diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml index 923e249849..2f1a7d67c4 100644 --- a/.github/workflows/badges.yaml +++ b/.github/workflows/badges.yaml @@ -14,6 +14,8 @@ jobs: name: create badges runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' + permissions: + contents: write steps: - uses: actions/checkout@v4 with: @@ -23,6 +25,8 @@ jobs: run: | ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py" + rm .gitattributes + git checkout --orphan badges git rm -rf --cached . git config user.email "badge-researcher@comma.ai" diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml index 58095cf19c..990be73f72 100644 --- a/.github/workflows/prebuilt.yaml +++ b/.github/workflows/prebuilt.yaml @@ -15,6 +15,10 @@ jobs: if: github.repository == 'commaai/openpilot' env: PUSH_IMAGE: true + permissions: + checks: read + contents: read + packages: write steps: - name: Wait for green check mark if: ${{ github.event_name != 'workflow_dispatch' }} @@ -23,6 +27,7 @@ jobs: ref: master wait-interval: 30 running-workflow-name: 'build prebuilt' + repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build master-ci).*).)*$ - uses: actions/checkout@v4 with: diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml index cd2ebd9f82..38dbf07a47 100644 --- a/.github/workflows/release.yaml +++ b/.github/workflows/release.yaml @@ -14,6 +14,9 @@ jobs: image: ghcr.io/commaai/openpilot-base:latest runs-on: ubuntu-20.04 if: github.repository == 'commaai/openpilot' + permissions: + checks: read + contents: write steps: - name: Install wait-on-check-action dependencies run: | @@ -26,6 +29,7 @@ jobs: ref: master wait-interval: 30 running-workflow-name: 'build master-ci' + repo-token: ${{ secrets.GITHUB_TOKEN }} check-regexp: ^((?!.*(build prebuilt).*).)*$ - uses: actions/checkout@v4 with: diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml index f2a24e4368..2d60d2f0e9 100644 --- a/.github/workflows/stale.yaml +++ b/.github/workflows/stale.yaml @@ -20,7 +20,7 @@ jobs: stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.' close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.' delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo - exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale + exempt-pr-labels: "ignore stale,needs testing,car port" # if wip or it needs testing from the community, don't mark as stale days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }} days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }} diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 9f1ba1ab97..0a92b9d38e 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -39,10 +39,12 @@ repos: entry: mypy language: system types: [python] - args: ['--explicit-package-bases', '--local-partial-types'] + args: + - --local-partial-types + - --explicit-package-bases exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)' - repo: https://github.com/astral-sh/ruff-pre-commit - rev: v0.1.6 + rev: v0.1.11 hooks: - id: ruff exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)' @@ -87,7 +89,7 @@ repos: args: - --lock - repo: https://github.com/python-jsonschema/check-jsonschema - rev: 0.27.2 + rev: 0.27.3 hooks: - id: check-github-workflows # - repo: local diff --git a/RELEASES.md b/RELEASES.md index b12f22d280..36a4a89dd2 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -7,7 +7,7 @@ Version 0.9.6 (20XX-XX-XX) * comma body streaming and controls over WebRTC * Hyundai Staria 2023 support thanks to sunnyhaibin! * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin! -* Toyota RAV4 2023 support +* Toyota RAV4 2023-24 support * Toyota RAV4 Hybrid 2023-24 support Version 0.9.5 (2023-11-17) diff --git a/SConstruct b/SConstruct index e1a9b82c7f..11b95702c3 100644 --- a/SConstruct +++ b/SConstruct @@ -9,6 +9,9 @@ import SCons.Errors SCons.Warnings.warningAsException(True) +# pending upstream fix - https://github.com/SCons/scons/issues/4461 +#SetOption('warn', 'all') + TICI = os.path.isfile('/TICI') AGNOS = TICI diff --git a/cereal b/cereal index e29625c30b..d81d86e7cd 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit e29625c30bb2a4a34ce21134d0e5a91b2d4fa1b1 +Subproject commit d81d86e7cd83d1eb40314964a4d194231381d557 diff --git a/common/params.cc b/common/params.cc index 620cd42641..7b14ac6955 100644 --- a/common/params.cc +++ b/common/params.cc @@ -199,7 +199,7 @@ std::unordered_map keys = { {"UbloxAvailable", PERSISTENT}, {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"UpdateFailedCount", CLEAR_ON_MANAGER_START}, - {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START}, + {"UpdaterAvailableBranches", PERSISTENT}, {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START}, {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START}, {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START}, diff --git a/common/profiler.py b/common/profiler.py deleted file mode 100644 index 8b1a7a8cfa..0000000000 --- a/common/profiler.py +++ /dev/null @@ -1,45 +0,0 @@ -import time - -class Profiler(): - def __init__(self, enabled=False): - self.enabled = enabled - self.cp = {} - self.cp_ignored = [] - self.iter = 0 - self.start_time = time.time() - self.last_time = self.start_time - self.tot = 0. - - def reset(self, enabled=False): - self.enabled = enabled - self.cp = {} - self.cp_ignored = [] - self.iter = 0 - self.start_time = time.time() - self.last_time = self.start_time - - def checkpoint(self, name, ignore=False): - # ignore flag needed when benchmarking threads with ratekeeper - if not self.enabled: - return - tt = time.time() - if name not in self.cp: - self.cp[name] = 0. - if ignore: - self.cp_ignored.append(name) - self.cp[name] += tt - self.last_time - if not ignore: - self.tot += tt - self.last_time - self.last_time = tt - - def display(self): - if not self.enabled: - return - self.iter += 1 - print("******* Profiling %d *******" % self.iter) - for n, ms in sorted(self.cp.items(), key=lambda x: -x[1]): - if n in self.cp_ignored: - print("%30s: %9.2f avg: %7.2f percent: %3.0f IGNORED" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - else: - print("%30s: %9.2f avg: %7.2f percent: %3.0f" % (n, ms*1000.0, ms*1000.0/self.iter, ms/self.tot*100)) - print(f"Iter clock: {self.tot / self.iter:2.6f} TOTAL: {self.tot:2.2f}") diff --git a/docs/CARS.md b/docs/CARS.md index bb2484e816..407c1d8cc7 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -240,7 +240,7 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Toyota|RAV4 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|RAV4 2023-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/panda b/panda index 20722a5946..2a0536c631 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 20722a59467fc7d697bfe1edd233a38bafbc89d2 +Subproject commit 2a0536c63148a02add52555386b5533f3555ef58 diff --git a/poetry.lock b/poetry.lock index 2731ff1c48..597ed19b28 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,4 @@ -# This file is automatically @generated by Poetry 1.7.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 1.6.1 and should not be changed by hand. 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"https://github.com/metadriverse/metadrive.git", rev ="main", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies mpld3 = "*" mypy = "*" myst-parser = "*" diff --git a/release/files_common b/release/files_common index 0facb5cc5f..71c096716b 100644 --- a/release/files_common +++ b/release/files_common @@ -291,11 +291,8 @@ system/camerad/main.cc system/camerad/snapshot/* system/camerad/cameras/camera_common.h system/camerad/cameras/camera_common.cc -system/camerad/sensors/ar0231.cc -system/camerad/sensors/ar0231_registers.h -system/camerad/sensors/ox03c10.cc -system/camerad/sensors/ox03c10_registers.h -system/camerad/sensors/sensor.h +system/camerad/sensors/*.h +system/camerad/sensors/*.cc selfdrive/manager/__init__.py selfdrive/manager/build.py diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 719d50c1ab..ce9e64188b 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -637,6 +637,8 @@ def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket while not (end_event.is_set() or global_end_event.is_set()): try: data = ws.recv() + if isinstance(data, str): + data = data.encode("utf-8") local_sock.sendall(data) except WebSocketTimeoutException: pass @@ -728,10 +730,11 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None: if onroad != onroad_prev: onroad_prev = onroad - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) - sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) + if sock is not None: + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10) + sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3) if end_event.wait(5): break diff --git a/selfdrive/car/README.md b/selfdrive/car/README.md index f77bea205b..2c49cf2051 100644 --- a/selfdrive/car/README.md +++ b/selfdrive/car/README.md @@ -1,63 +1,3 @@ -# selfdrive/car - -Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car. - -## Useful car porting utilities - -Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car. - -### [Cabana](/tools/cabana/README.md) - -View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car. - -Example: -```bash -> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43' -``` - -### [selfdrive/debug/auto_fingerprint.py](/selfdrive/debug/auto_fingerprint.py) - -Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in values.py - -Example: -```bash -> python selfdrive/debug/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN' -Attempting to add fw version for: SUBARU OUTBACK 6TH GEN -``` - -### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py) - -Finds common bugs for car interfaces, without even requiring a route. - - -#### Example: Typo in signal name -```bash -> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # replace with the brand you are working on - -===================================================================== -FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS' - -``` - -### [selfdrive/debug/test_car_model.py](/selfdrive/debug/test_car_model.py) - -Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches. - -#### Example: panda safety mismatch for gasPressed -```bash -> python selfdrive/debug/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21' - -===================================================================== -FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate) -Assert that panda safety matches openpilot's carState ----------------------------------------------------------------------- -Traceback (most recent call last): - File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate - self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") -AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116} -``` - - ## Car port structure ### interface.py diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 2e80dde010..f2ce743607 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -244,10 +244,13 @@ class CarInfo: # all the parts needed for the supported car car_parts: CarParts = field(default_factory=CarParts) + def __post_init__(self): + self.make, self.model, self.years = split_name(self.name) + self.year_list = get_year_list(self.years) + def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]): self.car_name = CP.carName self.car_fingerprint = CP.carFingerprint - self.make, self.model, self.years = split_name(self.name) # longitudinal column op_long = "Stock" @@ -309,7 +312,6 @@ class CarInfo: self.row[Column.STEERING_TORQUE] = Star.FULL self.all_footnotes = all_footnotes - self.year_list = get_year_list(self.years) self.detail_sentence = self.get_detail_sentence(CP) return self diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index f51cb75372..6c7e8007f2 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -154,21 +154,6 @@ class CarController: if self.frame % 10 == 0: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) - # Show green icon when LKA torque is applied, and - # alarming orange icon when approaching torque limit. - # If not sent again, LKA icon disappears in about 5 seconds. - # Conveniently, sending camera message periodically also works as a keepalive. - lka_active = CS.lkas_status == 1 - lka_critical = lka_active and abs(actuators.steer) > 0.9 - lka_icon_status = (lka_active, lka_critical) - - # SW_GMLAN not yet on cam harness, no HUD alerts - if self.CP.networkLocation != NetworkLocation.fwdCamera and \ - (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last): - steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) - can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert)) - self.lka_icon_status_last = lka_icon_status - new_actuators = actuators.copy() new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 2a8577164f..dbbf15100f 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -139,7 +139,6 @@ class CanBus: OBSTACLE = 1 CAMERA = 2 CHASSIS = 2 - SW_GMLAN = 3 LOOPBACK = 128 DROPPED = 192 diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 1667b46188..543a283e47 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -744,9 +744,6 @@ FW_VERSIONS = { b'78109-TPG-A110\x00\x00', b'78109-TPG-A210\x00\x00', ], - (Ecu.hud, 0x18da61f1, None): [ - b'78209-TLA-X010\x00\x00', - ], (Ecu.fwdRadar, 0x18dab0f1, None): [ b'36802-TMB-H040\x00\x00', b'36802-TPA-E040\x00\x00', diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 8a33ce5e24..1296aead5e 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -122,7 +122,7 @@ class CarInterface(CarInterfaceBase): ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable if candidate in GLOBAL_GEN2 and ret.openpilotLongitudinalControl: - ret.flags |= SubaruFlags.DISABLE_EYESIGHT + ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value if ret.openpilotLongitudinalControl: ret.longitudinalTuning.kpBP = [0., 5., 35.] diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py index 1fc626972f..10e24ff4c5 100755 --- a/selfdrive/car/tests/test_lateral_limits.py +++ b/selfdrive/car/tests/test_lateral_limits.py @@ -95,8 +95,8 @@ if __name__ == "__main__": _jerks["down_jerk"] > MAX_LAT_JERK_DOWN violation_str = " - VIOLATION" if violation else "" - print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \ - m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") + print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} " + + f"m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}") # exit with test result sys.exit(not result.result.wasSuccessful()) diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index cc52995a33..253841877f 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -21,6 +21,7 @@ from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls +from openpilot.selfdrive.test.helpers import read_segment_list from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.logreader import LogReader from openpilot.tools.lib.route import Route, SegmentName, RouteName @@ -52,12 +53,9 @@ def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]: test_cases.extend(sorted((c.value, r) for r in routes_by_car.get(c, (None,)))) else: - with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f: - seg_list = f.read().splitlines() - - seg_list_grouped = [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] - seg_list_grouped = random.sample(seg_list_grouped, INTERNAL_SEG_CNT or len(seg_list_grouped)) - for platform, segment in seg_list_grouped: + segment_list = read_segment_list(os.path.join(BASEDIR, INTERNAL_SEG_LIST)) + segment_list = random.sample(segment_list, INTERNAL_SEG_CNT or len(segment_list)) + for platform, segment in segment_list: segment_name = SegmentName(segment) test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform, segment=segment_name.segment_num))) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 62c4ddf3ce..c72766f40a 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -145,6 +145,7 @@ FW_VERSIONS = { b'8821F0601200 ', b'8821F0601300 ', b'8821F0601400 ', + b'8821F0601500 ', b'8821F0602000 ', b'8821F0603300 ', b'8821F0603400 ', @@ -189,6 +190,7 @@ FW_VERSIONS = { b'8821F0601200 ', b'8821F0601300 ', b'8821F0601400 ', + b'8821F0601500 ', b'8821F0602000 ', b'8821F0603300 ', b'8821F0603400 ', @@ -736,6 +738,7 @@ FW_VERSIONS = { b'\x018966353Q4000\x00\x00\x00\x00', b'\x018966353R1100\x00\x00\x00\x00', b'\x018966353R7100\x00\x00\x00\x00', + b'\x018966353R8000\x00\x00\x00\x00', b'\x018966353R8100\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ @@ -1134,6 +1137,7 @@ FW_VERSIONS = { CAR.RAV4_TSS2_2023: { (Ecu.abs, 0x7b0, None): [ b'\x01F15260R450\x00\x00\x00\x00\x00\x00', + b'\x01F15260R51000\x00\x00\x00\x00', b'\x01F15264283200\x00\x00\x00\x00', b'\x01F15264283300\x00\x00\x00\x00', b'\x01F152642F1000\x00\x00\x00\x00', @@ -1149,6 +1153,7 @@ FW_VERSIONS = { b'\x01896634AE1001\x00\x00\x00\x00', b'\x01896634AF0000\x00\x00\x00\x00', b'\x01896634AJ2000\x00\x00\x00\x00', + b'\x01896634AL5000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F0R03100\x00\x00\x00\x00', @@ -1407,6 +1412,7 @@ FW_VERSIONS = { CAR.LEXUS_RC: { (Ecu.engine, 0x700, None): [ b'\x01896632461100\x00\x00\x00\x00', + b'\x01896632478100\x00\x00\x00\x00', b'\x01896632478200\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index fca7c50dc7..b3b6fd7377 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -180,7 +180,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), ], CAR.RAV4_TSS2_2023: [ - ToyotaCarInfo("Toyota RAV4 2023"), + ToyotaCarInfo("Toyota RAV4 2023-24"), ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), ], CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index e7a7f2a998..0cee2c7fce 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -5,7 +5,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan -from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams +from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -65,13 +65,22 @@ class CarController: self.apply_steer_last = apply_steer can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled)) + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + # Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque + # to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to + # consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background. + ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX) + if abs(CS.out.steeringTorque) > abs(ea_simulated_torque): + ea_simulated_torque = CS.out.steeringTorque + can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque)) + # **** Acceleration Controls ******************************************** # if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl: acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive) accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0 stopping = actuators.longControlState == LongCtrlState.stopping - starting = actuators.longControlState == LongCtrlState.starting + starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping) can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel, acc_control, stopping, starting, CS.esp_hold_confirmation)) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index cbe8918d48..25c5bc04bc 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ - CarControllerParams + CarControllerParams, VolkswagenFlags class CarState(CarStateBase): @@ -14,6 +14,7 @@ class CarState(CarStateBase): self.button_states = {button.event_type: False for button in self.CCP.BUTTONS} self.esp_hold_confirmation = False self.upscale_lead_car_signal = False + self.eps_stock_values = False def create_button_events(self, pt_cp, buttons): button_events = [] @@ -59,6 +60,11 @@ class CarState(CarStateBase): ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT") ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED") + # VW Emergency Assist status tracking and mitigation + self.eps_stock_values = pt_cp.vl["LH_EPS_03"] + if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 + # Update gas, brakes, and gearshift. ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0 ret.gasPressed = ret.gas > 0 @@ -293,6 +299,11 @@ class CarState(CarStateBase): messages = [] + if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT: + messages += [ + ("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not + ] + if CP.networkLocation == NetworkLocation.fwdCamera: messages += [ # sig_address, frequency diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index fa9061e582..f98a822f1e 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -540,6 +540,7 @@ FW_VERSIONS = { b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', b'\xf1\x875NA907115J \xf1\x890002', + b'\xf1\x875NA907115K \xf1\x890004', b'\xf1\x8783A907115 \xf1\x890007', b'\xf1\x8783A907115B \xf1\x890005', b'\xf1\x8783A907115F \xf1\x890002', @@ -570,6 +571,7 @@ FW_VERSIONS = { b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100', b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100', b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100', b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100', @@ -587,6 +589,7 @@ FW_VERSIONS = { (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603', b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705', + b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6070705', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00', diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index d5377453c1..710e779d0a 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -3,7 +3,7 @@ from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter +from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -67,6 +67,9 @@ class CarInterface(CarInterfaceBase): else: ret.networkLocation = NetworkLocation.fwdCamera + if 0x126 in fingerprint[2]: # HCA_01 + ret.flags |= VolkswagenFlags.STOCK_HCA_PRESENT.value + # Global lateral tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.1 @@ -90,11 +93,9 @@ class CarInterface(CarInterfaceBase): ret.pcmCruise = not ret.openpilotLongitudinalControl ret.stoppingControl = True - ret.startingState = True - ret.startAccel = 1.0 ret.stopAccel = -0.55 - ret.vEgoStarting = 1.0 - ret.vEgoStopping = 1.0 + ret.vEgoStarting = 0.1 + ret.vEgoStopping = 0.5 ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py index 849d99592f..787c7de530 100644 --- a/selfdrive/car/volkswagen/mqbcan.py +++ b/selfdrive/car/volkswagen/mqbcan.py @@ -10,6 +10,24 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled): return packer.make_can_msg("HCA_01", bus, values) +def create_eps_update(packer, bus, eps_stock_values, ea_simulated_torque): + values = {s: eps_stock_values[s] for s in [ + "COUNTER", # Sync counter value to EPS output + "EPS_Lenkungstyp", # EPS rack type + "EPS_Berechneter_LW", # Absolute raw steering angle + "EPS_VZ_BLW", # Raw steering angle sign + "EPS_HCA_Status", # EPS HCA control status + ]} + + values.update({ + # Absolute driver torque input and sign, with EA inactivity mitigation + "EPS_Lenkmoment": abs(ea_simulated_torque), + "EPS_VZ_Lenkmoment": 1 if ea_simulated_torque < 0 else 0, + }) + + return packer.make_can_msg("LH_EPS_03", bus, values) + + def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control): values = {} if len(ldw_stock_values): @@ -94,7 +112,7 @@ def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_cont acc_hold_type = 0 acc_07_values = { - "ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) + "ACC_Anhalteweg": 0.3 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out) "ACC_Freilauf_Info": 2 if acc_enabled else 0, "ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01, diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 35e88895db..f4809e4523 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -1,6 +1,6 @@ from collections import defaultdict, namedtuple from dataclasses import dataclass, field -from enum import Enum, StrEnum +from enum import Enum, IntFlag, StrEnum from typing import Dict, List, Union from cereal import car @@ -109,6 +109,10 @@ class CANBUS: cam = 2 +class VolkswagenFlags(IntFlag): + STOCK_HCA_PRESENT = 1 + + # Check the 7th and 8th characters of the VIN before adding a new CAR. If the # chassis code is already listed below, don't add a new CAR, just add to the # FW_VERSIONS for that existing CAR. diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 46a0b7f462..698c149515 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -8,7 +8,6 @@ from typing import SupportsFloat from cereal import car, log from openpilot.common.numpy_fast import clip from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL -from openpilot.common.profiler import Profiler from openpilot.common.params import Params import cereal.messaging as messaging from cereal.visionipc import VisionIpcClient, VisionStreamType @@ -195,7 +194,6 @@ class Controls: # controlsd is driven by can recv, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) - self.prof = Profiler(False) # off by default def set_initial_state(self): if REPLAY: @@ -851,12 +849,10 @@ class Controls: def step(self): start_time = time.monotonic() - self.prof.checkpoint("Ratekeeper", ignore=True) # Sample data from sockets and get a carState CS = self.data_sample() cloudlog.timestamp("Data sampled") - self.prof.checkpoint("Sample") self.update_events(CS) cloudlog.timestamp("Events updated") @@ -864,16 +860,12 @@ class Controls: if not self.CP.passive and self.initialized: # Update control state self.state_transition(CS) - self.prof.checkpoint("State transition") # Compute actuators (runs PID loops and lateral MPC) CC, lac_log = self.state_control(CS) - self.prof.checkpoint("State Control") - # Publish data self.publish_logs(CS, start_time, CC, lac_log) - self.prof.checkpoint("Sent") self.CS_prev = CS @@ -893,7 +885,6 @@ class Controls: while True: self.step() self.rk.monitor_time() - self.prof.display() except SystemExit: e.set() t.join() diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 13127b4634..018768f248 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -47,13 +47,14 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP): class LongitudinalPlanner: - def __init__(self, CP, init_v=0.0, init_a=0.0): + def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL): self.CP = CP self.mpc = LongitudinalMpc() self.fcw = False + self.dt = dt self.a_desired = init_a - self.v_desired_filter = FirstOrderFilter(init_v, 2.0, DT_MDL) + self.v_desired_filter = FirstOrderFilter(init_v, 2.0, self.dt) self.v_model_error = 0.0 self.v_desired_trajectory = np.zeros(CONTROL_N) @@ -148,8 +149,8 @@ class LongitudinalPlanner: # Interpolate 0.05 seconds and save as starting point for next iteration a_prev = self.a_desired - self.a_desired = float(interp(DT_MDL, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory)) - self.v_desired_filter.x = self.v_desired_filter.x + DT_MDL * (self.a_desired + a_prev) / 2.0 + self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory)) + self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0 def publish(self, sm, pm): plan_send = messaging.new_message('longitudinalPlan') diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py index ea1160d60b..810e45cfc6 100755 --- a/selfdrive/debug/can_print_changes.py +++ b/selfdrive/debug/can_print_changes.py @@ -3,10 +3,11 @@ import argparse import binascii import time from collections import defaultdict +from typing import Optional import cereal.messaging as messaging from openpilot.selfdrive.debug.can_table import can_table -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import LogIterable, LogReader RED = '\033[91m' CLEAR = '\033[0m' @@ -95,13 +96,15 @@ if __name__ == "__main__": args = parser.parse_args() - init_lr, new_lr = None, None + init_lr: Optional[LogIterable] = None + new_lr: Optional[LogIterable] = None + if args.init: if args.init == '': init_lr = [] else: - init_lr = logreader_from_route_or_segment(args.init) + init_lr = LogReader(args.init) if args.comp: - new_lr = logreader_from_route_or_segment(args.comp) + new_lr = LogReader(args.comp) can_printer(args.bus, init_msgs=init_lr, new_msgs=new_lr, table=args.table) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index a2c3576b6f..0d545b3153 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -4,16 +4,12 @@ import math import datetime from collections import Counter from pprint import pprint -from tqdm import tqdm from typing import List, Tuple, cast from cereal.services import SERVICE_LIST -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import LogReader +from openpilot.tools.lib.logreader import LogReader, ReadMode if __name__ == "__main__": - r = Route(sys.argv[1]) - cnt_valid: Counter = Counter() cnt_events: Counter = Counter() @@ -24,31 +20,29 @@ if __name__ == "__main__": start_time = math.inf end_time = -math.inf ignition_off = None - for q in tqdm(r.qlog_paths()): - if q is None: - continue - lr = list(LogReader(q)) - for msg in lr: - end_time = max(end_time, msg.logMonoTime) - start_time = min(start_time, msg.logMonoTime) + for msg in LogReader(sys.argv[1], ReadMode.QLOG): + end_time = max(end_time, msg.logMonoTime) + start_time = min(start_time, msg.logMonoTime) - if msg.which() == 'onroadEvents': - for e in msg.onroadEvents: - cnt_events[e.name] += 1 - elif msg.which() == 'controlsState': - if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType: + if msg.which() == 'onroadEvents': + for e in msg.onroadEvents: + cnt_events[e.name] += 1 + elif msg.which() == 'controlsState': + at = msg.controlsState.alertType + if "/override" not in at or "lanechange" in at.lower(): + if len(alerts) == 0 or alerts[-1][1] != at: t = (msg.logMonoTime - start_time) / 1e9 - alerts.append((t, msg.controlsState.alertType)) - elif msg.which() == 'pandaStates': - if ignition_off is None: - ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) - if not ign: - ignition_off = msg.logMonoTime - elif msg.which() in cams: - cnt_cameras[msg.which()] += 1 + alerts.append((t, at)) + elif msg.which() == 'pandaStates': + if ignition_off is None: + ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) + if not ign: + ignition_off = msg.logMonoTime + elif msg.which() in cams: + cnt_cameras[msg.which()] += 1 - if not msg.valid: - cnt_valid[msg.which()] += 1 + if not msg.valid: + cnt_valid[msg.which()] += 1 duration = (end_time - start_time) / 1e9 diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py index 20cef0fcc0..20028f8fd2 100755 --- a/selfdrive/debug/filter_log_message.py +++ b/selfdrive/debug/filter_log_message.py @@ -1,11 +1,9 @@ #!/usr/bin/env python3 -import os import argparse import json import cereal.messaging as messaging from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route LEVELS = { "DEBUG": 10, @@ -53,31 +51,18 @@ if __name__ == "__main__": parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage") args = parser.parse_args() - logs = None - if len(args.route): - if os.path.exists(args.route[0]): - logs = [args.route[0]] - else: - r = Route(args.route[0]) - logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)] - - if len(args.route) == 2 and logs: - n = int(args.route[1]) - logs = [logs[n]] - min_level = LEVELS[args.level] - if logs: - for log in logs: - if log: - lr = LogReader(log) - for m in lr: - if m.which() == 'logMessage': - print_logmessage(m.logMonoTime, m.logMessage, min_level) - elif m.which() == 'errorLogMessage' and 'qlog' in log: - print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) - elif m.which() == 'androidLog': - print_androidlog(m.logMonoTime, m.androidLog) + if args.route: + for route in args.route: + lr = LogReader(route) + for m in lr: + if m.which() == 'logMessage': + print_logmessage(m.logMonoTime, m.logMessage, min_level) + elif m.which() == 'errorLogMessage': + print_logmessage(m.logMonoTime, m.errorLogMessage, min_level) + elif m.which() == 'androidLog': + print_androidlog(m.logMonoTime, m.androidLog) else: sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr) while True: diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py index c2bff7c638..68308bb627 100755 --- a/selfdrive/debug/fingerprint_from_route.py +++ b/selfdrive/debug/fingerprint_from_route.py @@ -1,8 +1,7 @@ #!/usr/bin/env python3 import sys -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.logreader import LogReader, ReadMode def get_fingerprint(lr): @@ -40,6 +39,5 @@ if __name__ == "__main__": print("Usage: ./fingerprint_from_route.py ") sys.exit(1) - route = Route(sys.argv[1]) - lr = MultiLogIterator(route.log_paths()[:5]) + lr = LogReader(sys.argv[1], ReadMode.QLOG) get_fingerprint(lr) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index 8209b409ca..441de9ef57 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -3,14 +3,12 @@ import argparse from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process -from openpilot.tools.lib.logreader import MultiLogIterator -from openpilot.tools.lib.route import Route from openpilot.tools.lib.helpers import save_log +from openpilot.tools.lib.logreader import LogReader if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("--qlog", help="Use qlog instead of log", action="store_true") parser.add_argument("--fingerprint", help="The fingerprint to use") parser.add_argument("route", help="The route name to use") parser.add_argument("process", help="The process to run") @@ -18,8 +16,7 @@ if __name__ == "__main__": cfg = [c for c in CONFIGS if c.proc_name == args.process][0] - route = Route(args.route) - lr = MultiLogIterator(route.qlog_paths() if args.qlog else route.log_paths()) + lr = LogReader(args.route) inputs = list(lr) outputs = replay_process(cfg, inputs, fingerprint=args.fingerprint) @@ -29,5 +26,5 @@ if __name__ == "__main__": inputs = [i for i in inputs if i.which() not in produces] outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) - fn = f"{args.route}_{args.process}.bz2" + fn = f"{args.route.replace('/', '_')}_{args.process}.bz2" save_log(fn, outputs) diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py deleted file mode 100755 index 73f98b285c..0000000000 --- a/selfdrive/debug/sensor_data_to_hist.py +++ /dev/null @@ -1,111 +0,0 @@ -#!/usr/bin/env python3 -''' -printing the gap between interrupts in a histogram to check if the -frequency is what we expect, the bmx is not interrupt driven for as we -get interrupts in a 2kHz rate. -''' - -import argparse -import sys -import numpy as np -from collections import defaultdict - -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route - -import matplotlib.pyplot as plt - -SRC_BMX = "bmx055" -SRC_LSM = "lsm6ds3" - - -def parseEvents(log_reader): - bmx_data = defaultdict(list) - lsm_data = defaultdict(list) - - for m in log_reader: - if m.which() not in ['accelerometer', 'gyroscope']: - continue - - d = getattr(m, m.which()).to_dict() - - if d["source"] == SRC_BMX and "acceleration" in d: - bmx_data["accel"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_BMX and "gyroUncalibrated" in d: - bmx_data["gyro"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_LSM and "acceleration" in d: - lsm_data["accel"].append(d["timestamp"] / 1e9) - - if d["source"] == SRC_LSM and "gyroUncalibrated" in d: - lsm_data["gyro"].append(d["timestamp"] / 1e9) - - return bmx_data, lsm_data - - -def cleanData(data): - if len(data) == 0: - return [], [] - - data.sort() - diffs = np.diff(data) - return data, diffs - - -def logAvgValues(data, sensor): - if len(data) == 0: - print(f"{sensor}: no data to average") - return - - avg = sum(data) / len(data) - hz = 1 / avg - print(f"{sensor}: data_points: {len(data)} avg [ns]: {avg} avg [Hz]: {hz}") - - -if __name__ == "__main__": - parser = argparse.ArgumentParser() - parser.add_argument("route", type=str, help="route name") - parser.add_argument("segment", type=int, help="segment number") - args = parser.parse_args() - - r = Route(args.route) - logs = r.log_paths() - - if len(logs) == 0: - print("NO data routes") - sys.exit(0) - - if args.segment >= len(logs): - print(f"RouteID: {args.segment} out of range, max: {len(logs) -1}") - sys.exit(0) - - lr = LogReader(logs[args.segment]) - bmx_data, lsm_data = parseEvents(lr) - - # sort bmx accel data, and then cal all the diffs, and to a histogram of those - bmx_accel, bmx_accel_diffs = cleanData(bmx_data["accel"]) - bmx_gyro, bmx_gyro_diffs = cleanData(bmx_data["gyro"]) - lsm_accel, lsm_accel_diffs = cleanData(lsm_data["accel"]) - lsm_gyro, lsm_gyro_diffs = cleanData(lsm_data["gyro"]) - - # get out the averages - logAvgValues(bmx_accel_diffs, "bmx accel") - logAvgValues(bmx_gyro_diffs, "bmx gyro ") - logAvgValues(lsm_accel_diffs, "lsm accel") - logAvgValues(lsm_gyro_diffs, "lsm gyro ") - - fig, axs = plt.subplots(1, 2, tight_layout=True) - axs[0].hist(bmx_accel_diffs, bins=50) - axs[0].set_title("bmx_accel") - axs[1].hist(bmx_gyro_diffs, bins=50) - axs[1].set_title("bmx_gyro") - - figl, axsl = plt.subplots(1, 2, tight_layout=True) - axsl[0].hist(lsm_accel_diffs, bins=50) - axsl[0].set_title("lsm_accel") - axsl[1].hist(lsm_gyro_diffs, bins=50) - axsl[1].set_title("lsm_gyro") - - print("check