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Merge remote-tracking branch 'upstream/master' into subaru-fix-console-message

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pull/27829/head
Shane Smiskol 2 years ago
parent 5b367657d8 158c951d6f
commit c4ad17b564
44 changed files with 592 additions and 208 deletions
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  1. 9
      .pre-commit-config.yaml
  2. 3
      RELEASES.md
  3. 2
      common/i2c.cc
  4. 10
      docs/CARS.md
  5. 2
      opendbc
  6. 2
      panda
  7. 8
      selfdrive/boardd/pandad.py
  8. 1
      selfdrive/boardd/set_time.py
  9. 14
      selfdrive/boardd/tests/test_pandad.py
  10. 1
      selfdrive/car/ford/values.py
  11. 13
      selfdrive/car/honda/carstate.py
  12. 9
      selfdrive/car/honda/interface.py
  13. 35
      selfdrive/car/honda/values.py
  14. 24
      selfdrive/car/hyundai/carcontroller.py
  15. 6
      selfdrive/car/hyundai/carstate.py
  16. 88
      selfdrive/car/hyundai/hyundaicanfd.py
  17. 31
      selfdrive/car/hyundai/interface.py
  18. 4
      selfdrive/car/hyundai/values.py
  19. 2
      selfdrive/car/nissan/values.py
  20. 2
      selfdrive/car/tests/routes.py
  21. 80
      selfdrive/car/tests/test_fw_fingerprint.py
  22. 44
      selfdrive/car/tests/test_lateral_limits.py
  23. 1
      selfdrive/car/torque_data/override.yaml
  24. 23
      selfdrive/car/volkswagen/values.py
  25. 4
      selfdrive/debug/test_fw_query_on_routes.py
  26. 3
      system/hardware/base.py
  27. 7
      system/hardware/tici/hardware.py
  28. 4
      tools/cabana/cabana.cc
  29. 61
      tools/cabana/chart/chart.cc
  30. 37
      tools/cabana/chart/chartswidget.cc
  31. 2
      tools/cabana/chart/chartswidget.h
  32. 14
      tools/cabana/chart/tiplabel.cc
  33. 2
      tools/cabana/chart/tiplabel.h
  34. 70
      tools/cabana/messageswidget.cc
  35. 18
      tools/cabana/messageswidget.h
  36. 27
      tools/cabana/route.cc
  37. 2
      tools/cabana/route.h
  38. 48
      tools/cabana/settings.cc
  39. 8
      tools/cabana/settings.h
  40. 12
      tools/cabana/streams/livestream.cc
  41. 4
      tools/cabana/streams/replaystream.cc
  42. 5
      tools/cabana/streams/replaystream.h
  43. 48
      tools/cabana/util.cc
  44. 10
      tools/cabana/util.h

9
.pre-commit-config.yaml
Unescape View File

@ -4,11 +4,12 @@ repos:
- id: check-hooks-apply
- id: check-useless-excludes
- repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.1.0
rev: v4.4.0
hooks:
- id: check-ast
exclude: '^(third_party)/'
- id: check-json
- id: check-toml
- id: check-xml
- id: check-yaml
- id: check-merge-conflict
@ -16,7 +17,7 @@ repos:
- id: check-added-large-files
args: ['--maxkb=100']
- repo: https://github.com/codespell-project/codespell
rev: v2.2.1
rev: v2.2.4
hooks:
- id: codespell
exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
@ -33,7 +34,7 @@ repos:
types: [python]
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
- repo: https://github.com/PyCQA/flake8
rev: 4.0.1
rev: 6.0.0
hooks:
- id: flake8
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
@ -79,6 +80,6 @@ repos:
language: script
pass_filenames: false
- repo: https://github.com/python-poetry/poetry
rev: '1.2.2'
rev: '1.4.0'
hooks:
- id: poetry-check

3
RELEASES.md
Unescape View File

@ -2,8 +2,9 @@ Version 0.9.2 (2023-03-XX)
========================
* New driving model, trained on a new dataset
* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
* Buick LaCrosse 2017-19 support thanks to koch-cf!
* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
* Kia Niro EV 2023 support thanks to JosselinLecocq!
* Lexus ES 2017-18 support
* Škoda Fabia 2022-23 support thanks to jyoung8607!

2
common/i2c.cc
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@ -15,7 +15,7 @@
#define UNUSED(x) (void)(x)
#ifdef QCOM2
// TODO: decide if we want to isntall libi2c-dev everywhere
// TODO: decide if we want to install libi2c-dev everywhere
extern "C" {
#include <linux/i2c-dev.h>
#include <i2c/smbus.h>

10
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
# 242 Supported Cars
# 244 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -55,6 +55,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec</a>||
|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec</a>||
|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec</a>||
|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B</a>||
|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A</a>||
|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A</a>||
|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec</a>||
@ -99,8 +100,8 @@ A supported vehicle is one that just works when you install a comma three. All s
|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA</a>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E</a>||
|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P</a>||
|Kia|EV6 (with HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022">Hyundai P</a>||
|Kia|EV6 (without HDA II) 2022[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022">Hyundai L</a>||
|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P</a>||
|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L</a>||
|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G</a>||
|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A</a>||
|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A</a>||
@ -149,7 +150,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda</a>||
|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda</a>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B</a>||
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-22">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram</a>||
@ -249,6 +250,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533</a>||
|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533</a>||
|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533</a>||
|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533</a>||
|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533</a>||
<a id="footnotes"></a>

2
opendbc

@ -1 +1 @@
Subproject commit 3c81860270e918d1a08f14a833522fd798aa39ca
Subproject commit 933d784a0d901657a278ee6e56a154e7e8214f1f

2
panda

@ -1 +1 @@
Subproject commit 00339119e7377d39910ae34a6b15880388060335
Subproject commit 77690944d169e277885f1a2e192888c15e7dbf0d

8
selfdrive/boardd/pandad.py
Unescape View File

@ -115,6 +115,14 @@ def main() -> NoReturn:
cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
panda.reset()
# Ensure internal panda is present if expected
internal_pandas = [panda for panda in pandas if panda.is_internal()]
if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
cloudlog.error("Internal panda is missing, resetting")
HARDWARE.reset_internal_panda()
time.sleep(2) # wait to come back up
continue
# sort pandas to have deterministic order
pandas.sort(key=cmp_to_key(panda_sort_cmp))
panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore

1
selfdrive/boardd/set_time.py
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@ -24,7 +24,6 @@ def set_time(logger):
# Set system time from panda RTC time
panda_time = p.get_datetime()
logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
if panda_time > MIN_DATE:
logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
os.system(f"TZ=UTC date -s '{panda_time}'")

14
selfdrive/boardd/tests/test_pandad.py
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@ -4,9 +4,11 @@ import unittest
import cereal.messaging as messaging
from panda import Panda
from common.gpio import gpio_set, gpio_init
from selfdrive.test.helpers import phone_only
from selfdrive.manager.process_config import managed_processes
from system.hardware import HARDWARE
from system.hardware.tici.pins import GPIO
class TestPandad(unittest.TestCase):
@ -40,6 +42,18 @@ class TestPandad(unittest.TestCase):
managed_processes['pandad'].start()
self._wait_for_boardd()
@phone_only
def test_internal_panda_reset(self):
gpio_init(GPIO.STM_RST_N, True)
gpio_set(GPIO.STM_RST_N, 1)
time.sleep(0.5)
assert all(not Panda(s).is_internal() for s in Panda.list())
managed_processes['pandad'].start()
self._wait_for_boardd()
assert any(Panda(s).is_internal() for s in Panda.list())
#def test_out_of_date_fw(self):
# pass

