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openpilot_comma
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Sidebar Connectivity Status (#1268)

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* store athena connected-at time

* refactor

* deref

* dt import

* Athena status based on last ping time param

* upd test for pingtime

* lower error timeout
old-commit-hash: 41bb3ac7ca
commatwo_master
Andy 5 years ago committed by GitHub
parent 613e84efe0
commit e43b40540d
8 changed files with 94 additions and 35 deletions
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  1. 2
      apks
  2. 1
      common/params.py
  3. 11
      selfdrive/athena/athenad.py
  4. 11
      selfdrive/test/test_openpilot.py
  5. 4
      selfdrive/ui/paint.cc
  6. 64
      selfdrive/ui/sidebar.cc
  7. 29
      selfdrive/ui/ui.cc
  8. 7
      selfdrive/ui/ui.hpp

2
apks

@ -1 +1 @@
Subproject commit ac26fd4a343b6a202dc3ddaac6e00feabcf3a506
Subproject commit d94f8663913f12142754b2501b174c8bcd5996ce

1
common/params.py
Unescape View File

@ -78,6 +78,7 @@ keys = {
"IsTakingSnapshot": [TxType.CLEAR_ON_MANAGER_START],
"IsUpdateAvailable": [TxType.CLEAR_ON_MANAGER_START],
"IsUploadRawEnabled": [TxType.PERSISTENT],
"LastAthenaPingTime": [TxType.PERSISTENT],
"LastUpdateTime": [TxType.PERSISTENT],
"LimitSetSpeed": [TxType.PERSISTENT],
"LimitSetSpeedNeural": [TxType.PERSISTENT],

11
selfdrive/athena/athenad.py
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@ -22,6 +22,7 @@ from common import android
from common.basedir import PERSIST
from common.api import Api
from common.params import Params
from common.realtime import sec_since_boot
from cereal.services import service_list
from selfdrive.swaglog import cloudlog
@ -272,8 +273,13 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
def ws_recv(ws, end_event):
while not end_event.is_set():
try:
data = ws.recv()
payload_queue.put_nowait(data)
opcode, data = ws.recv_data(control_frame=True)
if opcode in (ABNF.OPCODE_TEXT, ABNF.OPCODE_BINARY):
if opcode == ABNF.OPCODE_TEXT:
data = data.decode("utf-8")
payload_queue.put_nowait(data)
elif opcode == ABNF.OPCODE_PING:
Params().put("LastAthenaPingTime", str(int(sec_since_boot()*1e9)))
except WebSocketTimeoutException:
pass
except Exception:
@ -316,6 +322,7 @@ def main():
except Exception:
cloudlog.exception("athenad.main.exception")
conn_retries += 1
params.delete("LastAthenaPingTime")
time.sleep(backoff(conn_retries))

11
selfdrive/test/test_openpilot.py
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@ -4,6 +4,7 @@ os.environ['FAKEUPLOAD'] = "1"
from common.apk import update_apks, start_offroad, pm_apply_packages, android_packages
from common.params import Params
from common.realtime import sec_since_boot
from common.testing import phone_only
from selfdrive.manager import manager_init, manager_prepare
from selfdrive.manager import start_managed_process, kill_managed_process, get_running
@ -14,6 +15,7 @@ import requests
import signal
import subprocess
import time
from datetime import datetime, timedelta
DID_INIT = False
@ -108,6 +110,7 @@ def test_uploader():
@phone_only
def test_athena():
print("ATHENA")
start = sec_since_boot()
start_daemon_process("manage_athenad")
params = Params()
manage_athenad_pid = params.get("AthenadPid")
@ -155,7 +158,7 @@ def test_athena():
else:
print(f'athena_post failed {e}. retrying...')
def expect_athena_registers():
def expect_athena_registers(test_t0):
resp = athena_post({
"method": "echo",
"params": ["hello"],
@ -164,6 +167,10 @@ def test_athena():
}, max_retries=12, wait=5)
assert resp.get('result') == "hello", f'Athena failed to register ({resp})'
last_pingtime = params.get("LastAthenaPingTime", encoding='utf8')
assert last_pingtime, last_pingtime
assert ((int(last_pingtime)/1e9) - test_t0) < (sec_since_boot() - test_t0)
try:
athenad_pid = expect_athena_starts()
# kill athenad and ensure it is restarted (check_output will throw if it is not)
@ -174,7 +181,7 @@ def test_athena():
print('WARNING: COMMA_JWT env not set, will not test requests to athena.comma.ai')
return
expect_athena_registers()
expect_athena_registers(start)
print("ATHENA: getSimInfo")
resp = athena_post({

