diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml index 5873e7aee6..0f782107ec 100644 --- a/.github/workflows/selfdrive_tests.yaml +++ b/.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" diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 4faa08d536..8f045c2a69 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -418,7 +418,7 @@ std::optional send_panda_states(PubMaster *pm, const std::vector size_t j = 0; for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION); - f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_EXTI); f++) { + f <= size_t(cereal::PandaState::FaultType::SIREN_MALFUNCTION); f++) { if (fault_bits.test(f)) { faults.set(j, cereal::PandaState::FaultType(f)); j++; diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index f501c8c7dd..6e2797ce24 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -1,13 +1,14 @@ #!/usr/bin/env python3 from cereal import car -from math import fabs +from math import fabs, exp from panda import Panda from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus -from selfdrive.car.interfaces import CarInterfaceBase +from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD +from selfdrive.controls.lib.drive_helpers import get_friction ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -44,6 +45,29 @@ class CarInterface(CarInterfaceBase): else: return CarInterfaceBase.get_steer_feedforward_default + @staticmethod + def torque_from_lateral_accel_bolt(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, + lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: + friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) + + def sig(val): + return 1 / (1 + exp(-val)) - 0.5 + + # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves + # An important thing to consider is that the slope at 0 should be > 0 (ideally >1) + # This has big effect on the stability about 0 (noise when going straight) + # ToDo: To generalize to other GMs, explore tanh function as the nonlinear + a, b, c, _ = [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178] # weights computed offline + + steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c) + return float(steer_torque) + friction + + def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: + if self.CP.carFingerprint == CAR.BOLT_EUV: + return self.torque_from_lateral_accel_bolt + else: + return self.torque_from_lateral_accel_linear + @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "gm" diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 0d13cb9827..1b814e00b2 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -14,8 +14,8 @@ class CarControllerParams: STEER_STEP = 3 # Active control frames per command (~33hz) INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz) STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness - STEER_DELTA_DOWN = 25 - STEER_DRIVER_ALLOWANCE = 50 + STEER_DELTA_DOWN = 15 + STEER_DRIVER_ALLOWANCE = 65 STEER_DRIVER_MULTIPLIER = 4 STEER_DRIVER_FACTOR = 100 NEAR_STOP_BRAKE_PHASE = 0.5 # m/s diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py index f6d328131b..347c16c86f 100644 --- a/selfdrive/car/honda/carcontroller.py +++ b/selfdrive/car/honda/carcontroller.py @@ -116,6 +116,7 @@ class CarController: self.brake_last = 0. self.apply_brake_last = 0 self.last_pump_ts = 0. + self.stopping_counter = 0 self.accel = 0.0 self.speed = 0.0 @@ -217,8 +218,9 @@ class CarController: self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V) stopping = actuators.longControlState == LongCtrlState.stopping + self.stopping_counter = self.stopping_counter + 1 if stopping else 0 can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas, - stopping, self.CP.carFingerprint)) + self.stopping_counter, self.CP.carFingerprint)) else: apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0) apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1)) diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py index b7c448d1d3..1fe0a13767 100644 --- a/selfdrive/car/honda/hondacan.py +++ b/selfdrive/car/honda/hondacan.py @@ -51,7 +51,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_ return packer.make_can_msg("BRAKE_COMMAND", bus, values) -def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint): +def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint): commands = [] bus = get_pt_bus(car_fingerprint) min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0] @@ -60,8 +60,8 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge gas_command = gas if active and accel > min_gas_accel else -30000 accel_command = accel if active else 0 braking = 1 if active and accel < min_gas_accel else 0 - standstill = 1 if active and stopping else 0 - standstill_release = 1 if active and not stopping else 0 + standstill = 1 if active and stopping_counter > 0 else 0 + standstill_release = 1 if active and stopping_counter == 0 else 0 # common ACC_CONTROL values acc_control_values = { @@ -72,7 +72,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge if car_fingerprint in HONDA_BOSCH_RADARLESS: acc_control_values.update({ "CONTROL_ON": enabled, - "IDLESTOP_ALLOW": 0, # disallows idle stop + "IDLESTOP_ALLOW": stopping_counter > 200, # allow idle stop after 4 seconds (50 Hz) }) else: acc_control_values.update({ diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 7314afd50a..3a40f03dd9 100755 --- a/selfdrive/car/honda/interface.py +++ b/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.] diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index dcc3a0fc0f..7fcc5b9140 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1485,25 +1485,29 @@ FW_VERSIONS = { b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930', b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819', b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426', + b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728', ], (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\000CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', + b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103', b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103', b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102', + b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000', b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa', b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00', + b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00', ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00', ] }, CAR.KONA_HEV: { diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 249818369c..cf6d7280fa 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -8,10 +8,10 @@ from cereal import car from common.basedir import BASEDIR from common.conversions import Conversions as CV from common.kalman.simple_kalman import KF1D -from common.numpy_fast import clip, interp +from common.numpy_fast import clip from common.realtime import DT_CTRL from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness -from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone +from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction from selfdrive.controls.lib.events import Events from selfdrive.controls.lib.vehicle_model import VehicleModel @@ -131,15 +131,11 @@ class CarInterfaceBase(ABC): return self.get_steer_feedforward_default @staticmethod - def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation): + def torque_from_lateral_accel_linear(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning, + lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float: # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction) - friction_interp = interp( - apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), - [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], - [-torque_params.friction, torque_params.friction] - ) - friction = friction_interp if friction_compensation else 0.0 - return (lateral_accel_value / torque_params.latAccelFactor) + friction + friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation) + return (lateral_accel_value / float(torque_params.latAccelFactor)) + friction def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType: return self.torque_from_lateral_accel_linear diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 38fb8dfbd1..f0e846cc54 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -327,6 +327,7 @@ FW_VERSIONS = { CAR.AVALON_TSS2: { (Ecu.abs, 0x7b0, None): [ b'\x01F152607240\x00\x00\x00\x00\x00\x00', + b'\x01F152607250\x00\x00\x00\x00\x00\x00', b'\x01F152607280\x00\x00\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ @@ -334,6 +335,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x700, None): [ b'\x01896630742000\x00\x00\x00\x00', + b'\x01896630743000\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F6201200\x00\x00\x00\x00', diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py index 05c3897335..cd6525949c 100644 --- a/selfdrive/controls/lib/drive_helpers.py +++ b/selfdrive/controls/lib/drive_helpers.py @@ -190,3 +190,13 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates): current_curvature_desired + max_curvature_rate * DT_MDL) return safe_desired_curvature, safe_desired_curvature_rate + + +def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float: + friction_interp = interp( + apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone), + [-friction_threshold, friction_threshold], + [-torque_params.friction, torque_params.friction] + ) + friction = float(friction_interp) if friction_compensation else 0.0 + return friction diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py index 2f56094379..6550b19227 100644 --- a/selfdrive/controls/lib/latcontrol_torque.py +++ b/selfdrive/controls/lib/latcontrol_torque.py @@ -61,10 +61,12 @@ class LatControlTorque(LatControl): low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2 setpoint = desired_lateral_accel + low_speed_factor * desired_curvature measurement = actual_lateral_accel + low_speed_factor * actual_curvature - error = setpoint - measurement gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY - pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error, + torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params, setpoint, lateral_accel_deadzone, friction_compensation=False) + torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params, measurement, + lateral_accel_deadzone, friction_compensation=False) + pid_log.error = torque_from_setpoint - torque_from_measurement ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params, desired_lateral_accel - actual_lateral_accel, lateral_accel_deadzone, friction_compensation=True) diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 307626506a..87c5f644c5 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -27,7 +27,6 @@ const double MAX_FILTER_REWIND_TIME = 0.8; // s // They should be replaced with synced time from a real clock const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s -const float GPS_MUL_FACTOR = 10.0; const float GPS_POS_STD_THRESHOLD = 50.0; const float GPS_VEL_STD_THRESHOLD = 5.0; const float GPS_POS_ERROR_RESET_THRESHOLD = 300.0; @@ -326,8 +325,14 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector(); VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos; - MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(GPS_MUL_FACTOR * log.getAccuracy(),2) + std::pow(GPS_MUL_FACTOR * log.getVerticalAccuracy(),2)).asDiagonal(); - MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(GPS_MUL_FACTOR * log.getSpeedAccuracy(), 2)).asDiagonal(); + float ecef_pos_std; + if (ublox_available) { + ecef_pos_std = std::sqrt(std::pow(log.getAccuracy(), 2) + std::pow(log.getVerticalAccuracy(), 2)); + } else { + ecef_pos_std = std::sqrt(3 * std::pow(log.getVerticalAccuracy(), 2)); + } + MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal(); + MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal(); this->unix_timestamp_millis = log.getUnixTimestampMillis(); double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); @@ -377,14 +382,14 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements: // indexed at 0 cause all std values are the same MAE auto ecef_pos_std = log.getPositionECEF().getStd()[0]; - MatrixXdr ecef_pos_R = Vector3d::Constant(pow(GPS_MUL_FACTOR*ecef_pos_std, 2)).asDiagonal(); + MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal(); auto ecef_vel_v = log.getVelocityECEF().getValue(); VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]); // indexed at 0 cause all std values are the same MAE auto ecef_vel_std = log.getVelocityECEF().getStd()[0]; - MatrixXdr ecef_vel_R = Vector3d::Constant(pow(GPS_MUL_FACTOR*ecef_vel_std, 2)).asDiagonal(); + MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal(); double gps_est_error = (this->kf->get_x().segment(STATE_ECEF_POS_START) - ecef_pos).norm(); @@ -661,8 +666,10 @@ int Localizer::locationd_thread() { const char* gps_location_socket; if (ublox_available) { gps_location_socket = "gpsLocationExternal"; + this->gps_std_factor = 10.0; } else { gps_location_socket = "gpsLocation"; + this->gps_std_factor = 2.0; } const std::initializer_list service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", "carState", "carParams", "accelerometer", "gyroscope"}; diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h index b7e42a9df8..6366b84f8e 100755 --- a/selfdrive/locationd/locationd.h +++ b/selfdrive/locationd/locationd.h @@ -84,4 +84,5 @@ private: std::map observation_values_invalid; bool standstill = true; int32_t orientation_reset_count = 0; + float gps_std_factor; }; diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 556781738d..af63dab2f1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -50f1e873095fe2462d2aadb9c401bda76759c01c +1bb3f665191e1b75c1b786f60e76d51b274f98ae diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 63b87149d4..fd14ed15e2 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -43,10 +43,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { }, { "ExperimentalLongitudinalEnabled", - tr("Experimental openpilot Longitudinal Control"), - QString("%1
%2") - .arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).")) - .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.")), + tr("openpilot Longitudinal Control (Alpha)"), + QString("%1

%2") + .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).")) + .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")), "../assets/offroad/icon_speed_limit.png", }, { @@ -193,6 +193,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) { connect(resetCalibBtn, &ButtonControl::clicked, [&]() { if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) { params.remove("CalibrationParams"); + params.remove("LiveTorqueParameters"); } }); addItem(resetCalibBtn); diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 5f3511d3cc..2e4e833e07 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -992,22 +992,10 @@ This may take up to a minute. Experimental Mode Experimenteller Modus - - Experimental openpilot Longitudinal Control - Experimenteller Openpilot Tempomat - - - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - WARNUNG: Der Openpilot Tempomat ist für dieses Auto experimentell und deaktiviert den Notbremsassistenten. - Disengage on Accelerator Pedal Bei Gasbetätigung ausschalten - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. - Bei diesem auto wird standardmäßig der im Auto eingebaute adaptive Tempomat anstelle des Openpilot Tempomats benutzt. Aktiviere diesen Schalter, um zum Openpilot Tempomaten zu wechseln. Es ist empfohlen den Experimentellen Modus bei Nutzung des Openpilot Tempomats zu aktivieren. - openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: Openpilot fährt standardmäßig im <b>entspannten Modus</b>. Der Experimentelle Modus aktiviert<b>Alpha-level Funktionen</b>, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden: @@ -1044,6 +1032,18 @@ This may take up to a minute. Enable experimental longitudinal control to allow Experimental mode. Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen. + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Updater diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 1e0223606b..06435d3b41 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -962,10 +962,6 @@ This may take up to a minute. Upload data from the driver facing camera and help improve the driver monitoring algorithm. 車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。 - - Experimental openpilot Longitudinal Control - 実験段階のopenpilotによるアクセル制御 - Disengage on Accelerator Pedal ｱｸｾﾙを踏むと openpilot を中断 @@ -994,14 +990,6 @@ This may take up to a minute. Experimental Mode 実験モード - - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - 警告: この車種でのopenpilotによるアクセル制御は実験段階であり、衝突被害軽減ブレーキ(AEB)を無効化します。 - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. - openpilotはこの車の場合、車に内蔵されているACCを標準で利用します。この機能を有効にすることで実験段階のopenpilotによるアクセル制御を利用できます。実験モードと合わせて利用することをお勧めします。 - openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。 @@ -1038,6 +1026,18 @@ This may take up to a minute. Enable experimental longitudinal control to allow Experimental mode. 実験段階のopenpilotによるアクセル制御を有効にしてください。 + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Updater diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index be11f2efde..b55a56a061 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -963,10 +963,6 @@ This may take up to a minute. Upload data from the driver facing camera and help improve the driver monitoring algorithm. 운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다. - - Experimental openpilot Longitudinal Control - openpilot 롱컨트롤 (실험적) - Disengage on Accelerator Pedal 가속페달 조작시 해제 @@ -995,14 +991,6 @@ This may take up to a minute. Experimental Mode 실험적 모드 - - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - 경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다. - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. - 이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤을 사용하려면 이 옵션을 활성화하세요. 실험적 openpilot 롱컨트롤을 사용하는 경우 실험적 모드를 활성화 하세요. - openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: openpilot은 기본적으로 <b>안정적 모드</b>로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 <b>알파 수준 기능</b>을 활성화 합니다. 실험적 모드의 특징은 아래에 나열되어 있습니다 @@ -1039,6 +1027,18 @@ This may take up to a minute. Enable experimental longitudinal control to allow Experimental mode. 실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요. + + openpilot Longitudinal Control (Alpha) + openpilot 롱컨트롤 (알파) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + 경고: openpilot 롱컨트롤은 알파 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다. + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + 이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다. + Updater diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 8dc3a9830d..34fbc8abf0 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -967,10 +967,6 @@ Isso pode levar até um minuto. Upload data from the driver facing camera and help improve the driver monitoring algorithm. Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor. - - Experimental openpilot Longitudinal Control - Controle longitudinal experimental openpilot - Disengage on Accelerator Pedal Desacionar com Pedal do Acelerador @@ -999,14 +995,6 @@ Isso pode levar até um minuto. Experimental Mode Modo Experimental - - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - ATENÇÃO: o controle longitudinal do openpilot é experimental para este carro e desativará a Frenagem Automática de Emergência (AEB). - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. - Neste carro o penpilot por padrão utiliza o ACC nativo do veículo ao invés de controlar longitudinalmente. Ative isto para mudar para o controle longitudinal do openpilot. Ativar o Modo Experimental é recomendado quando em uso do controle longitudinal experimental do openpilot. - openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: openpilot por padrão funciona em <b>modo chill</b>. modo Experimental ativa <b>recursos de nível-alfa</b> que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo: @@ -1043,6 +1031,18 @@ Isso pode levar até um minuto. Enable experimental longitudinal control to allow Experimental mode. Ative o controle longitudinal experimental para permitir o modo Experimental. + + openpilot Longitudinal Control (Alpha) + Controle Longitudinal openpilot (Alpha) + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + AVISO: o controle longitudinal openpilot está em alfa para este carro e desativará a Frenagem Automática de Emergência (AEB). + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o alfa de controle longitudinal openpilot. + Updater diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index cfc055ac98..7cacc72f1c 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -960,10 +960,6 @@ This may take up to a minute. Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。 - - Experimental openpilot Longitudinal Control - 试验性的openpilot纵向控制 - Disengage on Accelerator Pedal 踩油门时取消控制 @@ -992,14 +988,6 @@ This may take up to a minute. Experimental Mode 测试模式 - - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - 警告： 此车辆的openpilot纵向控制是试验性功能，且将禁用AEB自动刹车功能。 - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. - 针对此车辆，openpilot默认使用车辆自带的ACC，而非openpilot的纵向控制。启用此选项将切换到openpilot纵向控制。当使用试验性的openpilot纵向控制时，建议同时启用试验模式。 - openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: openpilot 默认 <b>轻松模式</b>驾驶车辆。试验模式启用一些轻松模式之外的 <b>试验性功能</b>。试验性功能包括： @@ -1036,6 +1024,18 @@ This may take up to a minute. Enable experimental longitudinal control to allow Experimental mode. 启用试验性的纵向控制，以便允许使用试验模式。 + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Updater diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 83db0b7301..e559ca88a6 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -962,10 +962,6 @@ This may take up to a minute. Upload data from the driver facing camera and help improve the driver monitoring algorithm. 上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。 - - Experimental openpilot Longitudinal Control - 使用 openpilot 縱向控制（實驗） - Disengage on Accelerator Pedal 油門取消控車 @@ -994,14 +990,6 @@ This may take up to a minute. Experimental Mode 實驗模式 - - WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB). - 警告：openpilot 縱向控制在這輛車上仍屬實驗性質，啟用後會喪失自動緊急煞車 (AEB) 功能。 - - - On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control. - 在本車輛中，openpilot預設將使用原車內建的ACC系統，而非openpilot縱向控制。開啟此開關來啟用openpilot縱向控制，使用此選項時建議一併啟用實驗模式。 - openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below: openpilot 預設以 <b>輕鬆模式</b> 駕駛。 實驗模式啟用了尚未準備好進入輕鬆模式的 <b>alpha 級功能</b>。