1
selfdrive/car/ford/values.py
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@ -150,6 +150,7 @@ FW_VERSIONS = {
b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.shiftByWire, 0x732, None): [

13
selfdrive/car/honda/carstate.py
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@ -103,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
else:
checks.append(("CRUISE_PARAMS", 50))
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
@ -120,7 +120,10 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
checks.append(("GAS_SENSOR", 50))
if CP.openpilotLongitudinalControl:
if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
signals.append(("CRUISE_FAULT", "CRUISE_FAULT_STATUS"))
checks.append(("CRUISE_FAULT_STATUS", 50))
elif CP.openpilotLongitudinalControl:
signals += [
("BRAKE_ERROR_1", "STANDSTILL"),
("BRAKE_ERROR_2", "STANDSTILL")
@ -176,7 +179,7 @@ class CarState(CarStateBase):
# panda checks if the signal is non-zero
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
# TODO: find a common signal across all cars
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022):
if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G):
ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"])
@ -191,7 +194,9 @@ class CarState(CarStateBase):
# NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
if self.CP.openpilotLongitudinalControl:
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]
elif self.CP.openpilotLongitudinalControl:
self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0

9
selfdrive/car/honda/interface.py
Unescape View File

@ -193,15 +193,18 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
elif candidate == CAR.HRV:
elif candidate in (CAR.HRV, CAR.HRV_3G):
ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
tire_stiffness_factor = 0.5
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025
if candidate == CAR.HRV:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025
else:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning
elif candidate == CAR.ACURA_RDX:
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG

35
selfdrive/car/honda/values.py
Unescape View File

@ -87,6 +87,7 @@ class CAR:
FIT = "HONDA FIT 2018"
FREED = "HONDA FREED 2020"
HRV = "HONDA HRV 2019"
HRV_3G = "HONDA HR-V 2023"
ODYSSEY = "HONDA ODYSSEY 2018"
ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
ACURA_RDX = "ACURA RDX 2018"
@ -138,6 +139,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey
CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
@ -1419,6 +1421,32 @@ FW_VERSIONS = {
b'78109-THW-A110\x00\x00',
],
},
CAR.HRV_3G: {
(Ecu.eps, 0x18DA30F1, None): [
b'39990-3W0-A030\x00\x00',
],
(Ecu.gateway, 0x18DAEFF1, None): [
b'38897-3W1-A010\x00\x00',
],
(Ecu.srs, 0x18DA53F1, None): [
b'77959-3V0-A820\x00\x00',
],
(Ecu.combinationMeter, 0x18DA60F1, None): [
b'78108-3V1-A220\x00\x00',
],
(Ecu.vsa, 0x18DA28F1, None): [
b'57114-3W0-A040\x00\x00',
],
(Ecu.transmission, 0x18DA1EF1, None): [
b'28101-6EH-A010\x00\x00',
],
(Ecu.programmedFuelInjection, 0x18DA10F1, None): [
b'37805-6CT-A710\x00\x00',
],
(Ecu.electricBrakeBooster, 0x18DA2BF1, None): [
b'46114-3W0-A020\x00\x00',
],
},
CAR.ACURA_ILX: {
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TX6-A010\x00\x00',
@ -1537,6 +1565,7 @@ DBC = {
CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
@ -1556,6 +1585,6 @@ HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY}
HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN,
CAR.PILOT, CAR.RIDGELINE}
HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022}
HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022}
CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}

24
selfdrive/car/hyundai/carcontroller.py
Unescape View File

@ -5,6 +5,7 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_driver_steer_torque_limits
from selfdrive.car.hyundai import hyundaicanfd, hyundaican
from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -44,6 +45,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.CAN = CanBus(CP)
self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_name)
self.angle_limit_counter = 0
@ -85,12 +87,12 @@ class CarController:
# for longitudinal control, either radar or ADAS driving ECU
addr, bus = 0x7d0, 0
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, 5
addr, bus = 0x730, self.CAN.ECAN
can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
# for blinkers
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 5])
can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
# >90 degree steering fault prevention
# Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
@ -112,25 +114,25 @@ class CarController:
hda2_long = hda2 and self.CP.openpilotLongitudinalControl
# steering control
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer))
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, lat_active, apply_steer))
# disable LFA on HDA2
if self.frame % 5 == 0 and hda2:
can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long):
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
# blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.frame, CC.leftBlinker, CC.rightBlinker))
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
if self.CP.openpilotLongitudinalControl:
if hda2:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units))
self.accel_last = accel
else:
@ -139,11 +141,11 @@ class CarController:
# cruise cancel
if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info))
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info))
self.last_button_frame = self.frame
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL))
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
# cruise standstill resume
@ -153,7 +155,7 @@ class CarController:
pass
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,

6
selfdrive/car/hyundai/carstate.py
Unescape View File

@ -6,7 +6,7 @@ from cereal import car
from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.interfaces import CarStateBase
@ -516,7 +516,7 @@ class CarState(CarStateBase):
("ACCELERATOR_BRAKE_ALT", 100),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_e_can_bus(CP))
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).ECAN)
@staticmethod
def get_cam_can_parser_canfd(CP):
@ -543,4 +543,4 @@ class CarState(CarStateBase):
("SCC_CONTROL", 50),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM)

88
selfdrive/car/hyundai/hyundaicanfd.py
Unescape View File

@ -1,14 +1,44 @@
import math
from common.numpy_fast import clip
from selfdrive.car.hyundai.values import HyundaiFlags
def get_e_can_bus(CP):
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
# have a different harness than the HDA1 and non-HDA variants in order to split
# a different bus, since the steering is done by different ECUs.
return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
class CanBus:
def __init__(self, CP, hda2=None, fingerprint=None):
if CP is None:
assert None not in (hda2, fingerprint)
num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4)
else:
hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
num = len(CP.safetyConfigs)
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
# have a different harness than the HDA1 and non-HDA variants in order to split
# a different bus, since the steering is done by different ECUs.
self._a, self._e = 1, 0
if hda2:
self._a, self._e = 0, 1
offset = 4*(num - 1)
self._a += offset
self._e += offset
self._cam = 2 + offset
@property
def ECAN(self):
return self._e
@property
def ACAN(self):
return self._a
@property
def CAM(self):
return self._cam
def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
ret = []
@ -26,45 +56,45 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
if CP.flags & HyundaiFlags.CANFD_HDA2:
if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", 5, values))
ret.append(packer.make_can_msg("LKAS", 4, values))
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
else:
ret.append(packer.make_can_msg("LFA", 4, values))
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
return ret
def create_cam_0x2a4(packer, camera_values):
def create_cam_0x2a4(packer, CAN, camera_values):
camera_values.update({
"BYTE7": 0,
})
return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values)
def create_buttons(packer, CP, cnt, btn):
def create_buttons(packer, CP, CAN, cnt, btn):
values = {
"COUNTER": cnt,
"SET_ME_1": 1,
"CRUISE_BUTTONS": btn,
}
bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
def create_acc_cancel(packer, CP, cruise_info_copy):
def create_acc_cancel(packer, CAN, cruise_info_copy):
values = cruise_info_copy
values.update({
"ACCMode": 4,
})
return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_lfahda_cluster(packer, CP, enabled):
def create_lfahda_cluster(packer, CAN, enabled):
values = {
"HDA_ICON": 1 if enabled else 0,
"LFA_ICON": 2 if enabled else 0,
}
return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values)
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed):
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
@ -92,15 +122,15 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
"DISTANCE_SETTING": 4,
}
return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_spas_messages(packer, frame, left_blink, right_blink):
def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
ret = []
values = {
}
ret.append(packer.make_can_msg("SPAS1", 5, values))
ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
blink = 0
if left_blink:
@ -110,12 +140,12 @@ def create_spas_messages(packer, frame, left_blink, right_blink):
values = {
"BLINKER_CONTROL": blink,
}
ret.append(packer.make_can_msg("SPAS2", 5, values))
ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
return ret
def create_adrv_messages(packer, frame):
def create_adrv_messages(packer, CAN, frame):
# messages needed to car happy after disabling
# the ADAS Driving ECU to do longitudinal control
@ -123,7 +153,7 @@ def create_adrv_messages(packer, frame):
values = {
}
ret.append(packer.make_can_msg("ADRV_0x51", 4, values))
ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
if frame % 2 == 0:
values = {
@ -133,7 +163,7 @@ def create_adrv_messages(packer, frame):
'SET_ME_FC': 0xfc,
'SET_ME_9': 0x9,
}
ret.append(packer.make_can_msg("ADRV_0x160", 5, values))
ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
if frame % 5 == 0:
values = {
@ -142,25 +172,25 @@ def create_adrv_messages(packer, frame):
'SET_ME_TMP_F': 0xf,
'SET_ME_TMP_F_2': 0xf,
}
ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values))
ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))
values = {
'SET_ME_E1': 0xe1,
'SET_ME_3A': 0x3a,
}
ret.append(packer.make_can_msg("ADRV_0x200", 5, values))
ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))
if frame % 20 == 0:
values = {
'SET_ME_15': 0x15,
}
ret.append(packer.make_can_msg("ADRV_0x345", 5, values))
ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))
if frame % 100 == 0:
values = {
'SET_ME_22': 0x22,
'SET_ME_41': 0x41,
}
ret.append(packer.make_can_msg("ADRV_0x1da", 5, values))
ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
return ret