4
selfdrive/ui/paint.cc
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@ -771,8 +771,8 @@ void ui_draw_vision_alert(UIState *s, int va_size, int va_color,
const UIScene *scene = &s->scene;
int ui_viz_rx = scene->ui_viz_rx;
int ui_viz_rw = scene->ui_viz_rw;
bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
bool mapEnabled = s->scene.uilayout_mapenabled;
const bool hasSidebar = !scene->uilayout_sidebarcollapsed;
const bool mapEnabled = scene->uilayout_mapenabled;
bool longAlert1 = strlen(va_text1) > 15;
const uint8_t *color = alert_colors[va_color];

64
selfdrive/ui/sidebar.cc
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@ -3,8 +3,8 @@
#include <math.h>
#include "ui.hpp"
static void ui_draw_sidebar_background(UIState *s, bool hasSidebar) {
int sbr_x = hasSidebar ? 0 : -(sbr_w) + bdr_s * 2;
static void ui_draw_sidebar_background(UIState *s) {
int sbr_x = !s->scene.uilayout_sidebarcollapsed ? 0 : -(sbr_w) + bdr_s * 2;
nvgBeginPath(s->vg);
nvgRect(s->vg, sbr_x, 0, sbr_w, vwp_h);
@ -12,9 +12,9 @@ static void ui_draw_sidebar_background(UIState *s, bool hasSidebar) {
nvgFill(s->vg);
}
static void ui_draw_sidebar_settings_button(UIState *s, bool hasSidebar) {
static void ui_draw_sidebar_settings_button(UIState *s) {
bool settingsActive = s->active_app == cereal_UiLayoutState_App_settings;
const int settings_btn_xr = hasSidebar ? settings_btn_x : -(sbr_w);
const int settings_btn_xr = !s->scene.uilayout_sidebarcollapsed ? settings_btn_x : -(sbr_w);
nvgBeginPath(s->vg);
NVGpaint imgPaint = nvgImagePattern(s->vg, settings_btn_xr, settings_btn_y,
@ -24,9 +24,9 @@ static void ui_draw_sidebar_settings_button(UIState *s, bool hasSidebar) {
nvgFill(s->vg);
}
static void ui_draw_sidebar_home_button(UIState *s, bool hasSidebar) {
static void ui_draw_sidebar_home_button(UIState *s) {
bool homeActive = s->active_app == cereal_UiLayoutState_App_home;
const int home_btn_xr = hasSidebar ? home_btn_x : -(sbr_w);
const int home_btn_xr = !s->scene.uilayout_sidebarcollapsed ? home_btn_x : -(sbr_w);
nvgBeginPath(s->vg);
NVGpaint imgPaint = nvgImagePattern(s->vg, home_btn_xr, home_btn_y,
@ -36,10 +36,10 @@ static void ui_draw_sidebar_home_button(UIState *s, bool hasSidebar) {
nvgFill(s->vg);
}
static void ui_draw_sidebar_network_strength(UIState *s, bool hasSidebar) {
static void ui_draw_sidebar_network_strength(UIState *s) {
const int network_img_h = 27;
const int network_img_w = 176;
const int network_img_x = hasSidebar ? 58 : -(sbr_w);
const int network_img_x = !s->scene.uilayout_sidebarcollapsed ? 58 : -(sbr_w);
const int network_img_y = 196;
const int network_img = s->scene.networkType == cereal_ThermalData_NetworkType_none ?
s->img_network[0] : s->img_network[s->scene.networkStrength + 1];
@ -52,10 +52,10 @@ static void ui_draw_sidebar_network_strength(UIState *s, bool hasSidebar) {
nvgFill(s->vg);
}
static void ui_draw_sidebar_battery_icon(UIState *s, bool hasSidebar) {
static void ui_draw_sidebar_battery_icon(UIState *s) {
const int battery_img_h = 36;
const int battery_img_w = 76;
const int battery_img_x = hasSidebar ? 160 : -(sbr_w);
const int battery_img_x = !s->scene.uilayout_sidebarcollapsed ? 160 : -(sbr_w);
const int battery_img_y = 255;
int battery_img = strcmp(s->scene.batteryStatus, "Charging") == 0 ?
@ -75,8 +75,8 @@ static void ui_draw_sidebar_battery_icon(UIState *s, bool hasSidebar) {
nvgFill(s->vg);
}
