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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. 5
      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. 82
      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. 42
      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
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@ -4,11 +4,12 @@ repos:
- id: check-hooks-apply - id: check-hooks-apply
- id: check-useless-excludes - id: check-useless-excludes
- repo: https://github.com/pre-commit/pre-commit-hooks - repo: https://github.com/pre-commit/pre-commit-hooks
rev: v4.1.0 rev: v4.4.0
hooks: hooks:
- id: check-ast - id: check-ast
exclude: '^(third_party)/' exclude: '^(third_party)/'
- id: check-json - id: check-json
- id: check-toml
- id: check-xml - id: check-xml
- id: check-yaml - id: check-yaml
- id: check-merge-conflict - id: check-merge-conflict
@ -16,7 +17,7 @@ repos:
- id: check-added-large-files - id: check-added-large-files
args: ['--maxkb=100'] args: ['--maxkb=100']
- repo: https://github.com/codespell-project/codespell - repo: https://github.com/codespell-project/codespell
rev: v2.2.1 rev: v2.2.4
hooks: hooks:
- id: codespell - id: codespell
exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)' 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] types: [python]
exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)' exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
- repo: https://github.com/PyCQA/flake8 - repo: https://github.com/PyCQA/flake8
rev: 4.0.1 rev: 6.0.0
hooks: hooks:
- id: flake8 - id: flake8
exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/' exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
@ -79,6 +80,6 @@ repos:
language: script language: script
pass_filenames: false pass_filenames: false
- repo: https://github.com/python-poetry/poetry - repo: https://github.com/python-poetry/poetry
rev: '1.2.2' rev: '1.4.0'
hooks: hooks:
- id: poetry-check - id: poetry-check

3
RELEASES.md
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@ -2,8 +2,9 @@ Version 0.9.2 (2023-03-XX)
======================== ========================
* New driving model, trained on a new dataset * 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. * 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! * 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! * Kia Niro EV 2023 support thanks to JosselinLecocq!
* Lexus ES 2017-18 support * Lexus ES 2017-18 support
* Škoda Fabia 2022-23 support thanks to jyoung8607! * 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) #define UNUSED(x) (void)(x)
#ifdef QCOM2 #ifdef QCOM2
// TODO: decide if we want to isntall libi2c-dev everywhere // TODO: decide if we want to install libi2c-dev everywhere
extern "C" { extern "C" {
#include <linux/i2c-dev.h> #include <linux/i2c-dev.h>
#include <i2c/smbus.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. 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| |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|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|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 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|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|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>|| |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>| |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|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 (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 (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[<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 (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|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 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>|| |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-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>| |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|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|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>|| |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>|| |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 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|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 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>|| |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> <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()}") cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
panda.reset() 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 # sort pandas to have deterministic order
pandas.sort(key=cmp_to_key(panda_sort_cmp)) pandas.sort(key=cmp_to_key(panda_sort_cmp))
panda_serials = list(map(lambda p: p.get_usb_serial(), pandas)) # type: ignore 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 # Set system time from panda RTC time
panda_time = p.get_datetime() panda_time = p.get_datetime()
logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
if panda_time > MIN_DATE: if panda_time > MIN_DATE:
logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'") logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
os.system(f"TZ=UTC date -s '{panda_time}'") os.system(f"TZ=UTC date -s '{panda_time}'")

14
selfdrive/boardd/tests/test_pandad.py
Unescape View File

@ -4,9 +4,11 @@ import unittest
import cereal.messaging as messaging import cereal.messaging as messaging
from panda import Panda from panda import Panda
from common.gpio import gpio_set, gpio_init
from selfdrive.test.helpers import phone_only from selfdrive.test.helpers import phone_only
from selfdrive.manager.process_config import managed_processes from selfdrive.manager.process_config import managed_processes
from system.hardware import HARDWARE from system.hardware import HARDWARE
from system.hardware.tici.pins import GPIO
class TestPandad(unittest.TestCase): class TestPandad(unittest.TestCase):
@ -40,6 +42,18 @@ class TestPandad(unittest.TestCase):
managed_processes['pandad'].start() managed_processes['pandad'].start()
self._wait_for_boardd() 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): #def test_out_of_date_fw(self):
# pass # pass

1
selfdrive/car/ford/values.py
Unescape View File

@ -150,6 +150,7 @@ FW_VERSIONS = {
b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00', 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'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-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', b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
], ],
(Ecu.shiftByWire, 0x732, None): [ (Ecu.shiftByWire, 0x732, None): [

13
selfdrive/car/honda/carstate.py
Unescape View File

@ -103,7 +103,7 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
else: else:
checks.append(("CRUISE_PARAMS", 50)) 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")) signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS")) 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")) signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
checks.append(("GAS_SENSOR", 50)) 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 += [ signals += [
("BRAKE_ERROR_1", "STANDSTILL"), ("BRAKE_ERROR_1", "STANDSTILL"),
("BRAKE_ERROR_2", "STANDSTILL") ("BRAKE_ERROR_2", "STANDSTILL")
@ -176,7 +179,7 @@ class CarState(CarStateBase):
# panda checks if the signal is non-zero # panda checks if the signal is non-zero
ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5 ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
# TODO: find a common signal across all cars # 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"]) ret.doorOpen = bool(cp.vl["SCM_FEEDBACK"]["DRIVERS_DOOR_OPEN"])
elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV): elif self.CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
ret.doorOpen = bool(cp.vl["SCM_BUTTONS"]["DRIVERS_DOOR_OPEN"]) 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 # 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") 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"] 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 ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0