plot...") - plt.show() diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py index 83e173244e..20c5486c32 100755 --- a/selfdrive/debug/test_fw_query_on_routes.py +++ b/selfdrive/debug/test_fw_query_on_routes.py @@ -112,8 +112,8 @@ if __name__ == "__main__": padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw]) for version in sorted(car_fw, key=lambda fw: fw.brand): subaddr = None if version.subAddress == 0 else hex(version.subAddress) - print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \ - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") + print(f" Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - " + + "(Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],") print("Mismatches") found = False diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py index d60d2d372b..dc83c8f7a4 100755 --- a/selfdrive/debug/toyota_eps_factor.py +++ b/selfdrive/debug/toyota_eps_factor.py @@ -5,8 +5,7 @@ import matplotlib.pyplot as plt from sklearn import linear_model from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator +from openpilot.tools.lib.logreader import LogReader MIN_SAMPLES = 30 * 100 @@ -58,7 +57,6 @@ def get_eps_factor(lr, plot=False): if __name__ == "__main__": - r = Route(sys.argv[1]) - lr = MultiLogIterator(r.log_paths()) + lr = LogReader(sys.argv[1]) n = get_eps_factor(lr, plot="--plot" in sys.argv) print("EPS torque factor: ", n) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index 37947a9a03..8b9bba4a47 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -229,6 +229,8 @@ if __name__ == "__main__": try: main() + except KeyboardInterrupt: + print("got CTRL-C, exiting") except Exception: add_file_handler(cloudlog) cloudlog.exception("Manager failed to start") diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py index fcaf46aff4..2be703cdb2 100755 --- a/selfdrive/navd/navd.py +++ b/selfdrive/navd/navd.py @@ -71,8 +71,11 @@ class RouteEngine: self.ui_pid = ui_pid[0] self.update_location() - self.recompute_route() - self.send_instruction() + try: + self.recompute_route() + self.send_instruction() + except Exception: + cloudlog.exception("navd.failed_to_compute") def update_location(self): location = self.sm['liveLocationKalman'] @@ -256,7 +259,10 @@ class RouteEngine: for i in range(self.step_idx + 1, len(self.route)): total_distance += self.route[i]['distance'] total_time += self.route[i]['duration'] - total_time_typical += self.route[i]['duration_typical'] + if self.route[i]['duration_typical'] is None: + total_time_typical += self.route[i]['duration'] + else: + total_time_typical += self.route[i]['duration_typical'] msg.navInstruction.distanceRemaining = total_distance msg.navInstruction.timeRemaining = total_time diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py new file mode 100755 index 0000000000..e2a5944c2b --- /dev/null +++ b/selfdrive/navd/tests/test_navd.py @@ -0,0 +1,61 @@ +#!/usr/bin/env python3 +import json +import random +import unittest +import numpy as np + +import cereal.messaging as messaging +from openpilot.common.params import Params +from openpilot.selfdrive.manager.process_config import managed_processes + + +class TestNavd(unittest.TestCase): + def setUp(self): + self.params = Params() + self.sm = messaging.SubMaster(['navRoute', 'navInstruction']) + + def tearDown(self): + managed_processes['navd'].stop() + + def _check_route(self, start, end, check_coords=True): + self.params.put("NavDestination", json.dumps(end)) + self.params.put("LastGPSPosition", json.dumps(start)) + + managed_processes['navd'].start() + for _ in range(30): + self.sm.update(1000) + if all(f > 0 for f in self.sm.rcv_frame.values()): + break + else: + raise Exception("didn't get a route") + + assert managed_processes['navd'].proc.is_alive() + managed_processes['navd'].stop() + + # ensure start and end match up + if check_coords: + coords = self.sm['navRoute'].coordinates + assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']], + [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude], + rtol=1e-3) + + def test_simple(self): + start = { + "latitude": 32.7427228, + "longitude": -117.2321177, + } + end = { + "latitude": 32.7557004, + "longitude": -117.268002, + } + self._check_route(start, end) + + def test_random(self): + for _ in range(10): + start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)} + self._check_route(start, end, check_coords=False) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 78b01c983f..693604442d 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -8,6 +8,7 @@ from openpilot.common.params import Params from openpilot.selfdrive.manager.process_config import managed_processes from openpilot.system.hardware import PC from openpilot.system.version import training_version, terms_version +from openpilot.tools.lib.logreader import LogIterable def set_params_enabled(): @@ -72,3 +73,18 @@ def with_processes(processes, init_time=0, ignore_stopped=None): def noop(*args, **kwargs): pass + + +def read_segment_list(segment_list_path): + with open(segment_list_path, "r") as f: + seg_list = f.read().splitlines() + + return [(platform[2:], segment) for platform, segment in zip(seg_list[::2], seg_list[1::2], strict=True)] + + +# Utilities for sanitizing routes of only essential data for testing car ports and doing validation. + +PRESERVE_SERVICES = ["can", "carParams", "pandaStates", "pandaStateDEPRECATED"] + +def sanitize(lr: LogIterable) -> LogIterable: + return filter(lambda msg: msg.which() in PRESERVE_SERVICES, lr) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 559749be14..9163bcae75 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -ea96f935a7a16c53623c3b03e70c0fbfa6b249e7 +1b981ce7f817974d4a7a28b06f01f727a5a7ea7b \ No newline at end of file diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 3f97ef6bc6..bc12234c9c 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -34,7 +34,7 @@ PROCS = { "./encoderd": 17.0, "./camerad": 14.5, "./locationd": 11.0, - "./mapsd": (1.0, 10.0), + "./mapsd": (0.5, 10.0), "selfdrive.controls.plannerd": 11.0, "./ui": 18.0, "selfdrive.locationd.paramsd": 9.0, diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 8b51aedbdb..7011ff0a99 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -312,6 +312,9 @@ def thermald_thread(end_event, hw_queue) -> None: # must be at an engageable thermal band to go onroad startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red + # ensure device is fully booted + startup_conditions["device_booted"] = startup_conditions.get("device_booted", False) or HARDWARE.booted() + # if the temperature enters the danger zone, go offroad to cool down onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger extra_text = f"{offroad_comp_temp:.1f}C" diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc index 322861ed15..161844c618 100644 --- a/selfdrive/ui/qt/maps/map_eta.cc +++ b/selfdrive/ui/qt/maps/map_eta.cc @@ -20,7 +20,7 @@ void MapETA::paintEvent(QPaintEvent *event) { QPainter p(this); p.setRenderHint(QPainter::Antialiasing); p.setPen(Qt::NoPen); - p.setBrush(QColor(0, 0, 0, 150)); + p.setBrush(QColor(0, 0, 0, 255)); QSizeF txt_size = eta_doc.size(); p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25); p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2); diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc index 090b9b578c..5354a01fa0 100644 --- a/selfdrive/ui/qt/network/networking.cc +++ b/selfdrive/ui/qt/network/networking.cc @@ -48,6 +48,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { an = new AdvancedNetworking(this, wifi); connect(an, &AdvancedNetworking::backPress, [=]() { main_layout->setCurrentWidget(wifiScreen); }); + connect(an, &AdvancedNetworking::requestWifiScreen, [=]() { main_layout->setCurrentWidget(wifiScreen); }); main_layout->addWidget(an); QPalette pal = palette(); @@ -181,6 +182,25 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid }); list->addItem(meteredToggle); + // Hidden Network + hiddenNetworkButton = new ButtonControl(tr("Hidden Network"), tr("CONNECT")); + connect(hiddenNetworkButton, &ButtonControl::clicked, [=]() { + QString ssid = InputDialog::getText(tr("Enter SSID"), this, "", false, 1); + if (!ssid.isEmpty()) { + QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(ssid), true, -1); + Network hidden_network; + hidden_network.ssid = ssid.toUtf8(); + if (!pass.isEmpty()) { + hidden_network.security_type = SecurityType::WPA; + wifi->connect(hidden_network, pass); + } else { + wifi->connect(hidden_network); + } + emit requestWifiScreen(); + } + }); + list->addItem(hiddenNetworkButton); + // Set initial config wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered); diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h index 4ff7380f42..9b6af005ea 100644 --- a/selfdrive/ui/qt/network/networking.h +++ b/selfdrive/ui/qt/network/networking.h @@ -62,12 +62,14 @@ private: ToggleControl* tetheringToggle; ToggleControl* roamingToggle; ButtonControl* editApnButton; + ButtonControl* hiddenNetworkButton; ToggleControl* meteredToggle; WifiManager* wifi = nullptr; Params params; signals: void backPress(); + void requestWifiScreen(); public slots: void toggleTethering(bool enabled); diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index 08f6f10642..df9bb24651 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -7,7 +7,7 @@ const int FACE_IMG_SIZE = 130; -DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISION_STREAM_DRIVER, true, parent) { +DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraWidget("camerad", VISION_STREAM_DRIVER, true, parent) { face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE}); QObject::connect(this, &CameraWidget::clicked, this, &DriverViewWindow::done); QObject::connect(device(), &Device::interactiveTimeout, this, [this]() { @@ -20,20 +20,22 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : CameraView("camerad", VISI void DriverViewWindow::showEvent(QShowEvent* event) { params.putBool("IsDriverViewEnabled", true); device()->resetInteractiveTimeout(60); - CameraView::showEvent(event); + CameraWidget::showEvent(event); } void DriverViewWindow::hideEvent(QHideEvent* event) { params.putBool("IsDriverViewEnabled", false); - CameraView::hideEvent(event); + stopVipcThread(); + CameraWidget::hideEvent(event); } void DriverViewWindow::paintGL() { - CameraView::paintGL(); + CameraWidget::paintGL(); + std::lock_guard lk(frame_lock); QPainter p(this); // startup msg - if (!frame) { + if (frames.empty()) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); p.setFont(InterFont(100, QFont::Bold)); @@ -45,6 +47,7 @@ void DriverViewWindow::paintGL() { cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2(); bool is_rhd = driver_state.getWheelOnRightProb() > 0.5; auto driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData(); + bool face_detected = driver_data.getFaceProb() > 0.7; if (face_detected) { auto fxy_list = driver_data.getFacePosition(); diff --git a/selfdrive/ui/qt/offroad/driverview.h b/selfdrive/ui/qt/offroad/driverview.h index 97dd2faa78..155e4ede32 100644 --- a/selfdrive/ui/qt/offroad/driverview.h +++ b/selfdrive/ui/qt/offroad/driverview.h @@ -2,7 +2,7 @@ #include "selfdrive/ui/qt/widgets/cameraview.h" -class DriverViewWindow : public CameraView { +class DriverViewWindow : public CameraWidget { Q_OBJECT public: diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index ed4bdc15fb..4df0ed81cb 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -44,12 +44,12 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) { split->addWidget(nvg); if (getenv("DUAL_CAMERA_VIEW")) { - CameraWidget *arCam = new CameraView("camerad", VISION_STREAM_ROAD, true, this); + CameraWidget *arCam = new CameraWidget("camerad", VISION_STREAM_ROAD, true, this); split->insertWidget(0, arCam); } if (getenv("MAP_RENDER_VIEW")) { - CameraWidget *map_render = new CameraView("navd", VISION_STREAM_MAP, false, this); + CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this); split->insertWidget(0, map_render); } @@ -126,7 +126,6 @@ void OnroadWindow::offroadTransition(bool offroad) { #endif alerts->updateAlert({}); - nvg->disconnectVipc(); } void OnroadWindow::primeChanged(bool prime) { @@ -329,8 +328,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) { map_settings_btn->setVisible(!hideBottomIcons); main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom); } - - update(); } void AnnotatedCameraWidget::drawHud(QPainter &p) { @@ -612,6 +609,21 @@ void AnnotatedCameraWidget::paintGL() { // draw camera frame { + std::lock_guard lk(frame_lock); + + if (frames.empty()) { + if (skip_frame_count > 0) { + skip_frame_count--; + qDebug() << "skipping frame, not ready"; + return; + } + } else { + // skip drawing up to this many frames if we're + // missing camera frames. this smooths out the + // transitions from the narrow and wide cameras + skip_frame_count = 5; + } + // Wide or narrow cam dependent on speed bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD); if (has_wide_cam) { @@ -627,18 +639,14 @@ void AnnotatedCameraWidget::paintGL() { } CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD); - s->scene.wide_cam = CameraWidget::streamType() == VISION_STREAM_WIDE_ROAD; + s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD; if (s->scene.calibration_valid) { auto calib = s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib; CameraWidget::updateCalibration(calib); } else { CameraWidget::updateCalibration(DEFAULT_CALIBRATION); } - - if (!CameraWidget::receiveFrame(sm["uiPlan"].getUiPlan().getFrameId())) { - qDebug() << "skipping frame, not ready"; - return; - } + CameraWidget::setFrameId(model.getFrameId()); CameraWidget::paintGL(); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index f6b80a75de..b3ba411453 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -93,6 +93,8 @@ private: bool v_ego_cluster_seen = false; int status = STATUS_DISENGAGED; std::unique_ptr pm; + + int skip_frame_count = 0; bool wide_cam_requested = false; protected: diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 4d370b8cc5..7b1f2f1d24 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -6,6 +6,14 @@ #include #endif +#include +#include +#include +#include + +#include +#include + namespace { const char frame_vertex_shader[] = @@ -87,25 +95,24 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio) } // namespace -CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget *parent) - : stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { +CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) : + stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) { + setAttribute(Qt::WA_OpaquePaintEvent); + qRegisterMetaType>("availableStreams"); + QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection); + QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection); + QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection); } CameraWidget::~CameraWidget() { makeCurrent(); + stopVipcThread(); if (isValid()) { glDeleteVertexArrays(1, &frame_vao); glDeleteBuffers(1, &frame_vbo); glDeleteBuffers(1, &frame_ibo); glDeleteBuffers(2, textures); } -#ifdef QCOM2 - EGLDisplay egl_display = eglGetCurrentDisplay(); - for (auto &pair : egl_images) { - eglDestroyImageKHR(egl_display, pair.second); - } - egl_images.clear(); -#endif doneCurrent(); } @@ -169,11 +176,45 @@ void CameraWidget::initializeGL() { #endif } +void CameraWidget::showEvent(QShowEvent *event) { + if (!vipc_thread) { + clearFrames(); + vipc_thread = new QThread(); + connect(vipc_thread, &QThread::started, [=]() { vipcThread(); }); + connect(vipc_thread, &QThread::finished, vipc_thread, &QObject::deleteLater); + vipc_thread->start(); + } +} + +void CameraWidget::stopVipcThread() { + makeCurrent(); + if (vipc_thread) { + vipc_thread->requestInterruption(); + vipc_thread->quit(); + vipc_thread->wait(); + vipc_thread = nullptr; + } + +#ifdef QCOM2 + EGLDisplay egl_display = eglGetCurrentDisplay(); + assert(egl_display != EGL_NO_DISPLAY); + for (auto &pair : egl_images) { + eglDestroyImageKHR(egl_display, pair.second); + assert(eglGetError() == EGL_SUCCESS); + } + egl_images.clear(); +#endif +} + +void CameraWidget::availableStreamsUpdated(std::set streams) { + available_streams = streams; +} + void CameraWidget::updateFrameMat() { int w = glWidth(), h = glHeight(); if (zoomed_view) { - if (streamType() == VISION_STREAM_DRIVER) { + if (active_stream_type == VISION_STREAM_DRIVER) { if (stream_width > 0 && stream_height > 0) { frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } @@ -182,7 +223,7 @@ void CameraWidget::updateFrameMat() { // to ensure this ends up in the middle of the screen // for narrow come and a little lower for wide cam. // TODO: use proper perspective transform? - if (streamType() == VISION_STREAM_WIDE_ROAD) { + if (active_stream_type == VISION_STREAM_WIDE_ROAD) { intrinsic_matrix = ECAM_INTRINSIC_MATRIX; zoom = 2.0; } else { @@ -228,15 +269,25 @@ void CameraWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); - if (!frame) return; + std::lock_guard lk(frame_lock); + if (frames.empty()) return; + + int frame_idx = frames.size() - 1; + + // Always draw latest frame until sync logic is more stable + // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { + // if (frames[frame_idx].first == draw_frame_id) break; + // } // Log duplicate/dropped frames - if (frame_id == prev_frame_id) { - qDebug() << "Drawing same frame twice" << frame_id; - } else if (frame_id != prev_frame_id + 1) { - qDebug() << "Skipped frame" << frame_id; + if (frames[frame_idx].first == prev_frame_id) { + qDebug() << "Drawing same frame twice" << frames[frame_idx].first; + } else if (frames[frame_idx].first != prev_frame_id + 1) { + qDebug() << "Skipped frame" << frames[frame_idx].first; } - prev_frame_id = frame_id; + prev_frame_id = frames[frame_idx].first; + VisionBuf *frame = frames[frame_idx].second; + assert(frame != nullptr); updateFrameMat(); @@ -276,7 +327,7 @@ void CameraWidget::paintGL() { glPixelStorei(GL_UNPACK_ROW_LENGTH, 0); } -void CameraWidget::vipcConnected() { +void CameraWidget::vipcConnected(VisionIpcClient *vipc_client) { makeCurrent(); stream_width = vipc_client->buffers[0].width; stream_height = vipc_client->buffers[0].height; @@ -326,69 +377,59 @@ void CameraWidget::vipcConnected() { #endif } -bool CameraWidget::receiveFrame(uint64_t request_frame_id) { - if (!vipc_client || vipc_client->type != requested_stream_type) { - qDebug().nospace() << "connecting to stream" << requested_stream_type - << (vipc_client ? QString(", was connected to %1").arg(vipc_client->type) : ""); - vipc_client.reset(new VisionIpcClient(stream_name, requested_stream_type, false)); - } +void CameraWidget::vipcFrameReceived() { + update(); +} - if (!vipc_client->connected) { - frame = nullptr; - recent_frames.clear(); - available_streams = VisionIpcClient::getAvailableStreams(stream_name, false); - if (available_streams.empty() || !vipc_client->connect(false)) { - return false; +void CameraWidget::vipcThread() { + VisionStreamType cur_stream = requested_stream_type; + std::unique_ptr vipc_client; + VisionIpcBufExtra meta_main = {0}; + + while (!QThread::currentThread()->isInterruptionRequested()) { + if (!vipc_client || cur_stream != requested_stream_type) { + clearFrames(); + qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream; + cur_stream = requested_stream_type; + vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false)); } - emit vipcAvailableStreamsUpdated(); - vipcConnected(); - } + active_stream_type = cur_stream; + + if (!vipc_client->connected) { + clearFrames(); + auto streams = VisionIpcClient::getAvailableStreams(stream_name, false); + if (streams.empty()) { + QThread::msleep(100); + continue; + } + emit vipcAvailableStreamsUpdated(streams); - VisionIpcBufExtra meta_main = {}; - while (auto buf = vipc_client->recv(&meta_main, 0)) { - if (recent_frames.size() > FRAME_BUFFER_SIZE) { - recent_frames.pop_front(); + if (!vipc_client->connect(false)) { + QThread::msleep(100); + continue; + } + emit vipcThreadConnected(vipc_client.get()); } - recent_frames.emplace_back(meta_main.frame_id, buf); - } - frame = nullptr; - if (request_frame_id > 0) { - auto it = std::find_if(recent_frames.begin(), recent_frames.end(), - [request_frame_id](auto &f) { return f.first == request_frame_id; }); - if (it != recent_frames.end()) { - std::tie(frame_id, frame) = *it; + if (VisionBuf *buf = vipc_client->recv(&meta_main, 1000)) { + { + std::lock_guard lk(frame_lock); + frames.push_back(std::make_pair(meta_main.frame_id, buf)); + while (frames.size() > FRAME_BUFFER_SIZE) { + frames.pop_front(); + } + } + emit vipcThreadFrameReceived(); + } else { + if (!isVisible()) { + vipc_client->connected = false; + } } - } else if (!recent_frames.empty()) { - std::tie(frame_id, frame) = recent_frames.back(); - } - return frame != nullptr; -} - -void CameraWidget::disconnectVipc() { - recent_frames.clear(); - frame = nullptr; - frame_id = 0; - prev_frame_id = 0; - if (vipc_client) { - vipc_client->connected = false; } } -// Cameraview - -CameraView::CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent) - : CameraWidget(name, stream_type, zoom, parent) { - timer = new QTimer(this); - timer->setInterval(1000.0 / UI_FREQ); - timer->callOnTimeout(this, [this]() { if (receiveFrame()) update(); }); -} - -void CameraView::showEvent(QShowEvent *event) { - timer->start(); -} - -void CameraView::hideEvent(QHideEvent *event) { - timer->stop(); - disconnectVipc(); +void CameraWidget::clearFrames() { + std::lock_guard lk(frame_lock); + frames.clear(); + available_streams.clear(); } diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index a862079f1a..c97038cf43 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -10,7 +11,7 @@ #include #include #include -#include +#include #ifdef QCOM2 #define EGL_EGLEXT_PROTOTYPES @@ -32,27 +33,31 @@ class CameraWidget : public QOpenGLWidget, protected QOpenGLFunctions { Q_OBJECT public: + using QOpenGLWidget::QOpenGLWidget; explicit CameraWidget(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget* parent = nullptr); ~CameraWidget(); - void disconnectVipc(); void setBackgroundColor(const QColor &color) { bg = color; } + void setFrameId(int frame_id) { draw_frame_id = frame_id; } void setStreamType(VisionStreamType type) { requested_stream_type = type; } - inline VisionStreamType streamType() const { return requested_stream_type; } - inline const std::set &availableStreams() const { return available_streams; } - bool receiveFrame(uint64_t request_frame_id = 0); + VisionStreamType getStreamType() { return active_stream_type; } + void stopVipcThread(); signals: - void vipcAvailableStreamsUpdated(); void clicked(); + void vipcThreadConnected(VisionIpcClient *); + void vipcThreadFrameReceived(); + void vipcAvailableStreamsUpdated(std::set); protected: void paintGL() override; void initializeGL() override; void resizeGL(int w, int h) override { updateFrameMat(); } + void showEvent(QShowEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } virtual void updateFrameMat(); void updateCalibration(const mat3 &calib); - void vipcConnected(); + void vipcThread(); + void clearFrames(); int glWidth(); int glHeight(); @@ -68,18 +73,14 @@ protected: std::map egl_images; #endif - // vipc std::string stream_name; int stream_width = 0; int stream_height = 0; int stream_stride = 0; - VisionStreamType requested_stream_type; + std::atomic active_stream_type; + std::atomic requested_stream_type; std::set available_streams; - std::unique_ptr vipc_client; - std::deque> recent_frames; - VisionBuf *frame = nullptr; - uint64_t frame_id = 0; - uint64_t prev_frame_id = 0; + QThread *vipc_thread = nullptr; // Calibration float x_offset = 0; @@ -87,16 +88,16 @@ protected: float zoom = 1.0; mat3 calibration = DEFAULT_CALIBRATION; mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX; -}; -// update frames based on timer -class CameraView : public CameraWidget { - Q_OBJECT -public: - CameraView(const std::string &name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr); - void showEvent(QShowEvent *event) override; - void hideEvent(QHideEvent *event) override; + std::recursive_mutex frame_lock; + std::deque> frames; + uint32_t draw_frame_id = 0; + uint32_t prev_frame_id = 0; -private: - QTimer *timer; +protected slots: + void vipcConnected(VisionIpcClient *vipc_client); + void vipcFrameReceived(); + void availableStreamsUpdated(std::set streams); }; + +Q_DECLARE_METATYPE(std::set); diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py index caba386643..9ba9054ea1 100755 --- a/selfdrive/ui/tests/test_translations.py +++ b/selfdrive/ui/tests/test_translations.py @@ -22,6 +22,9 @@ FORMAT_ARG = re.compile("%[0-9]+") @parameterized_class(("name", "file"), translation_files.items()) class TestTranslations(unittest.TestCase): + name: str + file: str + @staticmethod def _read_translation_file(path, file): tr_file = os.path.join(path, f"{file}.ts") @@ -30,12 +33,12 @@ class TestTranslations(unittest.TestCase): def test_missing_translation_files(self): self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{self.file}.ts")), - f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py") + f"{self.name} has no XML translation file, run selfdrive/ui/update_translations.py") def test_translations_updated(self): with tempfile.TemporaryDirectory() as tmpdir: shutil.copytree(TRANSLATIONS_DIR, tmpdir, dirs_exist_ok=True) - update_translations(plural_only=["main_en"], translations_dir=tmpdir) + update_translations(translation_files=[self.file], translations_dir=tmpdir) cur_translations = self._read_translation_file(TRANSLATIONS_DIR, self.file) new_translations = self._read_translation_file(tmpdir, self.file) diff --git a/selfdrive/ui/translations/auto_translate.py b/selfdrive/ui/translations/auto_translate.py new file mode 100755 index 0000000000..8613feb245 --- /dev/null +++ b/selfdrive/ui/translations/auto_translate.py @@ -0,0 +1,138 @@ +#!/usr/bin/env python3 + +import argparse +import json +import os +import pathlib +import xml.etree.ElementTree as ET +from typing import cast + +import requests + +TRANSLATIONS_DIR = pathlib.Path(__file__).resolve().parent +TRANSLATIONS_LANGUAGES = TRANSLATIONS_DIR / "languages.json" + +OPENAI_MODEL = "gpt-4" +OPENAI_API_KEY = os.environ.get("OPENAI_API_KEY") +OPENAI_PROMPT = "You are a professional translator from English to {language} (ISO 639 language code). " + \ + "The following sentence or word is in the GUI of a software called openpilot, translate it accordingly." + + +def get_language_files(languages: list[str] | None = None) -> dict[str, pathlib.Path]: + files = {} + + with open(TRANSLATIONS_LANGUAGES) as fp: + language_dict = json.load(fp) + + for filename in language_dict.values(): + path = TRANSLATIONS_DIR / f"{filename}.ts" + language = path.stem.split("main_")[1] + + if languages is None or language in languages: + files[language] = path + + return files + + +def translate_phrase(text: str, language: str) -> str: + response = requests.post( + "https://api.openai.com/v1/chat/completions", + json={ + "model": OPENAI_MODEL, + "messages": [ + { + "role": "system", + "content": OPENAI_PROMPT.format(language=language), + }, + { + "role": "user", + "content": text, + }, + ], + "temperature": 0.8, + "max_tokens": 1024, + "top_p": 1, + }, + headers={ + "Authorization": f"Bearer {OPENAI_API_KEY}", + "Content-Type": "application/json", + }, + ) + + if 400 <= response.status_code < 600: + raise requests.HTTPError(f'Error {response.status_code}: {response.json()}', response=response) + + data = response.json() + + return cast(str, data["choices"][0]["message"]["content"]) + + +def translate_file(path: pathlib.Path, language: str, all_: bool) -> None: + tree = ET.parse(path) + + root = tree.getroot() + + for context in root.findall("./context"): + name = context.find("name") + if name is None: + raise ValueError("name not found") + + print(f"Context: {name.text}") + + for message in context.findall("./message"): + source = message.find("source") + translation = message.find("translation") + + if source is None or translation is None: + raise ValueError("source or translation not found") + + if not all_ and translation.attrib.get("type") != "unfinished": + continue + + llm_translation = translate_phrase(cast(str, source.text), language) + + print(f"Source: {source.text}\n" + + f"Current translation: {translation.text}\n" + + f"LLM translation: {llm_translation}") + + translation.text = llm_translation + + with path.open("w", encoding="utf-8") as fp: + fp.write('\n' + + '\n' + + ET.tostring(root, encoding="utf-8").decode()) + + +def main(): + arg_parser = argparse.ArgumentParser("Auto translate") + + group = arg_parser.add_mutually_exclusive_group(required=True) + group.add_argument("-a", "--all-files", action="store_true", help="Translate all files") + group.add_argument("-f", "--file", nargs="+", help="Translate the selected files. (Example: -f fr de)") + + arg_parser.add_argument("-t", "--all-translations", action="store_true", default=False, help="Translate all sections. (Default: only unfinished)") + + args = arg_parser.parse_args() + + if OPENAI_API_KEY is None: + print("OpenAI API key is missing. (Hint: use `export OPENAI_API_KEY=YOUR-KEY` before you run the script).\n" + + "If you don't have one go to: https://beta.openai.com/account/api-keys.") + exit(1) + + files = get_language_files(None if args.all_files else args.file) + + if args.file: + missing_files = set(args.file) - set(files) + if len(missing_files): + print(f"No language files found: {missing_files}") + exit(1) + + print(f"Translation mode: {'all' if args.all_translations else 'only unfinished'}. Files: {list(files)}") + + for lang, path in files.items(): + print(f"Translate {lang} ({path})") + translate_file(path, lang, args.all_translations) + + +if __name__ == "__main__": + main() diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py index a1b2ecb289..f6c8aae448 100755 --- a/selfdrive/ui/translations/create_badges.py +++ b/selfdrive/ui/translations/create_badges.py @@ -54,8 +54,8 @@ if __name__ == "__main__": badge_svg.extend([f'', content_svg, ""]) - badge_svg.insert(0, f'') + badge_svg.insert(0, '') badge_svg.append("") with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f: diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts index dc771b8c6e..2032807630 100644 --- a/selfdrive/ui/translations/main_ar.ts +++ b/selfdrive/ui/translations/main_ar.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً + + Hidden Network + شبكة مخفية + + + CONNECT + الاتصال + + + Enter SSID + أدخل SSID + + + Enter password + أدخل كلمة المرور + + + for "%1" + من أجل "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 498d4c4438..782d65b06f 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Hochladen großer Dateien über getaktete Verbindungen unterbinden + + Hidden Network + + + + CONNECT + CONNECT + + + Enter SSID + SSID eingeben + + + Enter password + Passwort eingeben + + + for "%1" + für "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts index 5ae3acdc1e..219e9351cd 100644 --- a/selfdrive/ui/translations/main_fr.ts +++ b/selfdrive/ui/translations/main_fr.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Éviter les transferts de données importants sur une connexion limitée + + Hidden Network + + + + CONNECT + CONNECTER + + + Enter SSID + Entrer le SSID + + + Enter password + Entrer le mot de passe + + + for "%1" + pour "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index d01657f8e4..ba3ca8faf6 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 大量のデータのアップロードを防止します。 + + Hidden Network + + + + CONNECT + 接続 + + + Enter SSID + SSID を入力 + + + Enter password + パスワードを入力 + + + for "%1" + ﾈｯﾄﾜｰｸ名：%1 + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index d2d6a4ddc1..8c1a0fb40e 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다 + + Hidden Network + + + + CONNECT + 연결됨 + + + Enter SSID + SSID 입력 + + + Enter password + 비밀번호를 입력하세요 + + + for "%1" + "%1"에 접속하려면 비밀번호가 필요합니다 + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 04458974cb..f983c8fb4b 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection Evite grandes uploads de dados quando estiver em uma conexão limitada + + Hidden Network + + + + CONNECT + CONEXÃO + + + Enter SSID + Insira SSID + + + Enter password + Insira a senha + + + for "%1" + para "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts index 5f77f6c9de..0d0bda4abe 100644 --- a/selfdrive/ui/translations/main_th.ts +++ b/selfdrive/ui/translations/main_th.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์ + + Hidden Network + + + + CONNECT + เชื่อมต่อ + + + Enter SSID + ป้อนค่า SSID + + + Enter password + ใส่รหัสผ่าน + + + for "%1" + สำหรับ "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts index f8a76669a2..d14dd518a1 100644 --- a/selfdrive/ui/translations/main_tr.ts +++ b/selfdrive/ui/translations/main_tr.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection + + Hidden Network + + + + CONNECT + BAĞLANTI + + + Enter SSID + APN Gir + + + Enter password + Parolayı girin + + + for "%1" + için "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 371106d571..ef0d78402e 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 当使用按流量计费的连接时，避免上传大流量数据 + + Hidden Network + + + + CONNECT + CONNECT + + + Enter SSID + 输入SSID + + + Enter password + 输入密码 + + + for "%1" + 网络名称："%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 6aa6295ce2..121bf58f1a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -66,6 +66,26 @@ Prevent large data uploads when on a metered connection 防止使用行動網路上傳大量的數據 + + Hidden Network + + + + CONNECT + 雲端服務 + + + Enter SSID + 輸入 SSID + + + Enter password + 輸入密碼 + + + for "%1" + 給 "%1" + AnnotatedCameraWidget diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py index 004c6425dc..e988a13b7f 100755 --- a/selfdrive/ui/update_translations.py +++ b/selfdrive/ui/update_translations.py @@ -9,6 +9,7 @@ UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui") TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations") LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json") TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h") +PLURAL_ONLY = ["main_en"] # base language, only create entries for strings with plural forms def generate_translations_include(): @@ -22,21 +23,20 @@ def generate_translations_include(): with open(TRANSLATIONS_INCLUDE_FILE, "w") as f: f.write(content) -def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR): - generate_translations_include() - if plural_only is None: - plural_only = [] +def update_translations(vanish: bool = False, translation_files: None | list[str] = None, translations_dir: str = TRANSLATIONS_DIR): + generate_translations_include() - with open(LANGUAGES_FILE, "r") as f: - translation_files = json.load(f) + if translation_files is None: + with open(LANGUAGES_FILE, "r") as f: + translation_files = json.load(f).values() - for file in translation_files.values(): + for file in translation_files: tr_file = os.path.join(translations_dir, f"{file}.ts") args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}" if vanish: args += " -no-obsolete" - if file in plural_only: + if file in PLURAL_ONLY: args += " -pluralonly" ret = os.system(args) assert ret == 0 @@ -46,8 +46,6 @@ if __name__ == "__main__": parser = argparse.ArgumentParser(description="Update translation files for UI", formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found") - parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], - help="Translation codes to only create plural translations for (ie. the base language)") args = parser.parse_args() - update_translations(args.vanish, args.plural_only) + update_translations(args.vanish) diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc index cb12f82ea8..ec35c29b6b 100644 --- a/selfdrive/ui/watch3.cc +++ b/selfdrive/ui/watch3.cc @@ -19,15 +19,15 @@ int main(int argc, char *argv[]) { { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraView("navd", VISION_STREAM_MAP, false)); - hlayout->addWidget(new CameraView("camerad", VISION_STREAM_ROAD, false)); + hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false)); } { QHBoxLayout *hlayout = new QHBoxLayout(); layout->addLayout(hlayout); - hlayout->addWidget(new CameraView("camerad", VISION_STREAM_DRIVER, false)); - hlayout->addWidget(new CameraView("camerad", VISION_STREAM_WIDE_ROAD, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_DRIVER, false)); + hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_WIDE_ROAD, false)); } return a.exec(); diff --git a/selfdrive/updated.py b/selfdrive/updated.py index db6a06dc9e..a623aaefc8 100755 --- a/selfdrive/updated.py +++ b/selfdrive/updated.py @@ -230,7 +230,6 @@ class