實驗功能如下： @@ -1038,6 +1026,18 @@ This may take up to a minute. Enable experimental longitudinal control to allow Experimental mode. 啟用實驗性縱向控制以使用實驗模式。 + + openpilot Longitudinal Control (Alpha) + + + + WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). + + + + On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Updater diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py index c6fe33129a..21b67271d6 100755 --- a/system/sensord/tests/test_sensord.py +++ b/system/sensord/tests/test_sensord.py @@ -1,5 +1,6 @@ #!/usr/bin/env python3 import os +import glob import time import unittest import numpy as np @@ -7,7 +8,7 @@ from collections import namedtuple, defaultdict import cereal.messaging as messaging from cereal import log -from system.hardware import TICI, HARDWARE +from system.hardware import TICI from selfdrive.manager.process_config import managed_processes BMX = { @@ -70,7 +71,6 @@ ALL_SENSORS = { } } -LSM_IRQ = 336 def get_irq_count(irq: int): with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f: @@ -101,9 +101,6 @@ class TestSensord(unittest.TestCase): if not TICI: raise unittest.SkipTest - # make sure gpiochip0 is readable - HARDWARE.initialize_hardware() - # enable LSM self test os.environ["LSM_SELF_TEST"] = "1" @@ -114,6 +111,15 @@ class TestSensord(unittest.TestCase): time.sleep(3) cls.sample_secs = 10 cls.events = read_sensor_events(cls.sample_secs) + + # determine sensord's irq + cls.sensord_irq = None + for fn in glob.glob('/sys/kernel/irq/*/actions'): + with open(fn) as f: + if "sensord" in f.read(): + cls.sensord_irq = int(fn.split('/')[-2]) + break + assert cls.sensord_irq is not None finally: # teardown won't run if this doesn't succeed managed_processes["sensord"].stop() @@ -121,8 +127,6 @@ class TestSensord(unittest.TestCase): @classmethod def tearDownClass(cls): managed_processes["sensord"].stop() - if "LSM_SELF_TEST" in os.environ: - del os.environ['LSM_SELF_TEST'] def tearDown(self): managed_processes["sensord"].stop() @@ -250,9 +254,9 @@ class TestSensord(unittest.TestCase): time.sleep(3) # read /proc/interrupts to verify interrupts are received - state_one = get_irq_count(LSM_IRQ) + state_one = get_irq_count(self.sensord_irq) time.sleep(1) - state_two = get_irq_count(LSM_IRQ) + state_two = get_irq_count(self.sensord_irq) error_msg = f"no interrupts received after sensord start!\n{state_one} {state_two}" assert state_one != state_two, error_msg @@ -261,9 +265,9 @@ class TestSensord(unittest.TestCase): time.sleep(1) # read /proc/interrupts to verify no more interrupts are received - state_one = get_irq_count(LSM_IRQ) + state_one = get_irq_count(self.sensord_irq) time.sleep(1) - state_two = get_irq_count(LSM_IRQ) + state_two = get_irq_count(self.sensord_irq) assert state_one == state_two, "Interrupts received after sensord stop!" diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript index d9156f229a..7d5129fc16 100644 --- a/tools/cabana/SConscript +++ b/tools/cabana/SConscript @@ -28,7 +28,7 @@ cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "asset prev_moc_path = cabana_env['QT_MOCHPREFIX'] cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_' -cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', +cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc', 'commands.cc', 'messageswidget.cc', 'route.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) cabana_env.Program('_cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 0a4f6fc999..d0576615c9 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -11,7 +11,7 @@ #include #include "tools/cabana/commands.h" -#include "tools/cabana/signaledit.h" +#include "tools/cabana/signalview.h" // BinaryView @@ -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); diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index 8598fe490b..aa1f8c656b 100644 --- a/tools/cabana/binaryview.h +++ b/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 sigs; + bool valid = false; }; std::vector items; diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index ef8524be37..2c9a01b752 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -189,7 +189,7 @@ void ChartsWidget::setMaxChartRange(int value) { void ChartsWidget::updateToolBar() { title_label->setText(tr("Charts: %1").arg(charts.size())); columns_action->setText(tr("Column: %1").arg(column_count)); - range_lb->setText(QString("Range: %1:%2 ").arg(max_chart_range / 60, 2, 10, QLatin1Char('0')).arg(max_chart_range % 60, 2, 10, QLatin1Char('0'))); + range_lb->setText(QString("Range: %1 ").arg(utils::formatSeconds(max_chart_range))); range_lb_action->setVisible(!is_zoomed); range_slider_action->setVisible(!is_zoomed); undo_zoom_action->setVisible(is_zoomed); @@ -536,14 +536,16 @@ void ChartView::updateSeriesPoints() { for (auto &s : sigs) { auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); auto end = std::lower_bound(begin, s.vals.end(), axis_x->max(), xLessThan); - - int num_points = std::max(end - begin, 1); - int pixels_per_point = width() / num_points; - - if (series_type == SeriesType::Scatter) { - ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 3, 2, 8) * devicePixelRatioF()); - } else { - s.series->setPointsVisible(pixels_per_point > 20); + if (begin != end) { + int num_points = std::max((end - begin), 1); + QPointF right_pt = end == s.vals.end() ? s.vals.back() : *end; + double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points; + + if (series_type == SeriesType::Scatter) { + ((QScatterSeries *)s.series)->setMarkerSize(std::clamp(pixels_per_point / 2.0, 2.0, 8.0) * devicePixelRatioF()); + } else { + s.series->setPointsVisible(pixels_per_point > 20); + } } } } @@ -604,16 +606,20 @@ void