31
selfdrive/car/hyundai/interface.py
Unescape View File

@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
from selfdrive.car.hyundai.hyundaicanfd import CanBus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
@ -28,17 +28,20 @@ class CarInterface(CarInterfaceBase):
# added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
CAN = CanBus(None, hda2, fingerprint)
if candidate in CANFD_CAR:
# detect HDA2 with ADAS Driving ECU
if Ecu.adas in [fw.ecu for fw in car_fw]:
if hda2:
ret.flags |= HyundaiFlags.CANFD_HDA2.value
else:
# non-HDA2
if 0x1cf not in fingerprint[4]:
if 0x1cf not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
if 0x130 not in fingerprint[4]:
if 0x40 not in fingerprint[4]:
if 0x130 not in fingerprint[CAN.ECAN]:
if 0x40 not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
else:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
@ -248,21 +251,23 @@ class CarInterface(CarInterfaceBase):
# *** feature detection ***
if candidate in CANFD_CAR:
ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)]
ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
else:
ret.enableBsm = 0x58b in fingerprint[0]
# *** panda safety config ***
if candidate in CANFD_CAR:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
if ret.flags & HyundaiFlags.CANFD_HDA2:
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
else:
if candidate in LEGACY_SAFETY_MODE_CAR:
# these cars require a special panda safety mode due to missing counters and checksums in the messages
@ -297,12 +302,12 @@ class CarInterface(CarInterfaceBase):
if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
addr, bus = 0x7d0, 0
if CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, 5
addr, bus = 0x730, CanBus(CP).ECAN
disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
# for blinkers
if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
disable_ecu(logcan, sendcan, bus=5, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01')
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)

4
selfdrive/car/hyundai/values.py
Unescape View File

@ -234,8 +234,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
CAR.KIA_EV6: [
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_p),
HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l),
HyundaiCarInfo("Kia EV6 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_p)
HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_l),
HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_p)
],
# Genesis

2
selfdrive/car/nissan/values.py
Unescape View File

@ -39,7 +39,7 @@ class NissanCarInfo(CarInfo):
CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22", video_link="https://youtu.be/vaMbtAh_0cY"),
CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
CAR.LEAF_IC: None, # same platforms
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b),

2
selfdrive/car/tests/routes.py
Unescape View File

@ -69,6 +69,7 @@ routes = [
CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HRV_3G),
CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T
CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T
@ -127,6 +128,7 @@ routes = [
CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2
CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6), # HDA1
CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),

80
selfdrive/car/tests/test_fw_fingerprint.py
Unescape View File

@ -1,19 +1,29 @@
#!/usr/bin/env python3
import random
import time
import unittest
from collections import defaultdict
from parameterized import parameterized
import threading
from cereal import car
from selfdrive.car.car_helpers import get_interface_attr, interfaces
from common.params import Params
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, match_fw_to_car
from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions
CarFw = car.CarParams.CarFw
Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
class FakeSocket:
def receive(self, non_blocking=False):
pass
def send(self, msg):
pass
class TestFwFingerprint(unittest.TestCase):
@ -104,5 +114,69 @@ class TestFwFingerprint(unittest.TestCase):
f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
class TestFwFingerprintTiming(unittest.TestCase):
@staticmethod
def _benchmark(brand, num_pandas, n):
params = Params()
fake_socket = FakeSocket()
times = []
for _ in range(n):
params.put_bool("ObdMultiplexingEnabled", True)
thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas))
thread.start()
t = time.perf_counter()
while thread.is_alive():
time.sleep(0.02)
if not params.get_bool("ObdMultiplexingChanged"):
params.put_bool("ObdMultiplexingChanged", True)
times.append(time.perf_counter() - t)
return round(sum(times) / len(times), 2)
def _assert_timing(self, avg_time, ref_time, tol):
self.assertLess(avg_time, ref_time + tol)
self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.")
def test_fw_query_timing(self):
tol = 0.1
total_ref_time = 4.6
brand_ref_times = {
1: {
'body': 0.1,
'chrysler': 0.3,
'ford': 0.2,
'honda': 0.5,
'hyundai': 0.7,
'mazda': 0.1,
'nissan': 0.3,
'subaru': 0.1,
'tesla': 0.2,
'toyota': 0.7,
'volkswagen': 0.2,
},
2: {
'hyundai': 1.1,
}
}
total_time = 0
for num_pandas in (1, 2):
for brand, config in FW_QUERY_CONFIGS.items():
with self.subTest(brand=brand, num_pandas=num_pandas):
multi_panda_requests = [r for r in config.requests if r.bus > 3]
if not len(multi_panda_requests) and num_pandas > 1:
raise unittest.SkipTest("No multi-panda FW queries")
avg_time = self._benchmark(brand, num_pandas, 10)
total_time += avg_time
self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol)
print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
with self.subTest(brand='all_brands'):
self._assert_timing(total_time, total_ref_time, tol)
print(f'all brands, total FW query time={total_time} seconds')
if __name__ == "__main__":
unittest.main()

