From 221086857aac770f5d22273119e6175eeb06c729 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 23 Jun 2022 13:58:01 -0700 Subject: [PATCH 01/37] EV6: adjust steering thresholds (#24901) * EV6: adjust steering thresholds * Is there any friction * bump panda * no friction Co-authored-by: Harald Schafer --- panda | 2 +- selfdrive/car/hyundai/carstate.py | 8 +++++--- selfdrive/car/hyundai/values.py | 26 ++++++++++++++----------- selfdrive/car/torque_data/override.yaml | 4 ++-- 4 files changed, 23 insertions(+), 17 deletions(-) diff --git a/panda b/panda index 4bc85ad40a..2652453892 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 4bc85ad40ad032672008eb75567892ba45e0b932 +Subproject commit 265245389208e1e6ada86b169e879c0a2e30426c diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index 9d864faac4..6c82c33856 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -5,7 +5,7 @@ from cereal import car from common.conversions import Conversions as CV from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine -from selfdrive.car.hyundai.values import DBC, STEER_THRESHOLD, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons +from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams from selfdrive.car.interfaces import CarStateBase PREV_BUTTON_SAMPLES = 4 @@ -32,6 +32,8 @@ class CarState(CarStateBase): self.park_brake = False self.buttons_counter = 0 + self.params = CarControllerParams(CP) + def update(self, cp, cp_cam): if self.CP.carFingerprint in HDA2_CAR: return self.update_hda2(cp, cp_cam) @@ -61,7 +63,7 @@ class CarState(CarStateBase): 50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"]) ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"] ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"] - ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD + ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0 # cruise state @@ -157,7 +159,7 @@ class CarState(CarStateBase): ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1 ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"] ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"] - ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD + ret.steeringPressed = abs(ret.steeringTorque) > self.params.STEER_THRESHOLD ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"], cp.vl["BLINKERS"]["RIGHT_LAMP"]) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index cf47501588..219e1619c0 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -13,21 +13,27 @@ class CarControllerParams: ACCEL_MAX = 2.0 # m/s def __init__(self, CP): + self.STEER_DELTA_UP = 3 + self.STEER_DELTA_DOWN = 7 + self.STEER_DRIVER_ALLOWANCE = 50 + self.STEER_DRIVER_MULTIPLIER = 2 + self.STEER_DRIVER_FACTOR = 1 + self.STEER_THRESHOLD = 150 + + if CP.carFingerprint in HDA2_CAR: + self.STEER_MAX = 270 + self.STEER_DRIVER_ALLOWANCE = 250 + self.STEER_DRIVER_MULTIPLIER = 2 + self.STEER_THRESHOLD = 250 + # To determine the limit for your car, find the maximum value that the stock LKAS will request. # If the max stock LKAS request is <384, add your car to this list. - if CP.carFingerprint in HDA2_CAR: - self.STEER_MAX = 150 elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.ELANTRA_GT_I30, CAR.IONIQ, - CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV, - CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER): + CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV, + CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER): self.STEER_MAX = 255 else: self.STEER_MAX = 384 - self.STEER_DELTA_UP = 3 - self.STEER_DELTA_DOWN = 7 - self.STEER_DRIVER_ALLOWANCE = 50 - self.STEER_DRIVER_MULTIPLIER = 2 - self.STEER_DRIVER_FACTOR = 1 class CAR: @@ -1268,5 +1274,3 @@ DBC = { CAR.KIA_EV6: dbc_dict('kia_ev6', None), CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'), } - -STEER_THRESHOLD = 150 diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml index fb086fd13f..a2200926c0 100644 --- a/selfdrive/car/torque_data/override.yaml +++ b/selfdrive/car/torque_data/override.yaml @@ -1,7 +1,7 @@ legend: [LAT_ACCEL_FACTOR, MAX_LAT_ACCEL_MEASURED, FRICTION] ### angle control # Nissan appears to have torque -NISSAN X-TRAIL 2017: [.nan, 1.5, .nan] +NISSAN X-TRAIL 2017: [.nan, 1.5, .nan] NISSAN ALTIMA 2020: [.nan, 1.5, .nan] NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan] NISSAN LEAF 2018: [.nan, 1.5, .nan] @@ -20,7 +20,7 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan] COMMA BODY: [.nan, 1000, .nan] # Totally new car -KIA EV6 2022: [3.0, 2.5, 0.05] +KIA EV6 2022: [3.0, 2.5, 0.0] # Dashcam or fallback configured as ideal car mock: [10.0, 10, 0.0] From 1dffd48a2bab07512af71cfa73e572d602977340 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 23 Jun 2022 15:07:34 -0700 Subject: [PATCH 02/37] count_events improvements --- selfdrive/debug/count_events.py | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index c3870e0f9e..93dd5bdc47 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -1,8 +1,11 @@ #!/usr/bin/env python3 import sys +import math +import datetime from collections import Counter from pprint import pprint from tqdm import tqdm +from typing import cast from cereal.services import service_list from tools.lib.route import Route @@ -17,6 +20,8 @@ if __name__ == "__main__": cams = [s for s in service_list if s.endswith('CameraState')] cnt_cameras = dict.fromkeys(cams, 0) + start_time = math.inf + end_time = -math.inf for q in tqdm(r.qlog_paths()): if q is None: continue @@ -31,6 +36,10 @@ if __name__ == "__main__": if not msg.valid: cnt_valid[msg.which()] += 1 + end_time = max(end_time, msg.logMonoTime) + start_time = min(start_time, msg.logMonoTime) + + duration = (end_time - start_time) / 1e9 print("Events") pprint(cnt_events) @@ -42,4 +51,9 @@ if __name__ == "__main__": print("\n") print("Cameras") for k, v in cnt_cameras.items(): - print(" ", k.ljust(20), v) + s = service_list[k] + expected_frames = int(s.frequency * duration / cast(float, s.decimation)) + print(" ", k.ljust(20), f"{v}, {v/expected_frames:.1%} of expected") + + print("\n") + print("Route duration", datetime.timedelta(seconds=duration)) From 3b495fcb0b004fd00d12bf059473d9d0b7f7c0b9 Mon Sep 17 00:00:00 2001 From: Ayushman Kumar <41910134+ayushmankumar7@users.noreply.github.com> Date: Fri, 24 Jun 2022 14:32:48 +0530 Subject: [PATCH 03/37] Navd added to README (#24953) (#24954) * Navd added to README * Update README.md Co-authored-by: Willem Melching --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index c426b839d5..34b17625f9 100755 --- a/README.md +++ b/README.md @@ -121,6 +121,7 @@ Directory Structure ├── modeld # Driving and monitoring model runners ├── proclogd # Logs information from proc ├── sensord # IMU interface code + ├── navd # Turn-by-turn navigation ├── test # Unit tests, system tests, and a car simulator └── ui # The UI From 5cd8bef921c886e17ea6afc9fcdad44be72a998c Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Fri, 24 Jun 2022 12:37:30 +0200 Subject: [PATCH 04/37] use correct tty device for serial --- tools/serial/connect.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/serial/connect.sh b/tools/serial/connect.sh index 037152019f..a073310b0a 100755 --- a/tools/serial/connect.sh +++ b/tools/serial/connect.sh @@ -1,8 +1,8 @@ #!/bin/bash while true; do - if ls /dev/ttyUSB* 2> /dev/null; then - sudo screen /dev/ttyUSB* 115200 + if ls /dev/serial/by-id/usb-FTDI_FT230X* 2> /dev/null; then + sudo screen /dev/serial/by-id/usb-FTDI_FT230X* 115200 fi sleep 0.005 done From b854e67e91105da7301936aab8fd55f94dd46fbb Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Fri, 24 Jun 2022 17:56:33 +0200 Subject: [PATCH 05/37] Laikad: minor refactor (#24956) extract code to get_est_pos func --- selfdrive/locationd/laikad.py | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index f1997bceb0..ba665b7530 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -62,6 +62,16 @@ class Laikad: cls=CacheSerializer)) self.last_cached_t = t + def get_est_pos(self, t, processed_measurements): + if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2: + min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4 + pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) + if len(pos_fix) > 0: + self.last_pos_fix = pos_fix[:3] + self.last_pos_residual = pos_fix_residual + self.last_pos_fix_t = t + return self.last_pos_fix + def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): if ublox_msg.which == 'measurementReport': t = ublox_mono_time * 1e-9 @@ -73,17 +83,11 @@ class Laikad: new_meas = read_raw_ublox(report) processed_measurements = process_measurements(new_meas, self.astro_dog) - if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2: - min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4 - pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements) - if len(pos_fix) > 0: - self.last_pos_fix = pos_fix[:3] - self.last_pos_residual = pos_fix_residual - self.last_pos_fix_t = t + est_pos = self.get_est_pos(t, processed_measurements) - corrected_measurements = correct_measurements(processed_measurements, self.last_pos_fix, self.astro_dog) if self.last_pos_fix_t is not None else [] + corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else [] - self.update_localizer(self.last_pos_fix, t, corrected_measurements) + self.update_localizer(est_pos, t, corrected_measurements) kf_valid = all(self.kf_valid(t)) ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist() ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist() @@ -116,7 +120,7 @@ class Laikad: valid = self.kf_valid(t) if not all(valid): if not valid[0]: - cloudlog.info("Init gnss kalman filter") + cloudlog.info("Kalman filter uninitialized") elif not valid[1]: cloudlog.error("Time gap of over 10s detected, gnss kalman reset") elif not valid[2]: @@ -133,7 +137,7 @@ class Laikad: # Ensure gnss filter is updated even with no new measurements self.gnss_kf.predict(t) - def kf_valid(self, t: float): + def kf_valid(self, t: float) -> List[bool]: filter_time = self.gnss_kf.filter.filter_time return [filter_time is not None, filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP, From e26db5dc91e2dd6348cb1dd79ce1549b74f39309 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 24 Jun 2022 15:32:01 -0400 Subject: [PATCH 06/37] VW MQB: Add FW for 2016 Volkswagen Passat (#24957) * VW MQB: Add FW for 2016 Passat B8 Passat B8 TDi 2.0 240HP DSG 7 Europe * mechanical sort Co-authored-by: Pierre Christen --- selfdrive/car/volkswagen/values.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 9b6f6a16c3..0148a138a2 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -438,6 +438,7 @@ FW_VERSIONS = { }, CAR.PASSAT_MK8: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8703N906026E \xf1\x892114', b'\xf1\x8704E906023AH\xf1\x893379', b'\xf1\x8704L906026ET\xf1\x891990', b'\xf1\x8704L906026GA\xf1\x892013', @@ -450,17 +451,20 @@ FW_VERSIONS = { b'\xf1\x870D9300014L \xf1\x895002', b'\xf1\x870D9300041A \xf1\x894801', b'\xf1\x870DD300045T \xf1\x891601', + b'\xf1\x870DL300011H \xf1\x895201', b'\xf1\x870GC300042H \xf1\x891404', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111', b'\xf1\x873Q0959655AN\xf1\x890306\xf1\x82\r58160058140013036914110311', + b'\xf1\x873Q0959655BA\xf1\x890195\xf1\x82\r56140056130012516612125111', b'\xf1\x873Q0959655BB\xf1\x890195\xf1\x82\r56140056130012026612120211', b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900', b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e5915005914001305701311052900', b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011111200631145171716121691132111', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00611A1', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803', b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1', From 062a8bcdbd78826cbb035c1dabc6ebd18a9367dd Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 24 Jun 2022 13:01:49 -0700 Subject: [PATCH 07/37] cleanup torque tuning config (#24951) --- selfdrive/car/hyundai/interface.py | 12 ++--- selfdrive/car/interfaces.py | 59 +++++++++++++-------- selfdrive/car/toyota/interface.py | 8 ++- selfdrive/car/toyota/tunes.py | 6 +-- selfdrive/controls/lib/latcontrol_torque.py | 10 ---- 5 files changed, 45 insertions(+), 50 deletions(-) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 7cfce55100..58a67f58ce 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -7,7 +7,6 @@ from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.disable_ecu import disable_ecu -from selfdrive.controls.lib.latcontrol_torque import set_torque_tune ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -51,7 +50,6 @@ class CarInterface(CarInterfaceBase): ret.stopAccel = 0.0 ret.longitudinalActuatorDelayUpperBound = 1.0 # s - torque_params = CarInterfaceBase.get_torque_params(candidate) if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): ret.lateralTuning.pid.kf = 0.00005 ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG @@ -66,7 +64,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.84 ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable tire_stiffness_factor = 0.65 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SONATA_LF: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 4497. * CV.LB_TO_KG @@ -96,13 +94,13 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.ELANTRA_HEV_2021: ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG ret.wheelbase = 2.72 ret.steerRatio = 12.9 tire_stiffness_factor = 0.65 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.HYUNDAI_GENESIS: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 2060. + STD_CARGO_KG @@ -204,7 +202,7 @@ class CarInterface(CarInterfaceBase): ret.wheelbase = 2.80 ret.steerRatio = 13.75 tire_stiffness_factor = 0.5 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.KIA_STINGER: ret.lateralTuning.pid.kf = 0.00005 ret.mass = 1825. + STD_CARGO_KG @@ -244,7 +242,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput), get_safety_config(car.CarParams.SafetyModel.hyundaiHDA2)] tire_stiffness_factor = 0.65 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION']) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) # Genesis elif candidate == CAR.GENESIS_G70: diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index ced2ce8e61..e0b38d9e20 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -20,11 +20,36 @@ EventName = car.CarEvent.EventName MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS ACCEL_MAX = 2.0 ACCEL_MIN = -3.5 + TORQUE_PARAMS_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/params.yaml') TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override.yaml') TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml') +def get_torque_params(candidate, default=float('NaN')): + with open(TORQUE_SUBSTITUTE_PATH) as f: + sub = yaml.load(f, Loader=yaml.FullLoader) + if candidate in sub: + candidate = sub[candidate] + + with open(TORQUE_PARAMS_PATH) as f: + params = yaml.load(f, Loader=yaml.FullLoader) + with open(TORQUE_OVERRIDE_PATH) as f: + override = yaml.load(f, Loader=yaml.FullLoader) + + # Ensure no overlap + if sum([candidate in x for x in [sub, params, override]]) > 1: + raise RuntimeError(f'{candidate} is defined twice in torque config') + + if candidate in override: + out = override[candidate] + elif candidate in params: + out = params[candidate] + else: + raise NotImplementedError(f"Did not find torque params for {candidate}") + return {key:out[i] for i, key in enumerate(params['legend'])} + + # generic car and radar interfaces class CarInterfaceBase(ABC): @@ -85,7 +110,7 @@ class CarInterfaceBase(ABC): ret.steerControlType = car.CarParams.SteerControlType.torque ret.minSteerSpeed = 0. ret.wheelSpeedFactor = 1.0 - ret.maxLateralAccel = CarInterfaceBase.get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] + ret.maxLateralAccel = get_torque_params(candidate)['MAX_LAT_ACCEL_MEASURED'] ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this @@ -110,28 +135,16 @@ class CarInterfaceBase(ABC): return ret @staticmethod - def get_torque_params(candidate, default=float('NaN')): - with open(TORQUE_SUBSTITUTE_PATH) as f: - sub = yaml.load(f, Loader=yaml.FullLoader) - if candidate in sub: - candidate = sub[candidate] - - with open(TORQUE_PARAMS_PATH) as f: - params = yaml.load(f, Loader=yaml.FullLoader) - with open(TORQUE_OVERRIDE_PATH) as f: - override = yaml.load(f, Loader=yaml.FullLoader) - - # Ensure no overlap - if sum([candidate in x for x in [sub, params, override]]) > 1: - raise RuntimeError(f'{candidate} is defined twice in torque config') - - if candidate in override: - out = override[candidate] - elif candidate in params: - out = params[candidate] - else: - raise NotImplementedError(f"Did not find torque params for {candidate}") - return {key:out[i] for i, key in enumerate(params['legend'])} + def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0): + params = get_torque_params(candidate) + + tune.init('torque') + tune.torque.useSteeringAngle = True + tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR'] + tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR'] + tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR'] + tune.torque.friction = params['FRICTION'] + tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg @abstractmethod def _update(self, c: car.CarControl) -> car.CarState: diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 75f2ab3033..fdb923f693 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -2,7 +2,6 @@ from cereal import car from common.conversions import Conversions as CV from panda import Panda -from selfdrive.controls.lib.latcontrol_torque import set_torque_tune from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config @@ -32,9 +31,8 @@ class CarInterface(CarInterfaceBase): ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop stop_and_go = False - torque_params = CarInterfaceBase.get_torque_params(candidate) steering_angle_deadzone_deg = 0.0 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) if candidate == CAR.PRIUS: stop_and_go = True @@ -46,7 +44,7 @@ class CarInterface(CarInterfaceBase): for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': steering_angle_deadzone_deg = 1.0 - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) elif candidate == CAR.PRIUS_V: stop_and_go = True @@ -54,7 +52,7 @@ class CarInterface(CarInterfaceBase): ret.steerRatio = 17.4 tire_stiffness_factor = 0.5533 ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG - set_torque_tune(ret.lateralTuning, torque_params['LAT_ACCEL_FACTOR'], torque_params['FRICTION'], steering_angle_deadzone_deg) + CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg) elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False diff --git a/selfdrive/car/toyota/tunes.py b/selfdrive/car/toyota/tunes.py index 3de6daae21..a8b8758d89 100644 --- a/selfdrive/car/toyota/tunes.py +++ b/selfdrive/car/toyota/tunes.py @@ -1,6 +1,5 @@ #!/usr/bin/env python3 from enum import Enum -from selfdrive.controls.lib.latcontrol_torque import set_torque_tune class LongTunes(Enum): PEDAL = 0 @@ -24,7 +23,6 @@ class LatTunes(Enum): PID_L = 13 PID_M = 14 PID_N = 15 - TORQUE = 16 ###### LONG ###### @@ -51,9 +49,7 @@ def set_long_tune(tune, name): ###### LAT ###### def set_lat_tune(tune, name, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0, use_steering_angle=True): - if name == LatTunes.TORQUE: - set_torque_tune(tune, MAX_LAT_ACCEL, FRICTION, steering_angle_deadzone_deg) - elif 'PID' in str(name): + if 'PID' in str(name): tune.init('pid') tune.pid.kiBP = [0.0] tune.pid.kpBP = [0.0] diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index f72ffc4b88..014c3480b8 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -22,16 +22,6 @@ from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY FRICTION_THRESHOLD = 0.2 -def set_torque_tune(tune, MAX_LAT_ACCEL=2.5, FRICTION=0.01, steering_angle_deadzone_deg=0.0): - tune.init('torque') - tune.torque.useSteeringAngle = True - tune.torque.kp = 1.0 / MAX_LAT_ACCEL - tune.torque.kf = 1.0 / MAX_LAT_ACCEL - tune.torque.ki = 0.1 / MAX_LAT_ACCEL - tune.torque.friction = FRICTION - tune.torque.steeringAngleDeadzoneDeg = steering_angle_deadzone_deg - - class LatControlTorque(LatControl): def __init__(self, CP, CI): super().