Merge branch 'master' into oxtmt

.github/workflows/selfdrive_tests.yaml

@@ -261,7 +261,7 @@ jobs:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
     - name: Upload reference logs
-      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
         ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"

selfdrive/car/honda/interface.py

@@ -74,7 +74,7 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kiV = [0.05]
       ret.longitudinalActuatorDelayUpperBound = 0.5 # s
       if candidate in HONDA_BOSCH_RADARLESS:
-        ret.stopAccel = -4.0
+        ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
     else:
       # default longitudinal tuning for all hondas
       ret.longitudinalTuning.kpBP = [0., 5., 35.]

tools/cabana/binaryview.cc

@@ -273,6 +273,10 @@ void BinaryViewModel::refresh() {
     row_count = can->lastMessage(msg_id).dat.size();
     items.resize(row_count * column_count);
   }
+  int valid_rows = std::min(can->lastMessage(msg_id).dat.size(), row_count);
+  for (int i = 0; i < valid_rows * column_count; ++i) {
+    items[i].valid = true;
+  }
   endResetModel();
   updateState();
 }
@@ -307,9 +311,6 @@ void BinaryViewModel::updateState() {
     items[i * column_count + 8].val = toHex(binary[i]);
     items[i * column_count + 8].bg_color = last_msg.colors[i];
   }
-  for (int i = binary.size() * column_count; i < items.size(); ++i) {
-    items[i].val = "-";
-  }
 
   for (int i = 0; i < items.size(); ++i) {
     if (i >= prev_items.size() || prev_items[i].val != items[i].val || prev_items[i].bg_color != items[i].bg_color) {
@@ -376,6 +377,9 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
     }
   }
 
+  if (!item->valid) {
+    painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern));
+  }
   painter->drawText(option.rect, Qt::AlignCenter, item->val);
   if (item->is_msb || item->is_lsb) {
     painter->setFont(small_font);

tools/cabana/binaryview.h

@@ -42,8 +42,9 @@ public:
     QColor bg_color = QColor(102, 86, 169, 0);
     bool is_msb = false;
     bool is_lsb = false;
-    QString val = "-";
+    QString val;
     QList<const cabana::Signal *> sigs;
+    bool valid = false;
   };
   std::vector<Item> items;
 

tools/cabana/chartswidget.cc

@@ -528,7 +528,7 @@ void ChartView::updatePlot(double cur, double min, double max) {
     updateAxisY();
     updateSeriesPoints();
   }
-  update();
+  scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
 }
 
 void ChartView::updateSeriesPoints() {
@@ -713,11 +713,10 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     if (rubber->width() <= 0) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
-    } else if ((max_rounded - min_rounded) >= 0.5) {
-      // zoom in if selected range is greater than 0.5s
+    } else if (rubber->width() > 10) {
       emit zoomIn(min_rounded, max_rounded);
     } else {
-      update();
+      scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
     }
     event->accept();
   } else if (!can->liveStreaming() && event->button() == Qt::RightButton) {
@@ -775,7 +774,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
     text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
     QPointF tooltip_pt(x + 12, plot_area.top() - 20);
     QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), text_list.join("<br />"), this, plot_area.toRect());
-    update();
+    scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
   } else {
     QToolTip::hideText();
   }
@@ -788,7 +787,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
     if (rubber_rect != rubber->geometry()) {
       rubber->setGeometry(rubber_rect);
     }
-    update();
+    scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
   }
 }
 

tools/cabana/signalview.cc

@@ -62,10 +62,21 @@ void SignalModel::updateState(const QHash<MessageId, CanData> *msgs) {
     auto &dat = can->lastMessage(msg_id).dat;
     int row = 0;
     for (auto item : root->children) {
-      item->sig_val = QString::number(get_raw_value((uint8_t *)dat.constData(), dat.size(), *item->sig), 'f', item->sig->precision);
+      double value = get_raw_value((uint8_t *)dat.constData(), dat.size(), *item->sig);
+      item->sig_val = QString::number(value, 'f', item->sig->precision);
+
+      // Show unit
       if (!item->sig->unit.isEmpty()) {
         item->sig_val += " " + item->sig->unit;
       }
+
+      // Show enum string
+      for (auto &[val, desc] : item->sig->val_desc) {
+        if (std::abs(value - val.toInt()) < 1e-6) {
+          item->sig_val = desc;
+        }
+      }
+
       emit dataChanged(index(row, 1), index(row, 1), {Qt::DisplayRole});
       ++row;
     }
@@ -389,7 +400,7 @@ void SignalItemDelegate::drawSparkline(QPainter *painter, const QStyleOptionView
 
     int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
     int v_margin = std::max(option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 2, 4);
-    const double xscale = (option.rect.width() - 175.0 * option.widget->devicePixelRatioF() - h_margin * 2) / settings.sparkline_range;
+    const double xscale = (option.rect.width() - 175.0 - h_margin * 2) / settings.sparkline_range;
     const double yscale = (option.rect.height() - v_margin * 2) / (max - min);
     const int left = option.rect.left();
     const int top = option.rect.top() + v_margin;

tools/ubuntu_setup.sh

@@ -53,6 +53,8 @@ function install_ubuntu_common_requirements() {
     libgles2-mesa-dev \
     libglfw3-dev \
     libglib2.0-0 \
+    libncurses5-dev \
+    libncursesw5-dev \
     libomp-dev \
     libopencv-dev \
     libpng16-16 \