5
selfdrive/car/honda/interface.py
Unescape View File

@ -193,15 +193,18 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.75 tire_stiffness_factor = 0.75
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] 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.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
ret.wheelbase = 2.61 ret.wheelbase = 2.61
ret.centerToFront = ret.wheelbase * 0.41 ret.centerToFront = ret.wheelbase * 0.41
ret.steerRatio = 15.2 ret.steerRatio = 15.2
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
tire_stiffness_factor = 0.5 tire_stiffness_factor = 0.5
if candidate == CAR.HRV:
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
ret.wheelSpeedFactor = 1.025 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: elif candidate == CAR.ACURA_RDX:
ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG 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" FIT = "HONDA FIT 2018"
FREED = "HONDA FREED 2020" FREED = "HONDA FREED 2020"
HRV = "HONDA HRV 2019" HRV = "HONDA HRV 2019"
HRV_3G = "HONDA HR-V 2023"
ODYSSEY = "HONDA ODYSSEY 2018" ODYSSEY = "HONDA ODYSSEY 2018"
ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019" ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
ACURA_RDX = "ACURA RDX 2018" 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.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.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: 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: HondaCarInfo("Honda Odyssey 2018-20"),
CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey 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), 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', 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: { CAR.ACURA_ILX: {
(Ecu.gateway, 0x18daeff1, None): [ (Ecu.gateway, 0x18daeff1, None): [
b'38897-TX6-A010\x00\x00', 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.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.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: 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: 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.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'), 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, 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} CAR.PILOT, CAR.RIDGELINE}
HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, 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} 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} HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022} 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 opendbc.can.packer import CANPacker
from selfdrive.car import apply_driver_steer_torque_limits from selfdrive.car import apply_driver_steer_torque_limits
from selfdrive.car.hyundai import hyundaicanfd, hyundaican 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 from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert VisualAlert = car.CarControl.HUDControl.VisualAlert
@ -44,6 +45,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
class CarController: class CarController:
def __init__(self, dbc_name, CP, VM): def __init__(self, dbc_name, CP, VM):
self.CP = CP self.CP = CP
self.CAN = CanBus(CP)
self.params = CarControllerParams(CP) self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_name) self.packer = CANPacker(dbc_name)
self.angle_limit_counter = 0 self.angle_limit_counter = 0
@ -85,12 +87,12 @@ class CarController:
# for longitudinal control, either radar or ADAS driving ECU # for longitudinal control, either radar or ADAS driving ECU
addr, bus = 0x7d0, 0 addr, bus = 0x7d0, 0
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: 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]) can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
# for blinkers # for blinkers
if self.CP.flags & HyundaiFlags.ENABLE_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 # >90 degree steering fault prevention
# Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault # 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 hda2_long = hda2 and self.CP.openpilotLongitudinalControl
# steering control # 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 # disable LFA on HDA2
if self.frame % 5 == 0 and 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 # LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long): 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 # blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_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 self.CP.openpilotLongitudinalControl:
if hda2: 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: 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)) set_speed_in_units))
self.accel_last = accel self.accel_last = accel
else: else:
@ -139,11 +141,11 @@ class CarController:
# cruise cancel # cruise cancel
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: 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 self.last_button_frame = self.frame
else: else:
for _ in range(20): 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 self.last_button_frame = self.frame
# cruise standstill resume # cruise standstill resume
@ -153,7 +155,7 @@ class CarController:
pass pass
else: else:
for _ in range(20): 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 self.last_button_frame = self.frame
else: else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active, 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 common.conversions import Conversions as CV
from opendbc.can.parser import CANParser from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine 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.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 from selfdrive.car.interfaces import CarStateBase
@ -516,7 +516,7 @@ class CarState(CarStateBase):
("ACCELERATOR_BRAKE_ALT", 100), ("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 @staticmethod
def get_cam_can_parser_canfd(CP): def get_cam_can_parser_canfd(CP):
@ -543,4 +543,4 @@ class CarState(CarStateBase):
("SCC_CONTROL", 50), ("SCC_CONTROL", 50),
] ]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6) return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).CAM)

82
selfdrive/car/hyundai/hyundaicanfd.py
Unescape View File

@ -1,14 +1,44 @@
import math
from common.numpy_fast import clip from common.numpy_fast import clip
from selfdrive.car.hyundai.values import HyundaiFlags from selfdrive.car.hyundai.values import HyundaiFlags
def get_e_can_bus(CP):
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 # 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 # 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. # a different bus, since the steering is done by different ECUs.
return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4 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 = [] ret = []
@ -26,45 +56,45 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
if CP.flags & HyundaiFlags.CANFD_HDA2: if CP.flags & HyundaiFlags.CANFD_HDA2:
if CP.openpilotLongitudinalControl: if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", 5, values)) ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
ret.append(packer.make_can_msg("LKAS", 4, values)) ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
else: else:
ret.append(packer.make_can_msg("LFA", 4, values)) ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
return ret return ret
def create_cam_0x2a4(packer, camera_values): def create_cam_0x2a4(packer, CAN, camera_values):
camera_values.update({ camera_values.update({
"BYTE7": 0, "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 = { values = {
"COUNTER": cnt, "COUNTER": cnt,
"SET_ME_1": 1, "SET_ME_1": 1,
"CRUISE_BUTTONS": btn, "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) 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 = cruise_info_copy
values.update({ values.update({
"ACCMode": 4, "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 = { values = {
"HDA_ICON": 1 if enabled else 0, "HDA_ICON": 1 if enabled else 0,
"LFA_ICON": 2 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 jerk = 5
jn = jerk / 50 jn = jerk / 50
if not enabled or gas_override: 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, "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 = [] ret = []
values = { values = {
} }
ret.append(packer.make_can_msg("SPAS1", 5, values)) ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
blink = 0 blink = 0
if left_blink: if left_blink:
@ -110,12 +140,12 @@ def create_spas_messages(packer, frame, left_blink, right_blink):
values = { values = {
"BLINKER_CONTROL": blink, "BLINKER_CONTROL": blink,
} }
ret.append(packer.make_can_msg("SPAS2", 5, values)) ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
return ret return ret
def create_adrv_messages(packer, frame): def create_adrv_messages(packer, CAN, frame):
# messages needed to car happy after disabling # messages needed to car happy after disabling
# the ADAS Driving ECU to do longitudinal control # the ADAS Driving ECU to do longitudinal control
@ -123,7 +153,7 @@ def create_adrv_messages(packer, frame):
values = { 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: if frame % 2 == 0:
values = { values = {
@ -133,7 +163,7 @@ def create_adrv_messages(packer, frame):
'SET_ME_FC': 0xfc, 'SET_ME_FC': 0xfc,
'SET_ME_9': 0x9, '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: if frame % 5 == 0:
values = { values = {
@ -142,25 +172,25 @@ def create_adrv_messages(packer, frame):
'SET_ME_TMP_F': 0xf, 'SET_ME_TMP_F': 0xf,
'SET_ME_TMP_F_2': 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 = { values = {
'SET_ME_E1': 0xe1, 'SET_ME_E1': 0xe1,
'SET_ME_3A': 0x3a, '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: if frame % 20 == 0:
values = { values = {
'SET_ME_15': 0x15, '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: if frame % 100 == 0:
values = { values = {
'SET_ME_22': 0x22, 'SET_ME_22': 0x22,
'SET_ME_41': 0x41, '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 return ret