__init__(CP, CI) From 6721f0ef57fd5bda5045e80edac815adcfdef380 Mon Sep 17 00:00:00 2001 From: ZwX1616 Date: Fri, 24 Jun 2022 14:29:46 -0700 Subject: [PATCH 08/37] fix carla test fake driverState (#24959) use driverstatev2 --- tools/sim/bridge.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index faf67c3ef5..17dc2c7a62 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -198,12 +198,12 @@ def gps_callback(gps, vehicle_state): def fake_driver_monitoring(exit_event: threading.Event): - pm = messaging.PubMaster(['driverState', 'driverMonitoringState']) + pm = messaging.PubMaster(['driverStateV2', 'driverMonitoringState']) while not exit_event.is_set(): # dmonitoringmodeld output - dat = messaging.new_message('driverState') - dat.driverState.faceProb = 1.0 - pm.send('driverState', dat) + dat = messaging.new_message('driverStateV2') + dat.driverStateV2.leftDriverData.faceProb = 1.0 + pm.send('driverStateV2', dat) # dmonitoringd output dat = messaging.new_message('driverMonitoringState') From 10fb2b9456b9d0d065b411ac64fd97831ee2fa8c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Jun 2022 15:16:46 -0700 Subject: [PATCH 09/37] Speed up YAML parsing with CSafeLoader (#24958) Use CSafeLoader --- selfdrive/car/interfaces.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index e0b38d9e20..136337c5a4 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -26,16 +26,16 @@ TORQUE_OVERRIDE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/override TORQUE_SUBSTITUTE_PATH = os.path.join(BASEDIR, 'selfdrive/car/torque_data/substitute.yaml') -def get_torque_params(candidate, default=float('NaN')): +def get_torque_params(candidate): with open(TORQUE_SUBSTITUTE_PATH) as f: - sub = yaml.load(f, Loader=yaml.FullLoader) + sub = yaml.load(f, Loader=yaml.CSafeLoader) if candidate in sub: candidate = sub[candidate] with open(TORQUE_PARAMS_PATH) as f: - params = yaml.load(f, Loader=yaml.FullLoader) + params = yaml.load(f, Loader=yaml.CSafeLoader) with open(TORQUE_OVERRIDE_PATH) as f: - override = yaml.load(f, Loader=yaml.FullLoader) + override = yaml.load(f, Loader=yaml.CSafeLoader) # Ensure no overlap if sum([candidate in x for x in [sub, params, override]]) > 1: @@ -47,7 +47,7 @@ def get_torque_params(candidate, default=float('NaN')): out = params[candidate] else: raise NotImplementedError(f"Did not find torque params for {candidate}") - return {key:out[i] for i, key in enumerate(params['legend'])} + return {key: out[i] for i, key in enumerate(params['legend'])} # generic car and radar interfaces From 379dc24ecad7f1bdc9c11fbb2416cc2d68b3a297 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 24 Jun 2022 16:49:56 -0700 Subject: [PATCH 10/37] can replay: get logs in parallel (#24960) * get can replay segs in parallel * total not needed --- tools/replay/can_replay.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index b212abc431..0b8b4fe0a1 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -2,6 +2,7 @@ import os import time import threading +import multiprocessing from tqdm import tqdm os.environ['FILEREADER_CACHE'] = '1' @@ -9,7 +10,7 @@ os.environ['FILEREADER_CACHE'] = '1' from common.basedir import BASEDIR from common.realtime import config_realtime_process, Ratekeeper, DT_CTRL from selfdrive.boardd.boardd import can_capnp_to_can_list -from tools.lib.logreader import LogReader +from tools.plotjuggler.juggle import load_segment from panda import Panda try: @@ -94,11 +95,10 @@ if __name__ == "__main__": ROUTE = "77611a1fac303767/2020-03-24--09-50-38" REPLAY_SEGS = list(range(10, 16)) # route has 82 segments available CAN_MSGS = [] - for i in tqdm(REPLAY_SEGS): - log_url = f"https://commadataci.blob.core.windows.net/openpilotci/{ROUTE}/{i}/rlog.bz2" - lr = LogReader(log_url) - CAN_MSGS += [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can'] - + 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'] # set both to cycle ignition IGN_ON = int(os.getenv("ON", "0")) From 72edc309327e8f6a1630e06d27cb21d16ba1e3ae Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 25 Jun 2022 03:07:29 -0700 Subject: [PATCH 11/37] Hyundai: remove bad esp fingerprint (#24952) Remove unknown "esp" fp --- selfdrive/car/hyundai/values.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 219e1619c0..645d2f523b 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1146,9 +1146,6 @@ FW_VERSIONS = { b'\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', b'\xf1\x8799110L5000\xf1\000DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', ], - (Ecu.esp, 0x7b0, None): [ - b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81\x00\x00\x00\x00\x00\x00\x00\x00', - ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x8756310-L5500\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5500 4DNHC102', b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', From 461f747247add7d4c50344042997427cdb2a90fa Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 27 Jun 2022 17:18:56 +0800 Subject: [PATCH 12/37] logger.cc: remove unused function append_property (#24966) remove append_property --- selfdrive/loggerd/logger.cc | 9 --------- 1 file changed, 9 deletions(-) diff --git a/selfdrive/loggerd/logger.cc b/selfdrive/loggerd/logger.cc index 5aed47e291..8038f1926c 100644 --- a/selfdrive/loggerd/logger.cc +++ b/selfdrive/loggerd/logger.cc @@ -19,15 +19,6 @@ #include "common/swaglog.h" #include "common/version.h" -// ***** logging helpers ***** - -void append_property(const char* key, const char* value, void *cookie) { - std::vector > *properties = - (std::vector > *)cookie; - - properties->push_back(std::make_pair(std::string(key), std::string(value))); -} - // ***** log metadata ***** kj::Array logger_build_init_data() { MessageBuilder msg; From 748bbac3444cc30e6dafc2f0bda60b46f3fc8d5a Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 27 Jun 2022 17:19:46 +0800 Subject: [PATCH 13/37] loggerd: remove rotate_lock (#24969) remove lock --- selfdrive/loggerd/loggerd.cc | 16 ++++++---------- 1 file changed, 6 insertions(+), 10 deletions(-) diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc index 4086f4991e..a75ab2c92b 100644 --- a/selfdrive/loggerd/loggerd.cc +++ b/selfdrive/loggerd/loggerd.cc @@ -6,7 +6,6 @@ ExitHandler do_exit; struct LoggerdState { LoggerState logger = {}; char segment_path[4096]; - std::mutex rotate_lock; std::atomic rotate_segment; std::atomic last_camera_seen_tms; std::atomic ready_to_rotate; // count of encoders ready to rotate @@ -15,15 +14,12 @@ struct LoggerdState { }; void logger_rotate(LoggerdState *s) { - { - std::unique_lock lk(s->rotate_lock); - int segment = -1; - int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment); - assert(err == 0); - s->rotate_segment = segment; - s->ready_to_rotate = 0; - s->last_rotate_tms = millis_since_boot(); - } + int segment = -1; + int err = logger_next(&s->logger, LOG_ROOT.c_str(), s->segment_path, sizeof(s->segment_path), &segment); + assert(err == 0); + s->rotate_segment = segment; + s->ready_to_rotate = 0; + s->last_rotate_tms = millis_since_boot(); LOGW((s->logger.part == 0) ? "logging to %s" : "rotated to %s", s->segment_path); } From 0aa9ae21d4068d1e8099ff4256d86a204ec31c1c Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Mon, 27 Jun 2022 17:20:13 +0800 Subject: [PATCH 14/37] FfmpegEncoder: free codec_ctx in encoder_close (#24967) free context --- selfdrive/loggerd/encoder/ffmpeg_encoder.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc index 22587819a4..5f8d140e8b 100644 --- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc +++ b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc @@ -68,7 +68,9 @@ void FfmpegEncoder::encoder_open(const char* path) { void FfmpegEncoder::encoder_close() { if (!is_open) return; + writer_close(); + avcodec_free_context(&codec_ctx); is_open = false; } From 684d4b75a1c2f349da1e00dae9a40c39e3bb3607 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Mon, 27 Jun 2022 15:33:46 +0200 Subject: [PATCH 15/37] Log SOM power draw (#24975) * log SOM power draw * bump cereal Co-authored-by: Comma Device Co-authored-by: Willem Melching --- cereal | 2 +- selfdrive/thermald/thermald.py | 13 +++++++------ system/hardware/base.py | 4 ++++ system/hardware/pc/hardware.py | 3 +++ system/hardware/tici/hardware.py | 3 +++ 5 files changed, 18 insertions(+), 7 deletions(-) diff --git a/cereal b/cereal index c6acc0698a..3fef4f7861 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit c6acc0698a604e715e960250359b6bf97e4987e3 +Subproject commit 3fef4f7861e04193fdb11dbd5b0eaf6d2b102ee1 diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 6cf5c428a8..f20c649b4e 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -348,12 +348,13 @@ def thermald_thread(end_event, hw_queue): power_monitor.calculate(peripheralState, onroad_conditions["ignition"]) msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used() msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity()) - current_power_draw = HARDWARE.get_current_power_draw() # pylint: disable=assignment-from-none - if current_power_draw is not None: - statlog.sample("power_draw", current_power_draw) - msg.deviceState.powerDrawW = current_power_draw - else: - msg.deviceState.powerDrawW = 0 + current_power_draw = HARDWARE.get_current_power_draw() + statlog.sample("power_draw", current_power_draw) + msg.deviceState.powerDrawW = current_power_draw + + som_power_draw = HARDWARE.get_som_power_draw() + statlog.sample("som_power_draw", som_power_draw) + msg.deviceState.somPowerDrawW = som_power_draw # Check if we need to disable charging (handled by boardd) msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(onroad_conditions["ignition"], in_car, off_ts) diff --git a/system/hardware/base.py b/system/hardware/base.py index 8684386f62..b052a48c5b 100644 --- a/system/hardware/base.py +++ b/system/hardware/base.py @@ -86,6 +86,10 @@ class HardwareBase(ABC): def get_current_power_draw(self): pass + @abstractmethod + def get_som_power_draw(self): + pass + @abstractmethod def shutdown(self): pass diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py index b2c4a4343b..60d14e4a6b 100644 --- a/system/hardware/pc/hardware.py +++ b/system/hardware/pc/hardware.py @@ -55,6 +55,9 @@ class Pc(HardwareBase): def get_current_power_draw(self): return 0 + + def get_som_power_draw(self): + return 0 def shutdown(self): print("SHUTDOWN!") diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index a69d3eb743..66cb98c606 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -362,6 +362,9 @@ class Tici(HardwareBase): def get_current_power_draw(self): return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6) + def get_som_power_draw(self): + return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12) + def shutdown(self): # Note that for this to work and have the device stay powered off, the panda needs to be in UsbPowerMode::CLIENT! os.system("sudo poweroff") From de0c12e5af0e550c194510a19253dd9100b1a9f7 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Jun 2022 15:34:36 +0200 Subject: [PATCH 16/37] calibrationd: start faster by not waiting for carParams (#24976) * calibrationd: start faster by not waiting for carParams * fix process replay * update ref --- selfdrive/locationd/calibrationd.py | 10 ++++++---- selfdrive/test/process_replay/process_replay.py | 3 ++- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 9 insertions(+), 6 deletions(-) diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index e092c939ae..81bcc6ce1c 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -12,7 +12,7 @@ import capnp import numpy as np from typing import List, NoReturn, Optional -from cereal import car, log +from cereal import log import cereal.messaging as messaging from common.conversions import Conversions as CV from common.params import Params, put_nonblocking @@ -62,7 +62,7 @@ class Calibrator: def __init__(self, param_put: bool = False): self.param_put = param_put - self.CP = car.CarParams.from_bytes(Params().get("CarParams", block=True)) + self.not_car = False # Read saved calibration params = Params() @@ -192,7 +192,7 @@ class Calibrator: liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() - if self.CP.notCar: + if self.not_car: extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height) liveCalibration.validBlocks = INPUTS_NEEDED liveCalibration.calStatus = Calibration.CALIBRATED @@ -212,7 +212,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m set_realtime_priority(1) if sm is None: - sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry']) + sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry']) if pm is None: pm = messaging.PubMaster(['liveCalibration']) @@ -223,6 +223,8 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m timeout = 0 if sm.frame == -1 else 100 sm.update(timeout) + calibrator.not_car = sm['carParams'].notCar + if sm.updated['cameraOdometry']: calibrator.handle_v_ego(sm['carState'].vEgo) new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 62c5eb4826..228f07c4c2 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -282,7 +282,8 @@ CONFIGS = [ proc_name="calibrationd", pub_sub={ "carState": ["liveCalibration"], - "cameraOdometry": [] + "cameraOdometry": [], + "carParams": [], }, ignore=["logMonoTime", "valid"], init_callback=get_car_params, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 662f8cc5b8..292c41b978 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -41161c8d151b0c2017214cad0aad3156533ab868 +b55de9fdb2416e63ab554c95233a78219d8d3db9 \ No newline at end of file From 240c44e50c4dd44c2237f4f37d716fd898160917 Mon Sep 17 00:00:00 2001 From: Maxime Desroches Date: Mon, 27 Jun 2022 06:36:27 -0700 Subject: [PATCH 17/37] snapshot: fix rgb overflow (#24963) clamp rgb --- system/camerad/snapshot/snapshot.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py index 9a81937eec..946c220a77 100755 --- a/system/camerad/snapshot/snapshot.py +++ b/system/camerad/snapshot/snapshot.py @@ -39,7 +39,7 @@ def yuv_to_rgb(y, u, v): [0.00000, -0.39465, 2.03211], [1.13983, -0.58060, 0.00000], ]) - rgb = np.dot(yuv, m) + rgb = np.dot(yuv, m).clip(0, 255) return rgb.astype(np.uint8) From 915b4928ff044302bba0e8bdf15f154646f528e6 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Jun 2022 16:03:26 +0200 Subject: [PATCH 18/37] ui: use current calibration to center vanishing point (#24955) * compute x and y offsets using calibration * fix default calibration * clamp to max values * only use when valid * not while calibrating * less diff * cleanup zoom --- selfdrive/ui/qt/onroad.cc | 21 +++++----- selfdrive/ui/qt/onroad.h | 2 +- selfdrive/ui/qt/widgets/cameraview.cc | 55 +++++++++++++++++---------- selfdrive/ui/qt/widgets/cameraview.h | 12 +++++- selfdrive/ui/ui.cc | 1 + selfdrive/ui/ui.h | 8 ++-- 6 files changed, 62 insertions(+), 37 deletions(-) diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index 2759416236..ecd6d61471 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -208,6 +208,12 @@ void NvgWindow::updateState(const UIState &s) { setProperty("engageable", cs.getEngageable() || cs.getEnabled()); setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode()); } + + if (s.scene.calibration_valid) { + CameraViewWidget::updateCalibration(s.scene.view_from_calib); + } else { + CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION); + } } void NvgWindow::drawHud(QPainter &p) { @@ -399,23 +405,20 @@ void NvgWindow::initializeGL() { setBackgroundColor(bg_colors[STATUS_DISENGAGED]); } -void NvgWindow::updateFrameMat(int w, int h) { - CameraViewWidget::updateFrameMat(w, h); - +void NvgWindow::updateFrameMat() { + CameraViewWidget::updateFrameMat(); UIState *s = uiState(); + int w = width(), h = height(); + s->fb_w = w; s->fb_h = h; - auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; - float zoom = ZOOM / intrinsic_matrix.v[0]; - if (s->wide_camera) { - zoom *= 0.5; - } + // Apply transformation such that video pixel coordinates match video // 1) Put (0, 0) in the middle of the video // 2) Apply same scaling as video // 3) Put (0, 0) in top left corner of video s->car_space_transform.reset(); - s->car_space_transform.translate(w / 2, h / 2 + y_offset) + s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset) .scale(zoom, zoom) .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]); } diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h index 4cd88fc9e3..dc1e69da2a 100644 --- a/selfdrive/ui/qt/onroad.h +++ b/selfdrive/ui/qt/onroad.h @@ -70,7 +70,7 @@ protected: void paintGL() override; void initializeGL() override; void showEvent(QShowEvent *event) override; - void updateFrameMat(int w, int h) override; + void updateFrameMat() override; void drawLaneLines(QPainter &painter, const UIState *s); void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd); void drawHud(QPainter &p); diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index 8666eb1d4e..a80672f2c3 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -6,6 +6,8 @@ #include #endif +#include + #include #include @@ -59,13 +61,6 @@ const char frame_fragment_shader[] = "}\n"; #endif -const mat4 device_transform = {{ - 1.0, 0.0, 0.0, 0.0, - 0.0, 1.0, 0.0, 0.0, - 0.0, 0.0, 1.0, 0.0, - 0.0, 0.0, 0.0, 1.0, -}}; - mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) { const float driver_view_ratio = 2.0; const float yscale = stream_height * driver_view_ratio / stream_width; @@ -185,35 +180,55 @@ void CameraViewWidget::hideEvent(QHideEvent *event) { } } -void CameraViewWidget::updateFrameMat(int w, int h) { +void CameraViewWidget::updateFrameMat() { + int w = width(), h = height(); + if (zoomed_view) { if (stream_type == VISION_STREAM_DRIVER) { - frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height)); + frame_mat = get_driver_view_transform(w, h, stream_width, stream_height); } else { - auto intrinsic_matrix = stream_type == VISION_STREAM_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; - float zoom = ZOOM / intrinsic_matrix.v[0]; - if (stream_type == VISION_STREAM_WIDE_ROAD) { - zoom *= 0.5; - } + intrinsic_matrix = (stream_type == VISION_STREAM_WIDE_ROAD) ? ecam_intrinsic_matrix : fcam_intrinsic_matrix; + zoom = (stream_type == VISION_STREAM_WIDE_ROAD) ? 2.5 : 1.1; + + // Project point at "infinity" to compute x and y offsets + // to ensure this ends up in the middle of the screen + // TODO: use proper perspective transform? + const vec3 inf = {{1000., 0., 0.