Merge remote-tracking branch 'upstream/master' into random-test-segs

Jenkinsfile

@@ -234,9 +234,8 @@ node {
       'car tests': {
         pcStage("car tests") {
           sh label: "build", script: "selfdrive/manager/build.py"
-          sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
+          sh label: "run car tests", script: "cd selfdrive/car/tests && MAX_EXAMPLES=100 INTERNAL_SEG_CNT=250 FILEREADER_CACHE=1 \
-              pytest selfdrive/car/tests/test_models.py"
+              INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt pytest test_models.py test_car_interfaces.py"
-          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest selfdrive/car/tests/test_car_interfaces.py"
         }
       },
 

cereal

@@ -1 +1 @@
-Subproject commit 4fb8352484c4ef074bee775975c0d1d1e8f57a78
+Subproject commit a3a6e4969e58875f7cdfc9e6cc6b1af3ee2392b5

selfdrive/athena/athenad.py

@@ -41,9 +41,6 @@ from openpilot.system.version import get_commit, get_origin, get_short_branch, g
 from openpilot.system.hardware.hw import Paths
 
 
-# TODO: use socket constant when mypy recognizes this as a valid attribute
-TCP_USER_TIMEOUT = 18
-
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
 LOCAL_PORT_WHITELIST = {8022}
@@ -760,7 +757,7 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
     if onroad != onroad_prev:
       onroad_prev = onroad
 
-      sock.setsockopt(socket.IPPROTO_TCP, TCP_USER_TIMEOUT, 16000 if onroad else 0)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
       sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
       sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
       sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)

selfdrive/athena/tests/test_athenad_ping.py

@@ -3,8 +3,8 @@ import subprocess
 import threading
 import time
 import unittest
-from typing import Callable, cast, Optional
+from typing import cast, Optional
-from unittest.mock import MagicMock
+from unittest import mock
 
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
@@ -27,8 +27,6 @@ class TestAthenadPing(unittest.TestCase):
   athenad: threading.Thread
   exit_event: threading.Event
 
-  _create_connection: Callable
-
   def _get_ping_time(self) -> Optional[str]:
     return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8"))
 
@@ -38,15 +36,9 @@ class TestAthenadPing(unittest.TestCase):
   def _received_ping(self) -> bool:
     return self._get_ping_time() is not None
 
-  @classmethod
-  def setUpClass(cls) -> None:
-    cls._create_connection = athenad.create_connection
-    athenad.create_connection = MagicMock(wraps=cls._create_connection)
-
   @classmethod
   def tearDownClass(cls) -> None:
     wifi_radio(True)
-    athenad.create_connection = cls._create_connection
 
   def setUp(self) -> None:
     self.params = Params()
@@ -58,19 +50,18 @@ class TestAthenadPing(unittest.TestCase):
     self.exit_event = threading.Event()
     self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,))
 
-    athenad.create_connection.reset_mock()
-
   def tearDown(self) -> None:
     if self.athenad.is_alive():
       self.exit_event.set()
       self.athenad.join()
 
-  def assertTimeout(self, reconnect_time: float) -> None:
+  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', autospec=True)
+  def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None:
     self.athenad.start()
 
     time.sleep(1)
-    athenad.create_connection.assert_called_once()
+    mock_create_connection.assert_called_once()
-    athenad.create_connection.reset_mock()
+    mock_create_connection.reset_mock()
 
     # check normal behaviour
     with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
@@ -78,7 +69,7 @@ class TestAthenadPing(unittest.TestCase):
         time.sleep(0.1)
       print("ping received")
 
-    athenad.create_connection.assert_not_called()
+    mock_create_connection.assert_not_called()
 
     # websocket should attempt reconnect after short time
     with self.subTest("LTE: attempt reconnect"):
@@ -86,7 +77,7 @@ class TestAthenadPing(unittest.TestCase):
       print("waiting for reconnect attempt")
       start_time = time.monotonic()
       with Timeout(reconnect_time, "no reconnect attempt"):
-        while not athenad.create_connection.called:
+        while not mock_create_connection.called:
           time.sleep(0.1)
         print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s")
 

selfdrive/ui/soundd.py

@@ -10,9 +10,9 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.filter_simple import FirstOrderFilter
 
 from openpilot.system import micd
+from openpilot.system.hardware import TICI
 
 from openpilot.common.realtime import Ratekeeper
-from openpilot.system.hardware import PC
 from openpilot.common.swaglog import cloudlog
 