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

@ -2,7 +2,7 @@
from cereal import car from cereal import car
from panda import Panda from panda import Panda
from common.conversions import Conversions as CV 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.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.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config 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. # added to selfdrive/car/tests/routes.py, we can remove it from this list.
ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, } 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: if candidate in CANFD_CAR:
# detect HDA2 with ADAS Driving ECU # 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 ret.flags |= HyundaiFlags.CANFD_HDA2.value
else: else:
# non-HDA2 # non-HDA2
if 0x1cf not in fingerprint[4]: if 0x1cf not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
# ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
if 0x130 not in fingerprint[4]: if 0x130 not in fingerprint[CAN.ECAN]:
if 0x40 not in fingerprint[4]: if 0x40 not in fingerprint[CAN.ECAN]:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
else: else:
ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
@ -248,21 +251,23 @@ class CarInterface(CarInterfaceBase):
# *** feature detection *** # *** feature detection ***
if candidate in CANFD_CAR: if candidate in CANFD_CAR:
ret.enableBsm = 0x1e5 in fingerprint[get_e_can_bus(ret)] ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
else: else:
ret.enableBsm = 0x58b in fingerprint[0] ret.enableBsm = 0x58b in fingerprint[0]
# *** panda safety config *** # *** panda safety config ***
if candidate in CANFD_CAR: if candidate in CANFD_CAR:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
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: 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: 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: 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: else:
if candidate in LEGACY_SAFETY_MODE_CAR: if candidate in LEGACY_SAFETY_MODE_CAR:
# these cars require a special panda safety mode due to missing counters and checksums in the messages # 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): if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
addr, bus = 0x7d0, 0 addr, bus = 0x7d0, 0
if CP.flags & HyundaiFlags.CANFD_HDA2.value: 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') disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
# for blinkers # for blinkers
if CP.flags & HyundaiFlags.ENABLE_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): def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam) 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_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
CAR.KIA_EV6: [ CAR.KIA_EV6: [
HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", harness=Harness.hyundai_p), 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 (without HDA II) 2022-23", "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 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_p)
], ],
# Genesis # 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_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"), 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.LEAF_IC: None, # same platforms
CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"), CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b), 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("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED), CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV), 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("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD), # 1.5T
CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD), # 2.0T 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("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6), # HDA2 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("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("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("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV), 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 #!/usr/bin/env python3
import random import random
import time
import unittest import unittest
from collections import defaultdict from collections import defaultdict
from parameterized import parameterized from parameterized import parameterized
import threading
from cereal import car 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.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 CarFw = car.CarParams.CarFw
Ecu = car.CarParams.Ecu Ecu = car.CarParams.Ecu
ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} 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): class TestFwFingerprint(unittest.TestCase):
@ -104,5 +114,69 @@ class TestFwFingerprint(unittest.TestCase):
f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}') 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__": if __name__ == "__main__":
unittest.main() unittest.main()

