diff --git a/common/git.py b/common/git.py
new file mode 100644
index 0000000000..e15a5051d2
--- /dev/null
+++ b/common/git.py
@@ -0,0 +1,42 @@
+import subprocess
+from openpilot.common.utils import cache
+from openpilot.common.run import run_cmd, run_cmd_default
+
+
+@cache
+def get_commit(branch: str = "HEAD") -> str:
+ return run_cmd_default(["git", "rev-parse", branch])
+
+
+@cache
+def get_commit_date(commit: str = "HEAD") -> str:
+ return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit])
+
+
+@cache
+def get_short_branch() -> str:
+ return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"])
+
+
+@cache
+def get_branch() -> str:
+ return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"])
+
+
+@cache
+def get_origin() -> str:
+ try:
+ local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"])
+ tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
+ return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
+ except subprocess.CalledProcessError: # Not on a branch, fallback
+ return run_cmd_default(["git", "config", "--get", "remote.origin.url"])
+
+
+@cache
+def get_normalized_origin() -> str:
+ return get_origin() \
+ .replace("git@", "", 1) \
+ .replace(".git", "", 1) \
+ .replace("https://", "", 1) \
+ .replace(":", "/", 1)
diff --git a/common/run.py b/common/run.py
new file mode 100644
index 0000000000..25abe98c41
--- /dev/null
+++ b/common/run.py
@@ -0,0 +1,13 @@
+import subprocess
+
+
+def run_cmd(cmd: list[str]) -> str:
+ return subprocess.check_output(cmd, encoding='utf8').strip()
+
+
+def run_cmd_default(cmd: list[str], default: str = "") -> str:
+ try:
+ return run_cmd(cmd)
+ except subprocess.CalledProcessError:
+ return default
+
diff --git a/common/utils.py b/common/utils.py
index b9de020ee6..e37f2448c5 100644
--- a/common/utils.py
+++ b/common/utils.py
@@ -1,3 +1,11 @@
+from collections.abc import Callable
+from functools import lru_cache
+from typing import TypeVar
+
+
+_RT = TypeVar("_RT")
+
+
class Freezable:
_frozen: bool = False
@@ -9,3 +17,7 @@ class Freezable:
if self._frozen:
raise Exception("cannot modify frozen object")
super().__setattr__(*args, **kwargs)
+
+
+def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
+ return lru_cache(maxsize=None)(user_function)
diff --git a/docs/CARS.md b/docs/CARS.md
index 251ceb4780..35a77fd78f 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -256,8 +256,8 @@ A supported vehicle is one that just works when you install a comma device. All
|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[](##)|[](##)|Parts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|
|Toyota|RAV4 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[](##)|[](##)|Parts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy HereParts
- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
■ constant changing
■ increasing
- ■ decreasing
+ ■ decreasing
+ Shortcuts
+ Horizontal Scrolling: shift+wheel
)"));
}
@@ -391,6 +393,14 @@ void MessageView::updateBytesSectionSize() {
header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
}
+void MessageView::wheelEvent(QWheelEvent *event) {
+ if (event->modifiers() == Qt::ShiftModifier) {
+ QApplication::sendEvent(horizontalScrollBar(), event);
+ } else {
+ QTreeView::wheelEvent(event);
+ }
+}
+
// MessageViewHeader
MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizontal, parent) {
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 4f54941c64..e7f1f8c033 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -12,6 +12,7 @@
#include
#include
#include
+#include
#include "tools/cabana/dbc/dbcmanager.h"
#include "tools/cabana/streams/abstractstream.h"
@@ -65,10 +66,13 @@ class MessageView : public QTreeView {
Q_OBJECT
public:
MessageView(QWidget *parent) : QTreeView(parent) {}
+ void updateBytesSectionSize();
+
+protected:
void drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {}
void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector &roles = QVector()) override;
- void updateBytesSectionSize();
+ void wheelEvent(QWheelEvent *event) override;
};
class MessageViewHeader : public QHeaderView {
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 8a20086b5c..afb1ec200c 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -127,22 +127,27 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) {
// it is thread safe to update data in updateLastMsgsTo.