 SAMPLE_RATE = 48000
@@ -130,16 +130,13 @@ class Soundd:
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    rk = Ratekeeper(20)
+    if TICI:
+      micd.wait_for_devices(sd) # wait for alsa to be initialized on device
 
-    sm = messaging.SubMaster(['controlsState', 'microphone'])
+    with sd.OutputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream:
+      rk = Ratekeeper(20)
+      sm = messaging.SubMaster(['controlsState', 'microphone'])
 
-    if PC:
-      device = None
-    else:
-      device = "sdm845-tavil-snd-card: - (hw:0,0)"
-
-    with sd.OutputStream(device=device, channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream:
       cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}")
       while True:
         sm.update(0)

system/camerad/cameras/camera_common.cc

@@ -36,7 +36,7 @@ public:
              "-DIS_OX=%d -DCAM_NUM=%d%s",
              ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
              b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset,
-             s->camera_id==CAMERA_ID_OX03C10 ? 1 : 0, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
+             ci->image_sensor == cereal::FrameData::ImageSensor::OX03C10, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
     const char *cl_file = "cameras/real_debayer.cl";
     cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
@@ -154,12 +154,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   const float ev = c->cur_ev[frame_data.frame_id % 3];
   const float perc = util::map_val(ev, c->ci->min_ev, c->ci->max_ev, 0.0f, 100.0f);
   framed.setExposureValPercent(perc);
-
+  framed.setSensor(c->ci->image_sensor);
-  if (c->camera_id == CAMERA_ID_AR0231) {
-    framed.setSensor(cereal::FrameData::ImageSensor::AR0231);
-  } else if (c->camera_id == CAMERA_ID_OX03C10) {
-    framed.setSensor(cereal::FrameData::ImageSensor::OX03C10);
-  }
 }
 
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {

system/camerad/cameras/camera_common.h

@@ -14,9 +14,6 @@
 #include "common/swaglog.h"
 #include "system/hardware/hw.h"
 
-#define CAMERA_ID_AR0231 0
-#define CAMERA_ID_OX03C10 1
-
 const int YUV_BUFFER_COUNT = 20;
 
 enum CameraType {

system/camerad/cameras/camera_qcom2.cc

@@ -106,8 +106,6 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
 }
 
 int CameraState::sensors_init() {
-  create_sensor();
-
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
   auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
@@ -403,15 +401,7 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
 
 // ******************* camera *******************
 
-void CameraState::create_sensor() {
+void CameraState::sensor_set_parameters() {
-  if (camera_id == CAMERA_ID_AR0231) {
-    ci = std::make_unique<AR0231>();
-  } else if (camera_id == CAMERA_ID_OX03C10) {
-    ci = std::make_unique<OX03C10>();
-  } else {
-    assert(false);
-  }
-
   target_grey_fraction = 0.3;
 
   dc_gain_enabled = false;
@@ -436,9 +426,8 @@ void CameraState::camera_map_bufs(MultiCameraState *s) {
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, int camera_id_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) {
+void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type) {
   if (!enabled) return;
-  camera_id = camera_id_;
 
   LOGD("camera init %d", camera_num);
   request_id_last = 0;
@@ -462,22 +451,25 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   // init memorymanager for this camera
   mm.init(multi_cam_state->video0_fd);
 