42
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.car_helpers import interfaces
from selfdrive.car.fingerprints import all_known_cars from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.interfaces import get_torque_params from selfdrive.car.interfaces import get_torque_params
from selfdrive.car.subaru.values import CAR as SUBARU
CAR_MODELS = all_known_cars() CAR_MODELS = all_known_cars()
# ISO 11270 # ISO 11270 - allowed up jerk is strictly lower than recommended limits
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 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 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) car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
@ -43,6 +51,9 @@ class TestLateralLimits(unittest.TestCase):
if CP.notCar: if CP.notCar:
raise unittest.SkipTest raise unittest.SkipTest
if CP.carFingerprint in ABOVE_LIMITS_CARS:
raise unittest.SkipTest
CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
cls.control_params = CarControllerParams(CP) cls.control_params = CarControllerParams(CP)
cls.torque_params = get_torque_params(cls.car_model) cls.torque_params = get_torque_params(cls.car_model)
@ -50,20 +61,24 @@ class TestLateralLimits(unittest.TestCase):
@staticmethod @staticmethod
def calculate_0_5s_jerk(control_params, torque_params): def calculate_0_5s_jerk(control_params, torque_params):
steer_step = control_params.STEER_STEP steer_step = control_params.STEER_STEP
steer_up_per_frame = (control_params.STEER_DELTA_UP / control_params.STEER_MAX) / steer_step max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED']
steer_down_per_frame = (control_params.STEER_DELTA_DOWN / control_params.STEER_MAX) / steer_step
steer_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_FRAMES, 1.0) # Steer up/down delta per 10ms frame, in percentage of max torque
steer_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_FRAMES, 1.0) 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'] # Lateral acceleration reached in 0.5 seconds, clipping to max torque
return steer_up_0_5_sec * max_lat_accel, steer_down_0_5_sec * max_lat_accel 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): def test_jerk_limits(self):
up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params) 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} 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(up_jerk, MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE)
self.assertLessEqual(down_jerk, MAX_LAT_JERK + MAX_LAT_JERK_TOLERANCE) self.assertLessEqual(down_jerk, MAX_LAT_JERK_DOWN)
def test_max_lateral_accel(self): def test_max_lateral_accel(self):
self.assertLessEqual(self.torque_params["MAX_LAT_ACCEL_MEASURED"], MAX_LAT_ACCEL) 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]) 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): 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 "" 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}") 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 # Manually checked
HONDA CIVIC 2022: [2.5, 1.2, 0.15] 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.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"),
CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), 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.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
CAR.TRANSPORTER_T61: [ CAR.TRANSPORTER_T61: [
VWCarInfo("Volkswagen Caravelle 2020"), VWCarInfo("Volkswagen Caravelle 2020"),
@ -289,6 +292,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
FW_VERSIONS = { FW_VERSIONS = {
CAR.ARTEON_MK1: { CAR.ARTEON_MK1: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x873G0906259M \xf1\x890003',
b'\xf1\x873G0906259F \xf1\x890004', b'\xf1\x873G0906259F \xf1\x890004',
b'\xf1\x873G0906259N \xf1\x890004', b'\xf1\x873G0906259N \xf1\x890004',
b'\xf1\x873G0906259P \xf1\x890001', b'\xf1\x873G0906259P \xf1\x890001',
@ -296,18 +300,21 @@ FW_VERSIONS = {
b'\xf1\x873G0906259G \xf1\x890004', b'\xf1\x873G0906259G \xf1\x890004',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x870DL300014C \xf1\x893704',
b'\xf1\x8709G927158L \xf1\x893611', b'\xf1\x8709G927158L \xf1\x893611',
b'\xf1\x870GC300011L \xf1\x891401', b'\xf1\x870GC300011L \xf1\x891401',
b'\xf1\x870GC300014M \xf1\x892802', b'\xf1\x870GC300014M \xf1\x892802',
b'\xf1\x870GC300040P \xf1\x891401', b'\xf1\x870GC300040P \xf1\x891401',
], ],
(Ecu.srs, 0x715, None): [ (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\x0e1616001613121157161111572900',
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00', b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00',
b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900', b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900',
], ],
(Ecu.eps, 0x712, None): [ (Ecu.eps, 0x712, None): [
b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N',
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800',
@ -397,6 +404,7 @@ FW_VERSIONS = {
b'\xf1\x8704L906021DT\xf1\x895520', b'\xf1\x8704L906021DT\xf1\x895520',
b'\xf1\x8704L906021DT\xf1\x898127', b'\xf1\x8704L906021DT\xf1\x898127',
b'\xf1\x8704L906021N \xf1\x895518', b'\xf1\x8704L906021N \xf1\x895518',
b'\xf1\x8704L906021N \xf1\x898138',
b'\xf1\x8704L906026BN\xf1\x891197', b'\xf1\x8704L906026BN\xf1\x891197',
b'\xf1\x8704L906026BP\xf1\x897608', b'\xf1\x8704L906026BP\xf1\x897608',
b'\xf1\x8704L906026NF\xf1\x899528', b'\xf1\x8704L906026NF\xf1\x899528',
@ -443,6 +451,7 @@ FW_VERSIONS = {
b'\xf1\x870CW300045 \xf1\x894531', b'\xf1\x870CW300045 \xf1\x894531',
b'\xf1\x870CW300047D \xf1\x895261', b'\xf1\x870CW300047D \xf1\x895261',
b'\xf1\x870CW300048J \xf1\x890611', b'\xf1\x870CW300048J \xf1\x890611',
b'\xf1\x870CW300049H \xf1\x890905',
b'\xf1\x870D9300012 \xf1\x894904', b'\xf1\x870D9300012 \xf1\x894904',
b'\xf1\x870D9300012 \xf1\x894913', b'\xf1\x870D9300012 \xf1\x894913',
b'\xf1\x870D9300012 \xf1\x894937', b'\xf1\x870D9300012 \xf1\x894937',
@ -536,6 +545,7 @@ FW_VERSIONS = {
(Ecu.fwdRadar, 0x757, None): [ (Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101', b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101',
b'\xf1\x875Q0907567J \xf1\x890396\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\x875Q0907572A \xf1\x890141\xf1\x82\x0101',
b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101', b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101', b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101',
@ -749,6 +759,7 @@ FW_VERSIONS = {
b'\xf1\x8783A907115F \xf1\x890002', b'\xf1\x8783A907115F \xf1\x890002',
b'\xf1\x8783A907115G \xf1\x890001', b'\xf1\x8783A907115G \xf1\x890001',
b'\xf1\x8783A907115K \xf1\x890001', b'\xf1\x8783A907115K \xf1\x890001',
b'\xf1\x8704E906024AP\xf1\x891461',
], ],
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x8709G927158DT\xf1\x893698', b'\xf1\x8709G927158DT\xf1\x893698',
@ -764,6 +775,7 @@ FW_VERSIONS = {
b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870DL300013G \xf1\x892119',
b'\xf1\x870DL300013G \xf1\x892120', b'\xf1\x870DL300013G \xf1\x892120',
b'\xf1\x870DL300014C \xf1\x893703', b'\xf1\x870DL300014C \xf1\x893703',
b'\xf1\x870DD300046K \xf1\x892302',
], ],
(Ecu.srs, 0x715, None): [ (Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100', b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
@ -775,6 +787,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100', b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1331310031333334313140573752379333423100',
b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100', b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1316143231313500314647021750179333613100',
b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100', b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
], ],
(Ecu.eps, 0x712, None): [ (Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', 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\x0521A60604A1',
b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1', b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM', b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
], ],
(Ecu.fwdRadar, 0x757, None): [ (Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AA\xf1\x890396', b'\xf1\x872Q0907572AA\xf1\x890396',
@ -816,6 +830,7 @@ FW_VERSIONS = {
}, },
CAR.TRANSPORTER_T61: { CAR.TRANSPORTER_T61: {
(Ecu.engine, 0x7e0, None): [ (Ecu.engine, 0x7e0, None): [
b'\xf1\x8704L906056AG\xf1\x899970',
b'\xf1\x8704L906056AL\xf1\x899970', b'\xf1\x8704L906056AL\xf1\x899970',
b'\xf1\x8704L906057AP\xf1\x891186', b'\xf1\x8704L906057AP\xf1\x891186',
b'\xf1\x8704L906057N \xf1\x890413', b'\xf1\x8704L906057N \xf1\x890413',
@ -823,12 +838,15 @@ FW_VERSIONS = {
(Ecu.transmission, 0x7e1, None): [ (Ecu.transmission, 0x7e1, None): [
b'\xf1\x870BT300012G \xf1\x893102', b'\xf1\x870BT300012G \xf1\x893102',
b'\xf1\x870BT300012E \xf1\x893105', b'\xf1\x870BT300012E \xf1\x893105',
b'\xf1\x870BT300046R \xf1\x893102',
], ],
(Ecu.srs, 0x715, None): [ (Ecu.srs, 0x715, None): [
b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411', 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', b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
], ],
(Ecu.eps, 0x712, None): [ (Ecu.eps, 0x712, None): [
b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2',
b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2', b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2', b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2',
], ],
@ -1197,6 +1215,7 @@ FW_VERSIONS = {
b'\xf1\x8704L906026FP\xf1\x891196', b'\xf1\x8704L906026FP\xf1\x891196',
b'\xf1\x8704L906026KB\xf1\x894071', b'\xf1\x8704L906026KB\xf1\x894071',
b'\xf1\x8704L906026KD\xf1\x894798', b'\xf1\x8704L906026KD\xf1\x894798',
b'\xf1\x8704L906026MT\xf1\x893076',
b'\xf1\x873G0906259 \xf1\x890004', b'\xf1\x873G0906259 \xf1\x890004',
b'\xf1\x873G0906259B \xf1\x890002', b'\xf1\x873G0906259B \xf1\x890002',
b'\xf1\x873G0906264A \xf1\x890002', b'\xf1\x873G0906264A \xf1\x890002',
@ -1205,6 +1224,7 @@ FW_VERSIONS = {
b'\xf1\x870CW300042H \xf1\x891601', b'\xf1\x870CW300042H \xf1\x891601',
b'\xf1\x870D9300011T \xf1\x894801', b'\xf1\x870D9300011T \xf1\x894801',
b'\xf1\x870D9300012 \xf1\x894940', b'\xf1\x870D9300012 \xf1\x894940',
b'\xf1\x870D9300013A \xf1\x894905',
b'\xf1\x870D9300041H \xf1\x894905', b'\xf1\x870D9300041H \xf1\x894905',
b'\xf1\x870GC300043 \xf1\x892301', b'\xf1\x870GC300043 \xf1\x892301',
b'\xf1\x870D9300043F \xf1\x895202', b'\xf1\x870D9300043F \xf1\x895202',
@ -1227,6 +1247,7 @@ FW_VERSIONS = {
b'\xf1\x873Q0907572B \xf1\x890192', b'\xf1\x873Q0907572B \xf1\x890192',
b'\xf1\x873Q0907572B \xf1\x890194', b'\xf1\x873Q0907572B \xf1\x890194',
b'\xf1\x873Q0907572C \xf1\x890195', 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 tqdm import tqdm
from tools.lib.logreader import LogReader from tools.lib.logreader import LogReader
from tools.lib.route import Route 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.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 NO_API = "NO_API" in os.environ
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
SUPPORTED_BRANDS = VERSIONS.keys() SUPPORTED_BRANDS = VERSIONS.keys()
SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]] SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
UNKNOWN_BRAND = "unknown" UNKNOWN_BRAND = "unknown"