// updateLastMsgsTo is always called in UI thread.
void AbstractStream::updateLastMsgsTo(double sec) {
- new_msgs_.clear();
- messages_.clear();
-
current_sec_ = sec;
uint64_t last_ts = (sec + routeStartTime()) * 1e9;
+ std::unordered_map msgs;
+
for (const auto &[id, ev] : events_) {
auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
if (it != ev.begin()) {
auto prev = std::prev(it);
double ts = (*prev)->mono_time / 1e9 - routeStartTime();
- auto &m = messages_[id];
+ auto &m = msgs[id];
+ // Keep last changes
+ if (auto old_m = messages_.find(id); old_m != messages_.end()) {
+ m.last_changes = old_m->second.last_changes;
+ }
m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {});
m.count = std::distance(ev.begin(), prev) + 1;
}
}
+ new_msgs_.clear();
+ messages_ = std::move(msgs);
bool id_changed = messages_.size() != last_msgs.size() ||
std::any_of(messages_.cbegin(), messages_.cend(),
[this](const auto &m) { return !last_msgs.count(m.first); });
@@ -183,8 +188,6 @@ void AbstractStream::mergeEvents(const std::vector &events) {
lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
}
-// CanData
-
namespace {
enum Color { GREYISH_BLUE, CYAN, RED};
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index b4e4be4db6..d92a2e426b 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -23,7 +23,7 @@ public:
inline QString routeName() const override { return replay->route()->name(); }
inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
double totalSeconds() const override { return replay->totalSeconds(); }
- inline QDateTime beginDateTime() const { return replay->route()->datetime(); }
+ inline QDateTime beginDateTime() const { return replay->routeDateTime(); }
inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
inline const Route *route() const { return replay->route(); }
inline void setSpeed(float speed) override { replay->setSpeed(speed); }
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index 8b09fdac34..98c2de12b6 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -45,6 +45,26 @@ CM_ SG_ 162 signal_2 "signal comment";
REQUIRE(dbc.generateDBC() == content);
}
+TEST_CASE("DBCFile::generateDBC -- preserve original header") {
+ QString content = R"(VERSION "1.0"
+
+NS_ :
+ CM_
+
+BS_:
+
+BU_: EON
+
+BO_ 160 message_1: 8 EON
+ SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX
+
+CM_ BO_ 160 "message comment";
+CM_ SG_ 160 signal_1 "signal comment";
+)";
+ DBCFile dbc("", content);
+ REQUIRE(dbc.generateDBC() == content);
+}
+
TEST_CASE("parse_dbc") {
QString content = R"(
BO_ 160 message_1: 8 EON
diff --git a/tools/car_porting/README.md b/tools/car_porting/README.md
index 8db17b0976..a32e9f96c9 100644
--- a/tools/car_porting/README.md
+++ b/tools/car_porting/README.md
@@ -21,8 +21,8 @@ Given a route and platform, automatically inserts FW fingerprints from the platf
Example:
```bash
-> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN'
-Attempting to add fw version for: SUBARU OUTBACK 6TH GEN
+> python tools/car_porting/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'OUTBACK'
+Attempting to add fw version for: OUTBACK
```
### [selfdrive/car/tests/test_car_interfaces.py](/selfdrive/car/tests/test_car_interfaces.py)
diff --git a/tools/car_porting/auto_fingerprint.py b/tools/car_porting/auto_fingerprint.py
index f122c2774e..8b0ae6762d 100755
--- a/tools/car_porting/auto_fingerprint.py
+++ b/tools/car_porting/auto_fingerprint.py
@@ -46,7 +46,7 @@ if __name__ == "__main__":
if len(possible_platforms) != 1:
print(f"Unable to auto-determine platform, possible platforms: {possible_platforms}")
- if carPlatform != "mock":
+ if carPlatform != "MOCK":
print("Using platform from route")
platform = carPlatform
else:
diff --git a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