static void ui_draw_sidebar_network_type(UIState *s, bool hasSidebar) {
const int network_x = hasSidebar ? 50 : -(sbr_w);
static void ui_draw_sidebar_network_type(UIState *s) {
const int network_x = !s->scene.uilayout_sidebarcollapsed ? 50 : -(sbr_w);
const int network_y = 273;
const int network_w = 100;
const int network_h = 100;
@ -94,8 +94,8 @@ static void ui_draw_sidebar_network_type(UIState *s, bool hasSidebar) {
nvgTextBox(s->vg, network_x, network_y, network_w, network_type_str, NULL);
}
static void ui_draw_sidebar_metric(UIState *s, const char* label_str, const char* value_str, const int severity, const int y_offset, const char* message_str, bool hasSidebar) {
const int metric_x = hasSidebar ? 30 : -(sbr_w);
static void ui_draw_sidebar_metric(UIState *s, const char* label_str, const char* value_str, const int severity, const int y_offset, const char* message_str) {
const int metric_x = !s->scene.uilayout_sidebarcollapsed ? 30 : -(sbr_w);
const int metric_y = 338 + y_offset;
const int metric_w = 240;
const int metric_h = message_str ? strchr(message_str, '\n') ? 124 : 100 : 148;
@ -142,7 +142,7 @@ static void ui_draw_sidebar_metric(UIState *s, const char* label_str, const char
}
}
static void ui_draw_sidebar_temp_metric(UIState *s, bool hasSidebar) {
static void ui_draw_sidebar_temp_metric(UIState *s) {
int temp_severity;
char temp_label_str[32];
char temp_value_str[32];
@ -164,10 +164,10 @@ static void ui_draw_sidebar_temp_metric(UIState *s, bool hasSidebar) {
snprintf(temp_label_str, sizeof(temp_label_str), "%s", "TEMP");
strcat(temp_value_str, temp_value_unit);
ui_draw_sidebar_metric(s, temp_label_str, temp_value_str, temp_severity, temp_y_offset, NULL, hasSidebar);
ui_draw_sidebar_metric(s, temp_label_str, temp_value_str, temp_severity, temp_y_offset, NULL);
}
static void ui_draw_sidebar_panda_metric(UIState *s, bool hasSidebar) {
static void ui_draw_sidebar_panda_metric(UIState *s) {
int panda_severity;
char panda_message_str[32];
const int panda_y_offset = 32 + 148;
@ -194,17 +194,27 @@ static void ui_draw_sidebar_panda_metric(UIState *s, bool hasSidebar) {
}
}
ui_draw_sidebar_metric(s, NULL, NULL, panda_severity, panda_y_offset, panda_message_str, hasSidebar);
ui_draw_sidebar_metric(s, NULL, NULL, panda_severity, panda_y_offset, panda_message_str);
}
static void ui_draw_sidebar_connectivity(UIState *s) {
if (s->scene.athenaStatus == NET_DISCONNECTED) {
ui_draw_sidebar_metric(s, NULL, NULL, 1, 180+158, "ATHENA\nOFFLINE");
} else if (s->scene.athenaStatus == NET_CONNECTED) {
ui_draw_sidebar_metric(s, NULL, NULL, 0, 180+158, "ATHENA\nONLINE");
} else {
ui_draw_sidebar_metric(s, NULL, NULL, 2, 180+158, "ATHENA\nERROR");
}
}
void ui_draw_sidebar(UIState *s) {
bool hasSidebar = !s->scene.uilayout_sidebarcollapsed;
ui_draw_sidebar_background(s, hasSidebar);
ui_draw_sidebar_settings_button(s, hasSidebar);
ui_draw_sidebar_home_button(s, hasSidebar);
ui_draw_sidebar_network_strength(s, hasSidebar);
ui_draw_sidebar_battery_icon(s, hasSidebar);
ui_draw_sidebar_network_type(s, hasSidebar);
ui_draw_sidebar_temp_metric(s, hasSidebar);
ui_draw_sidebar_panda_metric(s, hasSidebar);
ui_draw_sidebar_background(s);
ui_draw_sidebar_settings_button(s);
ui_draw_sidebar_home_button(s);
ui_draw_sidebar_network_strength(s);
ui_draw_sidebar_battery_icon(s);
ui_draw_sidebar_network_type(s);
ui_draw_sidebar_temp_metric(s);
ui_draw_sidebar_panda_metric(s);
ui_draw_sidebar_connectivity(s);
}