3
system/hardware/base.py
Unescape View File

@ -135,6 +135,9 @@ class HardwareBase(ABC):
def get_networks(self): def get_networks(self):
pass pass
def has_internal_panda(self) -> bool:
return False
def reset_internal_panda(self): def reset_internal_panda(self):
pass 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") os.system("sudo chmod a+w /dev/kmsg")
# TODO: remove the if once agnos 7 ships # 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/'): if os.path.exists('/sys/class/gpio/gpio49/'):
gpio_init(GPIO.SOM_ST_IO, True) gpio_init(GPIO.SOM_ST_IO, True)
gpio_set(GPIO.SOM_ST_IO, 0) gpio_set(GPIO.SOM_ST_IO, 1)
# *** IRQ config *** # *** IRQ config ***
@ -565,6 +565,9 @@ class Tici(HardwareBase):
except Exception: except Exception:
return -1, -1 return -1, -1
def has_internal_panda(self):
return True
def reset_internal_panda(self): def reset_internal_panda(self):
gpio_init(GPIO.STM_RST_N, True) gpio_init(GPIO.STM_RST_N, True)

4
tools/cabana/cabana.cc
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@ -57,13 +57,13 @@ int main(int argc, char *argv[]) {
route = DEMO_ROUTE; route = DEMO_ROUTE;
} }
auto replay_stream = new ReplayStream(replay_flags, &app); auto replay_stream = new ReplayStream(&app);
stream.reset(replay_stream); stream.reset(replay_stream);
if (route.isEmpty()) { if (route.isEmpty()) {
if (OpenRouteDialog dlg(nullptr); !dlg.exec()) { if (OpenRouteDialog dlg(nullptr); !dlg.exec()) {
return 0; 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; return 0;
} }
} }