}}; + const vec3 Ep = matvecmul3(calibration, inf); + const vec3 Kep = matvecmul3(intrinsic_matrix, Ep); + + float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom; + float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom; + + float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5; + float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5; + + x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset); + y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset); + float zx = zoom * 2 * intrinsic_matrix.v[2] / width(); float zy = zoom * 2 * intrinsic_matrix.v[5] / height(); - const mat4 frame_transform = {{ - zx, 0.0, 0.0, 0.0, - 0.0, zy, 0.0, -y_offset / height() * 2, + zx, 0.0, 0.0, -x_offset / width() * 2, + 0.0, zy, 0.0, y_offset / height() * 2, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, }}; - frame_mat = matmul(device_transform, frame_transform); + frame_mat = frame_transform; } } else if (stream_width > 0 && stream_height > 0) { // fit frame to widget size float widget_aspect_ratio = (float)width() / height(); float frame_aspect_ratio = (float)stream_width / stream_height; - frame_mat = matmul(device_transform, get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio)); + frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio); } } +void CameraViewWidget::updateCalibration(const mat3 &calib) { + calibration = calib; + updateFrameMat(); +} + void CameraViewWidget::paintGL() { glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF()); glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT); @@ -311,7 +326,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) { assert(glGetError() == GL_NO_ERROR); #endif - updateFrameMat(width(), height()); + updateFrameMat(); } void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) { diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h index 42e9043602..cc11ec2c27 100644 --- a/selfdrive/ui/qt/widgets/cameraview.h +++ b/selfdrive/ui/qt/widgets/cameraview.h @@ -42,11 +42,12 @@ signals: protected: void paintGL() override; void initializeGL() override; - void resizeGL(int w, int h) override { updateFrameMat(w, h); } + void resizeGL(int w, int h) override { updateFrameMat(); } void showEvent(QShowEvent *event) override; void hideEvent(QHideEvent *event) override; void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); } - virtual void updateFrameMat(int w, int h); + virtual void updateFrameMat(); + void updateCalibration(const mat3 &calib); void vipcThread(); bool zoomed_view; @@ -68,6 +69,13 @@ protected: std::atomic stream_type; QThread *vipc_thread = nullptr; + // Calibration + float x_offset = 0; + float y_offset = 0; + float zoom = 1.0; + mat3 calibration = DEFAULT_CALIBRATION; + mat3 intrinsic_matrix = fcam_intrinsic_matrix; + std::deque> frames; uint32_t draw_frame_id = 0; diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc index 4d1e1ab746..c8fc645cf2 100644 --- a/selfdrive/ui/ui.cc +++ b/selfdrive/ui/ui.cc @@ -140,6 +140,7 @@ static void update_state(UIState *s) { scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j); } } + scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1; } if (s->worldObjectsVisible()) { if (sm.updated("modelV2")) { diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h index cbf3921e4e..7364b81a40 100644 --- a/selfdrive/ui/ui.h +++ b/selfdrive/ui/ui.h @@ -22,10 +22,7 @@ const int footer_h = 280; const int UI_FREQ = 20; // Hz typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert; -// TODO: this is also hardcoded in common/transformations/camera.py -// TODO: choose based on frame input size -const float y_offset = 150.0; -const float ZOOM = 2912.8; +const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }}; struct Alert { QString text1; @@ -93,7 +90,8 @@ typedef struct { } line_vertices_data; typedef struct UIScene { - mat3 view_from_calib; + bool calibration_valid = false; + mat3 view_from_calib = DEFAULT_CALIBRATION; cereal::PandaState::PandaType pandaType; // modelV2 From b95e68778271cccf558452686e022ae57f25a701 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Mon, 27 Jun 2022 21:31:54 +0200 Subject: [PATCH 19/37] split locationd and liblocationd tests (#24977) * laikad: use cython version of gnss kf * fix import error * test liblocationd separate * Revert "laikad: use cython version of gnss kf" This reverts commit bdd769b9554e7e45e976dabd6595403943e864bb. --- .github/workflows/selfdrive_tests.yaml | 3 +- .../locationd/test/_test_locationd_lib.py | 106 ++++++++++++++++++ selfdrive/locationd/test/test_locationd.py | 94 ---------------- 3 files changed, 108 insertions(+), 95 deletions(-) create mode 100755 selfdrive/locationd/test/_test_locationd_lib.py diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index fedeaa734b..52dd012baa 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -299,6 +299,7 @@ jobs: $UNIT_TEST selfdrive/loggerd && \ $UNIT_TEST selfdrive/car && \ $UNIT_TEST selfdrive/locationd && \ + selfdrive/locationd/test/_test_locationd_lib.py && \ $UNIT_TEST selfdrive/athena && \ $UNIT_TEST selfdrive/thermald && \ $UNIT_TEST selfdrive/hardware/tici && \ @@ -364,7 +365,7 @@ jobs: CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only" - name: "Upload coverage to Codecov" uses: codecov/codecov-action@v2 - + model_replay_onnx: name: model replay onnx runs-on: ubuntu-20.04 diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py new file mode 100755 index 0000000000..8a0ed3ef05 --- /dev/null +++ b/selfdrive/locationd/test/_test_locationd_lib.py @@ -0,0 +1,106 @@ +#!/usr/bin/env python3 +"""This test can't be run together with other locationd tests. +cffi.dlopen breaks the list of registered filters.""" +import os +import random +import unittest + +from cffi import FFI + +import cereal.messaging as messaging +from cereal import log + +SENSOR_DECIMATION = 1 +VISION_DECIMATION = 1 + +LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so')) + + +class TestLocationdLib(unittest.TestCase): + def setUp(self): + header = '''typedef ...* Localizer_t; +Localizer_t localizer_init(); +void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size); +void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);''' + + self.ffi = FFI() + self.ffi.cdef(header) + self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH) + + self.localizer = self.lib.localizer_init() + + self.buff_size = 2048 + self.msg_buff = self.ffi.new(f'char[{self.buff_size}]') + + def localizer_handle_msg(self, msg_builder): + bytstr = msg_builder.to_bytes() + self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr)) + + def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True): + self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size) + return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) + + def test_liblocalizer(self): + msg = messaging.new_message('liveCalibration') + msg.liveCalibration.validBlocks = random.randint(1, 10) + msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)] + + self.localizer_handle_msg(msg) + liveloc = self.localizer_get_msg() + self.assertTrue(liveloc is not None) + + @unittest.skip("temporarily disabled due to false positives") + def test_device_fell(self): + msg = messaging.new_message('sensorEvents', 1) + msg.sensorEvents[0].sensor = 1 + msg.sensorEvents[0].timestamp = msg.logMonoTime + msg.sensorEvents[0].type = 1 + msg.sensorEvents[0].init('acceleration') + msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0] # zero with gravity + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertTrue(ret.liveLocationKalman.deviceStable) + + msg = messaging.new_message('sensorEvents', 1) + msg.sensorEvents[0].sensor = 1 + msg.sensorEvents[0].timestamp = msg.logMonoTime + msg.sensorEvents[0].type = 1 + msg.sensorEvents[0].init('acceleration') + msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2 + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertFalse(ret.liveLocationKalman.deviceStable) + + def test_posenet_spike(self): + for _ in range(SENSOR_DECIMATION): + msg = messaging.new_message('carState') + msg.carState.vEgo = 6.0 # more than 5 m/s + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertTrue(ret.liveLocationKalman.posenetOK) + + for _ in range(20 * VISION_DECIMATION): # size of hist_old + msg = messaging.new_message('cameraOdometry') + msg.cameraOdometry.rot = [0.0, 0.0, 0.0] + msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1] + msg.cameraOdometry.trans = [0.0, 0.0, 0.0] + msg.cameraOdometry.transStd = [2.0, 0.1, 0.1] + self.localizer_handle_msg(msg) + + for _ in range(20 * VISION_DECIMATION): # size of hist_new + msg = messaging.new_message('cameraOdometry') + msg.cameraOdometry.rot = [0.0, 0.0, 0.0] + msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0] + msg.cameraOdometry.trans = [0.0, 0.0, 0.0] + msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger + self.localizer_handle_msg(msg) + + ret = self.localizer_get_msg() + self.assertFalse(ret.liveLocationKalman.posenetOK) + +if __name__ == "__main__": + unittest.main() + diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py index 7f5d752100..29036b8387 100755 --- a/selfdrive/locationd/test/test_locationd.py +++ b/selfdrive/locationd/test/test_locationd.py @@ -1,110 +1,16 @@ #!/usr/bin/env python3 -import os import json import random import unittest import time import capnp -from cffi import FFI -from cereal import log import cereal.messaging as messaging from cereal.services import service_list from common.params import Params from selfdrive.manager.process_config import managed_processes -SENSOR_DECIMATION = 1 -VISION_DECIMATION = 1 - -LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so')) - - -class TestLocationdLib(unittest.TestCase): - def setUp(self): - header = '''typedef ...* Localizer_t; -Localizer_t localizer_init(); -void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size); -void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);''' - - self.ffi = FFI() - self.ffi.cdef(header) - self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH) - - self.localizer = self.lib.localizer_init() - - self.buff_size = 2048 - self.msg_buff = self.ffi.new(f'char[{self.buff_size}]') - - def localizer_handle_msg(self, msg_builder): - bytstr = msg_builder.to_bytes() - self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr)) - - def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True): - self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size) - return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) - - def test_liblocalizer(self): - msg = messaging.new_message('liveCalibration') - msg.liveCalibration.validBlocks = random.randint(1, 10) - msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)] - - self.localizer_handle_msg(msg) - liveloc = self.localizer_get_msg() - self.assertTrue(liveloc is not None) - - @unittest.skip("temporarily disabled due to false positives") - def test_device_fell(self): - msg = messaging.new_message('sensorEvents', 1) - msg.sensorEvents[0].sensor = 1 - msg.sensorEvents[0].timestamp = msg.logMonoTime - msg.sensorEvents[0].type = 1 - msg.sensorEvents[0].init('acceleration') - msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0] # zero with gravity - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertTrue(ret.liveLocationKalman.deviceStable) - - msg = messaging.new_message('sensorEvents', 1) - msg.sensorEvents[0].sensor = 1 - msg.sensorEvents[0].timestamp = msg.logMonoTime - msg.sensorEvents[0].type = 1 - msg.sensorEvents[0].init('acceleration') - msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0] # more than 40 m/s**2 - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertFalse(ret.liveLocationKalman.deviceStable) - - def test_posenet_spike(self): - for _ in range(SENSOR_DECIMATION): - msg = messaging.new_message('carState') - msg.carState.vEgo = 6.0 # more than 5 m/s - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertTrue(ret.liveLocationKalman.posenetOK) - - for _ in range(20 * VISION_DECIMATION): # size of hist_old - msg = messaging.new_message('cameraOdometry') - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [2.0, 0.1, 0.1] - self.localizer_handle_msg(msg) - - for _ in range(20 * VISION_DECIMATION): # size of hist_new - msg = messaging.new_message('cameraOdometry') - msg.cameraOdometry.rot = [0.0, 0.0, 0.0] - msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0] - msg.cameraOdometry.trans = [0.0, 0.0, 0.0] - msg.cameraOdometry.transStd = [10.1, 0.1, 0.1] # more than 4 times larger - self.localizer_handle_msg(msg) - - ret = self.localizer_get_msg() - self.assertFalse(ret.liveLocationKalman.posenetOK) - class TestLocationdProc(unittest.TestCase): MAX_WAITS = 1000 From aaca31b73eb109a053e94b2153eb3068a0976c95 Mon Sep 17 00:00:00 2001 From: "Shafiqur R. Khan" <37314609+shfqrkhn@users.noreply.github.com> Date: Mon, 27 Jun 2022 14:10:57 -0600 Subject: [PATCH 20/37] 2022 RAV4 XLE engine FW (#24973) Update values.py Added ecu.engine address for 2022 RAV4 XLE (ICE) bought in Edmonton, Canada --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 32f66b6fa0..76f84302ce 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1296,6 +1296,7 @@ FW_VERSIONS = { b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00', ], (Ecu.engine, 0x700, None): [ + b'\x01896634AA0000\x00\x00\x00\x00', b'\x01896634AA1000\x00\x00\x00\x00', b'\x01896634A88000\x00\x00\x00\x00', ], From b3226d505b9260ec8565acfda7138601a76039a6 Mon Sep 17 00:00:00 2001 From: HaraldSchafer Date: Mon, 27 Jun 2022 15:25:47 -0700 Subject: [PATCH 21/37] Torque control: higher low speed gains and better steering angle deadzone logic (#24980) * Try no friction and no deadzone * Learn fromd ata * update refs --- selfdrive/controls/lib/latcontrol_torque.py | 6 +++--- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 014c3480b8..46caa41a90 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -56,15 +56,15 @@ class LatControlTorque(LatControl): lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2 - low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0]) + low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200]) setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature - error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone) + error = setpoint - measurement pid_log.error = error ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY # convert friction into lateral accel units for feedforward - friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) + friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction]) ff += friction_compensation / self.kf freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5 output_torque = self.pid.update(error, diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 292c41b978..1402284b96 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b55de9fdb2416e63ab554c95233a78219d8d3db9 \ No newline at end of file +a16ca1082cd493f6cea5252eaaba9f8c6574334a From 3a2bcc092c74925edb161959cdcc66073a9cd8f3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 01:08:11 -0700 Subject: [PATCH 22/37] onroad UI: fix onroad double tap (#24982) * The default implementation calls mousePressEvent(). * no sidebar when entering body * wrong one * you can't double tap with body anyway (fixes inconsistencies with prime vs not prime) * hide sidebar --- selfdrive/ui/qt/home.cc | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index e522d6160d..aec9bffbc0 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -85,6 +85,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) { } void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { + HomeWindow::mousePressEvent(e); const SubMaster &sm = *(uiState()->sm); if (sm["carParams"].getCarParams().getNotCar()) { if (onroad->isVisible()) { @@ -92,6 +93,7 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) { } else if (body->isVisible()) { slayout->setCurrentWidget(onroad); } + showSidebar(false); } } From d693285b02a0f005ce1d29793c8672ab2fe24a24 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 01:09:52 -0700 Subject: [PATCH 23/37] Power Monitoring test: fix exceptions (#24981) * fix missing POWER_DRAW * think should be 0 --- selfdrive/thermald/tests/test_power_monitoring.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py index c0524add69..efe607155a 100755 --- a/selfdrive/thermald/tests/test_power_monitoring.py +++ b/selfdrive/thermald/tests/test_power_monitoring.py @@ -119,7 +119,8 @@ class TestPowerMonitoring(unittest.TestCase): @parameterized.expand(ALL_PANDA_TYPES) def test_max_time_offroad(self, hw_type): MOCKED_MAX_OFFROAD_TIME = 3600 - with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", None): + POWER_DRAW = 0 # To stop shutting down for other reasons + with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW): pm = PowerMonitoring() pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh start_time = ssb From fdc22554b8c2a2e4b9e0df91beddf469d735b399 Mon Sep 17 00:00:00 2001 From: Gijs Koning Date: Tue, 28 Jun 2022 11:32:51 +0200 Subject: [PATCH 24/37] Update rednose: use EKF_sym_pyx (#24978) * Update rednose * Update rednose * cleanup --- rednose_repo | 2 +- selfdrive/locationd/models/car_kf.py | 4 ++-- selfdrive/locationd/models/gnss_kf.py | 16 +++++++++++----- 3 files changed, 14 insertions(+), 8 deletions(-) diff --git a/rednose_repo b/rednose_repo index 7663289f1e..3a6f937ad1 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 7663289f1e68860f53dc34337ef080dde69a2586 +Subproject commit 3a6f937ad1bb234dca7b0b2052faabdd58f3e085 diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py index fe7d2e650b..3faf4f8d4e 100755 --- a/selfdrive/locationd/models/car_kf.py +++ b/selfdrive/locationd/models/car_kf.py @@ -15,7 +15,7 @@ if __name__ == '__main__': # Generating sympy import sympy as sp from rednose.helpers.ekf_sym import gen_code else: - from rednose.helpers.ekf_sym_pyx import EKF_sym # pylint: disable=no-name-in-module, import-error + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module, import-error i = 0 @@ -171,7 +171,7 @@ class CarKalman(KalmanFilter): if P_initial is not None: self.P_initial = P_initial # init filter - self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) + self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog) if __name__ == "__main__": diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py index ce0ff84dc2..5c9cb4b3d1 100755 --- a/selfdrive/locationd/models/gnss_kf.py +++ b/selfdrive/locationd/models/gnss_kf.py @@ -3,12 +3,17 @@ import sys from typing import List import numpy as np -import sympy as sp -from rednose.helpers.ekf_sym import EKF_sym, gen_code from selfdrive.locationd.models.constants import ObservationKind from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr +if __name__ == '__main__': # Generating sympy + import sympy as sp + from rednose.helpers.ekf_sym import gen_code +else: + from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx # pylint: disable=no-name-in-module,import-error + from rednose.helpers.ekf_sym import EKF_sym # pylint: disable=no-name-in-module,import-error + class States(): ECEF_POS = slice(0, 3) # x, y and z in ECEF in meters @@ -115,12 +120,13 @@ class GNSSKalman(): gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds) - def __init__(self, generated_dir): + def __init__(self, generated_dir, cython=False): self.dim_state = self.x_initial.shape[0] # init filter - self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, - self.dim_state, maha_test_kinds=self.maha_test_kinds) + filter_cls = EKF_sym_pyx if cython else EKF_sym + self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, + self.dim_state, maha_test_kinds=self.maha_test_kinds) self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial) @property From 4cf63f4758c937a169962f325517b442f6c9492f Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 11:59:15 +0200 Subject: [PATCH 25/37] bump rednose --- rednose_repo | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rednose_repo b/rednose_repo index 3a6f937ad1..a79a87300a 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit 3a6f937ad1bb234dca7b0b2052faabdd58f3e085 +Subproject commit a79a87300a6c5093d99f281307c65b1e99295b20 From 3823f55476b56fd3db0afe686b1d2f3d508817bc Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 13:43:15 +0200 Subject: [PATCH 26/37] add laikad to process replay (#24889) * merge * Fix closing process executor after fetching orbits * cleanup * Add ref commit and revert test_processes hack * Fix * Fix ref * Fix test * Temp * Temp * Trying * Trying * Cleanup and change test * add ref commit * remove print * fix test getting stuck * cleanup fetch_orbits Co-authored-by: Gijs Koning --- selfdrive/locationd/laikad.py | 50 ++++++++++++------- selfdrive/locationd/test/test_laikad.py | 27 ++++++++-- selfdrive/test/process_replay/README.md | 3 +- .../test/process_replay/process_replay.py | 18 +++++++ selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/profiling/profiler.py | 3 ++ 6 files changed, 81 insertions(+), 22 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index ba665b7530..60028b637a 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import json +import os import time from collections import defaultdict from concurrent.futures import Future, ProcessPoolExecutor @@ -32,8 +33,10 @@ class Laikad: save_ephemeris=False, last_known_position=None): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) self.gnss_kf = GNSSKalman(GENERATED_DIR) - self.orbit_fetch_executor = ProcessPoolExecutor() + + self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None + self.last_fetch_orbits_t = None self.last_cached_t = None self.save_ephemeris = save_ephemeris @@ -44,9 +47,13 @@ class Laikad: self.last_pos_fix_t = None def load_cache(self): + if not self.save_ephemeris: + return + cache = Params().get(EPHEMERIS_CACHE) if not cache: return + try: cache = json.loads(cache, object_hook=deserialize_hook) self.astro_dog.add_orbits(cache['orbits']) @@ -71,7 +78,7 @@ class Laikad: self.last_pos_residual = pos_fix_residual self.last_pos_fix_t = t return self.last_pos_fix - + def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False): if ublox_msg.which == 'measurementReport': t = ublox_mono_time * 1e-9 @@ -152,17 +159,22 @@ class Laikad: def fetch_orbits(self, t: GPSTime, block): if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR): astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types - if self.orbit_fetch_future is None: + + ret = None + + if block: + ret = get_orbit_data(t, *astro_dog_vars) + elif self.orbit_fetch_future is None: + self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1) self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars) - if block: - self.orbit_fetch_future.result() - if self.orbit_fetch_future.done(): - ret = self.orbit_fetch_future.result() + elif self.orbit_fetch_future.done(): self.last_fetch_orbits_t = t - if ret: - self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret - self.cache_ephemeris(t=t) - self.orbit_fetch_future = None + ret = self.orbit_fetch_future.result() + self.orbit_fetch_executor = self.orbit_fetch_future = None + + if ret is not None: + self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret + self.cache_ephemeris(t=t) def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): @@ -174,7 +186,7 @@ def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types): astro_dog.get_orbit_data(t, only_predictions=True) data = (astro_dog.orbits, astro_dog.orbit_fetched_times) except RuntimeError as e: - cloudlog.info(f"No orbit data found. {e}") + cloudlog.warning(f"No orbit data found. {e}") cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s") return data @@ -255,17 +267,21 @@ class EphemerisSourceType(IntEnum): glonassIacUltraRapid = 2 -def main(): - sm = messaging.SubMaster(['ubloxGnss']) - pm = messaging.PubMaster(['gnssMeasurements']) +def main(sm=None, pm=None): + if sm is None: + sm = messaging.SubMaster(['ubloxGnss']) + if pm is None: + pm = messaging.PubMaster(['gnssMeasurements']) + + replay = "REPLAY" in os.environ # todo get last_known_position - laikad = Laikad(save_ephemeris=True) + laikad = Laikad(save_ephemeris=not replay) while True: sm.update() if sm.updated['ubloxGnss']: ublox_msg = sm['ubloxGnss'] - msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss']) + msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'], block=replay) if msg is not None: pm.send('gnssMeasurements', msg) diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py index 3a72303b0c..c353da9624 100755 --- a/selfdrive/locationd/test/test_laikad.py +++ b/selfdrive/locationd/test/test_laikad.py @@ -7,6 +7,7 @@ from unittest import mock from unittest.mock import Mock, patch from common.params import Params +from laika.constants import SECS_IN_DAY from laika.ephemeris import EphemerisType, GPSEphemeris from laika.gps_time import GPSTime from laika.helpers import ConstellationId, TimeRangeHolder @@ -62,6 +63,26 @@ class TestLaikad(unittest.TestCase): def setUp(self): Params().delete(EPHEMERIS_CACHE) + def test_fetch_orbits_non_blocking(self): + gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1)) + laikad = Laikad() + laikad.fetch_orbits(gpstime, block=False) + laikad.orbit_fetch_future.result(5) + # Get results and save orbits to laikad: + laikad.fetch_orbits(gpstime, block=False) + + ephem = laikad.astro_dog.orbits['G01'][0] + self.assertIsNotNone(ephem) + + laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False) + laikad.orbit_fetch_future.result(5) + # Get results and save orbits to laikad: + laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False) + + ephem2 = laikad.astro_dog.orbits['G01'][0] + self.assertIsNotNone(ephem) + self.assertNotEqual(ephem, ephem2) + def test_ephemeris_source_in_msg(self): data_mock = defaultdict(str) data_mock['sv_id'] = 1 @@ -155,7 +176,7 @@ class TestLaikad(unittest.TestCase): while Params().get(EPHEMERIS_CACHE) is None: time.sleep(0.1) max_time -= 0.1 - if max_time == 0: + if max_time < 0: self.fail("Cache has not been written after 2 seconds") # Test cache with no ephemeris @@ -170,7 +191,7 @@ class TestLaikad(unittest.TestCase): wait_for_cache() # Check both nav and orbits separate - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV) + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True) # Verify orbits and nav are loaded from cache self.dict_has_values(laikad.astro_dog.orbits) self.dict_has_values(laikad.astro_dog.nav) @@ -185,7 +206,7 @@ class TestLaikad(unittest.TestCase): mock_method.assert_not_called() # Verify cache is working for only orbits by running a segment - laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT) + laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True) msg = verify_messages(self.logs, laikad, return_one_success=True) self.assertIsNotNone(msg) # Verify orbit data is not downloaded diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md index 9fa4ca644a..531ddb3a02 100644 --- a/selfdrive/test/process_replay/README.md +++ b/selfdrive/test/process_replay/README.md @@ -5,7 +5,7 @@ Process replay is a regression test designed to identify any changes in the outp If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated. Use `test_processes.py` to run the test locally. -Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. +Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. Currently the following processes are tested: @@ -15,6 +15,7 @@ Currently the following processes are tested: * calibrationd * dmonitoringd * locationd +* laikad * paramsd * ubloxd diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 228f07c4c2..def61a10a1 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -236,6 +236,13 @@ def ublox_rcv_callback(msg): return [] +def laika_rcv_callback(msg, CP, cfg, fsm): + if msg.ubloxGnss.which() == "measurementReport": + return ["gnssMeasurements"], True + else: + return [], False + + CONFIGS = [ ProcessConfig( proc_name="controlsd", @@ -338,6 +345,17 @@ CONFIGS = [ tolerance=None, fake_pubsubmaster=False, ), + ProcessConfig( + proc_name="laikad", + pub_sub={ + "ubloxGnss": ["gnssMeasurements"], + }, + ignore=["logMonoTime"], + init_callback=get_car_params, + should_recv_callback=laika_rcv_callback, + tolerance=NUMPY_TOLERANCE, + fake_pubsubmaster=True, + ), ] diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1402284b96..3e02830bf4 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -a16ca1082cd493f6cea5252eaaba9f8c6574334a +2ee969b34585f8055bb3eabab2dcc4061cc4bef9 \ No newline at end of file diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py index 5f73176fab..91226fc577 100755 --- a/selfdrive/test/profiling/profiler.py +++ b/selfdrive/test/profiling/profiler.py @@ -53,6 +53,7 @@ def profile(proc, func, car='toyota'): msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1")) os.environ['FINGERPRINT'] = fingerprint + os.environ['REPLAY'] = "1" def run(sm, pm, can_sock): try: @@ -81,12 +82,14 @@ if __name__ == '__main__': from selfdrive.controls.radard import radard_thread from selfdrive.locationd.paramsd import main as paramsd_thread from selfdrive.controls.plannerd import main as plannerd_thread + from selfdrive.locationd.laikad import main as laikad_thread procs = { 'radard': radard_thread, 'controlsd': controlsd_thread, 'paramsd': paramsd_thread, 'plannerd': plannerd_thread, + 'laikad': laikad_thread, } proc = sys.argv[1] From 005bc44df692acb3389924d362f5b761987c7c9d Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 14:29:41 +0200 Subject: [PATCH 27/37] laikad: use cython filter (#24983) use cython filter --- selfdrive/locationd/laikad.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 60028b637a..5098b25d38 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -32,7 +32,7 @@ class Laikad: def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV), save_ephemeris=False, last_known_position=None): self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True) - self.gnss_kf = GNSSKalman(GENERATED_DIR) + self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True) self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None self.orbit_fetch_future: Optional[Future] = None @@ -145,7 +145,7 @@ class Laikad: self.gnss_kf.predict(t) def kf_valid(self, t: float) -> List[bool]: - filter_time = self.gnss_kf.filter.filter_time + filter_time = self.gnss_kf.filter.get_filter_time() return [filter_time is not None, filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP, all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))] From 338df150d5112d4c6772edb797cb45370fdc3599 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 15:48:57 +0200 Subject: [PATCH 28/37] ui: disable sync with model until more stable (#24984) --- selfdrive/ui/qt/widgets/cameraview.cc | 17 ++++++++++++++--- 1 file changed, 14 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc index a80672f2c3..0bc90b5307 100644 --- a/selfdrive/ui/qt/widgets/cameraview.cc +++ b/selfdrive/ui/qt/widgets/cameraview.cc @@ -235,10 +235,21 @@ void CameraViewWidget::paintGL() { if (frames.empty()) return; - int frame_idx; - for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) { - if (frames[frame_idx].first == draw_frame_id) break; + 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 + static int prev_id = 0; + if (frames[frame_idx].first == prev_id) { + qInfo() << "Drawing same frame twice" << frames[frame_idx].first; + } else if (frames[frame_idx].first != prev_id + 1) { + qInfo() << "Skipped frame" << frames[frame_idx].first; } + prev_id = frames[frame_idx].first; glViewport(0, 0, width(), height()); glBindVertexArray(frame_vao); From fd5b3d76036b78864111790931a3abcb1d11ee0f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Tue, 28 Jun 2022 22:12:42 +0800 Subject: [PATCH 29/37] move replay from selfdrive/ui/replay to tools/replay (#24971) * mv to tools/replay * change folder * add .gitignore * fix build doc * disable warning * enable warning after build * build qt/util.cc qt/api.cc to library * cleanup --- .github/workflows/selfdrive_tests.yaml | 2 +- SConstruct | 2 ++ docs/c_docs.rst | 2 +- release/files_common | 4 ++-- selfdrive/loggerd/tests/test_logger.cc | 2 +- selfdrive/ui/SConscript | 20 +++++-------------- tools/CTF.md | 2 +- tools/replay/.gitignore | 5 +++++ tools/replay/README.md | 14 ++++++------- tools/replay/SConscript | 19 ++++++++++++++++++ {selfdrive/ui => tools}/replay/camera.cc | 4 ++-- {selfdrive/ui => tools}/replay/camera.h | 4 ++-- {selfdrive/ui => tools}/replay/consoleui.cc | 2 +- {selfdrive/ui => tools}/replay/consoleui.h | 2 +- {selfdrive/ui => tools}/replay/filereader.cc | 4 ++-- {selfdrive/ui => tools}/replay/filereader.h | 0 {selfdrive/ui => tools}/replay/framereader.cc | 4 ++-- {selfdrive/ui => tools}/replay/framereader.h | 2 +- {selfdrive/ui => tools}/replay/logreader.cc | 4 ++-- {selfdrive/ui => tools}/replay/logreader.h | 2 +- {selfdrive/ui => tools}/replay/main.cc | 4 ++-- {selfdrive/ui => tools}/replay/replay.cc | 4 ++-- {selfdrive/ui => tools}/replay/replay.h | 4 ++-- {selfdrive/ui => tools}/replay/route.cc | 6 +++--- {selfdrive/ui => tools}/replay/route.h | 6 +++--- .../ui => tools}/replay/tests/test_replay.cc | 4 ++-- .../ui => tools}/replay/tests/test_runner.cc | 0 {selfdrive/ui => tools}/replay/util.cc | 2 +- {selfdrive/ui => tools}/replay/util.h | 0 29 files changed, 73 insertions(+), 57 deletions(-) create mode 100644 tools/replay/.gitignore create mode 100644 tools/replay/SConscript rename {selfdrive/ui => tools}/replay/camera.cc (96%) rename {selfdrive/ui => tools}/replay/camera.h (92%) rename {selfdrive/ui => tools}/replay/consoleui.cc (99%) rename {selfdrive/ui => tools}/replay/consoleui.h (96%) rename {selfdrive/ui => tools}/replay/filereader.cc (94%) rename {selfdrive/ui => tools}/replay/filereader.h (100%) rename {selfdrive/ui => tools}/replay/framereader.cc (98%) rename {selfdrive/ui => tools}/replay/framereader.h (97%) rename {selfdrive/ui => tools}/replay/logreader.cc (97%) rename {selfdrive/ui => tools}/replay/logreader.h (97%) rename {selfdrive/ui => tools}/replay/main.cc (96%) rename {selfdrive/ui => tools}/replay/replay.cc (99%) rename {selfdrive/ui => tools}/replay/replay.h (97%) rename {selfdrive/ui => tools}/replay/route.cc (97%) rename {selfdrive/ui => tools}/replay/route.h (92%) rename {selfdrive/ui => tools}/replay/tests/test_replay.cc (98%) rename {selfdrive/ui => tools}/replay/tests/test_runner.cc (100%) rename {selfdrive/ui => tools}/replay/util.cc (99%) rename {selfdrive/ui => tools}/replay/util.h (100%) diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 52dd012baa..a40aa31341 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -310,7 +310,7 @@ jobs: ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ ./selfdrive/loggerd/tests/test_logger &&\ ./system/proclogd/tests/test_proclog && \ - ./selfdrive/ui/replay/tests/test_replay && \ + ./tools/replay/tests/test_replay && \ ./system/camerad/test/ae_gray_test && \ coverage xml" - name: "Upload coverage to Codecov" diff --git a/SConstruct b/SConstruct index b243a4dc45..425ce3d761 100644 --- a/SConstruct +++ b/SConstruct @@ -411,6 +411,8 @@ SConscript(['selfdrive/locationd/SConscript']) SConscript(['selfdrive/sensord/SConscript']) SConscript(['selfdrive/ui/SConscript']) +SConscript(['tools/replay/SConscript']) + if GetOption('test'): SConscript('panda/tests/safety/SConscript') diff --git a/docs/c_docs.rst b/docs/c_docs.rst index 4e1e8a247a..5638b40bf0 100644 --- a/docs/c_docs.rst +++ b/docs/c_docs.rst @@ -54,7 +54,7 @@ soundd replay """""" .. autodoxygenindex:: - :project: selfdrive_ui_replay + :project: tools_replay qt "" diff --git a/release/files_common b/release/files_common index 0ace73623f..7e8dbd37a6 100644 --- a/release/files_common +++ b/release/files_common @@ -296,8 +296,8 @@ selfdrive/ui/qt/offroad/*.qml selfdrive/ui/qt/widgets/*.cc selfdrive/ui/qt/widgets/*.h -selfdrive/ui/replay/*.cc -selfdrive/ui/replay/*.h +tools/replay/*.cc +tools/replay/*.h selfdrive/ui/qt/maps/*.cc selfdrive/ui/qt/maps/*.h diff --git a/selfdrive/loggerd/tests/test_logger.cc b/selfdrive/loggerd/tests/test_logger.cc index 11a50fa2e7..c8f6620924 100644 --- a/selfdrive/loggerd/tests/test_logger.cc +++ b/selfdrive/loggerd/tests/test_logger.cc @@ -9,7 +9,7 @@ #include "cereal/messaging/messaging.h" #include "common/util.h" #include "selfdrive/loggerd/logger.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" typedef cereal::Sentinel::SentinelType SentinelType; diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 28fcc5f56f..970f715f54 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -18,10 +18,11 @@ if arch == "Darwin": del base_libs[base_libs.index('OpenCL')] qt_env['FRAMEWORKS'] += ['OpenCL'] -widgets_src = ["ui.cc", "qt/util.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", +qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) +widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", - "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/api.cc", + "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/request_repeater.cc", "qt/qt_window.cc", "qt/offroad/networking.cc", "qt/offroad/wifiManager.cc"] qt_env['CPPDEFINES'] = [] @@ -31,7 +32,7 @@ if maps: qt_env['CPPDEFINES'] += ["ENABLE_MAPS"] widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs) -qt_libs = [widgets] + base_libs +qt_libs = [widgets, qt_util] + base_libs # build assets assets = "#selfdrive/assets/assets.cc" @@ -107,17 +108,6 @@ if GetOption('extras'): # keep installers small assert f[0].get_size() < 300*1e3 - -# build headless replay +# build watch3 if arch in ['x86_64', 'Darwin'] or GetOption('extras'): - qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] - - replay_lib_src = ["replay/replay.cc", "replay/consoleui.cc", "replay/camera.cc", "replay/filereader.cc", "replay/logreader.cc", "replay/framereader.cc", "replay/route.cc", "replay/util.cc"] - - replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs) - replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs - qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs) qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging']) - - if GetOption('test'): - qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs]) diff --git a/tools/CTF.md b/tools/CTF.md index 396e7575a4..a14a41d55d 100644 --- a/tools/CTF.md +++ b/tools/CTF.md @@ -12,7 +12,7 @@ Welcome to the first part of the comma CTF! getting started ```bash # start the route reply -cd selfdrive/ui/replay +cd tools/replay ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam # start the UI in another terminal diff --git a/tools/replay/.gitignore b/tools/replay/.gitignore new file mode 100644 index 0000000000..83f0e99a8b --- /dev/null +++ b/tools/replay/.gitignore @@ -0,0 +1,5 @@ +moc_* +*.moc + +replay +tests/test_replay diff --git a/tools/replay/README.md b/tools/replay/README.md index 759a448d73..b705fb60db 100644 --- a/tools/replay/README.md +++ b/tools/replay/README.md @@ -9,12 +9,12 @@ python lib/auth.py # Start a replay -selfdrive/ui/replay/replay +tools/replay/replay # Example: -# selfdrive/ui/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' +# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36' # or use --demo to replay the default demo route: -# selfdrive/ui/replay/replay --demo +# tools/replay/replay --demo # watch the replay with the normal openpilot UI cd selfdrive/ui && ./ui @@ -25,8 +25,8 @@ python replay/ui.py ## usage ``` bash -$ selfdrive/ui/replay/replay -h -Usage: selfdrive/ui/replay/replay [options] route +$ tools/replay/replay -h +Usage: tools/replay/replay [options] route Mock openpilot components by publishing logged messages. Options: @@ -51,7 +51,7 @@ simply replay a route using the `--dcam` and `--ecam` flags: ```bash # start a replay -cd selfdrive/ui/replay && ./replay --demo --dcam --ecam +cd tools/replay && ./replay --demo --dcam --ecam # then start watch3 cd selfdrive/ui && ./watch3 @@ -70,5 +70,5 @@ In order to replay specific route: MOCK=1 selfdrive/boardd/tests/boardd_old.py # In another terminal: -selfdrive/ui/replay/replay +tools/replay/replay ``` diff --git a/tools/replay/SConscript b/tools/replay/SConscript new file mode 100644 index 0000000000..4a85f46d61 --- /dev/null +++ b/tools/replay/SConscript @@ -0,0 +1,19 @@ +import os +Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', + 'cereal', 'transformations') + +base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq', + 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"] + +qt_libs = ['qt_util'] + base_libs +if arch in ['x86_64', 'Darwin'] or GetOption('extras'): + qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"] + + replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"] + + replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs) + replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs + qt_env.Program("replay", ["main.cc"], LIBS=replay_libs) + + if GetOption('test'): + qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs]) diff --git a/selfdrive/ui/replay/camera.cc b/tools/replay/camera.cc similarity index 96% rename from selfdrive/ui/replay/camera.cc rename to tools/replay/camera.cc index 2e8b68a415..87afe63a2a 100644 --- a/selfdrive/ui/replay/camera.cc +++ b/tools/replay/camera.cc @@ -1,5 +1,5 @@ -#include "selfdrive/ui/replay/camera.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/camera.h" +#include "tools/replay/util.h" #include diff --git a/selfdrive/ui/replay/camera.h b/tools/replay/camera.h similarity index 92% rename from selfdrive/ui/replay/camera.h rename to tools/replay/camera.h index 7f078511cf..66d33142fb 100644 --- a/selfdrive/ui/replay/camera.h +++ b/tools/replay/camera.h @@ -3,8 +3,8 @@ #include #include "cereal/visionipc/visionipc_server.h" #include "common/queue.h" -#include "selfdrive/ui/replay/framereader.h" -#include "selfdrive/ui/replay/logreader.h" +#include "tools/replay/framereader.h" +#include "tools/replay/logreader.h" class CameraServer { public: diff --git a/selfdrive/ui/replay/consoleui.cc b/tools/replay/consoleui.cc similarity index 99% rename from selfdrive/ui/replay/consoleui.cc rename to tools/replay/consoleui.cc index 05eb09c9ed..e4a3146a69 100644 --- a/selfdrive/ui/replay/consoleui.cc +++ b/tools/replay/consoleui.