-  // probe the sensor
   LOGD("-- Probing sensor %d", camera_num);
-  camera_id = CAMERA_ID_AR0231;
+
-  ret = sensors_init();
+  auto init_sensor_lambda = [this](SensorInfo *sensor) {
-  if (ret != 0) {
+    ci.reset(sensor);
-    // TODO: use build flag instead?
+    int ret = sensors_init();
-    LOGD("AR0231 init failed, trying OX03C10");
+    if (ret == 0) {
-    camera_id = CAMERA_ID_OX03C10;
+      sensor_set_parameters();
-    ret = sensors_init();
+    }
-  }
+    return ret == 0;
-  LOGD("-- Probing sensor %d done with %d", camera_num, ret);
+  };
-  if (ret != 0) {
+
+  // Try different sensors one by one until it success.
+  if (!init_sensor_lambda(new AR0231) &&
+      !init_sensor_lambda(new OX03C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", camera_num);
     enabled = false;
     return;
   }
+  LOGD("-- Probing sensor %d success", camera_num);
 
   // create session
   struct cam_req_mgr_session_info session_info = {};
@@ -626,9 +618,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, s->driver_cam.camera_id, 20, device_id, ctx, VISION_STREAM_DRIVER);
+  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER);
-  s->road_cam.camera_init(s, v, s->road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_ROAD);
+  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD);
-  s->wide_road_cam.camera_init(s, v, s->wide_road_cam.camera_id, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD);
+  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }

system/camerad/cameras/camera_qcom2.h

@@ -48,9 +48,9 @@ public:
   void sensors_start();
 
   void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
-  void create_sensor();
+  void sensor_set_parameters();
   void camera_map_bufs(MultiCameraState *s);
-  void camera_init(MultiCameraState *s, VisionIpcServer *v, int camera_id, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
+  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type);
   void camera_close();
 
   int32_t session_handle;
@@ -68,7 +68,6 @@ public:
   int frame_id_last;
   int idx_offset;
   bool skipped;
-  int camera_id;
 
   CameraBuf buf;
   MemoryManager mm;

system/camerad/sensors/ar0231.cc

@@ -77,6 +77,7 @@ float ar0231_parse_temp_sensor(uint16_t calib1, uint16_t calib2, uint16_t data_r
 }  // namespace
 
 AR0231::AR0231() {
+  image_sensor = cereal::FrameData::ImageSensor::AR0231;
   data_word = true;
   frame_width = FRAME_WIDTH;
   frame_height = FRAME_HEIGHT;

system/camerad/sensors/ox03c10.cc

@@ -22,6 +22,7 @@ const uint32_t VS_TIME_MAX_OX03C10 = 34;  // vs < 35
 }  // namespace
 
 OX03C10::OX03C10() {
+  image_sensor = cereal::FrameData::ImageSensor::OX03C10;
   data_word = false;
   frame_width = FRAME_WIDTH;
   frame_height = FRAME_HEIGHT;

system/camerad/sensors/sensor.h

@@ -23,6 +23,7 @@ public:
   virtual int getSlaveAddress(int port) const { assert(0); }
   virtual void processRegisters(CameraState *c, cereal::FrameData::Builder &framed) const {}
 
+  cereal::FrameData::ImageSensor image_sensor = cereal::FrameData::ImageSensor::UNKNOWN;
   uint32_t frame_width, frame_height;
   uint32_t frame_stride;
   uint32_t frame_offset = 0;

system/micd.py

@@ -3,7 +3,9 @@ import numpy as np
 
 from cereal import messaging
 from openpilot.common.realtime import Ratekeeper
+from openpilot.common.retry import retry
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import TICI
 
 RATE = 10
 FFT_SAMPLES = 4096
@@ -11,6 +13,18 @@ REFERENCE_SPL = 2e-5  # newtons/m^2
 SAMPLE_RATE = 44100
 
 
+@retry(attempts=7, delay=3)
+def wait_for_devices(sd):
+  # reload sounddevice to reinitialize portaudio
+  sd._terminate()
+  sd._initialize()
+
+  devices = sd.query_devices()
+  cloudlog.info(f"sounddevice available devices: {list(devices)}")
+
+  assert len(devices) > 0
+
+
 def calculate_spl(measurements):
   # https://www.engineeringtoolbox.com/sound-pressure-d_711.html
   sound_pressure = np.sqrt(np.mean(measurements ** 2))  # RMS of amplitudes
@@ -81,7 +95,10 @@ class Mic:
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream:
+    if TICI:
+      wait_for_devices(sd) # wait for alsa to be initialized on device
+
+    with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback)  as stream:
       cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}")
       while True:
         self.update()

