From d6961152b824518f584d2ffad831312447d79d5f Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Thu, 30 Mar 2023 03:43:43 +0800 Subject: [PATCH 01/27] cabana: add a slider to set sparkline time range (#27727) * add slider to set sparkline time range * rename signaleedit to signalview * default is 15s * util::formatSeconds * update() is faster than invalidate * draw points * fix scatter width --- tools/cabana/SConscript | 2 +- tools/cabana/binaryview.cc | 2 +- tools/cabana/chartswidget.cc | 30 +++++++------ tools/cabana/detailwidget.h | 2 +- tools/cabana/settings.cc | 2 + tools/cabana/settings.h | 3 +- tools/cabana/{signaledit.cc => signalview.cc} | 45 +++++++++++++++---- tools/cabana/{signaledit.h => signalview.h} | 5 +++ tools/cabana/util.h | 4 ++ tools/cabana/videowidget.cc | 13 ++---- 10 files changed, 73 insertions(+), 35 deletions(-) rename tools/cabana/{signaledit.cc => signalview.cc} (94%) rename tools/cabana/{signaledit.h => signalview.h} (96%) 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..84225bb96c 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 diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index ef8524be37..24415c6f95 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); @@ -528,7 +528,7 @@ void ChartView::updatePlot(double cur, double min, double max) { updateAxisY(); updateSeriesPoints(); } - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); + update(); } void ChartView::updateSeriesPoints() { @@ -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); + } } } } @@ -715,7 +717,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { // zoom in if selected range is greater than 0.5s emit zoomIn(min_rounded, max_rounded); } else { - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); + update(); } event->accept(); } else if (!can->liveStreaming() && event->button() == Qt::RightButton) { @@ -773,7 +775,7 @@ 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("
"), this, plot_area.toRect()); - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); + update(); } else { QToolTip::hideText(); } @@ -786,7 +788,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { if (rubber_rect != rubber->geometry()) { rubber->setGeometry(rubber_rect); } - scene()->invalidate({}, QGraphicsScene::ForegroundLayer); + update(); } } @@ -847,8 +849,8 @@ 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/detailwidget.h b/tools/cabana/detailwidget.h index cc5bffd534..2794d41b99 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: 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 94% rename from tools/cabana/signaledit.cc rename to tools/cabana/signalview.cc index a2455a0317..3f8a38825a 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 @@ -366,17 +366,15 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op void SignalItemDelegate::drawSparkline(QPainter *painter, const QStyleOptionViewItem &option, 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); @@ -391,7 +389,7 @@ 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) / chart_seconds; + const double xscale = (option.rect.width() - 175.0 * option.widget->devicePixelRatioF() - 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; @@ -401,6 +399,13 @@ void SignalItemDelegate::drawSparkline(QPainter *painter, const QStyleOptionView } 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 +456,17 @@ 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 +489,10 @@ 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 +539,7 @@ void SignalView::rowsChanged() { }); } } - signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount())); + updateToolBar(); updateChartState(); } @@ -569,6 +587,17 @@ 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 96% rename from tools/cabana/signaledit.h rename to tools/cabana/signalview.h index 163edcad69..50ba4e06b8 100644 --- a/tools/cabana/signaledit.h +++ b/tools/cabana/signalview.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -109,6 +110,8 @@ 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 +123,8 @@ 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); } From e0afaa4eeec1dd36ede1aea809d34637ef968385 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Wed, 29 Mar 2023 22:17:46 +0200 Subject: [PATCH 02/27] cabana: fix merging sources for already open DBC file (#27715) * fix build * fix merging sources --- tools/cabana/dbc/dbcmanager.cc | 3 ++- tools/cabana/dbc/dbcmanager.h | 2 ++ 2 files changed, 4 insertions(+), 1 deletion(-) 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 From 18253982db08434f42a660689144a1d4eafd1a1b Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 29 Mar 2023 16:56:45 -0400 Subject: [PATCH 03/27] torqued: reset LiveTorqueParameters on calibration reset (#27732) --- selfdrive/ui/qt/offroad/settings.