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/consoleui.h" +#include "tools/replay/consoleui.h" #include #include diff --git a/selfdrive/ui/replay/consoleui.h b/tools/replay/consoleui.h similarity index 96% rename from selfdrive/ui/replay/consoleui.h rename to tools/replay/consoleui.h index bce1146d46..20e07524dd 100644 --- a/selfdrive/ui/replay/consoleui.h +++ b/tools/replay/consoleui.h @@ -7,7 +7,7 @@ #include #include -#include "selfdrive/ui/replay/replay.h" +#include "tools/replay/replay.h" #include class ConsoleUI : public QObject { diff --git a/selfdrive/ui/replay/filereader.cc b/tools/replay/filereader.cc similarity index 94% rename from selfdrive/ui/replay/filereader.cc rename to tools/replay/filereader.cc index 5f862bec35..88879067c9 100644 --- a/selfdrive/ui/replay/filereader.cc +++ b/tools/replay/filereader.cc @@ -1,9 +1,9 @@ -#include "selfdrive/ui/replay/filereader.h" +#include "tools/replay/filereader.h" #include #include "common/util.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" std::string cacheFilePath(const std::string &url) { static std::string cache_path = [] { diff --git a/selfdrive/ui/replay/filereader.h b/tools/replay/filereader.h similarity index 100% rename from selfdrive/ui/replay/filereader.h rename to tools/replay/filereader.h diff --git a/selfdrive/ui/replay/framereader.cc b/tools/replay/framereader.cc similarity index 98% rename from selfdrive/ui/replay/framereader.cc rename to tools/replay/framereader.cc index 38d98bddc5..bfa85a0625 100644 --- a/selfdrive/ui/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -1,5 +1,5 @@ -#include "selfdrive/ui/replay/framereader.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/framereader.h" +#include "tools/replay/util.h" #include #include "libyuv.h" diff --git a/selfdrive/ui/replay/framereader.h b/tools/replay/framereader.h similarity index 97% rename from selfdrive/ui/replay/framereader.h rename to tools/replay/framereader.h index 443636e27d..10bf34a24e 100644 --- a/selfdrive/ui/replay/framereader.h +++ b/tools/replay/framereader.h @@ -4,7 +4,7 @@ #include #include -#include "selfdrive/ui/replay/filereader.h" +#include "tools/replay/filereader.h" extern "C" { #include diff --git a/selfdrive/ui/replay/logreader.cc b/tools/replay/logreader.cc similarity index 97% rename from selfdrive/ui/replay/logreader.cc rename to tools/replay/logreader.cc index 579fe50644..f27224ac53 100644 --- a/selfdrive/ui/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -1,7 +1,7 @@ -#include "selfdrive/ui/replay/logreader.h" +#include "tools/replay/logreader.h" #include -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" Event::Event(const kj::ArrayPtr &amsg, bool frame) : reader(amsg), frame(frame) { words = kj::ArrayPtr(amsg.begin(), reader.getEnd()); diff --git a/selfdrive/ui/replay/logreader.h b/tools/replay/logreader.h similarity index 97% rename from selfdrive/ui/replay/logreader.h rename to tools/replay/logreader.h index b4a38a5721..fb63bf3913 100644 --- a/selfdrive/ui/replay/logreader.h +++ b/tools/replay/logreader.h @@ -7,7 +7,7 @@ #include "cereal/gen/cpp/log.capnp.h" #include "system/camerad/cameras/camera_common.h" -#include "selfdrive/ui/replay/filereader.h" +#include "tools/replay/filereader.h" const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam}; const int MAX_CAMERAS = std::size(ALL_CAMERAS); diff --git a/selfdrive/ui/replay/main.cc b/tools/replay/main.cc similarity index 96% rename from selfdrive/ui/replay/main.cc rename to tools/replay/main.cc index e09587023c..d3d6894877 100644 --- a/selfdrive/ui/replay/main.cc +++ b/tools/replay/main.cc @@ -1,8 +1,8 @@ #include #include -#include "selfdrive/ui/replay/consoleui.h" -#include "selfdrive/ui/replay/replay.h" +#include "tools/replay/consoleui.h" +#include "tools/replay/replay.h" const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; diff --git a/selfdrive/ui/replay/replay.cc b/tools/replay/replay.cc similarity index 99% rename from selfdrive/ui/replay/replay.cc rename to tools/replay/replay.cc index cf7520b361..c886a7e186 100644 --- a/selfdrive/ui/replay/replay.cc +++ b/tools/replay/replay.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/replay.h" +#include "tools/replay/replay.h" #include #include @@ -8,7 +8,7 @@ #include "common/params.h" #include "common/timing.h" #include "system/hardware/hw.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { diff --git a/selfdrive/ui/replay/replay.h b/tools/replay/replay.h similarity index 97% rename from selfdrive/ui/replay/replay.h rename to tools/replay/replay.h index c89a835f64..13269d3ec9 100644 --- a/selfdrive/ui/replay/replay.h +++ b/tools/replay/replay.h @@ -4,8 +4,8 @@ #include -#include "selfdrive/ui/replay/camera.h" -#include "selfdrive/ui/replay/route.h" +#include "tools/replay/camera.h" +#include "tools/replay/route.h" // one segment uses about 100M of memory constexpr int FORWARD_SEGS = 5; diff --git a/selfdrive/ui/replay/route.cc b/tools/replay/route.cc similarity index 97% rename from selfdrive/ui/replay/route.cc rename to tools/replay/route.cc index 3d595141cd..5b47090229 100644 --- a/selfdrive/ui/replay/route.cc +++ b/tools/replay/route.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/route.h" +#include "tools/replay/route.h" #include #include @@ -11,8 +11,8 @@ #include "system/hardware/hw.h" #include "selfdrive/ui/qt/api.h" -#include "selfdrive/ui/replay/replay.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/replay.h" +#include "tools/replay/util.h" Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir) { route_ = parseRoute(route); diff --git a/selfdrive/ui/replay/route.h b/tools/replay/route.h similarity index 92% rename from selfdrive/ui/replay/route.h rename to tools/replay/route.h index ac8fba75ca..6ca9c3b883 100644 --- a/selfdrive/ui/replay/route.h +++ b/tools/replay/route.h @@ -2,9 +2,9 @@ #include -#include "selfdrive/ui/replay/framereader.h" -#include "selfdrive/ui/replay/logreader.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/framereader.h" +#include "tools/replay/logreader.h" +#include "tools/replay/util.h" struct RouteIdentifier { QString dongle_id; diff --git a/selfdrive/ui/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc similarity index 98% rename from selfdrive/ui/replay/tests/test_replay.cc rename to tools/replay/tests/test_replay.cc index bf984f5f3d..bd5dee013c 100644 --- a/selfdrive/ui/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -6,8 +6,8 @@ #include "catch2/catch.hpp" #include "common/util.h" -#include "selfdrive/ui/replay/replay.h" -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/replay.h" +#include "tools/replay/util.h" const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"; const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2"; diff --git a/selfdrive/ui/replay/tests/test_runner.cc b/tools/replay/tests/test_runner.cc similarity index 100% rename from selfdrive/ui/replay/tests/test_runner.cc rename to tools/replay/tests/test_runner.cc diff --git a/selfdrive/ui/replay/util.cc b/tools/replay/util.cc similarity index 99% rename from selfdrive/ui/replay/util.cc rename to tools/replay/util.cc index 099219ccde..a6ebbec615 100644 --- a/selfdrive/ui/replay/util.cc +++ b/tools/replay/util.cc @@ -1,4 +1,4 @@ -#include "selfdrive/ui/replay/util.h" +#include "tools/replay/util.h" #include #include diff --git a/selfdrive/ui/replay/util.h b/tools/replay/util.h similarity index 100% rename from selfdrive/ui/replay/util.h rename to tools/replay/util.h From 42d51a1b959fbd00cd43b7fb36cd5dce00f22c55 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 17:20:37 +0200 Subject: [PATCH 30/37] Properly pass KF dependencies to rednose (#24985) * Fix rednose dependencies * bump rednose * bump rednose --- SConstruct | 21 +++++++++++++-------- rednose_repo | 2 +- 2 files changed, 14 insertions(+), 9 deletions(-) diff --git a/SConstruct b/SConstruct index 425ce3d761..1209894ba4 100644 --- a/SConstruct +++ b/SConstruct @@ -356,22 +356,27 @@ Export('cereal', 'messaging', 'visionipc') # Build rednose library and ekf models +rednose_deps = [ + "#selfdrive/locationd/models/constants.py", + "#selfdrive/locationd/models/gnss_helpers.py", +] + rednose_config = { 'generated_folder': '#selfdrive/locationd/models/generated', 'to_build': { - 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []), - 'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']), - 'car': ('#selfdrive/locationd/models/car_kf.py', True, []), + 'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps), + 'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps), + 'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps), }, } if arch != "larch64": rednose_config['to_build'].update({ - 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []), - 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []), - 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []), - 'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []), - 'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []), + 'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps), + 'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []), + 'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []), + 'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []), + 'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps), }) Export('rednose_config') diff --git a/rednose_repo b/rednose_repo index a79a87300a..225dbacbaa 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit a79a87300a6c5093d99f281307c65b1e99295b20 +Subproject commit 225dbacbaac312f85eaaee0b97a3acc31f9c6b47 From 712445c5314d0634e1f6a78a95901dd14ac6bc57 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Tue, 28 Jun 2022 17:39:22 +0200 Subject: [PATCH 31/37] build.py: remove retry logic (#24986) --- selfdrive/manager/build.py | 101 ++++++++++++++++--------------------- 1 file changed, 43 insertions(+), 58 deletions(-) diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py index 10b4c0a4b8..12f894061a 100755 --- a/selfdrive/manager/build.py +++ b/selfdrive/manager/build.py @@ -1,8 +1,6 @@ #!/usr/bin/env python3 import os import subprocess -import sys -import time import textwrap from pathlib import Path @@ -28,62 +26,49 @@ def build(spinner: Spinner, dirty: bool = False) -> None: nproc = os.cpu_count() j_flag = "" if nproc is None else f"-j{nproc - 1}" - for retry in [True, False]: - scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) - assert scons.stderr is not None - - compile_output = [] - - # Read progress from stderr and update spinner - while scons.poll() is None: - try: - line = scons.stderr.readline() - if line is None: - continue - line = line.rstrip() - - prefix = b'progress: ' - if line.startswith(prefix): - i = int(line[len(prefix):]) - spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) - elif len(line): - compile_output.append(line) - print(line.decode('utf8', 'replace')) - except Exception: - pass - - if scons.returncode != 0: - # Read remaining output - r = scons.stderr.read().split(b'\n') - compile_output += r - - if retry and (not dirty): - if not os.getenv("CI"): - print("scons build failed, cleaning in") - for i in range(3, -1, -1): - print("....%d" % i) - time.sleep(1) - subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env) - else: - print("scons build failed after retry") - sys.exit(1) - else: - # Build failed log errors - errors = [line.decode('utf8', 'replace') for line in compile_output - if any(err in line for err in [b'error: ', b'not found, needed by target'])] - error_s = "\n".join(errors) - add_file_handler(cloudlog) - cloudlog.error("scons build failed\n" + error_s) - - # Show TextWindow - spinner.close() - if not os.getenv("CI"): - error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors) - with TextWindow("openpilot failed to build\n \n" + error_s) as t: - t.wait_for_exit() - exit(1) - else: - break + scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE) + assert scons.stderr is not None + + compile_output = [] + + # Read progress from stderr and update spinner + while scons.poll() is None: + try: + line = scons.stderr.readline() + if line is None: + continue + line = line.rstrip() + + prefix = b'progress: ' + if line.startswith(prefix): + i = int(line[len(prefix):]) + spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.) + elif len(line): + compile_output.append(line) + print(line.decode('utf8', 'replace')) + except Exception: + pass + + if scons.returncode != 0: + # Read remaining output + r = scons.stderr.read().split(b'\n') + compile_output += r + + # Build failed log errors + errors = [line.decode('utf8', 'replace') for line in compile_output + if any(err in line for err in [b'error: ', b'not found, needed by target'])] + error_s = "\n".join(errors) + add_file_handler(cloudlog) + cloudlog.error("scons build failed\n" + error_s) + + # Show TextWindow + spinner.close() + if not os.getenv("CI"): + error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors) + with TextWindow("openpilot failed to build\n \n" + error_s) as t: + t.wait_for_exit() + exit(1) + # enforce max cache size cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()] From 75f5282e832a844aafccac3bfa53ffb029c53a2b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 14:19:17 -0700 Subject: [PATCH 32/37] Chrysler: fix steering angle signals (#24926) * Chrysler_Update * only steering * revert other changes for now only steering * bump * Update ref_commit * bump opendbc * update refs Co-authored-by: Jonathan --- opendbc | 2 +- selfdrive/car/chrysler/carstate.py | 4 ++-- selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/opendbc b/opendbc index 82be71072c..47b79c4d5a 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 82be71072c52fc78cf0e1eabc396af26c18ddc11 +Subproject commit 47b79c4d5ab5adc0bdd9d228c3d9594da0355c49 diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index f71a300263..202526df05 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -47,8 +47,6 @@ class CarState(CarStateBase): ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1 ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2 - ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] - ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None)) ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1 # ACC is white @@ -58,6 +56,8 @@ class CarState(CarStateBase): ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2) ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0 + ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"] + ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"] ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"] ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"] ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3e02830bf4..946ddce19e 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -2ee969b34585f8055bb3eabab2dcc4061cc4bef9 \ No newline at end of file +a0b5ce7b2e0b9c073e51ac8908402d53e1d99722 \ No newline at end of file From 4db3ca4cf2eca777c1cff7cb5a3010569f6cc7d5 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 28 Jun 2022 20:38:08 -0700 Subject: [PATCH 33/37] Toyota: Add missing 2021 RAV4 TSS2 esp FW (#24989) Add missing Canadian TRD 2021 RAV4 --- selfdrive/car/toyota/values.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 76f84302ce..c7a26257f3 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1262,6 +1262,7 @@ FW_VERSIONS = { b'\x01F152642711\x00\x00\x00\x00\x00\x00', b'\x01F152642750\x00\x00\x00\x00\x00\x00', b'\x01F152642751\x00\x00\x00\x00\x00\x00', + b'\x01F15260R292\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B42170\x00\x00\x00\x00\x00\x00', From e0cd3bf5fc56229c2a0b835d0ef43a0bf683bfa5 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Wed, 29 Jun 2022 17:27:37 +0800 Subject: [PATCH 34/37] framereader.cc: remove nv12toyuv_buffer (#24991) remove nv12toyuv_buffer --- tools/replay/framereader.cc | 9 +++------ tools/replay/framereader.h | 1 - 2 files changed, 3 insertions(+), 7 deletions(-) diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc index bfa85a0625..ecde9ad5d2 100644 --- a/tools/replay/framereader.cc +++ b/tools/replay/framereader.cc @@ -117,8 +117,6 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s if (has_hw_decoder && !no_hw_decoder) { if (!initHardwareDecoder(HW_DEVICE_TYPE)) { rWarning("No device with hardware decoder found. fallback to CPU decoding."); - } else { - nv12toyuv_buffer.resize(getYUVSize()); } } @@ -227,17 +225,16 @@ AVFrame *FrameReader::decodeFrame(AVPacket *pkt) { } bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) { + assert(f != nullptr && yuv != nullptr); + uint8_t *y = yuv; + uint8_t *uv = y + width * height; if (hw_pix_fmt == HW_PIX_FMT) { - uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data(); - uint8_t *uv = y + width * height; for (int i = 0; i < height/2; i++) { memcpy(y + (i*2 + 0)*width, f->data[0] + (i*2 + 0)*f->linesize[0], width); memcpy(y + (i*2 + 1)*width, f->data[0] + (i*2 + 1)*f->linesize[0], width); memcpy(uv + i*width, f->data[1] + i*f->linesize[1], width); } } else { - uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data(); - uint8_t *uv = y + width * height; libyuv::I420ToNV12(f->data[0], f->linesize[0], f->data[1], f->linesize[1], f->data[2], f->linesize[2], diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h index 10bf34a24e..e50b61d7f4 100644 --- a/tools/replay/framereader.h +++ b/tools/replay/framereader.h @@ -46,7 +46,6 @@ private: AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE; AVBufferRef *hw_device_ctx = nullptr; - std::vector nv12toyuv_buffer; int prev_idx = -1; inline static std::atomic has_hw_decoder = true; }; From 67cf20977d8fc250ac9d43261554712e1b74c689 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 29 Jun 2022 11:36:03 +0200 Subject: [PATCH 35/37] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 3fef4f7861..df08568318 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 3fef4f7861e04193fdb11dbd5b0eaf6d2b102ee1 +Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4 From bef5350fa3cc99a79af75a108f50d6a76ce07988 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 29 Jun 2022 12:19:37 +0200 Subject: [PATCH 36/37] don't log LaikadEphemeris in initData --- common/params.