teleoprtc_repo

@@ -1 +1 @@
-Subproject commit 8ec477868591eed9a6136a44f16428bc0468b4e9
+Subproject commit 4df237c512622d3914a73f4fc15a3fc89b7f5a97

tools/cabana/dbc/dbc.h

@@ -1,12 +1,10 @@
 #pragma once
 
 #include <limits>
-#include <string>
 #include <utility>
 #include <vector>
 
 #include <QColor>
-#include <QList>
 #include <QMetaType>
 #include <QString>
 
@@ -47,7 +45,7 @@ struct std::hash<MessageId> {
   std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); }
 };
 
-typedef QList<std::pair<double, QString>> ValueDescription;
+typedef std::vector<std::pair<double, QString>> ValueDescription;
 
 namespace cabana {
 

tools/cabana/dbc/dbcfile.cc

@@ -52,8 +52,7 @@ void DBCFile::cleanupAutoSaveFile() {
 bool DBCFile::writeContents(const QString &fn) {
   QFile file(fn);
   if (file.open(QIODevice::WriteOnly)) {
-    file.write(generateDBC().toUtf8());
+    return file.write(generateDBC().toUtf8()) >= 0;
-    return true;
   }
   return false;
 }
@@ -77,10 +76,6 @@ cabana::Msg *DBCFile::msg(const QString &name) {
   return it != msgs.end() ? &(it->second) : nullptr;
 }
 
-int DBCFile::signalCount() {
-  return std::accumulate(msgs.cbegin(), msgs.cend(), 0, [](int &n, const auto &m) { return n + m.second.sigs.size(); });
-}
-
 void DBCFile::parse(const QString &content) {
   static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
   static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
@@ -226,7 +221,7 @@ QString DBCFile::generateDBC() {
       if (!sig->comment.isEmpty()) {
         signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
       }
-      if (!sig->val_desc.isEmpty()) {
+      if (!sig->val_desc.empty()) {
         QStringList text;
         for (auto &[val, desc] : sig->val_desc) {
           text << QString("%1 \"%2\"").arg(val).arg(desc);

tools/cabana/dbc/dbcfile.h

@@ -27,10 +27,8 @@ public:
   cabana::Msg *msg(const QString &name);
   inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
 
-  int signalCount();
+  inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
-  inline int msgCount() { return msgs.size(); }
+  inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
-  inline QString name() { return name_.isEmpty() ? "untitled" : name_; }
-  inline bool isEmpty() { return (signalCount() == 0) && name_.isEmpty(); }
 
   QString filename;
 

tools/cabana/dbc/dbcmanager.cc

@@ -106,12 +106,6 @@ QString DBCManager::newSignalName(const MessageId &id) {
   return m ? m->newSignalName() : "";
 }
 
-const std::vector<uint8_t> &DBCManager::mask(const MessageId &id) {
-  static std::vector<uint8_t> empty_mask;
-  auto m = msg(id);
-  return m ? m->mask : empty_mask;
-}
-
 const std::map<uint32_t, cabana::Msg> &DBCManager::getMessages(uint8_t source) {
   static std::map<uint32_t, cabana::Msg> empty_msgs;
   auto dbc_file = findDBCFile(source);
@@ -143,25 +137,6 @@ QStringList DBCManager::signalNames() {
   return ret;
 }
 
-int DBCManager::signalCount(const MessageId &id) {
-  auto m = msg(id);
-  return m ? m->sigs.size() : 0;
-}
-
-int DBCManager::signalCount() {
-  auto files = allDBCFiles();
-  return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->signalCount(); });
-}
-
-int DBCManager::msgCount() {
-  auto files = allDBCFiles();
-  return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->msgCount(); });
-}
-
-int DBCManager::dbcCount() {
-  return allDBCFiles().size();
-}
-
 int DBCManager::nonEmptyDBCCount() {
   auto files = allDBCFiles();
   return std::count_if(files.cbegin(), files.cend(), [](auto &f) { return !f->isEmpty(); });

tools/cabana/dbc/dbcmanager.h

@@ -4,7 +4,6 @@
 #include <memory>
 #include <map>
 #include <set>
-#include <vector>
 