61
tools/cabana/chart/chart.cc
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@ -11,7 +11,9 @@
#include <QOpenGLWidget> #include <QOpenGLWidget>
#include <QPropertyAnimation> #include <QPropertyAnimation>
#include <QRubberBand> #include <QRubberBand>
#include <QScreen>
#include <QtMath> #include <QtMath>
#include <QWindow>
#include "tools/cabana/chart/chartswidget.h" #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, &QValueAxis::rangeChanged, [this]() { resetChartCache(); });
QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, [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::signalRemoved, this, &ChartView::signalRemoved);
QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated); QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
@ -382,39 +385,42 @@ void ChartView::leaveEvent(QEvent *event) {
QChartView::leaveEvent(event); QChartView::leaveEvent(event);
} }
QPixmap getBlankShadowPixmap(const QSize &size, int extent) { QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) {
QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect; QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
e->setColor(QColor(40, 40, 40, 245)); e->setColor(QColor(40, 40, 40, 245));
e->setOffset(0, 2); e->setOffset(0, 0);
e->setBlurRadius(10); e->setBlurRadius(radius);
qreal dpr = px.devicePixelRatio();
QPixmap blank(px.size());
blank.setDevicePixelRatio(dpr);
blank.fill(Qt::white);
QGraphicsScene scene; QGraphicsScene scene;
QGraphicsPixmapItem item; QGraphicsPixmapItem item(blank);
QPixmap src(size);
src.fill(Qt::white);
item.setPixmap(src);
item.setGraphicsEffect(e); item.setGraphicsEffect(e);
scene.addItem(&item); scene.addItem(&item);
QImage target(src.size() + QSize(extent * 2, extent * 2), QImage::Format_ARGB32);
target.fill(Qt::transparent); QPixmap shadow(px.size() + QSize(radius * dpr * 2, radius * dpr * 2));
QPainter p(&target); shadow.setDevicePixelRatio(dpr);
scene.render(&p, QRectF(), QRectF(-extent, -extent, src.width() + extent * 2, src.height() + extent * 2)); shadow.fill(Qt::transparent);
return QPixmap::fromImage(target); 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 getDropPixmap(const QPixmap &src) {
static QPixmap shadow_px; static QPixmap shadow_px;
const int extent = 10; const int radius = 10;
if (shadow_px.size() != src.size() + QSize(extent * 2, extent * 2)) { if (shadow_px.size() != src.size() + QSize(radius * 2, radius * 2)) {
shadow_px = getBlankShadowPixmap(src.size(), extent); shadow_px = getBlankShadowPixmap(src, radius);
} }
QPixmap px = shadow_px; QPixmap px = shadow_px;
QPainter p(&px); QPainter p(&px);
int delta_w = px.width() - src.width(); QRectF target_rect(QPointF(radius, radius), src.size() / src.devicePixelRatio());
int delta_h = px.height() - src.height(); p.drawPixmap(target_rect.topLeft(), src);
p.drawPixmap(QPoint(delta_w / 2, delta_h / 2), src);
p.setCompositionMode(QPainter::CompositionMode_DestinationIn); 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; return px;
} }
@ -422,7 +428,7 @@ void ChartView::mousePressEvent(QMouseEvent *event) {
if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) { if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
QMimeData *mimeData = new QMimeData; QMimeData *mimeData = new QMimeData;
mimeData->setData(CHART_MIME_TYPE, QByteArray::number((qulonglong)this)); 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); QDrag *drag = new QDrag(this);
drag->setMimeData(mimeData); drag->setMimeData(mimeData);
drag->setPixmap(getDropPixmap(px)); drag->setPixmap(getDropPixmap(px));
@ -512,6 +518,13 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
} }
void ChartView::showTip(double sec) { 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(); tooltip_x = chart()->mapToPosition({sec, 0}).x();
qreal x = tooltip_x; qreal x = tooltip_x;
QStringList text_list(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3)); 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); .arg(s.series->color().name(), name, value, min, max);
} }
} }
QPointF tooltip_pt(x, chart()->plotArea().top()); QPoint pt(x, chart()->plotArea().top());
int plot_right = mapToGlobal(chart()->plotArea().topRight().toPoint()).x(); QString text = "<p style='white-space:pre'>" % text_list.join("<br />") % "</p>";
tip_label.showText(mapToGlobal(tooltip_pt.toPoint()), "<p style='white-space:pre'>" + text_list.join("<br />") + "</p>", plot_right); tip_label.showText(pt, text, this, visible_rect);
viewport()->update(); viewport()->update();
} }
@ -607,7 +620,7 @@ void ChartView::paintEvent(QPaintEvent *event) {
p.setRenderHints(QPainter::Antialiasing); p.setRenderHints(QPainter::Antialiasing);
drawBackground(&p, viewport()->rect()); drawBackground(&p, viewport()->rect());
scene()->setSceneRect(viewport()->rect()); scene()->setSceneRect(viewport()->rect());
scene()->render(&p); scene()->render(&p, viewport()->rect());
} }
QPainter painter(viewport()); 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(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset);
QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged); QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
QObject::connect(new_tab_btn, &QToolButton::clicked, this, &ChartsWidget::newTab); 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::tabCloseRequested, this, &ChartsWidget::removeTab);
QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) { QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
if (index != -1) updateLayout(true); if (index != -1) updateLayout(true);
@ -126,10 +127,8 @@ void ChartsWidget::newTab() {
static int tab_unique_id = 0; static int tab_unique_id = 0;
int idx = tabbar->addTab(""); int idx = tabbar->addTab("");
tabbar->setTabData(idx, tab_unique_id++); 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); tabbar->setCurrentIndex(idx);
updateTabBar();
} }
void ChartsWidget::removeTab(int index) { void ChartsWidget::removeTab(int index) {
@ -139,6 +138,14 @@ void ChartsWidget::removeTab(int index) {
} }
tab_charts.erase(id); tab_charts.erase(id);
tabbar->removeTab(index); 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() { void ChartsWidget::eventsMerged() {
@ -161,14 +168,14 @@ void ChartsWidget::zoomReset() {
zoom_undo_stack->clear(); 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()); const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size());
for (auto c : currentCharts()) { return chart->rect().intersected(QRect(chart->mapFrom(charts_container, visible_rect.topLeft()), visible_rect.size()));
if (sec >= 0 && visible_rect.contains(QRect(c->mapTo(charts_container, QPoint(0, 0)), c->size()))) {
c->showTip(sec);
} else {
c->hideTip();
} }
void ChartsWidget::showValueTip(double sec) {
for (auto c : currentCharts()) {
sec >= 0 ? c->showTip(sec) : c->hideTip();
} }
} }
@ -291,7 +298,7 @@ void ChartsWidget::updateLayout(bool force) {
auto charts_layout = charts_container->charts_layout; auto charts_layout = charts_container->charts_layout;
int n = MAX_COLUMN_COUNT; int n = MAX_COLUMN_COUNT;
for (; n > 1; --n) { 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; bool show_column_cb = n > 1;
@ -381,18 +388,19 @@ void ChartsWidget::removeChart(ChartView *chart) {
} }
void ChartsWidget::removeAll() { void ChartsWidget::removeAll() {
while (tabbar->count() > 1) {
tabbar->removeTab(1);
}
tab_charts.clear();
if (!charts.isEmpty()) { if (!charts.isEmpty()) {
for (auto c : charts) { for (auto c : charts) {
c->deleteLater(); c->deleteLater();
} }
charts.clear(); charts.clear();
tab_charts.clear();
updateToolBar(); updateToolBar();
emit seriesChanged(); emit seriesChanged();
} }
while (tabbar->count() > 1) {
tabbar->removeTab(1);
}
} }
void ChartsWidget::alignCharts() { void ChartsWidget::alignCharts() {
@ -475,6 +483,7 @@ void ChartsContainer::dropEvent(QDropEvent *event) {
int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0; int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
charts_widget->currentCharts().insert(to, chart); charts_widget->currentCharts().insert(to, chart);
charts_widget->updateLayout(true); charts_widget->updateLayout(true);
charts_widget->updateTabBar();
event->acceptProposedAction(); event->acceptProposedAction();
chart->startAnimation(); chart->startAnimation();
} }

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

@ -59,6 +59,7 @@ private:
ChartView *createChart(); ChartView *createChart();
void removeChart(ChartView *chart); void removeChart(ChartView *chart);
void splitChart(ChartView *chart); void splitChart(ChartView *chart);
QRect chartVisibleRect(ChartView *chart);
void eventsMerged(); void eventsMerged();
void updateState(); void updateState();
void zoomReset(); void zoomReset();
@ -66,6 +67,7 @@ private:
void stopAutoScroll(); void stopAutoScroll();
void doAutoScroll(); void doAutoScroll();
void updateToolBar(); void updateToolBar();
void updateTabBar();
void setMaxChartRange(int value); void setMaxChartRange(int value);
void updateLayout(bool force = false); void updateLayout(bool force = false);
void settingChanged(); 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); 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); setText(text);
if (!text.isEmpty()) { if (!text.isEmpty()) {
QSize extra(1, 1); QSize extra(1, 1);
resize(sizeHint() + extra); resize(sizeHint() + extra);
QPoint tip_pos(pt.x() + 12, pt.y()); QPoint tip_pos(pt.x() + 12, rect.top() + 2);
if (tip_pos.x() + size().width() >= right_edge) { if (tip_pos.x() + size().width() >= rect.right()) {
tip_pos.rx() = pt.x() - size().width() - 12; 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) { void TipLabel::paintEvent(QPaintEvent *ev) {

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

@ -5,6 +5,6 @@
class TipLabel : public QLabel { class TipLabel : public QLabel {
public: public:
TipLabel(QWidget *parent = nullptr); 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; void paintEvent(QPaintEvent *ev) override;
}; };