Updater: b: Union[str, None] = self.params.get("UpdaterTargetBranch", encoding='utf-8') if b is None: b = self.get_branch(BASEDIR) - self.params.put("UpdaterTargetBranch", b) return b @property @@ -245,7 +244,7 @@ class Updater: @property def update_available(self) -> bool: - if os.path.isdir(OVERLAY_MERGED): + if os.path.isdir(OVERLAY_MERGED) and len(self.branches) > 0: hash_mismatch = self.get_commit_hash(OVERLAY_MERGED) != self.branches[self.target_branch] branch_mismatch = self.get_branch(OVERLAY_MERGED) != self.target_branch return hash_mismatch or branch_mismatch @@ -259,9 +258,11 @@ class Updater: def set_params(self, update_success: bool, failed_count: int, exception: Optional[str]) -> None: self.params.put("UpdateFailedCount", str(failed_count)) + self.params.put("UpdaterTargetBranch", self.target_branch) self.params.put_bool("UpdaterFetchAvailable", self.update_available) - self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) + if len(self.branches): + self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys())) last_update = datetime.datetime.utcnow() if update_success: @@ -428,10 +429,11 @@ def main() -> None: # invalidate old finalized update set_consistent_flag(False) - # wait a bit before first cycle - wait_helper.sleep(60) + # set initial state + params.put("UpdaterState", "idle") # Run the update loop + first_run = True while True: wait_helper.ready_event.clear() @@ -444,7 +446,8 @@ def main() -> None: # ensure we have some params written soon after startup updater.set_params(False, update_failed_count, exception) - if not system_time_valid(): + if not system_time_valid() or first_run: + first_run = False wait_helper.sleep(60) continue diff --git a/system/camerad/SConscript b/system/camerad/SConscript index a0056c1f9f..60a8f261e5 100644 --- a/system/camerad/SConscript +++ b/system/camerad/SConscript @@ -3,7 +3,7 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc') libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic'] camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc', - 'sensors/ar0231.cc', 'sensors/ox03c10.cc']) + 'sensors/ar0231.cc', 'sensors/ox03c10.cc', 'sensors/os04c10.cc']) env.Program('camerad', ['main.cc', camera_obj], LIBS=libs) if GetOption("extras") and arch == "x86_64": diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index f74fb15bff..91c6d44f84 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -136,6 +136,7 @@ void CameraBuf::queue(size_t buf_idx) { void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c) { framed.setFrameId(frame_data.frame_id); + framed.setRequestId(frame_data.request_id); framed.setTimestampEof(frame_data.timestamp_eof); framed.setTimestampSof(frame_data.timestamp_sof); framed.setIntegLines(frame_data.integ_lines); diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h index 029d69990c..f98691ef00 100644 --- a/system/camerad/cameras/camera_common.h +++ b/system/camerad/cameras/camera_common.h @@ -26,6 +26,7 @@ const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL; typedef struct FrameMetadata { uint32_t frame_id; + uint32_t request_id; // Timestamps uint64_t timestamp_sof; diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc index 7915ad21fc..e17203a7dd 100644 --- a/system/camerad/cameras/camera_qcom2.cc +++ b/system/camerad/cameras/camera_qcom2.cc @@ -150,7 +150,7 @@ int CameraState::sensors_init() { power->count = 1; power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP; power->power_settings[0].power_seq_type = 0; - power->power_settings[0].config_val_low = ci->power_config_val_low; + power->power_settings[0].config_val_low = ci->mclk_frequency; power = power_set_wait(power, 1); // reset high @@ -316,10 +316,10 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b .h_init = 0x0, .v_init = 0x0, }; - io_cfg[0].format = CAM_FORMAT_MIPI_RAW_12; // CAM_FORMAT_UBWC_TP10 for YUV + io_cfg[0].format = ci->mipi_format; // CAM_FORMAT_UBWC_TP10 for YUV io_cfg[0].color_space = CAM_COLOR_SPACE_BASE; // CAM_COLOR_SPACE_BT601_FULL for YUV io_cfg[0].color_pattern = 0x5; // 0x0 for YUV - io_cfg[0].bpp = 0xc; + io_cfg[0].bpp = (ci->mipi_format == CAM_FORMAT_MIPI_RAW_10 ? 0xa : 0xc); // bits per pixel io_cfg[0].resource_type = CAM_ISP_IFE_OUT_RES_RDI_0; // CAM_ISP_IFE_OUT_RES_FULL for YUV io_cfg[0].fence = fence; io_cfg[0].direction = CAM_BUF_OUTPUT; @@ -459,7 +459,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num // Try different sensors one by one until it success. if (!init_sensor_lambda(new AR0231) && - !init_sensor_lambda(new OX03C10)) { + !init_sensor_lambda(new OX03C10) && + !init_sensor_lambda(new OS04C10)) { LOGE("** sensor %d FAILED bringup, disabling", camera_num); enabled = false; return; @@ -481,7 +482,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num LOG("-- Configuring sensor"); sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word); - printf("dt is %x\n", ci->in_port_info_dt); // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c // If you don't do this, the strobe GPIO is an output (even in reset it seems!) @@ -495,8 +495,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num .lane_cfg = 0x3210, .vc = 0x0, - .dt = ci->in_port_info_dt, - .format = CAM_FORMAT_MIPI_RAW_12, + .dt = ci->frame_data_type, + .format = ci->mipi_format, .test_pattern = 0x2, // 0x3? .usage_type = 0x0, @@ -522,7 +522,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num .num_out_res = 0x1, .data[0] = (struct cam_isp_out_port_info){ .res_type = CAM_ISP_IFE_OUT_RES_RDI_0, - .format = CAM_FORMAT_MIPI_RAW_12, + .format = ci->mipi_format, .width = ci->frame_width, .height = ci->frame_height + ci->extra_height, .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0, @@ -766,6 +766,7 @@ void CameraState::handle_camera_event(void *evdat) { auto &meta_data = buf.camera_bufs_metadata[buf_idx]; meta_data.frame_id = main_id - idx_offset; + meta_data.request_id = real_id; meta_data.timestamp_sof = timestamp; exp_lock.lock(); meta_data.gain = analog_gain_frac * (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight); @@ -970,6 +971,9 @@ void cameras_run(MultiCameraState *s) { event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status); } + // for debugging + //do_exit = do_exit || event_data->u.frame_msg.frame_id > (30*20); + if (event_data->session_hdl == s->road_cam.session_handle) { s->road_cam.handle_camera_event(event_data); } else if (event_data->session_hdl == s->wide_road_cam.session_handle) { @@ -980,6 +984,8 @@ void cameras_run(MultiCameraState *s) { LOGE("Unknown vidioc event source"); assert(false); } + } else { + LOGE("unhandled event %d\n", ev.type); } } else { LOGE("VIDIOC_DQEVENT failed, errno=%d", errno); diff --git a/system/camerad/sensors/ar0231.cc b/system/camerad/sensors/ar0231.cc index 559370ca62..1ca4b3f1ad 100644 --- a/system/camerad/sensors/ar0231.cc +++ b/system/camerad/sensors/ar0231.cc @@ -93,8 +93,9 @@ AR0231::AR0231() { init_reg_array.assign(std::begin(init_array_ar0231), std::end(init_array_ar0231)); probe_reg_addr = 0x3000; probe_expected_data = 0x354; - in_port_info_dt = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead - power_config_val_low = 19200000; //Hz + mipi_format = CAM_FORMAT_MIPI_RAW_12; + frame_data_type = 0x12; // Changing stats to 0x2C doesn't work, so change pixels to 0x12 instead + mclk_frequency = 19200000; //Hz dc_gain_factor = 2.5; dc_gain_min_weight = 0; diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc new file mode 100644 index 0000000000..449e06be83 --- /dev/null +++ b/system/camerad/sensors/os04c10.cc @@ -0,0 +1,105 @@ +#include "system/camerad/sensors/sensor.h" + +namespace { + +const float sensor_analog_gains_OS04C10[] = { + 1.0, 1.0625, 1.125, 1.1875, 1.25, 1.3125, 1.375, 1.4375, 1.5, 1.5625, 1.6875, + 1.8125, 1.9375, 2.0, 2.125, 2.25, 2.375, 2.5, 2.625, 2.75, 2.875, 3.0, + 3.125, 3.375, 3.625, 3.875, 4.0, 4.25, 4.5, 4.75, 5.0, 5.25, 5.5, + 5.75, 6.0, 6.25, 6.5, 7.0, 7.5, 8.0, 8.5, 9.0, 9.5, 10.0, + 10.5, 11.0, 11.5, 12.0, 12.5, 13.0, 13.5, 14.0, 14.5, 15.0, 15.5}; + +const uint32_t os04c10_analog_gains_reg[] = { + 0x100, 0x110, 0x120, 0x130, 0x140, 0x150, 0x160, 0x170, 0x180, 0x190, 0x1B0, + 0x1D0, 0x1F0, 0x200, 0x220, 0x240, 0x260, 0x280, 0x2A0, 0x2C0, 0x2E0, 0x300, + 0x320, 0x360, 0x3A0, 0x3E0, 0x400, 0x440, 0x480, 0x4C0, 0x500, 0x540, 0x580, + 0x5C0, 0x600, 0x640, 0x680, 0x700, 0x780, 0x800, 0x880, 0x900, 0x980, 0xA00, + 0xA80, 0xB00, 0xB80, 0xC00, 0xC80, 0xD00, 0xD80, 0xE00, 0xE80, 0xF00, 0xF80}; + +const uint32_t VS_TIME_MIN_OS04C10 = 1; +//const uint32_t VS_TIME_MAX_OS04C10 = 34; // vs < 35 + +} // namespace + +OS04C10::OS04C10() { + image_sensor = cereal::FrameData::ImageSensor::OS04C10; + data_word = false; + + frame_width = 1920; + frame_height = 1080; + frame_stride = (1920*10/8); + + /* + frame_width = 0xa80; + frame_height = 0x5f0; + frame_stride = 0xd20; + */ + + extra_height = 0; + frame_offset = 0; + + start_reg_array.assign(std::begin(start_reg_array_os04c10), std::end(start_reg_array_os04c10)); + init_reg_array.assign(std::begin(init_array_os04c10), std::end(init_array_os04c10)); + probe_reg_addr = 0x300a; + probe_expected_data = 0x5304; + mipi_format = CAM_FORMAT_MIPI_RAW_10; + frame_data_type = 0x2b; + mclk_frequency = 24000000; // Hz + + dc_gain_factor = 7.32; + dc_gain_min_weight = 1; // always on is fine + dc_gain_max_weight = 1; + dc_gain_on_grey = 0.9; + dc_gain_off_grey = 1.0; + exposure_time_min = 2; // 1x + exposure_time_max = 2016; + analog_gain_min_idx = 0x0; + analog_gain_rec_idx = 0x0; // 1x + analog_gain_max_idx = 0x36; + analog_gain_cost_delta = -1; + analog_gain_cost_low = 0.4; + analog_gain_cost_high = 6.4; + for (int i = 0; i <= analog_gain_max_idx; i++) { + sensor_analog_gains[i] = sensor_analog_gains_OS04C10[i]; + } + min_ev = (exposure_time_min + VS_TIME_MIN_OS04C10) * sensor_analog_gains[analog_gain_min_idx]; + max_ev = exposure_time_max * dc_gain_factor * sensor_analog_gains[analog_gain_max_idx]; + target_grey_factor = 0.01; +} + +std::vector OS04C10::getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const { + // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD + uint32_t hcg_time = exposure_time; + //uint32_t lcg_time = hcg_time; + //uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OS04C10) / 3), exposure_time_max + VS_TIME_MAX_OS04C10); + //uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OS04C10), VS_TIME_MAX_OS04C10); + + uint32_t real_gain = os04c10_analog_gains_reg[new_exp_g]; + + hcg_time = 100; + real_gain = 0x320; + + return { + {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF}, + //{0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF}, + //{0x3541, spd_time>>8}, {0x3542, spd_time&0xFF}, + //{0x35c2, vs_time&0xFF}, + + {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF}, + }; +} + +int OS04C10::getSlaveAddress(int port) const { + assert(port >= 0 && port <= 2); + return (int[]){0x6C, 0x20, 0x6C}[port]; +} + +float OS04C10::getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const { + float score = std::abs(desired_ev - (exp_t * exp_gain)); + float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low; + score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m; + score += ((1 - analog_gain_cost_delta) + + analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * + std::abs(exp_g_idx - gain_idx) * 5.0; + return score; +} diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h new file mode 100644 index 0000000000..c92389d1e1 --- /dev/null +++ b/system/camerad/sensors/os04c10_registers.h @@ -0,0 +1,298 @@ +#pragma once + +const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}}; +const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}}; + +const struct i2c_random_wr_payload init_array_os04c10[] = { + // OS04C10_AA_00_02_17_wAO_1920x1080_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz + {0x0103, 0x01}, + {0x0301, 0x84}, + {0x0303, 0x01}, + {0x0305, 0x5b}, + {0x0306, 0x01}, + {0x0307, 0x17}, + {0x0323, 0x04}, + {0x0324, 0x01}, + {0x0325, 0x62}, + {0x3012, 0x06}, + {0x3013, 0x02}, + {0x3016, 0x72}, + {0x3021, 0x03}, + {0x3106, 0x21}, + {0x3107, 0xa1}, + {0x3500, 0x00}, + {0x3501, 0x00}, + {0x3502, 0x40}, + {0x3503, 0x88}, + {0x3508, 0x07}, + {0x3509, 0xc0}, + {0x350a, 0x04}, + {0x350b, 0x00}, + {0x350c, 0x07}, + {0x350d, 0xc0}, + {0x350e, 0x04}, + {0x350f, 0x00}, + {0x3510, 0x00}, + {0x3511, 0x00}, + {0x3512, 0x20}, + {0x3624, 0x00}, + {0x3625, 0x4c}, + {0x3660, 0x00}, + {0x3666, 0xa5}, + {0x3667, 0xa5}, + {0x366a, 0x64}, + {0x3673, 0x0d}, + {0x3672, 0x0d}, + {0x3671, 0x0d}, + {0x3670, 0x0d}, + {0x3685, 0x00}, + {0x3694, 0x0d}, + {0x3693, 0x0d}, + {0x3692, 0x0d}, + {0x3691, 0x0d}, + {0x3696, 0x4c}, + {0x3697, 0x4c}, + {0x3698, 0x40}, + {0x3699, 0x80}, + {0x369a, 0x18}, + {0x369b, 0x1f}, + {0x369c, 0x14}, + {0x369d, 0x80}, + {0x369e, 0x40}, + {0x369f, 0x21}, + {0x36a0, 0x12}, + {0x36a1, 0x5d}, + {0x36a2, 0x66}, + {0x370a, 0x00}, + {0x370e, 0x0c}, + {0x3710, 0x00}, + {0x3713, 0x00}, + {0x3725, 0x02}, + {0x372a, 0x03}, + {0x3738, 0xce}, + {0x3748, 0x00}, + {0x374a, 0x00}, + {0x374c, 0x00}, + {0x374e, 0x00}, + {0x3756, 0x00}, + {0x3757, 0x0e}, + {0x3767, 0x00}, + {0x3771, 0x00}, + {0x377b, 0x20}, + {0x377c, 0x00}, + {0x377d, 0x0c}, + {0x3781, 0x03}, + {0x3782, 0x00}, + {0x3789, 0x14}, + {0x3795, 0x02}, + {0x379c, 0x00}, + {0x379d, 0x00}, + {0x37b8, 0x04}, + {0x37ba, 0x03}, + {0x37bb, 0x00}, + {0x37bc, 0x04}, + {0x37be, 0x08}, + {0x37c4, 0x11}, + {0x37c5, 0x80}, + {0x37c6, 0x14}, + {0x37c7, 0x08}, + {0x37da, 0x11}, + {0x381f, 0x08}, + {0x3829, 0x03}, + {0x3881, 0x00}, + {0x3888, 0x04}, + {0x388b, 0x00}, + {0x3c80, 0x10}, + {0x3c86, 0x00}, + {0x3c8c, 0x20}, + {0x3c9f, 0x01}, + {0x3d85, 0x1b}, + {0x3d8c, 0x71}, + {0x3d8d, 0xe2}, + {0x3f00, 0x0b}, + {0x3f06, 0x04}, + {0x400a, 0x01}, + {0x400b, 0x50}, + {0x400e, 0x08}, + {0x4043, 0x7e}, + {0x4045, 0x7e}, + {0x4047, 0x7e}, + {0x4049, 0x7e}, + {0x4090, 0x14}, + {0x40b0, 0x00}, + {0x40b1, 0x00}, + {0x40b2, 0x00}, + {0x40b3, 0x00}, + {0x40b4, 0x00}, + {0x40b5, 0x00}, + {0x40b7, 0x00}, + {0x40b8, 0x00}, + {0x40b9, 0x00}, + {0x40ba, 0x00}, + {0x4301, 0x00}, + {0x4303, 0x00}, + {0x4502, 0x04}, + {0x4503, 0x00}, + {0x4504, 0x06}, + {0x4506, 0x00}, + {0x4507, 0x64}, + {0x4803, 0x00}, + {0x480c, 0x32}, + {0x480e, 0x00}, + {0x4813, 0x00}, + {0x4819, 0x70}, + {0x481f, 0x30}, + {0x4823, 0x3f}, + {0x4825, 0x30}, + {0x4833, 0x10}, + {0x484b, 0x07}, + {0x488b, 0x00}, + {0x4d00, 0x04}, + {0x4d01, 0xad}, + {0x4d02, 0xbc}, + {0x4d03, 0xa1}, + {0x4d04, 0x1f}, + {0x4d05, 0x4c}, + {0x4d0b, 0x01}, + {0x4e00, 0x2a}, + {0x4e0d, 0x00}, + {0x5001, 0x09}, + {0x5004, 0x00}, + {0x5080, 0x04}, + {0x5036, 0x00}, + {0x5180, 0x70}, + {0x5181, 0x10}, + {0x520a, 0x03}, + {0x520b, 0x06}, + {0x520c, 0x0c}, + {0x580b, 0x0f}, + {0x580d, 0x00}, + {0x580f, 0x00}, + {0x5820, 0x00}, + {0x5821, 0x00}, + {0x301c, 0xf8}, + {0x301e, 0xb4}, + {0x301f, 0xd0}, + {0x3022, 0x01}, + {0x3109, 0xe7}, + {0x3600, 0x00}, + {0x3610, 0x65}, + {0x3611, 0x85}, + {0x3613, 0x3a}, + {0x3615, 0x60}, + {0x3621, 0x90}, + {0x3620, 0x0c}, + {0x3629, 0x00}, + {0x3661, 0x04}, + {0x3664, 0x70}, + {0x3665, 0x00}, + {0x3681, 0xa6}, + {0x3682, 0x53}, + {0x3683, 0x2a}, + {0x3684, 0x15}, + {0x3700, 0x2a}, + {0x3701, 0x12}, + {0x3703, 0x28}, + {0x3704, 0x0e}, + {0x3706, 0x4a}, + {0x3709, 0x4a}, + {0x370b, 0xa2}, + {0x370c, 0x01}, + {0x370f, 0x04}, + {0x3714, 0x24}, + {0x3716, 0x24}, + {0x3719, 0x11}, + {0x371a, 0x1e}, + {0x3720, 0x00}, + {0x3724, 0x13}, + {0x373f, 0xb0}, + {0x3741, 0x4a}, + {0x3743, 0x4a}, + {0x3745, 0x4a}, + {0x3747, 0x4a}, + {0x3749, 0xa2}, + {0x374b, 0xa2}, + {0x374d, 0xa2}, + {0x374f, 0xa2}, + {0x3755, 0x10}, + {0x376c, 0x00}, + {0x378d, 0x30}, + {0x3790, 0x4a}, + {0x3791, 0xa2}, + {0x3798, 0x40}, + {0x379e, 0x00}, + {0x379f, 0x04}, + {0x37a1, 0x10}, + {0x37a2, 0x1e}, + {0x37a8, 0x10}, + {0x37a9, 0x1e}, + {0x37ac, 0xa0}, + {0x37b9, 0x01}, + {0x37bd, 0x01}, + {0x37bf, 0x26}, + {0x37c0, 0x11}, + {0x37c2, 0x04}, + {0x37cd, 0x19}, + {0x37e0, 0x08}, + {0x37e6, 0x04}, + {0x37e5, 0x02}, + {0x37e1, 0x0c}, + {0x3737, 0x04}, + {0x37d8, 0x02}, + {0x37e2, 0x10}, + {0x3739, 0x10}, + {0x3662, 0x10}, + {0x37e4, 0x20}, + {0x37e3, 0x08}, + {0x37d9, 0x08}, + {0x4040, 0x00}, + {0x4041, 0x07}, + {0x4008, 0x02}, + {0x4009, 0x0d}, + {0x3800, 0x01}, + {0x3801, 0x80}, + {0x3802, 0x00}, + {0x3803, 0xdc}, + {0x3804, 0x09}, + {0x3805, 0x0f}, + {0x3806, 0x05}, + {0x3807, 0x23}, + {0x3808, 0x07}, + {0x3809, 0x80}, + {0x380a, 0x04}, + {0x380b, 0x38}, + {0x380c, 0x04}, + {0x380d, 0x2e}, + {0x380e, 0x12}, + {0x380f, 0x70}, + {0x3811, 0x08}, + {0x3813, 0x08}, + {0x3814, 0x01}, + {0x3815, 0x01}, + {0x3816, 0x01}, + {0x3817, 0x01}, + {0x3820, 0x88}, + {0x3821, 0x00}, + {0x3880, 0x25}, + {0x3882, 0x20}, + {0x3c91, 0x0b}, + {0x3c94, 0x45}, + {0x3cad, 0x00}, + {0x3cae, 0x00}, + {0x4000, 0xf3}, + {0x4001, 0x60}, + {0x4003, 0x40}, + {0x4300, 0xff}, + {0x4302, 0x0f}, + {0x4305, 0x83}, + {0x4505, 0x84}, + {0x4809, 0x1e}, + {0x480a, 0x04}, + {0x4837, 0x15}, + {0x4c00, 0x08}, + {0x4c01, 0x08}, + {0x4c04, 0x00}, + {0x4c05, 0x00}, + {0x5000, 0xf9}, + {0x3c8c, 0x10}, +}; diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc index 2bad50cff9..1f0609820b 100644 --- a/system/camerad/sensors/ox03c10.cc +++ b/system/camerad/sensors/ox03c10.cc @@ -34,8 +34,9 @@ OX03C10::OX03C10() { init_reg_array.assign(std::begin(init_array_ox03c10), std::end(init_array_ox03c10)); probe_reg_addr = 0x300a; probe_expected_data = 0x5803; - in_port_info_dt = 0x2c; // one is 0x2a, two are 0x2b - power_config_val_low = 24000000; //Hz + mipi_format = CAM_FORMAT_MIPI_RAW_12; + frame_data_type = 0x2c; // one is 0x2a, two are 0x2b + mclk_frequency = 24000000; //Hz dc_gain_factor = 7.32; dc_gain_min_weight = 1; // always on is fine diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h index 06d3a43a21..4e2194d914 100644 --- a/system/camerad/sensors/sensor.h +++ b/system/camerad/sensors/sensor.h @@ -9,12 +9,14 @@ #include "system/camerad/cameras/camera_common.h" #include "system/camerad/sensors/ar0231_registers.h" #include "system/camerad/sensors/ox03c10_registers.h" +#include "system/camerad/sensors/os04c10_registers.h" #define ANALOG_GAIN_MAX_CNT 55 const size_t FRAME_WIDTH = 1928; const size_t FRAME_HEIGHT = 1208; const size_t FRAME_STRIDE = 2896; // for 12 bit output. 