44
selfdrive/car/tests/test_lateral_limits.py
Unescape View File

@ -10,16 +10,24 @@ from common.realtime import DT_CTRL
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.interfaces import get_torque_params
from selfdrive.car.subaru.values import CAR as SUBARU
CAR_MODELS = all_known_cars()
# ISO 11270
MAX_LAT_JERK = 2.5 # m/s^3
MAX_LAT_JERK_TOLERANCE = 0.75 # m/s^3
MAX_LAT_ACCEL = 3.0 # m/s^2
# ISO 11270 - allowed up jerk is strictly lower than recommended limits
MAX_LAT_ACCEL = 3.0 # m/s^2
MAX_LAT_JERK_UP = 2.5 # m/s^3
MAX_LAT_JERK_DOWN = 5.0 # m/s^3
MAX_LAT_JERK_UP_TOLERANCE = 0.5 # m/s^3
# jerk is measured over half a second
JERK_MEAS_FRAMES = 0.5 / DT_CTRL
JERK_MEAS_T = 0.5
# TODO: put these cars within limits
ABOVE_LIMITS_CARS = [
SUBARU.LEGACY,
SUBARU.OUTBACK,
]
car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
@ -43,6 +51,9 @@ class TestLateralLimits(unittest.TestCase):
if CP.notCar:
raise unittest.SkipTest
if CP.carFingerprint in ABOVE_LIMITS_CARS:
raise unittest.SkipTest
CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
cls.control_params = CarControllerParams(CP)
cls.torque_params = get_torque_params(cls.car_model)
@ -50,20 +61,24 @@ class TestLateralLimits(unittest.TestCase):
@staticmethod
def calculate_0_5s_jerk(control_params, torque_params):
steer_step = control_params.STEER_STEP
steer_up_per_frame = (control_params.STEER_DELTA_UP / control_params.STEER_MAX) / steer_step
steer_down_per_frame = (control_params.STEER_DELTA_DOWN / control_params.STEER_MAX) / steer_step
max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED']
steer_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_FRAMES, 1.0)
steer_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_FRAMES, 1.0)
# Steer up/down delta per 10ms frame, in percentage of max torque
steer_up_per_frame = control_params.STEER_DELTA_UP / control_params.STEER_MAX / steer_step
steer_down_per_frame = control_params.STEER_DELTA_DOWN / control_params.STEER_MAX / steer_step
max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED']
return steer_up_0_5_sec * max_lat_accel, steer_down_0_5_sec * max_lat_accel
# Lateral acceleration reached in 0.5 seconds, clipping to max torque
accel_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
accel_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
# Convert to m/s^3
return accel_up_0_5_sec / JERK_MEAS_T, accel_down_0_5_sec / JERK_MEAS_T
def test_jerk_limits(self):
up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
self.assertLessEqual(up_jerk, MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE)
self.assertLessEqual(down_jerk, MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE)
self.assertLessEqual(up_jerk, MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE)
self.assertLessEqual(down_jerk, MAX_LAT_JERK_DOWN)
def test_max_lateral_accel(self):
self.assertLessEqual(self.torque_params["MAX_LAT_ACCEL_MEASURED"], MAX_LAT_ACCEL)
@ -76,7 +91,8 @@ if __name__ == "__main__":
max_car_model_len = max([len(car_model) for car_model in car_model_jerks])
for car_model, _jerks in sorted(car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True):
violation = any([_jerk >= MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE for _jerk in _jerks.values()])
violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \
_jerks["down_jerk"] > MAX_LAT_JERK_DOWN
violation_str = " - VIOLATION" if violation else ""
print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")

1
selfdrive/car/torque_data/override.yaml
Unescape View File

@ -52,3 +52,4 @@ mock: [10.0, 10, 0.0]
# Manually checked
HONDA CIVIC 2022: [2.5, 1.2, 0.15]
HONDA HR-V 2023: [2.5, 1.2, 0.2]

23
selfdrive/car/volkswagen/values.py
Unescape View File

@ -223,7 +223,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
],
CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"),
CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2018-23"),
CAR.TIGUAN_MK2: [
VWCarInfo("Volkswagen Tiguan 2018-23"),
VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"),
],
CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
CAR.TRANSPORTER_T61: [
VWCarInfo("Volkswagen Caravelle 2020"),
@ -289,6 +292,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
FW_VERSIONS = {
CAR.ARTEON_MK1: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x873G0906259M \xf1\x890003',
b'\xf1\x873G0906259F \xf1\x890004',
b'\xf1\x873G0906259N \xf1\x890004',
b'\xf1\x873G0906259P \xf1\x890001',
@ -296,18 +300,21 @@ FW_VERSIONS = {
b'\xf1\x873G0906259G \xf1\x890004',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870DL300014C \xf1\x893704',
b'\xf1\x8709G927158L \xf1\x893611',
b'\xf1\x870GC300011L \xf1\x891401',
b'\xf1\x870GC300014M \xf1\x892802',
b'\xf1\x870GC300040P \xf1\x891401',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49',
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900',
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00',
b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N',
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800',
@ -397,6 +404,7 @@ FW_VERSIONS = {
b'\xf1\x8704L906021DT\xf1\x895520',
b'\xf1\x8704L906021DT\xf1\x898127',
b'\xf1\x8704L906021N \xf1\x895518',
b'\xf1\x8704L906021N \xf1\x898138',
b'\xf1\x8704L906026BN\xf1\x891197',
b'\xf1\x8704L906026BP\xf1\x897608',
b'\xf1\x8704L906026NF\xf1\x899528',
@ -443,6 +451,7 @@ FW_VERSIONS = {
b'\xf1\x870CW300045 \xf1\x894531',
b'\xf1\x870CW300047D \xf1\x895261',
b'\xf1\x870CW300048J \xf1\x890611',
b'\xf1\x870CW300049H \xf1\x890905',
b'\xf1\x870D9300012 \xf1\x894904',
b'\xf1\x870D9300012 \xf1\x894913',
b'\xf1\x870D9300012 \xf1\x894937',
@ -536,6 +545,7 @@ FW_VERSIONS = {
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101',
b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101',
b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101',
b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101',
b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101',
@ -749,6 +759,7 @@ FW_VERSIONS = {
b'\xf1\x8783A907115F \xf1\x890002',
b'\xf1\x8783A907115G \xf1\x890001',
b'\xf1\x8783A907115K \xf1\x890001',
b'\xf1\x8704E906024AP\xf1\x891461',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8709G927158DT\xf1\x893698',
@ -764,6 +775,7 @@ FW_VERSIONS = {
b'\xf1\x870DL300013G \xf1\x892119',
b'\xf1\x870DL300013G \xf1\x892120',
b'\xf1\x870DL300014C \xf1\x893703',
b'\xf1\x870DD300046K \xf1\x892302',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
@ -775,6 +787,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
@ -787,6 +800,7 @@ FW_VERSIONS = {
b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AA\xf1\x890396',
@ -816,6 +830,7 @@ FW_VERSIONS = {
},
CAR.TRANSPORTER_T61: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906056AG\xf1\x899970',
b'\xf1\x8704L906056AL\xf1\x899970',
b'\xf1\x8704L906057AP\xf1\x891186',
b'\xf1\x8704L906057N \xf1\x890413',
@ -823,12 +838,15 @@ FW_VERSIONS = {
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870BT300012G \xf1\x893102',
b'\xf1\x870BT300012E \xf1\x893105',
b'\xf1\x870BT300046R \xf1\x893102',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411',
b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2',
b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2',
],
@ -1197,6 +1215,7 @@ FW_VERSIONS = {
b'\xf1\x8704L906026FP\xf1\x891196',
b'\xf1\x8704L906026KB\xf1\x894071',
b'\xf1\x8704L906026KD\xf1\x894798',
b'\xf1\x8704L906026MT\xf1\x893076',
b'\xf1\x873G0906259 \xf1\x890004',
b'\xf1\x873G0906259B \xf1\x890002',
b'\xf1\x873G0906264A \xf1\x890002',
@ -1205,6 +1224,7 @@ FW_VERSIONS = {
b'\xf1\x870CW300042H \xf1\x891601',
b'\xf1\x870D9300011T \xf1\x894801',
b'\xf1\x870D9300012 \xf1\x894940',
b'\xf1\x870D9300013A \xf1\x894905',
b'\xf1\x870D9300041H \xf1\x894905',
b'\xf1\x870GC300043 \xf1\x892301',
b'\xf1\x870D9300043F \xf1\x895202',
@ -1227,6 +1247,7 @@ FW_VERSIONS = {
b'\xf1\x873Q0907572B \xf1\x890192',
b'\xf1\x873Q0907572B \xf1\x890194',
b'\xf1\x873Q0907572C \xf1\x890195',
b'\xf1\x875Q0907572R \xf1\x890771',
],
},
}