ChartView::updateAxisY() { auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan); + s.min = std::numeric_limits::max(); + s.max = std::numeric_limits::lowest(); if (can->liveStreaming()) { for (auto it = first; it != last; ++it) { - if (it->y() < min) min = it->y(); - if (it->y() > max) max = it->y(); + if (it->y() < s.min) s.min = it->y(); + if (it->y() > s.max) s.max = it->y(); } } else { auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.begin(), first), std::distance(s.vals.begin(), last)); - min = std::min(min, min_y); - max = std::max(max, max_y); + s.min = min_y; + s.max = max_y; } + min = std::min(min, s.min); + max = std::max(max, s.max); } if (min == std::numeric_limits::max()) min = 0; if (max == std::numeric_limits::lowest()) max = 0; @@ -711,8 +717,7 @@ 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 { scene()->invalidate({}, QGraphicsScene::ForegroundLayer); @@ -763,16 +768,18 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { s.track_pt = chart()->mapToPosition(*it); x = std::max(x, s.track_pt.x()); } - text_list.push_back(QString("■ %2: %3") + text_list.push_back(QString("■ %2: %3 (%4 - %5)") .arg(s.series->color().name(), s.sig->name, - s.track_pt.isNull() ? "--" : QString::number(value))); + s.track_pt.isNull() ? "--" : QString::number(value), + QString::number(s.min), QString::number(s.max))); + } if (x < 0) { x = ev->pos().x(); } 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("
"), this, plot_area.toRect()); + QToolTip::showText(mapToGlobal(tooltip_pt.toPoint()), "

" + text_list.join("
"), this, plot_area.toRect()); scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } else { QToolTip::hideText(); @@ -847,8 +854,8 @@ void ChartView::drawForeground(QPainter *painter, const QRectF &rect) { if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) { auto first = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), xLessThan); auto last = std::lower_bound(first, s.vals.end(), axis_x->max(), xLessThan); + painter->setBrush(s.series->color()); for (auto it = first; it != last; ++it) { - painter->setBrush(s.series->color()); painter->drawEllipse(chart()->mapToPosition(*it), 4, 4); } } diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h index 7f757f0211..592e063163 100644 --- a/tools/cabana/chartswidget.h +++ b/tools/cabana/chartswidget.h @@ -46,6 +46,8 @@ public: uint64_t last_value_mono_time = 0; QPointF track_pt{}; SegmentTree segment_tree; + double min = 0; + double max = 0; }; signals: diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc index 0cc51989cd..49527765a8 100644 --- a/tools/cabana/dbc/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -14,7 +14,8 @@ bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error) // Check if file is already open, and merge sources if (dbc_file->filename == dbc_file_name) { - ss |= s; + dbc_files[i] = {ss | s, dbc_file}; + emit DBCFileChanged(); return true; } diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index 31183e8199..f9af96516c 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -1,6 +1,8 @@ #pragma once #include +#include + #include #include #include diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc index ab723fa0e2..543946b19a 100644 --- a/tools/cabana/detailwidget.cc +++ b/tools/cabana/detailwidget.cc @@ -48,7 +48,6 @@ DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(chart // msg widget splitter = new QSplitter(Qt::Vertical, this); - splitter->setAutoFillBackground(true); splitter->addWidget(binary_view = new BinaryView(this)); splitter->addWidget(signal_view = new SignalView(charts, this)); binary_view->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum); diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h index cc5bffd534..b7cfed376c 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -8,7 +8,7 @@ #include "tools/cabana/binaryview.h" #include "tools/cabana/chartswidget.h" #include "tools/cabana/historylog.h" -#include "tools/cabana/signaledit.h" +#include "tools/cabana/signalview.h" class EditMessageDialog : public QDialog { public: @@ -30,7 +30,6 @@ public: DetailWidget(ChartsWidget *charts, QWidget *parent); void setMessage(const MessageId &message_id); void refresh(); - QSize minimumSizeHint() const override { return binary_view->minimumSizeHint(); } private: void showTabBarContextMenu(const QPoint &pt); diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc index 00bbb94de5..9e829708b1 100644 --- a/tools/cabana/settings.cc +++ b/tools/cabana/settings.cc @@ -27,6 +27,7 @@ void Settings::save() { s.setValue("recent_files", recent_files); s.setValue("message_header_state", message_header_state); s.setValue("chart_series_type", chart_series_type); + s.setValue("sparkline_range", sparkline_range); } void Settings::load() { @@ -44,6 +45,7 @@ void Settings::load() { recent_files = s.value("recent_files").toStringList(); message_header_state = s.value("message_header_state").toByteArray(); chart_series_type = s.value("chart_series_type", 0).toInt(); + sparkline_range = s.value("sparkline_range", 15).toInt(); } // SettingsDlg diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h index c3ba906576..a8b6d189a5 100644 --- a/tools/cabana/settings.h +++ b/tools/cabana/settings.h @@ -17,8 +17,9 @@ public: int max_cached_minutes = 30; int chart_height = 200; int chart_column_count = 1; - int chart_range = 3 * 60; // e minutes + int chart_range = 3 * 60; // 3 minutes int chart_series_type = 0; + int sparkline_range = 15; // 15 seconds QString last_dir; QString last_route_dir; QByteArray geometry; diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signalview.cc similarity index 87% rename from tools/cabana/signaledit.cc rename