1928 * 12 / 8 + 4 (alignment) + class SensorInfo { public: SensorInfo() = default; @@ -56,8 +58,10 @@ public: uint32_t probe_expected_data; std::vector start_reg_array; std::vector init_reg_array; - uint32_t in_port_info_dt; - uint32_t power_config_val_low; + + uint32_t mipi_format; + uint32_t mclk_frequency; + uint32_t frame_data_type; }; class AR0231 : public SensorInfo { @@ -79,3 +83,11 @@ public: float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; int getSlaveAddress(int port) const override; }; + +class OS04C10 : public SensorInfo { +public: + OS04C10(); + std::vector getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override; + float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override; + int getSlaveAddress(int port) const override; +}; diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py index 43f543f1bd..21409f398d 100755 --- a/system/camerad/test/get_thumbnails_for_segment.py +++ b/system/camerad/test/get_thumbnails_for_segment.py @@ -1,26 +1,19 @@ #!/usr/bin/env python3 - +import argparse import os - from tqdm import tqdm from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route - -import argparse if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("route", help="The route name") - parser.add_argument("segment", type=int, help="The index of the segment") args = parser.parse_args() - out_path = os.path.join("jpegs", f"{args.route.replace('|', '_')}_{args.segment}") + out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}") os.makedirs(out_path, exist_ok=True) - r = Route(args.route) - path = r.log_paths()[args.segment] or r.qlog_paths()[args.segment] - lr = list(LogReader(path)) + lr = LogReader(args.route) for msg in tqdm(lr): if msg.which() == 'thumbnail': diff --git a/system/hardware/base.py b/system/hardware/base.py index 0b6ca44c3c..b432a41907 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -23,6 +23,9 @@ class HardwareBase(ABC): except Exception: return default + def booted(self) -> bool: + return True + @abstractmethod def reboot(self, reason=None): pass diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index f895bbc508..d1ac52c8dc 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -74,6 +74,11 @@ def sudo_write(val, path): # fallback for debugfs files os.system(f"sudo su -c 'echo {val} > {path}'") +def sudo_read(path: str) -> str: + try: + return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8') + except Exception: + return "" def affine_irq(val, action): irqs = get_irqs_for_action(action) @@ -554,6 +559,12 @@ class Tici(HardwareBase): time.sleep(0.5) gpio_set(GPIO.STM_BOOT0, 0) + def booted(self): + # this normally boots within 8s, but on rare occasions takes 30+s + encoder_state = sudo_read("/sys/kernel/debug/msm_vidc/core0/info") + if "Core state: 0" in encoder_state and (time.monotonic() < 60*2): + return False + return True if __name__ == "__main__": t = Tici() diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 654c34ed37..a6fd0b2b64 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -139,7 +139,7 @@ QWidget *VideoWidget::createCameraWidget() { QStackedLayout *stacked = new QStackedLayout(); stacked->setStackingMode(QStackedLayout::StackAll); - stacked->addWidget(cam_widget = new CameraView("camerad", VISION_STREAM_ROAD, false)); + stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false)); cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT); cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding); stacked->addWidget(alert_label = new InfoLabel(this)); @@ -160,13 +160,12 @@ QWidget *VideoWidget::createCameraWidget() { return w; } -void VideoWidget::vipcAvailableStreamsUpdated() { +void VideoWidget::vipcAvailableStreamsUpdated(std::set streams) { static const QString stream_names[] = { [VISION_STREAM_ROAD] = "Road camera", [VISION_STREAM_WIDE_ROAD] = "Wide road camera", [VISION_STREAM_DRIVER] = "Driver camera"}; - const auto &streams = cam_widget->availableStreams(); for (int i = 0; i < streams.size(); ++i) { if (camera_tab->count() <= i) { camera_tab->addTab(QString()); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index ae095fd559..b2039e09a4 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -73,9 +73,9 @@ protected: QWidget *createCameraWidget(); QHBoxLayout *createPlaybackController(); void loopPlaybackClicked(); - void vipcAvailableStreamsUpdated(); + void vipcAvailableStreamsUpdated(std::set streams); - CameraView *cam_widget; + CameraWidget *cam_widget; double maximum_time = 0; QToolButton *time_btn = nullptr; ToolButton *seek_backward_btn = nullptr; diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md new file mode 100644 index 0000000000..4197e3ab76 --- /dev/null +++ b/tools/car_porting/README.md @@ -0,0 +1,74 @@ +# tools/car_porting + +Check out [this blog post](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) for a high-level overview of porting a car. + +## Useful car porting utilities + +Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car. + +### [Cabana](/tools/cabana/README.md) + +View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car. + +Example: +```bash +> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43' +``` + +### [tools/car_porting/auto_fingerprint.py](/tools/car_porting/auto_fingerprint.py) + +Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in fingerprints.py + +Example: +```bash +> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN' +Attempting to add fw version for: SUBARU OUTBACK 6TH GEN +``` + +### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py) + +Finds common bugs for car interfaces, without even requiring a route. + + +#### Example: Typo in signal name +```bash +> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru # replace with the brand you are working on + +===================================================================== +FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS' + +``` + +### [tools/car_porting/test_car_model.py](/tools/car_porting/test_car_model.py) + +Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches. + +#### Example: panda safety mismatch for gasPressed +```bash +> python tools/car_porting/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21' + +===================================================================== +FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate) +Assert that panda safety matches openpilot's carState +---------------------------------------------------------------------- +Traceback (most recent call last): + File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate + self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}") +AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116} +``` + +### [tools/car_porting/examples/subaru_steer_temp_fault.ipynb](/tools/car_porting/examples/subaru_steer_temp_fault.ipynb) + +An example of searching through a database of segments for a specific condition, and plotting the results. + +![steer warning example](https://github.com/commaai/openpilot/assets/9648890/d60ad120-4b44-4974-ac79-adc660fb8fe2) + +*a plot of the steer_warning vs steering angle, where we can see it is clearly caused by a large steering angle change* + +### [tools/car_porting/examples/subaru_long_accel.ipynb](/tools/car_porting/examples/subaru_long_accel.ipynb) + +An example of plotting the response of an actuator when it is active. + +![brake pressure example](https://github.com/commaai/openpilot/assets/9648890/8f32cf1d-8fc0-4407-b540-70625ebbf082) + +*a plot of the brake_pressure vs acceleration, where we can see it is a fairly linear response.* \ No newline at end of file diff --git a/selfdrive/debug/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py similarity index 93% rename from selfdrive/debug/auto_fingerprint.py rename to tools/car_porting/auto_fingerprint.py index 1870dcba80..fce7e33182 100755 --- a/selfdrive/debug/auto_fingerprint.py +++ b/tools/car_porting/auto_fingerprint.py @@ -5,10 +5,9 @@ from collections import defaultdict from typing import Optional from openpilot.selfdrive.debug.format_fingerprints import format_brand_fw_versions -from openpilot.tools.lib.logreader import MultiLogIterator -from openpilot.tools.lib.route import Route from openpilot.selfdrive.car.fw_versions import match_fw_to_car from openpilot.selfdrive.car.interfaces import get_interface_attr +from openpilot.tools.lib.logreader import LogReader, ReadMode ALL_FW_VERSIONS = get_interface_attr("FW_VERSIONS") @@ -25,8 +24,7 @@ if __name__ == "__main__": parser.add_argument("platform", help="The platform, or leave empty to auto-determine using fuzzy", default=None, nargs='?') args = parser.parse_args() - route = Route(args.route) - lr = MultiLogIterator(route.qlog_paths()) + lr = LogReader(args.route, ReadMode.QLOG) carFw = None carVin = None diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb new file mode 100644 index 0000000000..24470b44d2 --- /dev/null +++ b/tools/car_porting/examples/subaru_long_accel.ipynb @@ -0,0 +1,120 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "segments = [\n", + " \"d9df6f87e8feff94|2023-03-28--17-41-10/1:12\"\n", + "]\n", + "platform = \"SUBARU OUTBACK 6TH GEN\"\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import copy\n", + "import numpy as np\n", + "\n", + "from opendbc.can.parser import CANParser\n", + "\n", + "from openpilot.selfdrive.car.subaru.values import DBC\n", + "from openpilot.tools.lib.logreader import LogReader\n", + "\n", + "\"\"\"\n", + "In this example, we plot the relationship between Cruise_Brake and Acceleration for stock eyesight.\n", + "\"\"\"\n", + "\n", + "for segment in segments:\n", + " lr = LogReader(segment)\n", + "\n", + " messages = [\n", + " (\"ES_Distance\", 20),\n", + " (\"ES_Brake\", 20),\n", + " (\"ES_Status\", 20),\n", + " ]\n", + "\n", + " cp = CANParser(DBC[platform][\"pt\"], messages, 1)\n", + "\n", + " es_distance_history = []\n", + " es_status_history = []\n", + " es_brake_history = []\n", + " acceleration_history = []\n", + "\n", + " last_acc = 0\n", + "\n", + " for msg in lr:\n", + " if msg.which() == \"can\":\n", + " cp.update_strings([msg.as_builder().to_bytes()])\n", + " es_distance_history.append(copy.copy(cp.vl[\"ES_Distance\"]))\n", + " es_brake_history.append(copy.copy(cp.vl[\"ES_Brake\"]))\n", + " es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n", + "\n", + " acceleration_history.append(last_acc)\n", + " \n", + " if msg.which() == \"carState\":\n", + " last_acc = msg.carState.aEgo" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "def process(history, func):\n", + " return np.array([func(h) for h in history])\n", + "\n", + "cruise_activated = process(es_status_history, lambda es_status: es_status[\"Cruise_Activated\"])\n", + "cruise_throttle = process(es_distance_history, lambda es_distance: es_distance[\"Cruise_Throttle\"])\n", + "cruise_rpm = process(es_status_history, lambda es_status: es_status[\"Cruise_RPM\"])\n", + "cruise_brake = process(es_brake_history, lambda es_brake: es_brake[\"Brake_Pressure\"])\n", + "acceleration = process(acceleration_history, lambda acc: acc)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import matplotlib.pyplot as plt\n", + "\n", + "valid_brake = (cruise_activated==1) & (cruise_brake>0) # only when cruise is activated and eyesight is braking\n", + "\n", + "ax = plt.figure().add_subplot()\n", + "\n", + "ax.set_title(\"Brake_Pressure vs Acceleration\")\n", + "ax.set_xlabel(\"Brake_Pessure\")\n", + "ax.set_ylabel(\"Acceleration\")\n", + "ax.scatter(cruise_brake[valid_brake], -acceleration[valid_brake])" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb new file mode 100644 index 0000000000..46d8dc413e --- /dev/null +++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb @@ -0,0 +1,110 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "# An example of searching through a database of segments for a specific condition, and plotting the results.\n", + "\n", + "segments = [\n", + " \"c3d1ccb52f5f9d65|2023-07-22--01-23-20/6:10\",\n", + "]\n", + "platform = \"SUBARU OUTBACK 6TH GEN\"" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [ + "import copy\n", + "import matplotlib.pyplot as plt\n", + "import numpy as np\n", + "\n", + "from opendbc.can.parser import CANParser\n", + "\n", + "from openpilot.selfdrive.car.subaru.values import CanBus, DBC\n", + "from openpilot.tools.lib.logreader import LogReader\n", + "\n", + "\"\"\"\n", + "In this example, we search for positive transitions of Steer_Warning, which indicate that the EPS\n", + "has stopped responding to our messages. This analysis would allow you to find the cause of these\n", + "steer warnings and potentially work around them.\n", + "\"\"\"\n", + "\n", + "for segment in segments:\n", + " lr = LogReader(segment)\n", + "\n", + " can_msgs = [msg for msg in lr if msg.which() == \"can\"]\n", + "\n", + " messages = [\n", + " (\"Steering_Torque\", 50)\n", + " ]\n", + "\n", + " cp = CANParser(DBC[platform][\"pt\"], messages, CanBus.main)\n", + "\n", + " steering_torque_history = []\n", + " examples = []\n", + "\n", + " for msg in can_msgs:\n", + " cp.update_strings([msg.as_builder().to_bytes()])\n", + " steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n", + " \n", + " steer_warning_last = False\n", + " for i, steering_torque_msg in enumerate(steering_torque_history):\n", + " steer_warning = steering_torque_msg[\"Steer_Warning\"]\n", + "\n", + " steer_angle = steering_torque_msg[\"Steering_Angle\"]\n", + "\n", + " if steer_warning and not steer_warning_last: # positive transition of \"Steer_Warning\"\n", + " examples.append(i)\n", + "\n", + " steer_warning_last = steer_warning\n", + "\n", + " FRAME_DELTA = 100 # plot this many frames around the positive transition\n", + "\n", + " for example in examples:\n", + " fig, axs = plt.subplots(2)\n", + "\n", + " min_frame = int(example-FRAME_DELTA/2)\n", + " max_frame = int(example+FRAME_DELTA/2)\n", + "\n", + " steering_angle_history = [msg[\"Steering_Angle\"] for msg in steering_torque_history[min_frame:max_frame]]\n", + " steering_warning_history = [msg[\"Steer_Warning\"] for msg in steering_torque_history[min_frame:max_frame]]\n", + "\n", + " xs = np.arange(-FRAME_DELTA/2, FRAME_DELTA/2)\n", + "\n", + " axs[0].plot(xs, steering_angle_history)\n", + " axs[0].set_ylabel(\"Steering Angle (deg)\")\n", + " axs[1].plot(xs, steering_warning_history)\n", + " axs[1].set_ylabel(\"Steer Warning\")\n", + "\n", + " plt.show()\n" + ] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.11.4" + } + }, + "nbformat": 4, + "nbformat_minor": 2 +} diff --git a/selfdrive/debug/test_car_model.py b/tools/car_porting/test_car_model.py similarity index 100% rename from selfdrive/debug/test_car_model.py rename to tools/car_porting/test_car_model.py diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py index f2adc97e01..b561b65105 100755 --- a/tools/latencylogger/latency_logger.py +++ b/tools/latencylogger/latency_logger.py @@ -8,7 +8,7 @@ import sys from bisect import bisect_left, bisect_right from collections import defaultdict -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import LogReader DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0" @@ -236,7 +236,7 @@ if __name__ == "__main__": args = parser.parse_args() r = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - lr = logreader_from_route_or_segment(r, sort_by_time=True) + lr = LogReader(r, sort_by_time=True) data, _ = get_timestamps(lr) print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative) diff --git a/tools/lib/README.md b/tools/lib/README.md index daf74aaf40..a0c4a0863b 100644 --- a/tools/lib/README.md +++ b/tools/lib/README.md @@ -32,20 +32,22 @@ for msg in lr: print(msg.carState.steeringAngleDeg) ``` -### MultiLogIterator +### Segment Ranges -`MultiLogIterator` is similar to `LogReader`, but reads multiple logs. +We also support a new format called a "segment range", where you can specify which segments from a route to load. ```python -from openpilot.tools.lib.route import Route -from openpilot.tools.lib.logreader import MultiLogIterator -# setup a MultiLogIterator to read all the logs in the route -r = Route("a2a0ccea32023010|2023-07-27--13-01-19") -lr = MultiLogIterator(r.log_paths()) +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4") # 4th segment +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4:6") # 4th and 5th segment +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/-1") # last segment +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/:5") # first 5 segments +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/1:") # all except first segment +``` -# print all the steering angles values from all the logs in the route -for msg in lr: - if msg.which() == "carState": - print(msg.carState.steeringAngleDeg) +and can select which type of logs to grab + +```python +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4/q") # get qlogs +lr = LogReader("a2a0ccea32023010|2023-07-27--13-01-19/4/r") # get rlogs (default) ``` diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index 067b64b6ac..c184efe6a2 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -7,8 +7,11 @@ TIME_FMT = "%Y-%m-%d--%H-%M-%S" class RE: DONGLE_ID = r'(?P[a-z0-9]{16})' TIMESTAMP = r'(?P[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})' - ROUTE_NAME = r'{}[|_/]{}'.format(DONGLE_ID, TIMESTAMP) + ROUTE_NAME = r'(?P{}[|_/]{})'.format(DONGLE_ID, TIMESTAMP) SEGMENT_NAME = r'{}(?:--|/)(?P[0-9]+)'.format(ROUTE_NAME) + INDEX = r'-?[0-9]+' + SLICE = r'(?P{})?:?(?P{})?:?(?P{})?'.format(INDEX, INDEX, INDEX) + SEGMENT_RANGE = r'{}(?:--|/)?(?P({}))?/?(?P([qr]))?'.format(ROUTE_NAME, SLICE) BOOTLOG_NAME = ROUTE_NAME EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py index 4af922c774..7142c7f854 100755 --- a/tools/lib/logreader.py +++ b/tools/lib/logreader.py @@ -1,82 +1,29 @@ #!