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 63b87149d4..5222dcca8f 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -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); From 46069738d6f4a5c40e4aededbba797b38f8d4bcb Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 29 Mar 2023 14:01:22 -0700 Subject: [PATCH 04/27] Revert "torqued: reset LiveTorqueParameters on calibration reset" (#27736) Revert "torqued: reset LiveTorqueParameters on calibration reset (#27732)" This reverts commit 18253982db08434f42a660689144a1d4eafd1a1b. --- selfdrive/ui/qt/offroad/settings.cc | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 5222dcca8f..63b87149d4 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -193,7 +193,6 @@ 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); From 8e3ed8f10b5e9eae52b1374a81d46dcd022e3598 Mon Sep 17 00:00:00 2001 From: Jason Wen <47793918+sunnyhaibin@users.noreply.github.com> Date: Wed, 29 Mar 2023 17:30:27 -0400 Subject: [PATCH 05/27] torqued: reset LiveTorqueParameters on calibration reset (#27737) * torqued: reset LiveTorqueParameters on calibration reset * gotta have this --- selfdrive/ui/qt/offroad/settings.cc | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index 63b87149d4..c22484167c 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -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); From 15b880c0ea6fb306e916a2ec015b5f03cec22b20 Mon Sep 17 00:00:00 2001 From: Vivek Aithal Date: Wed, 29 Mar 2023 15:10:39 -0700 Subject: [PATCH 06/27] Bolt EUV: Non-linear torque function (#27696) * add erf based ff * silly bug; diff of nonlinear != nonlinear of diff * add sigmoid based ff, ensure slope at 0 > 1 * reduce steer down limit and increase driver allowance * rebase panda * atry without friction, and with tanh nonlinear * finalize the nonlinear function * do not disable friction compensation in the ff * bump panda * bump panda * update refs * update refs * resolve comments * Add type hints --------- Co-authored-by: Adeeb Shihadeh --- panda | 2 +- selfdrive/car/gm/interface.py | 28 +++++++++++++++++++-- selfdrive/car/gm/values.py | 4 +-- selfdrive/car/interfaces.py | 16 +++++------- selfdrive/controls/lib/drive_helpers.py | 10 ++++++++ selfdrive/controls/lib/latcontrol_torque.py | 6 +++-- selfdrive/test/process_replay/ref_commit | 2 +- 7 files changed, 50 insertions(+), 18 deletions(-) diff --git a/panda b/panda index db6c50cd09..a1e1451d1c 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit db6c50cd09f773c231f962fc0e31b4612c572b08 +Subproject commit a1e1451d1c2f23b953d82eea7691a657c9a8a75a 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/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/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/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 556781738d..57f71fc807 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -50f1e873095fe2462d2aadb9c401bda76759c01c +1da098f096cee9f2871dafd2788dc9ddac85eeab \ No newline at end of file From 3df2e55bee3b72a9ec12dabc427b2908c16637a3 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 29 Mar 2023 16:31:35 -0700 Subject: [PATCH 07/27] tizi: add panda siren fault (#27738) Co-authored-by: Comma Device --- cereal | 2 +- panda | 2 +- selfdrive/boardd/boardd.cc | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/cereal b/cereal index 1f0d21df73..d70d215de6 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 1f0d21df7307228218a4b874a3fdcd819b1558af +Subproject commit d70d215de6c584f671272d2de2f46a4f778e9f14 diff --git a/panda b/panda index a1e1451d1c..12b9b65985 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit a1e1451d1c2f23b953d82eea7691a657c9a8a75a +Subproject commit 12b9b65985edf7207a1dfd48de0b714192e6e55d 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++; From eca3838237463fe34c6abd0e6592a935008d8ff6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Wed, 29 Mar 2023 16:35:30 -0700 Subject: [PATCH 08/27] Locationd qcom retune (#27739) --- selfdrive/locationd/locationd.cc | 17 ++++++++++++----- selfdrive/locationd/locationd.h | 1 + selfdrive/test/process_replay/ref_commit | 2 +- 3 files changed, 14 insertions(+), 6 deletions(-) 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 57f71fc807..af63dab2f1 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -1da098f096cee9f2871dafd2788dc9ddac85eeab \ No newline at end of file +1bb3f665191e1b75c1b786f60e76d51b274f98ae From e377305ea84dc6e50367f500897f553376583728 Mon Sep 17 00:00:00 2001 From: royjr Date: Wed, 29 Mar 2023 22:04:33 -0400 Subject: [PATCH 09/27] Honda Civic 2022: match stock Auto Idle Stop behavior (#27722) * honda_idlestop_timer * whoops * simplify * just use stopping counter and move bosch radarless specific logic into the function * it's actually 4 seconds * Update selfdrive/car/honda/hondacan.py * check equal to 0 --------- Co-authored-by: Shane Smiskol --- selfdrive/car/honda/carcontroller.py | 4 +++- selfdrive/car/honda/hondacan.py | 8 ++++---- 2 files changed, 7 insertions(+), 5 deletions(-) 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({ From a9d342689cef1a6e21e12a529bcf0ad8cf2dec8e Mon Sep 17 00:00:00 2001 From: Erich Moraga <33645296+ErichMoraga@users.noreply.github.com> Date: Wed, 29 Mar 2023 21:06:44 -0500 Subject: [PATCH 10/27] Add missing AVALON_TSS2 engine & ABS f/w (#27733) `@jundi#8597` 2022 Avalon ICE DongleID/route 6b650cedd7de2808|2023-03-29--18-36-56 --- selfdrive/car/toyota/values.py | 2 ++ 1 file changed, 2 insertions(+) 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', From fe49fbf8ec56733c0cbab45cde31df916f7a9fd3 Mon Sep 17 00:00:00 2001 From: royjr Date: Thu, 30 Mar 2023 15:18:32 -0400 Subject: [PATCH 11/27] Honda Bosch Radarless: update stopAccel to match actuation limits (#27740) * civic22_stop_faster * limit stopAccel to current safety model * Update selfdrive/car/honda/interface.py * Update selfdrive/car/honda/interface.