index 9376f6a253..99efc45aca 100644
--- a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
+++ b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb
@@ -2,7 +2,7 @@
"cells": [
{
"cell_type": "code",
- "execution_count": 1,
+ "execution_count": null,
"metadata": {},
"outputs": [
{
@@ -27,18 +27,18 @@
},
{
"cell_type": "code",
- "execution_count": 2,
+ "execution_count": null,
"metadata": {},
"outputs": [],
"source": [
"PLATFORM_CODES = {\n",
" Ecu.abs: {\n",
" 0: {\n",
- " b'\\xa5': [CAR.ASCENT, CAR.ASCENT_2023],\n",
- " b'\\xa2': [CAR.IMPREZA, CAR.IMPREZA_2020, CAR.CROSSTREK_HYBRID],\n",
- " b'\\xa1': [CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023],\n",
- " b'\\xa3': [CAR.FORESTER, CAR.FORESTER_HYBRID, CAR.FORESTER_2022],\n",
- " b'z': [CAR.IMPREZA],\n",
+ " b'\\xa5': [CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023],\n",
+ " b'\\xa2': [CAR.SUBARU_IMPREZA, CAR.SUBARU_IMPREZA_2020, CAR.SUBARU_CROSSTREK_HYBRID],\n",
+ " b'\\xa1': [CAR.SUBARU_OUTBACK, CAR.SUBARU_LEGACY, CAR.SUBARU_OUTBACK_2023],\n",
+ " b'\\xa3': [CAR.SUBARU_FORESTER, CAR.SUBARU_FORESTER_HYBRID, CAR.SUBARU_FORESTER_2022],\n",
+ " b'z': [CAR.SUBARU_IMPREZA],\n",
" }\n",
" }\n",
"}\n",
diff --git a/tools/car_porting/examples/subaru_long_accel.ipynb b/tools/car_porting/examples/subaru_long_accel.ipynb
index 24470b44d2..9d18a114df 100644
--- a/tools/car_porting/examples/subaru_long_accel.ipynb
+++ b/tools/car_porting/examples/subaru_long_accel.ipynb
@@ -9,7 +9,7 @@
"segments = [\n",
" \"d9df6f87e8feff94|2023-03-28--17-41-10/1:12\"\n",
"]\n",
- "platform = \"SUBARU OUTBACK 6TH GEN\"\n"
+ "platform = \"SUBARU_OUTBACK\"\n"
]
},
{
@@ -56,7 +56,7 @@
" es_status_history.append(copy.copy(cp.vl[\"ES_Status\"]))\n",
"\n",
" acceleration_history.append(last_acc)\n",
- " \n",
+ "\n",
" if msg.which() == \"carState\":\n",
" last_acc = msg.carState.aEgo"
]
diff --git a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
index 46d8dc413e..3d5055cbc2 100644
--- a/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
+++ b/tools/car_porting/examples/subaru_steer_temp_fault.ipynb
@@ -11,7 +11,7 @@
"segments = [\n",
" \"c3d1ccb52f5f9d65|2023-07-22--01-23-20/6:10\",\n",
"]\n",
- "platform = \"SUBARU OUTBACK 6TH GEN\""
+ "platform = \"SUBARU_OUTBACK\""
]
},
{
@@ -52,7 +52,7 @@
" for msg in can_msgs:\n",
" cp.update_strings([msg.as_builder().to_bytes()])\n",
" steering_torque_history.append(copy.copy(cp.vl[\"Steering_Torque\"]))\n",
- " \n",
+ "\n",
" steer_warning_last = False\n",
" for i, steering_torque_msg in enumerate(steering_torque_history):\n",
" steer_warning = steering_torque_msg[\"Steer_Warning\"]\n",
diff --git a/tools/lib/comma_car_segments.py b/tools/lib/comma_car_segments.py
index 9027fec637..78825504e6 100644
--- a/tools/lib/comma_car_segments.py
+++ b/tools/lib/comma_car_segments.py
@@ -1,13 +1,22 @@
import os
import requests
+
# Forks with additional car support can fork the commaCarSegments repo on huggingface or host the LFS files themselves
COMMA_CAR_SEGMENTS_REPO = os.environ.get("COMMA_CAR_SEGMENTS_REPO", "https://huggingface.co/datasets/commaai/commaCarSegments")
COMMA_CAR_SEGMENTS_BRANCH = os.environ.get("COMMA_CAR_SEGMENTS_BRANCH", "main")
COMMA_CAR_SEGMENTS_LFS_INSTANCE = os.environ.get("COMMA_CAR_SEGMENTS_LFS_INSTANCE", COMMA_CAR_SEGMENTS_REPO)
def get_comma_car_segments_database():
- return requests.get(get_repo_raw_url("database.json")).json()
+ from openpilot.selfdrive.car.fingerprints import MIGRATION
+
+ database = requests.get(get_repo_raw_url("database.json")).json()
+
+ ret = {}
+ for platform in database:
+ ret[MIGRATION.get(platform, platform)] = database[platform]
+
+ return ret
# Helpers related to interfacing with the commaCarSegments repository, which contains a collection of public segments for users to perform validation on.
diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py
index b293251583..91bab94343 100644
--- a/tools/lib/tests/test_comma_car_segments.py
+++ b/tools/lib/tests/test_comma_car_segments.py
@@ -1,7 +1,7 @@
import pytest
import unittest
-
import requests
+from openpilot.selfdrive.car.fingerprints import MIGRATION
from openpilot.tools.lib.comma_car_segments import get_comma_car_segments_database, get_url
from openpilot.tools.lib.logreader import LogReader
from openpilot.tools.lib.route import SegmentRange
@@ -19,7 +19,7 @@ class TestCommaCarSegments(unittest.TestCase):
def test_download_segment(self):
database = get_comma_car_segments_database()
- fp = "SUBARU FORESTER 2019"
+ fp = "SUBARU_FORESTER"
segment = database[fp][0]
@@ -31,10 +31,8 @@ class TestCommaCarSegments(unittest.TestCase):
self.assertEqual(resp.status_code, 200)
lr = LogReader(url)
-
CP = lr.first("carParams")
-
- self.assertEqual(CP.carFingerprint, fp)
+ self.assertEqual(MIGRATION.get(CP.carFingerprint, CP.carFingerprint), fp)
if __name__ == "__main__":
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 70b3f380e1..7c8c1ad43f 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -290,12 +290,22 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
void Replay::startStream(const Segment *cur_segment) {
const auto &events = cur_segment->log->events;
- // each segment has an INIT_DATA
route_start_ts_ = events.front()->mono_time;
cur_mono_time_ += route_start_ts_ - 1;
+ // get datetime from INIT_DATA, fallback to datetime in the route name
+ route_date_time_ = route()->datetime();
+ auto it = std::find_if(events.cbegin(), events.cend(),
+ [](auto e) { return e->which == cereal::Event::Which::INIT_DATA; });
+ if (it != events.cend()) {
+ uint64_t wall_time = (*it)->event.getInitData().getWallTimeNanos();
+ if (wall_time > 0) {
+ route_date_time_ = QDateTime::fromMSecsSinceEpoch(wall_time / 1e6);
+ }
+ }
+
// write CarParams
- auto it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::CAR_PARAMS; });
+ it = std::find_if(events.begin(), events.end(), [](auto e) { return e->which == cereal::Event::Which::CAR_PARAMS; });
if (it != events.end()) {
car_fingerprint_ = (*it)->event.getCarParams().getCarFingerprint();
capnp::MallocMessageBuilder builder;
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 1a74b69c3d..3859b69380 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -72,7 +72,8 @@ public:
inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
inline const Route* route() const { return route_.get(); }
inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
- inline QDateTime currentDateTime() const { return route_->datetime().addSecs(currentSeconds()); }
+ inline QDateTime routeDateTime() const { return route_date_time_; }
+ inline QDateTime currentDateTime() const { return route_date_time_.addSecs(currentSeconds()); }
inline uint64_t routeStartTime() const { return route_start_ts_; }
inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; }
@@ -121,6 +122,7 @@ protected:
std::atomic exit_ = false;
bool paused_ = false;
bool events_updated_ = false;
+ QDateTime route_date_time_;
uint64_t route_start_ts_ = 0;
std::atomic cur_mono_time_ = 0;
std::unique_ptr> events_;
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 9532537283..06984b690b 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -4,7 +4,7 @@ export PASSIVE="0"
export NOBOARD="1"
export SIMULATION="1"
export SKIP_FW_QUERY="1"
-export FINGERPRINT="HONDA CIVIC 2016"
+export FINGERPRINT="CIVIC"
export BLOCK="${BLOCK},camerad,loggerd,encoderd,micd,logmessaged"
if [[ "$CI" ]]; then
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 9148d0ddb2..746886ba43 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -4,7 +4,6 @@ from opendbc.can.packer import CANPacker
from opendbc.can.parser import CANParser
from openpilot.common.params import Params
from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
-from openpilot.selfdrive.car import crc8_pedal
from openpilot.tools.sim.lib.common import SimulatorState
@@ -55,8 +54,6 @@ class SimulatedCar:
"INTERCEPTOR_GAS": simulator_state.user_gas * 2**12,
"INTERCEPTOR_GAS2": simulator_state.user_gas * 2**12,
}
- checksum = crc8_pedal(self.packer.make_can_msg("GAS_SENSOR", 0, values)[2][:-1])
- values["CHECKSUM_PEDAL"] = checksum
msg.append(self.packer.make_can_msg("GAS_SENSOR", 0, values))
msg.append(self.packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))