/usr/bin/env python3 +import bz2 +import capnp +import enum +import itertools +import numpy as np import os +import pathlib +import re import sys -import bz2 import urllib.parse -import capnp import warnings from typing import Iterable, Iterator +from urllib.parse import parse_qs, urlparse from cereal import log as capnp_log +from openpilot.selfdrive.test.openpilotci import get_url from openpilot.tools.lib.filereader import FileReader -from openpilot.tools.lib.route import Route, SegmentName +from openpilot.tools.lib.helpers import RE +from openpilot.tools.lib.route import Route, SegmentRange LogIterable = Iterable[capnp._DynamicStructReader] -# this is an iterator itself, and uses private variables from LogReader -class MultiLogIterator: - def __init__(self, log_paths, sort_by_time=False): - self._log_paths = log_paths - self.sort_by_time = sort_by_time - - self._first_log_idx = next(i for i in range(len(log_paths)) if log_paths[i] is not None) - self._current_log = self._first_log_idx - self._idx = 0 - self._log_readers = [None]*len(log_paths) - self.start_time = self._log_reader(self._first_log_idx)._ts[0] - - def _log_reader(self, i): - if self._log_readers[i] is None and self._log_paths[i] is not None: - log_path = self._log_paths[i] - self._log_readers[i] = LogReader(log_path, sort_by_time=self.sort_by_time) - - return self._log_readers[i] - - def __iter__(self) -> Iterator[capnp._DynamicStructReader]: - return self - - def _inc(self): - lr = self._log_reader(self._current_log) - if self._idx < len(lr._ents)-1: - self._idx += 1 - else: - self._idx = 0 - self._current_log = next(i for i in range(self._current_log + 1, len(self._log_readers) + 1) - if i == len(self._log_readers) or self._log_paths[i] is not None) - if self._current_log == len(self._log_readers): - raise StopIteration - - def __next__(self): - while 1: - lr = self._log_reader(self._current_log) - ret = lr._ents[self._idx] - self._inc() - return ret - - def tell(self): - # returns seconds from start of log - return (self._log_reader(self._current_log)._ts[self._idx] - self.start_time) * 1e-9 - - def seek(self, ts): - # seek to nearest minute - minute = int(ts/60) - if minute >= len(self._log_paths) or self._log_paths[minute] is None: - return False - - self._current_log = minute - - # HACK: O(n) seek afterward - self._idx = 0 - while self.tell() < ts: - self._inc() - return True - - def reset(self): - self.__init__(self._log_paths, sort_by_time=self.sort_by_time) - -class LogReader: +class _LogFileReader: def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None): self.data_version = None self._only_union_types = only_union_types @@ -106,10 +53,6 @@ class LogReader: self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents) self._ts = [x.logMonoTime for x in self._ents] - @classmethod - def from_bytes(cls, dat): - return cls("", dat=dat) - def __iter__(self) -> Iterator[capnp._DynamicStructReader]: for ent in self._ents: if self._only_union_types: @@ -121,13 +64,139 @@ class LogReader: else: yield ent -def logreader_from_route_or_segment(r, sort_by_time=False): - sn = SegmentName(r, allow_route_name=True) - route = Route(sn.route_name.canonical_name) - if sn.segment_num < 0: - return MultiLogIterator(route.log_paths(), sort_by_time=sort_by_time) - else: - return LogReader(route.log_paths()[sn.segment_num], sort_by_time=sort_by_time) + +class ReadMode(enum.StrEnum): + RLOG = "r" # only read rlogs + QLOG = "q" # only read qlogs + #AUTO = "a" # default to rlogs, fallback to qlogs, not supported yet + + +def create_slice_from_string(s: str): + m = re.fullmatch(RE.SLICE, s) + assert m is not None, f"Invalid slice: {s}" + start, end, step = m.groups() + start = int(start) if start is not None else None + end = int(end) if end is not None else None + step = int(step) if step is not None else None + + if start is not None and ":" not in s and end is None and step is None: + return start + return slice(start, end, step) + +def parse_slice(sr: SegmentRange): + route = Route(sr.route_name) + segs = np.arange(route.max_seg_number+1) + s = create_slice_from_string(sr._slice) + return segs[s] if isinstance(s, slice) else [segs[s]] + +def comma_api_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): + segs = parse_slice(sr) + route = Route(sr.route_name) + + log_paths = route.log_paths() if mode == ReadMode.RLOG else route.qlog_paths() + + invalid_segs = [seg for seg in segs if log_paths[seg] is None] + + assert not len(invalid_segs), f"Some of the requested segments are not available: {invalid_segs}" + + for seg in segs: + yield _LogFileReader(log_paths[seg], sort_by_time=sort_by_time) + +def internal_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): + segs = parse_slice(sr) + + for seg in segs: + yield _LogFileReader(f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{'rlog' if mode == ReadMode.RLOG else 'qlog'}.bz2", sort_by_time=sort_by_time) + +def openpilotci_source(sr: SegmentRange, mode=ReadMode.RLOG, sort_by_time=False): + segs = parse_slice(sr) + + for seg in segs: + yield _LogFileReader(get_url(sr.route_name, seg, 'rlog' if mode == ReadMode.RLOG else 'qlog'), sort_by_time=sort_by_time) + +def direct_source(file_or_url, sort_by_time): + yield _LogFileReader(file_or_url, sort_by_time=sort_by_time) + +def auto_source(*args, **kwargs): + # Automatically determine viable source + + try: + next(internal_source(*args, **kwargs)) + return internal_source(*args, **kwargs) + except Exception: + pass + + try: + next(openpilotci_source(*args, **kwargs)) + return openpilotci_source(*args, **kwargs) + except Exception: + pass + + return comma_api_source(*args, **kwargs) + +def parse_useradmin(identifier): + if "useradmin.comma.ai" in identifier: + query = parse_qs(urlparse(identifier).query) + return query["onebox"][0] + return None + +def parse_cabana(identifier): + if "cabana.comma.ai" in identifier: + query = parse_qs(urlparse(identifier).query) + return query["route"][0] + return None + +def parse_direct(identifier): + if identifier.startswith(("http://", "https://", "cd:/")) or pathlib.Path(identifier).exists(): + return identifier + return None + +def parse_indirect(identifier): + parsed = parse_useradmin(identifier) or parse_cabana(identifier) + + if parsed is not None: + return parsed, comma_api_source, True + + return identifier, None, False + + +class LogReader: + def _logreaders_from_identifier(self, identifier): + parsed, source, is_indirect = parse_indirect(identifier) + + if not is_indirect: + direct_parsed = parse_direct(identifier) + if direct_parsed is not None: + return direct_source(identifier, sort_by_time=self.sort_by_time) + + sr = SegmentRange(parsed) + mode = self.default_mode if sr.selector is None else ReadMode(sr.selector) + source = self.default_source if source is None else source + + return source(sr, mode, sort_by_time=self.sort_by_time) + + def __init__(self, identifier: str, default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False): + self.default_mode = default_mode + self.default_source = default_source + self.sort_by_time = sort_by_time + self.identifier = identifier + + self.reset() + + def __iter__(self): + self.reset() + return self + + def __next__(self): + return next(self.chain) + + def reset(self): + self.lrs = self._logreaders_from_identifier(self.identifier) + self.chain = itertools.chain(*self.lrs) + + @staticmethod + def from_bytes(dat): + return _LogFileReader("", dat=dat) if __name__ == "__main__": diff --git a/tools/lib/route.py b/tools/lib/route.py index e37b7d4434..d3df93ccda 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -229,3 +229,29 @@ class SegmentName: def data_dir(self) -> Optional[str]: return self._data_dir def __str__(self) -> str: return self._canonical_name + + +class SegmentRange: + def __init__(self, segment_range: str): + self.m = re.fullmatch(RE.SEGMENT_RANGE, segment_range) + assert self.m, f"Segment range is not valid {segment_range}" + + @property + def route_name(self): + return self.m.group("route_name") + + @property + def dongle_id(self): + return self.m.group("dongle_id") + + @property + def timestamp(self): + return self.m.group("timestamp") + + @property + def _slice(self): + return self.m.group("slice") + + @property + def selector(self): + return self.m.group("selector") diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py new file mode 100644 index 0000000000..db207a6522 --- /dev/null +++ b/tools/lib/tests/test_logreader.py @@ -0,0 +1,86 @@ +import shutil +import tempfile +import numpy as np +import unittest +from parameterized import parameterized +import requests +from openpilot.tools.lib.logreader import LogReader, parse_indirect, parse_slice, ReadMode +from openpilot.tools.lib.route import SegmentRange + +NUM_SEGS = 17 # number of segments in the test route +ALL_SEGS = list(np.arange(NUM_SEGS)) +TEST_ROUTE = "344c5c15b34f2d8a/2024-01-03--09-37-12" +QLOG_FILE = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2" + +class TestLogReader(unittest.TestCase): + @parameterized.expand([ + (f"{TEST_ROUTE}", ALL_SEGS), + (f"{TEST_ROUTE.replace('/', '|')}", ALL_SEGS), + (f"{TEST_ROUTE}--0", [0]), + (f"{TEST_ROUTE}--5", [5]), + (f"{TEST_ROUTE}/0", [0]), + (f"{TEST_ROUTE}/5", [5]), + (f"{TEST_ROUTE}/0:10", ALL_SEGS[0:10]), + (f"{TEST_ROUTE}/0:0", []), + (f"{TEST_ROUTE}/4:6", ALL_SEGS[4:6]), + (f"{TEST_ROUTE}/0:-1", ALL_SEGS[0:-1]), + (f"{TEST_ROUTE}/:5", ALL_SEGS[:5]), + (f"{TEST_ROUTE}/2:", ALL_SEGS[2:]), + (f"{TEST_ROUTE}/2:-1", ALL_SEGS[2:-1]), + (f"{TEST_ROUTE}/-1", [ALL_SEGS[-1]]), + (f"{TEST_ROUTE}/-2", [ALL_SEGS[-2]]), + (f"{TEST_ROUTE}/-2:-1", ALL_SEGS[-2:-1]), + (f"{TEST_ROUTE}/-4:-2", ALL_SEGS[-4:-2]), + (f"{TEST_ROUTE}/:10:2", ALL_SEGS[:10:2]), + (f"{TEST_ROUTE}/5::2", ALL_SEGS[5::2]), + (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE}", ALL_SEGS), + (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '|')}", ALL_SEGS), + (f"https://useradmin.comma.ai/?onebox={TEST_ROUTE.replace('/', '%7C')}", ALL_SEGS), + (f"https://cabana.comma.ai/?route={TEST_ROUTE}", ALL_SEGS), + ]) + def test_indirect_parsing(self, identifier, expected): + parsed, _, _ = parse_indirect(identifier) + sr = SegmentRange(parsed) + segs = parse_slice(sr) + self.assertListEqual(list(segs), expected) + + def test_direct_parsing(self): + qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False) + + with requests.get(QLOG_FILE, stream=True) as r: + with qlog as f: + shutil.copyfileobj(r.raw, f) + + for f in [QLOG_FILE, qlog.name]: + l = len(list(LogReader(f))) + self.assertGreater(l, 100) + + @parameterized.expand([ + (f"{TEST_ROUTE}///",), + (f"{TEST_ROUTE}---",), + (f"{TEST_ROUTE}/-4:--2",), + (f"{TEST_ROUTE}/-a",), + (f"{TEST_ROUTE}/j",), + (f"{TEST_ROUTE}/0:1:2:3",), + (f"{TEST_ROUTE}/:::3",), + ]) + def test_bad_ranges(self, segment_range): + with self.assertRaises(AssertionError): + sr = SegmentRange(segment_range) + parse_slice(sr) + + def test_modes(self): + qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.QLOG))) + rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0", ReadMode.RLOG))) + + self.assertLess(qlog_len * 6, rlog_len) + + def test_modes_from_name(self): + qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q"))) + rlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/r"))) + + self.assertLess(qlog_len * 6, rlog_len) + + +if __name__ == "__main__": + unittest.main() diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 02858b1edf..b497bdaa39 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 +import multiprocessing import os import sys -import multiprocessing import platform import shutil import subprocess @@ -9,13 +9,12 @@ import tarfile import tempfile import requests import argparse +from functools import partial from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.test.openpilotci import get_url -from openpilot.tools.lib.logreader import LogReader -from openpilot.tools.lib.route import Route, SegmentName from openpilot.tools.lib.helpers import save_log -from urllib.parse import urlparse, parse_qs + +from openpilot.tools.lib.logreader import LogReader juggle_dir = os.path.dirname(os.path.realpath(__file__)) @@ -53,17 +52,6 @@ def get_plotjuggler_version(): return tuple(map(int, version.split("."))) -def load_segment(segment_name): - if segment_name is None: - return [] - - try: - return list(LogReader(segment_name)) - except (AssertionError, ValueError) as e: - print(f"Error parsing {segment_name}: {e}") - return [] - - def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None): env = os.environ.copy() env["BASEDIR"] = BASEDIR @@ -82,48 +70,16 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None): cmd = f'{PLOTJUGGLER_BIN} --buffer_size {MAX_STREAMING_BUFFER_SIZE} --plugin_folders {INSTALL_DIR}{extra_args}' subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir) +def process(can, lr): + return [d for d in lr if can or d.which() not in ['can', 'sendcan']] -def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=None, ci=False): - segment_start = 0 - if 'cabana' in route_or_segment_name: - query = parse_qs(urlparse(route_or_segment_name).query) - route_or_segment_name = query["route"][0] +def juggle_route(route_or_segment_name, can, layout, dbc=None): + sr = LogReader(route_or_segment_name) - if route_or_segment_name.startswith(("http://", "https://", "cd:/")) or os.path.isfile(route_or_segment_name): - logs = [route_or_segment_name] - elif ci: - route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True) - route = route_or_segment_name.route_name.canonical_name - segment_start = max(route_or_segment_name.segment_num, 0) - logs = [get_url(route, i) for i in range(100)] # Assume there not more than 100 segments - else: - route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True) - segment_start = max(route_or_segment_name.segment_num, 0) - - if route_or_segment_name.segment_num != -1 and segment_count is None: - segment_count = 1 - - r = Route(route_or_segment_name.route_name.canonical_name, route_or_segment_name.data_dir) - logs = r.qlog_paths() if qlog else r.log_paths() - - segment_end = segment_start + segment_count if segment_count else None - logs = logs[segment_start:segment_end] - - if None in logs: - resp = input(f"{logs.count(None)}/{len(logs)} of the rlogs in this segment are missing, would you like to fall back to the qlogs? (y/n) ") - if resp == 'y': - logs = r.qlog_paths()[segment_start:segment_end] - else: - print("Please try a different route or segment") - return - - all_data = [] with multiprocessing.Pool(24) as pool: - for d in pool.map(load_segment, logs): - all_data += d - - if not can: - all_data = [d for d in all_data if d.which() not in ['can', 'sendcan']] + all_data = [] + for p in pool.map(partial(process, can), sr.lrs): + all_data.extend(p) # Infer DBC name from logs if dbc is None: @@ -146,15 +102,12 @@ if __name__ == "__main__": formatter_class=argparse.ArgumentDefaultsHelpFormatter) parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one") - parser.add_argument("--qlog", action="store_true", help="Use qlogs") - parser.add_argument("--ci", action="store_true", help="Download data from openpilot CI bucket") parser.add_argument("--can", action="store_true", help="Parse CAN data") parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode") parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout") parser.add_argument("--install", action="store_true", help="Install or update PlotJuggler + plugins") parser.add_argument("--dbc", help="Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically inferred from the logs.") parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot (cabana share URL accepted)") - parser.add_argument("segment_count", type=int, nargs='?', help="The number of segments to plot") if len(sys.argv) == 1: parser.print_help() @@ -177,4 +130,4 @@ if __name__ == "__main__": start_juggler(layout=args.layout) else: route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip() - juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout, args.dbc, args.ci) + juggle_route(route_or_segment_name, args.can, args.layout, args.dbc) diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py index b002331cd7..1cb2dc0674 100755 --- a/tools/plotjuggler/test_plotjuggler.py +++ b/tools/plotjuggler/test_plotjuggler.py @@ -8,7 +8,7 @@ import unittest from openpilot.common.basedir import BASEDIR from openpilot.common.timeout import Timeout -from openpilot.tools.plotjuggler.juggle import install +from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE, install PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler") @@ -18,8 +18,8 @@ class TestPlotJuggler(unittest.TestCase): install() pj = os.path.join(PJ_DIR, "juggle.py") - with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} --demo None 1 --qlog', - stderr=subprocess.PIPE, shell=True, start_new_session=True) as p: + with subprocess.Popen(f'QT_QPA_PLATFORM=offscreen {pj} "{DEMO_ROUTE}/:2"', + stderr=subprocess.PIPE, shell=True, start_new_session=True) as p: # Wait for "Done reading Rlog data" signal from the plugin output = "\n" with Timeout(180, error_msg=output): diff --git a/selfdrive/debug/profiling/clpeak/.gitignore b/tools/profiling/clpeak/.gitignore similarity index 100% rename from selfdrive/debug/profiling/clpeak/.gitignore rename to tools/profiling/clpeak/.gitignore diff --git a/selfdrive/debug/profiling/clpeak/build.sh b/tools/profiling/clpeak/build.sh similarity index 100% rename from selfdrive/debug/profiling/clpeak/build.sh rename to tools/profiling/clpeak/build.sh diff --git a/selfdrive/debug/profiling/clpeak/no_print.patch b/tools/profiling/clpeak/no_print.patch similarity index 100% rename from selfdrive/debug/profiling/clpeak/no_print.patch rename to tools/profiling/clpeak/no_print.patch diff --git a/selfdrive/debug/profiling/clpeak/run_continuously.patch b/tools/profiling/clpeak/run_continuously.patch similarity index 100% rename from selfdrive/debug/profiling/clpeak/run_continuously.patch rename to tools/profiling/clpeak/run_continuously.patch diff --git a/selfdrive/debug/profiling/ftrace.sh b/tools/profiling/ftrace.sh similarity index 100% rename from selfdrive/debug/profiling/ftrace.sh rename to tools/profiling/ftrace.sh diff --git a/selfdrive/debug/profiling/palanteer/.gitignore b/tools/profiling/palanteer/.gitignore similarity index 100% rename from selfdrive/debug/profiling/palanteer/.gitignore rename to tools/profiling/palanteer/.gitignore diff --git a/selfdrive/debug/profiling/palanteer/setup.sh b/tools/profiling/palanteer/setup.sh similarity index 100% rename from selfdrive/debug/profiling/palanteer/setup.sh rename to tools/profiling/palanteer/setup.sh diff --git a/selfdrive/debug/profiling/perfetto/.gitignore b/tools/profiling/perfetto/.gitignore similarity index 100% rename from selfdrive/debug/profiling/perfetto/.gitignore rename to tools/profiling/perfetto/.gitignore diff --git a/selfdrive/debug/profiling/perfetto/build.sh b/tools/profiling/perfetto/build.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/build.sh rename to tools/profiling/perfetto/build.sh diff --git a/selfdrive/debug/profiling/perfetto/copy.sh b/tools/profiling/perfetto/copy.