70
tools/cabana/messageswidget.cc
Unescape View File

@ -1,6 +1,7 @@
#include "tools/cabana/messageswidget.h" #include "tools/cabana/messageswidget.h"
#include <QHBoxLayout> #include <QHBoxLayout>
#include <QPainter>
#include <QPushButton> #include <QPushButton>
#include <QVBoxLayout> #include <QVBoxLayout>
@ -9,29 +10,30 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
main_layout->setContentsMargins(0 ,0, 0, 0); main_layout->setContentsMargins(0 ,0, 0, 0);
// message filter // message filter
filter = new QLineEdit(this); QHBoxLayout *title_layout = new QHBoxLayout();
title_layout->addWidget(filter = new QLineEdit(this));
QRegularExpression re("\\S+"); QRegularExpression re("\\S+");
filter->setValidator(new QRegularExpressionValidator(re, this)); filter->setValidator(new QRegularExpressionValidator(re, this));
filter->setClearButtonEnabled(true); filter->setClearButtonEnabled(true);
filter->setPlaceholderText(tr("filter messages")); 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 // message table
table_widget = new QTableView(this); view = new MessageView(this);
model = new MessageListModel(this); model = new MessageListModel(this);
table_widget->setModel(model); auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes);
table_widget->setItemDelegateForColumn(5, new MessageBytesDelegate(table_widget)); view->setItemDelegateForColumn(5, delegate);
table_widget->setSelectionBehavior(QAbstractItemView::SelectRows); view->setModel(model);
table_widget->setSelectionMode(QAbstractItemView::SingleSelection); view->setSortingEnabled(true);
table_widget->setSortingEnabled(true); view->sortByColumn(0, Qt::AscendingOrder);
table_widget->sortByColumn(0, Qt::AscendingOrder); view->setItemsExpandable(false);
table_widget->setColumnWidth(0, 150); view->setIndentation(0);
table_widget->setColumnWidth(1, 50); view->setRootIsDecorated(false);
table_widget->setColumnWidth(2, 50); view->header()->setStretchLastSection(true);
table_widget->setColumnWidth(3, 50); main_layout->addWidget(view);
table_widget->horizontalHeader()->setStretchLastSection(true);
table_widget->verticalHeader()->hide();
main_layout->addWidget(table_widget);
// suppress // suppress
QHBoxLayout *suppress_layout = new QHBoxLayout(); QHBoxLayout *suppress_layout = new QHBoxLayout();
@ -43,6 +45,11 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
// signals/slots // signals/slots
QObject::connect(filter, &QLineEdit::textEdited, model, &MessageListModel::setFilterString); 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::msgsReceived, model, &MessageListModel::msgsReceived);
QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset); QObject::connect(can, &AbstractStream::streamStarted, this, &MessagesWidget::reset);
QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages); QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
@ -53,7 +60,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
selectMessage(*current_msg_id); 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()) { if (current.isValid() && current.row() < model->msgs.size()) {
auto &id = model->msgs[current.row()]; auto &id = model->msgs[current.row()];
if (!current_msg_id || id != *current_msg_id) { 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) { void MessagesWidget::selectMessage(const MessageId &msg_id) {
if (int row = model->msgs.indexOf(msg_id); row != -1) { 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() { void MessagesWidget::reset() {
current_msg_id = std::nullopt; current_msg_id = std::nullopt;
table_widget->selectionModel()->clear(); view->selectionModel()->clear();
model->reset(); model->reset();
filter->clear(); filter->clear();
updateSuppressedButtons(); updateSuppressedButtons();
@ -111,8 +118,10 @@ void MessagesWidget::reset() {
// MessageListModel // MessageListModel
QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const { QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
if (orientation == Qt::Horizontal && role == Qt::DisplayRole) if (orientation == Qt::Horizontal && role == Qt::DisplayRole) {
return (QString[]){"Name", "Bus", "ID", "Freq", "Count", "Bytes"}[section]; static const QString titles[] = {"Name", "Bus", "ID", "Freq", "Count", "Bytes"};
return titles[section];
}
return {}; return {};
} }
@ -254,3 +263,22 @@ void MessageListModel::reset() {
clearSuppress(); clearSuppress();
endResetModel(); 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
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@ -1,10 +1,11 @@
#pragma once #pragma once
#include <QAbstractTableModel> #include <QAbstractTableModel>
#include <QCheckBox>
#include <QHeaderView> #include <QHeaderView>
#include <QLineEdit> #include <QLineEdit>
#include <QSet> #include <QSet>
#include <QTableView> #include <QTreeView>
#include "tools/cabana/dbc/dbcmanager.h" #include "tools/cabana/dbc/dbcmanager.h"
#include "tools/cabana/streams/abstractstream.h" #include "tools/cabana/streams/abstractstream.h"
@ -34,14 +35,21 @@ private:
Qt::SortOrder sort_order = Qt::AscendingOrder; 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 { class MessagesWidget : public QWidget {
Q_OBJECT Q_OBJECT
public: public:
MessagesWidget(QWidget *parent); MessagesWidget(QWidget *parent);
void selectMessage(const MessageId &message_id); void selectMessage(const MessageId &message_id);
QByteArray saveHeaderState() const { return table_widget->horizontalHeader()->saveState(); } QByteArray saveHeaderState() const { return view->header()->saveState(); }
bool restoreHeaderState(const QByteArray &state) const { return table_widget->horizontalHeader()->restoreState(state); } bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); }
void updateSuppressedButtons(); void updateSuppressedButtons();
void reset(); void reset();
@ -49,11 +57,11 @@ signals:
void msgSelectionChanged(const MessageId &message_id); void msgSelectionChanged(const MessageId &message_id);
protected: protected:
QTableView *table_widget; MessageView *view;
std::optional<MessageId> current_msg_id; std::optional<MessageId> current_msg_id;
QLineEdit *filter; QLineEdit *filter;
QCheckBox *multiple_lines_bytes;
MessageListModel *model; MessageListModel *model;
QPushButton *suppress_add; QPushButton *suppress_add;
QPushButton *suppress_clear; QPushButton *suppress_clear;
}; };