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/honda/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 7314afd50a..51ddf1ac92 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 = -3.5 # 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.] From 51c3f43205048948d49d1c969c71ebb46c3fc53e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 30 Mar 2023 12:19:48 -0700 Subject: [PATCH 12/27] Honda Bosch Radarless: use CarControllerParams variable --- selfdrive/car/honda/interface.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 51ddf1ac92..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 = -3.5 # stock uses -4.0 m/s^2 once stopped but limited by safety model + 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.] From f3664b658b0b375cb95d6511d345d5869ae64a24 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 31 Mar 2023 03:24:41 +0800 Subject: [PATCH 13/27] add libncurses5 to ubuntu_setup.sh (#27751) --- tools/ubuntu_setup.sh | 2 ++ 1 file changed, 2 insertions(+) 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 \ From cf299002f73d121ed2e7afb69f9ff68567ac62cd Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Mar 2023 21:36:34 +0200 Subject: [PATCH 14/27] cabana: allow zooming to smaller ranges (#27748) * cabana: allow zooming to smaller ranges * remove comment --- tools/cabana/chartswidget.cc | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 24415c6f95..148e075414 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -713,8 +713,7 @@ 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 { update(); From 469accbec105e376b88d75a387bb244f0cfd11eb Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Mar 2023 21:36:54 +0200 Subject: [PATCH 15/27] cabana: show string value for val/desc (#27747) --- tools/cabana/signalview.cc | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 3f8a38825a..020e2ec285 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -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; } From ecd82f04087eb58df7de9b503133aae1d8de15d5 Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Mar 2023 21:37:29 +0200 Subject: [PATCH 16/27] cabana: fix drawing sparkline at half width on hi-dpi screen (#27746) --- tools/cabana/signalview.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index 020e2ec285..e3c19faa13 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -400,7 +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; From bec8cb1e30c91b150008ef600b42abaf48e1641a Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Thu, 30 Mar 2023 21:37:49 +0200 Subject: [PATCH 17/27] cabana: fix parts of chart widget not being redrawn (#27742) * cabana: fix parts of chart widget not being redrawn * revert others --- tools/cabana/chartswidget.cc | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 148e075414..09ee9f1cff 100644 --- a/tools/cabana/chartswidget.cc +++ b/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() { @@ -716,7 +716,7 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) { } 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) { @@ -774,7 +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("
"), this, plot_area.toRect()); - update(); + scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } else { QToolTip::hideText(); } @@ -787,7 +787,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) { if (rubber_rect != rubber->geometry()) { rubber->setGeometry(rubber_rect); } - update(); + scene()->invalidate({}, QGraphicsScene::ForegroundLayer); } } From 5ec7da96a60fd7712a9f7c8c5e53e0104204becc Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 30 Mar 2023 12:43:00 -0700 Subject: [PATCH 18/27] ci: always upload process replay ref logs --- .github/workflows/selfdrive_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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" From dd4e07fe7b67ef6db8095a7f654acdc8d6010be6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Fri, 31 Mar 2023 04:00:06 +0800 Subject: [PATCH 19/27] cabana: fill rows with Qt::BDiagPattern if messag size is incorrect (#27750) --- tools/cabana/binaryview.cc | 10 +++++++--- tools/cabana/binaryview.h | 3 ++- 2 files changed, 9 insertions(+), 4 deletions(-) diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 84225bb96c..d0576615c9 100644 --- a/tools/cabana/binaryview.cc +++ b/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); 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; From c2d13e529219422b942cbedcc3a496e2c936dd9b Mon Sep 17 00:00:00 2001 From: royjr Date: Thu, 30 Mar 2023 17:27:05 -0400 Subject: [PATCH 20/27] ui: experimental -> alpha OP long toggle (#27725) * swap locations * remove experimental from toggle name * revert * alpha * revert that --------- Co-authored-by: Adeeb Shihadeh --- selfdrive/ui/qt/offroad/settings.cc | 8 ++++---- selfdrive/ui/translations/main_de.ts | 24 ++++++++++++------------ selfdrive/ui/translations/main_ja.ts | 24 ++++++++++++------------ selfdrive/ui/translations/main_ko.ts | 24 ++++++++++++------------ selfdrive/ui/translations/main_pt-BR.ts | 24 ++++++++++++------------ selfdrive/ui/translations/main_zh-CHS.ts | 24 ++++++++++++------------ selfdrive/ui/translations/main_zh-CHT.ts | 24 ++++++++++++------------ 7 files changed, 76 insertions(+), 76 deletions(-) diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index c22484167c..