4
selfdrive/debug/test_fw_query_on_routes.py
Unescape View File

@ -8,13 +8,11 @@ import traceback
from tqdm import tqdm
from tools.lib.logreader import LogReader
from tools.lib.route import Route
from selfdrive.car.interfaces import get_interface_attr
from selfdrive.car.car_helpers import interface_names
from selfdrive.car.fw_versions import match_fw_to_car
from selfdrive.car.fw_versions import VERSIONS, match_fw_to_car
NO_API = "NO_API" in os.environ
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
SUPPORTED_BRANDS = VERSIONS.keys()
SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
UNKNOWN_BRAND = "unknown"

3
system/hardware/base.py
Unescape View File

@ -135,6 +135,9 @@ class HardwareBase(ABC):
def get_networks(self):
pass
def has_internal_panda(self) -> bool:
return False
def reset_internal_panda(self):
pass

7
system/hardware/tici/hardware.py
Unescape View File

@ -467,10 +467,10 @@ class Tici(HardwareBase):
os.system("sudo chmod a+w /dev/kmsg")
# TODO: remove the if once agnos 7 ships
# Turn off fan, turned on by the ABL
# Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
if os.path.exists('/sys/class/gpio/gpio49/'):
gpio_init(GPIO.SOM_ST_IO, True)
gpio_set(GPIO.SOM_ST_IO, 0)
gpio_set(GPIO.SOM_ST_IO, 1)
# *** IRQ config ***
@ -565,6 +565,9 @@ class Tici(HardwareBase):
except Exception:
return -1, -1
def has_internal_panda(self):
return True
def reset_internal_panda(self):
gpio_init(GPIO.STM_RST_N, True)

4
tools/cabana/cabana.cc
Unescape View File

@ -57,13 +57,13 @@ int main(int argc, char *argv[]) {
route = DEMO_ROUTE;
}
auto replay_stream = new ReplayStream(replay_flags, &app);
auto replay_stream = new ReplayStream(&app);
stream.reset(replay_stream);
if (route.isEmpty()) {
if (OpenRouteDialog dlg(nullptr); !dlg.exec()) {
return 0;
}
} else if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"))) {
} else if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
return 0;
}
}

61
tools/cabana/chart/chart.cc
Unescape View File

@ -11,7 +11,9 @@
#include <QOpenGLWidget>
#include <QPropertyAnimation>
#include <QRubberBand>
#include <QScreen>
#include <QtMath>
#include <QWindow>
#include "tools/cabana/chart/chartswidget.h"
@ -40,6 +42,7 @@ ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *par
QObject::connect(axis_y, &QValueAxis::rangeChanged, [this]() { resetChartCache(); });
QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, [this]() { resetChartCache(); });
QObject::connect(window()->windowHandle(), &QWindow::screenChanged, [this]() { resetChartCache(); });
QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
@ -382,39 +385,42 @@ void ChartView::leaveEvent(QEvent *event) {
QChartView::leaveEvent(event);
}
QPixmap getBlankShadowPixmap(const QSize &size, int extent) {
QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) {
QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
e->setColor(QColor(40, 40, 40, 245));
e->setOffset(0, 2);
e->setBlurRadius(10);
e->setOffset(0, 0);
e->setBlurRadius(radius);
qreal dpr = px.devicePixelRatio();
QPixmap blank(px.size());
blank.setDevicePixelRatio(dpr);
blank.fill(Qt::white);
QGraphicsScene scene;
QGraphicsPixmapItem item;
QPixmap src(size);
src.fill(Qt::white);
item.setPixmap(src);
QGraphicsPixmapItem item(blank);
item.setGraphicsEffect(e);
scene.addItem(&item);
QImage target(src.size() + QSize(extent * 2, extent * 2), QImage::Format_ARGB32);
target.fill(Qt::transparent);
QPainter p(&target);
scene.render(&p, QRectF(), QRectF(-extent, -extent, src.width() + extent * 2, src.height() + extent * 2));
return QPixmap::fromImage(target);
QPixmap shadow(px.size() + QSize(radius * dpr * 2, radius * dpr * 2));
shadow.setDevicePixelRatio(dpr);
shadow.fill(Qt::transparent);
QPainter p(&shadow);
scene.render(&p, {QPoint(), shadow.size() / dpr}, item.boundingRect().adjusted(-radius, -radius, radius, radius));
return shadow;
}
static QPixmap getDropPixmap(const QPixmap &src) {
static QPixmap shadow_px;
const int extent = 10;
if (shadow_px.size() != src.size() + QSize(extent * 2, extent * 2)) {
shadow_px = getBlankShadowPixmap(src.size(), extent);
const int radius = 10;
if (shadow_px.size() != src.size() + QSize(radius * 2, radius * 2)) {
shadow_px = getBlankShadowPixmap(src, radius);
}
QPixmap px = shadow_px;
QPainter p(&px);
int delta_w = px.width() - src.width();
int delta_h = px.height() - src.height();
p.drawPixmap(QPoint(delta_w / 2, delta_h / 2), src);
QRectF target_rect(QPointF(radius, radius), src.size() / src.devicePixelRatio());
p.drawPixmap(target_rect.topLeft(), src);
p.setCompositionMode(QPainter::CompositionMode_DestinationIn);
p.fillRect(delta_w / 2, delta_h / 2, src.width(), src.height(), QColor(0, 0, 0, 200));
p.fillRect(target_rect, QColor(0, 0, 0, 200));
return px;
}
@ -422,7 +428,7 @@ void ChartView::mousePressEvent(QMouseEvent *event) {
if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
QMimeData *mimeData = new QMimeData;
mimeData->setData(CHART_MIME_TYPE, QByteArray::number((qulonglong)this));
QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH, Qt::SmoothTransformation);
QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH * viewport()->devicePixelRatio(), Qt::SmoothTransformation);
QDrag *drag = new QDrag(this);
drag->setMimeData(mimeData);
drag->setPixmap(getDropPixmap(px));
@ -512,6 +518,13 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
}
void ChartView::showTip(double sec) {
QRect tip_area(0, chart()->plotArea().top(), rect().width(), chart()->plotArea().height());
QRect visible_rect = charts_widget->chartVisibleRect(this).intersected(tip_area);
if (visible_rect.isEmpty()) {
tip_label.hide();
return;
}
tooltip_x = chart()->mapToPosition({sec, 0}).x();
qreal x = tooltip_x;
QStringList text_list(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
@ -532,9 +545,9 @@ void ChartView::showTip(double sec) {
.arg(s.series->color().name(), name, value, min, max);
}
}
QPointF tooltip_pt(x, chart()->plotArea().top());
int plot_right = mapToGlobal(chart()->plotArea().topRight().toPoint()).x();
tip_label.showText(mapToGlobal(tooltip_pt.toPoint()), "<p style='white-space:pre'>" + text_list.join("<br />") + "</p>", plot_right);
QPoint pt(x, chart()->plotArea().top());
QString text = "<p style='white-space:pre'>" % text_list.join("<br />") % "</p>";
tip_label.showText(pt, text, this, visible_rect);
viewport()->update();
}
@ -607,7 +620,7 @@ void ChartView::paintEvent(QPaintEvent *event) {
p.setRenderHints(QPainter::Antialiasing);
drawBackground(&p, viewport()->rect());
scene()->setSceneRect(viewport()->rect());
scene()->render(&p);
scene()->render(&p, viewport()->rect());
}
QPainter painter(viewport());