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common/params.cc b/common/params.cc index b8526bc231..f93c87cd98 100644 --- a/common/params.cc +++ b/common/params.cc @@ -128,7 +128,7 @@ std::unordered_map keys = { {"IsTakingSnapshot", CLEAR_ON_MANAGER_START}, {"IsUpdateAvailable", CLEAR_ON_MANAGER_START}, {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF}, - {"LaikadEphemeris", PERSISTENT}, + {"LaikadEphemeris", PERSISTENT | DONT_LOG}, {"LastAthenaPingTime", CLEAR_ON_MANAGER_START}, {"LastGPSPosition", PERSISTENT}, {"LastManagerExitReason", CLEAR_ON_MANAGER_START}, From 879a7c3201a037c27c92ad6b92143114f52f29d3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 29 Jun 2022 14:47:46 -0700 Subject: [PATCH 37/37] UI: wrap all text for translation (#24961) * rough multiple language demo * more wrappings * stash * add some bad translations * updates * map from french to spanish still has same problem of needing to call setText on everything * add files * restart UI * use return code * relative path * more translations * don't loop restart * Toggle and prime translations * try on device * try QComboBox with readable style * stash * not yet scrollable * stash * dynamic translations (doesn't work for dynamic widget strings yet) * clean up multiple option selector * store languages in json * try transparent * Try transparent popup * see how this looks * tweaks * clean up * clean up * clean up 2 and missing tr * wrap more strings * missing updater * fixes * add basic test to ensure all strings wrapped * try in CI * clean up * test name * fix test * always install qt dev tools * fix deps * fast test * add section so it prints multiple errors * debug * debug get rid of those * make any difference? * comment * oh... * run with offscreen platform * try out section * clean up * fix missing wrappings (it works!) * move down * space * clear relevant params, set TICI=1 --- .github/workflows/selfdrive_tests.yaml | 2 + selfdrive/ui/SConscript | 3 + selfdrive/ui/installer/installer.cc | 8 +- selfdrive/ui/qt/home.cc | 4 +- selfdrive/ui/qt/maps/map_settings.cc | 16 +-- selfdrive/ui/qt/offroad/driverview.cc | 2 +- selfdrive/ui/qt/offroad/networking.cc | 32 ++--- selfdrive/ui/qt/offroad/onboarding.cc | 14 +-- selfdrive/ui/qt/offroad/settings.cc | 110 +++++++++--------- selfdrive/ui/qt/onroad.cc | 14 +-- selfdrive/ui/qt/setup/reset.cc | 18 +-- selfdrive/ui/qt/setup/setup.cc | 42 +++---- selfdrive/ui/qt/setup/updater.cc | 16 +-- selfdrive/ui/qt/sidebar.cc | 16 +-- selfdrive/ui/qt/text.cc | 4 +- selfdrive/ui/qt/util.cc | 8 +- selfdrive/ui/qt/widgets/drive_stats.cc | 8 +- selfdrive/ui/qt/widgets/drive_stats.h | 2 +- selfdrive/ui/qt/widgets/input.cc | 10 +- selfdrive/ui/qt/widgets/offroad_alerts.cc | 6 +- selfdrive/ui/qt/widgets/prime.cc | 28 ++--- selfdrive/ui/qt/widgets/ssh_keys.cc | 18 +-- selfdrive/ui/qt/widgets/ssh_keys.h | 2 +- selfdrive/ui/tests/.gitignore | 1 + .../ui/tests/create_test_translations.sh | 18 +++ selfdrive/ui/tests/test_runner.cc | 19 ++- selfdrive/ui/tests/test_translations.cc | 51 ++++++++ tools/ubuntu_setup.sh | 1 + 28 files changed, 282 insertions(+), 191 deletions(-) create mode 100755 selfdrive/ui/tests/create_test_translations.sh create mode 100644 selfdrive/ui/tests/test_translations.cc diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index a40aa31341..f5edfe5929 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.github/workflows/selfdrive_tests.yaml @@ -305,6 +305,8 @@ jobs: $UNIT_TEST selfdrive/hardware/tici && \ $UNIT_TEST selfdrive/modeld && \ $UNIT_TEST tools/lib/tests && \ + ./selfdrive/ui/tests/create_test_translations.sh && \ + QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \ ./common/tests/test_util && \ ./common/tests/test_swaglog && \ ./selfdrive/boardd/tests/test_boardd_usbprotocol && \ diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index 970f715f54..0835c16372 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -58,6 +58,9 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc", "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc", "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc"] qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) +if GetOption('test'): + qt_src.remove("main.cc") # replaced by test_runner + qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) # setup and factory resetter diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc index 3588026ba6..fe31a2dcb1 100644 --- a/selfdrive/ui/installer/installer.cc +++ b/selfdrive/ui/installer/installer.cc @@ -53,7 +53,7 @@ Installer::Installer(QWidget *parent) : QWidget(parent) { layout->setContentsMargins(150, 290, 150, 150); layout->setSpacing(0); - QLabel *title = new QLabel("Installing..."); + QLabel *title = new QLabel(tr("Installing...")); title->setStyleSheet("font-size: 90px; font-weight: 600;"); layout->addWidget(title, 0, Qt::AlignTop); @@ -141,9 +141,9 @@ void Installer::cachedFetch(const QString &cache) { void Installer::readProgress() { const QVector> stages = { // prefix, weight in percentage - {"Receiving objects: ", 91}, - {"Resolving deltas: ", 2}, - {"Updating files: ", 7}, + {tr("Receiving objects: "), 91}, + {tr("Resolving deltas: "), 2}, + {tr("Updating files: "), 7}, }; auto line = QString(proc.readAllStandardError()); diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index aec9bffbc0..0edeb252b7 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -111,7 +111,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { date = new QLabel(); header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft); - update_notif = new QPushButton("UPDATE"); + update_notif = new QPushButton(tr("UPDATE")); update_notif->setVisible(false); update_notif->setStyleSheet("background-color: #364DEF;"); QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); }); @@ -202,6 +202,6 @@ void OffroadHome::refresh() { update_notif->setVisible(updateAvailable); alert_notif->setVisible(alerts); if (alerts) { - alert_notif->setText(QString::number(alerts) + (alerts > 1 ? " ALERTS" : " ALERT")); + alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT"))); } } diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index 674c7fa7cb..eaa8b1f703 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -59,11 +59,11 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { current_widget = new QWidget(this); QVBoxLayout *current_layout = new QVBoxLayout(current_widget); - QLabel *title = new QLabel("Current Destination"); + QLabel *title = new QLabel(tr("Current Destination")); title->setStyleSheet("font-size: 55px"); current_layout->addWidget(title); - current_route = new ButtonControl("", "CLEAR"); + current_route = new ButtonControl("", tr("CLEAR")); current_route->setStyleSheet("padding-left: 40px;"); current_layout->addWidget(current_route); QObject::connect(current_route, &ButtonControl::clicked, [=]() { @@ -78,7 +78,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { main_layout->addWidget(current_widget); // Recents - QLabel *recents_title = new QLabel("Recent Destinations"); + QLabel *recents_title = new QLabel(tr("Recent Destinations")); recents_title->setStyleSheet("font-size: 55px"); main_layout->addWidget(recents_title); main_layout->addSpacing(20); @@ -92,7 +92,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { QWidget * no_prime_widget = new QWidget; { QVBoxLayout *no_prime_layout = new QVBoxLayout(no_prime_widget); - QLabel *signup_header = new QLabel("Try the Navigation Beta"); + QLabel *signup_header = new QLabel(tr("Try the Navigation Beta")); signup_header->setStyleSheet(R"(font-size: 75px; color: white; font-weight:600;)"); signup_header->setAlignment(Qt::AlignCenter); @@ -104,7 +104,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation)); no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter); - QLabel *signup = new QLabel("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai"); + QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai")); signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)"); signup->setAlignment(Qt::AlignCenter); @@ -161,12 +161,12 @@ void MapPanel::showEvent(QShowEvent *event) { void MapPanel::clear() { home_button->setIcon(QPixmap("../assets/navigation/home_inactive.png")); home_address->setStyleSheet(R"(font-size: 50px; color: grey;)"); - home_address->setText("No home\nlocation set"); + home_address->setText(tr("No home\nlocation set")); home_button->disconnect(); work_button->setIcon(QPixmap("../assets/navigation/work_inactive.png")); work_address->setStyleSheet(R"(font-size: 50px; color: grey;)"); - work_address->setText("No work\nlocation set"); + work_address->setText(tr("No work\nlocation set")); work_button->disconnect(); clearLayout(recent_layout); @@ -279,7 +279,7 @@ void MapPanel::parseResponse(const QString &response, bool success) { } if (!has_recents) { - QLabel *no_recents = new QLabel("no recent destinations"); + QLabel *no_recents = new QLabel(tr("no recent destinations")); no_recents->setStyleSheet(R"(font-size: 50px; color: #9c9c9c)"); recent_layout->addWidget(no_recents); } diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc index dc9f292df1..5bf70584a1 100644 --- a/selfdrive/ui/qt/offroad/driverview.cc +++ b/selfdrive/ui/qt/offroad/driverview.cc @@ -53,7 +53,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) { p.setPen(Qt::white); p.setRenderHint(QPainter::TextAntialiasing); configFont(p, "Inter", 100, "Bold"); - p.drawText(geometry(), Qt::AlignCenter, "camera starting"); + p.drawText(geometry(), Qt::AlignCenter, tr("camera starting")); return; } diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc index 418ccd3179..536ca495ca 100644 --- a/selfdrive/ui/qt/offroad/networking.cc +++ b/selfdrive/ui/qt/offroad/networking.cc @@ -27,7 +27,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) { QVBoxLayout* vlayout = new QVBoxLayout(wifiScreen); vlayout->setContentsMargins(20, 20, 20, 20); if (show_advanced) { - QPushButton* advancedSettings = new QPushButton("Advanced"); + QPushButton* advancedSettings = new QPushButton(tr("Advanced")); advancedSettings->setObjectName("advanced_btn"); advancedSettings->setStyleSheet("margin-right: 30px;"); advancedSettings->setFixedSize(400, 100); @@ -84,7 +84,7 @@ void Networking::connectToNetwork(const Network &n) { } else if (n.security_type == SecurityType::OPEN) { wifi->connect(n); } else if (n.security_type == SecurityType::WPA) { - QString pass = InputDialog::getText("Enter password", this, "for \"" + n.ssid + "\"", true, 8); + QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"") + n.ssid + "\"", true, 8); if (!pass.isEmpty()) { wifi->connect(n, pass); } @@ -94,7 +94,7 @@ void Networking::connectToNetwork(const Network &n) { void Networking::wrongPassword(const QString &ssid) { if (wifi->seenNetworks.contains(ssid)) { const Network &n = wifi->seenNetworks.value(ssid); - QString pass = InputDialog::getText("Wrong password", this, "for \"" + n.ssid +"\"", true, 8); + QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"") + n.ssid +"\"", true, 8); if (!pass.isEmpty()) { wifi->connect(n, pass); } @@ -118,7 +118,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid main_layout->setSpacing(20); // Back button - QPushButton* back = new QPushButton("Back"); + QPushButton* back = new QPushButton(tr("Back")); back->setObjectName("back_btn"); back->setFixedSize(400, 100); connect(back, &QPushButton::clicked, [=]() { emit backPress(); }); @@ -126,14 +126,14 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid ListWidget *list = new ListWidget(this); // Enable tethering layout - tetheringToggle = new ToggleControl("Enable Tethering", "", "", wifi->isTetheringEnabled()); + tetheringToggle = new ToggleControl(tr("Enable Tethering"), "", "", wifi->isTetheringEnabled()); list->addItem(tetheringToggle); QObject::connect(tetheringToggle, &ToggleControl::toggleFlipped, this, &AdvancedNetworking::toggleTethering); // Change tethering password - ButtonControl *editPasswordButton = new ButtonControl("Tethering Password", "EDIT"); + ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT")); connect(editPasswordButton, &ButtonControl::clicked, [=]() { - QString pass = InputDialog::getText("Enter new tethering password", this, "", true, 8, wifi->getTetheringPassword()); + QString pass = InputDialog::getText(tr("Enter new tethering password"), this, "", true, 8, wifi->getTetheringPassword()); if (!pass.isEmpty()) { wifi->changeTetheringPassword(pass); } @@ -141,7 +141,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid list->addItem(editPasswordButton); // IP address - ipLabel = new LabelControl("IP Address", wifi->ipv4_address); + ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address); list->addItem(ipLabel); // SSH keys @@ -150,7 +150,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid // Roaming toggle const bool roamingEnabled = params.getBool("GsmRoaming"); - ToggleControl *roamingToggle = new ToggleControl("Enable Roaming", "", "", roamingEnabled); + ToggleControl *roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled); QObject::connect(roamingToggle, &SshToggle::toggleFlipped, [=](bool state) { params.putBool("GsmRoaming", state); wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn"))); @@ -158,11 +158,11 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid list->addItem(roamingToggle); // APN settings - ButtonControl *editApnButton = new ButtonControl("APN Setting", "EDIT"); + ButtonControl *editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT")); connect(editApnButton, &ButtonControl::clicked, [=]() { const bool roamingEnabled = params.getBool("GsmRoaming"); const QString cur_apn = QString::fromStdString(params.get("GsmApn")); - QString apn = InputDialog::getText("Enter APN", this, "leave blank for automatic configuration", false, -1, cur_apn).trimmed(); + QString apn = InputDialog::getText(tr("Enter APN"), this, tr("leave blank for automatic configuration"), false, -1, cur_apn).trimmed(); if (apn.isEmpty()) { params.remove("GsmApn"); @@ -207,7 +207,7 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation); circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation); - QLabel *scanning = new QLabel("Scanning for networks..."); + QLabel *scanning = new QLabel(tr("Scanning for networks...")); scanning->setStyleSheet("font-size: 65px;"); main_layout->addWidget(scanning, 0, Qt::AlignCenter); @@ -260,7 +260,7 @@ void WifiUI::refresh() { clearLayout(main_layout); if (wifi->seenNetworks.size() == 0) { - QLabel *scanning = new QLabel("Scanning for networks..."); + QLabel *scanning = new QLabel(tr("Scanning for networks...")); scanning->setStyleSheet("font-size: 65px;"); main_layout->addWidget(scanning, 0, Qt::AlignCenter); return; @@ -286,17 +286,17 @@ void WifiUI::refresh() { hlayout->addWidget(ssidLabel, network.connected == ConnectedType::CONNECTING ? 0 : 1); if (network.connected == ConnectedType::CONNECTING) { - QPushButton *connecting = new QPushButton("CONNECTING..."); + QPushButton *connecting = new QPushButton(tr("CONNECTING...")); connecting->setObjectName("connecting"); hlayout->addWidget(connecting, 2, Qt::AlignLeft); } // Forget button if (wifi->isKnownConnection(network.ssid) && !wifi->isTetheringEnabled()) { - QPushButton *forgetBtn = new QPushButton("FORGET"); + QPushButton *forgetBtn = new QPushButton(tr("FORGET")); forgetBtn->setObjectName("forgetBtn"); QObject::connect(forgetBtn, &QPushButton::clicked, [=]() { - if (ConfirmationDialog::confirm("Forget Wi-Fi Network \"" + QString::fromUtf8(network.ssid) + "\"?", this)) { + if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"") + QString::fromUtf8(network.ssid) + "\"?", this)) { wifi->forgetConnection(network.ssid); } }); diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc index d32cc26e43..77e84293b2 100644 --- a/selfdrive/ui/qt/offroad/onboarding.cc +++ b/selfdrive/ui/qt/offroad/onboarding.cc @@ -76,7 +76,7 @@ void TermsPage::showEvent(QShowEvent *event) { main_layout->setContentsMargins(45, 35, 45, 45); main_layout->setSpacing(0); - QLabel *title = new QLabel("Terms & Conditions"); + QLabel *title = new QLabel(tr("Terms & Conditions")); title->setStyleSheet("font-size: 90px; font-weight: 600;"); main_layout->addWidget(title); @@ -104,11 +104,11 @@ void TermsPage::showEvent(QShowEvent *event) { buttons->setSpacing(45); main_layout->addLayout(buttons); - QPushButton *decline_btn = new QPushButton("Decline"); + QPushButton *decline_btn = new QPushButton(tr("Decline")); buttons->addWidget(decline_btn); QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms); - accept_btn = new QPushButton("Scroll to accept"); + accept_btn = new QPushButton(tr("Scroll to accept")); accept_btn->setEnabled(false); accept_btn->setStyleSheet(R"( QPushButton { @@ -123,7 +123,7 @@ void TermsPage::showEvent(QShowEvent *event) { } void TermsPage::enableAccept() { - accept_btn->setText("Agree"); + accept_btn->setText(tr("Agree")); accept_btn->setEnabled(true); } @@ -137,7 +137,7 @@ void DeclinePage::showEvent(QShowEvent *event) { main_layout->setSpacing(40); QLabel *text = new QLabel(this); - text->setText("You must accept the Terms and Conditions in order to use openpilot."); + text->setText(tr("You must accept the Terms and Conditions in order to use openpilot.")); text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)"); text->setWordWrap(true); main_layout->addWidget(text, 0, Qt::AlignCenter); @@ -146,12 +146,12 @@ void DeclinePage::showEvent(QShowEvent *event) { buttons->setSpacing(45); main_layout->addLayout(buttons); - QPushButton *back_btn = new QPushButton("Back"); + QPushButton *back_btn = new QPushButton(tr("Back")); buttons->addWidget(back_btn); QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack); - QPushButton *uninstall_btn = new QPushButton(QString("Decline, uninstall %1").arg(getBrand())); + QPushButton *uninstall_btn = new QPushButton(QString(tr("Decline, uninstall %1")).arg(getBrand())); uninstall_btn->setStyleSheet("background-color: #B73D3D"); buttons->addWidget(uninstall_btn); QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() { diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 175e6cf5a3..392287d65d 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -29,45 +29,45 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { std::vector> toggles{ { "OpenpilotEnabledToggle", - "Enable openpilot", - "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.", + tr("Enable openpilot"), + tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."), "../assets/offroad/icon_openpilot.png", }, { "IsLdwEnabled", - "Enable Lane Departure Warnings", - "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).", + tr("Enable Lane Departure Warnings"), + tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."), "../assets/offroad/icon_warning.png", }, { "IsRHD", - "Enable Right-Hand Drive", - "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.", + tr("Enable Right-Hand Drive"), + tr("Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat."), "../assets/offroad/icon_openpilot_mirrored.png", }, { "IsMetric", - "Use Metric System", - "Display speed in km/h instead of mph.", + tr("Use Metric System"), + tr("Display speed in km/h instead of mph."), "../assets/offroad/icon_metric.png", }, { "RecordFront", - "Record and Upload Driver Camera", - "Upload data from the driver facing camera and help improve the driver monitoring algorithm.", + tr("Record and Upload Driver Camera"), + tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."), "../assets/offroad/icon_monitoring.png", }, { "DisengageOnAccelerator", - "Disengage On Accelerator Pedal", - "When enabled, pressing the accelerator pedal will disengage openpilot.", + tr("Disengage On Accelerator Pedal"), + tr("When enabled, pressing the accelerator pedal will disengage openpilot."), "../assets/offroad/icon_disengage_on_accelerator.svg", }, #ifdef ENABLE_MAPS { "NavSettingTime24h", - "Show ETA in 24h format", - "Use 24h format instead of am/pm", + tr("Show ETA in 24h format"), + tr("Use 24h format instead of am/pm"), "../assets/offroad/icon_metric.png", }, #endif @@ -79,8 +79,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { if (params.getBool("DisableRadar_Allow")) { toggles.push_back({ "DisableRadar", - "openpilot Longitudinal Control", - "openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!", + tr("openpilot Longitudinal Control"), + tr("openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!"), "../assets/offroad/icon_speed_limit.png", }); } @@ -95,29 +95,29 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { setSpacing(50); - addItem(new LabelControl("Dongle ID", getDongleId().value_or("N/A"))); - addItem(new LabelControl("Serial", params.get("HardwareSerial").c_str())); + addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A")))); + addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str())); // offroad-only buttons - auto dcamBtn = new ButtonControl("Driver Camera", "PREVIEW", - "Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)"); + auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"), + tr("Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)")); connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); }); addItem(dcamBtn); - auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", " "); + auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), ""); connect(resetCalibBtn, &ButtonControl::showDescription, this, &DevicePanel::updateCalibDescription); connect(resetCalibBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), this)) { params.remove("CalibrationParams"); } }); addItem(resetCalibBtn); if (!params.getBool("Passive")) { - auto retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot"); + auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot")); connect(retrainingBtn, &ButtonControl::clicked, [=]() { - if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), this)) { emit reviewTrainingGuide(); } }); @@ -125,7 +125,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { } if (Hardware::TICI()) { - auto regulatoryBtn = new ButtonControl("Regulatory", "VIEW", ""); + auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), ""); connect(regulatoryBtn, &ButtonControl::clicked, [=]() { const std::string txt = util::read_file("../assets/offroad/fcc.html"); RichTextDialog::alert(QString::fromStdString(txt), this); @@ -143,12 +143,12 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { QHBoxLayout *power_layout = new QHBoxLayout(); power_layout->setSpacing(30); - QPushButton *reboot_btn = new QPushButton("Reboot"); + QPushButton *reboot_btn = new QPushButton(tr("Reboot")); reboot_btn->setObjectName("reboot_btn"); power_layout->addWidget(reboot_btn); QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot); - QPushButton *poweroff_btn = new QPushButton("Power Off"); + QPushButton *poweroff_btn = new QPushButton(tr("Power Off")); poweroff_btn->setObjectName("poweroff_btn"); power_layout->addWidget(poweroff_btn); QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff); @@ -168,8 +168,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { void DevicePanel::updateCalibDescription() { QString desc = - "openpilot requires the device to be mounted within 4° left or right and " - "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required."; + tr("openpilot requires the device to be mounted within 4° left or right and " + "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required."); std::string calib_bytes = Params().get("CalibrationParams"); if (!calib_bytes.empty()) { try { @@ -179,9 +179,9 @@ void DevicePanel::updateCalibDescription() { if (calib.getCalStatus() != 0) { double pitch = calib.getRpyCalib()[1] * (180 / M_PI); double yaw = calib.getRpyCalib()[2] * (180 / M_PI); - desc += QString(" Your device is pointed %1° %2 and %3° %4.") - .