 #include "tools/cabana/dbc/dbcfile.h"
 
@@ -34,17 +33,13 @@ public:
 
   QString newMsgName(const MessageId &id);
   QString newSignalName(const MessageId &id);
-  const std::vector<uint8_t>& mask(const MessageId &id);
 
   const std::map<uint32_t, cabana::Msg> &getMessages(uint8_t source);
   cabana::Msg *msg(const MessageId &id);
   cabana::Msg* msg(uint8_t source, const QString &name);
 
   QStringList signalNames();
-  int signalCount(const MessageId &id);
+  inline int dbcCount() { return allDBCFiles().size(); }
-  int signalCount();
-  int msgCount();
-  int dbcCount();
   int nonEmptyDBCCount();
 
   const SourceSet sources(const DBCFile *dbc_file) const;

tools/cabana/mainwin.cc

@@ -46,7 +46,6 @@ MainWindow::MainWindow() : QMainWindow() {
   static auto static_main_win = this;
   qRegisterMetaType<uint64_t>("uint64_t");
   qRegisterMetaType<SourceSet>("SourceSet");
-  qRegisterMetaType<ReplyMsgType>("ReplyMsgType");
   installDownloadProgressHandler([](uint64_t cur, uint64_t total, bool success) {
     emit static_main_win->updateProgressBar(cur, total, success);
   });
@@ -54,9 +53,7 @@ MainWindow::MainWindow() : QMainWindow() {
     if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
     emit static_main_win->showMessage(msg, 2000);
   });
-  installMessageHandler([](ReplyMsgType type, const std::string msg) {
+  installMessageHandler([](ReplyMsgType type, const std::string msg) { qInfo() << msg.c_str(); });
-    qInfo() << QString::fromStdString(msg);
-  });
 
   setStyleSheet(QString(R"(QMainWindow::separator {
     width: %1px; /* when vertical */
@@ -329,7 +326,7 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
   QString dbc_str = QGuiApplication::clipboard()->text();
   QString error;
   bool ret = dbc()->open(s, "", dbc_str, &error);
-  if (ret && dbc()->msgCount() > 0) {
+  if (ret && dbc()->nonEmptyDBCCount() > 0) {
     QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
   } else {
     QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format."));
@@ -356,7 +353,7 @@ void MainWindow::streamStarted() {
     video_splitter->setSizes({1, 1});
   }
   // Don't overwrite already loaded DBC
-  if (!dbc()->msgCount()) {
+  if (!dbc()->nonEmptyDBCCount()) {
     newFile();
   }
 
@@ -371,7 +368,7 @@ void MainWindow::eventsMerged() {
                                     .arg(can->routeName())
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
-    if (!dbc()->msgCount() && !car_fingerprint.isEmpty()) {
+    if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) {
       auto dbc_name = fingerprint_to_dbc[car_fingerprint];
       if (dbc_name != QJsonValue::Undefined) {
         // Prevent dialog that load autosaved file from blocking replay->start().
@@ -529,7 +526,6 @@ void MainWindow::updateRecentFiles(const QString &fn) {
 
 void MainWindow::updateRecentFileActions() {
   int num_recent_files = std::min<int>(settings.recent_files.size(), MAX_RECENT_FILES);
-
   for (int i = 0; i < num_recent_files; ++i) {
     QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
     recent_files_acts[i]->setText(text);
@@ -543,15 +539,11 @@ void MainWindow::updateRecentFileActions() {
 }
 