37
tools/cabana/chart/chartswidget.cc
Unescape View File

@ -105,6 +105,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_tim
QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset);
QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
QObject::connect(new_tab_btn, &QToolButton::clicked, this, &ChartsWidget::newTab);
QObject::connect(this, &ChartsWidget::seriesChanged, this, &ChartsWidget::updateTabBar);
QObject::connect(tabbar, &QTabBar::tabCloseRequested, this, &ChartsWidget::removeTab);
QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
if (index != -1) updateLayout(true);
@ -126,10 +127,8 @@ void ChartsWidget::newTab() {
static int tab_unique_id = 0;
int idx = tabbar->addTab("");
tabbar->setTabData(idx, tab_unique_id++);
for (int i = 0; i < tabbar->count(); ++i) {
tabbar->setTabText(i, QString("Tab %1").arg(i + 1));
}
tabbar->setCurrentIndex(idx);
updateTabBar();
}
void ChartsWidget::removeTab(int index) {
@ -139,6 +138,14 @@ void ChartsWidget::removeTab(int index) {
}
tab_charts.erase(id);
tabbar->removeTab(index);
updateTabBar();
}
void ChartsWidget::updateTabBar() {
for (int i = 0; i < tabbar->count(); ++i) {
const auto &charts_in_tab = tab_charts[tabbar->tabData(i).toInt()];
tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg(charts_in_tab.count()));
}
}
void ChartsWidget::eventsMerged() {
@ -161,14 +168,14 @@ void ChartsWidget::zoomReset() {
zoom_undo_stack->clear();
}
void ChartsWidget::showValueTip(double sec) {
QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size());
return chart->rect().intersected(QRect(chart->mapFrom(charts_container, visible_rect.topLeft()), visible_rect.size()));
}
void ChartsWidget::showValueTip(double sec) {
for (auto c : currentCharts()) {
if (sec >= 0 && visible_rect.contains(QRect(c->mapTo(charts_container, QPoint(0, 0)), c->size()))) {
c->showTip(sec);
} else {
c->hideTip();
}
sec >= 0 ? c->showTip(sec) : c->hideTip();
}
}
@ -291,7 +298,7 @@ void ChartsWidget::updateLayout(bool force) {
auto charts_layout = charts_container->charts_layout;
int n = MAX_COLUMN_COUNT;
for (; n > 1; --n) {
if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->spacing()) < charts_layout->geometry().width()) break;
if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->horizontalSpacing()) < charts_layout->geometry().width()) break;
}
bool show_column_cb = n > 1;
@ -381,18 +388,19 @@ void ChartsWidget::removeChart(ChartView *chart) {
}
void ChartsWidget::removeAll() {
while (tabbar->count() > 1) {
tabbar->removeTab(1);
}
tab_charts.clear();
if (!charts.isEmpty()) {
for (auto c : charts) {
c->deleteLater();
}
charts.clear();
tab_charts.clear();
updateToolBar();
emit seriesChanged();
}
while (tabbar->count() > 1) {
tabbar->removeTab(1);
}
}
void ChartsWidget::alignCharts() {
@ -475,6 +483,7 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
charts_widget->currentCharts().insert(to, chart);
charts_widget->updateLayout(true);
charts_widget->updateTabBar();
event->acceptProposedAction();
chart->startAnimation();
}

2
tools/cabana/chart/chartswidget.h
Unescape View File

@ -59,6 +59,7 @@ private:
ChartView *createChart();
void removeChart(ChartView *chart);
void splitChart(ChartView *chart);
QRect chartVisibleRect(ChartView *chart);
void eventsMerged();
void updateState();
void zoomReset();
@ -66,6 +67,7 @@ private:
void stopAutoScroll();
void doAutoScroll();
void updateToolBar();
void updateTabBar();
void setMaxChartRange(int value);
void updateLayout(bool force = false);
void settingChanged();

14
tools/cabana/chart/tiplabel.cc
Unescape View File

@ -22,18 +22,22 @@ TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::Frameless
setVisible(false);
}
void TipLabel::showText(const QPoint &pt, const QString &text, int right_edge) {
void TipLabel::showText(const QPoint &pt, const QString &text, QWidget *w, const QRect &rect) {
setText(text);
if (!text.isEmpty()) {
QSize extra(1, 1);
resize(sizeHint() + extra);
QPoint tip_pos(pt.x() + 12, pt.y());
if (tip_pos.x() + size().width() >= right_edge) {
QPoint tip_pos(pt.x() + 12, rect.top() + 2);
if (tip_pos.x() + size().width() >= rect.right()) {
tip_pos.rx() = pt.x() - size().width() - 12;
}
move(tip_pos);
if (rect.contains({tip_pos, size()})) {
move(w->mapToGlobal(tip_pos));
setVisible(true);
return;
}
}
setVisible(!text.isEmpty());
setVisible(false);
}
void TipLabel::paintEvent(QPaintEvent *ev) {

2
tools/cabana/chart/tiplabel.h
Unescape View File

@ -5,6 +5,6 @@
class TipLabel : public QLabel {
public:
TipLabel(QWidget *parent = nullptr);
void showText(const QPoint &pt, const QString &sec, int right_edge);
void showText(const QPoint &pt, const QString &sec, QWidget *w, const QRect &rect);
void paintEvent(QPaintEvent *ev) override;
};

70
tools/cabana/messageswidget.cc
Unescape View File

@ -1,6 +1,7 @@
#include "tools/cabana/messageswidget.h"
#include <QHBoxLayout>
#include <QPainter>
#include <QPushButton>
#include <QVBoxLayout>
@ -9,29 +10,30 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
main_layout->setContentsMargins(0 ,0, 0, 0);
// message filter
filter = new QLineEdit(this);
QHBoxLayout *title_layout = new QHBoxLayout();
title_layout->addWidget(filter = new QLineEdit(this));
QRegularExpression re("\\S+");
filter->setValidator(new QRegularExpressionValidator(re, this));
filter->setClearButtonEnabled(true);
filter->setPlaceholderText(tr("filter messages"));
main_layout->addWidget(filter);
title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines Bytes"), this));
multiple_lines_bytes->setToolTip(tr("Display bytes in multiple lines"));
multiple_lines_bytes->setChecked(settings.multiple_lines_bytes);
main_layout->addLayout(title_layout);
// message table
table_widget = new QTableView(this);
view = new MessageView(this);
model = new MessageListModel(this);
table_widget->setModel(model);
table_widget->setItemDelegateForColumn(5, new MessageBytesDelegate(table_widget));
table_widget->setSelectionBehavior(QAbstractItemView::SelectRows);
table_widget->setSelectionMode(QAbstractItemView::SingleSelection);
table_widget->setSortingEnabled(true);
table_widget->sortByColumn(0, Qt::AscendingOrder);
table_widget->setColumnWidth(0, 150);
table_widget->setColumnWidth(1, 50);
table_widget->setColumnWidth(2, 50);
table_widget->setColumnWidth(3, 50);
table_widget->horizontalHeader()->setStretchLastSection(true);
table_widget->verticalHeader()->hide();
main_layout->addWidget(table_widget);
auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes);
view->setItemDelegateForColumn(5, delegate);
view->setModel(model);
view->setSortingEnabled(true);
view->sortByColumn(0, Qt::AscendingOrder);
view->setItemsExpandable(false);
view->setIndentation(0);
view->setRootIsDecorated(false);
view->header()->setStretchLastSection(true);
main_layout->addWidget(view);
// suppress
QHBoxLayout *suppress_layout = new QHBoxLayout();
@ -43,6 +45,11 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
// signals/slots
QObject::connect(filter, &QLineEdit::textEdited, model, &MessageListModel::setFilterString);
QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) {
settings.multiple_lines_bytes = (state == Qt::Checked);
delegate->setMultipleLines(settings.multiple_lines_bytes);
model->sortMessages();
});
QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset);
QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
@ -53,7 +60,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
selectMessage(*current_msg_id);
}
});
QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
QObject::connect(view->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
if (current.isValid() && current.row() < model->msgs.size()) {
auto &id = model->msgs[current.row()];
if (!current_msg_id || id != *current_msg_id) {
@ -85,7 +92,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
void MessagesWidget::selectMessage(const MessageId &msg_id) {
if (int row = model->msgs.indexOf(msg_id); row != -1) {
table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
view->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
}
}
@ -101,7 +108,7 @@ void MessagesWidget::updateSuppressedButtons() {
void MessagesWidget::reset() {
current_msg_id = std::nullopt;
table_widget->selectionModel()->clear();
view->selectionModel()->clear();
model->reset();
filter->clear();
updateSuppressedButtons();
@ -111,8 +118,10 @@ void MessagesWidget::reset() {
// MessageListModel
QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
return (QString[]){"Name", "Bus", "ID", "Freq", "Count", "Bytes"}[section];
if (orientation == Qt::Horizontal && role == Qt::DisplayRole) {
static const QString titles[] = {"Name", "Bus", "ID", "Freq", "Count", "Bytes"};
return titles[section];
}
return {};
}
@ -254,3 +263,22 @@ void MessageListModel::reset() {
clearSuppress();
endResetModel();
}
// MessageView
void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
QTreeView::drawRow(painter, option, index);
painter->save();
const int gridHint = style()->styleHint(QStyle::SH_Table_GridLineColor, &option, this);
const QColor gridColor = QColor::fromRgba(static_cast<QRgb>(gridHint));
painter->setPen(gridColor);
painter->drawLine(option.rect.left(), option.rect.bottom(), option.rect.right(), option.rect.bottom());
auto y = option.rect.y();
painter->translate(visualRect(model()->index(0, 0)).x() - indentation() - .5, -.5);
for (int i = 0; i < header()->count(); ++i) {
painter->translate(header()->sectionSize(i), 0);
painter->drawLine(0, y, 0, y + option.rect.height());
}
painter->restore();
}