to tools/cabana/signalview.cc index a2455a0317..4eb1456b1e 100644 --- a/tools/cabana/signaledit.cc +++ b/tools/cabana/signalview.cc @@ -1,4 +1,4 @@ -#include "tools/cabana/signaledit.h" +#include "tools/cabana/signalview.h" #include #include @@ -62,10 +62,21 @@ void SignalModel::updateState(const QHash *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; } @@ -157,6 +168,8 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const { if (item->type == Item::Signed) return item->sig->is_signed ? Qt::Checked : Qt::Unchecked; } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) { return utils::icon(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up"); + } else if (role == Qt::ToolTipRole && item->type == Item::Sig) { + return (index.column() == 0) ? item->sig->name : item->sig_val; } } return {}; @@ -312,11 +325,25 @@ QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo int spacing = option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + 8; it = width_cache.insert(text, option.fontMetrics.width(text) + spacing); } - width = std::min(width, it.value()); + width = std::min(option.widget->size().width() / 3.0, it.value()); } return {width, QApplication::fontMetrics().height()}; } +bool SignalItemDelegate::helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) { + if (event && event->type() == QEvent::ToolTip && index.isValid()) { + auto item = (SignalModel::Item *)index.internalPointer(); + if (item->type == SignalModel::Item::Sig && index.column() == 1) { + QRect rc = option.rect.adjusted(0, 0, -option.rect.width() * 0.4, 0); + if (rc.contains(event->pos())) { + event->setAccepted(false); + return false; + } + } + } + return QStyledItemDelegate::helpEvent(event, view, option, index); +} + void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); @@ -352,31 +379,34 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->fillRect(option.rect, option.palette.highlight()); } - drawSparkline(painter, option, index); + int adjust_right = ((SignalView *)parent())->tree->indexWidget(index)->sizeHint().width() + 2 * h_margin; + QRect r = option.rect.adjusted(h_margin, v_margin, -adjust_right, -v_margin); // draw signal value - int right_offset = ((SignalView *)parent())->tree->indexWidget(index)->sizeHint().width() + 2 * h_margin; - QRect rc = option.rect.adjusted(0, 0, -right_offset, 0); - auto text = painter->fontMetrics().elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rc.width()); + QRect value_rect = r.adjusted(r.width() * 0.6 + h_margin, 0, 0, 0); + auto text = painter->fontMetrics().elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, value_rect.width()); painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text)); - painter->drawText(rc, Qt::AlignRight | Qt::AlignVCenter, text); + painter->drawText(value_rect, Qt::AlignRight | Qt::AlignVCenter, text); + + QRect sparkline_rect = r.adjusted(0, 0, -r.width() * 0.4 - h_margin, 0); + drawSparkline(painter, sparkline_rect, index); } else { QStyledItemDelegate::paint(painter, option, index); } } -void SignalItemDelegate::drawSparkline(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { +void SignalItemDelegate::drawSparkline(QPainter *painter, const QRect &rect, const QModelIndex &index) const { static std::vector points; - // TODO: get seconds from settings. - const uint64_t chart_seconds = 15; // seconds const auto &msg_id = ((SignalView *)parent())->msg_id; const auto &msgs = can->events().at(msg_id); + uint64_t ts = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9; - auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = (uint64_t)std::max(ts - chart_seconds * 1e9, 0)}); - if (first != msgs.cend()) { + auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), CanEvent{.mono_time = (uint64_t)std::max(ts - settings.sparkline_range * 1e9, 0)}); + auto last = std::upper_bound(first, msgs.cend(), CanEvent{.mono_time = ts}); + + if (first != last) { double min = std::numeric_limits::max(); double max = std::numeric_limits::lowest(); const auto sig = ((SignalModel::Item *)index.internalPointer())->sig; - auto last = std::lower_bound(first, msgs.cend(), CanEvent{.mono_time = ts}); points.clear(); for (auto it = first; it != last; ++it) { double value = get_raw_value(it->dat, it->size, *sig); @@ -389,18 +419,22 @@ void SignalItemDelegate::drawSparkline(QPainter *painter, const QStyleOptionView max += 1; } - 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) / chart_seconds; - 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; + const double xscale = rect.width() / (double)settings.sparkline_range; + const double yscale = rect.height() / (max - min); for (auto &pt : points) { - pt.rx() = left + pt.x() * xscale; - pt.ry() = top + std::abs(pt.y() - max) * yscale; + pt.rx() = rect.left() + pt.x() * xscale; + pt.ry() = rect.top() + std::abs(pt.y() - max) * yscale; } + painter->setPen(getColor(sig)); painter->drawPolyline(points.data(), points.size()); + if ((points.back().x() - points.front().x()) / points.size() > 10) { + painter->setPen(Qt::NoPen); + painter->setBrush(getColor(sig)); + for (const auto &pt : points) { + painter->drawEllipse(pt, 2, 2); + } + } } } @@ -451,6 +485,17 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), filter_edit->setPlaceholderText(tr("filter signals")); hl->addWidget(filter_edit); hl->addStretch(1); + + // WARNING: increasing the maximum range can result in severe performance degradation. + // 30s is a reasonable value at present. + const int max_range = 30; // 30s + settings.sparkline_range = std::clamp(settings.sparkline_range, 1, max_range); + hl->addWidget(sparkline_label = new QLabel()); + hl->addWidget(sparkline_range_slider = new QSlider(Qt::Horizontal, this)); + sparkline_range_slider->setRange(1, max_range); + sparkline_range_slider->setValue(settings.sparkline_range); + sparkline_range_slider->setToolTip(tr("Sparkline time range")); + auto collapse_btn = toolButton("dash-square", tr("Collapse All")); collapse_btn->setIconSize({12, 12}); hl->addWidget(collapse_btn); @@ -473,8 +518,10 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), main_layout->setSpacing(0); main_layout->addWidget(title_bar); main_layout->addWidget(tree); + updateToolBar(); QObject::connect(filter_edit, &QLineEdit::textEdited, model, &SignalModel::setFilter); + QObject::connect(sparkline_range_slider, &QSlider::valueChanged, this, &SignalView::setSparklineRange); QObject::connect(collapse_btn, &QPushButton::clicked, tree, &QTreeView::collapseAll); QObject::connect(tree, &QAbstractItemView::clicked, this, &SignalView::rowClicked); QObject::connect(tree, &QTreeView::viewportEntered, [this]() { emit highlight(nullptr); }); @@ -521,7 +568,7 @@ void SignalView::rowsChanged() { }); } } - signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount())); + updateToolBar(); updateChartState(); } @@ -569,6 +616,17 @@ void SignalView::signalHovered(const cabana::Signal *sig) { } } +void SignalView::updateToolBar() { + signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount())); + sparkline_label->setText(QString("Range: %1 ").arg(utils::formatSeconds(settings.sparkline_range))); +} + +void SignalView::setSparklineRange(int value) { + settings.sparkline_range = value; + updateToolBar(); + model->updateState(nullptr); +} + void SignalView::leaveEvent(QEvent *event) { emit highlight(nullptr); QWidget::leaveEvent(event); diff --git a/tools/cabana/signaledit.h b/tools/cabana/signalview.h similarity index 92% rename from tools/cabana/signaledit.h rename to tools/cabana/signalview.h index 163edcad69..8bc9477888 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signalview.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -82,7 +83,8 @@ public: void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const; QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override; - void drawSparkline(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const; + bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override; + void drawSparkline(QPainter *painter, const QRect &rect, const QModelIndex &index) const; QValidator *name_validator, *double_validator; QFont small_font; const int color_label_width = 18; @@ -109,6 +111,8 @@ signals: private: void rowsChanged(); void leaveEvent(QEvent *event); + void updateToolBar(); + void setSparklineRange(int value); struct TreeView : public QTreeView { TreeView(QWidget *parent) : QTreeView(parent) {} @@ -120,6 +124,8 @@ private: }; TreeView *tree; + QLabel *sparkline_label; + QSlider *sparkline_range_slider; QLineEdit *filter_edit; ChartsWidget *charts; QLabel *signal_count_lb; diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 7f40c42352..e90a838af8 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -4,6 +4,7 @@ #include #include +#include #include #include #include @@ -97,6 +98,9 @@ public: namespace utils { QPixmap icon(const QString &id); +inline QString formatSeconds(int seconds) { + return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); +} } QToolButton *toolButton(const QString &icon, const QString &tooltip); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index 0e9714994e..fe9e00bc45 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -1,7 +1,6 @@ #include "tools/cabana/videowidget.h" #include -#include #include #include #include @@ -20,10 +19,6 @@ static const QColor timeline_colors[] = { [(int)TimelineType::AlertCritical] = QColor(199, 0, 57), }; -static inline QString formatTime(int seconds) { - return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss"); -} - VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) { setFrameStyle(QFrame::StyledPanel | QFrame::Plain); auto main_layout = new QVBoxLayout(this); @@ -101,11 +96,11 @@ QWidget *VideoWidget::createCameraWidget() { slider_layout->addWidget(end_time_label); l->addLayout(slider_layout); QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); }); - QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); }); + QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(value / 1000)); }); QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); }); QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState); QObject::connect(can, &AbstractStream::streamStarted, [this]() { - end_time_label->setText(formatTime(can->totalSeconds())); + end_time_label->setText(utils::formatSeconds(can->totalSeconds())); slider->setRange(0, can->totalSeconds() * 1000); }); return w; @@ -116,7 +111,7 @@ void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) { min = 0; max = can->totalSeconds(); } - end_time_label->setText(formatTime(max)); + end_time_label->setText(utils::formatSeconds(max)); slider->setRange(min * 1000, max * 1000); } @@ -230,7 +225,7 @@ void Slider::mouseMoveEvent(QMouseEvent *e) { } int x = std::clamp(e->pos().x() - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN); int y = -thumb.height() - THUMBNAIL_MARGIN - style()->pixelMetric(QStyle::PM_LayoutVerticalSpacing); - thumbnail_label.showPixmap(mapToGlobal({x, y}), formatTime(seconds), thumb); + thumbnail_label.showPixmap(mapToGlobal({x, y}), utils::formatSeconds(seconds), thumb); QSlider::mouseMoveEvent(e); } diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh index 71bad2e8a2..97b706de5b 100755 --- a/tools/ubuntu_setup.sh +++ b/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 \