29
selfdrive/ui/ui.cc
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@ -132,6 +132,16 @@ static void read_param_float(float* param, const char* param_name) {
}
}
static int read_param_uint64(uint64_t* dest, const char* param_name) {
char *s;
const int result = read_db_value(NULL, param_name, &s, NULL);
if (result == 0) {
*dest = strtoull(s, NULL, 0);
free(s);
}
return result;
}
static void read_param_bool_timeout(bool* param, const char* param_name, int* timeout) {
if (*timeout > 0){
(*timeout)--;
@ -150,6 +160,16 @@ static void read_param_float_timeout(float* param, const char* param_name, int*
}
}
static int read_param_uint64_timeout(uint64_t* dest, const char* param_name, int* timeout) {
if (*timeout > 0){
(*timeout)--;
return 0;
} else {
return read_param_uint64(dest, param_name);
*timeout = 2 * UI_FREQ; // 0.5Hz
}
}
static void ui_init(UIState *s) {
memset(s, 0, sizeof(UIState));
@ -1026,7 +1046,14 @@ int main(int argc, char* argv[]) {
read_param_bool_timeout(&s->longitudinal_control, "LongitudinalControl", &s->longitudinal_control_timeout);
read_param_bool_timeout(&s->limit_set_speed, "LimitSetSpeed", &s->limit_set_speed_timeout);
read_param_float_timeout(&s->speed_lim_off, "SpeedLimitOffset", &s->limit_set_speed_timeout);
int param_read = read_param_uint64_timeout(&s->last_athena_ping, "LastAthenaPingTime", &s->last_athena_ping_timeout);
if (param_read != 0) {
s->scene.athenaStatus = NET_DISCONNECTED;
} else if (nanos_since_boot() - s->last_athena_ping < 70e9) {
s->scene.athenaStatus = NET_CONNECTED;
} else {
s->scene.athenaStatus = NET_ERROR;
}
pthread_mutex_unlock(&s->lock);
// the bg thread needs to be scheduled, so the main thread needs time without the lock

7
selfdrive/ui/ui.hpp
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@ -33,6 +33,10 @@
#define STATUS_WARNING 3
#define STATUS_ALERT 4
#define NET_CONNECTED 0
#define NET_DISCONNECTED 1
#define NET_ERROR 2
#define ALERTSIZE_NONE 0
#define ALERTSIZE_SMALL 1
#define ALERTSIZE_MID 2
@ -157,6 +161,7 @@ typedef struct UIScene {
int paTemp;
int hwType;
int satelliteCount;
uint8_t athenaStatus;
} UIScene;
typedef struct {
@ -257,9 +262,11 @@ typedef struct UIState {
int longitudinal_control_timeout;
int limit_set_speed_timeout;
int hardware_timeout;
int last_athena_ping_timeout;
bool controls_seen;
uint64_t last_athena_ping;
int status;
bool is_metric;
bool longitudinal_control;

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