18
tools/cabana/messageswidget.h
Unescape View File

@ -1,10 +1,11 @@
#pragma once
#include <QAbstractTableModel>
#include <QCheckBox>
#include <QHeaderView>
#include <QLineEdit>
#include <QSet>
#include <QTableView>
#include <QTreeView>
#include "tools/cabana/dbc/dbcmanager.h"
#include "tools/cabana/streams/abstractstream.h"
@ -34,14 +35,21 @@ private:
Qt::SortOrder sort_order = Qt::AscendingOrder;
};
class MessageView : public QTreeView {
Q_OBJECT
public:
MessageView(QWidget *parent) : QTreeView(parent) {}
void drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
};
class MessagesWidget : public QWidget {
Q_OBJECT
public:
MessagesWidget(QWidget *parent);
void selectMessage(const MessageId &message_id);
QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); }
bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); }
QByteArray saveHeaderState() const { return view->header()->saveState(); }
bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); }
void updateSuppressedButtons();
void reset();
@ -49,11 +57,11 @@ signals:
void msgSelectionChanged(const MessageId &message_id);
protected:
QTableView *table_widget;
MessageView *view;
std::optional<MessageId> current_msg_id;
QLineEdit *filter;
QCheckBox *multiple_lines_bytes;
MessageListModel *model;
QPushButton *suppress_add;
QPushButton *suppress_clear;
};

27
tools/cabana/route.cc
Unescape View File

@ -1,8 +1,7 @@
#include "tools/cabana/route.h"
#include <QButtonGroup>
#include <QFileDialog>
#include <QHBoxLayout>
#include <QGridLayout>
#include <QLabel>
#include <QMessageBox>
#include <QPushButton>
@ -11,21 +10,28 @@
OpenRouteDialog::OpenRouteDialog(QWidget *parent) : QDialog(parent) {
// TODO: get route list from api.comma.ai
QHBoxLayout *edit_layout = new QHBoxLayout;
edit_layout->addWidget(new QLabel(tr("Route:")));
edit_layout->addWidget(route_edit = new QLineEdit(this));
QGridLayout *grid_layout = new QGridLayout();
grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route"));
auto file_btn = new QPushButton(tr("Browse..."), this);
edit_layout->addWidget(file_btn);
grid_layout->addWidget(file_btn, 0, 2);
grid_layout->addWidget(new QLabel(tr("Video")), 1, 0);
grid_layout->addWidget(choose_video_cb = new QComboBox(this), 1, 1);
QString items[] = {tr("No Video"), tr("Road Camera"), tr("Wide Road Camera"), tr("Driver Camera"), tr("QCamera")};
for (int i = 0; i < std::size(items); ++i) {
choose_video_cb->addItem(items[i]);
}
choose_video_cb->setCurrentIndex(1); // default is road camera;
btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
btn_box->button(QDialogButtonBox::Open)->setEnabled(false);
QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->addStretch(0);
main_layout->addLayout(edit_layout);
main_layout->addStretch(0);
main_layout->addLayout(grid_layout);
main_layout->addWidget(btn_box);
main_layout->addStretch(0);
setMinimumSize({550, 120});
QObject::connect(btn_box, &QDialogButtonBox::accepted, this, &OpenRouteDialog::loadRoute);
@ -56,7 +62,8 @@ void OpenRouteDialog::loadRoute() {
if (!is_valid_format) {
QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
} else {
failed_to_load = !dynamic_cast<ReplayStream *>(can)->loadRoute(route, data_dir);
uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA};
failed_to_load = !dynamic_cast<ReplayStream *>(can)->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()]);
if (failed_to_load) {
QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
} else {

2
tools/cabana/route.h
Unescape View File

@ -1,5 +1,6 @@
#pragma once
#include <QComboBox>
#include <QDialogButtonBox>
#include <QLineEdit>
#include <QDialog>
@ -14,6 +15,7 @@ public:
private:
QLineEdit *route_edit;
QComboBox *choose_video_cb;
QDialogButtonBox *btn_box;
bool failed_to_load = false;
};