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up", - QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right"); + desc += QString(tr(" Your device is pointed %1° %2 and %3° %4.")) + .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"), + QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right")); } } catch (kj::Exception) { qInfo() << "invalid CalibrationParams"; @@ -192,51 +192,51 @@ void DevicePanel::updateCalibDescription() { void DevicePanel::reboot() { if (!uiState()->engaged()) { - if (ConfirmationDialog::confirm("Are you sure you want to reboot?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), this)) { // Check engaged again in case it changed while the dialog was open if (!uiState()->engaged()) { Params().putBool("DoReboot", true); } } } else { - ConfirmationDialog::alert("Disengage to Reboot", this); + ConfirmationDialog::alert(tr("Disengage to Reboot"), this); } } void DevicePanel::poweroff() { if (!uiState()->engaged()) { - if (ConfirmationDialog::confirm("Are you sure you want to power off?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), this)) { // Check engaged again in case it changed while the dialog was open if (!uiState()->engaged()) { Params().putBool("DoShutdown", true); } } } else { - ConfirmationDialog::alert("Disengage to Power Off", this); + ConfirmationDialog::alert(tr("Disengage to Power Off"), this); } } SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { - gitBranchLbl = new LabelControl("Git Branch"); - gitCommitLbl = new LabelControl("Git Commit"); - osVersionLbl = new LabelControl("OS Version"); - versionLbl = new LabelControl("Version", "", QString::fromStdString(params.get("ReleaseNotes")).trimmed()); - lastUpdateLbl = new LabelControl("Last Update Check", "", "The last time openpilot successfully checked for an update. The updater only runs while the car is off."); - updateBtn = new ButtonControl("Check for Update", ""); + gitBranchLbl = new LabelControl(tr("Git Branch")); + gitCommitLbl = new LabelControl(tr("Git Commit")); + osVersionLbl = new LabelControl(tr("OS Version")); + versionLbl = new LabelControl(tr("Version"), "", QString::fromStdString(params.get("ReleaseNotes")).trimmed()); + lastUpdateLbl = new LabelControl(tr("Last Update Check"), "", tr("The last time openpilot successfully checked for an update. The updater only runs while the car is off.")); + updateBtn = new ButtonControl(tr("Check for Update"), ""); connect(updateBtn, &ButtonControl::clicked, [=]() { if (params.getBool("IsOffroad")) { fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime"))); fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount"))); - updateBtn->setText("CHECKING"); + updateBtn->setText(tr("CHECKING")); updateBtn->setEnabled(false); } std::system("pkill -1 -f selfdrive.updated"); }); - auto uninstallBtn = new ButtonControl("Uninstall " + getBrand(), "UNINSTALL"); + auto uninstallBtn = new ButtonControl(tr("Uninstall ") + getBrand(), tr("UNINSTALL")); connect(uninstallBtn, &ButtonControl::clicked, [&]() { - if (ConfirmationDialog::confirm("Are you sure you want to uninstall?", this)) { + if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) { params.putBool("DoUninstall", true); } }); @@ -250,8 +250,8 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { fs_watch = new QFileSystemWatcher(this); QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) { if (path.contains("UpdateFailedCount") && std::atoi(params.get("UpdateFailedCount").c_str()) > 0) { - lastUpdateLbl->setText("failed to fetch update"); - updateBtn->setText("CHECK"); + lastUpdateLbl->setText(tr("failed to fetch update")); + updateBtn->setText(tr("CHECK")); updateBtn->setEnabled(true); } else if (path.contains("LastUpdateTime")) { updateLabels(); @@ -272,7 +272,7 @@ void SoftwarePanel::updateLabels() { versionLbl->setText(getBrandVersion()); lastUpdateLbl->setText(lastUpdate); - updateBtn->setText("CHECK"); + updateBtn->setText(tr("CHECK")); updateBtn->setEnabled(true); gitBranchLbl->setText(QString::fromStdString(params.get("GitBranch"))); gitCommitLbl->setText(QString::fromStdString(params.get("GitCommit")).left(10)); @@ -301,7 +301,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { )"); // close button - QPushButton *close_btn = new QPushButton("×"); + QPushButton *close_btn = new QPushButton(tr("×")); close_btn->setStyleSheet(R"( QPushButton { font-size: 140px; @@ -327,15 +327,15 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView); QList> panels = { - {"Device", device}, - {"Network", network_panel(this)}, - {"Toggles", new TogglesPanel(this)}, - {"Software", new SoftwarePanel(this)}, + {tr("Device"), device}, + {tr("Network"), network_panel(this)}, + {tr("Toggles"), new TogglesPanel(this)}, + {tr("Software"), new SoftwarePanel(this)}, }; #ifdef ENABLE_MAPS auto map_panel = new MapPanel(this); - panels.push_back({"Navigation", map_panel}); + panels.push_back({tr("Navigation"), map_panel}); QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings); #endif @@ -367,7 +367,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) { nav_btns->addButton(btn); sidebar_layout->addWidget(btn, 0, Qt::AlignRight); - const int lr_margin = name != "Network" ? 50 : 0; // Network panel handles its own margins + const int lr_margin = name != tr("Network") ? 50 : 0; // Network panel handles its own margins panel->setContentsMargins(lr_margin, 25, lr_margin, 25); ScrollView *panel_frame = new ScrollView(panel, this); diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index ecd6d61471..7032fc7518 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -199,7 +199,7 @@ void NvgWindow::updateState(const UIState &s) { setProperty("is_metric", s.scene.is_metric); setProperty("speed", cur_speed); setProperty("setSpeed", set_speed); - setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph"); + setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph")); setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE); setProperty("status", s.status); @@ -266,10 +266,10 @@ void NvgWindow::drawHud(QPainter &p) { p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff)); } configFont(p, "Inter", 40, "SemiBold"); - QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX"); + QRect max_rect = getTextRect(p, Qt::AlignCenter, tr("MAX")); max_rect.moveCenter({set_speed_rect.center().x(), 0}); max_rect.moveTop(set_speed_rect.top() + 27); - p.drawText(max_rect, Qt::AlignCenter, "MAX"); + p.drawText(max_rect, Qt::AlignCenter, tr("MAX")); // Draw set speed if (is_cruise_set) { @@ -313,16 +313,16 @@ void NvgWindow::drawHud(QPainter &p) { // "SPEED" configFont(p, "Inter", 28, "SemiBold"); - QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED"); + QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, tr("SPEED")); text_speed_rect.moveCenter({sign_rect.center().x(), 0}); text_speed_rect.moveTop(sign_rect_outer.top() + 22); - p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED"); + p.drawText(text_speed_rect, Qt::AlignCenter, tr("SPEED")); // "LIMIT" - QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT"); + QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, tr("LIMIT")); text_limit_rect.moveCenter({sign_rect.center().x(), 0}); text_limit_rect.moveTop(sign_rect_outer.top() + 51); - p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT"); + p.drawText(text_limit_rect, Qt::AlignCenter, tr("LIMIT")); // Speed limit value configFont(p, "Inter", 70, "Bold"); diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc index 9ffcf7f6cf..582217c1d7 100644 --- a/selfdrive/ui/qt/setup/reset.cc +++ b/selfdrive/ui/qt/setup/reset.cc @@ -26,16 +26,16 @@ void Reset::doReset() { if (rm == 0 || fmt == 0) { std::system("sudo reboot"); } - body->setText("Reset failed. Reboot to try again."); + body->setText(tr("Reset failed. Reboot to try again.")); rebootBtn->show(); } void Reset::confirm() { - const QString confirm_txt = "Are you sure you want to reset your device?"; + const QString confirm_txt = tr("Are you sure you want to reset your device?"); if (body->text() != confirm_txt) { body->setText(confirm_txt); } else { - body->setText("Resetting device..."); + body->setText(tr("Resetting device...")); rejectBtn->hide(); rebootBtn->hide(); confirmBtn->hide(); @@ -50,13 +50,13 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { main_layout->setContentsMargins(45, 220, 45, 45); main_layout->setSpacing(0); - QLabel *title = new QLabel("System Reset"); + QLabel *title = new QLabel(tr("System Reset")); title->setStyleSheet("font-size: 90px; font-weight: 600;"); main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); main_layout->addSpacing(60); - body = new QLabel("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."); + body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.")); body->setWordWrap(true); body->setStyleSheet("font-size: 80px; font-weight: light;"); main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft); @@ -65,11 +65,11 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { main_layout->addLayout(blayout); blayout->setSpacing(50); - rejectBtn = new QPushButton("Cancel"); + rejectBtn = new QPushButton(tr("Cancel")); blayout->addWidget(rejectBtn); QObject::connect(rejectBtn, &QPushButton::clicked, QCoreApplication::instance(), &QCoreApplication::quit); - rebootBtn = new QPushButton("Reboot"); + rebootBtn = new QPushButton(tr("Reboot")); blayout->addWidget(rebootBtn); #ifdef __aarch64__ QObject::connect(rebootBtn, &QPushButton::clicked, [=]{ @@ -77,7 +77,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { }); #endif - confirmBtn = new QPushButton("Confirm"); + confirmBtn = new QPushButton(tr("Confirm")); confirmBtn->setStyleSheet("background-color: #465BEA;"); blayout->addWidget(confirmBtn); QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm); @@ -85,7 +85,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) { rejectBtn->setVisible(!recover); rebootBtn->setVisible(recover); if (recover) { - body->setText("Unable to mount data partition. Press confirm to reset your device."); + body->setText(tr("Unable to mount data partition. Press confirm to reset your device.")); } setStyleSheet(R"( diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc index 10a2d05f34..69dafcf741 100644 --- a/selfdrive/ui/qt/setup/setup.cc +++ b/selfdrive/ui/qt/setup/setup.cc @@ -70,13 +70,13 @@ QWidget * Setup::low_voltage() { inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft); inner_layout->addSpacing(80); - QLabel *title = new QLabel("WARNING: Low Voltage"); + QLabel *title = new QLabel(tr("WARNING: Low Voltage")); title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;"); inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); inner_layout->addSpacing(25); - QLabel *body = new QLabel("Power your device in a car with a harness or proceed at your own risk."); + QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk.")); body->setWordWrap(true); body->setAlignment(Qt::AlignTop | Qt::AlignLeft); body->setStyleSheet("font-size: 80px; font-weight: 300;"); @@ -89,14 +89,14 @@ QWidget * Setup::low_voltage() { blayout->setSpacing(50); main_layout->addLayout(blayout, 0); - QPushButton *poweroff = new QPushButton("Power off"); + QPushButton *poweroff = new QPushButton(tr("Power off")); poweroff->setObjectName("navBtn"); blayout->addWidget(poweroff); QObject::connect(poweroff, &QPushButton::clicked, this, [=]() { Hardware::poweroff(); }); - QPushButton *cont = new QPushButton("Continue"); + QPushButton *cont = new QPushButton(tr("Continue")); cont->setObjectName("navBtn"); blayout->addWidget(cont); QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage); @@ -114,12 +114,12 @@ QWidget * Setup::getting_started() { vlayout->setContentsMargins(165, 280, 100, 0); main_layout->addLayout(vlayout); - QLabel *title = new QLabel("Getting Started"); + QLabel *title = new QLabel(tr("Getting Started")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); vlayout->addSpacing(90); - QLabel *desc = new QLabel("Before we get on the road, let’s finish installation and cover some details."); + QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details.")); desc->setWordWrap(true); desc->setStyleSheet("font-size: 80px; font-weight: 300;"); vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft); @@ -144,7 +144,7 @@ QWidget * Setup::network_setup() { main_layout->setContentsMargins(55, 50, 55, 50); // title - QLabel *title = new QLabel("Connect to Wi-Fi"); + QLabel *title = new QLabel(tr("Connect to Wi-Fi")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); @@ -162,7 +162,7 @@ QWidget * Setup::network_setup() { main_layout->addLayout(blayout); blayout->setSpacing(50); - QPushButton *back = new QPushButton("Back"); + QPushButton *back = new QPushButton(tr("Back")); back->setObjectName("navBtn"); QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); blayout->addWidget(back); @@ -179,9 +179,9 @@ QWidget * Setup::network_setup() { cont->setEnabled(success); if (success) { const bool cell = networking->wifi->currentNetworkType() == NetworkType::CELL; - cont->setText(cell ? "Continue without Wi-Fi" : "Continue"); + cont->setText(cell ? tr("Continue without Wi-Fi") : tr("Continue")); } else { - cont->setText("Waiting for internet"); + cont->setText(tr("Waiting for internet")); } repaint(); }); @@ -235,7 +235,7 @@ QWidget * Setup::software_selection() { main_layout->setSpacing(0); // title - QLabel *title = new QLabel("Choose Software to Install"); + QLabel *title = new QLabel(tr("Choose Software to Install")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop); @@ -245,12 +245,12 @@ QWidget * Setup::software_selection() { QButtonGroup *group = new QButtonGroup(widget); group->setExclusive(true); - QWidget *dashcam = radio_button("Dashcam", group); + QWidget *dashcam = radio_button(tr("Dashcam"), group); main_layout->addWidget(dashcam); main_layout->addSpacing(30); - QWidget *custom = radio_button("Custom Software", group); + QWidget *custom = radio_button(tr("Custom Software"), group); main_layout->addWidget(custom); main_layout->addStretch(); @@ -260,12 +260,12 @@ QWidget * Setup::software_selection() { main_layout->addLayout(blayout); blayout->setSpacing(50); - QPushButton *back = new QPushButton("Back"); + QPushButton *back = new QPushButton(tr("Back")); back->setObjectName("navBtn"); QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage); blayout->addWidget(back); - QPushButton *cont = new QPushButton("Continue"); + QPushButton *cont = new QPushButton(tr("Continue")); cont->setObjectName("navBtn"); cont->setEnabled(false); cont->setProperty("primary", true); @@ -278,7 +278,7 @@ QWidget * Setup::software_selection() { }); QString url = DASHCAM_URL; if (group->checkedButton() != dashcam) { - url = InputDialog::getText("Enter URL", this, "for Custom Software"); + url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software")); } if (!url.isEmpty()) { QTimer::singleShot(1000, this, [=]() { @@ -300,7 +300,7 @@ QWidget * Setup::software_selection() { QWidget * Setup::downloading() { QWidget *widget = new QWidget(); QVBoxLayout *main_layout = new QVBoxLayout(widget); - QLabel *txt = new QLabel("Downloading..."); + QLabel *txt = new QLabel(tr("Downloading...")); txt->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(txt, 0, Qt::AlignCenter); return widget; @@ -312,13 +312,13 @@ QWidget * Setup::download_failed() { main_layout->setContentsMargins(55, 225, 55, 55); main_layout->setSpacing(0); - QLabel *title = new QLabel("Download Failed"); + QLabel *title = new QLabel(tr("Download Failed")); title->setStyleSheet("font-size: 90px; font-weight: 500;"); main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft); main_layout->addSpacing(67); - QLabel *body = new QLabel("Ensure the entered URL is valid, and the device’s internet connection is good."); + QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good.")); body->setWordWrap(true); body->setAlignment(Qt::AlignTop | Qt::AlignLeft); body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;"); @@ -331,14 +331,14 @@ QWidget * Setup::download_failed() { blayout->setSpacing(50); main_layout->addLayout(blayout, 0); - QPushButton *reboot = new QPushButton("Reboot device"); + QPushButton *reboot = new QPushButton(tr("Reboot device")); reboot->setObjectName("navBtn"); blayout->addWidget(reboot); QObject::connect(reboot, &QPushButton::clicked, this, [=]() { Hardware::reboot(); }); - QPushButton *restart = new QPushButton("Start over"); + QPushButton *restart = new QPushButton(tr("Start over")); restart->setObjectName("navBtn"); restart->setProperty("primary", true); blayout->addWidget(restart); diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc index 6e8189f4ba..fd7148c534 100644 --- a/selfdrive/ui/qt/setup/updater.cc +++ b/selfdrive/ui/qt/setup/updater.cc @@ -20,13 +20,13 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid QVBoxLayout *layout = new QVBoxLayout(prompt); layout->setContentsMargins(100, 250, 100, 100); - QLabel *title = new QLabel("Update Required"); + QLabel *title = new QLabel(tr("Update Required")); title->setStyleSheet("font-size: 80px; font-weight: bold;"); layout->addWidget(title); layout->addSpacing(75); - QLabel *desc = new QLabel("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB."); + QLabel *desc = new QLabel(tr("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.")); desc->setWordWrap(true); desc->setStyleSheet("font-size: 65px;"); layout->addWidget(desc); @@ -37,14 +37,14 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid hlayout->setSpacing(30); layout->addLayout(hlayout); - QPushButton *connect = new QPushButton("Connect to Wi-Fi"); + QPushButton *connect = new QPushButton(tr("Connect to Wi-Fi")); connect->setObjectName("navBtn"); QObject::connect(connect, &QPushButton::clicked, [=]() { setCurrentWidget(wifi); }); hlayout->addWidget(connect); - QPushButton *install = new QPushButton("Install"); + QPushButton *install = new QPushButton(tr("Install")); install->setObjectName("navBtn"); install->setStyleSheet("background-color: #465BEA;"); QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate); @@ -61,7 +61,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }"); layout->addWidget(networking, 1); - QPushButton *back = new QPushButton("Back"); + QPushButton *back = new