 void MainWindow::remindSaveChanges() {
-  bool discard_changes = false;
+  while (!UndoStack::instance()->isClean()) {
-  while (!UndoStack::instance()->isClean() && !discard_changes) {
     QString text = tr("You have unsaved changes. Press ok to save them, cancel to discard.");
-    int ret = (QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel));
+    int ret = QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel);
-    if (ret == QMessageBox::Ok) {
+    if (ret != QMessageBox::Ok) break;
-      save();
+    save();
-    } else {
-      discard_changes = true;
-    }
   }
   UndoStack::instance()->clear();
 }
@@ -660,7 +652,7 @@ HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) {
 void HelpOverlay::paintEvent(QPaintEvent *event) {
   QPainter painter(this);
   painter.fillRect(rect(), QColor(0, 0, 0, 50));
-  MainWindow *parent = (MainWindow *)parentWidget();
+  auto parent = parentWidget();
   drawHelpForWidget(painter, parent->findChild<MessagesWidget *>());
   drawHelpForWidget(painter, parent->findChild<BinaryView *>());
   drawHelpForWidget(painter, parent->findChild<SignalView *>());

tools/cabana/mainwin.h

@@ -101,7 +101,6 @@ protected:
   int prev_undostack_index = 0;
   int prev_undostack_count = 0;
   QByteArray default_state;
-  friend class OnlineHelp;
 };
 
 class HelpOverlay : public QWidget {

tools/cabana/tests/test_cabana.cc

@@ -3,9 +3,7 @@
 #include <QDir>
 
 #include "catch2/catch.hpp"
-#include "tools/replay/logreader.h"
 #include "tools/cabana/dbc/dbcmanager.h"
-#include "tools/cabana/streams/abstractstream.h"
 
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
 
@@ -14,7 +12,7 @@ TEST_CASE("DBCFile::generateDBC") {
   DBCFile dbc_origin(fn);
   DBCFile dbc_from_generated("", dbc_origin.generateDBC());
 
-  REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount());
+  REQUIRE(dbc_origin.getMessages().size() == dbc_from_generated.getMessages().size());
   auto &msgs = dbc_origin.getMessages();
   auto &new_msgs = dbc_from_generated.getMessages();
   for (auto &[id, m] : msgs) {

tools/cabana/util.cc

@@ -12,7 +12,6 @@
 #include <QDateTime>
 #include <QFontDatabase>
 #include <QLocale>
-#include <QPainter>
 #include <QPixmapCache>
 
 #include "selfdrive/ui/qt/util.h"

tools/sim/lib/camerad.py

@@ -59,7 +59,7 @@ class Camerad:
     eof = int(frame_id * 0.05 * 1e9)
     self.vipc_server.send(yuv_type, yuv, frame_id, eof, eof)
 
-    dat = messaging.new_message(pub_type)
+    dat = messaging.new_message(pub_type, valid=True)
     msg = {
       "frameId": frame_id,
       "transform": [1.0, 0.0, 0.0,

tools/sim/lib/simulated_sensors.py

@@ -23,7 +23,7 @@ class SimulatedSensors:
 
   def send_imu_message(self, simulator_state: 'SimulatorState'):
     for _ in range(5):
-      dat = messaging.new_message('accelerometer')
+      dat = messaging.new_message('accelerometer', valid=True)
       dat.accelerometer.sensor = 4
       dat.accelerometer.type = 0x10
       dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
@@ -32,7 +32,7 @@ class SimulatedSensors:
       self.pm.send('accelerometer', dat)
 
       # copied these numbers from locationd
-      dat = messaging.new_message('gyroscope')
+      dat = messaging.new_message('gyroscope', valid=True)
       dat.gyroscope.sensor = 5
       dat.gyroscope.type = 0x10
       dat.gyroscope.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
@@ -53,7 +53,7 @@ class SimulatedSensors:
     ]
 
     for _ in range(10):
-      dat = messaging.new_message('gpsLocationExternal')
+      dat = messaging.new_message('gpsLocationExternal', valid=True)
       dat.gpsLocationExternal = {
         "unixTimestampMillis": int(time.time() * 1000),
         "flags": 1,  # valid fix
@@ -94,7 +94,7 @@ class SimulatedSensors:
     self.pm.send('driverStateV2', dat)
 
     # dmonitoringd output
-    dat = messaging.new_message('driverMonitoringState')
+    dat = messaging.new_message('driverMonitoringState', valid=True)
     dat.driverMonitoringState = {
       "faceDetected": True,
       "isDistracted": False,