48
tools/cabana/settings.cc
Unescape View File

@ -3,8 +3,11 @@
#include <QAbstractButton>
#include <QDialogButtonBox>
#include <QDir>
#include <QFileDialog>
#include <QFormLayout>
#include <QPushButton>
#include <QSettings>
#include <QStandardPaths>
#include "tools/cabana/util.h"
@ -31,6 +34,9 @@ void Settings::save() {
s.setValue("chart_series_type", chart_series_type);
s.setValue("theme", theme);
s.setValue("sparkline_range", sparkline_range);
s.setValue("multiple_lines_bytes", multiple_lines_bytes);
s.setValue("log_livestream", log_livestream);
s.setValue("log_path", log_path);
}
void Settings::load() {
@ -50,13 +56,21 @@ void Settings::load() {
chart_series_type = s.value("chart_series_type", 0).toInt();
theme = s.value("theme", 0).toInt();
sparkline_range = s.value("sparkline_range", 15).toInt();
multiple_lines_bytes = s.value("multiple_lines_bytes", true).toBool();
log_livestream = s.value("log_livestream", true).toBool();
log_path = s.value("log_path").toString();
if (log_path.isEmpty()) {
log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
}
}
// SettingsDlg
SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
setWindowTitle(tr("Settings"));
QFormLayout *form_layout = new QFormLayout(this);
QVBoxLayout *main_layout = new QVBoxLayout(this);
QGroupBox *groupbox = new QGroupBox("General");
QFormLayout *form_layout = new QFormLayout(groupbox);
theme = new QComboBox(this);
theme->setToolTip(tr("You may need to restart cabana after changes theme"));
@ -75,7 +89,10 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
cached_minutes->setSingleStep(1);
cached_minutes->setValue(settings.max_cached_minutes);
form_layout->addRow(tr("Max Cached Minutes"), cached_minutes);
main_layout->addWidget(groupbox);
groupbox = new QGroupBox("Chart");
form_layout = new QFormLayout(groupbox);
chart_series_type = new QComboBox(this);
chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
chart_series_type->setCurrentIndex(settings.chart_series_type);
@ -86,12 +103,31 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
chart_height->setSingleStep(10);
chart_height->setValue(settings.chart_height);
form_layout->addRow(tr("Chart Height"), chart_height);
main_layout->addWidget(groupbox);
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
form_layout->addRow(buttonBox);
log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
log_livestream->setCheckable(true);
QHBoxLayout *path_layout = new QHBoxLayout(log_livestream);
path_layout->addWidget(log_path = new QLineEdit(settings.log_path, this));
log_path->setReadOnly(true);
auto browse_btn = new QPushButton(tr("B&rowse..."));
path_layout->addWidget(browse_btn);
main_layout->addWidget(log_livestream);
setFixedWidth(360);
connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
main_layout->addWidget(buttonBox);
main_layout->addStretch(1);
QObject::connect(browse_btn, &QPushButton::clicked, [this]() {
QString fn = QFileDialog::getExistingDirectory(
this, tr("Log File Location"),
QStandardPaths::writableLocation(QStandardPaths::HomeLocation),
QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);
if (!fn.isEmpty()) {
log_path->setText(fn);
}
});
QObject::connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
auto role = buttonBox->buttonRole(button);
if (role == QDialogButtonBox::AcceptRole) {
save();
@ -113,6 +149,8 @@ void SettingsDlg::save() {
settings.max_cached_minutes = cached_minutes->value();
settings.chart_series_type = chart_series_type->currentIndex();
settings.chart_height = chart_height->value();
settings.log_livestream = log_livestream->isChecked();
settings.log_path = log_path->text();
settings.save();
emit settings.changed();
}

8
tools/cabana/settings.h
Unescape View File

@ -1,8 +1,11 @@
#pragma once
#include <QByteArray>
#include <QCheckBox>
#include <QComboBox>
#include <QDialog>
#include <QGroupBox>
#include <QLineEdit>
#include <QSpinBox>
#define LIGHT_THEME 1
@ -24,6 +27,9 @@ public:
int chart_series_type = 0;
int theme = 0;
int sparkline_range = 15; // 15 seconds
bool multiple_lines_bytes = true;
bool log_livestream = true;
QString log_path;
QString last_dir;
QString last_route_dir;
QByteArray geometry;
@ -47,6 +53,8 @@ public:
QSpinBox *chart_height;
QComboBox *chart_series_type;
QComboBox *theme;
QGroupBox *log_livestream;
QLineEdit *log_path;
};
extern Settings settings;

12
tools/cabana/streams/livestream.cc
Unescape View File

@ -19,6 +19,13 @@ void LiveStream::streamThread() {
if (!zmq_address.isEmpty()) {
setenv("ZMQ", "1", 1);
}
std::unique_ptr<std::ofstream> fs;
if (settings.log_livestream) {
std::string path = (settings.log_path + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd--hh-mm-ss") + "--0").toStdString();
util::create_directories(path, 0755);
fs.reset(new std::ofstream(path + "/rlog" , std::ios::binary | std::ios::out));
}
std::unique_ptr<Context> context(Context::create());
std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
@ -31,9 +38,12 @@ void LiveStream::streamThread() {
QThread::msleep(50);
continue;
}
if (fs) {
fs->write(msg->getData(), msg->getSize());
}
std::lock_guard lk(lock);
handleEvent(messages.emplace_back(msg).event);
// TODO: write stream to log file to replay it with cabana --data_dir flag.
}
}

4
tools/cabana/streams/replaystream.cc
Unescape View File

@ -1,6 +1,6 @@
#include "tools/cabana/streams/replaystream.h"
ReplayStream::ReplayStream(uint32_t replay_flags, QObject *parent) : replay_flags(replay_flags), AbstractStream(parent, false) {
ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent, false) {
QObject::connect(&settings, &Settings::changed, [this]() {
if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
});
@ -25,7 +25,7 @@ void ReplayStream::mergeSegments() {
}
}
bool ReplayStream::loadRoute(const QString &route, const QString &data_dir) {
bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this));
replay->setSegmentCacheLimit(settings.max_cached_minutes);
replay->installEventFilter(event_filter, this);

5
tools/cabana/streams/replaystream.h
Unescape View File

@ -7,9 +7,9 @@ class ReplayStream : public AbstractStream {
Q_OBJECT
public:
ReplayStream(uint32_t replay_flags, QObject *parent);
ReplayStream(QObject *parent);
~ReplayStream();
bool loadRoute(const QString &route, const QString &data_dir);
bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
bool eventFilter(const Event *event);
void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); };
inline QString routeName() const override { return replay->route()->name(); }
@ -29,6 +29,5 @@ public:
private:
void mergeSegments();
std::unique_ptr<Replay> replay = nullptr;
uint32_t replay_flags = REPLAY_FLAG_NONE;
std::set<int> processed_segments;
};

48
tools/cabana/util.cc
Unescape View File

@ -41,9 +41,35 @@ std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, in
// MessageBytesDelegate
MessageBytesDelegate::MessageBytesDelegate(QObject *parent) : QStyledItemDelegate(parent) {
MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
byte_width = QFontMetrics(fixed_font).width("00 ");
byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
}
void MessageBytesDelegate::setMultipleLines(bool v) {
if (std::exchange(multiple_lines, v) != multiple_lines) {
std::fill_n(size_cache, std::size(size_cache), QSize{});
}
}
QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
int n = index.data(BytesRole).toByteArray().size();
if (n <= 0 || n > 64) return {};
QSize size = size_cache[n - 1];
if (size.isEmpty()) {
int h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
int v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
if (!multiple_lines) {
size.setWidth(h_margin * 2 + n * byte_size.width());
size.setHeight(byte_size.height() + 2 * v_margin);
} else {
size.setWidth(h_margin * 2 + 8 * byte_size.width());
size.setHeight(byte_size.height() * std::max(1, n / 8) + 2 * v_margin);
}
size_cache[n - 1] = size;
}
return size;
}
void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@ -52,18 +78,24 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &
int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
QRect rc{option.rect.left() + h_margin, option.rect.top() + v_margin, byte_width, option.rect.height() - 2 * v_margin};
painter->save();
if (option.state & QStyle::State_Selected) {
painter->fillRect(option.rect, option.palette.highlight());
painter->setPen(option.palette.color(QPalette::HighlightedText));
}
auto color_role = option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text;
painter->setPen(option.palette.color(color_role));
const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin};
painter->setFont(fixed_font);
for (int i = 0; i < byte_list.size(); ++i) {
int row = !multiple_lines ? 0 : i / 8;
int column = !multiple_lines ? i : i % 8;
QRect r = QRect({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
if (i < colors.size() && colors[i].alpha() > 0) {
painter->fillRect(rc, colors[i]);
painter->fillRect(r, colors[i]);
}
painter->drawText(rc, Qt::AlignCenter, toHex(byte_list[i]));
rc.moveLeft(rc.right() + 1);
painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i]));
}
painter->restore();
}
QColor getColor(const cabana::Signal *sig) {

10
tools/cabana/util.h
Unescape View File

@ -63,10 +63,16 @@ private:
class MessageBytesDelegate : public QStyledItemDelegate {
Q_OBJECT
public:
MessageBytesDelegate(QObject *parent);
MessageBytesDelegate(QObject *parent, bool multiple_lines = false);
void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
void setMultipleLines(bool v);
private:
QFont fixed_font;
int byte_width;
QSize byte_size = {};
bool multiple_lines = false;
mutable QSize size_cache[64] = {};
};
inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); }

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