27
tools/cabana/route.cc
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@ -1,8 +1,7 @@
#include "tools/cabana/route.h" #include "tools/cabana/route.h"
#include <QButtonGroup>
#include <QFileDialog> #include <QFileDialog>
#include <QHBoxLayout> #include <QGridLayout>
#include <QLabel> #include <QLabel>
#include <QMessageBox> #include <QMessageBox>
#include <QPushButton> #include <QPushButton>
@ -11,21 +10,28 @@
OpenRouteDialog::OpenRouteDialog(QWidget *parent) : QDialog(parent) { OpenRouteDialog::OpenRouteDialog(QWidget *parent) : QDialog(parent) {
// TODO: get route list from api.comma.ai // TODO: get route list from api.comma.ai
QHBoxLayout *edit_layout = new QHBoxLayout; QGridLayout *grid_layout = new QGridLayout();
edit_layout->addWidget(new QLabel(tr("Route:"))); grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
edit_layout->addWidget(route_edit = new QLineEdit(this)); 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")); route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route"));
auto file_btn = new QPushButton(tr("Browse..."), this); 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 = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
btn_box->button(QDialogButtonBox::Open)->setEnabled(false); btn_box->button(QDialogButtonBox::Open)->setEnabled(false);
QVBoxLayout *main_layout = new QVBoxLayout(this); QVBoxLayout *main_layout = new QVBoxLayout(this);
main_layout->addStretch(0); main_layout->addLayout(grid_layout);
main_layout->addLayout(edit_layout);
main_layout->addStretch(0);
main_layout->addWidget(btn_box); main_layout->addWidget(btn_box);
main_layout->addStretch(0);
setMinimumSize({550, 120}); setMinimumSize({550, 120});
QObject::connect(btn_box, &QDialogButtonBox::accepted, this, &OpenRouteDialog::loadRoute); QObject::connect(btn_box, &QDialogButtonBox::accepted, this, &OpenRouteDialog::loadRoute);
@ -56,7 +62,8 @@ void OpenRouteDialog::loadRoute() {
if (!is_valid_format) { if (!is_valid_format) {
QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route)); QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
} else { } 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) { if (failed_to_load) {
QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route)); QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
} else { } else {

2
tools/cabana/route.h
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@ -1,5 +1,6 @@
#pragma once #pragma once
#include <QComboBox>
#include <QDialogButtonBox> #include <QDialogButtonBox>
#include <QLineEdit> #include <QLineEdit>
#include <QDialog> #include <QDialog>
@ -14,6 +15,7 @@ public:
private: private:
QLineEdit *route_edit; QLineEdit *route_edit;
QComboBox *choose_video_cb;
QDialogButtonBox *btn_box; QDialogButtonBox *btn_box;
bool failed_to_load = false; bool failed_to_load = false;
}; };

48
tools/cabana/settings.cc
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@ -3,8 +3,11 @@
#include <QAbstractButton> #include <QAbstractButton>
#include <QDialogButtonBox> #include <QDialogButtonBox>
#include <QDir> #include <QDir>
#include <QFileDialog>
#include <QFormLayout> #include <QFormLayout>
#include <QPushButton>
#include <QSettings> #include <QSettings>
#include <QStandardPaths>
#include "tools/cabana/util.h" #include "tools/cabana/util.h"
@ -31,6 +34,9 @@ void Settings::save() {
s.setValue("chart_series_type", chart_series_type); s.setValue("chart_series_type", chart_series_type);
s.setValue("theme", theme); s.setValue("theme", theme);
s.setValue("sparkline_range", sparkline_range); 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() { void Settings::load() {
@ -50,13 +56,21 @@ void Settings::load() {
chart_series_type = s.value("chart_series_type", 0).toInt(); chart_series_type = s.value("chart_series_type", 0).toInt();
theme = s.value("theme", 0).toInt(); theme = s.value("theme", 0).toInt();
sparkline_range = s.value("sparkline_range", 15).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::SettingsDlg(QWidget *parent) : QDialog(parent) { SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
setWindowTitle(tr("Settings")); 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 = new QComboBox(this);
theme->setToolTip(tr("You may need to restart cabana after changes theme")); 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->setSingleStep(1);
cached_minutes->setValue(settings.max_cached_minutes); cached_minutes->setValue(settings.max_cached_minutes);
form_layout->addRow(tr("Max Cached Minutes"), 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 = new QComboBox(this);
chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")}); chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
chart_series_type->setCurrentIndex(settings.chart_series_type); chart_series_type->setCurrentIndex(settings.chart_series_type);
@ -86,12 +103,31 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
chart_height->setSingleStep(10); chart_height->setSingleStep(10);
chart_height->setValue(settings.chart_height); chart_height->setValue(settings.chart_height);
form_layout->addRow(tr("Chart Height"), chart_height); form_layout->addRow(tr("Chart Height"), chart_height);
main_layout->addWidget(groupbox);
auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply); log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
form_layout->addRow(buttonBox); 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); auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) { 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); auto role = buttonBox->buttonRole(button);
if (role == QDialogButtonBox::AcceptRole) { if (role == QDialogButtonBox::AcceptRole) {
save(); save();
@ -113,6 +149,8 @@ void SettingsDlg::save() {
settings.max_cached_minutes = cached_minutes->value(); settings.max_cached_minutes = cached_minutes->value();
settings.chart_series_type = chart_series_type->currentIndex(); settings.chart_series_type = chart_series_type->currentIndex();
settings.chart_height = chart_height->value(); settings.chart_height = chart_height->value();
settings.log_livestream = log_livestream->isChecked();
settings.log_path = log_path->text();
settings.save(); settings.save();
emit settings.changed(); emit settings.changed();
} }

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

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

@ -19,6 +19,13 @@ void LiveStream::streamThread() {
if (!zmq_address.isEmpty()) { if (!zmq_address.isEmpty()) {
setenv("ZMQ", "1", 1); 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::unique_ptr<Context> context(Context::create());
std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString(); std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address)); std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
@ -31,9 +38,12 @@ void LiveStream::streamThread() {
QThread::msleep(50); QThread::msleep(50);
continue; continue;
} }
if (fs) {
fs->write(msg->getData(), msg->getSize());
}
std::lock_guard lk(lock); std::lock_guard lk(lock);
handleEvent(messages.emplace_back(msg).event); 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
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@ -1,6 +1,6 @@
#include "tools/cabana/streams/replaystream.h" #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]() { QObject::connect(&settings, &Settings::changed, [this]() {
if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes); 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.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this));
replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->setSegmentCacheLimit(settings.max_cached_minutes);
replay->installEventFilter(event_filter, this); replay->installEventFilter(event_filter, this);

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

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

48
tools/cabana/util.cc
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@ -41,9 +41,35 @@ std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, in
// MessageBytesDelegate // 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); 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 { 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 v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin); 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; const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin};
painter->setPen(option.palette.color(color_role));
painter->setFont(fixed_font); painter->setFont(fixed_font);
for (int i = 0; i < byte_list.size(); ++i) { 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) { 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])); painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i]));
rc.moveLeft(rc.right() + 1);
} }
painter->restore();
} }
QColor getColor(const cabana::Signal *sig) { QColor getColor(const cabana::Signal *sig) {

10
tools/cabana/util.h
Unescape View File

@ -63,10 +63,16 @@ private:
class MessageBytesDelegate : public QStyledItemDelegate { class MessageBytesDelegate : public QStyledItemDelegate {
Q_OBJECT Q_OBJECT
public: public:
MessageBytesDelegate(QObject *parent); MessageBytesDelegate(QObject *parent, bool multiple_lines = false);
void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; 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; 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(); } inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); }

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