_vertices[2];
 
   // lead
   QPointF lead_vertices[2];

selfdrive/ui/update_translations.py

@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import json
+
+from common.basedir import BASEDIR
+
+UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui")
+TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
+LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
+
+
+def update_translations(release=False, suffix=""):
+  with open(LANGUAGES_FILE, "r") as f:
+    translation_files = json.load(f)
+
+  for name, file in translation_files.items():
+    if not len(file):
+      print(f"{name} has no translation file, skipping...")
+      continue
+
+    tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts")
+    ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}")
+    assert ret == 0
+
+    if release:
+      ret = os.system(f"lrelease {tr_file}")
+      assert ret == 0
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Update translation files for UI",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--release", action="store_true", help="Create compiled QM translation files used by UI")
+  args = parser.parse_args()
+
+  update_translations(args.release)

system/camerad/cameras/camera_common.cc

@@ -66,11 +66,10 @@ private:
   bool hdr_;
 };
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type, release_cb init_release_callback) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type) {
   vipc_server = v;
   this->rgb_type = init_rgb_type;
   this->yuv_type = init_yuv_type;
-  this->release_callback = init_release_callback;
 
   const CameraInfo *ci = &s->ci;
   camera_state = s;
@@ -127,7 +126,7 @@ CameraBuf::~CameraBuf() {
 }
 
 bool CameraBuf::acquire() {
-  if (!safe_queue.try_pop(cur_buf_idx, 1)) return false;
+  if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
 
   if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
     LOGE("no frame data? wtf");
@@ -169,9 +168,7 @@ bool CameraBuf::acquire() {
 }
 
 void CameraBuf::release() {
-  if (release_callback) {
-    release_callback((void*)camera_state, cur_buf_idx);
-  }
+  // Empty
 }
 
 void CameraBuf::queue(size_t buf_idx) {

system/camerad/cameras/camera_common.h

@@ -48,8 +48,6 @@ const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 
-typedef void (*release_cb)(void *cookie, int buf_idx);
-
 typedef struct CameraInfo {
   uint32_t frame_width, frame_height;
   uint32_t frame_stride;
@@ -85,11 +83,6 @@ typedef struct FrameMetadata {
   float processing_time;
 } FrameMetadata;
 
-typedef struct CameraExpInfo {
-  int op_id;
-  float grey_frac;
-} CameraExpInfo;
-
 struct MultiCameraState;
 struct CameraState;
 class Debayer;
@@ -108,7 +101,6 @@ private:
   SafeQueue<int> safe_queue;
 
   int frame_buf_count;
-  release_cb release_callback;
 
 public:
   cl_command_queue q;
@@ -124,7 +116,7 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback=nullptr);
+  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type);
   bool acquire();
   void release();
   void queue(size_t buf_idx);

tools/ssh/README.md

@@ -22,3 +22,52 @@ The public keys are only fetched from your GitHub account once. In order to upda
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
 See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information.
+
+# Connecting to ssh.comma.ai
+SSH into your comma device from anywhere with `ssh.comma.ai`.
+
+## Setup
+
+With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`.
+
+Requires [comma SIM with comma prime](https://comma.ai/shop) activated with comma connect, available on iOS and Android. comma two and EON ship with a pre-inserted comma SIM.
+
+## Recommended .ssh/config
+
+With the below ssh configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`. For example, `ssh comma-ffffffffffffffff`.
+
+```
+Host comma-*
+  Port 22
+  User comma
+  IdentityFile ~/.ssh/my_github_key
+  ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
+Host ssh.comma.ai
+  Hostname ssh.comma.ai
+  Port 22
+  IdentityFile ~/.ssh/my_github_key
+```
+
+## One-off connection
+
+```
+ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
+```
+(Replace `ffffffffffffffff` with your dongle_id)
+
+## ssh.comma.ai host key fingerprint
+
+```
+Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
++---[RSA 4096]----+
+|                 |
+|                 |
+|        .        |
+|         +   o   |
+|        S = + +..|
+|         + @ = .=|
+|        . B @ ++=|
+|         o * B XE|
+|         .o o OB/|
++----[SHA256]-----+
+```