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", }, { 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..675798e377 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) + + + + 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_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 8dc3a9830d..f1caaa9068 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) + + + + 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-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 From 2c13bfac7498adb17d526c5472228f4bf4b09780 Mon Sep 17 00:00:00 2001 From: Lee Jong Mun <43285072+crwusiz@users.noreply.github.com> Date: Fri, 31 Mar 2023 09:34:39 +0900 Subject: [PATCH 21/27] Multilang: kor translation update (#27756) --- selfdrive/ui/translations/main_ko.ts | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index 675798e377..b55a56a061 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -1029,15 +1029,15 @@ This may take up to a minute. 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. From 08be9eed0820ecedcec63a92f32bc5b1077713a2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 30 Mar 2023 19:36:03 -0700 Subject: [PATCH 22/27] sensord: remove hardcoded irq from test (#27759) * sensord: remove hardcoded irq from test * fix linter --------- Co-authored-by: Comma Device --- system/sensord/tests/test_sensord.py | 26 +++++++++++++++----------- 1 file changed, 15 insertions(+), 11 deletions(-) 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!" From 909ad5e285cdd8dfe68f76e0ae67eda20fcf782d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 31 Mar 2023 00:10:41 -0700 Subject: [PATCH 23/27] bump panda (#27761) --- panda | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panda b/panda index 12b9b65985..7933635b54 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 12b9b65985edf7207a1dfd48de0b714192e6e55d +Subproject commit 7933635b54b68eda3f8a906d5e2c3ca30dbed279 From 652fc0e90419d505bec80bac12617676a3591854 Mon Sep 17 00:00:00 2001 From: routine88 Date: Thu, 30 Mar 2023 21:34:35 -1000 Subject: [PATCH 24/27] Added fingerprint for 2023 Hyundai Elantra Hybrid (#27758) * Update values.py * Update values.py * Update selfdrive/car/hyundai/values.py * Update selfdrive/car/hyundai/values.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/values.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) 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: { From 852f67dc8818abe011aa7ad4f2e425fc1d9f81e8 Mon Sep 17 00:00:00 2001 From: AlexandreSato <66435071+AlexandreSato@users.noreply.github.com> Date: Fri, 31 Mar 2023 15:29:08 -0300 Subject: [PATCH 25/27] Multilang: update pt-BR translations (#27767) --- selfdrive/ui/translations/main_pt-BR.ts | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index f1caaa9068..34fbc8abf0 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -1033,15 +1033,15 @@ Isso pode levar até um minuto. 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. From ced90c163ed292f41a450810035ae32438fe81fc Mon Sep 17 00:00:00 2001 From: Willem Melching Date: Fri, 31 Mar 2023 20:32:27 +0200 Subject: [PATCH 26/27] cabana: show min and max values in chart tooltip (#27744) --- tools/cabana/chartswidget.cc | 20 +++++++++++++------- tools/cabana/chartswidget.h | 2 ++ 2 files changed, 15 insertions(+), 7 deletions(-) diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc index 09ee9f1cff..2c9a01b752 100644 --- a/tools/cabana/chartswidget.cc +++ b/tools/cabana/chartswidget.cc @@ -606,16 +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; @@ -764,16 +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(); 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: From 63f888fa3a31dcf06ff2a2f098e2930c45050ea6 Mon Sep 17 00:00:00 2001 From: Dean Lee Date: Sat, 1 Apr 2023 02:44:21 +0800 Subject: [PATCH 27/27] cabana: fix sparkline overlapping issue (#27766) * fix sparkline overlapping issue * cleanup --- tools/cabana/detailwidget.cc | 1 - tools/cabana/detailwidget.h | 1 - tools/cabana/signalview.cc | 48 +++++++++++++++++++++++++----------- tools/cabana/signalview.h | 3 ++- 4 files changed, 35 insertions(+), 18 deletions(-) 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 2794d41b99..b7cfed376c 100644 --- a/tools/cabana/detailwidget.h +++ b/tools/cabana/detailwidget.h @@ -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/signalview.cc b/tools/cabana/signalview.cc index e3c19faa13..4eb1456b1e 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -168,6 +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 {}; @@ -323,11 +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); @@ -363,25 +379,30 @@ 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; 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 - 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(); @@ -398,16 +419,13 @@ 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 - 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; + 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) { diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 50ba4e06b8..8bc9477888 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -83,7 +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;