QPushButton(tr("Back")); back->setObjectName("navBtn"); back->setStyleSheet("padding-left: 60px; padding-right: 60px;"); QObject::connect(back, &QPushButton::clicked, [=]() { @@ -77,7 +77,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid layout->setContentsMargins(150, 330, 150, 150); layout->setSpacing(0); - text = new QLabel("Loading..."); + text = new QLabel(tr("Loading...")); text->setStyleSheet("font-size: 90px; font-weight: 600;"); layout->addWidget(text, 0, Qt::AlignTop); @@ -91,7 +91,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid layout->addStretch(); - reboot = new QPushButton("Reboot"); + reboot = new QPushButton(tr("Reboot")); reboot->setObjectName("navBtn"); reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;"); QObject::connect(reboot, &QPushButton::clicked, [=]() { @@ -161,7 +161,7 @@ void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) { if (exitCode == 0) { Hardware::reboot(); } else { - text->setText("Update failed"); + text->setText(tr("Update failed")); reboot->show(); } } diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc index 00e72b352c..accab67bf0 100644 --- a/selfdrive/ui/qt/sidebar.cc +++ b/selfdrive/ui/qt/sidebar.cc @@ -64,26 +64,26 @@ void Sidebar::updateState(const UIState &s) { ItemStatus connectStatus; auto last_ping = deviceState.getLastAthenaPingTime(); if (last_ping == 0) { - connectStatus = ItemStatus{{"CONNECT", "OFFLINE"}, warning_color}; + connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color}; } else { - connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{"CONNECT", "ONLINE"}, good_color} : ItemStatus{{"CONNECT", "ERROR"}, danger_color}; + connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color}; } setProperty("connectStatus", QVariant::fromValue(connectStatus)); - ItemStatus tempStatus = {{"TEMP", "HIGH"}, danger_color}; + ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color}; auto ts = deviceState.getThermalStatus(); if (ts == cereal::DeviceState::ThermalStatus::GREEN) { - tempStatus = {{"TEMP", "GOOD"}, good_color}; + tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color}; } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) { - tempStatus = {{"TEMP", "OK"}, warning_color}; + tempStatus = {{tr("TEMP"), tr("OK")}, warning_color}; } setProperty("tempStatus", QVariant::fromValue(tempStatus)); - ItemStatus pandaStatus = {{"VEHICLE", "ONLINE"}, good_color}; + ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color}; if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) { - pandaStatus = {{"NO", "PANDA"}, danger_color}; + pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color}; } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) { - pandaStatus = {{"GPS", "SEARCH"}, warning_color}; + pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color}; } setProperty("pandaStatus", QVariant::fromValue(pandaStatus)); } diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc index ac8e7bcd18..21ec5eedcf 100644 --- a/selfdrive/ui/qt/text.cc +++ b/selfdrive/ui/qt/text.cc @@ -33,12 +33,12 @@ int main(int argc, char *argv[]) { QPushButton *btn = new QPushButton(); #ifdef __aarch64__ - btn->setText("Reboot"); + btn->setText(QObject::tr("Reboot")); QObject::connect(btn, &QPushButton::clicked, [=]() { Hardware::reboot(); }); #else - btn->setText("Exit"); + btn->setText(QObject::tr("Exit")); QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit); #endif main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom); diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc index 366aa76f49..f82d9bf496 100644 --- a/selfdrive/ui/qt/util.cc +++ b/selfdrive/ui/qt/util.cc @@ -15,7 +15,7 @@ QString getVersion() { } QString getBrand() { - return Params().getBool("Passive") ? "dashcam" : "openpilot"; + return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot"); } QString getBrandVersion() { @@ -63,13 +63,13 @@ QString timeAgo(const QDateTime &date) { s = "now"; } else if (diff < 60 * 60) { int minutes = diff / 60; - s = QString("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : ""); + s = QString(QObject::tr("%1 minute%2 ago")).arg(minutes).arg(minutes > 1 ? "s" : ""); } else if (diff < 60 * 60 * 24) { int hours = diff / (60 * 60); - s = QString("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : ""); + s = QString(QObject::tr("%1 hour%2 ago")).arg(hours).arg(hours > 1 ? "s" : ""); } else if (diff < 3600 * 24 * 7) { int days = diff / (60 * 60 * 24); - s = QString("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : ""); + s = QString(QObject::tr("%1 day%2 ago")).arg(days).arg(days > 1 ? "s" : ""); } else { s = date.date().toString(); } diff --git a/selfdrive/ui/qt/widgets/drive_stats.cc b/selfdrive/ui/qt/widgets/drive_stats.cc index 61d47db1c3..31009f03ca 100644 --- a/selfdrive/ui/qt/widgets/drive_stats.cc +++ b/selfdrive/ui/qt/widgets/drive_stats.cc @@ -34,16 +34,16 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) { grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft); grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft); - grid_layout->addWidget(newLabel("Drives", "unit"), row + 1, 0, Qt::AlignLeft); + grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft); grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft); - grid_layout->addWidget(newLabel("Hours ", "unit"), row + 1, 2, Qt::AlignLeft); + grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft); main_layout->addLayout(grid_layout); }; - add_stats_layouts("ALL TIME", all_); + add_stats_layouts(tr("ALL TIME"), all_); main_layout->addStretch(); - add_stats_layouts("PAST WEEK", week_); + add_stats_layouts(tr("PAST WEEK"), week_); if (auto dongleId = getDongleId()) { QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats"; diff --git a/selfdrive/ui/qt/widgets/drive_stats.h b/selfdrive/ui/qt/widgets/drive_stats.h index 9446294516..5e2d96b240 100644 --- a/selfdrive/ui/qt/widgets/drive_stats.h +++ b/selfdrive/ui/qt/widgets/drive_stats.h @@ -12,7 +12,7 @@ public: private: void showEvent(QShowEvent *event) override; void updateStats(); - inline QString getDistanceUnit() const { return metric_ ? "KM" : "Miles"; } + inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); } bool metric_; QJsonDocument stats_; diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc index 8a5d492804..755ccfe8c5 100644 --- a/selfdrive/ui/qt/widgets/input.cc +++ b/selfdrive/ui/qt/widgets/input.cc @@ -67,7 +67,7 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s vlayout->addWidget(sublabel, 1, Qt::AlignTop | Qt::AlignLeft); } - QPushButton* cancel_btn = new QPushButton("Cancel"); + QPushButton* cancel_btn = new QPushButton(tr("Cancel")); cancel_btn->setFixedSize(386, 125); cancel_btn->setStyleSheet(R"( font-size: 48px; @@ -164,7 +164,7 @@ void InputDialog::handleEnter() { done(QDialog::Accepted); emitText(line->text()); } else { - setMessage("Need at least "+QString::number(minLength)+" characters!", false); + setMessage(tr("Need at least ") + QString::number(minLength) + tr(" characters!"), false); } } @@ -217,12 +217,12 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString } bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "", parent); + ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", parent); return d.exec(); } bool ConfirmationDialog::confirm(const QString &prompt_text, QWidget *parent) { - ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "Cancel", parent); + ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), tr("Cancel"), parent); return d.exec(); } @@ -254,6 +254,6 @@ RichTextDialog::RichTextDialog(const QString &prompt_text, const QString &btn_te } bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) { - auto d = RichTextDialog(prompt_text, "Ok", parent); + auto d = RichTextDialog(prompt_text, tr("Ok"), parent); return d.exec(); } diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc index 433193df5d..937ea02f86 100644 --- a/selfdrive/ui/qt/widgets/offroad_alerts.cc +++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc @@ -22,12 +22,12 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent QHBoxLayout *footer_layout = new QHBoxLayout(); main_layout->addLayout(footer_layout); - QPushButton *dismiss_btn = new QPushButton("Close"); + QPushButton *dismiss_btn = new QPushButton(tr("Close")); dismiss_btn->setFixedSize(400, 125); footer_layout->addWidget(dismiss_btn, 0, Qt::AlignBottom | Qt::AlignLeft); QObject::connect(dismiss_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss); - snooze_btn = new QPushButton("Snooze Update"); + snooze_btn = new QPushButton(tr("Snooze Update")); snooze_btn->setVisible(false); snooze_btn->setFixedSize(550, 125); footer_layout->addWidget(snooze_btn, 0, Qt::AlignBottom | Qt::AlignRight); @@ -38,7 +38,7 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent snooze_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)"); if (hasRebootBtn) { - QPushButton *rebootBtn = new QPushButton("Reboot and Update"); + QPushButton *rebootBtn = new QPushButton(tr("Reboot and Update")); rebootBtn->setFixedSize(600, 125); footer_layout->addWidget(rebootBtn, 0, Qt::AlignBottom | Qt::AlignRight); QObject::connect(rebootBtn, &QPushButton::clicked, [=]() { Hardware::reboot(); }); diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 8a208bf3cf..d2529821f4 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -83,18 +83,18 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) { vlayout->addSpacing(30); - QLabel *title = new QLabel("Pair your device to your comma account", this); + QLabel *title = new QLabel(tr("Pair your device to your comma account"), this); title->setStyleSheet("font-size: 75px; color: black;"); title->setWordWrap(true); vlayout->addWidget(title); - QLabel *instructions = new QLabel(R"( + QLabel *instructions = new QLabel(tr(R"(
  1. Go to https://connect.comma.ai on your phone
  2. Click "add new device" and scan the QR code on the right
  3. Bookmark connect.comma.ai to your home screen to use it like an app
- )", this); + )"), this); instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;"); instructions->setWordWrap(true); vlayout->addWidget(instructions); @@ -120,19 +120,19 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) { primeLayout->setMargin(0); primeWidget->setContentsMargins(60, 50, 60, 50); - QLabel* subscribed = new QLabel("✓ SUBSCRIBED"); + QLabel* subscribed = new QLabel(tr("✓ SUBSCRIBED")); subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;"); primeLayout->addWidget(subscribed, 0, Qt::AlignTop); primeLayout->addSpacing(60); - QLabel* commaPrime = new QLabel("comma prime"); + QLabel* commaPrime = new QLabel(tr("comma prime")); commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;"); primeLayout->addWidget(commaPrime, 0, Qt::AlignTop); primeLayout->addSpacing(20); - QLabel* connectUrl = new QLabel("CONNECT.COMMA.AI"); + QLabel* connectUrl = new QLabel(tr("CONNECT.COMMA.AI")); connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;"); primeLayout->addWidget(connectUrl, 0, Qt::AlignTop); @@ -145,7 +145,7 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) { pointsLayout->setMargin(0); pointsWidget->setContentsMargins(60, 50, 60, 50); - QLabel* commaPoints = new QLabel("COMMA POINTS"); + QLabel* commaPoints = new QLabel(tr("COMMA POINTS")); commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;"); pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop); @@ -181,24 +181,24 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { main_layout->setContentsMargins(80, 90, 80, 60); main_layout->setSpacing(0); - QLabel *upgrade = new QLabel("Upgrade Now"); + QLabel *upgrade = new QLabel(tr("Upgrade Now")); upgrade->setStyleSheet("font-size: 75px; font-weight: bold;"); main_layout->addWidget(upgrade, 0, Qt::AlignTop); main_layout->addSpacing(50); - QLabel *description = new QLabel("Become a comma prime member at connect.comma.ai"); + QLabel *description = new QLabel(tr("Become a comma prime member at connect.comma.ai")); description->setStyleSheet("font-size: 60px; font-weight: light; color: white;"); description->setWordWrap(true); main_layout->addWidget(description, 0, Qt::AlignTop); main_layout->addStretch(); - QLabel *features = new QLabel("PRIME FEATURES:"); + QLabel *features = new QLabel(tr("PRIME FEATURES:")); features->setStyleSheet("font-size: 41px; font-weight: bold; color: #E5E5E5;"); main_layout->addWidget(features, 0, Qt::AlignBottom); main_layout->addSpacing(30); - QVector bullets = {"Remote access", "1 year of storage", "Developer perks"}; + QVector bullets = {tr("Remote access"), tr("1 year of storage"), tr("Developer perks")}; for (auto &b: bullets) { const QString check = "✓ "; QLabel *l = new QLabel(check + b); @@ -227,20 +227,20 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { finishRegistationLayout->setContentsMargins(30, 75, 30, 45); finishRegistationLayout->setSpacing(0); - QLabel* registrationTitle = new QLabel("Finish Setup"); + QLabel* registrationTitle = new QLabel(tr("Finish Setup")); registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;"); finishRegistationLayout->addWidget(registrationTitle); finishRegistationLayout->addSpacing(30); - QLabel* registrationDescription = new QLabel("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."); + QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); registrationDescription->setWordWrap(true); registrationDescription->setStyleSheet("font-size: 55px; font-weight: light; margin-left: 55px;"); finishRegistationLayout->addWidget(registrationDescription); finishRegistationLayout->addStretch(); - QPushButton* pair = new QPushButton("Pair device"); + QPushButton* pair = new QPushButton(tr("Pair device")); pair->setFixedHeight(220); pair->setStyleSheet(R"( QPushButton { diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc index 46ccf6aee3..1f48c72735 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.cc +++ b/selfdrive/ui/qt/widgets/ssh_keys.cc @@ -4,16 +4,16 @@ #include "selfdrive/ui/qt/api.h" #include "selfdrive/ui/qt/widgets/input.h" -SshControl::SshControl() : ButtonControl("SSH Keys", "", "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.") { +SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.")) { username_label.setAlignment(Qt::AlignRight | Qt::AlignVCenter); username_label.setStyleSheet("color: #aaaaaa"); hlayout->insertWidget(1, &username_label); QObject::connect(this, &ButtonControl::clicked, [=]() { - if (text() == "ADD") { - QString username = InputDialog::getText("Enter your GitHub username", this); + if (text() == tr("ADD")) { + QString username = InputDialog::getText(tr("Enter your GitHub username"), this); if (username.length() > 0) { - setText("LOADING"); + setText(tr("LOADING")); setEnabled(false); getUserKeys(username); } @@ -31,10 +31,10 @@ void SshControl::refresh() { QString param = QString::fromStdString(params.get("GithubSshKeys")); if (param.length()) { username_label.setText(QString::fromStdString(params.get("GithubUsername"))); - setText("REMOVE"); + setText(tr("REMOVE")); } else { username_label.setText(""); - setText("ADD"); + setText(tr("ADD")); } setEnabled(true); } @@ -47,13 +47,13 @@ void SshControl::getUserKeys(const QString &username) { params.put("GithubUsername", username.toStdString()); params.put("GithubSshKeys", resp.toStdString()); } else { - ConfirmationDialog::alert(QString("Username '%1' has no keys on GitHub").arg(username), this); + ConfirmationDialog::alert(QString(tr("Username '%1' has no keys on GitHub")).arg(username), this); } } else { if (request->timeout()) { - ConfirmationDialog::alert("Request timed out", this); + ConfirmationDialog::alert(tr("Request timed out"), this); } else { - ConfirmationDialog::alert(QString("Username '%1' doesn't exist on GitHub").arg(username), this); + ConfirmationDialog::alert(QString(tr("Username '%1' doesn't exist on GitHub")).arg(username), this); } } diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h index 596d1d83b9..01e2ab83ce 100644 --- a/selfdrive/ui/qt/widgets/ssh_keys.h +++ b/selfdrive/ui/qt/widgets/ssh_keys.h @@ -10,7 +10,7 @@ class SshToggle : public ToggleControl { Q_OBJECT public: - SshToggle() : ToggleControl("Enable SSH", "", "", Hardware::get_ssh_enabled()) { + SshToggle() : ToggleControl(tr("Enable SSH"), "", "", Hardware::get_ssh_enabled()) { QObject::connect(this, &SshToggle::toggleFlipped, [=](bool state) { Hardware::set_ssh_enabled(state); }); diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index 7765bab17d..26335744f3 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -1,3 +1,4 @@ test playsound test_sound +test_translations diff --git a/selfdrive/ui/tests/create_test_translations.sh b/selfdrive/ui/tests/create_test_translations.sh new file mode 100755 index 0000000000..451a3cbfb0 --- /dev/null +++ b/selfdrive/ui/tests/create_test_translations.sh @@ -0,0 +1,18 @@ +#!/bin/bash + +set -e + +UI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"/.. +TEST_TEXT="(WRAPPED_SOURCE_TEXT)" +TEST_TS_FILE=$UI_DIR/translations/main_test_en.ts +TEST_QM_FILE=$UI_DIR/translations/main_test_en.qm + +# translation strings +UNFINISHED="<\/translation>" +TRANSLATED="$TEST_TEXT<\/translation>" + +mkdir -p $UI_DIR/translations +rm -f $TEST_TS_FILE $TEST_QM_FILE +lupdate -recursive "$UI_DIR" -ts $TEST_TS_FILE +sed -i "s/$UNFINISHED/$TRANSLATED/" $TEST_TS_FILE +lrelease $TEST_TS_FILE diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc index b20ac86c64..ac63139d17 100644 --- a/selfdrive/ui/tests/test_runner.cc +++ b/selfdrive/ui/tests/test_runner.cc @@ -1,10 +1,25 @@ #define CATCH_CONFIG_RUNNER #include "catch2/catch.hpp" -#include + +#include +#include +#include +#include int main(int argc, char **argv) { // unit tests for Qt - QCoreApplication app(argc, argv); + QApplication app(argc, argv); + + QString language_file = "main_test_en"; + qDebug() << "Loading language:" << language_file; + + QTranslator translator; + QString translationsPath = QDir::cleanPath(qApp->applicationDirPath() + "/../translations"); + if (!translator.load(language_file, translationsPath)) { + qDebug() << "Failed to load translation file!"; + } + app.installTranslator(&translator); + const int res = Catch::Session().run(argc, argv); return (res < 0xff ? res : 0xff); } diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc new file mode 100644 index 0000000000..fecb9da44a --- /dev/null +++ b/selfdrive/ui/tests/test_translations.cc @@ -0,0 +1,51 @@ +#include "catch2/catch.hpp" + +#include "common/params.h" +#include "selfdrive/ui/qt/window.h" + +const QString TEST_TEXT = "(WRAPPED_SOURCE_TEXT)"; // what each string should be translated to +QRegExp RE_NUM("\\d*"); + +QStringList getParentWidgets(QWidget* widget){ + QStringList parentWidgets; + while (widget->parentWidget() != Q_NULLPTR) { + widget = widget->parentWidget(); + parentWidgets.append(widget->metaObject()->className()); + } + return parentWidgets; +} + +template +void checkWidgetTrWrap(MainWindow &w) { + int i = 0; + for (auto widget : w.findChildren()) { + const QString text = widget->text(); + SECTION(text.toStdString() + "-" + std::to_string(i)) { + bool isNumber = RE_NUM.exactMatch(text); + bool wrapped = text.contains(TEST_TEXT); + QString parentWidgets = getParentWidgets(widget).join("->"); + + if (!text.isEmpty() && !isNumber && !wrapped) { + FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString()); + } + + // warn if source string wrapped, but UI adds text + // TODO: add way to ignore this + if (wrapped && text != TEST_TEXT) { + WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString()); + } + } + i++; + } +} + +// Tests all strings in the UI are wrapped with tr() +TEST_CASE("UI: test all strings wrapped") { + Params().remove("HardwareSerial"); + Params().remove("DongleId"); + qputenv("TICI", "1"); + + MainWindow w; + checkWidgetTrWrap(w); + checkWidgetTrWrap(w); +} diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 60d41a4771..5bc3630766 100755 --- a/tools/ubuntu_setup.sh +++ b/tools/ubuntu_setup.sh @@ -59,6 +59,7 @@ function install_ubuntu_common_requirements() { qtmultimedia5-dev \ qtlocation5-dev \ qtpositioning5-dev \ + qttools5-dev-tools \ libqt5sql5-sqlite \ libqt5svg5-dev \ libqt5x11extras5-dev \