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/copy.sh rename to tools/profiling/perfetto/copy.sh diff --git a/selfdrive/debug/profiling/perfetto/record.sh b/tools/profiling/perfetto/record.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/record.sh rename to tools/profiling/perfetto/record.sh diff --git a/selfdrive/debug/profiling/perfetto/server.sh b/tools/profiling/perfetto/server.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/server.sh rename to tools/profiling/perfetto/server.sh diff --git a/selfdrive/debug/profiling/perfetto/traces.sh b/tools/profiling/perfetto/traces.sh similarity index 100% rename from selfdrive/debug/profiling/perfetto/traces.sh rename to tools/profiling/perfetto/traces.sh diff --git a/selfdrive/debug/profiling/py-spy/profile.sh b/tools/profiling/py-spy/profile.sh similarity index 100% rename from selfdrive/debug/profiling/py-spy/profile.sh rename to tools/profiling/py-spy/profile.sh diff --git a/selfdrive/debug/profiling/snapdragon/.gitignore b/tools/profiling/snapdragon/.gitignore similarity index 100% rename from selfdrive/debug/profiling/snapdragon/.gitignore rename to tools/profiling/snapdragon/.gitignore diff --git a/selfdrive/debug/profiling/snapdragon/README.md b/tools/profiling/snapdragon/README.md similarity index 100% rename from selfdrive/debug/profiling/snapdragon/README.md rename to tools/profiling/snapdragon/README.md diff --git a/selfdrive/debug/profiling/snapdragon/setup-agnos.sh b/tools/profiling/snapdragon/setup-agnos.sh similarity index 100% rename from selfdrive/debug/profiling/snapdragon/setup-agnos.sh rename to tools/profiling/snapdragon/setup-agnos.sh diff --git a/selfdrive/debug/profiling/snapdragon/setup-profiler.sh b/tools/profiling/snapdragon/setup-profiler.sh similarity index 100% rename from selfdrive/debug/profiling/snapdragon/setup-profiler.sh rename to tools/profiling/snapdragon/setup-profiler.sh diff --git a/selfdrive/debug/profiling/watch-irqs.sh b/tools/profiling/watch-irqs.sh similarity index 100% rename from selfdrive/debug/profiling/watch-irqs.sh rename to tools/profiling/watch-irqs.sh diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index 0827ca799f..d0a5304cff 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -4,14 +4,12 @@ import os import time import threading import multiprocessing -from tqdm import tqdm os.environ['FILEREADER_CACHE'] = '1' from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list -from openpilot.tools.plotjuggler.juggle import load_segment -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import LogReader from panda import Panda, PandaJungle def send_thread(s, flock): @@ -92,18 +90,21 @@ if __name__ == "__main__": parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.") args = parser.parse_args() + def process(lr): + return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + print("Loading log...") if args.route_or_segment_name is None: - ROUTE = "77611a1fac303767/2020-03-24--09-50-38" - REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available + args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/10:16" + + sr = LogReader(args.route_or_segment_name) + + with multiprocessing.Pool(24) as pool: CAN_MSGS = [] - logs = [f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" for i in REPLAY_SEGS] - with multiprocessing.Pool(24) as pool: - for lr in tqdm(pool.map(load_segment, logs)): - CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] - else: - lr = logreader_from_route_or_segment(args.route_or_segment_name) - CAN_MSGS = [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] + for p in pool.map(process, sr.lrs): + CAN_MSGS.extend(p) + + print("Finished loading...") # set both to cycle ignition IGN_ON = int(os.getenv("ON", "0")) diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py index 541252d270..ecbc2bb31e 100755 --- a/tools/scripts/save_ubloxraw_stream.py +++ b/tools/scripts/save_ubloxraw_stream.py @@ -3,8 +3,7 @@ import argparse import os import sys from openpilot.common.basedir import BASEDIR -from openpilot.tools.lib.logreader import MultiLogIterator -from openpilot.tools.lib.route import Route +from openpilot.tools.lib.logreader import LogReader os.environ['BASEDIR'] = BASEDIR @@ -14,28 +13,17 @@ def get_arg_parser(): description="Unlogging and save to file", formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("data_dir", nargs='?', - help="Path to directory in which log and camera files are located.") - parser.add_argument("route_name", type=(lambda x: x.replace("#", "|")), nargs="?", + parser.add_argument("route", type=(lambda x: x.replace("#", "|")), nargs="?", help="The route whose messages will be published.") parser.add_argument("--out_path", nargs='?', default='/data/ubloxRaw.stream', help="Output pickle file path") return parser -def main(argv): +def main(): args = get_arg_parser().parse_args(sys.argv[1:]) - if not args.data_dir: - print('Data directory invalid.') - return - if not args.route_name: - # Extract route name from path - args.route_name = os.path.basename(args.data_dir) - args.data_dir = os.path.dirname(args.data_dir) - - route = Route(args.route_name, args.data_dir) - lr = MultiLogIterator(route.log_paths()) + lr = LogReader(args.route) with open(args.out_path, 'wb') as f: try: @@ -56,4 +44,4 @@ def main(argv): if __name__ == "__main__": - sys.exit(main(sys.argv[1:])) + main() diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index b99596ac62..821af7c7f7 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -3,15 +3,13 @@ import numpy as np from metadrive.component.sensors.rgb_camera import RGBCamera from metadrive.component.sensors.base_camera import _cuda_enable from metadrive.component.map.pg_map import MapGenerateMethod -from panda3d.core import Vec3, Texture, GraphicsOutput +from panda3d.core import Texture, GraphicsOutput from openpilot.tools.sim.bridge.common import SimulatorBridge from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld from openpilot.tools.sim.lib.camerad import W, H -C3_POSITION = Vec3(0.0, 1.0, 1.22) - class CopyRamRGBCamera(RGBCamera): """Camera which copies its content into RAM during the render process, for faster image grabbing.""" @@ -33,8 +31,6 @@ class CopyRamRGBCamera(RGBCamera): class RGBCameraWide(CopyRamRGBCamera): def __init__(self, *args, **kwargs): super(RGBCameraWide, self).__init__(*args, **kwargs) - cam = self.get_cam() - cam.setPos(C3_POSITION) lens = self.get_lens() lens.setFov(120) lens.setNear(0.1) @@ -42,8 +38,6 @@ class RGBCameraWide(CopyRamRGBCamera): class RGBCameraRoad(CopyRamRGBCamera): def __init__(self, *args, **kwargs): super(RGBCameraRoad, self).__init__(*args, **kwargs) - cam = self.get_cam() - cam.setPos(C3_POSITION) lens = self.get_lens() lens.setFov(40) lens.setNear(0.1) @@ -66,6 +60,24 @@ def curve_block(length, angle=45, direction=0): "dir": direction } +def create_map(track_size=60): + return dict( + type=MapGenerateMethod.PG_MAP_FILE, + lane_num=2, + lane_width=3.5, + config=[ + None, + straight_block(track_size), + curve_block(track_size*2, 90), + straight_block(track_size), + curve_block(track_size*2, 90), + straight_block(track_size), + curve_block(track_size*2, 90), + straight_block(track_size), + curve_block(track_size*2, 90), + ] + ) + class MetaDriveBridge(SimulatorBridge): TICKS_PER_FRAME = 5 @@ -88,7 +100,6 @@ class MetaDriveBridge(SimulatorBridge): vehicle_config=dict( enable_reverse=False, image_source="rgb_road", - spawn_longitude=15 ), sensors=sensors, image_on_cuda=_cuda_enable, @@ -99,20 +110,7 @@ class MetaDriveBridge(SimulatorBridge): crash_vehicle_done=False, crash_object_done=False, traffic_density=0.0, # traffic is incredibly expensive - map_config=dict( - type=MapGenerateMethod.PG_MAP_FILE, - config=[ - None, - straight_block(120), - curve_block(240, 90), - straight_block(120), - curve_block(240, 90), - straight_block(120), - curve_block(240, 90), - straight_block(120), - curve_block(240, 90), - ] - ), + map_config=create_map(), decision_repeat=1, physics_world_step_size=self.TICKS_PER_FRAME/100, preload_models=False diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index 3fb4186bf9..8040d0d050 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -2,6 +2,7 @@ import math import numpy as np from collections import namedtuple +from panda3d.core import Vec3 from multiprocessing.connection import Connection from metadrive.engine.core.engine_core import EngineCore @@ -10,9 +11,13 @@ from metadrive.envs.metadrive_env import MetaDriveEnv from metadrive.obs.image_obs import ImageObservation from openpilot.common.realtime import Ratekeeper + from openpilot.tools.sim.lib.common import vec3 from openpilot.tools.sim.lib.camerad import W, H +C3_POSITION = Vec3(0.0, 0, 1.22) +C3_HPR = Vec3(0, 0,0) + metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"]) @@ -58,14 +63,17 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera def get_cam_as_rgb(cam): cam = env.engine.sensors[cam] - img = cam.perceive(env.vehicle, clip=False) + cam.get_cam().reparentTo(env.vehicle.origin) + cam.get_cam().setPos(C3_POSITION) + cam.get_cam().setHpr(C3_HPR) + img = cam.perceive(clip=False) if type(img) != np.ndarray: img = img.get() # convert cupy array to numpy return img rk = Ratekeeper(100, None) - steer_ratio = 15 + steer_ratio = 8 vc = [0,0] while not exit_event.is_set(): diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py index 2a12ef791a..850fd83bac 100644 --- a/tools/sim/tests/test_sim_bridge.py +++ b/tools/sim/tests/test_sim_bridge.py @@ -3,7 +3,7 @@ import subprocess import time import unittest -from multiprocessing import Queue +from multiprocessing import Queue, Value from cereal import messaging from openpilot.common.basedir import BASEDIR @@ -27,6 +27,7 @@ class TestSimBridgeBase(unittest.TestCase): sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState']) q = Queue() bridge = self.create_bridge() + bridge.started = Value('b', False) p_bridge = bridge.run(q, retries=10) self.processes.append(p_bridge) diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index c615608852..06523497a5 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -8,7 +8,7 @@ import signal from collections import defaultdict import cereal.messaging as messaging -from openpilot.tools.lib.logreader import logreader_from_route_or_segment +from openpilot.tools.lib.logreader import LogReader def sigint_handler(signal, frame): exit(0) @@ -105,10 +105,10 @@ class SteeringAccuracyTool: print(f" {'-'*118}") for k in sorted(self.speed_group_stats[group].keys()): v = self.speed_group_stats[group][k] - print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% \ - | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% \ - | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} \ - | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') + print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% ' + + f'| error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% ' + + f'| =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} ' + + f'| sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}') print("") @@ -128,7 +128,7 @@ if __name__ == "__main__": if args.route is not None: print(f"loading {args.route}...") - lr = logreader_from_route_or_segment(args.route, sort_by_time=True) + lr = LogReader(args.route, sort_by_time=True) sm = {} for msg in lr: diff --git a/tools/webcam/README.md b/tools/webcam/README.md index 237e07cdb6..bdf39b8145 100644 --- a/tools/webcam/README.md +++ b/tools/webcam/README.md @@ -1,5 +1,3 @@ -# NOTE: this README is outdated. #24590 tracks adding back webcam support - # Run openpilot with webcam on PC What's needed: @@ -24,9 +22,6 @@ git clone https://github.com/commaai/openpilot.git ## Build openpilot for webcam ``` cd ~/openpilot -``` -- check out system/camerad/cameras/camera_webcam.cc lines 72 and 146 before building if any camera is upside down -``` USE_WEBCAM=1 scons -j$(nproc) ``` diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py new file mode 100644 index 0000000000..22438f0c98 --- /dev/null +++ b/tools/webcam/camera.py @@ -0,0 +1,29 @@ +import cv2 as cv +import numpy as np + +class Camera: + def __init__(self, cam_type_state, stream_type, camera_id): + self.cam_type_state = cam_type_state + self.stream_type = stream_type + self.cur_frame_id = 0 + + self.cap = cv.VideoCapture(camera_id) + self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH) + self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT) + + @classmethod + def bgr2nv12(self, bgr): + yuv = cv.cvtColor(bgr, cv.COLOR_BGR2YUV_I420) + uv_row_cnt = yuv.shape[0] // 3 + uv_plane = np.transpose(yuv[uv_row_cnt * 2:].reshape(2, -1), [1, 0]) + yuv[uv_row_cnt * 2:] = uv_plane.reshape(uv_row_cnt, -1) + return yuv + + def read_frames(self): + while True: + sts , frame = self.cap.read() + if not sts: + break + yuv = Camera.bgr2nv12(frame) + yield yuv.data.tobytes() + self.cap.release() diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py new file mode 100755 index 0000000000..caf044e7b6 --- /dev/null +++ b/tools/webcam/camerad.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python3 +import threading +import os +from collections import namedtuple + +from cereal.visionipc import VisionIpcServer, VisionStreamType +from cereal import messaging + +from openpilot.tools.webcam.camera import Camera +from openpilot.common.realtime import Ratekeeper + +DUAL_CAM = os.getenv("DUAL_CAMERA") +CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"]) +CAMERAS = [ + CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("CAMERA_ROAD_ID", "0")), + CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("CAMERA_DRIVER_ID", "1")), +] +if DUAL_CAM: + CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, DUAL_CAM)) + +class Camerad: + def __init__(self): + self.pm = messaging.PubMaster([c.msg_name for c in CAMERAS]) + self.vipc_server = VisionIpcServer("camerad") + + self.cameras = [] + for c in CAMERAS: + cam = Camera(c.msg_name, c.stream_type, int(c.cam_id)) + assert cam.cap.isOpened(), f"Can't find camera {c}" + self.cameras.append(cam) + self.vipc_server.create_buffers(c.stream_type, 20, False, cam.W, cam.H) + + self.vipc_server.start_listener() + + def _send_yuv(self, yuv, frame_id, pub_type, yuv_type): + eof = int(frame_id * 0.05 * 1e9) + self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof) + dat = messaging.new_message(pub_type, valid=True) + msg = { + "frameId": frame_id, + "transform": [1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0] + } + setattr(dat, pub_type, msg) + self.pm.send(pub_type, dat) + + def camera_runner(self, cam): + rk = Ratekeeper(20, None) + while cam.cap.isOpened(): + for yuv in cam.read_frames(): + self._send_yuv(yuv, cam.cur_frame_id, cam.cam_type_state, cam.stream_type) + cam.cur_frame_id += 1 + rk.keep_time() + + def run(self): + threads = [] + for cam in self.cameras: + cam_thread = threading.Thread(target=self.camera_runner, args=(cam,)) + cam_thread.start() + threads.append(cam_thread) + + for t in threads: + t.join() + +if __name__ == "__main__": + camerad = Camerad() + camerad.run() diff --git a/tools/webcam/front_mount_helper.py b/tools/webcam/front_mount_helper.py deleted file mode 100755 index 0b7b676f6e..0000000000 --- a/tools/webcam/front_mount_helper.py +++ /dev/null @@ -1,35 +0,0 @@ -#!/usr/bin/env python -import numpy as np - -# copied from openpilot.common.transformations/camera.py -eon_dcam_focal_length = 860.0 # pixels -webcam_focal_length = 908.0 # pixels - -eon_dcam_intrinsics = np.array([ - [eon_dcam_focal_length, 0, 1152/2.], - [ 0, eon_dcam_focal_length, 864/2.], - [ 0, 0, 1]]) - -webcam_intrinsics = np.array([ - [webcam_focal_length, 0., 1280/2.], - [ 0., webcam_focal_length, 720/2.], - [ 0., 0., 1.]]) - -cam_id = 2 - -if __name__ == "__main__": - import cv2 - - trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics)) - - cap = cv2.VideoCapture(cam_id) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, 1280) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 720) - - while (True): - ret, img = cap.read() - if ret: - img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1152, 864), borderMode=cv2.BORDER_CONSTANT, borderValue=0) - img = img[:, -864//2:, :] - cv2.imshow('preview', img) - cv2.waitKey(10) diff --git a/tools/webcam/start_camerad.sh b/tools/webcam/start_camerad.sh new file mode 100755 index 0000000000..fbda2be9f3 --- /dev/null +++ b/tools/webcam/start_camerad.sh @@ -0,0 +1,14 @@ +#!/bin/bash + +# export the block below when call manager.py +export BLOCK="${BLOCK},camerad" +export USE_WEBCAM="1" + +# Change camera index according to your setting +export CAMERA_ROAD_ID="0" +export CAMERA_DRIVER_ID="1" +export DUAL_CAMERA="2" # camera index for wide road camera + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )" + +$DIR/camerad.py diff --git a/tools/webcam/warp_vis.py b/tools/webcam/warp_vis.py deleted file mode 100755 index e3f1284a45..0000000000 --- a/tools/webcam/warp_vis.py +++ /dev/null @@ -1,43 +0,0 @@ -#!/usr/bin/env python -import numpy as np - -# copied from openpilot.common.transformations/camera.py -eon_focal_length = 910.0 # pixels -eon_dcam_focal_length = 860.0 # pixels - -webcam_focal_length = -908.0/1.5 # pixels - -eon_intrinsics = np.array([ - [eon_focal_length, 0., 1164/2.], - [ 0., eon_focal_length, 874/2.], - [ 0., 0., 1.]]) - -eon_dcam_intrinsics = np.array([ - [eon_dcam_focal_length, 0, 1152/2.], - [ 0, eon_dcam_focal_length, 864/2.], - [ 0, 0, 1]]) - -webcam_intrinsics = np.array([ - [webcam_focal_length, 0., 1280/2/1.5], - [ 0., webcam_focal_length, 720/2/1.5], - [ 0., 0., 1.]]) - -if __name__ == "__main__": - import cv2 - trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics)) - trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics)) - print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear) - print("trans_webcam_to_eon_front:\n", trans_webcam_to_eon_front) - - cap = cv2.VideoCapture(1) - cap.set(cv2.CAP_PROP_FRAME_WIDTH, 853) - cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480) - - while (True): - ret, img = cap.read() - if ret: - # img = cv2.warpPerspective(img, trans_webcam_to_eon_rear, (1164,874), borderMode=cv2.BORDER_CONSTANT, borderValue=0) - img = cv2.warpPerspective(img, trans_webcam_to_eon_front, (1164, 874), borderMode=cv2.BORDER_CONSTANT, borderValue=0) - print(img.shape, end='\r') - cv2.imshow('preview', img) - cv2.waitKey(10)